CN109683608A - Control method, apparatus, system and the computer equipment of vessel berth - Google Patents
Control method, apparatus, system and the computer equipment of vessel berth Download PDFInfo
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- CN109683608A CN109683608A CN201811479606.2A CN201811479606A CN109683608A CN 109683608 A CN109683608 A CN 109683608A CN 201811479606 A CN201811479606 A CN 201811479606A CN 109683608 A CN109683608 A CN 109683608A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0875—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted to water vehicles
Abstract
The present invention relates to a kind of method, apparatus, system, computer equipment and computer readable storage mediums for controlling vessel berth, method includes: during ship advances, when the extreme position after the target parking place of mooring wharf is crossed in the tail portion for detecting ship, angle and the distance between ship and harbour current between ship and harbour are obtained；According to the distance between ship and harbour, the deflecting object angle between ship and harbour is obtained；According to angle current between ship and harbour and deflecting object angle, the fore for controlling ship deflects between ship and harbour to harbour reaches deflecting object angle；It is parallel with harbour that the stern-on harbour of control ship deflects to ship；The location information for obtaining ship, when judging that ship reaches target parking place according to the location information of ship and the information of target parking place, control ship brings to.This method can realize to fast accurate the control to vessel berth, the accuracy and efficiency that ship-lifting berths.
Description
Technical field
Ship's navigation control technology field of the present invention, more particularly to it is a kind of control vessel berth method, apparatus, be
System, computer equipment and computer readable storage medium.
Background technique
With the development of integrated navigation technology, computer networking technology, information fusion technology, ship's navigation is marched toward intelligence
Epoch will be become a reality based on intelligence, green, safe and efficient unmanned ship.
Wharf anchors put forward higher requirements navigation safety as typical condition a kind of in vessel motion.Ship
Wharf anchors are the low speed being in shallow narrow water, more deflection angle motion states, and ship stress condition is complex；Attitude of ship,
The control of especially deflection angle size is more difficult.
Existing ship berthing method usually relies on pilot and captain's experience control ship berthing, there is efficiency of mooring a boat
Low defect.Berthing efficiency has become pilot, captain and harbour management department and is badly in need of urgently solving the problems, such as.
Summary of the invention
Based on this, it is necessary in view of the above technical problems, provide a kind of method, apparatus, system, meter for controlling vessel berth
Calculate machine equipment and computer readable storage medium.
A method of control vessel berth, comprising the following steps:
During ship advances, when the tail portion for detecting ship is crossed after the after pole of the target parking place of mooring wharf
When extreme position, angle and the distance between ship and harbour current between ship and harbour are obtained；
According to the distance between ship and harbour, the deflecting object angle between ship and harbour is obtained；
According to angle current between ship and harbour and deflecting object angle, the fore for controlling ship is deflected to harbour
To reaching deflecting object angle between ship and harbour；
It is parallel with harbour that the stern-on harbour of control ship deflects to ship；
The location information for obtaining ship, judges that ship is according to the information of the location information of ship and target parking place
No arrival target parking place；
When judging that ship reaches target parking place according to the location information of ship and the information of target parking place,
Control ship brings to.
The method of above-mentioned control vessel berth, according to the acquisition of the distance between ship and harbour so that ship berthing needs reach
The deflecting object angle between ship and harbour arrived controls ship bow from ship and harbour using the deflecting object angle
Between current angle be displaced to the deflecting object angle, then control stern to be offset to ship parallel with harbour, detecting ship
When oceangoing ship arrived target parking place, control ship brings to, and completes the control of berthing to ship, can quickly and accurately realize
To the automation control of vessel berth, accuracy and efficiency that ship-lifting berths.
In one embodiment, the location information for obtaining ship, according to the location information of ship and target parking place
Information judge whether ship reaches target parking place after, further includes:
When judging that ship does not reach target parking place according to the location information of ship and the information of target parking place
When, return to the step of obtaining angle and the distance between ship and harbour current between ship and harbour.
The technical solution of above-described embodiment deflects to deflecting object angle in bow of progress and stern is deflected to ship
After the oceangoing ship translation parallel with harbour, if detect that target parking place has not yet been reached in current ship, it can return
The step of obtaining angle and the distance between ship and harbour current between ship and harbour repeats to obtain ship and harbour
Between current angle and the distance between ship and harbour ship and code obtained according to the distance between ship and harbour
Deflecting object angle between head controls ship according to angle current between ship and harbour and deflecting object angle
Fore deflects between ship and harbour to harbour reaches deflecting object angle, and the stern-on harbour of control ship deflects to
The ship operation parallel with harbour, until ship reaches target parking place, to ensure to complete the control of berthing to ship.
In one embodiment, according to angle current between ship and harbour and deflecting object angle, ship is controlled
Fore deflected between ship and harbour to harbour and reach deflecting object angle, comprising:
According to angle current between ship and harbour and deflecting object angle, the fore for controlling ship is inclined to harbour
Turn；
Obtain angle current between ship and harbour；
Judgement currently obtains whether current angle reaches deflecting object angle；
When current angle is not up to deflecting object angle, return according to angle current between ship and harbour and
Deflecting object angle controls the step of fore of ship deflects the first predetermined angle to harbour；
When current angle reaches deflecting object angle, the fore for controlling ship stops deflecting to harbour.
The technical solution of above-described embodiment, by being reached repeatedly according to angle current between ship and harbour, and needs
To deflecting object angle, the fore for controlling ship deflects suitable angle to harbour, and whether the angle detected after deflection reaches
Deflecting object angle stops deflection when reaching deflecting object angle, can be accurately realized the fore of ship to deflecting object
The deflection of angle.
In one embodiment, controlling the stern-on harbour of ship, to deflect to ship parallel with harbour, comprising:
According to deflecting object angle, the stern-on harbour deflection of ship is controlled；
Obtain angle current between ship and harbour；
Judge whether angle current between ship and harbour is less than predetermined angle threshold value；
When current angle is not less than predetermined angle threshold value, returns according to deflecting object angle, control the stern of ship
The step of being deflected to harbour；
When current angle is less than predetermined angle threshold value, determine that ship is parallel with harbour, the stern for controlling ship stops
It is deflected to harbour.
The technical solution of above-described embodiment passes through the deflecting object angle and ship deflected repeatedly according to fore
The current angle between harbour, the stern-on harbour for controlling ship deflects suitable angle, and the angle detected after deflection is
It is no to be less than predetermined angle threshold value, when being less than predetermined angle threshold value, determine that ship is parallel with harbour, the stern for controlling ship stops
It is deflected to harbour, can be accurately realized that the stern of ship is deflected to ship is parallel with harbour.
In one embodiment, after the target parking place of mooring wharf and after extreme position obtain according to following steps
:
According to the identification information to mooring wharf of detection, inquiry obtains identification information in pier location information library
The location information and dimension information of the parking place of corresponding harbour；It is determined according to the location information of inquiry and dimension information
After the target parking place of mooring wharf and after extreme position.
Wherein, pier location information library is used to store the information of the parking place of each harbour；The letter of parking place
Breath includes the location information and dimension information of parking place, in addition, the information of parking place can also include parking place
The information in the depth of water, length and direction etc.；
The technical solution of above-described embodiment can be pre-established with pier location information library, and in pier position
The information that the parking place of each harbour is stored in advance in information bank is set, it, can be in control ship to when mooring wharf berthing
The information that the parking place for waiting for mooring wharf is easily transferred from pier location information library, for stopping for ship
Pool control provides data supporting.
In one embodiment, according to the distance between ship and harbour, the deflecting object between ship and harbour is obtained
Angle includes:
According to the distance between ship and harbour, in berthing operational parameter information library, inquiry is obtained apart from corresponding ship
Deflecting object angle between oceangoing ship and harbour.
Wherein, berthing operational parameter information library is for the corresponding ship of different distance between storage vessel and harbour and code
The information of deflecting object angle between head.
The technical solution of above-described embodiment can be pre-established with berthing operational parameter information library, and operate and join in berthing
Deflecting object angle in number information banks between the corresponding ship of the different distance that is stored in advance between ship and harbour and harbour
Information, control ship to can be convenient when mooring wharf berthing from pier location information library inquire obtain
Deflecting object angle between corresponding ship and harbour, so that the deflection control to ship is more flexible efficiently.
In one embodiment, according to angle current between ship and harbour and deflecting object angle, ship is controlled
Fore deflected between ship and harbour to harbour and reach deflecting object angle and include:
According to angle current between ship and harbour and deflecting object angle, in berthing operational parameter information library,
Inquiry obtains angle and the corresponding deflecting operation parameter of deflecting object angle；According to the fore of deflecting operation state modulator ship
It is deflected to harbour, until reaching deflecting object angle between ship and harbour.
Wherein, berthing operational parameter information library is used to store angle and deflection mesh current between different ship and harbour
Mark the information of the corresponding deflecting operation parameter of angle.
The technical solution of above-described embodiment can be pre-established with berthing operational parameter information library, and operate and join in berthing
The corresponding deflecting operation of angle and deflecting object angle current between different ship and harbour is stored in advance in number information banks
The information of parameter to can be convenient when mooring wharf berthing is inquired from pier location information library in control ship
The information of the corresponding deflecting operation parameter of angle and deflecting object angle current between different ship and harbour is obtained, so that
It is more flexible efficiently to the deflection control of ship.
A kind of device controlling vessel berth, comprising:
Range information obtains module, is used for during ship advances, when code to be berthed is crossed in the tail portion for detecting ship
When the rear extreme position of the target parking place of head, obtain between angle and ship and harbour current between ship and harbour
Distance；
Deflecting object angle obtains module, for obtaining between ship and harbour according to the distance between ship and harbour
Deflecting object angle；
Fore deflects control module, for according to angle current between ship and harbour and deflecting object angle, control
The fore of ship processed deflects between ship and harbour to harbour reaches deflecting object angle；
Stern deflects control module, and it is parallel with harbour that the stern-on harbour for controlling ship deflects to ship；
Bring to control module, for obtaining the location information of ship, berths when according to the location information and target of ship
When the information of position judges that ship reaches target parking place, control ship brings to.
The device of above-mentioned control vessel berth, according to the acquisition of the distance between ship and harbour so that ship berthing needs reach
The deflecting object angle between ship and harbour arrived controls ship bow from ship and harbour using the deflecting object angle
Between current angle be displaced to the deflecting object angle, then control stern to be offset to ship parallel with harbour, detecting ship
When oceangoing ship arrived target parking place, control ship brings to, and completes the control of berthing to ship, can quickly and accurately realize
To the automation control of vessel berth, accuracy and efficiency that ship-lifting berths.
A kind of system controlling vessel berth, including RTK base station, RTK rover, Inertial Measurement Unit and processor；
RTK rover, Inertial Measurement Unit and processor are set on ship, RTK rover and Inertial Measurement Unit point
Not Lian Jie processor, RTK base station is set to the setting position on harbour, passes through data between RTK rover and RTK base station
Link is communicated；
RTK base station receives the observation data of Global Navigation Satellite System, and wide by data link progress differential data
It broadcasts；
RTK rover receives the observation data of Global Navigation Satellite System, and receives the differential data and biography of RTK base station
Transport to processor；
Inertial Measurement Unit is used to measure the athletic posture information of ship and is transmitted to processor；
Processor executes the step of method of control vessel berth of any embodiment as above, to control vessel berth in code
On the target parking place of head；Wherein, the observation data and differential data that processor is provided by RTK rover, which calculate, obtains ship
The location information of oceangoing ship, the athletic posture information provided by the location information and Inertial Measurement Unit of calculating, calculates and obtains ship
The information of the distance between current angle and ship and harbour between oceangoing ship and harbour.
GNSS-RTK location technology and Inertial Measurement Unit composition automatic ship anchoring are used to by the system of above-mentioned control vessel berth
Property integrated navigation system, can provide ship in any harbour within the scope of RTK satellite coverage area for automatic ship anchoring control system
The information such as high-precision athletic posture and positioning and directing；By the method for the control vessel berth that processor executes, may be implemented
According to the acquisition of the distance between ship and harbour so that ship berthing needs the deflecting object angle between ship and harbour to be achieved
Degree controls ship bow angle current between ship and harbour and is displaced to the deflecting object using the deflecting object angle
Angle, then control stern to be offset to ship parallel with harbour, when detecting that ship arrived target parking place, control ship
It brings to, completes the control of berthing to ship, can quickly and accurately realize the automation control to vessel berth, ship-lifting
The accuracy and efficiency to berth.
A kind of computer equipment can be run on a memory and on a processor including memory, processor and storage
Computer program, processor perform the steps of when executing computer program
During ship advances, when the tail portion for detecting ship is crossed after the after pole of the target parking place of mooring wharf
When extreme position, angle and the distance between ship and harbour current between ship and harbour are obtained；
According to the distance between ship and harbour, the deflecting object angle between ship and harbour is obtained；
According to angle current between ship and harbour and deflecting object angle, the fore for controlling ship is deflected to harbour
To reaching deflecting object angle between ship and harbour；
It is parallel with harbour that the stern-on harbour of control ship deflects to ship；
The location information for obtaining ship, when judging ship according to the location information of ship and the information of target parking place
When reaching target parking place, control ship brings to.
Above-mentioned computer equipment, when processor executes program, by realizing step as above, so as to according to ship with
The acquisition of the distance between harbour is so that ship berthing needs the deflecting object angle between ship and harbour to be achieved, partially using this
Turn target angle, control ship bow angle current between ship and harbour is displaced to the deflecting object angle, then controls
It is parallel with harbour that stern is offset to ship, and when detecting that ship arrived target parking place, control ship brings to, and completes pair
The control of berthing of ship can quickly and accurately realize that the automation control to vessel berth, ship-lifting berth accurate
Property and efficiency.
A kind of computer readable storage medium is stored thereon with computer program, when computer program is executed by processor
It performs the steps of
During ship advances, when the tail portion for detecting ship is crossed after the after pole of the target parking place of mooring wharf
When extreme position, angle and the distance between ship and harbour current between ship and harbour are obtained；
According to the distance between ship and harbour, the deflecting object angle between ship and harbour is obtained；
According to angle current between ship and harbour and deflecting object angle, the fore for controlling ship is deflected to harbour
To reaching deflecting object angle between ship and harbour；
It is parallel with harbour that the stern-on harbour of control ship deflects to ship；
The location information for obtaining ship, when judging ship according to the location information of ship and the information of target parking place
When reaching target parking place, control ship brings to.
Above-mentioned computer readable storage medium, the computer program of storage, by realizing step as above, so as to root
According to the acquisition of the distance between ship and harbour so that ship berthing needs the deflecting object angle between ship and harbour to be achieved,
Using the deflecting object angle, controls ship bow angle current between ship and harbour and be displaced to the deflecting object angle
Degree, then control stern to be offset to ship parallel with harbour, when detecting that ship arrived target parking place, controls ship and stop
Ship completes the control of berthing to ship, can quickly and accurately realize that the automation control to vessel berth, ship-lifting stop
The accuracy and efficiency of pool.
Detailed description of the invention
Fig. 1 is the applied environment figure that the method for vessel berth is controlled in one embodiment；
Fig. 2 is the flow diagram that the method for vessel berth is controlled in one embodiment；
Fig. 3 is the schematic diagram that the method for vessel berth is controlled in one embodiment；
Fig. 4 is the flow diagram that the method for vessel berth is controlled in another embodiment；
Fig. 5 is that control ship deflects between ship and harbour the stream for reaching deflecting object angle step in one embodiment
Journey schematic diagram；
Fig. 6 is the flow diagram that control ship deflects to step parallel between ship and harbour in one embodiment；
Fig. 7 is the structural block diagram that the device of vessel berth is controlled in one embodiment；
Fig. 8 is the structural schematic diagram that the system of vessel berth is controlled in one embodiment；
Fig. 9 is the schematic diagram of RTK base station data transmission in one embodiment.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only used to explain the present invention, not
For limiting the present invention.
The method of control vessel berth provided by the invention, can be applied in application environment as shown in Figure 1.Wherein,
Including ship 110 and harbour 120, harbour 120 is equipped with parking place 121, and ship 110 is mounted with navigation system 111, navigation system
111 connect with the processor 112 on ship 110, and processor 112 is obtained between ship and harbour by the detection of navigation system 111
The location information of the distance between current angle, ship and harbour and ship, according to folder current between ship and harbour
The location information of the distance between angle, ship and harbour and ship, control ship 110 are docked in the parking place of harbour 120
On 121.
In one embodiment, as shown in Fig. 2, providing a kind of method for controlling vessel berth, it is applied in this way
It is illustrated on processor in Fig. 1, comprising the following steps:
S210, during ship advances, when the target parking place to mooring wharf is crossed in the tail portion for detecting ship
Rear extreme position when, obtain angle and the distance between ship and harbour current between ship and harbour；
Wherein, as shown in figure 3, in the target parking place that rear extreme position refers to, close to the stern one of roadster oceangoing ship
The predeterminated position of the edge line at end；Current angle is that the hull of characterization ship is deflected relative to harbour between ship and harbour
The parameter of degree, such as can be the hull major diameter of ship as shown in Figure 3 and the angle theta that quayside is current between along the line；Ship
The distance between oceangoing ship and harbour are to characterize the hull of ship relative to the parameter at a distance from harbour, such as can be as shown in Figure 3
Ship hull central point and quayside along the distance between X.
In this step, needing to control ship to when mooring wharf berthing, can control ship slowly to wait berth
Dock area advances, during ship advances, when the target parking place to mooring wharf is crossed in the tail portion for detecting ship
Rear extreme position when, obtain angle and the distance between ship and harbour current between ship and harbour.
Illustratively, as shown in figure 3, can control ship, in holding, for example 0.5 times of captain's transfer is into pool, when stern and tail ship
When salubrious, at the oceangoing ship to accommodation 1 that brings to.
S220 obtains the deflecting object angle between ship and harbour according to the distance between ship and harbour；
Wherein, deflecting object angle is to make ship close to target parking place, and the fore of ship needs to be achieved
Deflection angle.
S230 controls the fore of ship to code according to angle current between ship and harbour and deflecting object angle
Head, which deflects between ship and harbour, reaches deflecting object angle；
In this step, it according to angle current between the ship and harbour of current real-time detection, and needs to deflect into
Deflecting object angle, control the fore of ship and deflected to harbour, until reaching the deflecting object of needs between ship and harbour
Angle.
Illustratively, as shown in figure 3, by taking harbour is on the right side of ship direction of travel as an example, it is lateral to can use propeller reversing
Power generates ship and deflects at accommodation 2；Wherein, in deflection process, vehicle can not be had to as long as bow deflection, such as deflection angle speed
Degree not enough, then makees rudder into the chance that vehicle brings to using at the limit on the quarter.
S240, controlling the stern-on harbour of ship, to deflect to ship parallel with harbour；
Illustratively, as shown in figure 3, by taking harbour is on the right side of ship direction of travel as an example, when ship and the current angle of harbour
When reaching deflecting object angle, left rudder reduces ship and the current angle of harbour into vehicle, ship whipping, traversing under vehicle, rudder action
To accommodation 3, ship is then refunded into stern extreme position again.
S250 obtains the location information of ship, is judged according to the information of the location information of ship and target parking place
Whether ship reaches target parking place；
S260, when judging that ship reaches target and berths position according to the location information of ship and the information of target parking place
When setting, control ship brings to.
Further, after this step control ship brings to, ship can also be controlled and shut down paddle, stop rudder, and is aobvious in control
Show the prompt information that interface display berthing is completed, completes the berthing operations to ship.
The method of above-mentioned control vessel berth, according to the acquisition of the distance between ship and harbour so that ship berthing needs reach
The deflecting object angle between ship and harbour arrived controls ship bow from ship and harbour using the deflecting object angle
Between current angle be displaced to the deflecting object angle, then control stern to be offset to ship parallel with harbour, detecting ship
When oceangoing ship arrived target parking place, control ship brings to, and completes the control of berthing to ship, can quickly and accurately realize
To the automation control of vessel berth, accuracy and efficiency that ship-lifting berths.
In one embodiment, as shown in figure 4, the location information of ship is obtained in S250, according to the location information of ship
And after the information of target parking place judges whether ship reaches target parking place, further includes:
When judging that ship does not reach target parking place according to the location information of ship and the information of target parking place
When, return to the step of S210 obtains angle and the distance between ship and harbour current between ship and harbour.
The technical solution of above-described embodiment deflects to deflecting object angle in bow of progress and stern is deflected to ship
After the oceangoing ship translation parallel with harbour, if detect that target parking place has not yet been reached in current ship, it can return
The step of obtaining angle and the distance between ship and harbour current between ship and harbour repeats to obtain ship and harbour
Between current angle and the distance between ship and harbour ship and code obtained according to the distance between ship and harbour
Deflecting object angle between head controls ship according to angle current between ship and harbour and deflecting object angle
Fore deflects between ship and harbour to harbour reaches deflecting object angle, and the stern-on harbour of control ship deflects to
The ship operation parallel with harbour, until ship reaches target parking place, to ensure to complete the control of berthing to ship.
In one embodiment, as shown in figure 5, S230 is according to angle and deflecting object current between ship and harbour
Angle, the fore for controlling ship deflects between ship and harbour to harbour reaches deflecting object angle, comprising:
S231 controls the fore of ship to code according to angle current between ship and harbour and deflecting object angle
Head deflection；
Specifically, can be according to angle current between ship and harbour, and need to reach deflecting object angle, it controls
The fore of ship deflects suitable angle to harbour, by angle current between ship and harbour from current angle to
The adjustment of deflecting object angle.
S232 obtains angle current between ship and harbour；
In this step, the fore in previous step control ship is deflected to harbour and then real-time detection obtains ship
The current angle between harbour.
S233, judges whether current angle reaches deflecting object angle；
When current angle is not up to deflecting object angle, S231 is returned according to angle current between ship and harbour
And deflecting object angle, control the step of fore of ship deflects the first predetermined angle to harbour；
S234, when current angle reaches deflecting object angle, the fore for controlling ship stops deflecting to harbour.
The technical solution of above-described embodiment, by being reached repeatedly according to angle current between ship and harbour, and needs
To deflecting object angle, the fore for controlling ship deflects suitable angle to harbour, and whether the angle detected after deflection reaches
Deflecting object angle stops deflection when reaching deflecting object angle, can be accurately realized the fore of ship to deflecting object
The deflection of angle.
In one embodiment, as shown in fig. 6, the stern-on harbour of S240 control ship deflects to ship and harbour is flat
Row, comprising:
S241 controls the stern-on harbour deflection of ship according to deflecting object angle；
S242 obtains angle current between ship and harbour；
S243, judges whether angle current between ship and harbour is less than predetermined angle threshold value；
Theoretically when angle current between ship and harbour is zero, it is believed that ship is parallel with harbour, but real
Certain deviation range can be stored by meeting the demand of berthing during border, therefore current angle between ship and harbour is less than
Certain predetermined angle threshold value, it can determine that ship is parallel with harbour.The value of predetermined angle threshold value can stop according to ship
It moors into depending on the accuracy demand of target parking place, predetermined angle threshold value is arranged smaller, and parking place is more accurate, accordingly
It may need to expend more layover time.
When current angle is not less than predetermined angle threshold value, S241 is returned according to deflecting object angle, controls ship
The step of stern-on harbour deflects；
S244 determines that ship is parallel with harbour, controls the stern of ship when current angle is less than predetermined angle threshold value
Stop deflecting to harbour.
The technical solution of above-described embodiment passes through the deflecting object angle and ship deflected repeatedly according to fore
The current angle between harbour, the stern-on harbour for controlling ship deflects suitable angle, and the angle detected after deflection is
It is no to be less than predetermined angle threshold value, when being less than predetermined angle threshold value, determine that ship is parallel with harbour, the stern for controlling ship stops
It is deflected to harbour, can be accurately realized that the stern of ship is deflected to ship is parallel with harbour.
In one embodiment, after the target parking place of mooring wharf and after extreme position obtain according to following steps
:
According to the identification information to mooring wharf of detection, inquiry obtains identification information in pier location information library
The location information and dimension information of the parking place of corresponding harbour；It is determined according to the location information of inquiry and dimension information
After the target parking place of mooring wharf and after extreme position.
Wherein, pier location information library is used to store the information of the parking place of each harbour；The letter of parking place
Breath includes the location information and dimension information of parking place, in addition, the information of parking place can also include parking place
The information in the depth of water, length and direction etc.；
The technical solution of above-described embodiment can be pre-established with pier location information library, and in pier position
The information that the parking place of each harbour is stored in advance in information bank is set, it, can be in control ship to when mooring wharf berthing
The information that the parking place for waiting for mooring wharf is easily transferred from pier location information library, for stopping for ship
Pool control provides data supporting.
In one embodiment, it is obtained inclined between ship and harbour in S220 according to the distance between ship and harbour
Turning target angle includes:
According to the distance between ship and harbour, in berthing operational parameter information library, inquiry is obtained apart from corresponding ship
Deflecting object angle between oceangoing ship and harbour.
Wherein, berthing operational parameter information library is for the corresponding ship of different distance between storage vessel and harbour and code
The information of deflecting object angle between head.
The technical solution of above-described embodiment can be pre-established with berthing operational parameter information library, and operate and join in berthing
Deflecting object angle in number information banks between the corresponding ship of the different distance that is stored in advance between ship and harbour and harbour
Information, control ship to can be convenient when mooring wharf berthing from pier location information library inquire obtain
Deflecting object angle between corresponding ship and harbour, so that the deflection control to ship is more flexible efficiently.
In one embodiment, S230 is according to angle current between ship and harbour and deflecting object angle, control
The fore of ship deflects between ship and harbour to harbour to be reached deflecting object angle and includes:
According to angle current between ship and harbour and deflecting object angle, in berthing operational parameter information library,
Inquiry obtains angle and the corresponding deflecting operation parameter of deflecting object angle；According to the fore of deflecting operation state modulator ship
It is deflected to harbour, until reaching deflecting object angle between ship and harbour.
Wherein, berthing operational parameter information library is used to store angle and deflection mesh current between different ship and harbour
Mark the information of the corresponding deflecting operation parameter of angle.
The technical solution of above-described embodiment can be pre-established with berthing operational parameter information library, and operate and join in berthing
The corresponding deflecting operation of angle and deflecting object angle current between different ship and harbour is stored in advance in number information banks
The information of parameter to can be convenient when mooring wharf berthing is inquired from pier location information library in control ship
The information of the corresponding deflecting operation parameter of angle and deflecting object angle current between different ship and harbour is obtained, so that
It is more flexible efficiently to the deflection control of ship.
It should be understood that although each step in above-described embodiment is arranged successively according to number, these steps
It is not necessarily successively to be executed according to the sequence of number.Unless expressly stating otherwise herein, the execution of these steps is not
Stringent sequence limitation, these steps can execute in other order.Moreover, at least part in the step of above-described embodiment
Step may include that perhaps these sub-steps of multiple stages or stage are executed in synchronization to multiple sub-steps
It completes, but can execute at different times, the execution sequence in these sub-steps or stage, which is also not necessarily, successively to be carried out,
But it can be executed in turn or alternately at least part of the sub-step or stage of other steps or other steps.
In one embodiment, as shown in fig. 7, providing a kind of device 700 for controlling vessel berth, comprising:
Range information obtains module 710, is used for during ship advances, when the tail portion for detecting ship is crossed wait berth
When the rear extreme position of the target parking place of harbour, obtain angle and ship and harbour current between ship and harbour it
Between distance；
Deflecting object angle obtains module 720, for according to the distance between ship and harbour, obtain ship and harbour it
Between deflecting object angle；
Fore deflects control module 730, for according to angle current between ship and harbour and deflecting object angle,
The fore of control ship deflects between ship and harbour to harbour reaches deflecting object angle；
Stern deflects control module 740, and it is parallel with harbour that the stern-on harbour for controlling ship deflects to ship；
The control module that brings to 750 is stopped for obtaining the location information of ship when according to the location information and target of ship
When the information that berth is set judges that ship reaches target parking place, control ship brings to.
The device 700 of above-mentioned control vessel berth, according to the acquisition of the distance between ship and harbour so that ship berthing need
Deflecting object angle between ship and harbour to be achieved, using the deflecting object angle, control ship bow from ship with
Current angle is displaced to the deflecting object angle between harbour, then controls stern to be offset to ship parallel with harbour, is detecting
When arrived target parking place to ship, control ship brings to, and completes control of berthing to ship, can it is quick and accurately
Realize the automation control to vessel berth, the accuracy and efficiency that ship-lifting berths.
In one embodiment, the device 700 of vessel berth is controlled further include:
Offset module is repeated, judges ship not according to the location information of ship and the information of target parking place for working as
When reaching target parking place, returns and obtain angle and ship and the distance between harbour current between ship and harbour
Step.
In one embodiment, fore deflection control module 730 is further used for:
According to angle current between ship and harbour and deflecting object angle, the fore for controlling ship is inclined to harbour
Turn；
Obtain angle current between ship and harbour；
When current angle is not up to deflecting object angle, return according to angle current between ship and harbour and
Deflecting object angle controls the step of fore of ship deflects the first predetermined angle to harbour；
When current angle reaches deflecting object angle, the fore for controlling ship stops deflecting to harbour.
In one embodiment, stern deflection control module 740 is further used for:
According to deflecting object angle, the stern-on harbour deflection of ship is controlled；
Obtain angle current between ship and harbour；
When current angle is not less than predetermined angle threshold value, returns according to deflecting object angle, control the stern of ship
The step of being deflected to harbour；
When current angle is less than predetermined angle threshold value, determine that ship is parallel with harbour, the stern for controlling ship stops
It is deflected to harbour.
In one embodiment, range information acquisition module 710 is further used for position that the target to mooring wharf is berthed
It sets and rear extreme position is obtained according to following steps:
According to the identification information to mooring wharf of detection, inquiry obtains identification information in pier location information library
The location information and dimension information of the parking place of corresponding harbour；Wherein, pier location information library is each for storing
The information of the parking place of a harbour；The information of parking place includes the location information and dimension information of parking place；
According to the location information of inquiry and dimension information determine after the target parking place of mooring wharf and after the limit
Position.
In one embodiment, deflecting object angle obtains module 720 and is further used for:
According to the distance between ship and harbour, in berthing operational parameter information library, inquiry is obtained apart from corresponding ship
Deflecting object angle between oceangoing ship and harbour；Wherein, berthing operational parameter information library is used between storage vessel and harbour not
The information of deflecting object angle between the corresponding ship of same distance and harbour.
In one embodiment, fore deflection control module 730 is further used for:
According to angle current between ship and harbour and deflecting object angle, in berthing operational parameter information library,
Inquiry obtains the current corresponding deflecting operation parameter of angle and deflecting object angle；
It is deflected according to the fore of deflecting operation state modulator ship to harbour, until reaching deflection mesh between ship and harbour
Mark angle.
Wherein, berthing operational parameter information library is used to store angle and deflection mesh current between different ship and harbour
Mark the information of the corresponding deflecting operation parameter of angle；
The specific of device about control vessel berth limits the method that may refer to above for control vessel berth
Restriction, details are not described herein.Modules in the device of above-mentioned control vessel berth can be fully or partially through software, hard
Part and combinations thereof is realized.Above-mentioned each module can be embedded in the form of hardware or independently of in the processor in computer equipment,
It can also be stored in a software form in the memory in computer equipment, execute the above modules in order to which processor calls
Corresponding operation.
The method of the device of control vessel berth of the invention and control vessel berth of the invention corresponds, above-mentioned
The technical characteristic and its advantages that control the embodiment elaboration of the method for vessel berth are suitable for controlling the dress of vessel berth
In the embodiment set, hereby give notice that.
In one embodiment, as shown in figure 8, providing a kind of system for controlling vessel berth, including RTK (Real-
Time Kinematic, real-time dynamic carrier phase difference) base station 810, RTK rover 820, Inertial Measurement Unit
(Inertial Measurement Unit, IMU) 830 and processor 840；
RTK rover 820, Inertial Measurement Unit 830 and processor 840 are set on ship 801,820 He of RTK rover
Inertial Measurement Unit 830 is separately connected processor 840, and RTK base station 810 is set to the setting position on harbour 802, RTK stream
It is communicated between dynamic station 820 and RTK base station 810 by data link；
The reception of RTK base station 810 Global Navigation Satellite System (Global Navigation Satellite System,
GNSS) 803 observation data, and differential data broadcast is carried out by data link；
RTK rover 820 receives the observation data of Global Navigation Satellite System 803, and receives the difference of RTK base station 810
Divided data is simultaneously transmitted to processor 840；
Inertial Measurement Unit 830 is used to measure the athletic posture information of ship 801 and is transmitted to processor 840；
Processor 840 executes the step of method of control vessel berth of any embodiment as above, to control vessel berth
In on the target parking place of harbour；Wherein, observation data and the differential data calculating that processor is provided by RTK rover obtain
The location information for taking ship, the athletic posture information provided by the location information and Inertial Measurement Unit of calculating, calculating obtain
Take the information of angle and ship and the distance between harbour current between ship and harbour.
In one embodiment, Inertial Measurement Unit includes the three collar shape silicon oscillator gyroscopes for being mutually perpendicular to installation, three
Shafting oil damps (or air damping) accelerometer and compass, and passes through three-axle table close adjustment, can real-time detection acquisition ship
The athletic posture of oceangoing ship includes angular speed and acceleration etc..
In one embodiment, as shown in figure 9, RTK base station can be real-time simultaneously by radio or 3G/4G mobile network
The dynamic release international ocean shipping cause radio technology committee (Radio Technical Commission for Maritime
Services, RTCM) differential data.
GNSS-RTK location technology and Inertial Measurement Unit composition automatic ship anchoring are used to by the system of above-mentioned control vessel berth
Property integrated navigation system, can provide ship in any harbour within the scope of RTK satellite coverage area for automatic ship anchoring control system
The information such as high-precision athletic posture and positioning and directing；By the method for the control vessel berth that processor executes, may be implemented
According to the acquisition of the distance between ship and harbour so that ship berthing needs the deflecting object angle between ship and harbour to be achieved
Degree controls ship bow angle current between ship and harbour and is displaced to the deflecting object using the deflecting object angle
Angle, then control stern to be offset to ship parallel with harbour, when detecting that ship arrived target parking place, control ship
It brings to, completes the control of berthing to ship, can quickly and accurately realize the automation control to vessel berth, ship-lifting
The accuracy and efficiency to berth.
In one embodiment, a kind of computer equipment is provided, including memory, processor and storage are on a memory
And the computer program that can be run on a processor, processor perform the steps of when executing computer program
During ship advances, when the tail portion for detecting ship is crossed after the after pole of the target parking place of mooring wharf
When extreme position, angle and the distance between ship and harbour current between ship and harbour are obtained；
According to the distance between ship and harbour, the deflecting object angle between ship and harbour is obtained；
According to angle current between ship and harbour and deflecting object angle, the fore for controlling ship is deflected to harbour
To reaching deflecting object angle between ship and harbour；
It is parallel with harbour that the stern-on harbour of control ship deflects to ship；
The location information for obtaining ship, when judging ship according to the location information of ship and the information of target parking place
When reaching target parking place, control ship brings to.
Above-mentioned computer equipment, when processor executes program, by realizing step as above, so as to according to ship with
The acquisition of the distance between harbour is so that ship berthing needs the deflecting object angle between ship and harbour to be achieved, partially using this
Turn target angle, control ship bow angle current between ship and harbour is displaced to the deflecting object angle, then controls
It is parallel with harbour that stern is offset to ship, and when detecting that ship arrived target parking place, control ship brings to, and completes pair
The control of berthing of ship can quickly and accurately realize that the automation control to vessel berth, ship-lifting berth accurate
Property and efficiency.
A kind of computer equipment provided by the embodiment of the present invention, what computer executable instructions were not limited to the described above
The method operation for controlling vessel berth, can also be performed in the method provided by any embodiment of the invention for controlling vessel berth
Relevant operation, and have corresponding function and beneficial effect.
In one embodiment, a kind of computer readable storage medium is provided, computer program is stored thereon with, is calculated
Machine program performs the steps of when being executed by processor
During ship advances, when the tail portion for detecting ship is crossed after the after pole of the target parking place of mooring wharf
When extreme position, angle and the distance between ship and harbour current between ship and harbour are obtained；
According to the distance between ship and harbour, the deflecting object angle between ship and harbour is obtained；
According to angle current between ship and harbour and deflecting object angle, the fore for controlling ship is deflected to harbour
To reaching deflecting object angle between ship and harbour；
It is parallel with harbour that the stern-on harbour of control ship deflects to ship；
The location information for obtaining ship, when judging ship according to the location information of ship and the information of target parking place
When reaching target parking place, control ship brings to.
Above-mentioned computer readable storage medium, the computer program of storage, by realizing step as above, so as to root
According to the acquisition of the distance between ship and harbour so that ship berthing needs the deflecting object angle between ship and harbour to be achieved,
Using the deflecting object angle, controls ship bow angle current between ship and harbour and be displaced to the deflecting object angle
Degree, then control stern to be offset to ship parallel with harbour, when detecting that ship arrived target parking place, controls ship and stop
Ship completes the control of berthing to ship, can quickly and accurately realize that the automation control to vessel berth, ship-lifting stop
The accuracy and efficiency of pool.
Certainly, a kind of storage medium comprising computer executable instructions, computer provided by the embodiment of the present invention
The method operation for the control vessel berth that executable instruction is not limited to the described above, can also be performed any embodiment of that present invention institute
Relevant operation in the method for the control vessel berth of offer, and have corresponding function and beneficial effect.
Those of ordinary skill in the art will appreciate that realizing all or part of the process in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, the computer program can be stored in a non-volatile computer
It can inquire in storage medium, the computer program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein,
To any reference of memory, storage, database or other media used in each embodiment provided by the present invention,
Including non-volatile and/or volatile memory.Nonvolatile memory may include read-only memory (ROM), programming ROM
(PROM), electrically programmable ROM (EPROM), electrically erasable ROM (EEPROM) or flash memory.Volatile memory may include
Random access memory (RAM) or external cache.By way of illustration and not limitation, RAM is available in many forms,
Such as static state RAM (SRAM), dynamic ram (DRAM), synchronous dram (SDRAM), double data rate sdram (DDRSDRAM), enhancing
Type SDRAM (ESDRAM), synchronization link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM
(RDRAM), direct memory bus dynamic ram (DRDRAM) and memory bus dynamic ram (RDRAM) etc..
Each technical characteristic of above embodiments can be combined arbitrarily, for simplicity of description, not to above-described embodiment
In each technical characteristic it is all possible combination be all described, as long as however, the combination of these technical characteristics be not present lance
Shield all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of method for controlling vessel berth characterized by comprising
During ship advances, when the tail portion for detecting ship is crossed after the after limit position of the target parking place of mooring wharf
When setting, angle and the distance between ship and harbour current between the ship and harbour are obtained；
According to the distance between the ship and harbour, the deflecting object angle between the ship and harbour is obtained；
According to angle current between the ship and harbour and the deflecting object angle, control the fore of the ship to
The harbour, which deflects between the ship and harbour, reaches the deflecting object angle；
Controlling harbour described in the stern-on of the ship, to deflect to the ship parallel with harbour；
The location information for obtaining the ship, when according to the location information of the ship and the information of the target parking place
When judging that the ship reaches the target parking place, controls the ship and bring to.
2. the method for control vessel berth according to claim 1, which is characterized in that the stern of the control ship
To the harbour deflect to the ship it is parallel with harbour after, further includes:
When judging that the ship does not reach target according to the location information of the ship and the information of the target parking place
When parking place, angle and ship and the distance between harbour current between the acquisition ship and harbour are returned
Step.
3. the method for control vessel berth according to claim 1, which is characterized in that described according to the ship and harbour
Between current angle and the deflecting object angle, the fore for controlling the ship deflects to the ship to the harbour
Reach the deflecting object angle between harbour, comprising:
According to angle current between the ship and harbour and the deflecting object angle, the fore of ship is controlled to described
Harbour deflection；
Obtain angle current between ship and harbour；
When the current angle is not up to the deflecting object angle, return it is described according between the ship and harbour when
Preceding angle and the deflecting object angle control the step of fore of ship is deflected to the harbour；
When the current angle reaches the deflecting object angle, control the ship fore stop it is inclined to the harbour
Turn.
4. the method for control vessel berth according to claim 1, which is characterized in that the stern of the control ship
It is parallel with harbour that the ship is deflected to the harbour, comprising:
According to the deflecting object angle, the deflection of harbour described in the stern-on of ship is controlled；
Obtain angle current between ship and harbour；
When the current angle is not less than predetermined angle threshold value, return described according to the deflecting object angle, control ship
The step of harbour described in the stern-on of oceangoing ship deflects；
When the current angle is less than predetermined angle threshold value, determines that the ship is parallel with harbour, control the ship
Stern stops deflecting to the harbour.
5. the method for control vessel berth according to any one of claims 1 to 4, which is characterized in that described wait berth
The target parking place and rear extreme position of harbour are obtained according to following steps:
According to the identification information to mooring wharf of detection, inquiry obtains the identification information in pier location information library
The location information and dimension information of the parking place of corresponding harbour；Wherein, pier location information library is for depositing
Store up the information of the parking place of each harbour；The information of the parking place includes the location information and size letter of parking place
Breath；
According to the location information and dimension information of inquiry determine after the target parking place of mooring wharf and after the limit
Position.
6. the method for control vessel berth according to any one of claims 1 to 4, which is characterized in that described according to institute
The distance between ship and harbour are stated, the deflecting object angle obtained between the ship and harbour includes:
According to the distance between the ship and harbour, in berthing operational parameter information library, it is corresponding that inquiry obtains the distance
Ship and harbour between deflecting object angle；Berthing operational parameter information library is used between storage vessel and harbour
It is current between the information of deflecting object angle between the corresponding ship of different distance and harbour and different ship and harbour
Angle and the corresponding deflecting operation parameter of deflecting object angle information；
It is described according to angle current between the ship and harbour and the deflecting object angle, control the ship of the ship
Head deflects between the ship and harbour to the harbour to be reached the deflecting object angle and includes:
According to angle current between the ship and harbour and the deflecting object angle, believe in the berthing operating parameter
It ceases in library, inquiry obtains the angle and the corresponding deflecting operation parameter of deflecting object angle；
Deflected according to the fore of ship described in the deflecting operation state modulator to the harbour, until the ship and harbour it
Between reach the deflecting object angle.
7. a kind of device for controlling vessel berth characterized by comprising
Range information obtains module, is used for during ship advances, when the tail portion for detecting ship is crossed to mooring wharf
When the rear extreme position of target parking place, obtain between angle and ship and harbour current between the ship and harbour
Distance；
Deflecting object angle obtains module, for obtaining the ship and harbour according to the distance between the ship and harbour
Between deflecting object angle；
Fore deflects control module, for according to angle current between the ship and harbour and the deflecting object angle
Degree, the fore for controlling the ship deflects between the ship and harbour to the harbour reaches the deflecting object angle；
Stern deflects control module, and for controlling, harbour described in the stern-on of the ship deflects to the ship and harbour is flat
Row；
Bring to control module, for obtaining the location information of the ship, when according to the location information of the ship and described
When the information of target parking place judges that the ship reaches the target parking place, controls the ship and bring to.
8. a kind of system for controlling vessel berth characterized by comprising
Including RTK base station, RTK rover, Inertial Measurement Unit and processor；
The RTK rover, Inertial Measurement Unit and processor are set on ship, RTK rover and Inertial Measurement Unit point
Not Lian Jie processor, RTK base station is set to the setting position on harbour, passes through data between RTK rover and RTK base station
Link is communicated；
The RTK base station receives the observation data of Global Navigation Satellite System, and wide by data link progress differential data
It broadcasts；
The RTK rover receives the observation data of Global Navigation Satellite System, and receives the differential data and biography of RTK base station
Transport to processor；
The Inertial Measurement Unit is used to measure the athletic posture information of ship and is transmitted to processor；
The processor executes the step of method such as control vessel berth as claimed in any one of claims 1 to 6, to control ship
Oceangoing ship berths on the target parking place of harbour；Wherein, the observation data and differential data that processor is provided by RTK rover
The location information for obtaining ship is calculated, the athletic posture information provided by the location information and Inertial Measurement Unit of calculating,
Calculate the information for obtaining angle and ship and the distance between harbour current between ship and harbour.
9. a kind of computer equipment, including memory, processor and it is stored on the memory and can be in the processor
The computer program of upper operation, which is characterized in that the processor realized when executing the computer program as claim 1 to
The step of method of 6 described in any item control vessel berths.
10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program
The step of method such as control vessel berth as claimed in any one of claims 1 to 6 is realized when being executed by processor.
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| CN201811479606.2A CN109683608A (en) | 2018-12-05 | 2018-12-05 | Control method, apparatus, system and the computer equipment of vessel berth |
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| CN201811479606.2A CN109683608A (en) | 2018-12-05 | 2018-12-05 | Control method, apparatus, system and the computer equipment of vessel berth |
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| CN113628478A (en) * | 2021-06-22 | 2021-11-09 | 宁波金涛船舶有限责任公司 | Floating dock signal lamp indicating method and system, intelligent terminal and storage medium |
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Application publication date: 20190426 |