Anchoring system control method and device and anchoring system

Abstract

The invention belongs to the technical field of anchoring systems, and discloses an anchoring system control method and device and an anchoring system.The anchoring system control method comprises the steps that anchoring is started; the anchoring speed is obtained, and the current, the voltage and the borne pressure of a windlass power device are obtained; the parameters are compared with corresponding preset values, when any one of the parameters exceeds the corresponding preset value, first-level warning information is sent out to remind an operator to take related control measures as soon as possible, and then after it is determined that the operator does not take operation within first preset time after the first-level warning information is sent out, the first-level warning information is sent out to remind the operator to take control measures as soon as possible. In addition, due to the fact that an operator does not operate due to the unattended operation problem and the like, anchoring is stopped, and the situation that damage to anchoring system equipment is aggravated is avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of anchoring system, and particularly relates to an anchoring system control method and device and the anchoring system. BACKGROUND

[0002] The anchoring system of a ship is realized by the combined action of the holding force generated by the anchor fluke embedded in the seabed and the friction force of the anchor chain.

[0003] At present, the anchoring system is usually manually controlled, and the intelligent degree is low. For this problem, the related technology provides an anchor throwing control method, which receives the anchor throwing instruction sent by the control system of the ship, obtains the environmental information of the current position of the ship, calculates the anchor throwing length according to the environmental information, and controls the anchor windlass to throw the anchor according to the anchor throwing length and the preset anchor throwing speed. The anchor throwing control method can realize automatic anchor throwing and stop the anchor throwing when the anchor throwing length reaches the preset value. However, the problem is that whether the anchor throwing is stopped only depends on whether the anchor throwing length reaches the preset value. If an emergency occurs during the anchor throwing process, the anchoring system cannot immediately respond, which may cause damage to the anchoring system equipment. SUMMARY

[0004] According to one aspect of the present application, an anchoring system control method is provided to solve the problem that the anchoring system cannot immediately respond if an emergency occurs during the anchor throwing process in the related technology, which may cause damage to the anchoring system equipment.

[0005] To achieve the above purpose, the following technical solutions are adopted in the present application:

[0006] The anchoring system control method is implemented by an anchoring system, the anchoring system comprising an anchor fluke, an anchor chain connected to the anchor fluke, and an anchor windlass for driving the anchor chain to move; the anchor windlass comprising an anchor windlass body capable of cooperating with the anchor chain and an anchor windlass power device for driving the anchor windlass body to work;

[0007] The anchoring system control method comprises:

[0008] S110: starting anchor throwing;

[0009] S120: obtaining an anchor throwing speed, and obtaining the current, voltage and pressure of the anchor windlass power device;

[0010] S130: comparing the size of the anchor throwing speed with a first preset speed, comparing the size of the current of the anchor windlass power device with a first preset current, comparing the size of the voltage of the anchor windlass power device with a first preset voltage, and comparing the size of the pressure of the anchor windlass power device with a first preset pressure;

[0011] If any one of the following conditions is met, step S140 is executed:

[0012] the speed of throwing the anchor is greater than the first preset speed; the current of the anchor engine power device is greater than the first preset current; the voltage of the anchor engine power device is greater than the first preset voltage; the pressure on the anchor engine power device is greater than the first preset pressure;

[0013] S140: issuing a first warning information;

[0014] S150: determining that the operator does not take operation within the first preset time after the first warning information is issued;

[0015] S160: stopping throwing the anchor.

[0016] As a preferred scheme of the anchoring system control method, in step S130, if the speed of throwing the anchor is not greater than the first preset speed, the current of the anchor engine power device is not greater than the first preset current, the voltage of the anchor engine power device is not greater than the first preset voltage, and the pressure on the anchor engine power device is not greater than the first preset pressure, step S210 is executed.

[0017] S210: comparing the speed of throwing the anchor with the second preset speed, comparing the current of the anchor engine power device with the second preset current, comparing the voltage of the anchor engine power device with the second preset voltage, and comparing the pressure on the anchor engine power device with the second preset pressure; wherein the first preset speed is greater than the second preset speed, the first preset current is greater than the second preset current, the first preset voltage is greater than the second preset voltage, and the first preset pressure is greater than the second preset pressure.

[0018] If any one of the following conditions is met, step S220 is executed:

[0019] the speed of throwing the anchor is greater than the second preset speed; the current of the anchor engine power device is greater than the second preset current; the voltage of the anchor engine power device is greater than the second preset voltage; the pressure on the anchor engine power device is greater than the second preset pressure;

[0020] S220: issuing a second warning information;

[0021] S230: determining that the operator does not take operation within the second preset time after the second warning information is issued;

[0022] S240: stopping throwing the anchor.

[0023] As a preferred scheme of the anchoring system control method, further comprising, after step S110:

[0024] S310: obtaining the length of the anchor chain being thrown.

[0025] S320: comparing the length of the anchor chain being thrown with the target length of throwing;

[0026] If the length of the anchor chain being thrown is not less than the target length of throwing, step S160 is performed.

[0027] As a preferred solution of the anchoring system control method, the anchoring system further comprises an anchor releaser, one end of the anchor chain away from the fluke is installed on the anchor releaser, the anchor releaser can disconnect the connection with the anchor chain to complete the anchor releasing;

[0028] The anchoring system control method further comprises, after step S120:

[0029] S410: comparing the anchor throwing speed with a third preset speed, comparing the current of the anchor engine power device with a third preset current, comparing the voltage of the anchor engine power device with a third preset voltage, and comparing the pressure on the anchor engine power device with a third preset pressure;

[0030] If any three or four of the following conditions are met, step S410 is performed:

[0031] The anchor throwing speed is greater than the third preset speed; the current of the anchor engine power device is greater than the third preset current; the voltage of the anchor engine power device is greater than the third preset voltage; and the pressure on the anchor engine power device is greater than the third preset pressure;

[0032] S420: issuing an anchor releasing prompt information;

[0033] S430: determining that the operator does not take operation within a preset time after the anchor releasing prompt information is issued;

[0034] S440: releasing the anchor.

[0035] As a preferred solution of the anchoring system control method, the anchoring system further comprises a chain stopper, the chain stopper comprises a chain stopper body and a chain stopper shutter movably arranged on the chain stopper body, when the chain stopper shutter is lowered, the shutter can prevent the anchor chain from moving;

[0036] The anchoring system control method further comprises, after step S120:

[0037] S510: obtaining the pressure on the chain stopper shutter;

[0038] S520: comparing the pressure on the chain stopper shutter with a first pressure threshold;

[0039] If the pressure on the brake vane is greater than the first pressure threshold, step S440 is performed.

[0040] As a preferred solution of the anchoring system control method, if the pressure on the brake vane is not greater than the first pressure threshold, step S520, step S530 is performed.

[0041] S530: comparing the pressure on the brake vane with a second pressure threshold; wherein the first pressure threshold is greater than the second pressure threshold;

[0042] If the pressure on the brake vane is greater than the second pressure threshold, step S420 is performed.

[0043] According to another aspect of the present application, there is provided an anchoring system control device, implemented by an anchoring system, the anchoring system comprising an anchor fluke, an anchor chain connected to the anchor fluke, and an anchor winch for driving the anchor chain to move; the anchor winch comprising an anchor winch body capable of cooperating with the anchor chain, and an anchor winch power device for driving the anchor winch body to work;

[0044] The anchoring system control device comprises:

[0045] An anchoring starting control module for controlling anchoring starting;

[0046] A parameter acquisition module for acquiring an anchoring speed, and acquiring a current, a voltage and a pressure of the anchor winch power device;

[0047] A parameter comparison module for comparing the anchoring speed with a first preset speed, comparing the current of the anchor winch power device with a first preset current, comparing the voltage of the anchor winch power device with a first preset voltage, and comparing the pressure of the anchor winch power device with a first preset pressure;

[0048] A first warning information issuing module for issuing a first warning information when any one of the following conditions is met: the anchoring speed is greater than the first preset speed; the current of the anchor winch power device is greater than the first preset current; the voltage of the anchor winch power device is greater than the first preset voltage; and the pressure of the anchor winch power device is greater than the first preset pressure;

[0049] A no-operation determination module for determining that an operator has not taken an operation within a first preset time after the first warning information is issued;

[0050] An anchoring stopping control module for controlling anchoring stopping.

[0051] According to another aspect of the present application, there is provided an anchoring system, comprising an anchor fluke, an anchor chain connected to the anchor fluke, and an anchor windlass for driving the anchor chain to move; the anchor windlass comprises an anchor windlass body capable of cooperating with the anchor chain, and an anchor windlass power device for driving the anchor windlass body to work; the anchoring system further comprises:

[0052] a controller;

[0053] a speed sensor connected in communication with the controller, the speed sensor being configured to detect a moving speed of the anchor chain;

[0054] a pressure sensor disposed on the anchor windlass power device and connected in communication with the controller, the pressure sensor being configured to detect a pressure applied to the anchor windlass power device;

[0055] a memory configured to store one or more programs;

[0056] when the one or more programs are executed by the controller, the controller is caused to control the anchoring system to implement the anchoring system control method as described above.

[0057] As a preferred solution of the anchoring system, the anchoring system further comprises a remote communication system, the speed sensor is configured to send the detected moving speed of the anchor chain to the remote communication system; the pressure sensor is configured to send the detected pressure applied to the anchor windlass power device to the remote communication system; and the remote communication system is configured to send the moving speed of the anchor chain, the current of the anchor windlass power device, the voltage of the anchor windlass power device, and the pressure applied to the anchor windlass power device to the controller.

[0058] As a preferred solution of the anchoring system, the anchoring system further comprises an anchor tripping device and a chain stopper, an end of the anchor chain away from the anchor fluke is installed on the anchor tripping device, the anchor tripping device is capable of disconnecting the connection with the anchor chain to complete the tripping of the anchor; the chain stopper comprises a chain stopper body and a chain stopper shutter movably disposed on the chain stopper body, when the chain stopper shutter is lowered, the shutter is capable of preventing the anchor chain from moving.

[0059] The present application has the following advantages:

[0060] The application provides an anchoring system control method, device and anchoring system. The anchoring system control method is implemented by the anchoring system, which comprises an anchor claw, an anchor chain connected to the anchor claw and an anchor winch for driving the anchor chain to move. The anchor winch comprises an anchor winch body capable of cooperating with the anchor chain and an anchor winch power device for driving the anchor winch body to work. In the anchoring system control method, the anchoring is started; the anchoring speed is obtained, and the current, voltage and pressure of the anchor winch power device are obtained; the anchoring speed is compared with the first preset speed, the current of the anchor winch power device is compared with the first preset current, the voltage of the anchor winch power device is compared with the first preset voltage, and the pressure of the anchor winch power device is compared with the first preset pressure; if any one of the following conditions is met, a first warning information is sent: the anchoring speed is greater than the first preset speed; the current of the anchor winch power device is greater than the first preset current; the voltage of the anchor winch power device is greater than the first preset voltage; and the pressure of the anchor winch power device is greater than the first preset pressure. When any one of the anchoring speed, the current of the anchor winch power device, the voltage of the anchor winch power device and the pressure of the anchor winch power device exceeds the corresponding preset value, it indicates that the anchoring system may have a certain fault at this time, and the anchoring may need to be stopped and the maintenance started. Through the step, when any one of the above parameters exceeds the corresponding preset value, the first warning information is sent to remind the operator to take relevant control measures as soon as possible. Subsequently, it is determined that the operator does not take operation within the first preset time after the first warning information is sent, which indicates that the first warning information has been sent for a period of time, and in addition, the operator may not operate due to no personnel on duty and other problems, so the anchoring is stopped to avoid the damage of the anchoring system equipment. BRIEF DESCRIPTION OF DRAWINGS

[0061] Figure 1 is the first structural schematic diagram of the anchoring system in the embodiment of the application;

[0062] Figure 2 is the first flow chart of the anchoring system control method in the embodiment of the application;

[0063] Figure 3 is the second flow chart of the anchoring system control method in the embodiment of the application;

[0064] Figure 4 is the third flow chart of the anchoring system control method in the embodiment of the application;

[0065] Figure 5 is the fourth flow chart of the anchoring system control method in the embodiment of the application;

[0066] Figure 6 is the fifth flow chart of the anchoring system control method in the embodiment of the application;

[0067] Figure 7is a structural schematic diagram of an anchor system control device in an embodiment of the present application;

[0068] Figure 8 is a second structural schematic diagram of an anchor system in an embodiment of the present application.

[0069] in the figure:

[0070] 1, fluke; 2, anchor chain; 3, windlass; 4, anchor release; 5, chain stopper; 6, anchor deck;

[0071] 610, anchor throwing start control module; 620, parameter acquisition module; 630, parameter comparison module; 640, first warning information sending module; 650, no operation determination module; 660, anchor throwing stop control module;

[0072] 710, controller; 720, memory; 730, speed sensor; 740, pressure sensor; 750, remote communication system; 751, windlass control box; 752, anchor release control box; 753, chain stopper control box. DETAILED DESCRIPTION

[0073] The present application will be further described below in conjunction with the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present application, and not to limit the present application. In addition, it should be noted that, for the convenience of description, only the parts related to the present application are shown in the drawings, not all the structures.

[0074] In the description of the present application, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0075] In the present application, unless otherwise explicitly specified and limited, the "upper" or "lower" of the first feature to the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the "upper", "above" and "above" of the first feature to the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The "below", "below" and "below" of the first feature to the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0076] In the description of this embodiment, the terms "upper," "lower," "left," and "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0077] Example 1

[0078] Currently, anchoring systems are typically manually operated, resulting in low levels of automation. To address this, a new anchoring control method has been developed. This method receives anchoring commands from the ship's control system; acquires environmental information about the ship's current position; calculates the anchoring length based on this information; and controls the anchor winch to anchor according to the anchoring length and a preset anchoring speed. This method enables automated anchoring and stops when the preset anchoring length is reached. However, a problem exists: anchoring stops solely based on whether the preset length has been reached. During anchoring, in case of an emergency, the anchoring system may not be able to react immediately, potentially leading to equipment damage.

[0079] To address this issue, this embodiment provides a mooring system control method to solve the problem that, in the event of an emergency during anchoring, the mooring system may fail to react immediately, potentially leading to equipment damage. This method is applicable to the field of mooring system technology. Specifically, the mooring system can be applied to ships, and also to other types of offshore structures. The mooring system control method can be executed by a mooring system control device, which can be implemented through software and / or hardware and integrated into the ship or offshore structure.

[0080] The mooring system control method is implemented through the mooring system, referring to... Figure 1 The mooring system includes an anchor claw 1, an anchor chain 2 connected to the anchor claw 1, and an anchor winch 3 for driving the anchor chain 2. The anchor winch 3 includes an anchor winch body that can cooperate with the anchor chain 2 and an anchor winch power device for driving the anchor winch body to work. The anchor winch body can be controlled to work or stop working by controlling the anchor winch power device, thereby driving the anchor chain 2 to extend to start anchoring, or controlling the anchor chain 2 to stop moving to stop anchoring.

[0081] Reference Figure 2 The anchoring system control method includes the following steps.

[0082] S110: Anchoring begins.

[0083] Specifically, the anchor winch body is driven by the anchor winch power unit to extend the anchor chain 2, thereby starting the anchoring process.

[0084] S120: obtaining the speed of throwing the anchor and obtaining the current, voltage and pressure of the anchor power device.

[0085] The speed of throwing the anchor can be obtained by a speed sensor; the current and voltage of the anchor power device can be obtained by reading the detection data of the control device of the anchor power device; and the pressure of the anchor power device can be obtained by a pressure sensor arranged on the anchor power device.

[0086] S130: comparing the speed of throwing the anchor with the first preset speed, comparing the current of the anchor power device with the first preset current, comparing the voltage of the anchor power device with the first preset voltage, and comparing the pressure of the anchor power device with the first preset pressure.

[0087] If any of the following conditions is met, step S140 is performed: the speed of throwing the anchor is greater than the first preset speed; the current of the anchor power device is greater than the first preset current; the voltage of the anchor power device is greater than the first preset voltage; and the pressure of the anchor power device is greater than the first preset pressure. The first preset speed, the first preset current, the first preset voltage and the first preset pressure can be pre-set according to actual conditions and stored in the controller.

[0088] If the speed of throwing the anchor is greater than the first preset speed, it indicates that the extension speed of the anchor chain 2 is too fast; if the current of the anchor power device is greater than the first preset current or the voltage of the anchor power device is greater than the first preset voltage, it indicates that the load of the anchor power device is too large; and if the pressure of the anchor power device is greater than the first preset pressure, it indicates that the anchor power device and the anchor chain 2 both bear a large pressure. Any of the above conditions indicates that the mooring system is abnormal at this time, and the operator needs to be reminded immediately.

[0089] S140: issuing a first warning information.

[0090] The first warning information can be sound and light information.

[0091] Through this step, when any of the above parameters exceeds the corresponding preset value, the first warning information is issued to remind the operator to take relevant control measures as soon as possible.

[0092] S150: determining that the operator has not taken operation within the first preset time after the first warning information is issued.

[0093] Specifically, after the first warning information is issued, the timer in the controller starts timing, and when the time of the timer reaches the first preset time, the operator has not taken operation, i.e., it is determined that the operator has not taken operation within the first preset time after the first warning information is issued.

[0094] S160: stop throwing anchor.

[0095] If it is determined that the operator does not take any action within the first preset time after the first warning information is sent, it indicates that the first warning information has been sent for a period of time, and in addition, the operator may not operate due to no personnel on duty and other problems, so the throwing anchor is stopped to avoid further damage to the mooring system equipment.

[0096] Referring to Figure 3 In step S130, if the throwing anchor speed is not greater than the first preset speed, the current of the anchor engine power device is not greater than the first preset current, the voltage of the anchor engine power device is not greater than the first preset voltage, and the pressure on the anchor engine power device is not greater than the first preset pressure, it indicates that there is no significant abnormality in the mooring system at this time, and the working condition of the mooring system needs to be further judged, so step S210 is executed.

[0097] S210: compare the throwing anchor speed with the second preset speed, compare the current of the anchor engine power device with the second preset current, compare the voltage of the anchor engine power device with the second preset voltage, and compare the pressure on the anchor engine power device with the second preset pressure. The first preset speed is greater than the second preset speed, the first preset current is greater than the second preset current, the first preset voltage is greater than the second preset voltage, and the first preset pressure is greater than the second preset pressure. In addition, the second preset speed, the second preset current, the second preset voltage, and the second preset pressure can be preset according to actual conditions and stored in the controller.

[0098] If any of the following conditions is met, step S220 is executed: the throwing anchor speed is greater than the second preset speed; the current of the anchor engine power device is greater than the second preset current; the voltage of the anchor engine power device is greater than the second preset voltage; and the pressure on the anchor engine power device is greater than the second preset pressure.

[0099] If the throwing anchor speed is greater than the second preset speed, it indicates that the extension speed of the anchor chain 2 is higher than the normal value although it does not reach the first preset speed; if the current of the anchor engine power device is greater than the second preset current, or the voltage of the anchor engine power device is greater than the second preset voltage, it indicates that the load of the anchor engine power device is not too large, but it is still not within the normal range; if the pressure on the anchor engine power device is greater than the second preset pressure, it indicates that the pressure on the anchor engine power device and the anchor chain 2 is still higher than the range of pressure during normal operation although it does not reach the first preset pressure. Any of the above conditions indicates that the mooring system is not in a normal working state at this time although there is no significant abnormality, and the operator still needs to be reminded.

[0100] S220: send second warning information.

[0101] The secondary warning information can be sound and light information. It can be understood that the secondary warning information should be weaker than the primary warning information, and specifically, the alarm sound of the secondary warning information can be weaker than that of the primary warning information, or the flashing frequency of the light of the secondary warning information can be lower than that of the primary warning information.

[0102] S230: determining that the operator does not take operation within a second preset time after the secondary warning information is issued.

[0103] Specifically, after the secondary warning information is issued, a timer inside the controller starts timing, and when the time of the timer reaches the second preset time, the operator still does not take operation, that is, it is determined that the operator does not take operation within the second preset time after the secondary warning information is issued.

[0104] S240: stopping the anchor throwing.

[0105] The determination that the operator does not take operation within the second preset time after the secondary warning information is issued indicates that the secondary warning information has been issued for a period of time, and in addition, the operator may not operate due to problems such as no personnel on duty, so the anchor throwing is stopped to avoid further damage to the mooring system equipment.

[0106] It can be understood that since the emergency degree of the abnormal situation corresponding to the secondary warning information is weaker than that of the abnormal situation corresponding to the primary warning information, the second preset time should be longer than the first preset time.

[0107] Referring to Figure 4 , the mooring system control method further includes steps S310-S320 after step S110. Optionally, step S310 is executed synchronously with step S120.

[0108] S310: obtaining the length of the anchor chain 2 being thrown.

[0109] In the anchor body, the anchor chain 2 specifically cooperates with the chain wheel and is driven by the chain wheel to extend the anchor chain 2, so the length of the anchor chain 2 being thrown can be indirectly obtained by obtaining the number of revolutions of the chain wheel of the anchor body and the diameter of the chain wheel.

[0110] S320: comparing the length of the anchor chain 2 being thrown with the target throwing length.

[0111] If the length of the anchor chain 2 being thrown is not less than the target throwing length, it indicates that the anchor chain 2 has been thrown to the predetermined length, and thus step S160 is executed, that is, the anchor throwing is stopped.

[0112] Optionally, the anchoring system further comprises an anchor releaser 4, the end of the anchor chain 2 away from the anchor fluke 1 is installed on the anchor releaser 4, and the anchor releaser 4 can disconnect the connection with the anchor chain 2 to complete the anchor release. The specific structure and working principle of the anchor releaser 4 are relatively conventional in the art, and will not be described in detail.

[0113] With reference to Figure 5 The anchoring system control method further comprises steps S410-S440 after step S120. Optionally, step S410 is started to be executed synchronously with step S130.

[0114] S410: comparing the size of the anchor throwing speed with the third preset speed, comparing the size of the current of the anchor handling power device with the third preset current, comparing the size of the voltage of the anchor handling power device with the third preset voltage, and comparing the size of the pressure on the anchor handling power device with the third preset pressure. The third preset speed is not less than the first preset speed; the third preset current is not less than the first preset current; the third preset voltage is not less than the first preset voltage; and the third preset pressure is not less than the first preset pressure. In this embodiment, the third preset speed is equal to the first preset speed; the third preset current is equal to the first preset current; the third preset voltage is equal to the first preset voltage; and the third preset pressure is equal to the first preset pressure.

[0115] If any three or four of the following conditions are met, step S410 is executed: the anchor throwing speed is greater than the third preset speed; the current of the anchor handling power device is greater than the third preset current; the voltage of the anchor handling power device is greater than the third preset voltage; and the pressure on the anchor handling power device is greater than the third preset pressure.

[0116] If three or four of the above conditions are met, it indicates that there are more abnormal situations in the operation parameters of the anchoring system at this time, which is generally caused by an emergency situation, and the operator needs to judge whether to release the anchor, so step S420 is executed.

[0117] S420: issuing an anchor release prompt information.

[0118] The anchor release prompt information can be sound and light information.

[0119] S430: determining that the operator has not taken any operation within a preset time after the anchor release prompt information is issued.

[0120] Specifically, after the anchor release prompt information is issued, a timer inside the controller starts timing, and when the time of the timer reaches the preset time, the operator has not taken any operation, that is, it is determined that the operator has not taken any operation within the preset time after the anchor release prompt information is issued.

[0121] S440: releasing the anchor.

[0122] If the operator does not take any action within the preset time after the anchor abandonment prompt information is sent, it indicates that the anchor abandonment prompt information has been sent for a period of time, and the operator may not take any action due to no one on duty or other issues. At this time, the situation is relatively urgent, and the anchor should be abandoned immediately to avoid the abnormal situation of the mooring system endangering the ship.

[0123] Optionally, the mooring system further comprises a chain stopper 5, the chain stopper 5 comprising a chain stopper body and a chain stopper brake movably arranged on the chain stopper body, and the brake can prevent the anchor chain 2 from moving when the brake is lowered. The specific structure and working principle of the chain stopper 5 are relatively conventional in the field, and will not be described in detail.

[0124] With reference to Figure 6 , the mooring system control method further comprises steps S510-S530 after step S110. Optionally, step S510 is executed synchronously with step S120.

[0125] S510: Obtain the pressure on the chain stopper brake.

[0126] The pressure on the chain stopper brake can be obtained by a pressure sensor arranged on the chain stopper brake.

[0127] S520: Compare the pressure on the chain stopper brake with the first pressure threshold.

[0128] If the pressure on the chain stopper brake is greater than the first pressure threshold, it indicates that the pressure on the chain stopper brake is relatively large at this time, and the situation that can cause the chain stopper brake to bear a relatively large pressure is generally that a major failure of the mooring system occurs, and thus step S440 is executed, i.e., the anchor is directly abandoned.

[0129] The first pressure threshold is the maximum pressure that the chain stopper brake can bear.

[0130] Optionally, in step S520, if the pressure on the chain stopper brake is not greater than the first pressure threshold, it is further determined whether the pressure on the chain stopper brake is within a normal range, and thus step S530 is executed.

[0131] S530: Compare the pressure on the chain stopper brake with the second pressure threshold; the first pressure threshold is greater than the second pressure threshold, and the first pressure threshold and the second pressure threshold can be preset according to actual conditions and stored in the controller.

[0132] If the pressure on the chain stopper brake is greater than the second pressure threshold, it indicates that the pressure on the chain stopper brake is still not within the normal range at this time, and thus step S420 is executed, i.e., the anchor abandonment prompt information is sent, and the anchor is abandoned immediately when it is determined that the operator does not take any action within the preset time after the anchor abandonment prompt information is sent.

[0133] The anchor mooring system control method provided by the embodiment can achieve the following effects:

[0134] 1) After starting to throw the anchor, the anchor throwing speed is obtained, and the current, voltage and pressure of the anchor machine power device are obtained. The anchor throwing speed is compared with the first preset speed, the current of the anchor machine power device is compared with the first preset current, the voltage of the anchor machine power device is compared with the first preset voltage, and the pressure of the anchor machine power device is compared with the first preset pressure. When any of the above parameters exceeds the corresponding preset value, a first warning information is sent to remind the operator to take relevant control measures as soon as possible. In addition, after the first warning information is sent, if the operator does not take operation within the first preset time, the anchor throwing is stopped to avoid the damage of the anchor mooring system equipment from being aggravated;

[0135] 2) If the anchor throwing speed is not greater than the first preset speed, the current of the anchor machine power device is not greater than the first preset current, the voltage of the anchor machine power device is not greater than the first preset voltage, and the pressure of the anchor machine power device is not greater than the first preset pressure, the working condition of the anchor mooring system is further judged, that is, the anchor throwing speed is compared with the second preset speed, the current of the anchor machine power device is compared with the second preset current, the voltage of the anchor machine power device is compared with the second preset voltage, and the pressure of the anchor machine power device is compared with the second preset pressure. When any of the above conditions occurs, it indicates that the anchor mooring system does not exist significant abnormalities at this time, but is still not in a normal working state, so the operator is still reminded, that is, a second warning information is sent. In addition, after the second warning information is sent, if the operator does not take operation within the second preset time, the anchor throwing is stopped to avoid the damage of the anchor mooring system equipment from being aggravated;

[0136] 3) After starting to throw the anchor, the length of the anchor chain 2 thrown is obtained, and the length of the anchor chain 2 thrown is compared with the target throwing length. If the length of the anchor chain 2 thrown is not less than the target throwing length, that is, the anchor chain 2 has been thrown to the predetermined length, the anchor throwing is stopped;

[0137] 4) After obtaining the anchor throwing speed, the current, voltage and pressure of the anchor machine power device, the anchor throwing speed is compared with the third preset speed, the current of the anchor machine power device is compared with the third preset current, the voltage of the anchor machine power device is compared with the third preset voltage, and the pressure of the anchor machine power device is compared with the third preset pressure. If any three or four of the following conditions are met, it indicates that there are many abnormal situations of the running parameters of the anchor mooring system at this time, which is generally caused by an emergency, so an anchor abandonment prompt information is sent. In addition, after the anchor abandonment prompt information is sent, if the operator does not take operation within the preset time, the anchor is immediately abandoned to avoid the abnormal situation of the anchor mooring system endangering the ship;

[0138] 5) after the anchor is started, the pressure on the fluke brake is obtained, and the pressure on the fluke brake is compared with the first pressure threshold value, if the pressure on the fluke brake is greater than the first pressure threshold value, generally, the anchor system has a major failure, so the anchor is abandoned directly; if the pressure on the fluke brake is not greater than the first pressure threshold value, the pressure on the fluke brake is compared with the second pressure threshold value; if the pressure on the fluke brake is greater than the second pressure threshold value, it indicates that the pressure on the fluke brake is still not in the normal range, so an anchor abandonment prompt information is sent out, and when the operator does not take operation within the preset time after the anchor abandonment prompt information is sent out, the anchor is abandoned immediately.

[0139] Embodiment two

[0140] The embodiment provides an anchor system control device, which is implemented by an anchor system, the anchor system comprising a fluke 1, an anchor chain 2 connected to the fluke 1, and an anchor winch 3 for driving the anchor chain 2 to move; the anchor winch 3 comprising an anchor winch body capable of cooperating with the anchor chain 2 and an anchor winch power device for driving the anchor winch body to work.

[0141] Reference Figure 7 The anchor system control device comprises an anchor throwing start control module 610, a parameter acquisition module 620, a parameter comparison module 630, a first warning information sending module 640, a no-operation determination module 650, and an anchor throwing stop control module 660.

[0142] The anchor throwing start control module 610 is used for controlling the anchor throwing to start; the parameter acquisition module 620 is used for acquiring the anchor throwing speed, and acquiring the current, voltage and pressure of the anchor winch power device; the parameter comparison module 630 is used for comparing the anchor throwing speed with the first preset speed, comparing the current of the anchor winch power device with the first preset current, comparing the voltage of the anchor winch power device with the first preset voltage, and comparing the pressure of the anchor winch power device with the first preset pressure; the no-operation determination module 650 is used for determining that the operator does not take operation within the first preset time after the first warning information is sent out; and the anchor throwing stop control module 660 is used for controlling the anchor throwing to stop.

[0143] In addition, the first warning information sending module 640 is used for sending the first warning information when any one of the following conditions is met: the anchor throwing speed is greater than the first preset speed; the current of the anchor winch power device is greater than the first preset current; the voltage of the anchor winch power device is greater than the first preset voltage; and the pressure of the anchor winch power device is greater than the first preset pressure.

[0144] The anchoring system control device controls the anchoring starting through the anchoring starting control module 610; obtains the anchoring speed, the current, the voltage and the pressure of the anchor power device through the parameter obtaining module 620; compares the anchoring speed with the first preset speed, compares the current of the anchor power device with the first preset current, compares the voltage of the anchor power device with the first preset voltage, and compares the pressure of the anchor power device with the first preset pressure through the parameter comparison module 630.

[0145] When any one of the following conditions is met, the first level warning information is sent out through the first level warning information sending module 640: the anchoring speed is greater than the first preset speed; the current of the anchor power device is greater than the first preset current; the voltage of the anchor power device is greater than the first preset voltage; and the pressure of the anchor power device is greater than the first preset pressure.

[0146] In addition, it is determined through the no operation determination module 650 that the operator does not take operation within the first preset time after the first level warning information is sent out; and the anchoring stopping is controlled through the anchoring stopping control module 660.

[0147] The anchoring system control device can remind the operator to take relevant control measures as soon as possible when the anchoring system is abnormal, and stop the anchoring after it is determined that the operator does not take operation within the first preset time after the first level warning information is sent out, so as to avoid the damage of the anchoring system equipment.

[0148] Embodiment three

[0149] This embodiment provides an anchoring system, referring to Figure 1 , the anchoring system comprises a fluke 1, an anchor chain 2 connected to the fluke 1, and an anchor windlass 3 for driving the anchor chain 2 to move; the anchor windlass 3 comprises an anchor windlass body capable of cooperating with the anchor chain 2 and an anchor windlass power device for driving the anchor windlass body to work, in the anchor windlass body, the anchor chain 2 is specifically matched with a sprocket, and the anchor chain 2 is driven to stretch out under the driving of the sprocket, in addition, the anchor windlass 3 can be arranged on an anchoring deck 6.

[0150] Referring to Figure 8 , the anchoring system further comprises a controller 710, a memory 720, a speed sensor 730 and a pressure sensor 740, wherein the memory 720, the speed sensor 730 and the pressure sensor 740 are in communication connection with the controller 710.

[0151] The speed sensor 730 is used for detecting the movement speed of the anchor chain 2, i.e. the anchoring speed; the pressure sensor 740 is arranged on the anchor windlass power device and is used for detecting the pressure of the anchor windlass power device.

[0152] The memory 720, as a computer readable storage medium, can be used to store software programs, computer executable programs and modules, such as program instructions / modules corresponding to the anchoring system control method in the embodiments of the present application. The controller 710 executes various functions of the anchoring system and data processing by running the software programs, instructions and modules stored in the memory 720, that is, implements the anchoring system control method in the above embodiments.

[0153] The memory 720 mainly includes a program storage area and a data storage area, wherein the program storage area can store an operating system and at least one application program required by a function; the data storage area can store data created according to the use of the terminal, etc. In addition, the memory 720 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some examples, the memory 720 can further include a memory 720 remotely arranged relative to the controller 710, and these remote memories can be connected to the anchoring system through a network. Examples of the above network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network and a combination thereof.

[0154] The anchoring system provided by the embodiments of the present application belongs to the same inventive concept as the anchoring system control method provided by the above embodiments, and the technical details not described in detail in the present embodiment can be referred to the above embodiments, and the present embodiment has the same beneficial effects as executing the anchoring system control method.

[0155] Optionally, the anchoring system further comprises an anchor releasing device 4 and a chain stopper 5, one end of the anchor chain 2 away from the fluke 1 is installed on the anchor releasing device 4, the anchor releasing device 4 can disconnect the connection with the anchor chain 2 to complete the anchor releasing; the chain stopper 5 comprises a chain stopper body and a chain stopper shutter movably arranged on the chain stopper body, when the chain stopper shutter is lowered, the shutter can prevent the anchor chain 2 from moving.

[0156] Optionally, the anchoring system further comprises a remote communication system 750, the speed sensor 730 is used to send the detected movement speed of the anchor chain 2 to the remote communication system 750; the pressure sensor 740 is used to send the detected pressure of the anchor engine power device to the remote communication system 750; the remote communication system 750 is used to send the movement speed of the anchor chain 2, the current of the anchor engine power device, the voltage of the anchor engine power device and the pressure of the anchor engine power device to the controller 710. That is, in the present embodiment, the speed sensor 730 and the pressure sensor 740 are indirectly connected with the controller 710 through the remote communication system 750, and in other embodiments, the controller 710 can also be arranged on the ship or the offshore structure, and the speed sensor 730 and the pressure sensor 740 can be directly connected with the controller 710.

[0157] The remote communication system 750 specifically comprises an anchor communication module, an anchor-thrower communication module and a chain stopper communication module, the anchor communication module is arranged in an anchor control box 751 connected with the anchor 3, the anchor-thrower communication module is arranged in an anchor-thrower control box 752 connected with the anchor-thrower 4, and the chain stopper communication module is arranged in a chain stopper control box 753 connected with the chain stopper 5.

[0158] Embodiment four

[0159] The embodiment of the present application provides a storage medium, which stores a computer program, and when the program is executed by a controller, an anchoring system implements an anchoring system control method as described in the above embodiment of the present application.

[0160] Of course, the storage medium provided by the embodiment of the present application contains computer executable instructions, which are not limited to the operations in the anchoring system control method as described above, but also can execute the related operations in the anchoring system control device provided by the embodiment of the present application, and has the corresponding functions and beneficial effects.

[0161] Through the above description of the embodiments, those skilled in the art can clearly understand that the present application can be realized by means of software and necessary general hardware, and of course can also be realized by hardware, but in many cases the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a floppy disk, a read-only memory (ROM), a random access memory (RAM), a FLASH, a hard disk or an optical disc, etc., and includes a number of instructions to make a computer device (which can be a robot, a personal computer, a server or a network device, etc.) execute the anchoring system control method described in each embodiment of the present application.

[0162] Obviously, the above embodiments of the present application are only examples for clear illustration of the present application, and are not a limitation on the embodiments of the present application. For those skilled in the art, various obvious changes, re-adjustments and substitutions can be made without departing from the scope of the present application. Here, it is unnecessary and impossible to enumerate all the embodiments. Any modification, equivalent substitution and improvement within the spirit and principle of the present application shall be included in the protection scope of the claims of the present application.

Claims

1. A control method for an anchoring system, characterized in that, This is implemented through a mooring system, which includes an anchor claw, an anchor chain connected to the anchor claw, and an anchor winch for driving the anchor chain; the anchor winch includes an anchor winch body that can cooperate with the anchor chain and an anchor winch power unit for driving the anchor winch body to work. The anchoring system control method includes: S110: Anchorage initiated; S120: Obtain the anchor dropping speed, and obtain the current, voltage, and pressure of the anchor winch power unit; S130: Compare the anchoring speed with the first preset speed, compare the current of the anchor winch power unit with the first preset current, compare the voltage of the anchor winch power unit with the first preset voltage, and compare the pressure on the anchor winch power unit with the first preset pressure. If any of the following conditions are met, proceed to step S140: The anchoring speed is greater than the first preset speed; the current of the anchor winch power unit is greater than the first preset current; the voltage of the anchor winch power unit is greater than the first preset voltage; the pressure on the anchor winch power unit is greater than the first preset pressure; S140: Issue a Level 1 warning message; S150: It is determined that the operator did not take any action within the first preset time after the Level 1 warning information was issued; S160: Stop anchoring.

2. The anchoring system control method according to claim 1, characterized in that, In step S130, if the anchoring speed is not greater than the first preset speed, the current of the anchor winch power device is not greater than the first preset current, the voltage of the anchor winch power device is not greater than the first preset voltage, and the pressure on the anchor winch power device is not greater than the first preset pressure, then step S210 is executed. S210: Compare the anchoring speed with the second preset speed, compare the current of the anchor winch power unit with the second preset current, compare the voltage of the anchor winch power unit with the second preset voltage, and compare the pressure on the anchor winch power unit with the second preset pressure; wherein, the first preset speed is greater than the second preset speed, the first preset current is greater than the second preset current, the first preset voltage is greater than the second preset voltage, and the first preset pressure is greater than the second preset pressure; If any of the following conditions are met, proceed to step S220: The anchoring speed is greater than the second preset speed; the current of the anchor winch power unit is greater than the second preset current; the voltage of the anchor winch power unit is greater than the second preset voltage; the pressure on the anchor winch power unit is greater than the second preset pressure; S220: Issue a Level 2 warning message; S230: It is determined that the operator did not take any action within the second preset time after the issuance of the Level 2 warning information; S240: Stop anchoring.

3. The anchoring system control method according to claim 1, characterized in that, It also includes the steps following step S110: S310: Obtain the length of the thrown anchor chain; S320: Compare the length of the thrown anchor chain with the length of the target throw; If the length of the thrown anchor chain is not less than the target throwing length, then step S160 is executed.

4. The anchoring system control method according to claim 1, characterized in that, The mooring system also includes an anchor abandoner, wherein the end of the anchor chain away from the anchor claw is installed on the anchor abandoner, and the anchor abandoner can disconnect from the anchor chain to complete the abandonment of the anchor; The mooring system control method also includes the following steps after step S120: S410: Compare the anchoring speed with the third preset speed, compare the current of the anchor winch power unit with the third preset current, compare the voltage of the anchor winch power unit with the third preset voltage, and compare the pressure on the anchor winch power unit with the third preset pressure. If any three or four of the following conditions are met, proceed to step S410: The anchoring speed is greater than the third preset speed; the current of the anchor winch power unit is greater than the third preset current; the voltage of the anchor winch power unit is greater than the third preset voltage; the pressure on the anchor winch power unit is greater than the third preset pressure; S420: Issues a message indicating that anchors should be abandoned; S430: It is determined that the operator did not take any action within a preset time after the anchor abandonment warning message was issued; S440: Abandon anchor.

5. The anchoring system control method according to claim 4, characterized in that, The mooring system also includes a chain stopper, which includes a chain stopper body and a chain stopper gate movably disposed on the chain stopper body. When the chain stopper gate is lowered, the gate can prevent the anchor chain from moving. The mooring system control method also includes the following steps after step S120: S510: Obtain the pressure on the chain stopper switch; S520: Compare the pressure on the chain stopper switch with the magnitude of the first pressure threshold; If the pressure on the chain stop lever is greater than the first pressure threshold, then step S440 is executed.

6. The anchoring system control method according to claim 5, characterized in that, In step S520, if the pressure on the chain stop switch is not greater than the first pressure threshold, then step S530 is executed. S530: Compare the pressure on the chain stopper switch with the magnitude of the second pressure threshold; wherein the first pressure threshold is greater than the second pressure threshold; If the pressure on the chain stop lever is greater than the second pressure threshold, then step S420 is executed.

7. Anchoring system control device, characterized in that, This is implemented through a mooring system, which includes an anchor claw, an anchor chain connected to the anchor claw, and an anchor winch for driving the anchor chain; the anchor winch includes an anchor winch body that can cooperate with the anchor chain and an anchor winch power unit for driving the anchor winch body to work. The mooring system control device includes: Anchoring start control module, used to control the start of anchoring; The parameter acquisition module is used to acquire the anchor dropping speed and the current, voltage, and pressure of the anchor winch power unit. The parameter comparison module is used to compare the anchoring speed with the first preset speed, compare the current of the anchor winch power unit with the first preset current, compare the voltage of the anchor winch power unit with the first preset voltage, and compare the pressure on the anchor winch power unit with the first preset pressure. The Level 1 Warning Message Issuance Module is used to issue a Level 1 Warning Message when any of the following conditions are met: the anchor dropping speed is greater than the first preset speed; the current of the anchor winch power unit is greater than the first preset current; the voltage of the anchor winch power unit is greater than the first preset voltage; the pressure on the anchor winch power unit is greater than the first preset pressure. The no-operation determination module is used to determine that the operator has not taken any action within a first preset time after the issuance of the first-level warning information; Anchor stop control module, used to control anchor stopping.

8. Anchoring system, characterized in that, The system includes an anchor claw, an anchor chain connected to the anchor claw, and an anchor winch for moving the anchor chain; the anchor winch includes an anchor winch body capable of cooperating with the anchor chain and an anchor winch power unit for driving the anchor winch body; the mooring system further includes: Controller; A speed sensor, which is communicatively connected to the controller, is used to detect the movement speed of the anchor chain. A pressure sensor is installed on the anchor winch power unit and is communicatively connected to the controller. The pressure sensor is used to detect the pressure on the anchor winch power unit. Memory, used to store one or more programs; When the controller executes the one or more programs, it causes the controller to control the mooring system to implement the mooring system control method as described in any one of claims 1-6.

9. The mooring system according to claim 8, characterized in that, It also includes a remote communication system, wherein the speed sensor is used to send the detected movement speed of the anchor chain to the remote communication system; the pressure sensor is used to send the detected pressure on the anchor winch power unit to the remote communication system; and the remote communication system is used to send the movement speed of the anchor chain, the current of the anchor winch power unit, the voltage of the anchor winch power unit, and the pressure on the anchor winch power unit to the controller.

10. The mooring system according to claim 8, characterized in that, It also includes an anchor release device and a chain stopper. The end of the anchor chain away from the anchor claw is installed on the anchor release device, which can disconnect from the anchor chain to complete the anchor release. The chain stopper includes a chain stopper body and a chain stopper gate movably disposed on the chain stopper body. When the chain stopper gate is lowered, the gate can prevent the anchor chain from moving.

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