The invention discloses an automatic anchor reversing method based on a double-trolley mud wringing ship, which comprises the following steps of: in an initial state, acquiring ship attitude data, calculating an initial position coordinate of an anchor point and setting a control target parameter; the left positioning pile and the right positioning pile are put down alternately, the trolley pushes the ship body to move step by step, and the bridge reamer goes deep into a working area to start excavation work; in the excavation process, whether the reamer reaches the left side positioning sideline or not is detected in real time, whether the anchor reversing condition is met or not is judged, and if not, the reamer continues to keep the excavation depth for excavation; if yes, the reamer stops working, the bridge frame is lowered to the bottom point ground to serve as a support, and the left side positioning anchor is anchored forwards and fixed; the ship body directly swings to the right side positioning sideline after the left side positioning sideline is reversely anchored; the ship body swings to the right side positioning sideline, the right side positioning anchor is dropped forwards and fixed, and one-time anchor dropping operation is completed; and updating the position coordinates of the anchor points. According to the method, the navigation center deviation caused by operations such as back anchoring is effectively reduced, and the back anchoring accuracy is improved.
本发明公开了一种基于双台车绞泥船自动倒锚方法,包括以下步骤:初始状态下,获取船舶姿态数据,计算锚点初始位置坐标,设定的控制目标参数;左、右定位桩交替下放,台车步进推动船体迈步移动,桥架绞刀深入工作区域开始挖掘工作;在挖掘过程中实时检测绞刀是否到达左侧定位边线,且判断是否满足倒锚条件,若否,则绞刀继续保持挖掘深度挖掘;若是,绞刀停止工作并将桥架下放至底部点地作为支撑,将左侧定位锚向前抛锚并固定;左侧定位边线倒锚结束后船体直接摆动到右侧定位边线;船体摆动至右侧定位边线,将右侧定位锚向前抛锚并固定,完成一次倒锚作业;更新锚点位置坐标。本发明有效减少因倒锚等操作引起的航行中心偏移,提高倒锚精确性。
Automatic anchor reversing method based on double-trolley mud wringing ship
一种基于双台车绞泥船自动倒锚方法
2024-12-10
Patent
Electronic Resource
Chinese
IPC: | B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS |
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