CN-122009399-A - DP power intelligent self-propelled barge control system

CN122009399ACN 122009399 ACN122009399 ACN 122009399ACN-122009399-A

Abstract

The invention discloses a DP power intelligent self-propelled barge control system, which comprises a barge main body and a control system, wherein the barge main body comprises a self-propelled barge with autonomous power, a cargo deck is arranged above the self-propelled barge, a container is stacked on the cargo deck, a bearing plate for bearing the container is arranged above the cargo deck, a hydraulic controller is fixedly arranged at the front end above the cargo deck, and the hydraulic controller is connected with the bearing plate by a telescopic hydraulic rod. This DP power intelligence is from control system that refutes, load goods accomplish the back, open hydraulic controller according to the goods focus condition for hydraulic controller promotes or pulls the loading board through the hydraulic stem, makes the loading board slide for the goods deck, thereby adjusts the whole position for the goods deck of goods, finally reaches the purpose of adjustment goods focus, improves the stability of hull when navigating.

Inventors

AN XIUSHAN
SHI JULIN
ZHOU YANLI
LIU XIN
LIU WEIZENG
SUN SHIJI
PENG JINGXUAN
YANG WEIDONG
MENG XIANYU
LI LI
LIU GUONA
ZHANG JING
ZHANG NING
YANG JIANLING
CHEN PING
LIU MING
An Zituo

Assignees

中交第一航务工程局有限公司
中交一航局第一工程有限公司

Dates

Publication Date: 20260512
Application Date: 20251208

Claims (10)

1. The DP power intelligent self-propelled barge control system comprises a barge main body and a control system and is characterized in that the barge main body comprises a self-propelled barge (1) with autonomous power, a cargo deck (2) is arranged above the self-propelled barge (1), a container (3) is stacked on the cargo deck (2), a bearing plate (4) for bearing the container (3) is arranged above the cargo deck (2), a hydraulic controller (7) is fixedly arranged at the front end above the cargo deck (2), the hydraulic controller (7) is connected with the bearing plate (4) through a telescopic hydraulic rod (8), a sliding mechanism for adjusting the gravity center is arranged between the bearing plate (4) and the cargo deck (2), a movable roller (16) is arranged on the inner side of a containing groove (12) formed in the upper surface of the cargo deck (2), and a friction plate (11) with a surface roughened surface is fixedly arranged on the upper surface of the cargo deck (2); Stabilizing plates (18) for reducing shaking of the self-propelled barge (1) are arranged on the left side and the right side of the self-propelled barge (1), reinforcing strips (1801) which are arranged at equal intervals are fixedly arranged on the lower surface of the stabilizing plates (18), and buoyancy mechanisms are arranged outside the stabilizing plates (18).
2. The DP power intelligent self-propelled barge control system according to claim 1, wherein the sliding mechanism comprises guide sliding blocks (9) fixedly arranged on the left side and the right side of the bearing plate (4), and the guide sliding blocks (9) are in sliding connection with guide sliding rails (10) fixedly arranged on the upper surface of the cargo deck (2).
3. The DP power intelligent self-propelled barge control system according to claim 2, wherein limiting blocks (5) for locating the position of the container (3) are fixedly arranged on the upper surface of the bearing plate (4) at equal intervals, and fixing blocks (6) for fixing ropes are fixedly arranged at the front end and the rear end of the upper surface of the bearing plate (4).
4. The DP power intelligent self-propelled barge control system according to claim 3, wherein a large-sized air pump (13) is fixedly arranged in the middle position inside the accommodating groove (12), and the movable roller (16) is rotatably arranged outside a connecting block (15) inside the accommodating groove (12).
5. The DP power intelligent self-propelled barge control system according to claim 4, wherein a cavity structure which is communicated with each other is arranged inside the connecting block (15) and the movable roller (16), and a lifting air bag (17) is fixedly arranged on the outer surface of the movable roller (16).
6. The DP power intelligent self-propelled barge control system according to claim 5, wherein an inner cavity of the movable roller (16) is communicated with a lifting air bag (17), the lifting air bag (17) is extruded with the lower surface of the bearing plate (4), and the connecting block (15) is communicated with the large-sized air pump (13) through a conveying hose (14).
7. The DP power intelligent self-propelled barge control system according to claim 1, wherein the outer surface of the stabilizing plate (18) is fixedly provided with anti-collision air bags (23) which are distributed at equal intervals, and the stabilizing plate (18) is connected with a winch inside the self-propelled barge (1) through a connecting stay rope (19).
8. The DP power intelligent self-propelled barge control system according to claim 7, wherein the buoyancy mechanism comprises buoyancy air bags (24) fixedly arranged on the outer surface of the stabilizing plate (18), and the buoyancy air bags (24) and the anti-collision air bags (23) are distributed at intervals.
9. The DP power intelligent self-propelled barge control system according to claim 8, wherein the stabilizing plate (18) is rotatably connected with the connecting sliding block (20) through a mounting shaft (21), the connecting sliding block (20) is in penetrating sliding connection with the guiding sliding rod (22), and the guiding sliding rod (22) is fixedly mounted outside a side board of the self-propelled barge (1).
10. The DP dynamic intelligent self-propulsion control system according to claim 1, wherein the control system comprises a perception layer, a decision layer and an execution layer: the sensing layer comprises a Beidou satellite positioning module, a multi-beam sounding sonar module, a gesture and motion sensor module, an environment sensor module and a loading monitoring sensor module; The decision layer comprises a main control computer, a three-dimensional environment modeling and fusion module, an intelligent path planning module, a dynamic positioning controller and a dynamic load calculation module; The execution layer comprises a full-rotation propeller, a bow side propeller, a ballast water system and a steering engine system; The control system comprises the following steps: S1, high-precision positioning and three-dimensional environment modeling, namely, self-navigation barge enters an operation area, the system is electrified and self-checking is performed, all sensor data begin to be collected, and the Beidou terminal continuously outputs centimeter-level position data; the multi-beam sonar performs plow-type scanning on underwater topography by fan-shaped beams to generate dense point cloud data, a three-dimensional environment modeling module fuses plane coordinates of Beidou positioning and depth data of the multi-beams, and a three-dimensional visual environment model comprising water depth, contour lines and obstacle boundaries is generated and updated continuously through a real-time gridding or digital elevation model technology; S2, fully-automatic intelligent navigation, wherein an operator inputs or selects destination coordinates on a comprehensive display terminal, an intelligent path planning module comprehensively considers water depth, obstacles and navigation rules based on a three-dimensional environment model, an optimal global reference path is automatically generated, a ship navigates along the planned path, a dynamic positioning controller continuously calculates the deviation between the current position and an expected path, and dynamically distributes instructions to each propeller through solving the control law to generate accurate thrust and moment, a system compares perceived obstacles with the current environment model in real time, once collision risk is detected, a local path planning module is immediately involved, a smooth and safe local detour path is generated on the basis of the global path, and the dynamic positioning controller immediately responds to the new path instructions to control the ship to automatically detour the obstacles and automatically return to the original planned navigation line after the ship is separated; S3, self-adaptive dynamic load, namely when the precast beam is hoisted to a ship, a load monitoring sensor senses weight and gravity center change in real time, a dynamic load calculation module completes new round of stability calculation within a few seconds, judges whether the current state meets the safety requirement of transverse inclination less than or equal to 1 DEG, if not, the module immediately generates a ballast water allocation scheme, automatically controls corresponding water pumps and valves to execute, does not need manual intervention in the whole process, and ensures that the stability of the ship is always in an optimal state in the loading process and the initial sailing stage; and S4, multi-level emergency treatment, namely when the system receives severe weather forecast or the sensor detects environmental conditions exceeding an automatic sailing capacity threshold, an alarm is sent out to an operator, the system recommends to switch to a remote control mode, after confirmation, control rights are transferred to a shore-based control center, a driver with rich experience carries out remote control through a low-delay communication link, when the system judges that the distance between the system and an obstacle is smaller than a preset emergency threshold value and a conventional obstacle avoidance algorithm possibly fails, the system triggers the highest-level collision early warning, the system does not follow a smooth path planning any more, but immediately triggers a preset emergency command combination of full-speed reversing and maximum thrust of a side thruster, the ship is stopped or carries out emergency lateral displacement in the shortest time in an attempt to avoid collision, and meanwhile, an audible and visual alarm can send warning to surrounding ships.

Description

DP power intelligent self-propelled barge control system Technical Field The invention relates to the technical field of self-propelled barges, in particular to an intelligent DP power self-propelled barge control system. Background The self-propelled barge is a barge with a power device, the barge is not provided with the power device, is designed into a flat bottom and a box, and is mainly used for bearing goods, and can move only by being towed or pushed by a tug or a pusher, and the self-propelled barge refers to a ship which is provided with a self-propelled system (such as a diesel engine and a propeller) and can navigate by self power. As in the prior art, chinese patent application No. CN200310121731.3 discloses a self-propelled barge which is designed to be capable of sailing by itself with a simple structure and to be capable of properly balancing a hull while a stern is easy to land, a machine room having an engine and a propeller is provided below the stern of the hull, a pontoon and a cabin are provided at a bow portion of the hull corresponding to the machine room for maintaining the balance of the hull and for landing the stern, and a cargo loading portion is provided on a deck above the hull. In the prior art, the China patent with the application number of CN202110117664.6 discloses a deck barge, which comprises a main hull, wherein a main deck is arranged on the upper surface of the main hull, a head inclined ladder is rotatably connected to the head of the main deck, a tail inclined ladder is rotatably connected to the tail of the main deck, the middle part of the main deck is a cargo stacking area, main deck cabins are respectively arranged on the left side and the right side of the head of the main deck, a cargo loading channel which is communicated with the cargo stacking area in the middle of the main deck is arranged between the main deck cabins on the left side and the right side of the main deck, one end of the cargo loading channel is communicated with the cargo stacking area in the middle of the main deck, the other end of the cargo loading channel is communicated with the head inclined ladder, and the inclined ladder arranged at the head and the tail of the main deck can enable cargo vehicles to pass smoothly, and the channel is arranged above a cargo blocking coaming. In combination with the above materials, the barge is mostly used for transporting goods in the prior art, but in the actual use process, when some irregular goods (such as precast beams and the like) are loaded, the goods cannot be stacked uniformly and neatly, so that the center of gravity of the ship body is deviated, and the ship body is severely swayed when encountering stormy waves. Disclosure of Invention The invention aims to provide a DP power intelligent self-propelled barge control system, which aims to solve the problem of serious shaking caused by gravity center deviation of a ship body when irregular cargoes are loaded in the background technology. In order to achieve the above purpose, the present invention provides the following technical solutions: The DP power intelligent self-propelled barge control system comprises a barge main body and a control system, wherein the barge main body comprises a self-propelled barge with autonomous power, a cargo deck is arranged above the self-propelled barge, containers are stacked on the cargo deck, a bearing plate for bearing the containers is arranged above the cargo deck, a hydraulic controller is fixedly arranged at the front end above the cargo deck, the hydraulic controller is connected with the bearing plate through a telescopic hydraulic rod, a sliding mechanism for adjusting the gravity center is arranged between the bearing plate and the cargo deck, a movable roller is arranged on the inner side of a containing groove formed in the upper surface of the cargo deck, friction plates for surface roughening are fixedly arranged on the upper surface of the cargo deck, stabilizing plates for reducing shaking of the self-propelled barge are arranged on the left side and the right side of the self-propelled barge, reinforcing strips which are arranged at equal intervals are fixedly arranged on the lower surface of the stabilizing plates, and buoyancy mechanisms are arranged outside the stabilizing plates. Preferably, the sliding mechanism comprises guide sliding blocks fixedly arranged on the left side and the right side of the bearing plate, and the guide sliding blocks are in sliding connection with guide sliding rails fixedly arranged on the upper surface of the cargo deck. Preferably, limiting blocks for positioning the container are fixedly arranged on the upper surface of the bearing plate at equal intervals, and fixing blocks for fixing ropes are fixedly arranged at the front end and the rear end of the upper surface of the bearing plate. Preferably, the middle position inside the accommodating groove is fixedly provided with a large air pump, and the