CN107065878A - A kind of automatic docking system of ship and method - Google Patents
A kind of automatic docking system of ship and method Download PDFInfo
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- CN107065878A CN107065878A CN201710334530.3A CN201710334530A CN107065878A CN 107065878 A CN107065878 A CN 107065878A CN 201710334530 A CN201710334530 A CN 201710334530A CN 107065878 A CN107065878 A CN 107065878A
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- 238000003032 molecular docking Methods 0.000 title claims abstract description 14
- 238000000034 method Methods 0.000 title claims description 7
- 238000005259 measurement Methods 0.000 claims abstract description 17
- 230000007246 mechanism Effects 0.000 claims abstract description 14
- 230000009471 action Effects 0.000 claims abstract description 7
- 238000007405 data analysis Methods 0.000 claims description 12
- 238000012806 monitoring device Methods 0.000 claims description 12
- 238000012545 processing Methods 0.000 claims description 10
- 230000004913 activation Effects 0.000 claims description 6
- 230000004888 barrier function Effects 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 3
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- 238000001514 detection method Methods 0.000 claims 1
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- 238000010586 diagram Methods 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 238000011897 real-time detection Methods 0.000 description 2
- 238000012935 Averaging Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000916 dilatatory effect Effects 0.000 description 1
- 210000004209 hair Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000012544 monitoring process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
- G05D1/0208—Control of position or course in two dimensions specially adapted to water vehicles dynamic anchoring
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Abstract
The invention discloses a kind of automatic docking system of ship, it includes：Measure subsystem, autonomous control subsystem, boat-carrying executing agency, system starting and stopping mechanism.The system starting and stopping mechanism is to start/termination system work；Described measurement subsystem includes ship side range unit, the mark point of quay side, GPS positioning unit；The boat-carrying executing agency includes Ship Power Equipment and ship steering engine device；Autonomous control subsystem is handled the data of measurement subsystem collection in real time, obtains ship's speed and angle needed for ship is stopped, and further controls the action of boat-carrying executing agency to realize the automatic berthing of ship.The measurement subsystem, system starting and stopping mechanism and boat-carrying executing agency are connected with the autonomous control subsystem.Structure of the present invention is novel, be easy to implement, easy to use, improves shipboard automation degree, reduces berthing accident and simultaneously ensure Safety of ship's mooring.
Description
Technical field
The present invention relates to ship control technology field, a kind of automatic docking system of ship and method are particularly related to.
Background technology
Ship is as a kind of transportation equipment huge by such environmental effects, and its requirement to security is also gradually carried
It is high.The Main Basiss or operating experience that current crewman judges for ship situation, operational configuration are mutually tied with knowwhy
Close, incorrect decision easily occur, cause unnecessary human and material resources or financial losses.
Ship berthing manoeuver is mostly by cable car cooperating on tugboat and ship now, not only increase the operation of ship into
This, also improves because of the damnous risk of human error, while also not meeting the development trend that ship is intelligent, automate.
Therefore urgently develop that a kind of automatic berthing manoeuver system of ship is low to solve ship mooring automaticity, poor safety performance etc. is asked
Topic.
The content of the invention
In view of the deficiency that prior art is present, the invention aims to provide a kind of ship automatic docking system.For
Solve ship needed in berthing harbour winch on towboat and ship it is dilatory the problem of, from the operation for largely saving ship
Cost, and promote the development of intelligent ship.
To achieve these goals, technical solution of the present invention is as follows：
A kind of automatic docking system of ship, it is characterised in that it includes：Measure subsystem, autonomous control subsystem, boat-carrying
Executing agency and system starting and stopping mechanism；
The measurement subsystem includes bow stern range unit, ship side range unit, port berth mark point, GPS location list
Member and environment monitoring device；
The autonomous control subsystem is handled the data of measurement subsystem collection in real time, and institute is stopped to obtain ship
The ship's speed and angle needed, and then control the action of boat-carrying executing agency to realize the automatic berthing of ship；
The boat-carrying executing agency includes Ship Power Equipment and ship steering engine device；
The system starting and stopping mechanism is to start/termination system action, and it includes being arranged at the Shipborne terminal on operating desk
With the on-site terminal for being arranged at harbour, for general ship, GPS positioning unit of the crewman in the measurement subsystem is obtained
The real-time range of ship and harbour, the start-stop action of operation Shipborne terminal control system, and for unmanned ship, by control on the bank
Personnel processed operate on-site terminal；
Ship executing agency, the executing agency includes Ship Power Equipment and helm gear；
Meanwhile, described measurement subsystem, autonomous control subsystem, ship executing agency, system starting and stopping mechanism are and institute
State automatic control module connection.
Further, described ship side range unit includes three range cells, is respectively arranged at the of hull front end
One range cells, the second range cells for being arranged at midship, the 3rd range cells for being arranged at hull rear end, described first
Range cells include being located at No. I range unit of the first range cells on the left of hull and the first range cells on the right side of hull
No. II range unit；Second range cells include No. I range unit of the second range cells being located on the left of hull and are located at
No. II range unit of the second range cells on the right side of hull, the 3rd range cells include being located at the 3rd ranging on the left of hull
No. I range unit of unit and No. II range unit of the 3rd range cells on the right side of hull；
Described port berth mark point is arranged at each berth side, for accurately measuring ship and treating berthing position
Real-time range；
Described environment monitoring device at least includes anemobiagraph, anemoscope, current meter, flow direction vane.
Further, the ship is with treating that the real-time range of berthing position is included before the fore distance that bow stern range unit is measured
Before, during and after the hull that the distance and stern of square object body are measured apart from the distance of rear object and 3 range cells position with
The distance of port berth mark point.
Further, the automatic control system includes at least one computer, data processing module, data analysis mould
Block, berthing control module；
The data processing module is respectively to GPS positioning unit, fore range unit, stern range unit, ship side ranging
Device, bow stern ranging dress, the data of environment monitoring device are handled；
The data analysis module is analyzed the data of treated data, and provides the ship needed for ship berthing
Speed and angle.
Ship's speed and angle that the berthing control module is provided according to data analysis module, to control boat-carrying executing agency to move
Make to realize the automatic berthing of ship.
Another object of the present invention is to provide for a kind of ship berthing method based on the automatic docking system of above-mentioned ship, and it is special
Levy and be, comprise the following steps：
S1：When GPS positioning unit detects distance between ship and harbour in system working range, crewman passes through ship
Mounted terminal or on the bank staff start on-site terminal with activation system, and system is devoted oneself to work；
S2：Ship side range unit will detect distance of the board apart from the corresponding berth mark point of harbour in real time；Bow stern ranging
Device detects distance of the ship bow stern direction apart from barrier in real time, it is ensured that the safety before and after ship；Environment monitoring device meeting
The wind speed of real-time detection environment, wind direction, flow velocity, flow direction；
S3：The data processing module of autonomous control subsystem can in real time be located to the data of measurement subsystem collection
Reason, and ship's speed and angle needed for berthing are provided by data analysis module, and ship's speed and angle are sent to berthing control mould
Block is realized and boat-carrying executing agency is controlled, to change the motion state of ship, it is ensured that the entrance that ship can be safe is corresponding
Port berth；
S4：S1 to S3 is repeated, the more capable in real time of data is carried out, speed and angle to ship are controlled in real time, from
And realize the automatic berthing of ship；
S5：After berthing success, by operating Shipborne terminal or on-site terminal halt system to work.
Further, system acting threshold distance is preset before activation system, to ensure ship during berthing
Job safety.
Compared with prior art, beneficial effects of the present invention：
(1) present invention ship and harbour are accurately positioned by gps system, raising ship berthing position it is accurate
Property；
(2) that is equipped with range unit and environment monitoring device respectively after during the present invention is before ship port and starboard, can be by
The distance and marine environment at each position of ship are fed back to autonomous control subsystem in real time, so as to control executing agency to complete ship
The automatic berthing of oceangoing ship；
(3) present invention is not required to the pier facilities such as tugboat, rope, cost-effective, and improves the operation benefits of ship.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are this hairs
Some bright embodiments, for those of ordinary skill in the art, without having to pay creative labor, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is ship berthing schematic diagram of the present invention；
Fig. 2 is that hull of the present invention arranges schematic diagram；
Fig. 3 is present system workflow diagram.
Drawing reference numeral explanation：
1st, hull, 2, harbour, 3, bridge, 4, system starting and stopping mechanism, 5.1, fore range unit, the 5.2, first ranging list
First No. I range unit, the 5.3, first range unit of range cells II, the 5.4, second range unit of range cells I, 5.5, the
Two range units of range cells II, the 5.6, the 3rd No. I range unit of range cells, the 5.7, the 3rd ranging of range cells II dress
Put, 5.8, stern range unit, 6, berth mark point, 7, environment monitoring device.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
A part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
Below in conjunction with the accompanying drawings and specific embodiment further illustrates technical scheme：
The specific embodiment of the invention as shown in Figure 1-2, a kind of automatic berthing manoeuver system of ship, it includes：Measure subsystem
System, autonomous control subsystem, boat-carrying executing agency, system starting and stopping mechanism.Wherein system starting and stopping mechanism 4 is driven including being arranged at ship
Sail the Shipborne terminal of platform and be arranged at the on-site terminal of harbour on the bank, Shipborne terminal and on-site terminal are to start/terminate
System work, uses Shipborne terminal control system start and stop during common ship berthing, on-site terminal berthing, ship are used during unmanned boat berthing
Mounted terminal and on-site terminal can stand-by provisions each other, it is ensured that the service behaviour of system.Subsystem is measured to fill including ship side ranging
5, berth mark point 6, GPS positioning unit environmental monitoring unit 7 are put, ship side range unit also includes bow stern range unit, bow stern
Range unit is including for measuring the fore range unit 5.1 of fore and obstacle distance and for measuring stern and barrier
The stern range unit 5.2 of distance.Boat-carrying executing agency includes Ship Power Equipment and ship steering engine device.Automatically control son
System is handled the data of measurement subsystem collection in real time, to obtain ship's speed and angle needed for ship is stopped, and then
Control executing agency acts to realize the automatic berthing of ship.Meanwhile, described measurement subsystem, autonomous control subsystem, ship
Oceangoing ship executing agency, system starting and stopping mechanism are connected with the automatic control module.
Specifically, each berth of harbour is respectively provided with a specific berth mark point 6, and it is used to accurately measure ship
1 apart from its wait to go to dock 2 real-time range；Described ship side range unit includes three range cells, is respectively arranged at ship
First range cells of body front end, the second range cells for being arranged at midship, the 3rd ranging list for being arranged at hull rear end
Member, each unit at least has a laser range finder.As the preferred embodiment of the present invention, each ranging in the present embodiment
Unit is preferred to use two laser range finders for being symmetricly set in ship both sides ship side.First range unit group includes being located at hull
No. I laser range finder 5.2 of first range unit group in left side and No. II Laser Measuring of the first range unit group on the right side of hull
Distance meter 5.3, the second range unit group includes being located at No. I He of laser range finder 5.4 of the second range unit group on the left of hull
No. II laser range finder 5.5 of the second range unit group on the right side of hull, the 3rd range unit group includes being located at hull
No. I laser range finder 5.6 of 3rd range unit group and No. II Laser Measuring of the 3rd range unit group on the right side of hull in left side
Distance meter 5.7；Other bow stern range unit bag, which expands, to be respectively arranged at the fore laser range finder 5.1 of fore and is arranged at the ship of stern
Tail laser range finder 5.8, therefore surrounding sets eight laser range finders altogether on the quarter in the present embodiment.
When ship carries out automatic berthing, the distance signal between the ship 1 and harbour 2 includes fore range unit 5.1
The stern that the fore measured is measured apart from the distance of objects in front, stern range unit 5.8 apart from rear object distance and
Position and the distance of the respective markers point of harbour 2 before, during and after the hull that 3 range cells are measured.
Environment monitoring device include anemobiagraph, anemoscope, current meter, flow direction vane and other be used for detect marine environment
Sensor, to obtain a series of ambient parameters such as berthing environmental information, including wind speed, wind direction, flow velocity, flow direction.
The automatic control system include at least one computer, 4 data processing modules, data analysis module and
Berthing control module.4 data processing modules are supervised to GPS positioning unit, ship side range unit, bow stern ranging dress, environment respectively
The data for surveying device collection carry out relevant treatment.Treated data are further analyzed data analysis module, and provide
Ship berthing does the ship's speed and angle needed.Ship's speed and angle that berthing control module is provided according to data analysis module, control
Boat-carrying executing agency acts to realize the automatic berthing of ship；
As the present invention preferably embodiment, each berth sets three port berth mark points in this implementation row, by ship
The distance of three range cells and each berth mark point of topside is averaging processing, to obtain accurate reality of the ship apart from harbour
When distance.
The present invention also provides a kind of ship berthing method based on the automatic docking system of above-mentioned ship, it is characterised in that bag
Include following steps：
S1：When GPS positioning unit detects distance between ship and harbour in system working range, crewman passes through ship
Mounted terminal or on the bank staff start on-site terminal with activation system, and system is devoted oneself to work；
S2：Ship side range unit will detect distance of the board apart from the corresponding berth mark point of harbour in real time；Bow stern ranging
Device detects distance of the ship bow stern direction apart from barrier in real time, it is ensured that the safety before and after ship；Environment monitoring device meeting
The wind speed of real-time detection environment, wind direction, flow velocity, flow direction；
S3：The data processing module of autonomous control subsystem can in real time be located to the data of measurement subsystem collection
Reason, and ship's speed and angle needed for berthing are provided by data analysis module, and ship's speed and angle are sent to berthing control mould
Block is realized and boat-carrying executing agency is controlled, to change the motion state of ship, it is ensured that the entrance that ship can be safe is corresponding
Port berth；
S4：S1 to S3 is repeated, the more capable in real time of data is carried out, speed and angle to ship are controlled in real time, from
And realize the automatic berthing of ship；
S5：After berthing success, by operating Shipborne terminal or on-site terminal halt system to work.
System acting threshold distance is preset before activation system, to ensure job safety of the ship during berthing.
The present invention before ship port and starboard in after respectively that range unit is housed, can be real by the distance at each position of ship
When be transferred to automatic control module so that control executing agency complete ship automatic berthing manoeuver；And pass through gps system pair
Ship and harbour are accurately positioned, and improve the accuracy of the position of ship berthing.The present invention is not required to the harbours such as tugboat, rope and set
It is standby, it is cost-effective, and structure it is novel, esy to use, safe and reliable, suitable for being widely popularized to lift the social benefit of shipping field
And economic benefit.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent
The present invention is described in detail with reference to foregoing embodiments for pipe, it will be understood by those within the art that：Its according to
The technical scheme described in foregoing embodiments can so be modified, or which part or all technical characteristic are entered
Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme.
Claims (6)
1. a kind of automatic docking system of ship, it is characterised in that it includes：Measurement subsystem, autonomous control subsystem, boat-carrying are held
Row mechanism and system starting and stopping mechanism；
It is described measurement subsystem include bow stern range unit, ship side range unit, port berth mark point, GPS positioning unit with
And environment monitoring device；
The autonomous control subsystem is handled the data of measurement subsystem collection in real time, to obtain needed for ship is stopped
Ship's speed and angle, and then control the action of boat-carrying executing agency to realize the automatic berthing of ship；
The boat-carrying executing agency includes Ship Power Equipment and ship steering engine device；
The system starting and stopping mechanism is to start/termination system action, and it includes being arranged at the Shipborne terminal on operating desk and set
The on-site terminal of harbour is placed in, for general ship, GPS positioning unit of the crewman in the measurement subsystem obtains ship
With the real-time range of harbour, the start-stop of operation Shipborne terminal control system is acted, and for unmanned ship, by control people on the bank
Member operates on-site terminal；
Ship executing agency, the executing agency includes Ship Power Equipment and helm gear；
Meanwhile, described measurement subsystem, autonomous control subsystem, ship executing agency, system starting and stopping mechanism with it is described from
Dynamic control module connection.
2. the automatic docking system of a kind of ship according to claim 1, it is characterised in that：
Described ship side range unit includes three range cells, is respectively arranged at the first range cells of hull front end, sets
It is placed in the second range cells of midship, is arranged at the 3rd range cells of hull rear end, first range cells includes
No. II ranging dress of No. I range unit of the first range cells on the left of hull and the first range cells on the right side of hull
Put；Second range cells are including No. I range unit of the second range cells on the left of hull and on the right side of hull
Second range unit of range cells II, the 3rd range cells include being located at No. I survey of the 3rd range cells on the left of hull
No. II range unit of the 3rd range cells away from device and on the right side of hull；
Described port berth mark point is arranged at each berth side, for accurately measuring ship with treating the real-time of berthing position
Distance；
Described environment monitoring device at least includes anemobiagraph, anemoscope, current meter, flow direction vane.
3. the automatic docking system of a kind of ship according to claim 2, it is characterised in that：The ship is with treating berthing position
Real-time range include the fore that measures of bow stern range unit apart from objects in front distance and stern apart from rear object distance,
And position and the distance of port berth mark point before, during and after the hull that measures of 3 range cells.
4. the automatic docking system of a kind of ship according to claim 1, it is characterised in that：The automatic control system includes
At least one computer, data processing module, data analysis module, berthing control module；
The data processing module respectively to GPS positioning unit, fore range unit, stern range unit, ship side range unit,
Bow stern ranging dress, the data of environment monitoring device are handled；
The data analysis module is analyzed the data of treated data, and provide the ship's speed needed for ship berthing and
Angle.
Ship's speed and angle that the berthing control module is provided according to data analysis module, come control boat-carrying executing agency action with
Realize the automatic berthing of ship.
5. the method for docking of system described in a kind of application claim 1, it is characterised in that its step includes：
S1：When GPS positioning unit detects distance between ship and harbour in system working range, it is whole that crewman passes through boat-carrying
End or on the bank staff start on-site terminal with activation system, and system is devoted oneself to work；
S2：Ship side range unit will detect distance of the board apart from the corresponding berth mark point of harbour in real time；Bow stern range unit
Distance of the ship bow stern direction apart from barrier is detected in real time, it is ensured that the safety before and after ship；Environment monitoring device can be real-time
The detection wind speed of environment, wind direction, flow velocity, flow direction；
S3：The data processing module of autonomous control subsystem can be in real time handled the data of measurement subsystem collection, and
The ship's speed and angle needed for berthing are provided by data analysis module, and ship's speed and angle are sent to berthing control module and is realized
To boat-carrying, executing agency is controlled, to change the motion state of ship, it is ensured that the corresponding harbour of entrance that ship can be safe
Berth；
S4：S1 to S3 is repeated, the more capable in real time of data is carried out, speed and angle to ship are controlled in real time, so that real
The automatic berthing of spot oceangoing ship；
S5：After berthing success, by operating Shipborne terminal or on-site terminal halt system to work.
6. the method for docking according to right wants 5, it is characterised in that preset before activation system system acting threshold value away from
From to ensure job safety of the ship during berthing.
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108189980A (en) * | 2018-02-05 | 2018-06-22 | 南京科远自动化集团股份有限公司 | The position and attitude method for real-time measurement and measuring system of a kind of landing pier ship |
| CN108445880A (en) * | 2018-03-12 | 2018-08-24 | 上海大学 | The autonomous mooring system of unmanned boat and method merged based on monocular vision and laser data |
| CN108459602A (en) * | 2018-02-28 | 2018-08-28 | 哈尔滨工程大学 | The autonomous method of docking of drive lacking unmanned boat under more obstacle complex environments |
| CN109544994A (en) * | 2019-01-23 | 2019-03-29 | 安徽理工大学 | A kind of ship early warning system that ship lock is current |
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| CN109739238A (en) * | 2019-01-16 | 2019-05-10 | 大连海事大学 | A kind of ship automatic berthing system and its working method |
| CN110427038A (en) * | 2019-08-29 | 2019-11-08 | 广州中国科学院沈阳自动化研究所分所 | A kind of full-automatic docking system of unmanned boat and method of docking |
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| CN110816753A (en) * | 2019-11-22 | 2020-02-21 | 武汉理工大学 | Bank end draw gear that intelligence boats and ships were berthed and were used |
| CN110927728A (en) * | 2019-12-12 | 2020-03-27 | 南通中远海运船务工程有限公司 | Automatic berthing system for ship |
| CN111897342A (en) * | 2020-08-05 | 2020-11-06 | 江苏科技大学 | Automatic berthing and departing system and method for modern ship |
| CN112130506A (en) * | 2020-09-27 | 2020-12-25 | 湖南科技大学 | Pleasure boat berthing system and operation method thereof |
| CN114253278A (en) * | 2022-03-02 | 2022-03-29 | 山东科技大学 | Ship harbor-entering berthing auxiliary system and method based on multiple antennas |
| CN114735161A (en) * | 2021-12-04 | 2022-07-12 | 中国船舶工业系统工程研究院 | Automatic berthing method and system based on laser ranging |
| CN114834609A (en) * | 2022-03-25 | 2022-08-02 | 江南造船(集团)有限责任公司 | Monitoring system for measuring and positioning dock area |
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