Ship system integrating electronic anchor positioning and full-rotation propelling and ship

Abstract

The utility model relates to the technical field of ship control, and discloses a ship system integrating electronic anchor positioning and full-rotation propelling and a ship. Comprising a driving console, and a driver controls the driving console to output a corresponding control instruction; the electronic anchor positioning subsystem is connected with the driving console and used for collecting water area information and positioning information and outputting a rotation control signal; and the full-rotation propulsion subsystem is connected with the driving console and the electronic anchor positioning subsystem and is used for executing corresponding full-rotation control actions according to the control instructions and the rotation control signals. Water area information and positioning information are collected through the electronic anchor positioning subsystem, and a rotation control signal is output, so that the ship can be accurately anchored or kept at a specific position, and the ship can be kept stable even in a flowing water area. Through flow direction, flow velocity and positioning comparators, the system can detect the deviation between the flow direction, flow velocity and target position of the ship and the water area, and performs adjustment through a rotation control signal.

Description

Technical Field

[0001] The utility model relates to the technical field of ship control, and particularly relates to a ship system integrating electronic anchor positioning and full-rotation propulsion and a ship. Background Art

[0002] As a means of transportation used by people in water areas, the stable and reliable operation of ships is crucial. During the operation of a ship, when it reaches the destination water area, the driver controls the ship to stop or keep the ship in a fixed position. Due to the existence of turbulent flows in the water area, simply stopping the driving force cannot maintain the fixed positioning of the ship. In the prior art, the driver needs to control the action of the ship's driving device according to his own experience to keep it in a stable posture. However, the above method has high requirements for the driver's personal experience and there are subjective deviations.

[0003] With the continuous development of technology, technicians have introduced a top current machine, which can offset the turbulent flows in the water area to keep the overall position of the ship fixed. In the existing configuration, the top current machine is often configured at the bow of the ship. After the ship docks, it is lowered to the water surface, and by controlling the action of the top current machine, the above technical effect can be achieved.

[0004] However, in the actual application process, on the one hand, the cost of the top current machine is relatively high, which causes a certain economic pressure on the shipowner and seriously affects the market promotion of such ships. Especially for medium and large-sized leisure fishing boats with a weight greater than 38 tons, there is currently no mature top current machine product on the market that meets the requirements, so it needs to be customized, and the cost will be even higher. On the other hand, an additional lifting device needs to be configured for the top current machine, which leads to additional costs and additional failure risks, thus reducing the user experience. Summary of the Utility Model

[0005] In order to overcome the above technical problems existing in the prior art, an embodiment of the utility model provides a ship system integrating electronic anchor positioning and a full-rotation thruster. By controlling an electronic anchor positioning subsystem and a full-rotation propulsion subsystem through a driving console, the effects of accurately controlling the navigation and anchoring of the rudder are achieved.

[0006] To achieve the above object, an embodiment of the utility model provides a ship system integrating electronic anchor positioning and full-rotation propulsion. The ship system integrating electronic anchor positioning and a full-rotation thruster includes: a driving console, and a driver performs a manipulation action on the driving console to output a corresponding manipulation instruction; an electronic anchor positioning subsystem, connected to the driving console, for collecting water area information and positioning information and outputting a rotation control signal; a full-rotation propulsion subsystem, connected to the driving console and the electronic anchor positioning subsystem, for performing a corresponding full-rotation control action according to the manipulation instruction and the rotation control signal.

[0007] Preferably, the driving console includes a navigation mode button and an anchoring mode button, and the navigation mode button and the anchoring mode button are in an interlocking relationship; the navigation mode button is connected to the full-rotation propulsion subsystem, and the navigation mode button outputs a navigation mode signal to the full-rotation propulsion subsystem according to the manipulation action; the anchoring mode button is connected to the electronic anchor positioning subsystem, and the anchoring mode button outputs an anchoring mode signal to the electronic anchor positioning subsystem according to the manipulation action.

[0008] Preferably, the electronic anchor positioning subsystem includes a flow velocity and direction acquisition module, a positioning module, and a positioning controller; the flow velocity and direction acquisition module is fixedly installed at the tail of the ship for acquiring the flow velocity and direction of the current water area; the positioning module is fixedly installed at the front of the ship for obtaining the positioning information of the ship; the positioning controller is electrically connected to the flow velocity and direction acquisition module and the positioning module for outputting the rotation control signal according to the flow velocity, the direction, and the positioning information.

[0009] Preferably, the positioning controller includes a direction comparator, a flow velocity comparator, and a positioning comparator; the direction comparator and the flow velocity comparator are respectively connected to the flow velocity and direction acquisition module, the direction comparator is used for outputting a direction deviation signal between the ship and the current water area, and the flow velocity comparator is used for outputting a flow velocity deviation signal between the ship and the current water area; the positioning comparator is connected to the positioning module for outputting a position deviation signal between the ship and the target anchoring position; the direction deviation signal, the flow velocity deviation signal, and the position deviation signal are used as the rotation control signal.

[0010] Preferably, the positioning controller further includes a delay calculator, which is connected to the positioning module.

[0011] Preferably, the model of the flow velocity and direction acquisition module is HXH03-1 type Doppler current meter, and the positioning module is a GPS module.

[0012] Preferably, the full-rotation propulsion subsystem includes a propulsion motor, a motor controller, a transmission structure, a rotating device, and a rotary propulsion device; the propulsion motor is fixedly arranged at the tail of the ship; the motor controller is arranged on the top of the propulsion motor and is electrically connected to the driving console and the electronic anchor positioning subsystem; the input end of the transmission structure is connected to the output end of the propulsion motor, and the output end of the transmission structure is connected to the rotary propulsion device; the motor controller is also connected to the rotating device, and the rotating device is used for performing a rotating action in the horizontal direction.

[0013] Preferably, the model of the motor controller is SIMATIC S7-1500.

[0014] Furthermore, an embodiment of the utility model provides a ship, including a hull, in which a ship system integrating electronic anchor positioning and azimuth propulsion provided by an embodiment of the utility model is configured.

[0015] Through the technical solution provided by the utility model, the utility model has at least the following technical effects:

[0016] The electronic anchor positioning subsystem collects water area information and positioning information, and outputs a slewing control signal to ensure that the ship can be accurately anchored or maintained in a specific position, and can remain stable even in flowing waters. Through the flow direction comparator, flow velocity comparator and positioning comparator, the system can detect the deviation between the ship and the water flow direction, flow velocity and target position, and adjust it through the slewing control signal. The anchoring and propulsion power sources are from the same device, which makes the operation smoother.

[0017] Other features and advantages of the embodiments of the present invention will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings are used to provide a further understanding of the embodiments of the present utility model and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present utility model, but do not constitute a limitation on the embodiments of the present utility model. In the accompanying drawings:

[0019] Figure 1 It is a structural schematic diagram of a ship system integrating electronic anchor positioning and azimuth thruster provided by an embodiment of the utility model;

[0020] Figure 2 It is a schematic diagram of a driving console provided by an embodiment of the utility model;

[0021] Figure 3 It is a schematic diagram of a ship system integrating electronic anchor positioning and azimuth thruster provided by an embodiment of the utility model;

[0022] Figure 4 It is a structural schematic diagram of a positioning controller provided in an embodiment of the utility model.

[0023] Description of Reference Numerals

[0024] Driving console 1, navigation mode button 11, anchoring mode button 12, electronic anchor positioning subsystem 2, flow velocity and direction acquisition module 21, positioning module 22, positioning controller 23, flow direction comparator 231, flow velocity comparator 232, positioning comparator 233, full-rotation propulsion subsystem 3, propulsion motor 31, motor controller 32, transmission structure 33, rotary propulsion device 34, rotating device 35 Detailed implementation manners

[0025] The following will describe in detail the specific implementation manners of the embodiments of the present utility model in conjunction with the accompanying drawings. It should be understood that the specific implementation manners described herein are only used to illustrate and explain the embodiments of the present utility model, and are not used to limit the embodiments of the present utility model.

[0026] In the embodiments of the present utility model, the terms "system" and "network" can be used interchangeably. "Plurality" means two or more. In view of this, in the embodiments of the present utility model, "plurality" can also be understood as "at least two". "And / or" describes the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " generally represents an "or" relationship between the associated objects before and after, unless otherwise specified. In addition, it should be understood that in the description of the embodiments of the present utility model, words such as "first" and "second" are only used for the purpose of distinguishing descriptions, and cannot be understood as indicating or implying relative importance, nor can they be understood as indicating or implying order.

[0027] Please refer to Figure 1 , the embodiments of the present utility model provide a ship system integrating electronic anchor positioning and full-rotation propulsion. The ship system integrating electronic anchor positioning and full-rotation propulsion includes: a driving console 1, and a driver performs a manipulation action on the driving console 1 to output a corresponding manipulation instruction; an electronic anchor positioning subsystem 2, connected to the driving console 1, for collecting water area information and positioning information and outputting a rotation control signal; a full-rotation propulsion subsystem 3, connected to the driving console 1 and the electronic anchor positioning subsystem 2, for performing corresponding full-rotation control actions according to the manipulation instruction and the rotation control signal.

[0028] In a possible implementation manner, in order to transform existing large ships and provide them with electronic anchor positioning and full-rotation propulsion functions, corresponding subsystems are integrated into existing large ships (such as ships over 20 tons). During use, the driver controls the electronic anchor positioning subsystem 2 by manipulating the driving console 1 to accurately collect water area information and ship positioning information and output a rotation control signal to the full-rotation propulsion subsystem 3. The two subsystems cooperate with each other to ensure the stable navigation of the ship in complex waters and enable reliable anchoring when reaching the destination.

[0029] Please refer to Figure 2, in the embodiment of the present utility model, the driving console 1 includes a navigation mode button 11 and an anchoring mode button 12, and the navigation mode button 11 and the anchoring mode button 12 are in an interlocking relationship; the navigation mode button 11 is connected to the full-rotation propulsion subsystem 3, and the navigation mode button 11 outputs a navigation mode signal to the full-rotation propulsion subsystem 3 according to the manipulation action; the anchoring mode button 12 is connected to the electronic anchor positioning subsystem 2, and the anchoring mode button 12 outputs an anchoring mode signal to the electronic anchor positioning subsystem 2 according to the manipulation action.

[0030] In a possible implementation manner, when the driver presses the navigation mode button 11 of the driving console 1, that is, at this time the driver expects to control the normal navigation of the ship. A navigation mode signal is sent to the full-rotation propulsion subsystem 3 through the navigation mode button 11. For example, this signal is a high-level signal for the full-rotation propulsion subsystem 3. In this embodiment, the ship can only select one mode for navigation. Therefore, the navigation mode button 11 and the anchoring mode button 12 are in an interlocking relationship. For example, an existing interlocking circuit can be set between the two buttons to keep them in an interlocking relationship. When one button is pressed, the other button cannot be pressed or convey a mode signal, so as to realize stable and reliable navigation operation of the ship.

[0031] When approaching the destination position, when the driver determines that anchoring is needed, the driver exits the navigation mode through the navigation mode button 11 and presses the anchoring mode button 12 of the driving console 1. At this time, an anchoring mode signal is output to the electronic anchor positioning subsystem 2 through the anchoring mode button 12. The electronic anchor positioning subsystem 2 collects water area information and positioning information, and outputs a rotation control signal to the full-rotation propulsion subsystem 3 to realize precise anchoring of the ship.

[0032] In the second embodiment, the driving console 1 includes a touch screen (not shown). A navigation mode button and an anchoring mode button are set on the touch screen. When the driver presses the navigation mode button, a navigation mode signal is output to the full-rotation propulsion subsystem 3; when the driver presses the anchoring mode button, an anchoring mode signal is output to the electronic anchor positioning subsystem 2. At this time, the ship automatically stops the navigation mode and switches to the anchoring mode.

[0033] In the embodiment of the present utility model, by using the full-rotation propulsion subsystem 3 composed of the driving device possessed by the ship itself, the full-rotation propulsion subsystem 3 can, without the need for additional configuration of a top current machine and related configurations, adjust the propeller direction and propulsion power according to the manipulation instructions issued by the driver through the driving console 1 and the rotation control signal generated by the electronic anchor positioning subsystem 2, and ensure that the ship is positioned at the anchoring destination according to the real-time situation of the water area.

[0034] By adopting the above integration method, on the one hand, it can greatly reduce the cost of the ship to implement the electronic anchor positioning function; on the other hand, it can effectively break through the technical bottleneck of the existing top current machine with insufficient power for medium and large ships, improving the user experience.

[0035] Please refer to Figure 3 , in the embodiment of the present invention, the electronic anchor positioning subsystem 2 includes a flow velocity and direction acquisition module 21, a positioning module 22, and a positioning controller 23; the flow velocity and direction acquisition module 21 is fixedly installed at the tail of the ship for acquiring the flow velocity and direction of the current water area; the positioning module 22 is fixedly installed at the front of the ship for obtaining the positioning information of the ship; the positioning controller 23 is electrically connected to the flow velocity and direction acquisition module 21 and the positioning module 22 for outputting the rotation control signal according to the flow velocity, the direction, and the positioning information.

[0036] Preferably, the model of the flow velocity and direction acquisition module 21 is the HXH03-1 type Doppler current meter, and the positioning module 22 is a GPS module.

[0037] In a possible implementation manner, during navigation, when the mode of the ship is switched to the anchoring mode, the positioning controller 23 obtains the speed and direction data of the water flow from the flow velocity and direction acquisition module 21 in real time, and at the same time obtains the current accurate position information of the ship through the GPS module in real time to generate a rotation control signal. The positioning controller 23 can be a common processor, such as an arm processor, an stm32 processor, an FPGA processor, a PLC, etc., on which a general processing program is pre-set for outputting the collected original data as a corresponding rotation control instruction, and controlling the driving device in the full rotation propulsion subsystem 3 to perform a corresponding full rotation driving action through the rotation control instruction.

[0038] Preferably, the model of the flow velocity and direction acquisition module 21 is the HXH03-1 type Doppler current meter. By utilizing the Doppler effect, it can accurately measure the speed and direction of the water flow, provide accurate flow velocity data, and ensure high precision in the navigation and anchoring processes. And the HXH03-1 type Doppler current meter can measure water flows of different intensities and is applicable to various navigation environments. Whether in calm waters or in seas with large flow velocities, it can maintain good measurement performance. At the same time, using a GPS module as the positioning module 22 can not only provide high-precision position data, but also work stably under various weather conditions, unaffected by rain, snow, haze, or light changes, making the whole system more stable. In this embodiment, multiple GPS modules can be set on the hull according to requirements.

[0039] Please refer to Figure 4, in the embodiment of the present utility model, the positioning controller 23 includes a flow direction comparator 231, a flow velocity comparator 232 and a positioning comparator 233; the flow direction comparator 231 and the flow velocity comparator 232 are respectively connected to the flow velocity and direction acquisition module 21, the flow direction comparator is used to output a flow direction deviation signal between the ship and the current water area, and the flow velocity comparator is used to output a flow velocity deviation signal between the ship and the current water area; the positioning comparator 233 is connected to the positioning module 22 and is used to output a position deviation signal between the ship and the target anchoring position; the flow direction deviation signal, the flow velocity deviation signal and the position deviation signal are used as the slewing control signal.

[0040] However, in the actual application process, there is a certain time deviation between obtaining the positioning information, calculating the position deviation signal and executing the corresponding position deviation control. Therefore, in order to improve the control accuracy, preferably, the positioning controller 23 further includes a delay calculator (not shown), which is connected to the positioning module 22. The delay calculator automatically calculates the delay between the received positioning information and the current time according to the received positioning information, and transmits it to the positioning controller 23. The positioning controller 23 sends it as a kind of slewing control signal to the full-slewing propulsion subsystem 3 to achieve precise full-slewing control.

[0041] In the actual application process, the full-slewing propulsion subsystem 3 drives the corresponding driving device to execute the navigation direction control consistent with the water flow according to the above-mentioned flow direction deviation signal; and executes the control opposite to the water flow velocity according to the above-mentioned flow velocity deviation signal; and controls the ship to dock at the destination position according to the above-mentioned position deviation signal.

[0042] In a possible implementation manner, the flow direction comparator 231 and the flow velocity comparator 232 obtain the flow direction deviation signal and the flow velocity deviation signal by comparing the deviation of the flow direction and flow velocity between the ship and the actual water area. The positioning comparator 233 is connected to the positioning module 22 and is used to determine the difference between the current position of the ship and the target anchoring position and output a position deviation signal to indicate the degree to which the ship deviates from the predetermined position. Further, the delay calculator is connected to the positioning module 22 and is used to calculate the delay time of the positioning information. The use of the delay calculator enables the system to make more precise adjustments, enables the system to identify and correct deviations in a timely manner, and reduces the risk of the ship deviating from the route or the anchoring position. Using the flow direction deviation signal, the flow velocity deviation signal and the position deviation signal as the slewing control signal enables the full-slewing propulsion subsystem 3 to work more coordinately, improving the flexibility and accuracy of ship control.

[0043] In the embodiment of the present utility model, the full-rotation propulsion subsystem 3 includes a propulsion motor 31, a motor controller 32, a transmission structure 33, a rotating device 35, and a rotary propulsion device 34; the propulsion motor 31 is fixedly arranged at the tail of the ship; the motor controller 32 is arranged on the top of the propulsion motor 31 and is electrically connected to the driving console 1 and the electronic anchor positioning subsystem 2; the input end of the transmission structure 33 is connected to the output end of the propulsion motor 31, and the output end of the transmission structure 33 is connected to the rotary propulsion device 34; the motor controller 32 is further connected to the rotating device 35, and the rotating device 35 is used to perform a rotating action in the horizontal direction.

[0044] Preferably, the model of the motor controller 32 is SIMATIC S7-1500.

[0045] In a possible implementation manner, the full-rotation propulsion subsystem 3 of the ship is configured with SIMATIC S7-1500 as the motor controller 32, which is responsible for managing and coordinating the operation of the entire propulsion system. When the driver issues a control command at the console to the SIMATIC S7-1500 controller. After receiving the command, the controller determines the required motor operating parameters according to the preset control logic. Further, the controller sends a control signal to the propulsion motor 31 to adjust the speed and torque of the motor to achieve the forward, backward, or turning of the ship. The transmission structure 33 transmits the output power of the motor to the rotary propulsion device 34, and the rotary propulsion device 34 adjusts the thrust direction according to the command of the motor controller 32 to achieve the omnidirectional movement of the ship. SIMATIC S7-1500 also controls the connected rotating device 35, and adjusts the direction of the rotary propulsion device 34 through the rotating device 35 to achieve the horizontal rotation action of the ship, increasing the flexibility of control. At the same time, SIMATIC S7-1500 has a fault diagnosis function, which can detect and respond to system anomalies in a timely manner, improving the safety and reliability of the system.

[0046] The optional implementation manners of the embodiment of the present utility model have been described in detail above with reference to the accompanying drawings. However, the embodiment of the present utility model is not limited to the specific details in the above implementation manners. Within the technical concept scope of the embodiment of the present utility model, various simple modifications can be made to the technical solution of the embodiment of the present utility model, and these simple modifications all belong to the protection scope of the embodiment of the present utility model.

[0047] In addition, it should be noted that, in the case of no contradiction, the various specific technical features described in the above specific implementation manners can be combined in any suitable manner. To avoid unnecessary repetition, the embodiment of the present utility model will not separately describe various possible combination manners.

[0048] In addition, any combination can be made among various different embodiments of the embodiments of the present utility model, as long as it does not violate the idea of the embodiments of the present utility model, and the same shall be regarded as the content disclosed by the embodiments of the present utility model.

Claims

1. A ship system integrating electronic anchor positioning and omnidirectional propulsion, characterized in that: The ship system integrating electronic anchor positioning and azimuth thruster comprises: A driving console (1), wherein a driver performs a control action on the driving console (1) to output a corresponding control instruction; An electronic anchor positioning subsystem (2) connected to the driving console (1) and used to collect water area information and positioning information and output a rotation control signal; The azimuth propulsion subsystem (3) is connected to the driving console (1) and the electronic anchor positioning subsystem (2), and is used to perform corresponding azimuth control actions according to the control instructions and the azimuth control signal.

2. The ship system integrating electronic anchor positioning and azimuth propulsion according to claim 1, characterized in that: The driving console (1) comprises a navigation mode button (11) and an anchoring mode button (12), wherein the navigation mode button (11) and the anchoring mode button (12) are in an interlocking relationship; The navigation mode button (11) is connected to the azimuth propulsion subsystem (3), and the navigation mode button (11) outputs a navigation mode signal to the azimuth propulsion subsystem (3) according to the control action; The anchoring mode button (12) is connected to the electronic anchoring positioning subsystem (2), and the anchoring mode button (12) outputs an anchoring mode signal to the electronic anchoring positioning subsystem (2) according to the control action.

3. The ship system integrating electronic anchor positioning and azimuth propulsion according to claim 1, characterized in that: The electronic anchor positioning subsystem (2) comprises a flow velocity and direction acquisition module (21), a positioning module (22) and a positioning controller (23); The flow velocity and direction acquisition module (21) is fixedly installed at the stern of the ship and is used to collect the flow velocity and direction of the current water area; The positioning module (22) is fixedly mounted on the front of the ship and is used to obtain positioning information of the ship; The positioning controller (23) is electrically connected to the flow velocity and direction acquisition module (21) and the positioning module (22), and is used to output the rotation control signal according to the flow velocity, the flow direction and the positioning information.

4. The ship system integrating electronic anchor positioning and azimuth propulsion according to claim 3, characterized in that: The positioning controller (23) comprises a flow direction comparator (231), a flow rate comparator (232) and a positioning comparator (233); The flow direction comparator (231) and the flow velocity comparator (232) are respectively connected to the flow velocity and direction acquisition module (21); the flow direction comparator (231) is used to output a flow direction deviation signal between the ship and the current waters; and the flow velocity comparator (232) is used to output a flow velocity deviation signal between the ship and the current waters; The positioning comparator (233) is connected to the positioning module (22) and is used to output a position deviation signal between the ship and the target anchor position; The flow direction deviation signal, the flow speed deviation signal and the position deviation signal are used as the rotation control signal.

5. The ship system integrating electronic anchor positioning and azimuth propulsion according to claim 4, characterized in that: The positioning controller (23) further comprises a delay calculator connected to the positioning module (22).

6. The ship system integrating electronic anchor positioning and azimuth propulsion according to claim 3, characterized in that: The model of the flow velocity and direction acquisition module (21) is a HXH03-1 Doppler current meter, and the positioning module (22) is a GPS module.

7. The ship system integrating electronic anchor positioning and azimuth propulsion according to claim 1, characterized in that: The omni-rotation propulsion subsystem (3) comprises a propulsion motor (31), a motor controller (32), a transmission structure (33), a rotating device (35) and a slewing propulsion device (34); The propulsion motor (31) is fixedly arranged at the stern of the ship; The motor controller (32) is arranged on the top of the propulsion motor (31) and is electrically connected to the driving console (1) and the electronic anchor positioning subsystem (2); The input end of the transmission structure (33) is connected to the output end of the propulsion motor (31), and the output end of the transmission structure (33) is connected to the rotary propulsion device (34); The motor controller (32) is also connected to the rotating device (35), and the rotating device (35) is used to perform a rotating action in a horizontal direction.

8. The ship system integrating electronic anchor positioning and azimuth propulsion according to claim 7, characterized in that: The model of the motor controller (32) is SIMATIC S7-1500.

9. A ship, comprising a hull, characterized in that: A ship system integrating electronic anchor positioning and full-turn propulsion according to any one of claims 1 to 8 is arranged in the hull.

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