CN101788356B - Anchor Position and Anchor Rope Condition Monitoring Method for Floating Anchor Winch - Google Patents

Abstract

The invention discloses a method for monitoring anchor position and anchor line status of a floating-crane anchor winch, which is implemented on the basis of an anchor position and anchor line status monitoring device for floating-crane anchor winches. In the monitoring method, the tension of the anchor line is monitored in real time by using an anchor-line tension sensor, the length of the anchor line is monitored in real time by using an anchor winch barrel position sensor, and the anchor position is monitored in real time by using a GPS (Global Position System) orientator and a depthometer. The method can be used for accurately monitoring the anchor position and the anchor line status of the floating-crane anchor winch in real time. The method can ensure that the whole monitoring process is stable and accurate, thereby ensuring the operation quality and the operation safety of the floating crane.

Description

Crane barge anchor winch anchor position and anchor line state monitoring method

Technical field:

The present invention relates to a kind of monitoring method of crane barge, particularly a kind of method that is used to monitor crane barge anchor winch anchor position and anchor line state.

Background technology:

Large-scale floating crane be a kind of can be in the navigation channel or immediate offshore area waterborne the heavy equipment of construction operation of fixing a point, as carry out the installation of bridge bridge, big lifting of oil platform, raising of a wreck etc.When fixing a point construction operation, must carry out the anchor position through some (normally 4～12) large-scale anchor winches of the crane barge bow stern and two sides of a ship and fix, the control anchor line moves ship and operation location.Owing to reasons such as the operation situation of crane barge and marine stormy waves streams; Fluctuation takes place in the anchor line tension force of anchor winch often; Cause crane barge hull attitude change, drag of anchor even anchor line phenomenon such as burst apart, badly influence the construction operation quality and the job safety of crane barge.Therefore monitoring the anchor position and the anchor line state of anchor winch in real time, is to guarantee the normal operation of crane barge and the important step of operational security.

Existing crane barge state monitoring method can not be realized the anchor position and the anchor line state of accurate in real time monitoring anchor winch when crane barge is monitored, thereby makes that the work industry quality and the job safety of crane barge are seriously influenced.

Summary of the invention:

The present invention is directed to existing anchor position and the anchor line state that can not realize real-time precise monitoring anchor winch of above-mentioned existing monitoring method, thereby make that the operation quality of crane barge and job safety are seriously influenced; And the monitoring method of a kind of crane barge anchor winch anchor position and anchor line state is provided, method can be in real time monitored the anchor position and the anchor line state of the anchor winch of crane barge accurately, to guarantee the work industry quality and the job safety of crane barge.

In order to achieve the above object, the technical scheme of the present invention's employing is following:

Crane barge anchor winch anchor position and anchor line state monitoring method; This method is implemented based on crane barge anchor winch anchor position and anchor line state monitoring apparatus, and this method is monitored in real time, through anchor niggerhead position transducer anchor line length monitored in real time, through GPS orientator and sounder the anchor position monitored in real time anchor line tension force through the anchor line tension pick-up.

When said anchor line tension force is monitored in real time; Through the anchor line tension pick-up; Obtain the anchor line tension data that current detection arrives; And detected before all anchor line tension force historical datas, detected data are carried out The disposal of gentle filter, obtain the current actual tension of anchor line of each anchor and the anchor line mean tension of each anchor.

When said anchor line length is monitored in real time,, obtain the anchor line length data of current detection through anchor niggerhead position transducer, and detected before all anchor line length historical datas; Real-time detected data are carried out The disposal of gentle filter, obtain the anchor line current length of each anchor, and combine the nominal length of each anchor line, obtain the residue length of each anchor line.

Said anchor position comprises when monitoring in real time that the anchor position is with respect to the skew monitoring of crane barge, the monitoring that drags of anchor, the monitoring of the anchor position depth of water;

Said anchor position is with respect to the skew monitoring of crane barge; Current accommodation data after anchor position longitude and latitude data when it casts anchor through GPS orientator record crane barge and crane barge are devoted oneself to work; Obtain in real time the anchor position status data of each anchor with respect to the crane barge ship, comprise with respect to the offset distance at accommodation and with respect to the crane barge bow to the position angle;

The said monitoring that drags of anchor, it receives under the permanent Tension Control at anchor line, obtains that initial sum ends constantly in a time period, the distance of anchor position to crane barge and with respect to the crane barge bow to the position angle, by obtaining the side-play amount that data obtain corresponding anchor position;

The monitoring of the said anchor position depth of water, the current bathymetric data after the anchor position when it casts anchor through the sounder record and the bathymetric data of crane barge and crane barge are devoted oneself to work obtains the anchor position depth of water status data of each anchor.

When said monitoring method was monitored, when monitored parameter takes place when out-of-limit, monitoring device sent alerting signal.

The monitoring method that provides according to technique scheme can be in real time monitored the anchor position and the anchor line state of the anchor winch of crane barge accurately.This method can guarantee that whole observation process is accurately stable, to guarantee the work industry quality and the job safety of crane barge.

Description of drawings:

Further specify the present invention below in conjunction with accompanying drawing and embodiment.

Fig. 1 is the structural representation that the present invention is based on real-time monitoring device.

Fig. 2 is the anchor position synoptic diagram of crane barge.

Fig. 3 is the synoptic diagram that drags of anchor of crane barge.

Fig. 4 is the anchor position depth of water view of crane barge.

Embodiment:

For technological means, creation characteristic that the present invention is realized, reach purpose and effect and be easy to understand and understand, below in conjunction with concrete diagram, further set forth the present invention.

In order to realize that the anchor position and the anchor line state of the anchor winch of crane barge are carried out accurate in real time monitoring, the invention provides a kind of crane barge anchor winch anchor position and anchor line state monitoring method.

This method is implemented based on crane barge anchor winch anchor position and anchor line state monitoring apparatus, and this device is specifically as shown in Figure 1.

Referring to Fig. 1, this supervising device is to be the embedded controller of core with x86CPU101.Include CAN field bus communication port one 03a, the 103b of 2 independent redundancies on the mainboard 102; Also comprise the RS-232/485 serial port 104a-104e that is no less than 5 simultaneously.Use the CAN fieldbus and saved a large amount of signal cables, improved the reliability of system.

In order to show current crane barge anchor winch anchor position and anchor line state intuitively, and corresponding data, the state that also is provided with in this device shows and warning panel 105.

Be provided with 4～No. 12 anchor niggerhead position transducers, 106,4～12 road anchor line tension pick-ups 107, crane barge GPS orientator 108, gyro compass 109, sounder 110 and the crane barge anchor Winch control system 111 that has CAN field bus communication port on the crane barge of this control device using.

X86CPU can be 386,486 or 586 chips as the core devices of embedded controller.In order to reach the real time data processing requirement, support that the operating system of x86CPU operation is tailorable real time operating system, can be Linux, WinCE, VxWorks etc.

When concrete the connection; CUP is through double-redundancy CAN field bus communication port one 03a, 103b; Adopt distributed connected mode; Connect 4～No. 12 anchor niggerhead position transducers 106 and 4～12 road anchor line tension pick-ups 107 that have same CAN field bus communication port respectively, to obtain anchor line length data and anchor line tension data.Owing to adopt the CAN fieldbus to save a large amount of signal cables, improved the reliability of system.

CUP connects crane barge GPS orientator 108 through RS-232/485 serial port 104a, and obtains the crane barge current position coordinates by the GPS orientator.

CUP connects gyro compass 109 through RS-232/485 serial port 104b, and obtains the current bow of crane barge to the position angle by gyro compass.

CUP connects sounder 110 through RS-232/485 serial port 104c.And by the current depth of water of sounder acquisition crane barge.

CUP connects crane barge anchor Winch control system 111 through RS-232/485 serial port 104d, and this crane barge anchor Winch control system can obtain anchor winch and anchor line status information thereof from the anchor line monitoring device, and anchor winch and anchor line state thereof are adjusted accordingly.

CUP shows and warning panel 105 that through RS-232/485 serial port 104e connection status this panel is a touch LCD screen, turns over screen through touch, can check anchor winch anchor line status data.

This state shows with warning panel 105 can also carry out status alert, and when monitored parameter takes place when out-of-limit, monitoring device sends alerting signal.

When implementing based on said apparatus, this method mainly comprises the monitoring of anchor line tension monitoring, the monitoring of anchor line length, three aspects of monitoring, anchor position.

Anchor line tension monitoring wherein:

This monitoring method is monitored anchor line tension force through the anchor line tension pick-up in real time.During practical implementation, obtain anchor line the tension data ([F of current the k time detection through the anchor line tension pick-up_{I, k}], i=1,2 ..., N, N=4～12), N is an anchor line quantity; And M time anchor line tension force historical data ([F before the k time_{I, (k-j)}], i=1,2 ..., N, N=4～12; J=0,1 ..., M).

To obtain data after digital smoothness filtering, obtain the current actual tension F of anchor line of each anchor_iMean tension F with each anchor_i, concrete operation can pass through formula (1) to be realized

$\left\{\begin{array}{c}{F}_i=\frac{1}{M+1}\underset{j=0}{\overset{M}{\mathrm{\Σ}}}{F}_{i,(k-j)}\\ {\stackrel{\‾}{F}}_i=\frac{1}{N}\underset{i=1}{\overset{N}{\mathrm{\Σ}}}{F}_i\end{array}\right.---\left(1\right)$

The monitoring of anchor line length

This monitoring method mainly is through anchor niggerhead position transducer anchor line length to be monitored in real time.During practical implementation, obtain anchor line the length data ([L of current the k time detection through anchor niggerhead position transducer_{I, k}], i=1,2 ..., N, N=4～12), N is an anchor line quantity; And M time anchor line length historical data ([L before the k time_{I, (k-j)}], i=1,2 ..., N, N=4～12; J=0,1 ..., M), and the nominal length of each anchor line is L_0i

To obtain data and carry out The disposal of gentle filter, calculate the anchor line current length L that obtains each anchor through formula (2)_iWith residue length L '_i:

$\left\{\begin{array}{c}{L}_i=\frac{1}{M+1}\underset{j=0}{\overset{M}{\mathrm{\Σ}}}{L}_{i,(k-j)}\\ L_i^{\′}=L_{0i}-L_i\end{array}\right.---\left(2\right)$

Anchor position monitoring mainly comprise the anchor position with respect to the skew monitoring of crane barge, monitoring and three aspects of anchor position depth of water monitoring drag of anchor.

(1) monitor with respect to the skew of crane barge the anchor position, as shown in Figure 2.Longitude and latitude data (the N of anchor position when casting anchor through GPS orientatorrecord crane barge 201 earlier_I0, S_I0], i=1,2 ..., N, N=4～12) and crane barge devote oneself to work the back current accommodation data [N_k, S_k], obtain the anchor position status data of eachanchor 202 with respect to crane barge 201.Concrete operation is following:

Referring to Fig. 2, ianchor position 202 calculates through formula (3) with respect to the offset distance at accommodation when detecting for the k time:

$\left\{\begin{array}{c}\mathrm{\Δ}{N}_{\mathrm{ik}}=K(N_k-N_{i0})\\ \mathrm{\Δ}{S}_{\mathrm{ik}}=K(S_k-S_{i0})\\ D_{\mathrm{ik}}=\sqrt{\mathrm{\Δ}{N}_{ik}^2+\mathrm{\Δ}{S}_{\mathrm{ik}}^2}\end{array}\right.---\left(2\right)$

In the formula, K be longitude and latitude with in the sea apart from conversion factor.

Referring to Fig. 2, ianchor position 202 when detecting for the k time, with respect to the crane barge bow to the position angle calculate through formula (4):

${\mathrm{\ψ}}_{\mathrm{ik}}={\mathrm{\ψ}}_{N,S}+\mathrm{\ψ}={\tan }^{-1}\frac{\mathrm{\Δ}{S}_{\mathrm{ik}}}{\mathrm{\Δ}{N}_{\mathrm{ik}}}+\mathrm{\ψ}---\left(4\right)$

In the formula, ψ is that the crane barge bow is to the angle.

(2) monitoring that drags of anchor, as shown in Figure 3.This monitoring receives to carry out under the permanent Tension Control at anchor line.During concrete the monitoring, need to obtain to end constantly in its initial sum in the time period [0, k],anchor position 302 tocrane barge 301 is apart from [D_I0, D_Ik] (its can pass through formula (3) obtain) and with respect to the crane barge bow to position angle [ψ_I0, ψ_Ik], calculate i anchor position offset through the cosine law again_Ik

Referring to Fig. 3, adopt formula (5) during concrete operation, i anchor position when the k time detection with respect to the side-play amount of initial detecting:

${\mathrm{\Δ}}_{\mathrm{ik}}=\sqrt{D_{i0}^2+D_{\mathrm{ik}}^2-2D_{i0}{D}_{\mathrm{ik}}\cos ({\mathrm{\ψ}}_{\mathrm{ik}}-{\mathrm{\ψ}}_{i0})}---\left(5\right)$

Position when crane barge is worked and bow when constant, if: Δ_Ik＞ε_Δ, explain that then the phenomena of drag of anchor has taken place in i anchor position, ε in the formula_ΔBe the threshold value that drags of anchor.

(3) anchor position depth of water monitoring.Bathymetric data [the H of i anchor position 401 when casting anchor through the sounder record_I0], i=1,2 ..., N, N=4～12) and the bathymetric data [H of crane barge₀], simultaneously at the bathymetric data [H that writes down the current crane barge after crane barge is devoted oneself to work through sounder_k], through the anchor position depth of water status data of above-mentioned each anchor of data computation acquisition.

Specifically as shown in Figure 4,401 is that anchor position, 402 is that anchor line, 403 is that the water surface, 404 is for water-bed among this figure.

When concrete operation, the water depth value of i anchor position:

H_ik＝H_i0+ΔH_k＝H_i0+(H_k-H₀) (6)

In the formula, H_kBe the depth of water detected value of the k time crane barge, Δ H_kBe corresponding depth of water variable quantity.

Crane barge anchor winch anchor position and anchor line state through above-mentioned monitoring step monitored can show with warning panel 105 through the demonstration of the state in the monitoring device.

Turn over screen through touch, can check crane barge anchor winch anchor position and anchor line status data, concrete display effect is described below:

(1) the parameter current tabulation shows.Tabulation shows all monitored parameter entries such as crane barge anchor line tension force, anchor line length, anchor position state.Comprise parameter currency and alarming value.

(2) rod figure shows.Show current anchor line tension force and anchor line length parameter with excellent diagram form.

(3) simulation drawing shows.Show current crane barge anchor position state with graphics mode; And be marked with the current data of anchor line tension force and anchor line length.

(4) the historical data tabulation shows.Select historical time, the historical data of all monitored parameter entries such as the crane barge anchor line tension force that the tabulation demonstration is preserved, anchor line length, anchor position state.

Take place when out-of-limit when monitored parameter simultaneously, can show with warning panel 105 through the state in the monitoring device and send alerting signal.Specific as follows:

(1) anchor line tension force overload alarm.Setting anchor line tension force maximal value is F_MAXThen:

Work as F_i>=F_MAXThe time, i root anchor line tension force overload alarm.

(2) warning that drags of anchor.The setting threshold value that drags of anchor is ε_Δ, then:

Work as Δ_Ik＞ε_ΔThe time, the warning that drags of anchor of i anchor anchor position.In the formula, Δ_IkIt is i anchor position side-play amount with respect to initial anchor position when detecting for the k time.

More than show and described ultimate principle of the present invention and principal character and advantage of the present invention.The technician of the industry should understand; The present invention is not restricted to the described embodiments; That describes in the foregoing description and the instructions just explains principle of the present invention; Under the prerequisite that does not break away from spirit and scope of the invention, the present invention also has various changes and modifications, and these variations and improvement all fall in the scope of the invention that requires protection.The present invention requires protection domain to be defined by appending claims and equivalent thereof.

Claims (4)

1. crane barge anchor winch anchor position and anchor line state monitoring method; This method is implemented based on crane barge anchor winch anchor position and anchor line state monitoring apparatus; Said monitoring method is monitored in real time, through anchor niggerhead position transducer anchor line length is monitored in real time, through GPS orientator and sounder the anchor position monitored in real time anchor line tension force through the anchor line tension pick-up; It is characterized in that, when said anchor line tension force is monitored in real time, through the anchor line tension pick-up; Obtain the anchor line tension data that current detection arrives; And detected before all anchor line tension force historical datas, detected data are carried out The disposal of gentle filter, obtain the current actual tension of anchor line of each anchor and the anchor line mean tension of each anchor.

2. crane barge anchor according to claim 1 winch anchor position and anchor line state monitoring method; It is characterized in that; When said anchor line length is monitored in real time; Through anchor niggerhead position transducer, obtain the anchor line length data of current detection, and detected before all anchor line length historical datas; Real-time detected data are carried out The disposal of gentle filter, obtain the anchor line current length of each anchor, and combine the nominal length of each anchor line, obtain the residue length of each anchor line.

3. crane barge anchor according to claim 1 winch anchor position and anchor line state monitoring method is characterized in that, the monitoring in real time of said anchor position comprises that the anchor position is with respect to the skew monitoring of crane barge, the monitoring that drags of anchor, the monitoring of the anchor position depth of water;

Said anchor position is with respect to the skew monitoring of crane barge; Current accommodation data after anchor position longitude and latitude data when it casts anchor through GPS orientator record crane barge and crane barge are devoted oneself to work; Obtain in real time the anchor position status data of each anchor with respect to the crane barge ship, comprise with respect to the offset distance at accommodation and with respect to the crane barge bow to the position angle;

The said monitoring that drags of anchor, it receives under the permanent Tension Control at anchor line, obtains that initial sum ends constantly in a time period, the distance of anchor position to crane barge and with respect to the crane barge bow to the position angle, by obtaining the side-play amount that data obtain corresponding anchor position;

The monitoring of the said anchor position depth of water, the current bathymetric data after the anchor position when it casts anchor through the sounder record and the bathymetric data of crane barge and crane barge are devoted oneself to work obtains the anchor position depth of water status data of each anchor.

4. crane barge anchor according to claim 1 winch anchor position and anchor line state monitoring method is characterized in that, when said monitoring method was monitored, when monitored parameter takes place when out-of-limit, monitoring device sent alerting signal.

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