CN116016279A - Control method and control device of anchor machine system - Google Patents

Abstract

The disclosure provides a control method and a control device for an anchor machine system, and belongs to the field of anchor machine control. The control method comprises the steps that a shore-based system acquires monitoring data sent by a ship end system; determining whether a first condition is satisfied, the first condition comprising: the first network delay determined based on the monitoring data does not exceed a first preset value; when the first condition is met, the shore-based system sends a remote control instruction for controlling the anchor machine system to the ship end system; the ship end system acquires a remote control instruction; determining whether a second condition is satisfied, the second condition comprising: the second network delay determined based on the remote control instruction does not exceed a second preset value; when the second condition is met, the ship end system sends a control instruction corresponding to the remote control instruction to the machine side system, so that network delay between the shore-based system and the ship end system is ensured to be within a safety range when anchoring operation is performed, errors in anchoring operation are avoided, reliability and stability of control of the anchor machine system are improved, and safety of the ship is ensured.

Description

Windlass system control method and control device

technical field

The present disclosure relates to the field of windlass control, in particular to a control method and a control device for a windlass system.

Background technique

The windlass system includes windlass and windlass pumping station, which is a kind of equipment widely used in ship anchoring operations, mainly used for anchoring, anchoring, mooring, and docking of ships.

The traditional anchoring operation is usually carried out manually by the staff relying on manual experience near the windlass system, which is not only inefficient, but also has certain risks. With the development of the shipbuilding industry in the direction of intelligent and unmanned, the control of windlass is developing from traditional manual operation control to electrical control, cab remote control and shore-based remote control.

The safe and stable operation of the windlass system plays a very important role in the safe operation of the ship. During shore-based remote control, the reliability and stability of the control process have a great impact on the normal operation of anchoring operations. If the reliability and stability appear The problem will seriously threaten the safety of the ship.

Contents of the invention

Embodiments of the present disclosure provide a control method and a control device for a windlass system, which can improve the reliability and stability of shore-based remote control and ensure the safety of ships. Described technical scheme is as follows:

In one aspect, an embodiment of the present disclosure provides a method for controlling a windlass system, the method comprising:

The shore-based system obtains the monitoring data sent by the ship-end system, and the monitoring data includes ship environment information and windlass system status information;

Determine whether the first condition is met, the first condition at least includes: the first network delay determined based on the monitoring data does not exceed a first preset value, the first network delay is from the ship-end system to the The network delay of the shore-based system;

When the first condition is satisfied, the shore-based system sends a remote control command for controlling the windlass system to the ship-end system;

The ship-end system acquires the remote control instruction;

Determine whether the second condition is met, the second condition at least includes: the second network delay determined based on the remote control instruction does not exceed a second preset value, the second network delay is determined by the shore-based system network delay to said ship-side system;

When the second condition is satisfied, the ship-side system sends a control command corresponding to the remote control command to the machine-side system, and the machine-side system is used to control the windlass system to work.

Optionally, the determining whether the first condition is met includes:

The shore-based system determines the first network delay based on the current time when the monitoring data is acquired and the timestamp of the monitoring data;

Comparing the first network delay with the first preset value.

Optionally, the first condition further includes: both the ship environment and the state of the windlass system meet the remote control requirements of the windlass system;

The determining whether the first condition is met also includes:

The shore-based system determines the ship environment and windlass system status based on the acquired monitoring data;

Determine whether the ship environment and windlass system status meet the remote control requirements of the windlass system.

Optionally, the determining whether the second condition is met includes:

The ship-end system determines the second network delay based on the current time when the remote control command is obtained and the timestamp of the remote control command;

comparing the second network delay with the second preset value.

Optionally, the second condition further includes: the state of the windlass system meets the execution requirements of the windlass operation corresponding to the remote control instruction;

The determining whether the second condition is met also includes:

The ship end system obtains the current status information of the windlass system, and determines the current status of the windlass system;

Determine whether the state of the windlass system meets the execution requirements of the windlass operation corresponding to the remote control instruction;

After the ship-end system sends an instruction corresponding to the remote control instruction to the machine-side system, the method further includes:

After receiving the control command sent by the ship-end system, the side-machine system acquires the current status information of the windlass system, and determines the current status of the windlass system;

When the state of the windlass system determined by the on-board system meets the execution requirements of the windlass operation corresponding to the remote control instruction, the windlass operation corresponding to the remote control instruction is executed.

On the other hand, an embodiment of the present disclosure also provides a control device for a windlass system, and the control device includes a shore-based system, a ship-end system, and a machine-side system;

The shore-based system is used to obtain the monitoring data sent by the ship-end system, and determine whether the first condition is met, and when the first condition is met, send a message to the ship-end system for controlling the windlass system Remote control instructions, wherein the monitoring data includes ship environment information and windlass system status information, and the first condition at least includes: the first network delay determined based on the monitoring data does not exceed a first preset value, so The first network delay is the network delay from the ship-end system to the shore-based system;

The ship-end system is used to obtain the remote control instruction, determine whether the second condition is satisfied, and send a control instruction corresponding to the remote control instruction to the machine-side system when the second condition is satisfied, The second condition at least includes: the second network delay determined based on the remote control command does not exceed a second preset value, and the second network delay is the distance from the shore-based system to the ship-end system network delay;

The machine side system is used to control the work of the windlass system.

Optionally, the shore-based system is further configured to determine the first network delay based on the current time when the monitoring data is acquired and the timestamp of the monitoring data;

Comparing the first network delay with the first preset value.

Optionally, the first condition further includes: both the ship environment and the state of the windlass system meet the remote control requirements of the windlass system;

The shore-based system is also used to determine the ship environment and windlass system status based on the acquired monitoring data;

Determine whether the ship environment and windlass system status meet the remote control requirements of the windlass system.

Optionally, the ship-end system is further configured to determine the second network delay based on the acquired current time of the remote control command and the timestamp of the remote control command;

comparing the second network delay with the second preset value.

Optionally, the second condition further includes: the state of the windlass system meets the execution requirements of the windlass operation corresponding to the remote control instruction;

The ship end system is also used to obtain the current status information of the windlass system and determine the current status of the windlass system;

Determine whether the state of the windlass system meets the execution requirements of the windlass operation corresponding to the remote control instruction;

The side-machine system is also used to obtain the current state information of the windlass system after receiving the control command sent by the ship-end system, determine the current state of the windlass system, and satisfy the requirements of the remote control in the state of the windlass system. When the execution of the windlass operation corresponding to the instruction is required, the windlass operation corresponding to the remote control instruction is executed.

The beneficial effects brought by the technical solutions provided by the embodiments of the present disclosure at least include:

The monitoring data sent by the ship-end system is obtained through the shore-based system. The monitoring data includes ship environment information and windlass system status information, so that the shore-based system can know the operation situation. Based on the acquired monitoring data, the first network delay is determined, so as to obtain the network delay from the ship-end system to the shore-based system. When the first network delay does not exceed the first preset value, the shore-based system sends a remote control instruction to the ship-end system, and the ship-end system obtains the remote control instruction. Before the windlass system works, the ship-end system The second network delay is determined, so as to obtain the network delay from the shore-based system to the ship-end system. When the second network delay does not exceed the second preset value, the ship-side system sends a control command corresponding to the remote control command to the machine-side system, and the machine-side system controls the windlass system to work. During the transmission of monitoring data and remote control commands between the shore-based system and the ship-end system, determine the network delay from the ship-end system to the shore-based system and the network delay from the shore-based system to the ship-end system, Ensure that the network delay between the shore-based system and the ship-end system is within a safe range during anchoring operations, avoiding errors in anchoring operations, improving the reliability and stability of the windlass system control, and ensuring the safety of the ship.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present disclosure. For those skilled in the art, other drawings can also be obtained based on these drawings without creative effort.

Fig. 1 is a flowchart of a control method of a windlass system provided by an embodiment of the present disclosure;

Fig. 2 is a flowchart of a control method of a windlass system provided by an embodiment of the present disclosure;

Fig. 3 is a schematic structural diagram of a control device for a windlass system provided by an embodiment of the present disclosure.

Detailed ways

In order to make the purpose, technical solution and advantages of the present disclosure clearer, the implementation manners of the present disclosure will be further described in detail below in conjunction with the accompanying drawings.

Unless otherwise defined, the technical terms or scientific terms used herein shall have the usual meanings understood by those skilled in the art to which the present invention belongs. "First", "second" and similar words used in the patent application specification and claims of the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Likewise, words like "a" or "one" do not denote a limitation in quantity, but indicate that there is at least one. Words such as "comprises" or "comprising" and similar terms mean that the elements or items listed before "comprising" or "comprising" include the elements or items listed after "comprising" or "comprising" and their equivalents, and do not exclude other component or object. Words such as "connected" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "Down", "Left", "Right" and so on are only used to indicate relative positional relationship. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

The windlass system is installed on the ship, and the windlass system includes a windlass and a hydraulic system. For example, the main pumping station, servo pumping station, engine room control unit and solenoid valves in the hydraulic system in the bow compartment; windlass actuators, chain stopper actuators, side consoles and harvesting windlasses located on the bow deck State sensor devices, including but not limited to sensors for collecting chain stopper pins, chain stopper blades, clutch handles, motor handles, brake discs, anchor chain speeds, and anchor chain lengths.

The windlass system has three control modes, which are the first control mode for machine-side control through the machine-side system, the second control mode for bridge remote control through the ship-end system, and the third control mode for remote control through the shore-based system. Three control modes. By controlling the hydraulic motors, chain stoppers, brakes, clutches, etc. in the windlass system, the specified anchor handling operations are completed. Among them, the machine-side system can be located at the console of the windlass system, the ship-end system can be located at the wheelhouse of the ship, and the shore-based system can be located on the shore, such as a wharf. Fig. 1 is a flowchart of a method for controlling a windlass system provided by an embodiment of the present disclosure. As shown in Figure 1, the control method includes:

In step S11, the shore-based system acquires the monitoring data sent by the ship-end system.

Among them, the monitoring data includes ship environment information and windlass system status information.

In step S12, it is determined whether the first condition is satisfied.

Wherein, the first condition at least includes: the first network delay determined based on the monitoring data does not exceed a first preset value. The first network delay is the network delay from the ship-end system to the shore-based system.

In step S13, when the first condition is satisfied, the shore-based system sends a remote control instruction for controlling the windlass system to the ship-end system.

In step S14, the ship-end system acquires a remote control instruction.

In step S15, it is determined whether the second condition is satisfied.

Wherein, the second condition at least includes: the second network delay determined based on the remote control command does not exceed a second preset value, and the second network delay is the network delay from the shore-based system to the ship-end system.

In step S16, when the second condition is satisfied, the ship-side system sends a control command corresponding to the remote control command to the machine-side system.

Among them, the machine side system is used to control the work of the windlass system.

The monitoring data sent by the ship-end system is obtained through the shore-based system. The monitoring data includes ship environment information and windlass system status information, so that the shore-based system can know the operation situation. Based on the acquired monitoring data, the first network delay is determined, so as to obtain the network delay from the ship-end system to the shore-based system. When the first network delay does not exceed the first preset value, the shore-based system sends a remote control instruction to the ship-end system, and the ship-end system obtains the remote control instruction. Before the windlass system works, the ship-end system The second network delay is determined, so as to obtain the network delay from the shore-based system to the ship-end system. When the second network delay does not exceed the second preset value, the ship-side system sends a control command corresponding to the remote control command to the machine-side system, and the machine-side system controls the windlass system to work.

For large ships, especially ocean ships, the environment is complex and changeable. The environment has a great impact on the communication between the shore-based system and the ship-end system, resulting in an unstable communication network between the shore-based system and the ship-end system, with large fluctuations, network delays fluctuating, and even interruptions This seriously affects the remote control of the shore-based system for mooring operations. In the embodiment of the present disclosure, during the transmission process of monitoring data and remote control instructions between the shore-based system and the ship-end system, the network delay from the ship-end system to the shore-based system and the network delay from the shore-based system to the ship-end are determined. The network delay of the system ensures that the network delay between the shore-based system and the ship-end system is within a safe range during anchoring operations, avoiding errors in anchoring operations, improving the reliability and stability of the windlass system control, and ensuring safety of the ship.

Fig. 2 is a flowchart of a control method of a windlass system provided by an embodiment of the present disclosure. As shown in Figure 2, the method includes:

In step S21, the ship-side system periodically sends monitoring data to the shore-based system.

The monitoring data includes ship environment information and windlass system status information.

Wherein, the ship environment information includes, but is not limited to, the position of the ship, the water depth at the position of the ship, the speed of the ship, and information on wind, wave and current. The ship's environmental information can reflect the external environment to ensure that the ship's position is in the preset anchorage area, the ship's water speed is lower than the preset maximum speed, for example, lower than 1.5 knots, and the wind, current and surge of the ship are lower than the preset Set the value to ensure that the external environment is suitable for anchoring operations.

The windlass system status information includes, but is not limited to, windlass status information and windlass pump station status information in the windlass system. For example, windlass state information includes, but not limited to, the state of the chain stopper, the state of the clutch, the state of the brake, the length of the anchor chain released, the height position of the anchor lip, and the speed of the anchor chain. The windlass status information can reflect the current working state of the windlass, so as to ensure that the state of the windlass is suitable for executing the currently issued operation instructions. The status information of the windlass pump station includes, but is not limited to, the hydraulic oil particle size, temperature, liquid level, pump station pressure, and current in the electronic control system in the hydraulic system. The status information of the windlass pumping station can reflect the health status of the windlass pumping station, so as to ensure that the windlass pumping station has no failure and is suitable for controlling the windlass for operation.

The period for the ship-end system to send monitoring data to the shore-based system can be different in different situations. For example, when performing remote control, the period for the ship-end system to send monitoring data to the shore-based system can be 5 seconds; is 5 minutes.

In the process of non-remote control, that is, on-board control or bridge remote control, a longer time interval is used to send monitoring data to the shore-based system, which can reduce energy consumption and enable the shore-based system to understand the situation of the ship. When performing remote control, sending monitoring data at a shorter time interval can improve the accuracy of remote control.

In step S22, the shore-based system acquires the monitoring data sent by the ship-end system.

During the execution of the whole method, the shore-based system can continuously receive the monitoring data sent by the ship-end system.

In step S23, the shore-based system determines the first network delay based on the current time when the monitoring data is acquired and the time stamp of the monitoring data.

The monitoring data sent by the ship-end system also includes the time stamp of the sending time, and the shore-based system can determine the first network delay by comparing the current time when the monitoring data is obtained with the time stamp of the monitoring data, that is, Network delay from ship-side system to shore-based system.

Since the ship-end system periodically sends monitoring data to the shore-based system, and the shore-based system also continuously receives the monitoring data sent by the ship-end system, the first network delay can be determined every time the monitoring data is received, thus It can determine the network fluctuation from the ship-end system to the shore-based system, ensure that the network delay is kept within a safe range during the entire anchoring operation, avoid errors in anchoring operations, and improve the reliability and stability of the windlass system control. Ensure the safety of the ship.

In step S24, the first network delay is compared with a first preset value.

By comparing the first network delay with the first preset value, it is ensured that the network delay remains within a safe range. Subsequent steps are allowed only when the network delay remains within the safe range, and when the first network delay exceeds the first preset value, it indicates that the network delay exceeds the safe range, and remote control through the shore-based system is not suitable.

Exemplarily, the first preset value may be 5s˜30s.

In step S25, the shore-based system determines the environment of the ship and the status of the windlass system based on the acquired monitoring data.

As mentioned above, since the monitoring data includes ship environment information and windlass system status information. The ship environment information includes information related to the external environment of the ship’s location, and the windlass system status information includes information reflecting the working state of the windlass and the health status of the windlass pumping station. Therefore, the shore-based system can According to the obtained shore-based system, the ship environment and the state of the windlass system are determined.

Step S25 may be performed before step S23, or may be performed after step S23 or after step S24.

In step S26, it is determined whether the first condition is satisfied.

Wherein, the first condition includes: the first network delay determined based on the monitoring data does not exceed the first preset value, and both the ship environment and the state of the windlass system meet the remote control requirements of the windlass system.

In order to ensure the reliability and stability of the windlass system control, it is necessary to ensure low network delay. Moreover, anchoring operations have certain requirements for the ship environment. It is difficult to carry out anchoring operations in an unsuitable ship environment. , to ensure safe, reliable and stable anchoring operations.

When the first condition is met, that is, the delay of the first network does not exceed the first preset value, and the ship environment and the state of the windlass system meet the remote control requirements of the windlass system, the subsequent step S27 is executed. When the first condition is not satisfied, it means that there is no condition to switch to the third control mode at present, and it is not suitable to carry out remote control through the shore-based system, and can only carry out anchoring operations through the first control mode or the second control mode, so The process can be terminated. In addition, prompt information can be output to inform the staff that the shore-based system cannot remotely control the steering gear system, such as outputting prompt sounds and prompt screens.

In step S27, the shore-based system sends a remote control instruction for controlling the windlass system to the ship-end system.

For different mooring operations, there can be multiple remote control commands. For example, it can be an instruction for controlling the windlass system to prepare anchor, or an instruction for controlling the windlass system for anchoring, or an instruction for controlling the windlass system for anchoring, or an instruction for controlling the windlass system Carry out the command to draw anchor.

In step S28, the ship-end system obtains the remote control command.

In step S29, the ship-end system determines the second network delay based on the current time when the remote control command is acquired and the time stamp of the remote control command.

The remote control command sent by the shore-based system includes the timestamp of the sending time, and the ship-end system can determine the second network delay by comparing the current time when the remote control command is obtained with the timestamp of the remote control command. That is, the network delay from the shore-based system to the ship-end system.

In step S30, the second network delay is compared with a second preset value.

By comparing the second network delay with the second preset value, it is ensured that the network delay remains within a safe range. Subsequent steps are allowed only when the network delay remains within the safe range, and when the second network delay exceeds the second preset value, it indicates that the network delay exceeds the safe range, and remote control through the shore-based system is not suitable.

Exemplarily, the second preset value may be 5s˜30s. The second preset value may be the same as or different from the first preset value.

In step S31, the ship end system acquires the current status information of the windlass system, and determines the current status of the windlass system.

The status information of the windlass system includes the information reflecting the working state of the windlass system. The current windlass system status information is obtained through the ship end system to reconfirm the state of the chain stopper and the position of the clutch in the windlass system. The state of the windlass, the state of the brake, the length of the anchor chain released, the height of the anchor lip, and the speed of the anchor chain determine the working state of the windlass system.

In step S32, it is determined whether the state of the windlass system meets the execution requirements of the windlass operation corresponding to the remote control instruction.

The working conditions of the windlass system are different, and the anchoring operations that can be performed are also different.

For example, it may be an instruction for controlling the windlass system to prepare anchor, or an instruction for controlling the windlass system for anchoring, or an instruction for controlling the windlass system for anchoring, or an instruction for controlling the windlass The system carries out the instruction of anchoring.

Anchoring operations include anchor preparation, anchor laying, anchor dropping and anchor retraction. During anchor preparation, the working status of the windlass system is required to be: the main pump is running, the servo pump is running, the clutch is fully closed, the brake is fully open, and the chain stopper is in place. Open in place, pull out the pin of the chain stopper in place, and the length of the anchor chain is less than the height from the anchor lip to the water surface.

When breaking down, the windlass system needs to be in the working state of the main pump running, the servo pump running, the clutch is fully open, the brake is fully closed, the chain stopper is fully open, and the pin of the chain stopper is fully pulled out.

When pulling in the anchor, the working state of the windlass system needs to be the main pump running, the servo pump running, the clutch is in place, the brake is in place, the chain stopper is in place, the pin of the chain stopper is pulled out in place, and the anchor chain release length Less than anchor lip to sea bottom depth.

Step S32 may be performed before step S30, or may be performed after step S30 or after step S31.

In step S33, it is determined whether the second condition is satisfied.

Wherein, the second condition includes: the second network delay determined based on the remote control instruction does not exceed the second preset value, and the state of the windlass system meets the execution requirements of the windlass operation corresponding to the remote control instruction.

In order to ensure the reliability and stability of the windlass system control, it is necessary to ensure low network delay. And when carrying out anchoring operations, it is also necessary to ensure that the state of the windlass system allows the windlass system to perform the windlass operation corresponding to the remote control command, such as anchoring, anchoring, anchoring or anchoring.

When the second condition is met, that is, the delay of the second network does not exceed the second preset value, and the state of the windlass system meets the execution requirements of the windlass operation corresponding to the remote control instruction, the subsequent step S33 is executed. When the second condition is not satisfied, it means that there is no condition to switch to the third control mode at present, it is not suitable to carry out remote control through the shore-based system, and only the first control mode or the second control mode can be used for anchoring operations, or It is inappropriate to execute the windlass operation corresponding to the remote control command, so the process can be terminated. In addition, prompt information can also be output to inform the staff that the shore-based system cannot remotely control the steering gear system, or that the windlass operation corresponding to the remote control command cannot be performed, such as outputting prompt sounds, prompt screens, etc.

In step S34, the ship-side system sends a control command corresponding to the remote control command to the machine-side system.

That is, based on the remote control command received, the ship-side system sends a control command to the machine-side system, and controls the windlass system to work through the machine-side system.

In step S35, after receiving the control instruction from the ship-end system, the side-machine system obtains the current status information of the windlass system, and determines the current status of the windlass system.

The current windlass system status information is obtained again by the machine side system, and the current windlass system state is determined again to ensure that the windlass system state meets the execution requirements of the windlass operation corresponding to the remote control command, so that the windlass system can be completed normally corresponding operation.

In step S36, when the state of the windlass system determined by the on-board system meets the execution requirements of the windlass operation corresponding to the remote control command, the windlass operation corresponding to the remote control command is executed.

By determining the state of the windlass system and ensuring that the windlass system can normally complete the corresponding operation, the windlass system is controlled to perform the windlass operation indicated by the remote control command to complete the anchoring operation.

When the state of the windlass system determined by the side system does not meet the execution requirements of the windlass operation corresponding to the remote control command, the windlass system is not controlled to perform the corresponding windlass operation.

The remote control instruction can be an instruction to prepare anchor, drop anchor, drop anchor or retract anchor, so as to realize one-key control through remote control instructions, complete one-key anchor preparation, one-key anchoring, or one-key anchoring, or one-key Anchor.

Fig. 3 is a schematic structural diagram of a control device for a windlass system provided by an embodiment of the present disclosure. As shown in FIG. 3 , the control device includes a shore-based system 41 , a ship-end system 42 and a machine-side system 43 . The shore-based system 41 , the ship-end system 42 and the machine-side system 43 can be used to jointly execute the control method shown in FIG. 1 or FIG. 2 .

Among them, the shore-based system 41 is used to obtain the monitoring data sent by the ship-end system 42, and determine whether the first condition is met, and when the first condition is met, send a remote control command for controlling the windlass system to the ship-end system 42 .

The monitoring data includes ship environment information and windlass system status information. The first condition at least includes: the first network delay determined based on the monitoring data does not exceed a first preset value. The first network delay is the network delay from the ship-end system 42 to the shore-based system 41;

The ship-side system 42 is used to acquire the remote control command, determine whether the second condition is satisfied, and send a control command corresponding to the remote control command to the machine-side system 43 when the second condition is satisfied.

Wherein, the second condition at least includes: the second network delay determined based on the remote control instruction does not exceed a second preset value. The second network delay is the network delay from the shore-based system 41 to the ship-end system 42 .

The side system 43 is used to control the work of the windlass system.

The monitoring data sent by the ship-end system is obtained through the shore-based system. The monitoring data includes ship environment information and windlass system status information, so that the shore-based system can know the operation situation. Based on the acquired monitoring data, the first network delay is determined, so as to obtain the network delay from the ship-end system to the shore-based system. When the first network delay does not exceed the first preset value, the shore-based system sends a remote control instruction to the ship-end system, and the ship-end system obtains the remote control instruction. Before the windlass system works, the ship-end system The second network delay is determined, so as to obtain the network delay from the shore-based system to the ship-end system. When the second network delay does not exceed the second preset value, the ship-side system sends a control command corresponding to the remote control command to the machine-side system, and the machine-side system controls the windlass system to work.

For large ships, especially ocean ships, the environment is complex and changeable. The environment has a great impact on the communication between the shore-based system and the ship-end system, resulting in an unstable communication network between the shore-based system and the ship-end system, with large fluctuations, network delays fluctuating, and even interruptions This seriously affects the remote control of the shore-based system for mooring operations. In the embodiment of the present disclosure, during the transmission process of monitoring data and remote control instructions between the shore-based system and the ship-end system, the network delay from the ship-end system to the shore-based system and the network delay from the shore-based system to the ship-end are determined. The network delay of the system ensures that the network delay between the shore-based system and the ship-end system is within a safe range during anchoring operations, avoiding errors in anchoring operations, improving the reliability and stability of the windlass system control, and ensuring safety of the ship.

Optionally, the shore-based system 41 is further configured to determine the first network delay based on the current time when the monitoring data is acquired and the time stamp of the monitoring data; and compare the first network delay with a first preset value. That is, the shore-based system 41 is also used to execute the aforementioned step S23 and step S24.

Optionally, the first condition further includes: both the environment of the ship and the status of the windlass system meet the remote control requirements of the windlass system. The shore-based system 41 is also used to determine the ship's environment and the state of the windlass system based on the acquired monitoring data; and determine whether the ship's environment and the state of the windlass system meet the remote control requirements of the windlass system. That is, the shore-based system 41 is also used to execute the aforementioned step S25 and step S26.

Optionally, the ship-end system 42 is further configured to determine the second network delay based on the current time when the remote control command is acquired and the time stamp of the remote control command, and compare the second network delay with a second preset value. That is, the ship-end system 42 is also used to execute the aforementioned step S28 and step S29.

Optionally, the second condition further includes: the state of the windlass system meets the execution requirements of the windlass operation corresponding to the remote control instruction. The ship end system 42 is also used to acquire the current status information of the windlass system, determine the current status of the windlass system, and determine whether the status of the windlass system meets the execution requirements of the windlass operation corresponding to the remote control command. That is, the ship-end system 42 is also used to execute the aforementioned step S31 and step S32.

The side-machine system 43 is also used to obtain the current status information of the windlass system and determine the current status of the windlass system after receiving the control command from the ship-end system 42 . And when the state of the windlass system meets the execution requirements of the windlass operation corresponding to the remote control command, the windlass operation corresponding to the remote control command is executed. That is, the on-machine system 43 is also used to execute the aforementioned step S35 and step S36.

It should be noted that: when the control device of the windlass system provided by the above-mentioned embodiments controls the windlass system, it only uses the division of the above-mentioned functional modules as an example for illustration. In practical applications, the above-mentioned functions can be allocated by Completion of different functional modules means that the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the control device of the windlass system provided by the above embodiment and the embodiment of the control method of the windlass system belong to the same concept, and the specific implementation process thereof is detailed in the method embodiment, and will not be repeated here.

Those of ordinary skill in the art can understand that all or part of the steps for implementing the above embodiments can be completed by hardware, and can also be completed by instructing related hardware through a program. The program can be stored in a computer-readable storage medium. The above-mentioned The storage medium mentioned may be a read-only memory, a magnetic disk or an optical disk, and the like.

The above descriptions are only optional embodiments of the present disclosure, and are not intended to limit the present disclosure. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present disclosure shall be included in the protection of the present disclosure. within range.

Claims (10)

1. A control method for a windlass system, characterized in that the method comprises: The shore-based system obtains the monitoring data sent by the ship-end system, and the monitoring data includes ship environment information and windlass system status information; Determine whether the first condition is met, the first condition at least includes: the first network delay determined based on the monitoring data does not exceed a first preset value, the first network delay is from the ship-end system to the The network delay of the shore-based system; When the first condition is satisfied, the shore-based system sends a remote control command for controlling the windlass system to the ship-end system; The ship-end system acquires the remote control instruction; Determine whether the second condition is met, the second condition at least includes: the second network delay determined based on the remote control instruction does not exceed a second preset value, the second network delay is determined by the shore-based system network delay to said ship-side system; When the second condition is satisfied, the ship-side system sends a control command corresponding to the remote control command to the machine-side system, and the machine-side system is used to control the windlass system to work. 2. The control method of the windlass system according to claim 1, wherein the determining whether the first condition is satisfied comprises: The shore-based system determines the first network delay based on the current time when the monitoring data is acquired and the timestamp of the monitoring data; Comparing the first network delay with the first preset value. 3. The control method of the windlass system according to claim 2, wherein the first condition further includes: both the ship environment and the state of the windlass system meet the remote control requirements of the windlass system; The determining whether the first condition is met also includes: The shore-based system determines the ship environment and windlass system status based on the acquired monitoring data; Determine whether the ship environment and windlass system status meet the remote control requirements of the windlass system. 4. The control method of the windlass system according to claim 1, wherein the determining whether the second condition is satisfied comprises: The ship-end system determines the second network delay based on the current time when the remote control command is obtained and the timestamp of the remote control command; comparing the second network delay with the second preset value. 5. The control method of the windlass system according to claim 4, wherein the second condition further includes: the state of the windlass system meets the execution requirements of the windlass operation corresponding to the remote control instruction; The determining whether the second condition is met also includes: The ship end system obtains the current status information of the windlass system, and determines the current status of the windlass system; Determine whether the state of the windlass system meets the execution requirements of the windlass operation corresponding to the remote control instruction; After the ship-end system sends an instruction corresponding to the remote control instruction to the machine-side system, the method further includes: After receiving the control command sent by the ship-end system, the side-machine system acquires the current status information of the windlass system, and determines the current status of the windlass system; When the state of the windlass system determined by the on-board system meets the execution requirements of the windlass operation corresponding to the remote control instruction, the windlass operation corresponding to the remote control instruction is executed. 6. A control device for a windlass system, characterized in that it includes a shore-based system, a ship-end system and a machine-side system; The shore-based system is used to obtain the monitoring data sent by the ship-end system, and determine whether the first condition is met, and when the first condition is met, send a message to the ship-end system for controlling the windlass system Remote control instructions, wherein the monitoring data includes ship environment information and windlass system status information, and the first condition at least includes: the first network delay determined based on the monitoring data does not exceed a first preset value, so The first network delay is the network delay from the ship-end system to the shore-based system; The ship-end system is used to obtain the remote control instruction, determine whether the second condition is satisfied, and send a control instruction corresponding to the remote control instruction to the machine-side system when the second condition is satisfied, The second condition at least includes: the second network delay determined based on the remote control command does not exceed a second preset value, and the second network delay is the distance from the shore-based system to the ship-end system network delay; The machine side system is used to control the work of the windlass system. 7. The control device of the windlass system according to claim 6, wherein the shore-based system is further configured to determine the current time when the monitoring data is acquired and the time stamp of the monitoring data The first network delay; Comparing the first network delay with the first preset value. 8. The control device of the windlass system according to claim 7, wherein the first condition further includes: both the ship environment and the state of the windlass system meet the remote control requirements of the windlass system; The shore-based system is also used to determine the ship environment and windlass system status based on the acquired monitoring data; Determine whether the ship environment and windlass system status meet the remote control requirements of the windlass system. 9. The control device of the windlass system according to claim 6, wherein the ship-end system is further configured to determine based on the current time of the obtained remote control command and the time stamp of the remote control command The second network delay; comparing the second network delay with the second preset value. 10. The control device of the windlass system according to claim 9, wherein the second condition further includes: the state of the windlass system meets the execution requirements of the windlass operation corresponding to the remote control instruction; The ship end system is also used to obtain the current status information of the windlass system and determine the current status of the windlass system; Determine whether the state of the windlass system meets the execution requirements of the windlass operation corresponding to the remote control instruction; The side-machine system is also used to obtain the current state information of the windlass system after receiving the control command sent by the ship-end system, determine the current state of the windlass system, and satisfy the requirements of the remote control in the state of the windlass system. When the execution of the windlass operation corresponding to the instruction is required, the windlass operation corresponding to the remote control instruction is executed.

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