An anchor cable intelligent control method and device for a storage area buoy and an electronic device

Abstract

The application provides an anchor cable intelligent control method and device for a storage area buoy and electronic equipment, and relates to the technical field of buoy control. The method comprises the following steps: receiving a control instruction for controlling the anchor cable of the storage area buoy; collecting data of various sensors of the storage area and uniformly analyzing and processing the collected results; determining the current absolute water depth based on the data analysis result; calling an intelligent control algorithm based on the catenary theory to determine a target anchor cable length, and controlling an actuator to wind or unwind the anchor cable based on the target anchor cable length. According to the application, the anchor cable length can be scientifically determined according to the real-time water depth and wind conditions, automatic and intelligent control is realized, the positioning accuracy of the buoy and the anchoring safety are effectively balanced, and the self-adaptive ability of the system to environmental changes is enhanced.

Description

Technical Field

[0001] This invention relates to the field of buoy control technology, and in particular to an intelligent control method, device and electronic equipment for anchor cables of buoys in reservoir areas. Background Technology

[0002] Currently, the level of automation and intelligence in waterway infrastructure, especially in the management of navigation aids, still needs improvement. Taking deep-water navigation aids in reservoir areas as an example, the maintenance of their buoys faces significant challenges. For instance, in some large reservoir areas, the water level difference between the high-water and low-water seasons is huge, resulting in very frequent adjustments to buoy anchor cables. Existing anchor cable operations still mainly rely on a combination of manual labor and marine equipment, which is not only labor-intensive and has limited operating space, but also poses high safety risks in complex hydrological environments.

[0003] More importantly, the setting of anchor cable length is largely based on the experience and judgment of frontline personnel, lacking precise data support and automatic adjustment capabilities. This experience-based approach puts the system in a dilemma: if the anchor cable is set too long, it will increase the horizontal drift range of the buoy, leading to a decrease in the accuracy of the marker positioning and potentially causing collision risks with ships in narrow waterways; if the anchor cable is set too short, when the water level changes or encounters sudden wind and waves, the anchor cable can be instantly straightened, resulting in a surge of tension, which may cause the anchor block to drag or the equipment structure to break, jeopardizing the safety of the buoy itself. Therefore, existing technology lacks an anchor cable length adjustment scheme that can be precisely and dynamically controlled according to environmental changes. Summary of the Invention

[0004] This invention provides an intelligent control method, device, and electronic equipment for anchor cables of buoys in reservoir areas. It addresses the shortcomings of existing technologies where the adjustment of anchor cable length for buoys in reservoir areas mainly relies on manual experience, lacks accurate data support and automatic adjustment capabilities, and makes it difficult to scientifically determine the anchor cable length when environmental conditions such as water level and wind and waves change. As a result, it is impossible to effectively balance the positioning accuracy and anchoring safety of the buoy.

[0005] In a first aspect, the present invention provides an intelligent control method for anchor cables of buoys in reservoir areas, comprising: Receive control commands to control the anchor cables of buoys in the reservoir area; Data from various sensors in the reservoir area are collected, and the collected results are uniformly analyzed and processed. Based on the data analysis results, determine the current absolute water depth; The target anchor cable length is determined by using an intelligent control algorithm based on catenary theory, and the actuator is controlled to extend and retract the anchor cable based on the target anchor cable length.

[0006] According to the present invention, a smart control method for anchor cables of reservoir buoys includes, before receiving a control command to control the anchor cables of the reservoir buoys, the following steps are taken: Perform a device self-test to confirm that the controller and memory are in normal working order; Initialize the two RS485 bus channels, various sensors and actuators in sequence, and load calibration parameters to ensure that each module is in a ready state.

[0007] According to the present invention, an intelligent control method for anchor cables of buoys in reservoir areas is provided, wherein the control commands include remote control commands and cloud commands; The remote control command is an instant control command sent directly by the operator in the area where the buoy is located via a dedicated wireless link; The cloud-based commands are strategic control commands issued by the remote monitoring center via the Internet and cellular networks, including water level data and wind data, to achieve unmanned remote management of the buoys.

[0008] According to the present invention, an intelligent control method for anchor cables of buoys in reservoir areas is provided, which collects data from various sensors in the reservoir area and performs unified analysis and processing on the collected results, including: Data from various sensors is acquired synchronously via two RS485 buses; one RS485 bus is an isolated RS485 bus used for communication between the motor drive and the encoder; the other RS485 bus is used for data acquisition from the pin shaft force sensor, tilt sensor, BDS Beidou positioning terminal and meter counter. The main controller performs parsing processing on the collected results to obtain the data parsing results.

[0009] According to the present invention, an intelligent control method for anchor cables of buoys in reservoir areas is provided, which determines the current absolute water depth based on data analysis results, including: During the descent of the boulder connected to the buoy, the tension measured by the pin force sensor connected to the anchor cable is used to capture the sudden change in tension caused by the boulder touching the bottom, so as to calibrate the current absolute water depth.

[0010] According to the present invention, an intelligent control method for anchor cables of reservoir buoys is provided, which calls an intelligent control algorithm based on catenary theory to determine the target anchor cable length, and controls an actuator to extend and retract the anchor cable based on the target anchor cable length, including: Based on the current wind conditions, the model parameters of the local linear mapping model are obtained; the local linear mapping model is a simplification of the nonlinear catenary model. The target anchor cable length is determined based on the absolute water depth and the model parameters of the local linear mapping model. Based on the target anchor cable length, the control actuator retracts and extends the anchor cable.

[0011] According to the present invention, an intelligent control method for anchor cables of buoys in reservoir areas is provided, which obtains model parameters of a local linear mapping model based on the current wind conditions, including: Based on the wind conditions, the corresponding model parameters are retrieved from the preset wind level-parameter lookup table.

[0012] According to the present invention, an intelligent control method for anchor cables of reservoir buoys is provided, which controls an actuator to extend and retract the anchor cable based on the target anchor cable length, including: Based on the target anchor cable length, the control actuator retracts and extends the anchor cable, and monitors the horizontal drift distance of the hull relative to the sinker in real time. When the horizontal drift distance reaches the preset warning line, an over-boundary warning is triggered and an active chain-retracting risk avoidance strategy is executed.

[0013] Secondly, the present invention also provides an intelligent control device for anchor cables of buoys in reservoir areas, comprising: The receiving module is used to receive control commands for controlling the anchor cables of buoys in the reservoir area; The data acquisition module is used to collect data from various sensors in the storage area and to perform unified analysis and processing of the collected results. The calculation module is used to determine the current absolute water depth based on the data analysis results; The control module is used to call an intelligent control algorithm based on catenary theory to determine the target anchor cable length, and based on the target anchor cable length, control the actuator to extend and retract the anchor cable.

[0014] Thirdly, the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the intelligent control method for anchor cables of reservoir buoys as described in the first aspect above.

[0015] Fourthly, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the intelligent control method for anchor cables of reservoir buoys as described in the first aspect above.

[0016] Fifthly, the present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the intelligent control method for anchor cables of reservoir buoys as described in the first aspect above.

[0017] Compared with the prior art, the present invention has the following beneficial effects: 1. Improved the scientific accuracy and precision of anchor cable length setting: By introducing an intelligent control algorithm based on catenary theory and simplifying it into a local linear mapping model based on actual working conditions, the target anchor cable length can be scientifically calculated based on real-time absolute water depth and wind conditions. This avoids the uncertainty and risks brought about by traditional reliance on manual experience and effectively balances buoy positioning accuracy and mooring safety.

[0018] 2. Automation and intelligence of anchor cable adjustment are realized: By integrating various sensors, controllers and actuators, this invention realizes closed-loop control of the entire process from data acquisition and intelligent decision-making to automatic execution, which significantly reduces the labor intensity and safety risks of manual operation and improves the efficiency and response speed of navigation mark maintenance.

[0019] 3. Enhanced adaptability to environmental changes: By capturing the sudden change in tension when the sinker hits the bottom, the absolute water depth is calibrated, achieving accurate adaptive measurement of water depth; at the same time, by querying model parameters based on wind conditions, the adjustment of the anchor cable length can dynamically adapt to changes in wind and waves, improving the reliability of the system in complex environments. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0021] Figure 1 This is a flowchart of the intelligent control method for anchor cables of buoys in reservoir areas provided by the present invention; Figure 2 This is a hardware design block diagram of the anchor cable take-up and release device in an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0023] Please see Figure 1This application aims to provide an intelligent control method for anchor cables of buoys in reservoir areas, addressing the technical problems in existing technologies where buoy anchor cable length adjustment relies on manual experience, involves high labor intensity, poses high safety risks, has poor positioning accuracy, and cannot adapt to dynamic environmental changes. This technical solution achieves precise, dynamic, and unmanned control of the anchor cable length by integrating environmental perception, intelligent decision-making based on a mechanical model, and automated execution. The method specifically includes the following steps: Step S101: Receive control instructions to control the anchor cables of the buoys in the reservoir area; Step S102: Collect data from various sensors in the storage area and perform unified analysis and processing on the collected results; Step S103: Determine the current absolute water depth based on the data analysis results; Step S104: Invoke the intelligent control algorithm based on catenary theory to determine the target anchor cable length, and control the actuator to extend and retract the anchor cable based on the target anchor cable length.

[0024] The method disclosed in this application is based on the following: after receiving a control command, it collects and analyzes various sensor data to determine the current absolute water depth in an adaptive manner. Then, it calls an intelligent control algorithm based on catenary theory. This algorithm has been simplified for engineering purposes to adapt to low-computing-power embedded systems, thereby efficiently calculating the ideal target anchor cable length and finally controlling the actuator to complete the precise deployment and retrieval of the anchor cable.

[0025] Furthermore, in a preferred embodiment, to ensure the stability and reliability of the entire control system, the system performs a series of initialization and self-test procedures before formally receiving control commands and executing the anchor cable adjustment task. Specifically, after the system is powered on, the core controller first performs a device self-test, checking the processor's own operating status and whether key hardware such as memory is functioning properly, thus ensuring the smooth operation of subsequent complex calculations and data processing. Figure 2 As shown, Figure 2 This is a hardware design block diagram of the anchor cable deployment and retrieval device in this embodiment of the invention. After passing the self-test, the controller will sequentially initialize the communication bus and external modules on which the system depends. For example, it will initialize two RS485 bus channels, configuring their communication rate, data format, and other parameters to prepare for communication with subsequent sensors and actuators. Simultaneously, the system will send initialization commands to various sensors (such as pin-shaft force sensors, tilt sensors, BDS Beidou positioning terminals, meter counters, etc.) and actuators (such as motor drivers), and load preset calibration parameters. Through this series of initialization operations, it can be ensured that all functional modules start working from a defined initial state and are in a ready state, thereby laying a solid foundation for subsequent automated control processes and avoiding control errors caused by uncertain equipment states.

[0026] In another preferred embodiment, the control commands are designed in two types to adapt to different application scenarios and management needs: remote control commands and cloud commands. Remote control commands are instantaneous control commands sent directly from the operator at or near the buoy's location to the control device on the buoy via a dedicated wireless link (such as a wireless remote controller). These commands offer rapid response and are primarily used for on-site installation, commissioning, maintenance, or emergency handling, giving on-site personnel direct intervention capabilities. Cloud commands, on the other hand, are strategic control commands issued by a remote monitoring center via a wide area network (such as the internet and 4G / 5G cellular networks). Cloud commands typically carry richer information, such as precise water level and wind data provided by meteorological departments or waterway management authorities. The purpose of these commands is to achieve unmanned remote management of the buoys. The system can automatically adjust the anchor cable length based on this strategic data to adapt to seasonal fluctuations in reservoir water levels and changes in wind and wave conditions, thereby achieving intensive and intelligent management of a large number of buoys.

[0027] Furthermore, to comprehensively perceive the buoy's own status and the external environment, the system collects data from various sensors in the reservoir area and performs unified analysis and processing of the collected results. Specifically, data acquisition is carried out synchronously via two RS485 buses. One RS485 bus is designed as an isolated RS485 bus, specifically for communication between the motor driver and the high-precision encoder. The reason for adopting the isolation design is that the motor generates strong electromagnetic interference and surge current during startup, shutdown, and speed adjustment. Electrical isolation can effectively prevent these interferences from coupling to the controller and other precision sensors, thereby ensuring the stability and reliability of control commands and position feedback signals. The other RS485 bus is used to connect other various sensors, including a pin-shaft force sensor for measuring anchor cable tension, an inclination sensor for sensing buoy attitude, a BDS Beidou positioning terminal for obtaining geographical location, and a meter counter for measuring the length of anchor cable deployment and retraction. The main controller, as the master station of the bus, obtains raw data from these sensors through polling. All collected data, regardless of which sensor or bus it comes from, is ultimately processed by the main controller through unified parsing, such as protocol parsing, data verification, unit conversion, and filtering, to form a structured data parsing result that can be used by subsequent algorithms.

[0028] In this embodiment, an opto-isolated RS485 bus is used for communication between the motor driver and the high-precision encoder. At the physical layer, electrical isolation is achieved through an isolated DC-DC power supply module and a signal isolation optocoupler, effectively blocking the interference transmission of high-frequency PWM pulses and starting surge currents of the motor to the sensor communication. The second RS485 bus is used for polling data acquisition from the remaining sensors. The dual buses work together to ensure data real-time performance and control reliability.

[0029] In one specific implementation, this application employs an ingenious adaptive measurement method to determine the current absolute water depth based on the aforementioned data analysis results. During the descent of the buoy-connected submersible, a pin-loaded force sensor connected to the anchor cable monitors the tension on the anchor cable in real time. When the submersible is suspended in the water during descent, the tension measured by the pin-loaded force sensor primarily reflects the apparent weight of the submersible in the water and the weight of the anchor cable itself. The instant the submersible touches the bottom, its weight begins to be borne by the supporting force of the bottom, causing a significant and rapid drop in the tension on the anchor cable. The system continuously monitors the tension data stream through an algorithm and captures this "sudden change in tension" characteristic point. Once successfully captured, the system records the length of the deployed anchor cable measured by a meter counter or encoder at this time; this length is then calibrated as the current absolute water depth. This method utilizes existing sensors in the system, eliminating the need for additional sonar or pressure-type depth gauges, and achieves accurate calibration of the absolute water depth. It offers advantages such as low cost, high integration, and strong environmental adaptability.

[0030] For example, wind speed data sent from the cloud is converted into horizontal tension using the wind load equation:

[0031] in, Indicates wind load, v Wind speed is indicated by meteorological data distributed from the cloud. Indicates the windward area of ​​the buoy. This represents the wind shape coefficient.

[0032] Considering the combined effects of water flow friction resistance, water surface slope force, and wave force, a comprehensive load compensation coefficient is used. Correct the total horizontal tension of the anchor chain:

[0033] in, This indicates the horizontal tension component of the anchor cable. This represents the comprehensive load compensation coefficient, with a value range of 1.20 to 1.50.

[0034] Furthermore, after determining the absolute water depth, the system invokes an intelligent control algorithm based on catenary theory to determine the target anchor cable length. Considering that the complete catenary equation is nonlinear, direct solution is computationally intensive and time-consuming for resource-constrained embedded controllers. Therefore, this application employs a simplified local linear mapping model. Specifically, the system first obtains the model parameters of the local linear mapping model under the current wind conditions. These model parameters (mainly dynamic slope and dynamic intercept) are pre-calculated through offline simulation and stored in the system. Subsequently, the system substitutes the measured absolute water depth value and the retrieved model parameters into the simplified linear equation to quickly calculate the target anchor cable length. Finally, the controller compares this calculated target anchor cable length with the current actual anchor cable length, obtains the difference, and controls the actuator (such as a motor-driven winch) to perform precise cable reeling and unloading operations until the actual length matches the target length.

[0035] For example, based on classical catenary theory and numerical simulations of water depths ranging from 60m to 130m, the complex nonlinear catenary model is simplified to a locally linear mapping model within this range. The relationship between the catenary length and the water depth is expressed by the following elementary linear equation:

[0036] in, Indicates the length of the target anchor cable. Indicates the dynamic slope. Indicates absolute water depth. Represents the dynamic intercept; dynamic slope and dynamic intercept From the catenary coefficient (by horizontal tensile component) and the effective linear density of anchor chains in water Calculations show that The depth of the main working area is determined by the water depth at the boundary. The absolute error of the linear fitting under all working conditions is controlled within 5m, meeting the engineering tolerance index for deep-water navigation mark positioning.

[0037] In one optional implementation, the process of obtaining the local linear mapping model parameters is achieved through a lookup table. The system internally pre-defines a wind level-parameter lookup table. This table stores the mapping relationship between different wind speeds (such as level 2, level 3, etc.) and their corresponding local linear mapping model parameters. When the system obtains the current wind condition information (such as wind speed), it first converts it into the corresponding wind speed level, and then uses this wind speed as an index to directly query and obtain the corresponding model parameters from the lookup table. This lookup method transforms complex online calculations into simple memory access, greatly improving computational efficiency and enabling even low-computing-power microcontrollers to complete decisions within milliseconds, ensuring the real-time response capability of the control system.

[0038] Through offline simulation, the dynamic slope was calculated for different wind speed ranges and horizontal tension levels corresponding to different wind levels. and dynamic intercept As shown in the table below.

[0039] Table 1 Wind Level - Parameter Table

[0040] In this embodiment, the classic catenary mechanics model is used as the theoretical basis, with a 15° angle at the bottom of the anchor chain as the ideal tracking target. However, the complex nonlinear catenary calculations are simplified into linear equations and wind level lookup tables, enabling a low-computing-power microcontroller to complete the chain length calculation in milliseconds. The system achieves deep-water adaptive and accurate depth measurement through the "sudden change in tension" characteristic of the pin sensor. Combined with drift warning and model self-verification using BDS Beidou high-precision positioning, a full-link intelligent control system from mechanical theory to engineering implementation is constructed.

[0041] In another optional implementation, to further enhance the safety of buoy mooring, the system, while controlling the actuator to extend and retract the anchor cable based on the target anchor cable length, also utilizes a BDS Beidou positioning terminal to monitor the horizontal drift distance of the vessel (i.e., the buoy body) relative to the sinker (anchor point) in real time. The system has one or more preset warning lines for horizontal drift distance (e.g., 50 meters). During operation, if the actual monitored horizontal drift distance continues to increase due to sudden increases in wind and waves, and reaches the preset warning line, the system will immediately trigger a boundary violation warning, for example, by reporting an alarm to a remote monitoring center via a cellular network. Simultaneously, the system will automatically execute an active anchor cable retraction and risk avoidance strategy, that is, while ensuring the anchor is not pulled up, appropriately tightening the anchor cable to reduce the buoy's radius of movement, thereby effectively curbing further expansion of the vessel's drift distance and ensuring the safety of the buoy itself and the waterway.

[0042] For example, the horizontal drift distance of the hull relative to the sinker is calculated using the following formula based on the catenary geometry:

[0043] In the formula, Let be the horizontal coordinates of the bottom anchor point under a 15° constraint. When approaching or exceeding the 50m warning line, the system triggers a boundary violation warning and executes an active chain-retraction avoidance strategy. The ideal bottom angle is set at 15° for the following reasons: From a multiphysics perspective, if the angle is greater than 15°, the anchor chain exerts a significant vertical pull on the bottom block, making the block prone to movement and failure; if the angle is less than 15° or even drops to 0° (i.e., dragging on the ground), it means that an excessively long, redundant anchor cable has been deployed, leading to excessive hull drift and triggering the 50m safety warning. Therefore, setting 15° as the dynamic tracking target for the control system is the optimal solution for balancing the risks of anchor pulling and disengagement with the hull drift distance.

[0044] In this embodiment, the active chain-retraction risk avoidance strategy is as follows: Under extreme wind and wave conditions, if the system determines that it is no longer possible to maintain the ideal bottom angle of 15°, the bottom constraint angle will be dynamically increased to the limit safety angle of 45°. By actively retracting the chain for about 30m to 40m (in wind conditions of level 4 to 6), the horizontal drift of the hull exceeding the warning line can be effectively curbed, thus ensuring anchoring safety.

[0045] In addition, a wind and wave condition auxiliary judgment method based on six-axis inertial measurement unit (IMU) attitude perception is provided: the six-axis IMU tilt sensor is used to perceive the roll and pitch attitude deviation angles of the buoy in real time. When the attitude data shows violent high-frequency oscillations and the amplitude exceeds the limit, the system autonomously determines that it is currently in a severe local wind and wave condition, and automatically switches to the corresponding wind level lookup table matrix for dynamic chain length correction. This serves as an auxiliary supplement to the judgment of cloud wind force data and improves the system's adaptability under local abnormal wind and wave conditions.

[0046] During the process of the motor-driven winch performing anchor cable take-up and release, the precise length of the taken-up and released cable is dynamically calculated in real time by combining the pulse count of the high-precision rotary encoder, the base circle circumference of the winch, and the effective diameter increment caused by the change in the number of anchor cable winding layers. At the same time, the actual length measured by the meter counter is used as an auxiliary verification to form a closed-loop comparison of "target length - actual length" to ensure the accuracy of the take-up and release action.

[0047] This invention also provides an intelligent control device for anchor cables of reservoir buoys. The intelligent control device for anchor cables of reservoir buoys provided by this invention is described below. The intelligent control device for anchor cables of reservoir buoys described below can be referred to in correspondence with the intelligent control method for anchor cables of reservoir buoys described above. The device includes: The receiving module is used to receive control commands for controlling the anchor cables of buoys in the reservoir area; The data acquisition module is used to collect data from various sensors in the storage area and to perform unified analysis and processing of the collected results. The calculation module is used to determine the current absolute water depth based on the data analysis results; The control module is used to call the intelligent control algorithm based on catenary theory to determine the target anchor cable length, and based on the target anchor cable length, control the actuator to extend and retract the anchor cable.

[0048] Figure 3 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 3 As shown, the electronic device may include: a processor 301, a communication interface 302, a memory 303, and a communication bus 304. The processor 301, communication interface 302, and memory 303 communicate with each other via the communication bus 304. The processor 301 can call logical instructions from the memory 303 to execute a smart control method for the anchor cable of a reservoir buoy. This method includes: Receive control commands to control the anchor cables of buoys in the reservoir area; Data from various sensors in the reservoir area are collected, and the collected results are uniformly analyzed and processed. Based on the data analysis results, determine the current absolute water depth; The intelligent control algorithm based on catenary theory is invoked to determine the target anchor cable length, and based on the target anchor cable length, the actuator is controlled to extend and retract the anchor cable.

[0049] Furthermore, the logical instructions in the aforementioned memory 303 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0050] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer is able to execute the intelligent control method for anchor cables of reservoir buoys provided by the above methods, the method including: Receive control commands to control the anchor cables of buoys in the reservoir area; Data from various sensors in the reservoir area are collected, and the collected results are uniformly analyzed and processed. Based on the data analysis results, determine the current absolute water depth; The intelligent control algorithm based on catenary theory is invoked to determine the target anchor cable length, and based on the target anchor cable length, the actuator is controlled to extend and retract the anchor cable.

[0051] In another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-described intelligent control method for anchor cables of reservoir buoys, the method comprising: Receive control commands to control the anchor cables of buoys in the reservoir area; Data from various sensors in the reservoir area are collected, and the collected results are uniformly analyzed and processed. Based on the data analysis results, determine the current absolute water depth; The intelligent control algorithm based on catenary theory is invoked to determine the target anchor cable length, and based on the target anchor cable length, the actuator is controlled to extend and retract the anchor cable.

[0052] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0053] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence 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 ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0054] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for intelligent control of anchor cables for buoys in reservoir areas, characterized in that, include: Receive control commands to control the anchor cables of buoys in the reservoir area; Data from various sensors in the reservoir area are collected, and the collected results are uniformly analyzed and processed. Based on the data analysis results, determine the current absolute water depth; The target anchor cable length is determined by using an intelligent control algorithm based on catenary theory, and the actuator is controlled to extend and retract the anchor cable based on the target anchor cable length.

2. The intelligent control method for anchor cables of buoys in reservoir areas according to claim 1, characterized in that, Before receiving control commands to control the anchor cables of buoys in the reservoir area, the following steps are included: Perform a device self-test to confirm that the controller and memory are in normal working order; Initialize the two RS485 bus channels, various sensors and actuators in sequence, and load calibration parameters to ensure that each module is in a ready state.

3. The intelligent control method for anchor cables of reservoir buoys according to claim 1, characterized in that, The control commands include remote control commands and cloud-based commands; The remote control command is an instant control command sent directly by the operator in the area where the buoy is located via a dedicated wireless link; The cloud-based commands are strategic control commands issued by the remote monitoring center via the Internet and cellular networks, including water level data and wind data, to achieve unmanned remote management of the buoys.

4. The intelligent control method for anchor cables of reservoir buoys according to claim 1, characterized in that, Data from various sensors in the reservoir area is collected, and the collected results are uniformly analyzed and processed, including: Data from various sensors is acquired synchronously via two RS485 buses; one RS485 bus is an isolated RS485 bus used for communication between the motor drive and the encoder; the other RS485 bus is used for data acquisition from the pin shaft force sensor, tilt sensor, BDS Beidou positioning terminal and meter counter. The main controller performs parsing processing on the collected results to obtain the data parsing results.

5. The intelligent control method for anchor cables of reservoir buoys according to claim 4, characterized in that, Based on the data analysis results, the current absolute water depth is determined, including: During the descent of the boulder connected to the buoy, the tension measured by the pin force sensor connected to the anchor cable is used to capture the sudden change in tension caused by the boulder touching the bottom, so as to calibrate the current absolute water depth.

6. The intelligent control method for anchor cables of reservoir buoys according to claim 1, characterized in that, The system invokes an intelligent control algorithm based on catenary theory to determine the target anchor cable length, and based on the target anchor cable length, controls the actuator to extend and retract the anchor cable, including: Based on the current wind conditions, the model parameters of the local linear mapping model are obtained; the local linear mapping model is a simplification of the nonlinear catenary model. The target anchor cable length is determined based on the absolute water depth and the model parameters of the local linear mapping model. Based on the target anchor cable length, the control actuator retracts and extends the anchor cable.

7. The intelligent control method for anchor cables of reservoir buoys according to claim 6, characterized in that, Based on the current wind conditions, obtain the model parameters of the local linear mapping model, including: Based on the wind conditions, the corresponding model parameters are retrieved from the preset wind level-parameter lookup table.

8. The intelligent control method for anchor cables of reservoir buoys according to claim 6, characterized in that, Based on the target anchor cable length, the control actuator retracts and extends the anchor cable, including: Based on the target anchor cable length, the control actuator retracts and extends the anchor cable, and monitors the horizontal drift distance of the hull relative to the sinker in real time. When the horizontal drift distance reaches the preset warning line, an over-boundary warning is triggered and an active chain-retracting risk avoidance strategy is executed.

9. An intelligent control device for anchor cables of buoys in reservoir areas, characterized in that, include: The receiving module is used to receive control commands for controlling the anchor cables of buoys in the reservoir area; The data acquisition module is used to collect data from various sensors in the storage area and to perform unified analysis and processing of the collected results. The calculation module is used to determine the current absolute water depth based on the data analysis results; The control module is used to call an intelligent control algorithm based on catenary theory to determine the target anchor cable length, and based on the target anchor cable length, control the actuator to extend and retract the anchor cable.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the intelligent control method for anchor cables of reservoir buoys as described in any one of claims 1 to 8.

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