A method and device for shifting a lateral anchor, an electronic device and a storage medium

Abstract

The application discloses a transverse anchor shifting method and device, electronic equipment and storage medium, relates to the field of hydraulic engineering, and is characterized in that a dredger is provided with an anchor throwing rod winch and an anchor winch, and the dredger is provided with a transverse anchor. The method comprises the following steps: acquiring a real-time transverse line speed of the dredger, and determining a cable releasing speed according to the real-time transverse line speed, a strip width and a length of an anchor throwing rod on the anchor throwing rod winch; acquiring a winding torque of the anchor winch, and determining a winding speed according to the winding torque, a remaining anchor cable length, the real-time transverse line speed and the strip width; controlling the anchor throwing rod on the anchor throwing rod winch to release the cable at the cable releasing speed, and controlling the anchor winch to wind at the winding speed, so as to control the shifting of the transverse anchor. The application can automatically and timely control the winding speed of the anchor winch and the cable releasing speed of the anchor throwing rod winch, increases the accuracy of the transverse anchor shifting, and guarantees the safety and stability of the whole construction process.

Description

Technical Field

[0001] This invention relates to the field of hydraulic engineering, and more particularly to a method, apparatus, electronic device, and storage medium for the displacement of a transverse anchor. Background Technology

[0002] The dredging process of a dredger is achieved by pulling the lateral anchor to move it left and right. For example, during the lateral movement of the anchor line in the anchor moving operation, it is necessary to control the anchor winch and the anchor bolt winch at the same time to ensure that the anchor cable is just fully retracted after moving to the edge line, and that the anchor bolt is perpendicular to the anchor cable. In addition, the anchor cable is kept slightly slack and unstressed during the process.

[0003] In the traditional process of lateral movement along the edge, the speed at which the anchor winch is pulled up and the speed at which the anchor bolt cable is lowered are controlled based on the operator's experience and visual estimation. However, due to differences in the skill level and reaction speed of the operators, significant variations in construction quality and efficiency can easily occur throughout the process, and even substantial safety hazards may exist. Summary of the Invention

[0004] This invention provides a method, device, electronic equipment, and storage medium for shifting a transverse anchor, which can realize automated and real-time control of the cable-raising speed of the anchor winch and the cable-laying speed of the anchor bolt car, increasing the accuracy of the transverse anchor shifting and ensuring the safety and stability of the entire construction process.

[0005] According to one aspect of the present invention, a method for relocating a transverse anchor is provided, wherein a dredger is equipped with an anchor bolt winch and an anchor lifting winch, and a transverse anchor is provided on the dredger; the method includes: Obtain the real-time transverse linear velocity of the dredger, and determine the cable laying speed based on the real-time transverse linear velocity, the slitting width, and the length of the anchor bolt on the anchor bolt winch.

[0006] Obtain the cable take-up torque of the anchor winch, and determine the cable take-up speed based on the cable take-up torque, the remaining anchor cable length, the real-time lateral movement speed, and the slit width.

[0007] The anchor bolt is released according to the cable release speed, and the anchor retrieval winch is retrieved according to the cable retrieval speed, so as to control the displacement of the transverse anchor.

[0008] The method for shifting a transverse anchor provided in this invention determines the transverse angular velocity of the dredger based on its real-time transverse linear velocity and strip width. Then, based on the anchor bolt length, it can predict the cable-laying speed of the anchor bolt to accurately move the transverse anchor to the target point. This achieves accurate calculation of the cable-laying speed of the anchor bolt on the anchor bolt winch during the transverse movement of the dredger in this anchor shifting operation, providing an accurate basis for the swing speed of the transverse anchor. Based on the dredger's transverse angular velocity, and according to the real-time cable-retrieving process of the anchor winch (i.e., the cable-retrieving torque and the remaining anchor cable length), the cable-retrieving speed of the anchor winch can be jointly determined. This ensures that during the dredger's movement, the cable-retrieving speed of the anchor winch can be comprehensively determined based on the dredger's movement and real-time cable-retrieving status, providing an accurate basis for the force state of the transverse anchor. By controlling the cable laying of the anchor bolt according to the calculated cable laying speed and controlling the cable retrieval of the anchor winch according to the calculated cable retrieval speed, the cable retrieval speed of the anchor winch and the cable laying speed of the anchor bolt cable car can be automatically and in real time. This solves the problem that the current method of controlling the movement of the transverse anchor based solely on the operator's construction experience and visual inspection results in significant differences in construction quality and efficiency. It reduces labor costs, increases the accuracy of transverse anchor movement, ensures a balance between construction quality and efficiency, and further guarantees the safety and stability of the entire construction process.

[0009] According to another aspect of the present invention, a displacement device for a transverse anchor is provided, wherein a dredger is equipped with an anchor bolt winch and an anchor lifting winch, and a transverse anchor is provided on the dredger; the device includes: The first determining module is used to obtain the real-time lateral linear velocity of the dredger and determine the cable laying speed based on the real-time lateral linear velocity, the slitting width, and the length of the anchor bolt on the anchor bolt winch.

[0010] The second determining module is used to obtain the cable take-up torque of the anchor winch, and determine the cable take-up speed based on the cable take-up torque, the remaining anchor cable length, the real-time lateral movement speed, and the slit width.

[0011] The control module is used to control the release of the anchor bolt on the anchor bolt winch according to the release speed, and to control the retrieval of the anchor bolt on the retrieval speed, so as to control the displacement of the transverse anchor.

[0012] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising: At least one processor; and A memory that is communicatively connected to at least one processor; wherein, The memory stores a computer program that can be executed by at least one processor, such that the at least one processor is able to perform the transverse anchor displacement method of any embodiment of the present invention.

[0013] According to another aspect of the present invention, a computer-readable storage medium is provided, which stores computer instructions for causing a processor to execute and implement the shifting method of the transverse anchor according to any embodiment of the present invention.

[0014] According to another aspect of the present invention, a computer program product is provided, comprising a computer program that, when executed by a processor, implements the displacement method of a transverse anchor according to any embodiment of the present invention.

[0015] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A schematic flowchart illustrating a method for shifting a transverse anchor according to an embodiment of the present invention; Figure 2 This is another flowchart illustrating the method for shifting a transverse anchor provided in an embodiment of the present invention. Figure 3 An example diagram illustrating the sideline lateral movement process of a dredging vessel anchor shifting operation provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of the displacement device for the transverse anchor provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0018] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0019] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0020] Figure 1 This is a flowchart illustrating a method for shifting a transverse anchor according to an embodiment of the present invention. This embodiment is applicable to situations where the transverse anchor is automatically shifted during the edge-line process of an anchor shifting operation on a dredger. The method can be executed by a transverse anchor shifting device, which can be implemented in hardware and / or software and can be configured in electronic equipment. Optionally, the electronic equipment in this embodiment refers to equipment integrated into or installed on the dredger for controlling various construction equipment on the dredger, such as a central control system. Figure 1 As shown, the method includes: S101. Obtain the real-time transverse linear velocity of the dredger, and determine the cable laying speed based on the real-time transverse linear velocity and the length of the anchor bolt on the anchor bolt winch.

[0021] A dredger is a vessel that uses dredging equipment mounted on its hull to excavate, lift, move, and transport water droplets and sediment. In this embodiment, the dredger can be a cutter suction dredger, a grab dredger, or a dredger equipped with a transverse anchor. Specifically, the dredger is equipped with an anchor bolt winch, an anchor winch, and a transverse anchor. The transverse anchor is used to control the movement and positioning of the dredger in a direction perpendicular to the hull axis. The anchor bolt winch controls the position of the anchor bolt by retracting and extending the steel cable to adjust the position of the transverse anchor, providing positioning and fixation for the vessel during construction or berthing. The anchor winch is used to retrieve and extend the transverse anchor and anchor chain, and is a key piece of equipment for anchoring and dropping anchors. The real-time transverse linear velocity is the real-time transverse linear velocity of the dredger. The slit width is the length from the steel pile point of the dredger to the cutter head.

[0022] Specifically, the real-time lateral linear velocity of the dredger can be obtained through sensors on the dredger or the encoder of the lateral winch on the dredger. Since there is a correlation between the real-time lateral linear velocity, the lateral angular velocity, and the slab width of the dredger, and the cable-laying speed of the anchor bolt is related to the length of the anchor bolt, the lateral angular velocity of the dredger can be determined first based on the real-time lateral linear velocity and the slab width. Then, based on the lateral angular velocity and the length of the anchor bolt, the cable-laying speed of the anchor bolt can be predicted according to the current travel speed of the dredger, so that the lateral anchor can be accurately moved to the target position.

[0023] In this embodiment, the lateral angular velocity of the dredger is determined based on its real-time lateral linear velocity and slit width. Then, based on the length of the anchor bolt, the real-time speed at which the anchor bolt cable is released can be predicted to accurately move the lateral anchor to the target position. This enables accurate calculation of the anchor bolt cable release speed on the anchor bolt winch during the lateral movement of the dredger in this anchor-moving operation, providing an accurate swing speed basis for the accurate displacement of the lateral anchor.

[0024] S102. Obtain the cable take-up torque of the anchor winch, and determine the cable take-up speed based on the cable take-up torque, the remaining anchor cable length, the real-time lateral linear speed, and the slit width.

[0025] Among them, the cable retrieval torque is the torque exerted by the anchor winch on the wire rope during the real-time cable retrieval process.

[0026] Specifically, the anchor winch is used to control the raising and lowering of the traverse anchor during the process of deploying the anchor bolt and releasing the cable to control the swing and displacement of the traverse anchor. Therefore, it is necessary to obtain the real-time cable-reeling torque, and the remaining length of the anchor cable, i.e., the remaining anchor cable length, can be measured by sensors or the anchor winch encoder. Furthermore, since the control of the traverse anchor by the anchor winch is also based on the dredger's movement, the traverse angular velocity of the dredger can be determined based on the real-time traverse linear velocity and the slit width. Then, the cable-reeling speed of the anchor winch can be determined based on the dredger's traverse angular velocity, the cable-reeling torque, and the remaining anchor cable length.

[0027] In this embodiment, based on the determination of the dredger's travel status, i.e., the lateral angular velocity, and the real-time cable retrieval process of the anchor winch, i.e., based on the cable retrieval torque and the remaining length of the anchor cable, the cable retrieval speed of the anchor winch can be jointly determined. This ensures that during the dredger's travel, the cable retrieval speed of the anchor winch can be comprehensively determined based on the dredger's travel status and the real-time cable retrieval status, providing an accurate force state basis for achieving accurate displacement of the lateral anchor.

[0028] S103. Control the anchor bolt release speed on the anchor bolt winch and control the anchor retrieval speed to control the displacement of the transverse anchor.

[0029] Specifically, the anchor bolts on the anchor bolt winch are released according to the cable release speed, and the anchor retrieval winch is retrieved according to the cable retrieval speed, so as to achieve displacement control of the transverse anchor.

[0030] In this embodiment, the anchor bolt cable is released according to the calculated cable release speed, and the anchor winch is retrieved according to the calculated cable retrieval speed. This enables automated and real-time control of the cable retrieval speed of the anchor winch and the cable release speed of the anchor bolt cable car. This solves the problem of significant differences in construction quality and efficiency caused by the current method of controlling the movement of the transverse anchor based solely on the operator's construction experience and visual inspection. It reduces labor costs, increases the accuracy of the transverse anchor movement, ensures a balance between construction quality and efficiency, and further guarantees the safety and stability of the entire construction process.

[0031] The method for shifting a transverse anchor provided in this invention determines the transverse angular velocity of the dredger based on its real-time transverse linear velocity and slit width. Then, based on the anchor bolt length, it predicts the real-time speed at which the anchor bolt cable needs to be released to accurately move the transverse anchor to the target position. This allows for accurate calculation of the anchor bolt cable release speed on the anchor bolt winch during the transverse movement of the dredger in this anchor shifting operation, providing an accurate basis for the swing speed of the transverse anchor. Based on the dredger's transverse angular velocity, and according to the real-time cable retrieval process of the anchor winch (i.e., the retrieval torque and the remaining anchor cable length), the cable retrieval speed of the anchor winch can be jointly determined. This ensures that during the dredger's movement, the cable retrieval speed of the anchor winch can be comprehensively determined based on the dredger's movement and the real-time cable retrieval situation, providing an accurate basis for the force state of the transverse anchor. By controlling the cable laying of the anchor bolt according to the calculated cable laying speed and controlling the cable retrieval of the anchor winch according to the calculated cable retrieval speed, the cable retrieval speed of the anchor winch and the cable laying speed of the anchor bolt cable car can be automatically and in real time. This solves the problem that the current method of controlling the movement of the transverse anchor based solely on the operator's construction experience and visual inspection results in significant differences in construction quality and efficiency. It reduces labor costs, increases the accuracy of transverse anchor movement, ensures a balance between construction quality and efficiency, and further guarantees the safety and stability of the entire construction process.

[0032] Figure 2 This is another flowchart illustrating the method for shifting a transverse anchor provided in an embodiment of the present invention. Based on the above embodiments and other examples, this embodiment provides a detailed description of the steps for determining the cable-laying speed and the cable-retrieving speed. For example... Figure 2 As shown, the method includes: S201. Obtain the real-time lateral linear velocity of the dredger.

[0033] Specifically, the real-time lateral linear velocity V can be measured in real time using the encoder of the dredger's lateral winch during the dredger's movement. s .

[0034] S202, Obtain shift setting parameters.

[0035] The displacement setting parameters include the lateral anchor setting parameters and the working line setting parameters during the lateral movement process of the sideline in this anchor relocation operation.

[0036] Specifically, before the dredger carrying the transverse anchor begins its transverse anchor shifting operation, it is necessary to obtain preset shifting parameters, namely the transverse anchor setting parameters and the working line setting parameters. The transverse anchor setting parameters are those related to the transverse anchor, such as the anchor shifting direction (left or right anchor shift) and the anchor tension N. aw This includes setting the angle β of the outward-deployed anchor bolts; and setting the working line parameters, which are related to the working line, such as the left side line position, right side line position, and center line position. These displacement setting parameters can be determined and set based on the geographical location of the dredger, the terrain environment, and human experience. Therefore, during the dredger's initial movement, the set displacement setting parameters and real-time determined parameters, such as the real-time lateral velocity, can be directly used to calculate the parameters that need to be determined later.

[0037] S203. Determine the lateral angular velocity of the dredger based on the real-time lateral linear velocity and the slit width.

[0038] Specifically, after obtaining the real-time lateral linear velocity V s After dividing the dredger into sections with a width L1, the real-time lateral angular velocity ω during its movement can be calculated using the following formula. s : ; The strip width L1 is a fixed value.

[0039] S204. Determine the cable-laying angular velocity of the anchor rod based on the lateral angular velocity, displacement setting parameters, and real-time anchor rod extension angle.

[0040] Specifically, to ensure that the lateral anchor accurately reaches the anchor point during the mooring of the anchor bolt, preventing it from falling before the dredger reaches the designated edge line, the remaining time from the current moment until the dredger reaches the target edge line and the anchor bolt is in the extended position should be equal to the remaining time until the dredger reaches the edge line. This ensures that the anchor bolt gradually extends as the dredger moves, and that the extended angle of the anchor bolt precisely matches the set angle when the dredger reaches the edge line. Therefore, the mooring angular velocity of the anchor bolt can be determined based on the lateral angular velocity, displacement setting parameters, and real-time anchor bolt extension angle, as follows: (a) Determine the remaining angle based on the working line setting parameters and the real-time drift angle, and determine the remaining time based on the remaining angle and the lateral angular velocity.

[0041] The real-time drift angle is the angle between the dredger and the centerline of the set working line during the real-time lateral movement of the dredger to the edge line. In this embodiment, after determining the working line setting parameters, namely the left, center, and right lines of the working line, the set drift angle can be determined; the set drift angle is the angle between the dredger's orientation when it starts moving and the target edge line.

[0042] Specifically, the remaining time T1 for the dredger to move laterally to the edge line can be determined first, based on the set drift angle θ, the real-time drift angle Δθ, and the lateral angular velocity ω. s The remaining time T1 for the dredger to move laterally to the edge line is calculated according to the following formula: ; That is, first determine the remaining angle using the set drift angle θ and the real-time drift angle in the working line setting parameters, and then divide the remaining angle by the lateral angular velocity ω. s , thus obtaining the remaining time T1.

[0043] (ii) Determine the cable laying angular velocity based on the remaining time, the horizontal anchor setting parameters, and the real-time anchor bolt extension angle.

[0044] Specifically, to ensure that the remaining time T1 for the dredger to move laterally to the edge line is the same as the remaining time T2 for the dredger to move laterally to the target edge line and the anchor bolt is in the outward position (i.e., T2 = T1), the anchor bolt laying angular velocity ω can be determined based on the set outward anchor bolt angle β, the real-time outward anchor bolt angle Δβ, and the remaining time T2 (which is the same as the remaining time T1) in the lateral anchor setting parameters. ab The calculation formula is as follows: ; That is, according to the above formula, the angular velocity ω of the anchor bolt cable can be obtained. abThe angle difference can be obtained by subtracting the real-time anchor bolt extension angle △β from the set external anchor bolt extension angle β, and then dividing the angle difference by the remaining time T1 (since the remaining time T1 is known as mentioned above, and T2 can be directly taken to be the same as T1).

[0045] S205. Determine the cable laying speed based on the anchor bolt length and the cable laying angular velocity.

[0046] Specifically, after obtaining the cable-laying angular velocity, the cable-laying speed V can be directly calculated based on the following formula. ab : ; The length L2 of the anchor bolt is a fixed value.

[0047] Alternatively, the above calculation process can also be performed directly using the following formula: ; In this embodiment, to ensure that the anchor bolt's laying speed is precisely timed so that the anchor bolt's outward angle reaches the set angle when the dredger reaches the target edge, the remaining time for the dredger to reach the target edge is predicted based on the real-time calculated lateral angular velocity of the dredger. This remaining time is then determined as the time remaining until the dredger has moved to the target edge and the anchor bolt is in its outward position. Based on this, the anchor bolt's laying speed is calculated in reverse. This allows for real-time adjustment of the anchor bolt's laying speed according to the dredger's movement, providing an accurate control basis for the anchor winch to dynamically adjust the anchor bolt's laying speed and control the anchor bolt angle, thus ensuring a more accurate laying process.

[0048] S206. Obtain the cable winding torque of the anchor winch.

[0049] Specifically, during the cable retrieval process of the anchor winch, the force exerted by the anchor winch on the wire rope, i.e., the cable retrieval torque N, can be measured in real time. f .

[0050] S207. Determine the compensation coefficient based on the cable retrieval torque and the lateral anchor setting parameters.

[0051] Specifically, the lateral anchor setting parameters include the anchor tension N. aw The anchoring tension is the optimal tension determined based on specific working conditions and working depth. Therefore, during the actual anchoring winch cable retrieval process, the real-time measured cable retrieval torque can be compared with the anchoring tension to determine the compensation coefficient used for fine-tuning the cable retrieval speed.

[0052] For example, the compensation coefficient is determined based on the cable retrieval torque and the lateral anchor setting parameters, including: (a) Determine whether the cable take-up torque is greater than or equal to the anchor tension in the lateral anchor setting parameters.

[0053] Specifically, determine the cable winding torque N. f Is it greater than or equal to the anchor tension N? aw That is, N f ≥N aw If yes, then execute (II); if no, then execute (III).

[0054] (ii) If the cable pulling torque is greater than or equal to the anchoring tension, the first compensation coefficient shall be determined based on the terrain depth and the automatic control algorithm.

[0055] The first compensation coefficient is used to reduce the cable retrieval speed.

[0056] Specifically, if the cable retrieval torque is greater than or equal to the anchor tension, it indicates that the cable retrieval torque is large and the cable retrieval speed is high. Therefore, based on the terrain depth and the automatic control algorithm, namely the proportional-integral-derivative control algorithm, the system error of the anchor winch can be determined based on the difference between the cable retrieval torque and the anchor tension, and the first compensation coefficient used to reduce the cable retrieval speed can be calculated accordingly.

[0057] (iii) If the cable pulling torque is less than the anchor tension, the second compensation coefficient shall be determined based on the terrain depth and the automatic control algorithm.

[0058] The second compensation coefficient is used to increase the cable retrieval speed.

[0059] Specifically, if the cable retrieval torque is less than the anchor tension, it indicates that the cable retrieval torque is small and the cable retrieval speed is low. Therefore, a second compensation coefficient for increasing the cable retrieval speed can be determined based on the terrain depth and the automatic control algorithm, according to the difference between the cable retrieval torque and the anchor tension.

[0060] In this embodiment, the cable retrieval torque of the anchor winch is dynamically and in real time adjusted based on the difference between the real-time measured cable retrieval torque and the preset anchor tension using an automatic control algorithm, providing a basis for determining the cable retrieval speed thereafter.

[0061] S208. Determine the lateral angular velocity based on the real-time lateral linear velocity and the slit width.

[0062] Specifically, since the cable-reeling speed of the anchor winch is also related to the dredger's movement, it is necessary to first determine the dredger's lateral angular velocity when determining the anchor winch's cable-reeling speed. That is, the lateral angular velocity ω of the dredger can be obtained according to formula S203. s .

[0063] S209. Determine the cable take-up speed based on the compensation coefficient, lateral angular velocity, and remaining anchor cable length.

[0064] The remaining anchor cable length is the length of the remaining anchor cable to be retrieved, measured in real time during the anchor winch retrieval process. In this embodiment, the remaining anchor cable length can be obtained in real time through the encoder of the anchor winch.

[0065] Specifically, to ensure that the anchor cable is completely retrieved just as the dredger reaches the target edge line, the remaining anchor cable length L is determined. aw The compensation coefficient λ and the lateral angular velocity ω s Determine the cable take-up speed V aw It can be calculated using the following formula: ; In this embodiment, the cable retrieval speed of the anchor winch can be accurately determined based on the compensation coefficient, the lateral angular velocity, and the remaining anchor cable length. This ensures accurate anchoring of the lateral anchor during the lateral movement of the dredger, based on the real-time determined cable retrieval speed of the anchor winch, thus guaranteeing the accuracy of the lateral anchor's displacement.

[0066] S210. Control the anchor bolt release speed on the anchor bolt winch and control the anchor retrieval speed to control the displacement of the transverse anchor.

[0067] Specifically, after determining the cable-laying and retrieval speeds, the anchor bolt on the anchor bolt winch can be controlled to lay the cable according to the laying speed, and the anchor hoisting winch can be controlled to retrieve the cable according to the retrieval speed. This controls the displacement of the transverse anchor, ensuring that the anchor bolt is perpendicular to the anchor cable when the dredger reaches the target edge, and also maintaining a slightly slack state on the anchor cable throughout the process. By controlling the operation of the anchor bolt winch and the anchor hoisting winch using the determined cable-laying and retrieval speeds, the displacement of the transverse anchor can be controlled.

[0068] S211. Obtain the actual position of the dredger, and determine whether the dredger has reached the edge line corresponding to the anchoring direction based on the actual position, the anchoring direction in the transverse anchoring setting parameters, and the edge line position in the working line setting parameters; if yes, continue to execute S212; if no, return to execute S201.

[0069] The actual position refers to the real-time location of the dredger. The anchor shifting direction refers to shifting the anchor to port or starboard. The edge line positions refer to the respective positions of the left, center, and right edges.

[0070] Specifically, after determining the actual position of the dredger, the target boundary line can be determined based on the anchoring direction. If the anchoring direction is to the left, the target boundary line is the left side line; if the anchoring direction is to the right, the target boundary line is the right side line. Then, based on the real-time position and the position of the target boundary line, it can be determined whether the dredger has reached the boundary line corresponding to the anchoring direction.

[0071] Furthermore, if it is determined that the dredger has reached the edge line corresponding to the direction of anchor movement, S212 can be executed; otherwise, S201 can be executed again.

[0072] S212. Determine whether the real-time anchor bolt extension angle is the same as the horizontal anchor setting parameter and whether the remaining anchor cable length is zero. If the real-time anchor bolt extension angle is the same as the horizontal anchor setting parameter and the remaining anchor cable length is zero, then execute S213; otherwise, return to execute S201.

[0073] Specifically, in addition to determining whether the dredger has reached the corresponding edge line, it is also necessary to determine whether the real-time anchor bolt extension angle matches the set anchor bolt extension angle, and whether the remaining anchor cable length is zero. That is, S213 can only be executed when the dredger has reached the corresponding edge line, the real-time anchor bolt extension angle matches the set anchor bolt extension angle, and the remaining anchor cable length is zero. If any one of these conditions is not met, it is necessary to return to and execute S201.

[0074] S213. Determine that the relocation of the transverse anchor is completed during the transverse relocation process of this anchor relocation operation.

[0075] Specifically, when it is determined that the dredger has traveled to the corresponding edge line, the real-time anchor bolt extension angle is consistent with the set anchor bolt extension angle, and the remaining anchor cable length is zero, it can be determined that the displacement of the transverse anchor has ended during the edge line transverse movement process of this anchor shifting operation.

[0076] In this embodiment, it is first determined whether the dredger has traveled to the target edge line, and then the outward angle of the anchor bolt and the remaining length of the anchor cable are determined to meet the requirements. This allows for multiple accurate determinations of the lateral anchor movement process, ensuring the accuracy of the lateral anchor movement and avoiding reduced accuracy of the lateral anchor movement due to the dredger not reaching the designated position, the anchor bolt not reaching the set value, or the anchor cable not completing the anchoring.

[0077] For example, Figure 3 This is an example diagram illustrating the lateral movement process of a dredging vessel's anchor shifting operation according to an embodiment of the present invention. Figure 3 As shown in 'a', the displacement setting parameters can be determined based on the current orientation of the dredger as the centerline, according to the required lateral displacement distance or positioning. Figure 3 Taking rightward anchor movement as an example, the target edge is the right edge. And, in Figure 3Figure a shows the real-time parameters of the dredger, the anchoring cable of the anchoring winch, and the anchor bolt of the anchor bolting winch during the lateral movement of the anchorage in this anchor shifting operation, namely the real-time lateral movement linear velocity V. s Cable retrieval speed V aw Cable laying speed V ab And the real-time anchor bolt extension angle △β. The original anchor point is the location of the transverse anchor when the dredger has not yet begun to move. For example... Figure 3 As shown in b, after following the above steps to move the anchor to the right, once the dredger has reached the right starboard line, it can be determined whether the real-time anchor bolt extension angle Δβ is equal to the set anchor bolt extension angle β. For example... Figure 3 The real-time outward extension angle of the anchor bolt (b) is equal to β, and the anchor bolt length L2, strip width L1, real-time drift angle △θ, and new anchor point are shown. The new anchor point is the location of the lateral anchor after the anchor is moved.

[0078] Optionally, in this embodiment, if the working time exceeds the preset time when the anchor bolt winch and the anchor lifting winch are controlled according to the cable pulling speed and the cable releasing speed respectively, or if the dredger exceeds the target edge line, an over-limit and over-time alarm will be issued so that the staff can determine the specific situation of the winch and carry out maintenance.

[0079] Figure 4 This is a schematic diagram of the displacement device for the transverse anchor provided in an embodiment of the present invention. Figure 4 As shown, the dredger is equipped with an anchor bolt winch and an anchor lifting winch, and a transverse anchor is installed on the dredger; the device includes: The first determining module 401 is used to obtain the real-time transverse linear velocity of the dredger and determine the cable laying speed based on the real-time transverse linear velocity, the slitting width, and the length of the anchor bolt on the anchor bolt winch.

[0080] The second determining module 402 is used to obtain the cable take-up torque of the anchor winch and determine the cable take-up speed based on the cable take-up torque, the remaining anchor cable length, the real-time lateral linear velocity, and the slit width.

[0081] The control module 403 is used to control the release of the anchor bolt on the anchor bolt winch according to the release speed, and to control the take-up winch to take up the cable according to the take-up speed, so as to control the displacement of the transverse anchor.

[0082] Optionally, the first determining module 401 is specifically used for: Obtain the displacement setting parameters, which include the lateral anchor setting parameters and working line setting parameters during the lateral movement process of the current anchor shifting operation; determine the lateral angular velocity of the dredger based on the real-time lateral linear velocity and the slit width; determine the cable laying angular velocity of the anchor bolt based on the lateral angular velocity, the displacement setting parameters, and the real-time anchor bolt extension angle; and determine the cable laying speed based on the anchor bolt length and the cable laying angular velocity.

[0083] Optionally, the cable-laying angular velocity of the anchor bolt is determined based on the lateral angular velocity, the displacement setting parameters, and the real-time anchor bolt extension angle. The first determining module 401 is specifically used for: The remaining angle is determined based on the working line setting parameters and the real-time drift angle, and the remaining time is determined based on the remaining angle and the lateral angular velocity; the cable laying angular velocity is determined based on the remaining time, the lateral anchor setting parameters, and the real-time anchor bolt extension angle.

[0084] Optionally, the second determining module 402 is specifically used for: The compensation coefficient is determined based on the cable take-up torque and the lateral anchor setting parameters; the lateral angular velocity is determined based on the real-time lateral linear velocity and the slit width; and the cable take-up speed is determined based on the compensation coefficient, the lateral angular velocity, and the remaining anchor cable length.

[0085] Optionally, a compensation coefficient is determined based on the cable retrieval torque and the lateral anchor setting parameters. The second determining module 402 is specifically used for: Determine whether the cable retrieval torque is greater than or equal to the anchor tension in the lateral anchor setting parameters; if the cable retrieval torque is greater than or equal to the anchor tension, determine the first compensation coefficient based on the terrain depth and the automatic control algorithm, wherein the first compensation coefficient is used to reduce the cable retrieval speed; if the cable retrieval torque is less than the anchor tension, determine the second compensation coefficient based on the terrain depth and the automatic control algorithm, wherein the second compensation coefficient is used to increase the cable retrieval speed.

[0086] Optionally, the take-up speed is determined based on the compensation coefficient, the lateral angular velocity, and the remaining anchor cable length. The second determining module 402 is specifically used for: The remaining drift angle is determined based on the real-time drift angle and the target drift angle in the working line setting parameters; the cable take-up coefficient is determined based on the remaining anchor cable length and the remaining drift angle; and the cable take-up speed is determined based on the cable take-up coefficient, the compensation coefficient, and the lateral angular velocity.

[0087] Optionally, after controlling the anchor bolt release speed on the anchor bolt winch and controlling the anchor retrieval speed on the anchor retrieval winch, the control module 403 is further configured to: Obtain the actual position of the dredger, and based on the actual position, the anchoring direction in the lateral anchor setting parameters, and the edge line position in the working line setting parameters, determine whether the dredger has reached the edge line corresponding to the anchoring direction. If the dredger has not reached the edge line corresponding to the anchoring direction, return to the step of obtaining the real-time lateral linear velocity of the dredger. If the dredger has reached the edge line corresponding to the anchoring direction, determine whether the real-time anchor bolt extension angle is the same as the lateral anchor setting parameters and whether the remaining anchor cable length is zero. If the real-time anchor bolt extension angle is different from the lateral anchor setting parameters and / or the remaining anchor cable length is not zero, return to the step of obtaining the real-time lateral linear velocity of the dredger. If the real-time anchor bolt extension angle is the same as the lateral anchor setting parameters and the remaining anchor cable length is zero, determine that the movement of the lateral anchor has ended in the edge line lateral movement process of this anchoring operation.

[0088] The transverse anchor displacement device provided in the embodiments of the present invention can execute the transverse anchor displacement method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the method execution.

[0089] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. In this embodiment, the electronic device can be a control device installed on a dredger. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0090] like Figure 5 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0091] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0092] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the shifting method of a transverse anchor.

[0093] In some embodiments, the method for shifting the transverse anchor can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or mounted on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the method for shifting the transverse anchor described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform the method for shifting the transverse anchor by any other suitable means (e.g., by means of firmware).

[0094] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0095] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0096] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0097] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0098] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0099] A computing system can include clients and servers. Clients and servers are generally geographically separated and typically interact via communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0100] This invention also provides a computer program product, including a computer program that, when executed by a processor, implements the displacement method of the transverse anchor as provided in any embodiment of this invention.

[0101] In implementing the computer program product, computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof. Programming languages ​​include object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0102] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0103] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for displacing a transverse anchor, characterized in that, The dredger is equipped with an anchor bolt winch and an anchor lifting winch, and the dredger is also equipped with a transverse anchor; the method includes: Obtain the real-time lateral linear velocity V of the dredger. s The cable laying speed V is determined based on the real-time lateral linear velocity, the slitting width L1, and the anchor bolt length L2 on the anchor bolt winch. ab , ; The working lines of the dredger include the left side line, the right side line, and the center line. The drift angle θ is set as the angle between the orientation of the dredger when it starts to move and the orientation when it rotates to the target edge line. The real-time drift angle △θ is the angle between the dredger and the center line during the real-time lateral movement to the target edge line. β is the set angle of the outward release of the anchor bolt, and △β is the real-time angle of the outward release of the anchor bolt. Obtain the cable-reeling torque of the anchor winch, and based on the cable-reeling torque and the remaining anchor cable length L... aw The real-time lateral linear velocity and the slit width determine the cable take-up speed V. aw , ; Of which, the remaining anchor cable length L aw The remaining length of the anchor cable to be retrieved, measured in real time during the anchor winch retrieval process; the compensation coefficient λ is used for fine-tuning the retrieval speed; the lateral angular velocity... ; The anchor bolt on the anchor bolt winch is controlled to release the anchor bolt according to the cable release speed, and the anchor lifting winch is controlled to lift the anchor bolt according to the cable retrieval speed, so as to control the displacement of the transverse anchor. When the dredger rotates to the target edge line, the anchor bolt rotates to the set angle for extending the anchor bolt, and the remaining length of the anchor cable is zero, the anchor bolt is perpendicular to the anchor cable, and the anchor cable is kept slightly slack throughout the rotation.

2. The method according to claim 1, characterized in that, The compensation coefficient λ is determined by the following steps: Determine whether the cable take-up torque is greater than or equal to the anchoring tension, wherein the anchoring tension is the optimal tension for anchoring determined based on the specific working conditions and working depth; If the cable retrieval torque is greater than or equal to the anchor tension, a first compensation coefficient is determined based on the terrain depth and the automatic control algorithm, wherein the first compensation coefficient is used to reduce the cable retrieval speed. If the cable retrieval torque is less than the anchor tension, a second compensation coefficient is determined based on the terrain depth and the automatic control algorithm, wherein the second compensation coefficient is used to increase the cable retrieval speed.

3. The method according to claim 1, characterized in that, After controlling the anchor bolt release speed of the anchor bolt winch and controlling the anchor retrieval speed of the anchor retrieval winch, the method further includes: The actual position of the dredger is obtained, and based on the actual position, anchoring direction, and edge line position, it is determined whether the dredger has reached the edge line corresponding to the anchoring direction. If the dredger does not reach the edge line corresponding to the anchoring direction, then return to the step of obtaining the real-time lateral linear velocity of the dredger; If the dredger reaches the edge line corresponding to the anchor shifting direction, then determine whether the real-time anchor bolt extension angle is the same as the set anchor bolt extension angle and whether the remaining anchor cable length is zero. If the real-time anchor bolt extension angle is not the same as the set anchor bolt extension angle and / or the remaining anchor cable length is not zero, then return to the step of obtaining the real-time lateral linear velocity of the dredger. If the real-time anchor bolt extension angle is the same as the set anchor bolt extension angle, and the remaining anchor cable length is zero, then the relocation of the lateral anchor is determined to be completed during the lateral movement process of the current anchor relocation operation.

4. A displacement device for a transverse anchor, characterized in that, A method for performing the displacement of a transverse anchor as described in any one of claims 1 to 3, characterized in that the dredger is equipped with an anchor bolt winch and an anchor lifting winch, and the dredger is provided with a transverse anchor; the device comprises: The first determining module is used to obtain the real-time lateral linear velocity of the dredger and determine the cable laying speed based on the real-time lateral linear velocity, the slit width, and the length of the anchor bolt on the anchor bolt winch. The second determining module is used to obtain the cable take-up torque of the anchor winch, and determine the cable take-up speed based on the cable take-up torque, the remaining anchor cable length, the real-time lateral linear velocity, and the slit width. The control module is used to control the release of the anchor bolt on the anchor bolt winch according to the release speed, and to control the take-up winch to take up the cable according to the take-up speed, so as to control the displacement of the transverse anchor.

5. An electronic device, characterized in that, include: One or more processors; Memory, used to store one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the displacement method of the transverse anchor as described in any one of claims 1 to 3.

6. A readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the displacement method of the transverse anchor as described in any one of claims 1 to 3.

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