CN104129476B - The anchoring method of a kind of boats and ships and device - Google Patents
The anchoring method of a kind of boats and ships and device Download PDFInfo
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- CN104129476B CN104129476B CN201410307508.6A CN201410307508A CN104129476B CN 104129476 B CN104129476 B CN 104129476B CN 201410307508 A CN201410307508 A CN 201410307508A CN 104129476 B CN104129476 B CN 104129476B
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Abstract
The invention discloses anchoring method and the device of a kind of boats and ships, belong to ship domain.Method includes: needs the cable length of cable laying according to the position location set, boats and ships in the preset stem direction of position location and at least three anchor, determines the position of casting anchor of at least three anchor；The polygonal central region that position location is formed with the position of casting anchor of at least three anchor, boats and ships are driven towards the position of casting anchor of first anchor, and in the position of casting anchor of first anchor, first anchor is thrown the bottom, first anchor is any one anchor at least three anchor, start clockwise or counterclockwise from the position of casting anchor of first anchor, successively the row that anchors into not cast anchor at least three anchor is cast anchor, until the bottom all thrown by all of anchor, boats and ships are sailed to position location.Device includes: first sensor, input equipment and control equipment.The present invention will avoid the anchor chain generation winding situation of anchor being thrown in water.
Description
Technical field
The present invention relates to ship domain, particularly to anchoring method and the device of a kind of boats and ships.
Background technology
China is inland river more than, and the country that waters is complicated, Shipping rises emphatically in the national economic development
The effect wanted.The position fixing process of boats and ships be unable to do without positioning winch.Hawser is realized by the handle of operation winch
Folding and unfolding, thus realize rising and falling of anchor.Generally, the location mode of boats and ships includes multipoint positioning mode.
During realizing the present invention, inventor finds that prior art at least there is problems in that at multiple spot
During location, multiple anchor need to be thrown into in water.A lot of owing to water can not be surveyed factor, such as ocean current, wave etc.,
These X factors can cause anchor to throw later in water impact, and anchor chain is intertwined, and directly resulting in cannot
Moor a boat in location, after there is this situation, owing to its processing cost of bad environments is the highest.
Summary of the invention
In order to solve the problem that anchor chain is wound around, embodiments provide anchoring method and the dress of a kind of boats and ships
Put.Described technical scheme is as follows:
First aspect, it is provided that the anchoring method of a kind of boats and ships, described method is applicable to Ship Anchoring, described
Boats and ships include that at least three anchor, described method include:
According to the position location set, described boats and ships in the preset stem direction of described position location and described
The respective cable length needing cable laying of at least three anchor, determines the position of casting anchor of described at least three anchor respectively,
Described position location is positioned at the polygonal central region formed with the position of casting anchor of described at least three anchor；
Described boats and ships are sailed the position of casting anchor to first anchor, and described first anchor is appointing in described at least three anchor
One, in the position of casting anchor of described first anchor, described first anchor is thrown the bottom；
Start clockwise or counterclockwise from the position of casting anchor of described first anchor, successively to described at least three
The row that anchors into not cast anchor in individual anchor casts anchor, until the bottom all thrown by all of anchor；
Described boats and ships are sailed to described position location；
Wherein, the described position of casting anchor from described first anchor starts clockwise or counterclockwise, the most right
The row that anchors into not cast anchor in described at least three anchor casts anchor, including:
Described boats and ships are sailed to the next one position of casting anchor of the anchor not cast anchor, and in the process of described ship running
In, keeping the cable tension of winch being in cable laying state is the first pre-set tension, described in be in cable laying state
Winch be the position of casting anchor of the anchor that cast anchor position and the described next one according to the described anchor cast anchor do not cast anchor
Between distance determine from the winch belonging to the described anchor cast anchor；
Keeping the cable tension being in the winch stopping cable laying state is the second pre-set tension, at the described next one
The anchor that the described next one does not casts anchor is thrown the bottom by the position of casting anchor of the anchor not cast anchor, described in be in stopping cable laying
The winch of state is the winch belonging to the described anchor cast anchor.
In the embodiment that the first is possible, the described position location according to setting, described boats and ships are described
The preset stem direction of position location and described at least three anchor need the cable length of cable laying, determine described in extremely
The position of casting anchor of few three anchors, including:
The most affiliated according to the described boats and ships preset stem direction and described at least three anchor in described position location
Winch installation site on described boats and ships, determine the direction of the position of casting anchor of described at least three anchor, institute
State the direction of the position of casting anchor of at least three anchor and stem described at least three when being described preset stem direction
The direction of the installation site on described boats and ships of the winch belonging to anchor difference is identical；
The pre-of the cable length of cable laying and the position of casting anchor of described at least three anchor is needed according to described at least three anchor
Put the depth of water, determine the position distance respectively and between described position location of casting anchor of described at least three anchor；
The direction of the position of casting anchor according to described at least three anchor, from described position location to described at least three
The direction of the position of casting anchor of anchor preset angle respectively and between described preset stem direction and described at least
The position distance respectively and between described position location of casting anchor of three anchors, determines described at least three anchor
Cast anchor position respectively in described preset stem direction and the side-play amount of the vertical direction in described preset stem direction；
Geographical coordinate according to described position location and the position of casting anchor of described at least three anchor are respectively described pre-
Put the side-play amount of the vertical direction in stem direction and described preset stem direction, determine described at least three anchor
The geographical coordinate of position of casting anchor.
In the embodiment that the second is possible, described during described ship running, keep being in putting
The cable tension of the winch of cable state is the first pre-set tension, including:
It is in the cable tension of the winch of cable laying state described in detection, obtains tension signal, and according to described
Force signal is in the cable tension of winch of cable laying state described in determining；
Whether the cable tension of winch of cable laying state it is in more than described first pre-set tension described in judgement；
When the cable tension of the described winch being in cable laying state is more than described first pre-set tension, increase institute
State the cable releasing speed of the winch being in cable laying state；
When the cable tension of the described winch being in cable laying state is less than described first pre-set tension, reduce institute
State the cable releasing speed of the winch being in cable laying state；
When the cable tension of the described winch being in cable laying state is equal to described first pre-set tension, keep institute
The cable releasing speed stating the winch being in cable laying state is, the current driving speed of described boats and ships is put described being in
The component of the hawser bearing of trend of the winch of cable state.
In the embodiment that the third is possible, described holding is in the hawser of the winch stopping cable laying state and opens
Power is the second pre-set tension, including:
It is in the cable tension of the winch stopping cable laying state described in detection, obtains tension signal, and according to institute
State tension signal determine described in be in the cable tension of winch stopping cable laying state；
Whether the cable tension being in the winch stopping cable laying state described in judgement is less than described second default
Power；
When the cable tension of the described winch being in and stopping cable laying state is less than described second pre-set tension, right
The described winch being in stopping cable laying state carries out take-up；
When the cable tension of the described winch being in and stopping cable laying state is more than described second pre-set tension, right
The described winch being in stopping cable laying state carries out cable laying；
When the cable tension of the described winch being in and stopping cable laying state is equal to described second pre-set tension, stop
Only the described winch being in stopping cable laying state is carried out take-up or cable laying.
In the 4th kind of possible embodiment, the hawser of the winch being in cable laying state described in described detection is opened
Power, including:
By being in the cable tension of the winch of cable laying state described in the detection of bearing pin sensor, described bearing pin senses
Device be arranged on described in be in cable laying state winch vertical chock on.
In the 5th kind of possible embodiment, described boats and ships are sailed to described position location, described side
Method also includes:
Stop described at least three is anchored into row take-up or cable laying, keep the winch belonging to described at least three anchor
Cable tension be respectively described second pre-set tension；
And adjust the stem direction of described boats and ships, making described boats and ships is location, described preset stem direction with stem
In described position location.
Second aspect, it is provided that the anchoring method of a kind of boats and ships, described method is applicable to Ship Anchoring, described
Boats and ships include that first to fourth anchor, described method include:
According to the position location set, described boats and ships in the preset stem direction of described position location and described
First to fourth anchor needs the cable length of cable laying, determines the position of casting anchor of described first to fourth anchor, described fixed
Position, position is positioned at the central region of the tetragon formed with the position of casting anchor of described first to fourth anchor；
Described boats and ships are driven towards the position of casting anchor of described first anchor, and in the position of casting anchor of described first anchor by institute
State the first anchor and throw the bottom；
The cable tension keeping described first anchor to be cable laying state and described first anchor is the first pre-set tension, will
Described boats and ships drive towards the position of casting anchor of described second anchor from the position of casting anchor of described first anchor；
The cable tension keeping described first anchor to be stopping cable laying state and described first anchor is second default
Power, makes described boats and ships be parked in the position of casting anchor of described second anchor, and in the position of casting anchor of described second anchor by institute
State the second anchor and throw the bottom；
Described first anchor and described second anchor is kept to be respectively described cable laying state and described first anchor and described
The cable tension of two anchors is respectively described first pre-set tension, by described boats and ships from the position of casting anchor of described second anchor
Put the position of casting anchor driving towards described 3rd anchor；
Described first anchor and described second anchor is kept to be respectively described stopping cable laying state and described first anchor and institute
The cable tension stating the second anchor is respectively described second pre-set tension, makes described boats and ships be parked in described 3rd anchor
Cast anchor position, and in the position of casting anchor of described 3rd anchor, described 3rd anchor is thrown the bottom；
Described first anchor is kept to be take-up state and keep described second anchor and described 3rd anchor the most described
The cable tension of cable laying state and the second anchor and the 3rd anchor is respectively described first pre-set tension, by described boats and ships
The position of casting anchor of described 4th anchor is driven towards from the position of casting anchor of described 3rd anchor；
Described first anchor, described second anchor and described 3rd anchor is kept to be respectively described stopping cable laying state and institute
The cable tension stating the first anchor, described second anchor and described 3rd anchor is respectively described second pre-set tension, makes
Described boats and ships are parked in the position of casting anchor of described 4th anchor, and in the position of casting anchor of described 4th anchor by the described 4th
The bottom thrown by anchor；
Described first anchor, described second anchor and described 3rd anchor is kept to be respectively described take-up state and keep
Described 4th anchor be the cable tension of described cable laying state and described 4th anchor be described first pre-set tension, will
Described boats and ships drive towards described position location from the position of casting anchor of described 4th anchor.
The third aspect, it is provided that the ground tackle of a kind of boats and ships, described device is applicable to preceding method, described
Boats and ships include at least three anchor and winch, and the quantity of described anchor is identical with the quantity of described winch and described in one
The corresponding described winch of anchor, described device includes:
First sensor, for detecting the cable tension of described winch；
Input equipment, for inputting the position location of setting, the described boats and ships preset ship in described position location
Bow direction and the respective cable length needing cable laying of described at least three anchor, and input instruction of casting anchor；
Control equipment, for the position location of setting according to input equipment input, described boats and ships described fixed
The preset stem direction of position, position and the respective cable length needing cable laying of described at least three anchor, the most really
The position of casting anchor of fixed described at least three anchor, described position location is positioned at the position of casting anchor of described at least three anchor
Put the polygonal central region of formation；
According to the instruction of casting anchor of input equipment input, described boats and ships are sailed the position of casting anchor to first anchor, described
First anchor is any one in described at least three anchor, and in the position of casting anchor of described first anchor by described first
The bottom thrown by anchor；
Start clockwise or counterclockwise from the position of casting anchor of described first anchor, successively to described at least three
The row that anchors into not cast anchor in individual anchor casts anchor, until the bottom all thrown by all of anchor；
Described boats and ships are sailed to described position location；
Wherein, the described position of casting anchor from described first anchor starts clockwise or counterclockwise, the most right
The row that anchors into not cast anchor in described at least three anchor casts anchor, including:
Described boats and ships are sailed to the next one position of casting anchor of the anchor not cast anchor, and in the process of described ship running
In, according to the cable tension of the winch being in cable laying state of first sensor detection, keep being in cable laying shape
The cable tension of the winch of state is the first pre-set tension, described in be in the winch of cable laying state be according to described
The anchor cast anchor cast anchor position and the distance casting anchor between position of anchor that the described next one does not casts anchor from described
The winch belonging to anchor cast anchor is determined；
According to the cable tension being in the winch stopping cable laying state of first sensor detection, keep being in stopping
Only the cable tension of the winch of cable laying state is the second pre-set tension, in the throwing of the anchor that the described next one does not casts anchor
The anchor that the described next one does not casts anchor is thrown the bottom by anchor location, described in be in stop cable laying state winch be institute
State the winch belonging to the anchor cast anchor.
In the embodiment that the first is possible, described device also includes the second sensor,
Described second sensor is used for, and detects the travel speed of described boats and ships；
Described control equipment is used for, when the cable tension of the described winch being in cable laying state is equal to described first
During pre-set tension, the cable releasing speed of the winch being in cable laying state described in holding is, described second sensor inspection
Survey described boats and ships current driving speed the described winch being in cable laying state hawser bearing of trend point
Amount.
In the embodiment that the second is possible, described first sensor is bearing pin sensor, and described bearing pin passes
Sensor be arranged on described in be in cable laying state winch vertical chock on.
The technical scheme that the embodiment of the present invention provides has the benefit that
During boats and ships are sailed to the next one position of casting anchor of the anchor not cast anchor, keep being in cable laying shape
The cable tension of the winch of state is the first pre-set tension；Further, the position of casting anchor of the anchor not cast anchor at the next one
When the bottom thrown by the anchor not cast anchor by the next one, holding is in the cable tension of the winch stopping cable laying state and is
Second pre-set tension；Before not arriving position location at boats and ships, the cable tension of each anchor is controlled
Preset range, therefore, the anchor chain avoiding the anchor being thrown in water, during casting anchor, is wound around by boats and ships
Situation.
Accompanying drawing explanation
For the technical scheme being illustrated more clearly that in the embodiment of the present invention, institute in embodiment being described below
The accompanying drawing used is needed to be briefly described, it should be apparent that, the accompanying drawing in describing below is only the present invention
Some embodiments, for those of ordinary skill in the art, on the premise of not paying creative work,
Other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the flow chart of the anchoring method of a kind of boats and ships that the embodiment of the present invention provides；
Fig. 2 is the flow chart of the anchoring method of another boats and ships that the embodiment of the present invention provides；
Fig. 3 is the schematic diagram of the installation site of first to fourth anchor that the embodiment of the present invention provides；
Fig. 4 is showing of the geographical coordinate of the position of casting anchor of determination first to fourth anchor that the embodiment of the present invention provides
It is intended to；
Fig. 5 is the detail flowchart of step 206 in Fig. 2；
Fig. 6 is the detail flowchart of step 207 in Fig. 2；
Fig. 7 is the schematic diagram of the anchoring method of a kind of boats and ships that the embodiment of the present invention provides；
Fig. 8 is the structural representation of the ground tackle of a kind of boats and ships that the embodiment of the present invention provides；
Fig. 9 is the structural representation of the ground tackle of another boats and ships that the embodiment of the present invention provides.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing to the present invention
Embodiment is described in further detail.
Embodiment one
Present embodiments providing the anchoring method of a kind of boats and ships, the method is applicable to Ship Anchoring.This boats and ships bag
Include at least three anchor.Seeing Fig. 1, the method comprises the following steps:
In a step 101, according to set position location, boats and ships position location preset stem direction with
And at least three anchor needs the cable length of cable laying, determine the position of casting anchor of at least three anchor.
Wherein, the polygonal central region that position location is formed with the position of casting anchor of at least three anchor.
In the present embodiment, at least three anchor respectively belonging to winch installation site on boats and ships do not limit
Fixed.
In a step 102, boats and ships are driven towards the position of casting anchor of first anchor, and will in the position of casting anchor of first anchor
The bottom thrown by first anchor.
Wherein, any one anchor during first anchor is at least three anchor.
In step 103, start clockwise or counterclockwise from the position of casting anchor of first anchor, the most right
The row that anchors into not cast anchor at least three anchor casts anchor, until the bottom all thrown by all of anchor.
This step 103 includes: boats and ships are sailed to the next one position of casting anchor of the anchor not cast anchor, and at boats and ships row
During sailing, the cable tension keeping the winch being in cable laying state is the first pre-set tension, is in cable laying
The winch of state is to cast anchor position and the casting anchor between position of anchor that the next one does not casts anchor according to the anchor that cast anchor
Distance determine from the winch belonging to the anchor cast anchor；Holding is in the winch of stopping cable laying state
Cable tension is the second pre-set tension, the anchor not cast anchor at the next one cast anchor what the next one was not cast anchor by position
The bottom thrown by anchor, and the winch being in stopping cable laying state is the winch belonging to the anchor cast anchor.
At step 104, boats and ships are sailed to position location.
During the embodiment of the present invention by sailing to the next one position of casting anchor of the anchor not cast anchor by boats and ships, protect
The cable tension holding the winch being in cable laying state is the first pre-set tension；Further, do not cast anchor at the next one
When the bottom thrown by the anchor that the next one is not cast anchor by the position of casting anchor of anchor, keep being in the winch stopping cable laying state
Cable tension be the second pre-set tension；Before not arriving position location at boats and ships, by the cable of each anchor
Rope tension controls in preset range, and therefore, boats and ships are during casting anchor, by the anchor avoiding being thrown in water
Anchor chain generation winding situation.
Embodiment two
Present embodiments providing the anchoring method of a kind of boats and ships, the method is applicable to Ship Anchoring.This boats and ships bag
Include at least three anchor.In the present embodiment, the method will be introduced as a example by four anchors.These four anchors include
One to the 4th anchor, first to fourth anchor can be separately mounted to stem and the both sides of ship stern.Such as, the first anchor
May be located at the both sides of stem and the 3rd anchor with the second anchor and the 4th anchor may be located at the both sides of ship stern, or,
First anchor and the second anchor may be located at the both sides of ship stern and the 3rd anchor and the 4th anchor may be located at the both sides of stem.
Wherein, the first anchor and the 4th anchor are positioned at homonymy, and the second anchor and the 3rd anchor are positioned at homonymy.And for example, the first anchor and
4th anchor may be located at the both sides of stem and the 3rd anchor and the second anchor may be located at the both sides of ship stern, or,
One anchor and the 4th anchor may be located at the both sides of ship stern and the 3rd anchor and the second anchor may be located at the both sides of stem.Its
In, the first anchor and the second anchor are positioned at homonymy, and the 3rd anchor and the 4th anchor are positioned at homonymy.
Seeing Fig. 2, the method comprises the following steps:
In step 201, according to boats and ships at the preset stem direction of position location set and at least three anchor
The winch belonging to Fen Bie installation site on boats and ships, determines the direction of the position of casting anchor of at least three anchor.
Wherein, at least three when direction of the position of casting anchor of at least three anchor and stem are preset stem direction
The direction of the installation site on boats and ships of the winch belonging to anchor difference is identical.
See Fig. 3, it is assumed that the installation site on boats and ships of the winch belonging to the first anchor and the second anchor difference (includes
W1 and W2) it is ship stern, the installation site (bag on boats and ships of the winch belonging to the 3rd anchor and the 4th anchor difference
Include W3 and W4) it is stem.Further, the first anchor and the 4th anchor respectively belonging to winch installation site with
The installation site of the winch belonging to side, the second anchor and the 3rd anchor difference is at homonymy.When stem is preset stem side
To and time preset stem direction is direct north, first to fourth anchor respectively belonging to winch peace on boats and ships
Holding position (including W1/W2/W3/W4) is followed successively by southwestward, southeastern direction, northeastward and northwest
To.So, the direction of the position of casting anchor (including P1/P2/P3/P4) of first to fourth anchor is also followed successively by southwest
Direction, southeastern direction, northeastward and direction, northwest.
In step 202., cable length and the position of casting anchor of at least three anchor of cable laying is needed according at least three anchor
The preset depth of water put, determines the position distance respectively and between position location of casting anchor of at least three anchor.
Wherein, at least three anchor needs the cable length hawser total length less than at least three anchor of cable laying.
Wherein, the first anchor needs the preset depth of water of position of casting anchor and first anchor of the hawser of cable laying, the first anchor
The distance form right angle triangle cast anchor between position and position location.According to right angled triangle principle, energy
Enough determine the distance casting anchor between position and position location of the first anchor.Second to the 4th anchor respectively with sprocket bit
The distance algorithm between distance algorithm and the first anchor and position location between putting is identical.
The distance casting anchor between position and position location assuming the first anchor determined is L1.
In step 203, according to the direction of the position of casting anchor of at least three anchor, from position location at least three
The direction of the position of casting anchor of individual anchor preset angle respectively and between preset stem direction and at least three anchor
Position distance respectively and between position location of casting anchor, determine that the position of casting anchor of at least three anchor exists respectively
The side-play amount of the vertical direction in preset stem direction and preset stem direction.
See Fig. 4, the line L1 cast anchor between position P1 and position location O of the first anchor, the throwing of the first anchor
Anchor location P1 to the straight line X1 in preset stem direction and position P1 and the position location O that casts anchor of the first anchor
Between the line projection Y1 form right angle triangle in preset stem direction.Known from position location O
After the preset angle theta 1 between direction and the preset stem direction of the position P1 that casts anchor of the first anchor, Ke Yiji
Calculate X1 (equal to L1*sin θ 1) and Y1 (equal to L1*cos θ 1).X1 and Y1 is the first anchor the most respectively
The position P1 that casts anchor in preset stem direction and the side-play amount of the vertical direction in preset stem direction.
In step 204, exist respectively according to the geographical coordinate of position location and the position of casting anchor of at least three anchor
The side-play amount of the vertical direction in preset stem direction and preset stem direction, determines that at least three anchor casts anchor position
The geographical coordinate put.
Achieved by step 201～step 204, according to the position location set, boats and ships in position location
Preset stem direction and at least three anchor need the cable length of cable laying, determine the position of casting anchor of at least three anchor.
Wherein, the polygonal central region that position location is formed with the position of casting anchor of at least three anchor.
In step 205, boats and ships are driven towards the position of casting anchor of first anchor, and will in the position of casting anchor of first anchor
The bottom thrown by first anchor.
Wherein, any one anchor during first anchor is at least three anchor.Whether water can be thrown with the first anchor of artificial judgment
The end.
In this example, it is assumed that first anchor is the first anchor.
In step 206, boats and ships are sailed to the next one position of casting anchor of the anchor not cast anchor, and at ship running
During, the cable tension keeping the winch being in cable laying state is the first pre-set tension.
Wherein, the winch being in cable laying state is not cast anchor with the next one in the position of casting anchor according to the anchor cast anchor
The distance cast anchor between position of anchor determine from the winch belonging to the anchor cast anchor.Such as, throw
The distance casting anchor between position of the anchor not cast anchor with the next one in the position of casting anchor of the anchor of anchor is bigger, permissible
Winch belonging to the anchor cast anchor is carried out cable laying so that it is be in cable laying state；Casting anchor of the anchor cast anchor
The distance cast anchor between position of the anchor that position and the next one do not cast anchor is smaller, can be to the anchor cast anchor
Affiliated winch carries out stopping cable laying or take-up.
Wherein, the first pre-set tension is the dynamic tension set, the cable of anchor during keeping ship running
Rope possesses suitable tensile force (such as hawser just stretches).
Seeing Fig. 5, this step 206 includes:
The position of casting anchor of the anchor not cast anchor sailed to the next one by boats and ships by step 2061, and in the mistake of ship running
Cheng Zhong, detection is in the cable tension of the winch of cable laying state, obtains tension signal, and according to tension signal
Determine the cable tension of the winch being in cable laying state.
Cable releasing speed can be the current driving speed of 0.9 times of boats and ships～the current driving speed of 1.1 times of boats and ships exists
It is in the component of the hawser bearing of trend of the winch of cable laying state.Wherein, the hawser of the winch of cable laying dress it is in
Bearing of trend refer to from anchor in water-bed position to the direction of winch installation site on boats and ships belonging to this anchor.When
When the hawser bearing of trend of the winch being in cable laying state is identical with the current driving direction of boats and ships, cable releasing speed
Can be the current driving speed of boats and ships；Hawser bearing of trend and boats and ships when the winch that is in cable laying state
When current driving direction forms an angle, cable releasing speed can be that the current driving speed of boats and ships is prolonged at this hawser
Stretch the component in direction.For example, it is assumed that this angle is α, the current driving speed of boats and ships is V, then boats and ships work as
Front travel speed V component V '=V*cos α in hawser direction.
The GPS system that the current driving speed of boats and ships can be installed from boats and ships reads.
The cable tension of the winch of cable laying state can be in by the detection of bearing pin sensor.Bearing pin sensor is pacified
It is contained on the vertical chock of the winch being in cable laying state.Vertical chock is for the winding of the hawser to anchor
Guide, the tension force of hawser can be transferred on the foil gauge on bearing pin sensor.Foil gauge generation shape
Becoming, bearing pin sensor is according to the electric current of the corresponding size of deformation quantity output, thus obtains cable tension.
Step 2062, it is judged that whether be in the cable tension of winch of cable laying state more than the first pre-set tension.
When being in the cable tension of winch of cable laying state more than the first pre-set tension, perform step 2063；
When being in the cable tension of winch of cable laying state less than the first pre-set tension, perform step 2064；Work as place
When the cable tension of the winch of cable laying state is equal to the first pre-set tension, perform step 2065.
Step 2063, increases the cable releasing speed of the winch being in cable laying state.
Cable releasing speed can be in the winch of cable laying state less than the current driving speed of 1.1 times of boats and ships
The component of hawser bearing of trend.
Step 2064, reduces the cable releasing speed of the winch anchor being in cable laying state.
Cable releasing speed can be in the winch of cable laying state not less than the current driving speed of 0.9 times of boats and ships
The component of hawser bearing of trend.
Step 2065, the cable releasing speed of the winch that holding is in cable laying state is, the current driving speed of boats and ships
Component at the hawser bearing of trend of the winch being in cable laying state.
In step 207, keeping the cable tension being in the winch stopping cable laying state is the second pre-set tension,
The bottom thrown by the anchor that the next one is not cast anchor by the position of casting anchor of the anchor not cast anchor at the next one.
Wherein, the winch being in stopping cable laying state is the winch belonging to the anchor cast anchor.
Wherein, the second pre-set tension is the static tensile set, the cable of anchor when travelling for keeping boats and ships to stop
Rope possesses suitable tensile force (such as hawser stretches), prevent boats and ships stop in driving process because stormy waves or
Ocean current and the boats and ships that cause move.
Seeing Fig. 6, this step 207 includes:
Step 2071, detection is in the cable tension of the winch stopping cable laying state, obtains tension signal, and
The cable tension being in the winch stopping cable laying state is determined according to tension signal.
Step 2072, it is judged that whether the cable tension being in the winch stopping cable laying state is less than second default
Power.
When the cable tension being in the winch stopping cable laying state is less than the second pre-set tension, perform step
2073；When the cable tension being in the winch stopping cable laying state is more than the second pre-set tension, perform step
2074；When the cable tension being in the winch stopping cable laying state is equal to the second pre-set tension, perform step
2075。
Step 2073, carries out take-up to being in the winch stopping cable laying state.
Step 2074, carries out cable laying to being in the winch stopping cable laying state.
Step 2075, stops the winch to being in stopping cable laying state and carries out take-up or cable laying.
Step 2076, the bottom thrown by the anchor that the next one is not cast anchor by the position of casting anchor of the anchor not cast anchor at the next one.
Achieved by step 206 and step 207, start along clockwise or inverse from the position of casting anchor of first anchor
Clockwise, casts anchor, until water all thrown by all of anchor to the row that anchors into not cast anchor at least three anchor successively
The end.
In a step 208, boats and ships are sailed to position location.
Wherein, boats and ships are sailed to position location, can be according to cast anchor position and the sprocket bit of anchor
The difference of the distance between putting, keeps the winch belonging to a part of anchor to be in take-up state, belonging to a part of anchor
Winch be in cable laying state.Such as, positional distance position location of casting anchor is distant, can carry out cable laying,
Positional distance position location of casting anchor is closer, can carry out take-up.It should be noted that and cable laying state
The cable tension of winch can remain the first pre-set tension.
In step 209, stop at least three being anchored into row take-up or cable laying, keep belonging at least three anchor
The cable tension of winch be respectively the second pre-set tension；And adjust the stem direction of boats and ships, make boats and ships with ship
Bow is that preset stem direction is positioned at position location.
Fig. 7 shows that boats and ships (stem is Bow, and ship stern is Stern), from the position P1 that casts anchor of the first anchor, depend on
Secondary cast anchor position P2, P3, P4 through the second to the 4th anchor, eventually arrive at the process of position location O.Should
Process comprises the following steps:
In step 301, according to set position location, boats and ships position location preset stem direction with
And first to fourth anchor need the cable length of cable laying, determine the position of casting anchor of first to fourth anchor.Wherein, fixed
Position, position is positioned at the central region of the tetragon formed with the position of casting anchor of first to fourth anchor.
In step 302, boats and ships are driven towards the position of casting anchor of the first anchor, and will in the position of casting anchor of the first anchor
The bottom thrown by first anchor.
In step 303, the cable tension keeping the first anchor to be cable laying state and the first anchor is first default
Boats and ships are driven towards the position of casting anchor of the second anchor by power from the position of casting anchor of the first anchor.
In step 304, keeping the first anchor is that to stop the cable tension of cable laying state and the first anchor be second pre-
If tension force, make boats and ships be parked in the position of casting anchor of the second anchor, and in the position of casting anchor of the second anchor, the second anchor is thrown
Water-bed.
In step 305, the first anchor and the second anchor is kept to be respectively cable laying state and the first anchor and the second anchor
Cable tension is respectively the first pre-set tension, and from the position of casting anchor of the second anchor, boats and ships are driven towards casting anchor of the 3rd anchor
Position.
Within step 306, keep the first anchor and the second anchor to be respectively and stop cable laying state and the first anchor and second
The cable tension of anchor is respectively the second pre-set tension, makes boats and ships be parked in the position of casting anchor of the 3rd anchor, and the 3rd
3rd anchor is thrown the bottom by the position of casting anchor of anchor.
In step 307, the first anchor is kept to be take-up state and keep the second anchor and the 3rd anchor respectively to put
The cable tension of cable state and the second anchor and the 3rd anchor is respectively the first pre-set tension, by boats and ships from the 3rd anchor
The position of casting anchor of the 4th anchor is driven towards in position of casting anchor.
Wherein, keeping the first anchor is take-up state, including: the current driving speed of detection boats and ships, and with 0.9
The current driving speed of times boats and ships is take-up speed, anchors into row take-up to first.
In step 308, keep the first anchor, the second anchor and the 3rd anchor to be respectively and stop cable laying state and first
The cable tension of anchor, the second anchor and the 3rd anchor is respectively the second pre-set tension, makes boats and ships be parked in the throwing of the 4th anchor
Anchor location, and in the position of casting anchor of the 4th anchor, the 4th anchor is thrown the bottom.
In a step 309, the first anchor, the second anchor and the 3rd anchor is kept to be respectively take-up state and keep
Four anchors be the cable tension of cable laying state and the 4th anchor be the first pre-set tension, by boats and ships casting anchor from the 4th anchor
Position location is driven towards in position.
In the step 310, keep the first anchor, the second anchor, the 3rd anchor and the 4th anchor to be respectively and stop cable laying shape
The cable tension of state and the first anchor, the second anchor, the 3rd anchor and the 4th anchor is respectively the second pre-set tension, and adjusts
The stem direction of whole boats and ships, making boats and ships is that preset stem direction is positioned at position location with stem.
The embodiment of the present invention by boats and ships are driven towards from the position of casting anchor of the first anchor the second anchor cast anchor position time,
The cable tension keeping the first anchor to be cable laying state and the first anchor is the first cable tension；Further, at the second anchor
Cast anchor position time, keeping the first anchor is that to stop the cable tension of cable laying state and the first anchor be second to preset
Power, throws the second anchor to water-bed simultaneously；The like, before boats and ships do not arrive position location, by each
The cable tension of anchor controls in preset range, and so, boats and ships, during casting anchor, will be avoided being thrown in water
The anchor chain generation winding situation of anchor.
Meanwhile, after boats and ships arrive position location, again the cable tension of each anchor is controlled in preset range,
Thus realize the correction of tension force, it is to avoid anchor chain generation winding situation after ship's fix.
Embodiment three
Embodiments providing the ground tackle of a kind of boats and ships, these boats and ships include at least three anchor and winch,
The quantity of anchor is identical with the quantity of winch and a corresponding winch of anchor.This device is applicable to implement 1 or 2
The method provided, sees Fig. 8, and this device includes first sensor 401, input equipment 402 and control equipment
403。
First sensor 401 is used for, the cable tension of detection winch.
Input equipment 402 is used for, and position location that input sets, boats and ships are in the preset stem side of position location
Method and the respective cable length needing cable laying of at least three anchor, and input instruction of casting anchor.
Control equipment 403 is used for, and is determining according to the position location of setting, the boats and ships of input equipment 402 input
The preset stem direction of position, position and the respective cable length needing cable laying of at least three anchor, determine respectively to
The position of casting anchor of few three anchors, position location is positioned at the polygonal of position formation of casting anchor with at least three anchor
Central region；According to the instruction of casting anchor of input equipment 402 input, boats and ships are sailed the position of casting anchor to first anchor,
First anchor is any one at least three anchor, and in the position of casting anchor of first anchor, first anchor is thrown the bottom；
Start clockwise or counterclockwise from the position of casting anchor of first anchor, do not cast anchor at least three anchor successively
The row that anchors into cast anchor, until all of anchor all throws the bottom；Boats and ships are sailed to position location；Wherein, from head
The position of casting anchor of individual anchor starts clockwise or counterclockwise, successively to the anchor not cast anchor at least three anchor
Cast anchor, including: boats and ships are sailed to the next one position of casting anchor of the anchor not cast anchor, and at ship running
During, according to the cable tension of the winch being in cable laying state of first sensor 401 detection, at holding
Cable tension in the winch of cable laying state is the first pre-set tension, and the winch being in cable laying state is according to
The anchor cast anchor cast anchor position and the distance casting anchor between position of anchor that the next one does not casts anchor is from the anchor cast anchor
Affiliated winch is determined；The winch being in stopping cable laying state according to first sensor 401 detection
Cable tension, keep being in that to stop the cable tension of winch of cable laying state be the second pre-set tension, under
The bottom thrown by the anchor that the next one is not cast anchor by the position of casting anchor of one anchor not cast anchor, and is in stopping cable laying state
Winch be the winch belonging to the anchor cast anchor.
During the embodiment of the present invention by sailing to the next one position of casting anchor of the anchor not cast anchor by boats and ships, protect
The cable tension holding the winch being in cable laying state is the first pre-set tension；Further, do not cast anchor at the next one
When the bottom thrown by the anchor that the next one is not cast anchor by the position of casting anchor of anchor, keep being in the winch stopping cable laying state
Cable tension be the second pre-set tension；Before not arriving position location at boats and ships, by the cable of each anchor
Rope tension controls in preset range, and therefore, boats and ships are during casting anchor, by the anchor avoiding being thrown in water
Anchor chain generation winding situation.
Embodiment four
Embodiments providing the ground tackle of a kind of boats and ships, this device is applicable to implement 1 or 2 offers
Method, see Fig. 9, this device includes first sensor 501, input equipment 502 and control equipment 503.
The structure of first sensor 501, input equipment 502 and control equipment 503 is with first sensor in embodiment three
401, input equipment 402 and the structure of control equipment 403, do not repeat them here.The dress that the present embodiment provides
The difference putting the device provided with embodiment three is, this device also includes the second sensor 504.
Second sensor 504 is used for, the travel speed of detection boats and ships.
Control equipment 503 is used for, when the cable tension of the winch being in cable laying state is equal to the first pre-set tension
Time, working as of the boats and ships that the cable releasing speed of the winch that holding is in cable laying state is, the second sensor 504 detects
Front travel speed is at the component of the hawser bearing of trend of the winch being in cable laying state.
Wherein, first sensor 501 is bearing pin sensor, and this bearing pin sensor is arranged on and is in cable laying state
Winch vertical chock on.
During the embodiment of the present invention by sailing to the next one position of casting anchor of the anchor not cast anchor by boats and ships, protect
The cable tension holding the winch being in cable laying state is the first pre-set tension；Further, do not cast anchor at the next one
When the bottom thrown by the anchor that the next one is not cast anchor by the position of casting anchor of anchor, keep being in the winch stopping cable laying state
Cable tension be the second pre-set tension；Before not arriving position location at boats and ships, by the cable of each anchor
Rope tension controls in preset range, and therefore, boats and ships are during casting anchor, by the anchor avoiding being thrown in water
Anchor chain generation winding situation.
It should be understood that above-described embodiment provide boats and ships ground tackle anchoring time, only with above-mentioned respectively
The division of functional module is illustrated, and in actual application, can above-mentioned functions be distributed as desired
Completed by different functional modules, the internal structure of equipment will be divided into different functional modules, to complete
All or part of function described above.It addition, the ground tackle of the boats and ships of above-described embodiment offer and ship
The anchoring method embodiment of oceangoing ship belongs to same design, and it implements process and refers to embodiment of the method, the most not
Repeat again.
The invention described above embodiment sequence number, just to describing, does not represent the quality of embodiment.
One of ordinary skill in the art will appreciate that all or part of step realizing above-described embodiment can be passed through
Hardware completes, it is also possible to instructing relevant hardware by program and complete, described program can be stored in
In a kind of computer-readable recording medium, storage medium mentioned above can be read only memory, disk or
CD etc..
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all the present invention's
Within spirit and principle, any modification, equivalent substitution and improvement etc. made, should be included in the present invention's
Within protection domain.
Claims (10)
1. an anchoring method for boats and ships, described method is applicable to Ship Anchoring, and described boats and ships include at least three anchor, it is characterised in that described method includes:
According to the position location set, described boats and ships in the preset stem direction of described position location and the respective cable length needing cable laying of described at least three anchor, determining the position of casting anchor of described at least three anchor respectively, described position location is positioned at the polygonal central region formed with the position of casting anchor of described at least three anchor；
Described boats and ships are sailed the position of casting anchor to first anchor, and described first anchor is any one in described at least three anchor, in the position of casting anchor of described first anchor, described first anchor is thrown the bottom；
Start clockwise or counterclockwise from the position of casting anchor of described first anchor, successively the row that anchors into not cast anchor in described at least three anchor is cast anchor, until the bottom all thrown by all of anchor；
Described boats and ships are sailed to described position location；
Wherein, the described position of casting anchor from described first anchor starts clockwise or counterclockwise, casts anchor the row that anchors into not cast anchor in described at least three anchor successively, including:
Described boats and ships are sailed to the next one position of casting anchor of the anchor not cast anchor, and during described ship running, keeping the cable tension of winch being in cable laying state is the first pre-set tension, described in be in the winch of cable laying state be according to the described anchor cast anchor cast anchor position and the distance casting anchor between position of anchor that the described next one does not casts anchor is determined from the winch belonging to the described anchor cast anchor；
Keeping the cable tension being in the winch stopping cable laying state is the second pre-set tension, the anchor that the described next one does not casts anchor is thrown the bottom by the position of casting anchor of the anchor not cast anchor at the described next one, described in be in that to stop the winch of cable laying state be the winch belonging to the described anchor cast anchor.
Method the most according to claim 1, it is characterized in that, the described cable length needing cable laying according to the position location set, described boats and ships in the preset stem direction of described position location and described at least three anchor, determines the position of casting anchor of described at least three anchor, including:
According to described boats and ships the preset stem direction of described position location and described at least three anchor respectively belonging to winch installation site on described boats and ships, determine the direction of the position of casting anchor of described at least three anchor, the direction of the position of casting anchor of described at least three anchor when being described preset stem direction with stem described at least three anchor respectively belonging to the direction of winch installation site on described boats and ships identical；
Need the cable length of cable laying and the preset depth of water of the position of casting anchor of described at least three anchor according to described at least three anchor, determine the position distance respectively and between described position location of casting anchor of described at least three anchor；
The direction of the position of casting anchor according to described at least three anchor, from described position location to the direction of the position of casting anchor of described at least three anchor preset angle respectively and described preset stem direction and the position distance respectively and between described position location of casting anchor of described at least three anchor, determine that the position of casting anchor of described at least three anchor is respectively in described preset stem direction and the side-play amount of the vertical direction in described preset stem direction；
The geographical coordinate of the position of casting anchor of described at least three anchor, respectively in described preset stem direction and the side-play amount of the vertical direction in described preset stem direction, is determined in geographical coordinate according to described position location and the position of casting anchor of described at least three anchor.
Method the most according to claim 1, it is characterised in that described during described ship running, the cable tension keeping the winch being in cable laying state is the first pre-set tension, including:
Be in the cable tension of the winch of cable laying state described in detection, obtain tension signal, and according to described tension signal determine described in be in the cable tension of winch of cable laying state；
Whether the cable tension of winch of cable laying state it is in more than described first pre-set tension described in judgement；
When the cable tension of the described winch being in cable laying state is more than described first pre-set tension, described in increase, it is in the cable releasing speed of the winch of cable laying state；
When the cable tension of the described winch being in cable laying state is less than described first pre-set tension, described in reduction, it is in the cable releasing speed of the winch of cable laying state；
When the cable tension of the described winch being in cable laying state is equal to described first pre-set tension, it is in the current driving speed that cable releasing speed is described boats and ships of winch of cable laying state described in holding at the component of the hawser bearing of trend of the described winch being in cable laying state.
Method the most according to claim 1, it is characterised in that it is the second pre-set tension that described holding is in the cable tension of the winch stopping cable laying state, including:
Be in the cable tension of winch stopping cable laying state described in detection, obtain tension signal, and according to described tension signal determine described in be in the cable tension of the winch stopping cable laying state；
Whether the cable tension of the winch stopping cable laying state it is in less than described second pre-set tension described in judgement；
When the cable tension of the described winch being in and stopping cable laying state is less than described second pre-set tension, the described winch being in stopping cable laying state is carried out take-up；
When the cable tension of the described winch being in and stopping cable laying state is more than described second pre-set tension, the described winch being in stopping cable laying state is carried out cable laying；
When the cable tension of the described winch being in and stopping cable laying state is equal to described second pre-set tension, stop the described winch being in stopping cable laying state is carried out take-up or cable laying.
Method the most according to claim 3, it is characterised in that be in the cable tension of the winch of cable laying state described in described detection, including:
By bearing pin sensor detect described in be in the cable tension of winch of cable laying state, described bearing pin sensor be arranged on described in be in cable laying state winch vertical chock on.
6. according to the method described in any one of claim 1-5, it is characterised in that being sailed to described position location by described boats and ships, described method also includes:
Stop described at least three is anchored into row take-up or cable laying, keep the cable tension of the winch belonging to described at least three anchor to be respectively described second pre-set tension；
And adjust the stem direction of described boats and ships, making described boats and ships is that described preset stem direction is positioned at described position location with stem.
7. an anchoring method for boats and ships, described method is applicable to Ship Anchoring, and described boats and ships include first to fourth anchor, it is characterised in that described method includes:
Need the cable length of cable laying in the preset stem direction of described position location and described first to fourth anchor according to the position location set, described boats and ships, determining the position of casting anchor of described first to fourth anchor, described position location is positioned at the central region of the tetragon formed with the position of casting anchor of described first to fourth anchor；
Described boats and ships are driven towards the position of casting anchor of described first anchor, and in the position of casting anchor of described first anchor, described first anchor is thrown the bottom；
The cable tension keeping described first anchor to be cable laying state and described first anchor is the first pre-set tension, and described boats and ships drive towards the position of casting anchor of described second anchor from the position of casting anchor of described first anchor；
The cable tension keeping described first anchor to be stopping cable laying state and described first anchor is the second pre-set tension, makes described boats and ships be parked in the position of casting anchor of described second anchor, and in the position of casting anchor of described second anchor, described second anchor is thrown the bottom；
The cable tension keeping described first anchor and described second anchor to be respectively described cable laying state and described first anchor and described second anchor is respectively described first pre-set tension, and described boats and ships drive towards the position of casting anchor of described 3rd anchor from the position of casting anchor of described second anchor；
The cable tension keeping described first anchor and described second anchor to be respectively described stopping cable laying state and described first anchor and described second anchor is respectively described second pre-set tension, make described boats and ships be parked in the position of casting anchor of described 3rd anchor, and in the position of casting anchor of described 3rd anchor, described 3rd anchor is thrown the bottom；
Keep described first anchor to be take-up state and the cable tension that keeps described second anchor and described 3rd anchor to be respectively described cable laying state and the second anchor and the 3rd anchor is respectively described first pre-set tension, described boats and ships are driven towards from the position of casting anchor of described 3rd anchor the position of casting anchor of described 4th anchor；
The cable tension keeping described first anchor, described second anchor and described 3rd anchor to be respectively described stopping cable laying state and described first anchor, described second anchor and described 3rd anchor is respectively described second pre-set tension, make described boats and ships be parked in the position of casting anchor of described 4th anchor, and in the position of casting anchor of described 4th anchor, described 4th anchor is thrown the bottom；
Keep described first anchor, described second anchor and described 3rd anchor to be respectively described take-up state and the cable tension that keeps described 4th anchor to be described cable laying state and described 4th anchor is described first pre-set tension, described boats and ships are driven towards described position location from the position of casting anchor of described 4th anchor.
8. the ground tackle of boats and ships, described device is applicable to the method described in claim 1, and described boats and ships include at least three anchor and winch, and the quantity of described anchor is identical with the quantity of described winch and a corresponding described winch of described anchor, it is characterized in that, described device includes:
First sensor, for detecting the cable tension of described winch；
Input equipment, for inputting the position location of setting, described boats and ships in the preset stem direction of described position location and the respective cable length needing cable laying of described at least three anchor, and inputs instruction of casting anchor；
Control equipment, the position location of the setting for inputting according to input equipment, described boats and ships are in the preset stem direction of described position location and the respective cable length needing cable laying of described at least three anchor, determining the position of casting anchor of described at least three anchor respectively, described position location is positioned at the polygonal central region formed with the position of casting anchor of described at least three anchor；
According to the instruction of casting anchor of input equipment input, described boats and ships being sailed the position of casting anchor to first anchor, described first anchor is any one in described at least three anchor, and in the position of casting anchor of described first anchor, described first anchor is thrown the bottom；
Start clockwise or counterclockwise from the position of casting anchor of described first anchor, successively the row that anchors into not cast anchor in described at least three anchor is cast anchor, until the bottom all thrown by all of anchor；
Described boats and ships are sailed to described position location；
Wherein, the described position of casting anchor from described first anchor starts clockwise or counterclockwise, casts anchor the row that anchors into not cast anchor in described at least three anchor successively, including:
Described boats and ships are sailed to the next one position of casting anchor of the anchor not cast anchor, and during described ship running, the cable tension of the winch being in cable laying state according to first sensor detection, keeping the cable tension of winch being in cable laying state is the first pre-set tension, described in be in the winch of cable laying state be according to the described anchor cast anchor cast anchor position and the distance casting anchor between position of anchor that the described next one does not casts anchor is determined from the winch belonging to the described anchor cast anchor；
The cable tension being in the winch stopping cable laying state according to first sensor detection, keeping the cable tension being in the winch stopping cable laying state is the second pre-set tension, the anchor that the described next one does not casts anchor is thrown the bottom by the position of casting anchor of the anchor not cast anchor at the described next one, described in be in that to stop the winch of cable laying state be the winch belonging to the described anchor cast anchor.
Device the most according to claim 8, it is characterised in that described device also includes the second sensor,
Described second sensor is for detecting the travel speed of described boats and ships；
Described control equipment is for when the cable tension of the described winch being in cable laying state is equal to described first pre-set tension, and the cable releasing speed of the winch being in cable laying state described in holding is the current driving speed component at the hawser bearing of trend of the described winch being in cable laying state of the described boats and ships of described second sensor detection.
Device the most according to claim 8 or claim 9, it is characterised in that described first sensor is bearing pin sensor, described bearing pin sensor be arranged on described in be in cable laying state winch vertical chock on.
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| CN106335608B (en) * | 2016-09-23 | 2017-12-29 | 中交第三航务工程局有限公司宁波分公司 | The installation method of seabed anchor ingot |
| CN107697230A (en) * | 2017-09-01 | 2018-02-16 | 中交第航务工程局有限公司 | A kind of anchorage regardless prestretching anchoring method |
| CN109613578B (en) * | 2018-12-29 | 2020-11-06 | 上海大学 | Ship positioning method for searching underwater target |
| CN111328044A (en) * | 2020-03-20 | 2020-06-23 | 上海云鱼智能科技有限公司 | Method, device, server, client, terminal and storage medium for calling vehicle owner |
| CN111417090A (en) * | 2020-03-20 | 2020-07-14 | 上海云鱼智能科技有限公司 | Method, device, server, client, terminal and storage medium for calling car owner |
| CN111441265A (en) * | 2020-04-07 | 2020-07-24 | 中国水利水电第八工程局有限公司 | Method for dismantling concrete bridge on water |
| CN113022786B (en) * | 2021-04-26 | 2022-12-09 | 广西新港湾工程有限公司 | Method for arranging anchor cables of engineering ship at torrent river reach |
| CN113715992A (en) * | 2021-08-20 | 2021-11-30 | 南京中船绿洲机器有限公司 | Automatic navigation and ship-moving control method of multipoint positioning winch based on GPS |
| CN116933480B (en) * | 2022-04-01 | 2024-05-10 | 广东海洋大学 | Improved ship anchor ring radius model and anchor intelligent detection method based on same |
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| US4354446A (en) * | 1980-08-22 | 1982-10-19 | Conoco Inc. | Temporary mooring of tension leg platforms |
| CN87105223A (en) * | 1987-07-25 | 1988-03-16 | 梁叔禹 | Anchoring system of surface type ship for drilling |
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