CN-116755356-B - Floating dolphin control device, method and storage medium

CN116755356BCN 116755356 BCN116755356 BCN 116755356BCN-116755356-B

Abstract

The invention provides a floating dolphin control device, a method and a storage medium, which belong to the technical field of shipping transportation and comprise a scheduling server and a plurality of floating dolphin grabbing components, wherein the scheduling server is in wireless connection with all the floating dolphin grabbing components, the scheduling server is used for sequentially sending grabbing cable signals to all the floating dolphin grabbing components, the floating dolphin grabbing components are used for carrying out grabbing analysis on cables according to the grabbing cable signals to obtain grabbing completion signals, the scheduling server is also used for inputting delay time, acquiring the current time as starting time and sending release signals to all the floating dolphin grabbing components which obtain grabbing completion signals, and the floating dolphin grabbing components are also used for carrying out picking analysis on the cables through the release signals to obtain picking completion signals. The invention effectively solves the problem of missing mooring ropes of crews, solves the problem of inconvenient mooring ropes of personnel, and can be widely used for mooring ropes of ships at ports and wharfs.

Inventors

WANG XIAOLIN
CHEN YING
WEI GANG
WANG KANG
LI XINGHE
LIU XINZHI
WU HAIJIN
DENG JIANZHI
CHEN WUFEN
CHENG XIAOHUI
YAO JIESEN
QIU YONGHUA
Wang Pifu

Assignees

广西大藤峡水利枢纽开发有限责任公司
桂林理工大学
珠江水利委员会珠江水利科学研究院

Dates

Publication Date: 20260505
Application Date: 20230616

Claims (8)

1. A floating dolphin control device is characterized by comprising a dispatch server and a plurality of floating dolphin grabbing components, The dispatch server is in wireless connection with all the floating dolphin grabbing components; the dispatch server is used for sequentially sending a grabbing cable signal to each floating dolphin grabbing component; The floating type mooring rope grabbing component is used for carrying out grabbing analysis on the mooring ropes according to the grabbing mooring rope signals to obtain grabbing completion signals; the dispatching server is also used for inputting delay time, acquiring current time as starting time and sending release signals to all floating type dolphin grabbing components which acquire grabbing completion signals; the floating type mooring grabbing component is further used for carrying out picking analysis on the mooring rope through the release signal to obtain a picking completion signal; The dispatching server is further used for obtaining the current time as the ending time, analyzing the quantity of all picking completion signals according to the starting time, the ending time and the delay time, and obtaining a control result of the floating dolphin; the floating type dolphin grabbing component comprises a manipulator (1), a mechanical arm (2), a pontoon (3) and a dolphin (4), The automatic control device is characterized in that the pontoon (3) is of a cylindrical structure, the mechanical arm (2) and the bollard (4) are both arranged at the top end of the pontoon (3), a controller is arranged in the mechanical arm (2), the controller is in wireless connection with the dispatching server, one end of the mechanical arm (2) is movably connected with the mechanical arm (1), a hanging inductor is arranged in the mechanical arm (1), the hanging inductor is connected with the controller, the bollard (4) is of a cylindrical structure, and a placing notch for placing the mechanical arm (1) is formed in one side surface, close to the mechanical arm (2), of the bollard (4); In the floating type mooring grabbing component, the process of carrying out the picking analysis of the mooring rope through the release signal to obtain a picking completion signal comprises the following steps: The controller is used for controlling the manipulator (1) to be closed according to the release signal, grabbing a cable and generating a third sensor control signal; the hanging inductor is used for generating a column taking signal according to the third inductor control signal; The controller is also used for controlling the mechanical arm (2) to move the mechanical arm (1) out of the placing notch according to the column taking signal, And controls the mechanical arm (2) to move to a preset position, And controls the manipulator (1) to open for taking away the mooring rope, And generating a fourth sensor control signal; The hanging sensor is also used for generating a rope taking signal according to the fourth sensor control signal; The controller is also used for controlling the manipulator (1) to be closed according to the rope taking signal, And controlling the mechanical arm (2) to move to the position above the bollard (4), And controlling the mechanical arm (2) to insert the mechanical arm (1) into the placement notch and generating a picking completion signal.
2. The floating dolphin control device of claim 1 wherein in the floating dolphin gripping assembly, the process of performing a gripping analysis of the lines by the gripping line signals, obtaining a gripping completion signal comprises: the controller is used for controlling the mechanical arm (2) to move to a preset position according to the grabbing cable signal; The manipulator (1) is controlled to open, is used for hanging a cable and generates a first sensor control signal; the hanging inductor is used for generating a hanging rope signal according to the first inductor control signal; the controller is also used for controlling the manipulator (1) to be closed according to the rope hanging signal, And controlling the mechanical arm (2) to move to the position above the bollard (4), And controls the mechanical arm (2) to insert the mechanical arm (1) into the placing notch, And controls the manipulator (1) to open for hanging the mooring rope on the dolphin (4), And generating a second sensor control signal; the hanging sensor is also used for generating a hanging column signal according to the second sensor control signal; The controller is also used for analyzing the water drainage state through the hanging column signal, and obtaining a grabbing completion signal according to an analysis result.
3. The floating dolphin control device of claim 2, wherein said controller is configured to analyze a water release state from said column hanging signal, and wherein said process of obtaining a capture completion signal based on the analysis result comprises: the controller is used for generating a hanging post completion signal according to the hanging post signal; the dispatching server is used for counting the number of all the hanging column completion signals to obtain the hanging column completion number; Judging whether the number of the hanging columns is larger than or equal to the number of the preset drainage hanging columns, if not, carrying out voice broadcasting of the hanging ropes, and if so, sending grabbing completion signals to all controllers generating hanging column completion signals.
4. The floating dolphin control device of claim 1 wherein said dispatch server analyzes the number of all said pick-off completion signals based on said start time, said end time and said delay time, and wherein the process of obtaining a control result of the floating dolphin comprises: the scheduling server is used for calculating the difference value between the starting time and the ending time to obtain a real-time difference; Counting the quantity of all the picking completion signals to obtain the total quantity of the picking completion signals; And if the real-time difference is larger than the delay time and the total number of the picking completion signals is smaller than the preset release number, performing voice broadcasting of removing the mooring rope until the total number of the picking completion signals is equal to the preset release number, generating a dispatching completion instruction, and taking the dispatching completion instruction as a control result of the floating dolphin.
5. A floating dolphin control device as claimed in claim 3, wherein the dispatch server further comprises: If the number of the hanging columns is larger than or equal to the number of the preset drainage hanging columns, sending grabbing stop signals to all controllers which do not generate hanging column completion signals; the controller is used for controlling the manipulator (1) to be closed, And controlling the mechanical arm (2) to move to the position above the bollard (4), And controlling the mechanical arm (2) to insert the mechanical arm (1) into the placement notch, and sending the generated stopping success signal to the scheduling server.
6. A method of controlling a floating dolphin for use with a floating dolphin control device according to any one of claims 1 to 5, comprising: Sequentially sending a grabbing cable signal to each floating dolphin grabbing component; carrying out grabbing analysis on the cable according to the grabbing cable signal to obtain a grabbing completion signal; Inputting delay time, acquiring current time as starting time, and sending release signals to all floating dolphin grabbing components which acquire grabbing completion signals; Carrying out extraction analysis on the cable through the release signal to obtain an extraction completion signal; Acquiring the current time as the ending time, and analyzing the quantity of all picking completion signals according to the starting time, the ending time and the delay time to obtain a control result of the floating dolphin; the process of obtaining the picking completion signal by carrying out the picking analysis of the cable through the release signal comprises the following steps: Controlling the manipulator to be closed according to the release signal, and capturing a cable and generating a third sensor control signal; generating a column taking signal according to the third sensor control signal; the mechanical arm is controlled to move out of the placing notch according to the column taking signal, And controlling the mechanical arm to move to a preset position, And controls the manipulator to open for taking away the cable, And generating a fourth sensor control signal; generating a rope taking signal according to the control signal of the fourth sensor; Controlling the manipulator to close according to the rope taking signal, And controlling the robotic arm to move over the dolphin, And controlling the mechanical arm to insert the mechanical arm into the placement notch and generating a picking completion signal.
7. A floating dolphin control system comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the floating dolphin control method of claim 6 is implemented when the processor executes the computer program.
8. A computer readable storage medium storing a computer program, which when executed by a processor, implements the floating dolphin control method of claim 6.

Description

Floating dolphin control device, method and storage medium Technical Field The invention mainly relates to the technical field of shipping traffic, in particular to a floating dolphin control device, a floating dolphin control method and a storage medium. Background The ship lock is a box-type navigation building, is mainly built at the stepped vertical section of a dam, a canalization navigation and a canal and is used for communicating water surfaces with different water level drops, so that a ship can directly pass through the drops, and the navigation of the ship is guaranteed. A floating dolphin is a device for securing a vessel in situations where the water level changes significantly, such as a ship lock. The existing floating type mooring post mainly needs a shipman to actively tie up, and the mode that the shipman operates to tie up the mooring rope is easy to cause the conditions of mistaken tying up the mooring rope, forgetting to tie up the mooring rope and the like, and the occurrence of the conditions can cause danger in the process of flushing and draining the ship lock, so that the safety risk is brought to the ship lock. In addition, the difficulty in tying the mooring rope for the crew is also caused by the difference in the draft of the vessel, the difference in the height of the mooring post from the water surface, and the difference in the distance between the vessel and the mooring post. Disclosure of Invention The invention aims to solve the technical problem of providing a floating dolphin control device, a floating dolphin control method and a storage medium aiming at the defects of the prior art. The technical proposal of the invention for solving the technical problems is that the floating dolphin control device comprises a dispatch server and a plurality of floating dolphin grabbing components, The dispatch server is in wireless connection with all the floating dolphin grabbing components; the dispatch server is used for sequentially sending a grabbing cable signal to each floating dolphin grabbing component; The floating type mooring rope grabbing component is used for carrying out grabbing analysis on the mooring ropes according to the grabbing mooring rope signals to obtain grabbing completion signals; the dispatching server is also used for inputting delay time, acquiring current time as starting time and sending release signals to all floating type dolphin grabbing components which acquire grabbing completion signals; the floating type mooring grabbing component is further used for carrying out picking analysis on the mooring rope through the release signal to obtain a picking completion signal; The dispatching server is further used for obtaining the current time as the ending time, analyzing the quantity of all picking completion signals according to the starting time, the ending time and the time delay time, and obtaining a control result of the floating dolphin. The other technical scheme for solving the technical problems is as follows, namely a floating dolphin control method, which comprises the following steps: Sequentially sending a grabbing cable signal to each floating dolphin grabbing component; carrying out grabbing analysis on the cable according to the grabbing cable signal to obtain a grabbing completion signal; Inputting delay time, acquiring current time as starting time, and sending release signals to all floating dolphin grabbing components which acquire grabbing completion signals; Carrying out extraction analysis on the cable through the release signal to obtain an extraction completion signal; and acquiring the current time as the ending time, and analyzing the quantity of all the picking completion signals according to the starting time, the ending time and the delay time to obtain a control result of the floating dolphin. Another technical solution of the present invention for solving the above technical problems is a floating dolphin control device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, which when executed by the processor implements the floating dolphin control method as described above. Another technical solution of the present invention to solve the above technical problems is a computer-readable storage medium storing a computer program which, when executed by a processor, implements the floating dolphin control method as described above. The method has the advantages that the grabbing cable signal is sent to the floating type mooring rope grabbing component, the grabbing analysis of the cable is carried out according to the grabbing cable signal to obtain grabbing completion signals, the releasing signal is sent to all the floating type mooring rope grabbing components which obtain grabbing completion signals, the picking analysis of the cable is carried out through the releasing signals to obtain picking completion signals, and the quantity of all the picking completion sig