Anchoring system control methods, devices and anchoring systems

Abstract

This invention belongs to the technical field of mooring systems, and discloses a mooring system control method, device, and mooring system. In the mooring system control method, anchoring begins; the anchoring speed is acquired, as well as the current, voltage, and pressure of the anchor winch power unit; the above parameters are compared with their corresponding preset values; if any of the above parameters exceeds its corresponding preset value, a first-level warning message is issued to remind the operator to take relevant control measures as soon as possible. Subsequently, if the operator does not take any action within a first preset time after the first-level warning message is issued, it indicates that the first-level warning message has been issued for some time. Furthermore, the lack of operator intervention may be due to issues such as lack of personnel on duty, thus stopping anchoring to avoid further damage to the mooring system equipment.

Description

Technical Field

[0001] This invention relates to the field of mooring system technology, and more particularly to mooring system control methods, devices, and mooring systems. Background Technology

[0002] Ship anchoring systems achieve berthing by combining the gripping force generated when the anchor claws embed themselves into the seabed with the frictional force of the anchor chain.

[0003] 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. Summary of the Invention

[0004] According to one aspect of the present invention, a mooring system control method is provided to solve the problem that in the related technology, if an emergency occurs during the anchoring process, the mooring system may not be able to react immediately, which may lead to damage to the mooring system equipment.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] An anchoring system control method, implemented through an anchoring system, the anchoring system including 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 capable of cooperating with the anchor chain and an anchor winch power device for driving the anchor winch body to work;

[0007] The mooring system control method includes:

[0008] S110: Anchorage initiated;

[0009] S120: Obtain the anchor dropping speed, and obtain the current, voltage, and pressure of the anchor winch power unit;

[0010] 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.

[0011] If any of the following conditions are met, proceed to step S140:

[0012] 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;

[0013] S140: Issue a Level 1 warning message;

[0014] 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;

[0015] S160: Stop anchoring.

[0016] As a preferred embodiment of the anchoring system control method, 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.

[0017] 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.

[0018] If any of the following conditions are met, proceed to step S220:

[0019] 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;

[0020] S220: Issue a Level 2 warning message;

[0021] 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;

[0022] S240: Stop anchoring.

[0023] As a preferred embodiment of the anchoring system control method, the following steps are also included after step S110:

[0024] S310: Obtain the length of the thrown anchor chain;

[0025] S320: Compare the length of the thrown anchor chain with the length of the target throw;

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

[0027] As a preferred embodiment of the mooring system control method, the mooring system further 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 is capable of disconnecting from the anchor chain to complete the abandonment of the anchor;

[0028] The mooring system control method also includes the following steps after step S120:

[0029] 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.

[0030] If any three or four of the following conditions are met, proceed to step S420:

[0031] 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;

[0032] S420: Issues a message indicating that anchors should be abandoned;

[0033] S430: It is determined that the operator did not take any action within a preset time after the anchor abandonment warning message was issued;

[0034] S440: Abandon anchor.

[0035] As a preferred embodiment of the mooring system control method, the mooring system further 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 chain stopper gate can prevent the anchor chain from moving.

[0036] The mooring system control method also includes the following steps after step S120:

[0037] S510: Obtain the pressure on the chain stopper switch;

[0038] S520: Compare the pressure on the chain stopper switch with the magnitude of the first pressure threshold;

[0039] If the pressure on the chain stop lever is greater than the first pressure threshold, then step S440 is executed.

[0040] As a preferred embodiment of the anchoring system control method, in step S520, if the pressure on the chain stop lever is not greater than the first pressure threshold, then step S530 is executed.

[0041] 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;

[0042] If the pressure on the chain stop lever is greater than the second pressure threshold, then step S420 is executed.

[0043] According to another aspect of the present invention, a mooring system control device is provided, implemented by a mooring system, the mooring system including 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 capable of cooperating with the anchor chain and an anchor winch power device for driving the anchor winch body to work;

[0044] The mooring system control device includes:

[0045] Anchoring start control module, used to control the start of anchoring;

[0046] The parameter acquisition module is used to acquire the anchor dropping speed and the current, voltage, and pressure of the anchor winch power unit.

[0047] 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.

[0048] 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.

[0049] 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;

[0050] Anchor stop control module, used to control anchor stopping.

[0051] According to another aspect of the present invention, an anchoring system is provided, comprising an anchor shank, an anchor chain connected to the anchor shank, 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 anchoring system further includes:

[0052] Controller;

[0053] A speed sensor, which is communicatively connected to the controller, is used to detect the movement speed of the anchor chain.

[0054] 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.

[0055] Memory, used to store one or more programs;

[0056] When the controller executes one or more programs, it causes the controller to control the mooring system to implement the above-described mooring system control method.

[0057] As a preferred embodiment of the mooring system, a remote communication system is also included. 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.

[0058] As a preferred embodiment of the mooring system, it also includes an anchor release device and a chain deflector. The end of the anchor chain furthest 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 deflector includes a chain deflector body and a chain deflector gate movably disposed on the chain deflector body. When the chain deflector gate is lowered, the chain deflector gate can prevent the anchor chain from moving.

[0059] The beneficial effects of this invention are:

[0060] This invention provides a mooring system control method, apparatus, and mooring system. The mooring system control method is implemented through the 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. In the mooring system control method, anchoring begins; the anchoring speed is acquired, and the current, voltage, and pressure of the anchor winch power unit are acquired; the anchoring speed is compared with a first preset speed, the current of the anchor winch power unit is compared with a first preset current, the voltage of the anchor winch power unit is compared with a first preset voltage, and the pressure of the anchor winch power unit is compared with a first preset pressure; if any of the following conditions are met, a first-level warning message is issued: 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 of the anchor winch power unit is greater than the first preset pressure. If any of the following parameters exceeds its preset value: anchor dropping speed, anchor winch power unit current, anchor winch power unit voltage, or pressure on the anchor winch power unit, it indicates a potential malfunction in the mooring system. Anchoring may need to be stopped and maintenance initiated. This procedure ensures that a Level 1 warning message is issued when any of these parameters exceeds its preset value, alerting operators to take appropriate control measures as soon as possible. Subsequently, if no action is taken by the operator within the first preset time after the Level 1 warning message is issued, it indicates that the warning message has been in effect for some time. Furthermore, the lack of operator intervention may be due to unattended personnel, thus halting anchoring to prevent further damage to the mooring system equipment. Attached Figure Description

[0061] Figure 1 This is a first structural schematic diagram of the mooring system in an embodiment of the present invention;

[0062] Figure 2 This is a first flowchart of the anchoring system control method in an embodiment of the present invention;

[0063] Figure 3 This is a second flowchart of the mooring system control method in an embodiment of the present invention;

[0064] Figure 4 This is the third flowchart of the anchoring system control method in this embodiment of the invention;

[0065] Figure 5 This is the fourth flowchart of the anchoring system control method in this embodiment of the invention;

[0066] Figure 6 This is the fifth flowchart of the mooring system control method in this embodiment of the invention;

[0067] Figure 7This is a schematic diagram of the structure of the mooring system control device in an embodiment of the present invention;

[0068] Figure 8 This is a schematic diagram of the second structure of the mooring system in an embodiment of the present invention.

[0069] In the picture:

[0070] 1. Anchor claws; 2. Anchor chain; 3. Anchor winch; 4. Anchor release device; 5. Chain puller; 6. Mooring deck;

[0071] 610. Anchorage start control module; 620. Parameter acquisition module; 630. Parameter comparison module; 640. Level 1 warning message issuance module; 650. No operation confirmation module; 660. Anchorage stop control module;

[0072] 710. Controller; 720. Memory; 730. Speed ​​sensor; 740. Pressure sensor; 750. Remote communication system; 751. Anchor winch control box; 752. Anchor dropper control box; 753. Chain stopper control box. Detailed Implementation

[0073] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0074] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0075] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than 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: Obtain the anchor dropping speed, and obtain the current, voltage, and pressure of the anchor winch power unit.

[0085] The anchoring speed can be obtained through a speed sensor; the current and voltage of the anchor winch power unit can be obtained by reading the detection data of the control device of the anchor winch power unit; and the pressure on the anchor winch power unit can be obtained through a pressure sensor installed on the anchor winch power unit.

[0086] 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.

[0087] If any of the following conditions are met, step S140 is executed: 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 first preset speed, first preset current, first preset voltage, and first preset pressure can be preset according to actual conditions and stored in the controller.

[0088] If the anchoring speed exceeds the first preset speed, it indicates that the anchor chain 2 is extending too quickly; if the current of the anchor winch power unit exceeds the first preset current, or the voltage of the anchor winch power unit exceeds the first preset voltage, it indicates that the load on the anchor winch power unit is too high; if the pressure on the anchor winch power unit exceeds the first preset pressure, it indicates that both the anchor winch power unit and anchor chain 2 are under significant pressure. Any of these situations indicates an abnormality in the mooring system, requiring immediate alert to the operators.

[0089] S140: Issue a Level 1 warning message.

[0090] The first-level warning information can be either sound or light.

[0091] This step enables the issuance of a Level 1 warning message when any of the above parameters exceeds its corresponding preset value, reminding operators to take relevant control measures as soon as possible.

[0092] 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.

[0093] Specifically, after a Level 1 warning message is issued, the timer inside the controller starts counting. If the operator still has not taken any action when the timer reaches the first preset time, it is determined that the operator has not taken any action within the first preset time after the Level 1 warning message was issued.

[0094] S160: Stop anchoring.

[0095] If the operator does not take any action within the first preset time after the Level 1 warning message is issued, it indicates that the Level 1 warning message has been issued for some time. In addition, the lack of personnel on duty may have caused the operator to not take any action. Therefore, anchoring should be stopped to avoid further damage to the anchoring system equipment.

[0096] Reference Figure 3 In step S130, if the anchoring speed is not greater than the first preset speed, the current of the anchor winch power unit is not greater than the first preset current, the voltage of the anchor winch power unit is not greater than the first preset voltage, and the pressure on the anchor winch power unit is not greater than the first preset pressure, it indicates that there is no significant abnormality in the anchoring system at this time, and it is necessary to further judge the working status of the anchoring system. Therefore, step S210 is executed.

[0097] S210: Compare the anchor dropping speed with a second preset speed, compare the current of the anchor winch power unit with a second preset current, compare the voltage of the anchor winch power unit with a second preset voltage, and compare the pressure on the anchor winch power unit with a second preset pressure. Specifically, 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. Furthermore, the second preset speed, second preset current, second preset voltage, and second preset pressure can be preset according to actual conditions and stored in the controller.

[0098] If any of the following conditions are met, then step S220 is executed: the anchor dropping 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.

[0099] If the anchoring speed exceeds the second preset speed, it indicates that although the extension speed of anchor chain 2 has not reached the first preset speed, it is still higher than the normal value. If the current of the anchor winch power unit exceeds the second preset current, or the voltage of the anchor winch power unit exceeds the second preset voltage, it indicates that the load on the anchor winch power unit is not excessive, but its load is still not within the normal range. If the pressure on the anchor winch power unit exceeds the second preset pressure, it indicates that although the pressure on the anchor winch power unit and anchor chain 2 has not reached the first preset pressure, it is still higher than the pressure range during normal operation. Any of the above situations indicates that although the mooring system does not exhibit significant abnormalities, it is still not in normal working condition, and the operator still needs to be alerted.

[0100] S220: Issue a Level 2 warning message.

[0101] The secondary warning information can be either audible or visual. It is understood that the secondary warning information should be weaker than the primary warning information; specifically, the volume of the secondary warning signal could be lower than that of the primary warning signal, or the flashing frequency of the light under the secondary warning signal could be lower than that under the primary warning signal.

[0102] 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.

[0103] Specifically, after the Level 2 warning message is issued, the timer inside the controller starts counting. If the operator still does not take any action when the timer reaches the second preset time, it is determined that the operator did not take any action within the second preset time after the Level 2 warning message was issued.

[0104] S240: Stop anchoring.

[0105] If the operator does not take any action within the second preset time after the Level 2 warning message is issued, it indicates that the Level 2 warning message has been issued for some time. In addition, the lack of personnel on duty may have caused the operator to not take any action. Therefore, anchoring should be stopped to avoid further damage to the anchoring system equipment.

[0106] It is understandable that, since the urgency of the abnormal situation corresponding to the level 2 warning information is weaker than that corresponding to the level 1 warning information, the second preset time should be longer than the first preset time.

[0107] Reference Figure 4 The anchoring system control method also includes steps S310-S320 following step S110. Optionally, step S310 and step S120 are executed simultaneously.

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

[0109] In the anchor winch body, the anchor chain 2 specifically cooperates with the sprocket, and under the drive of the sprocket, the anchor chain 2 extends. Therefore, the extension length of the anchor chain 2, that is, the length of the anchor chain 2 that is thrown out, can be indirectly obtained by obtaining the number of rotations of the sprocket of the anchor winch body and the diameter of the sprocket.

[0110] S320: Compare the length of the thrown anchor chain 2 with the length thrown by the target.

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

[0112] Optionally, the mooring system also includes an anchor release device 4. The end of the anchor chain 2 furthest from the anchor claw 1 is installed in the anchor release device 4. The anchor release device 4 can disconnect from the anchor chain 2 to complete the anchor release. The specific structure and working principle of the anchor release device 4 are relatively conventional solutions in the field and will not be described in detail.

[0113] Reference Figure 5 The mooring system control method also includes steps S410-S440 following step S120. Optionally, step S410 and step S130 are executed simultaneously.

[0114] S410: Compare the anchor dropping 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. Wherein, 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, then step S420 is executed: the anchor dropping 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.

[0116] If three or four of the above conditions are met, it indicates that there are many abnormalities in the operating parameters of the mooring system. This is usually caused by an emergency, and the operator needs to decide whether to abandon the anchor. Therefore, step S420 is executed.

[0117] S420: Issues a message to abandon anchor.

[0118] The anchor abandonment notification can be an audio or visual message.

[0119] S430: It is determined that the operator did not take any action within a preset time after the anchor abandonment prompt message was issued.

[0120] Specifically, after the anchor abandonment prompt message is issued, the timer inside the controller starts counting. If the operator still does not take any action when the timer reaches the preset time, it is determined that the operator did not take any action within the preset time after the anchor abandonment prompt message was issued.

[0121] S440: Abandon anchor.

[0122] If the operator does not take any action within the preset time after the anchor abandonment warning message is issued, it indicates that the anchor abandonment warning message has been issued for some time. In addition, the operator may not have taken any action due to problems such as lack of personnel on duty. In this case, the situation is relatively urgent, so the anchor should be abandoned immediately to avoid the abnormal situation of the anchoring system from endangering the ship.

[0123] Optionally, the mooring system also includes a chain stopper 5, 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 chain stopper gate can prevent the anchor chain 2 from moving. The specific structure and working principle of the chain stopper 5 are relatively conventional solutions in the field and will not be described in detail.

[0124] Reference Figure 6 The anchoring system control method also includes steps S510-S530 following step S110. Optionally, step S510 and step S120 are executed simultaneously.

[0125] S510: Obtain the pressure on the chain stop switch.

[0126] The pressure on the chain stop switch can be obtained by a pressure sensor installed on the chain stop switch.

[0127] S520: Compare the pressure on the chain stopper knife with the magnitude of the first pressure threshold.

[0128] If the pressure on the chain stopper is greater than the first pressure threshold, it indicates that the pressure on the chain stopper is too high. A situation that can cause the chain stopper to be under high pressure is generally caused by a major malfunction in the mooring system. Therefore, step S440 is executed, that is, the anchor is abandoned directly.

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

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

[0131] S530: Compare the pressure on the chain stopper knife with the second pressure threshold; wherein 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 the actual situation and stored in the controller.

[0132] If the pressure on the chain stopper is greater than the second pressure threshold, it indicates that the pressure on the chain stopper is still not within the normal range. Therefore, step S420 is executed, that is, a disengagement prompt message is issued. If the operator does not take any action within a preset time after the disengagement prompt message is issued, the anchor is immediately disengaged.

[0133] The anchoring system control method provided in this embodiment can achieve the following effects:

[0134] 1) After anchoring begins, the anchoring speed is acquired, as well as the current, voltage, and pressure of the anchor winch power unit. The anchoring speed is compared with the first preset speed, the current of the anchor winch power unit is compared with the first preset current, the voltage of the anchor winch power unit is compared with the first preset voltage, and the pressure of the anchor winch power unit is compared with the first preset pressure. If any of the above parameters exceeds its corresponding preset value, a Level 1 warning message is issued to remind the operator to take relevant control measures as soon as possible. In addition, if the operator does not take action within the first preset time after the Level 1 warning message is issued, anchoring is stopped to avoid further damage to the anchoring system equipment.

[0135] 2) If the anchor dropping speed is not greater than the first preset speed, the current of the anchor winch power unit is not greater than the first preset current, the voltage of the anchor winch power unit is not greater than the first preset voltage, and the pressure on the anchor winch power unit is not greater than the first preset pressure, then the working status of the mooring system is further assessed. Specifically, the anchor dropping speed is compared to the second preset speed, the current of the anchor winch power unit is compared to the second preset current, the voltage of the anchor winch power unit is compared to the second preset voltage, and the pressure on the anchor winch power unit is compared to the second preset pressure. If any of the above conditions occur, it indicates that although the mooring system does not exhibit significant abnormalities, it is still not in normal working order. Therefore, the operator is still alerted, and a secondary warning message is issued. Furthermore, if the operator does not take action within a second preset time after the secondary warning message is issued, anchor dropping should be stopped to avoid further damage to the mooring system equipment.

[0136] 3) After anchoring begins, obtain the length of the anchor chain 2 that has been thrown out, and compare the length of the anchor chain 2 that has been thrown out with the target throwing length. If the length of the anchor chain 2 that has been thrown out is not less than the target throwing length, that is, the anchor chain 2 has been thrown out to the predetermined length, then stop anchoring.

[0137] 4) After obtaining the anchoring speed, and the current, voltage and pressure of the anchor winch power unit, 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 of the anchor winch power unit with the third preset pressure. If any three or four of the following conditions are met, it indicates that there are many abnormalities in the operating parameters of the anchoring system, which is generally caused by an emergency. Therefore, an anchor abandonment warning message is issued. In addition, if the operator does not take action within the preset time after the anchor abandonment warning message is issued, the anchor should be abandoned immediately to avoid the abnormality of the anchoring system from endangering the ship.

[0138] 5) After anchoring begins, obtain the pressure on the chain chock and compare it with the first pressure threshold. If the pressure on the chain chock is greater than the first pressure threshold, it generally indicates a major malfunction in the anchoring system, and therefore the anchor should be abandoned directly. If the pressure on the chain chock is not greater than the first pressure threshold, compare it with the second pressure threshold. If the pressure on the chain chock is greater than the second pressure threshold, it indicates that the pressure on the chain chock is still not within the normal range, and therefore an anchor abandonment warning message is issued. If the operator does not take any action within a preset time after the anchor abandonment warning message is issued, the anchor should be abandoned immediately.

[0139] Example 2

[0140] This embodiment provides a mooring system control device, implemented through a mooring system. 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.

[0141] Reference Figure 7 The anchoring system control device includes an anchoring start control module 610, a parameter acquisition module 620, a parameter comparison module 630, a first-level warning information issuance module 640, an inactivity confirmation module 650, and an anchoring stop control module 660.

[0142] The system includes: an anchoring start control module 610 for controlling the start of anchoring; a parameter acquisition module 620 for acquiring the anchoring speed, and the current, voltage, and pressure of the anchor winch power unit; a parameter comparison module 630 for comparing the anchoring speed with a first preset speed, the current of the anchor winch power unit with a first preset current, the voltage of the anchor winch power unit with a first preset voltage, and the pressure of the anchor winch power unit with a first preset pressure; a no-operation determination module 650 for determining that no operation has been performed by the operator within a first preset time after a level one warning message is issued; and an anchoring stop control module 660 for controlling the anchoring to stop.

[0143] In addition, the Level 1 warning information issuing module 640 is used to issue a Level 1 warning information 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.

[0144] The anchoring system control device controls the anchoring start via the anchoring start control module 610; acquires the anchoring speed via the parameter acquisition module 620, and acquires the current, voltage, and pressure of the anchor winch power unit; and compares the anchoring speed with a first preset speed, the current of the anchor winch power unit with a first preset current, the voltage of the anchor winch power unit with a first preset voltage, and the pressure on the anchor winch power unit with a first preset pressure via the parameter comparison module 630.

[0145] When any of the following conditions are met, a Level 1 warning message is issued through the Level 1 warning message issuing module 640: 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.

[0146] In addition, the no-operation determination module 650 determines that the operator has not taken any action within the first preset time after the issuance of the first-level warning information; the anchor stop control module 660 controls the anchor to stop.

[0147] The mooring system control device can remind operators to take relevant control measures as soon as possible when the mooring system malfunctions. After the issuance of a Level 1 warning message, if the operator fails to take any action within the first preset time, the anchoring will be stopped to avoid further damage to the mooring system equipment.

[0148] Example 3

[0149] This embodiment provides an anchoring system, referencing... 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 unit for driving the anchor winch body. In the anchor winch body, the anchor chain 2 specifically cooperates with a sprocket and is driven by the sprocket to extend the anchor chain 2. In addition, the anchor winch 3 can be installed on the mooring deck 6.

[0150] Reference Figure 8 The mooring system also includes 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 all communicatively connected to the controller 710.

[0151] Among them, the speed sensor 730 is used to detect the movement speed of the anchor chain 2, that is, the anchoring speed; the pressure sensor 740 is installed on the anchor winch power unit and is used to detect the pressure on the anchor winch power unit.

[0152] The memory 720, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the mooring system control method in the embodiments of the present invention. The controller 710 executes various functional applications and data processing of the mooring system by running the software programs, instructions, and modules stored in the memory 720, thereby realizing the mooring system control method of the above embodiments.

[0153] The memory 720 primarily includes a program storage area and a data storage area. The program storage area stores the operating system and at least one application program required for a given function; the data storage area stores data created based on terminal usage. Furthermore, the memory 720 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory, or other non-volatile solid-state storage device. In some instances, the memory 720 may further include remotely configured memories 720 relative to the controller 710, which can be connected to the mooring system via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0154] The mooring system provided in this embodiment of the invention and the mooring system control method provided in the above embodiments belong to the same inventive concept. Technical details not described in detail in this embodiment can be found in the above embodiments. Furthermore, this embodiment has the same beneficial effects as the mooring system control method.

[0155] Optionally, the mooring system also includes an anchor release device 4 and a chain stopper 5. The end of the anchor chain 2 away from the anchor claw 1 is installed on the anchor release device 4. The anchor release device 4 can disconnect from the anchor chain 2 to complete the anchor release. The chain stopper 5 includes a chain stopper body and a chain stopper blade movably disposed on the chain stopper body. When the chain stopper blade is lowered, the chain stopper blade can prevent the anchor chain 2 from moving.

[0156] Optionally, the mooring system also includes a remote communication system 750. A speed sensor 730 transmits the detected speed of the anchor chain 2 to the remote communication system 750; a pressure sensor 740 transmits the detected pressure on the winch power unit to the remote communication system 750; and the remote communication system 750 transmits the speed of the anchor chain 2, the current of the winch power unit, the voltage of the winch power unit, and the pressure on the winch power unit to the controller 710. In other words, in this embodiment, the speed sensor 730 and the pressure sensor 740 are indirectly connected to the controller 710 via the remote communication system 750. In other embodiments, the controller 710 can be installed on the ship or a marine structure, and the speed sensor 730 and the pressure sensor 740 can be directly connected to the controller 710.

[0157] The remote communication system 750 specifically includes an anchor winch communication module, an anchor dropper communication module, and a chain stopper communication module. The anchor winch communication module is located in the anchor winch control box 751 connected to the anchor winch 3; the anchor dropper communication module is located in the anchor dropper control box 752 connected to the anchor dropper 4; and the chain stopper communication module is located in the chain stopper control box 753 connected to the chain stopper 5.

[0158] Example 4

[0159] This invention provides a storage medium storing a computer program. When the program is executed by a controller, the mooring system implements the mooring system control method as described in the above embodiments of this invention.

[0160] Of course, the computer-executable instructions provided in the embodiments of the present invention are not limited to the operations in the mooring system control method as described above, but can also perform related operations in the mooring system control device provided in the embodiments of the present invention, and have corresponding functions and beneficial effects.

[0161] Based on the above description of the implementation methods, those skilled in the art can clearly understand that the present invention can be implemented using software and necessary general-purpose hardware, and of course, it can also be implemented using hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk, or optical disk, etc., including several instructions to cause a computer device (which may be a robot, personal computer, server, or network device, etc.) to execute the anchoring system control method described in the various embodiments of the present invention.

[0162] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art will be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

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; 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; 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 S420: 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.

2. 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.

3. The anchoring system control method according to claim 1, 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 chain stopper 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.

4. The anchoring system control method according to claim 3, 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.

5. 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 1-4.

6. The mooring system according to claim 5, 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.

7. The mooring system according to claim 5, 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 blade movably disposed on the chain stopper body. When the chain stopper blade is lowered, the chain stopper blade can prevent the anchor chain from moving.

Images