CN110927728A - Automatic berthing system for ship - Google Patents
Automatic berthing system for ship Download PDFInfo
- Publication number
- CN110927728A CN110927728A CN201911274111.0A CN201911274111A CN110927728A CN 110927728 A CN110927728 A CN 110927728A CN 201911274111 A CN201911274111 A CN 201911274111A CN 110927728 A CN110927728 A CN 110927728A
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- Prior art keywords
- control system
- shipboard
- ultrasonic
- wharf
- ship
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
-
- 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
- G05D1/0088—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
-
- 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
Abstract
The invention relates to an automatic berthing system for a ship, which comprises a propeller control system, a shipboard distance measurement receiving control system and a wharf distance measurement control system, wherein the wharf distance measurement control system transmits signals to the shipboard distance measurement receiving system, the shipboard distance measurement receiving system decodes the signals, the shipboard distance measurement control system transmits the relative distance information between the ship and the wharf to the shipboard propeller control system, and the propeller control system pushes the ship to adjust the position so as to achieve the aim of berthing to the wharf. The invention adopts unidirectional ultrasonic waves to measure distance, the distance measuring signals are easy to lose and poor in tracking performance, a time synchronization device is added, the shipboard system and the wharf system can be in the same time axis, the ultrasonic system adopts unidirectional transmission sound waves, the measurable distance can be increased, and the anti-interference capability is also improved.
Description
Technical Field
The invention relates to the field of ship control, in particular to an automatic berthing system for ships with bow thrusters or bow and stern thrusters.
Background
At present, even if a ship operated conventionally is provided with a side pushing system or a dynamic positioning system, when the ship berths at a wharf, a plurality of personnel are required to operate and control and an external tug is required to assist, so that the berthing efficiency is greatly reduced, and the operation cost is improved. A simple automatic ship berthing system is developed according to the actual situation of ship berthing, so that the assistance of a tugboat and excessive personnel control are avoided in the berthing process, the berthing cost is greatly reduced, and the safety is improved.
Disclosure of Invention
In order to overcome the defects of the existing torsion test, the automatic berthing system for the ship is reasonable in structure, can enable a shipboard system and a wharf system to be in the same time axis, adopts unidirectional transmission sound waves, can increase the measurable distance, improves the anti-interference capacity and realizes the automatic berthing of the ship
The purpose of the invention is realized by the following technical scheme: an automatic berthing system for ship comprises a propeller control system, a distance measuring and receiving control system on ship and a wharf distance measuring and controlling system,
the shipboard distance measurement control system comprises a shipboard time synchronization receiver, a shipboard ultrasonic receiver and a shipboard main controller, and the wharf distance measurement control system comprises a time synchronization transmitter, an ultrasonic transmitter and a wharf main controller;
the time synchronization transmitter mainly has the functions that a time synchronization signal and a distance measurement time sequence number are transmitted before each distance measurement period, the signal is a high-frequency modulation signal, and at the same time of transmission, the wharf main controller modulates a time point signal and a distance measurement time sequence signal at the moment and transmits the time point signal and the distance measurement time sequence signal together with the generator number through the ultrasonic generator;
the time synchronization receiver mainly has the functions of receiving a signal transmitted by time synchronization and sending the signal to a ranging main control system on a ship through decoding;
the ultrasonic receiver demodulates the received sound wave modulation signal and sends the demodulated sound wave modulation signal to a shipboard ranging control system, the shipboard ranging control system extracts ranging time sequence signals sent by the time synchronization receiver to match the ranging time sequence signals sent by the ultrasonic receiver, and the relative distance between the ship and the wharf is obtained by calculating the time difference between the time signals of the time synchronizer and the time signals corresponding to the ultrasonic receivers;
the ultrasonic receivers (the number of the ultrasonic receivers can be determined according to the size of a ship) are arranged at different positions of a ship gunwale, the ultrasonic transmitters are arranged at different positions of a wharf, and ultrasonic signals are not received in a one-to-one corresponding and directional mode, so that the serial number information (equivalent to position information) of the ultrasonic generator is contained in each ultrasonic generation signal, and the relative distance between the ultrasonic receivers and the ultrasonic transmitters can be calculated through a main ship ranging control system after any ultrasonic receiver receives the ultrasonic signals;
the wharf ranging control system transmits signals to the shipboard ranging receiving system, the shipboard ranging receiving system decodes the signals, the shipboard ranging control system sends the relative distance information of the ship and the wharf to the shipboard propeller control system, and the propeller control system pushes the ship to adjust the position, so that the aim of berthing to the wharf is fulfilled.
Compared with the prior art, the invention has the following characteristics:
the invention adopts unidirectional ultrasonic waves to measure distance, the distance measuring signals are easy to lose and poor in tracking performance, a time synchronizer is added, a shipboard system and a wharf system can be in the same time axis, the ultrasonic system adopts unidirectional transmission sound waves, the measurable distance can be increased, the anti-interference capability is also improved, and thus the automatic berthing of partial ships (except ships without bow thrusting and side thrusting) is realized.
Description of the drawings:
FIG. 1 is a system topology of the present invention;
FIG. 2 is a schematic view of the installation positions of the ultrasonic generator and the ultrasonic receiver;
the specific implementation mode is as follows:
for the purpose of enhancing the understanding of the present invention, the present invention will be further described in detail with reference to the following examples and the accompanying drawings, which are only used for explaining the present invention and are not to be construed as limiting the scope of the present invention.
Referring to fig. 1-2, a specific embodiment of an automatic berthing system of a ship according to the present invention: comprises a propeller control system, a shipboard distance measurement receiving control system and a wharf distance measurement control system,
the shipboard distance measurement control system comprises a shipboard time synchronization receiver, a shipboard ultrasonic receiver and a shipboard main controller, and the wharf distance measurement control system comprises a time synchronization transmitter, an ultrasonic transmitter and a wharf main controller;
the time synchronization transmitter mainly has the functions that a time synchronization signal and a distance measurement time sequence number are transmitted before each distance measurement period, the signal is a high-frequency modulation signal, and at the same time of transmission, the wharf main controller modulates a time point signal and a distance measurement time sequence signal at the moment and transmits the time point signal and the distance measurement time sequence signal together with the generator number through the ultrasonic generator;
the time synchronization receiver mainly has the functions of receiving a signal transmitted by time synchronization and sending the signal to a ranging main control system on a ship through decoding;
the ultrasonic receiver demodulates the received sound wave modulation signal and sends the demodulated sound wave modulation signal to a shipboard ranging control system, the shipboard ranging control system extracts ranging time sequence signals sent by the time synchronization receiver to match the ranging time sequence signals sent by the ultrasonic receiver, and the relative distance between the ship and the wharf is obtained by calculating the time difference between the time signals of the time synchronizer and the time signals corresponding to the ultrasonic receivers;
the ultrasonic receivers (the number of the ultrasonic receivers can be determined according to the size of a ship) are arranged at different positions of a ship gunwale, the ultrasonic transmitters are arranged at different positions of a wharf, and ultrasonic signals are not received in a one-to-one corresponding and directional mode, so that the serial number information (equivalent to position information) of the ultrasonic generator is contained in each ultrasonic generation signal, and the relative distance between the ultrasonic receivers and the ultrasonic transmitters can be calculated through a main ship ranging control system after any ultrasonic receiver receives the ultrasonic signals;
the wharf ranging control system transmits signals to the shipboard ranging receiving system, the shipboard ranging receiving system decodes the signals, the shipboard ranging control system sends the relative distance information of the ship and the wharf to the shipboard propeller control system, and the propeller control system pushes the ship to adjust the position, so that the aim of berthing to the wharf is fulfilled.
The system control flow is as follows:
when a ship approaches a wharf and is about to enter an automatic berthing area, a wharf ranging control system transmits a time synchronization signal (including a time point signal and a time sequence signal, wherein the time sequence signal represents the ranging for the second time) every 2 seconds, and the synchronization signal is a high-frequency modulation electric signal. Meanwhile, the wharf ranging control system transmits ultrasonic signals (the signals comprise time point signals, time sequence signals and ultrasonic transmitter numbers) through the ultrasonic transmitters arranged on the wharf, and after the information transmission is finished, the wharf ranging control system waits for entering the next transmission period. Different from other distance measuring systems, the distance measuring system adopts one-way ultrasonic distance measurement, a time synchronizer is added, the distance measuring distance of ultrasonic waves is greatly improved, a time synchronization signal adopts a high-frequency modulation electric signal, and the time point of distance measurement is synchronized by utilizing the huge transmission speed difference of the time synchronization signal relative to the ultrasonic waves. The time synchronization algorithm is omitted from description.
A plurality of ultrasonic receivers on the ship receive signals sent by a plurality of wharf ultrasonic transmitters and then transmit the signals to a ship ranging main control system in a subpackage mode, and the relative distance of each ultrasonic receiver relative to the wharf ultrasonic transmitters can be calculated by demodulating the signals sent by the ultrasonic receivers. The on-board main control system then sends these distance signals to the propeller control system. The propeller control system controls a ship propeller, a steering engine and a bow thruster through ship heading signals given by a ship compass, water flow signals given by a ship log, wind direction signals given by a ship anemoscope, the inherent windward area of a ship and the relative position of each ultrasonic receiver given by a ship distance measuring system relative to the corresponding ultrasonic transmitter of the wharf so as to lean the ship to a preset position of the wharf.
The invention adopts unidirectional ultrasonic waves to measure distance, the distance measuring signals are easy to lose and poor in tracking performance, a time synchronization device is added, a shipboard system and a wharf system can be in the same time axis, the ultrasonic system adopts unidirectional transmission sound waves, the measurable distance can be increased, the anti-interference capability is improved, and the automatic berthing of partial ships (except ships without bow thrusting and side thrusting) is realized.
The applicant further states that the present invention is described in the above embodiments to explain the implementation method and device structure of the present invention, but the present invention is not limited to the above embodiments, i.e. it is not meant to imply that the present invention must rely on the above methods and structures to implement the present invention.
It should be understood by those skilled in the art that any modifications to the present invention, the implementation of alternative equivalent substitutions and additions of steps, the selection of specific modes, etc., are within the scope and disclosure of the present invention.
The present invention is not limited to the above embodiments, and all the ways of achieving the objects of the present invention by using the structure and the method similar to the present invention are within the protection scope of the present invention.
Claims (1)
1. An automatic berthing system for a ship, characterized by: comprises a propeller control system, a shipboard distance measurement receiving control system and a wharf distance measurement control system,
the shipboard distance measurement control system comprises a shipboard time synchronization receiver, a shipboard ultrasonic receiver and a shipboard main controller, and the wharf distance measurement control system comprises a time synchronization transmitter, an ultrasonic transmitter and a wharf main controller;
the time synchronization transmitter mainly has the functions that a time synchronization signal and a distance measurement time sequence number are transmitted before each distance measurement period, the signal is a high-frequency modulation signal, and at the same time of transmission, the wharf main controller modulates a time point signal and a distance measurement time sequence signal at the moment and transmits the time point signal and the distance measurement time sequence signal together with the generator number through the ultrasonic generator;
the time synchronization receiver mainly has the functions of receiving a signal transmitted by time synchronization and sending the signal to a ranging main control system on a ship through decoding;
the ultrasonic receiver demodulates the received sound wave modulation signal and sends the demodulated sound wave modulation signal to a shipboard ranging control system, the shipboard ranging control system extracts ranging time sequence signals sent by the time synchronization receiver to match the ranging time sequence signals sent by the ultrasonic receiver, and the relative distance between the ship and the wharf is obtained by calculating the time difference between the time signals of the time synchronizer and the time signals corresponding to the ultrasonic receivers;
the ultrasonic receivers (the number of the ultrasonic receivers can be determined according to the size of a ship) are arranged at different positions of a ship gunwale, the ultrasonic transmitters are arranged at different positions of a wharf, and ultrasonic signals are not received in a one-to-one corresponding and directional mode, so that the serial number information (equivalent to position information) of the ultrasonic generator is contained in each ultrasonic generation signal, and the relative distance between the ultrasonic receivers and the ultrasonic transmitters can be calculated through a main ship ranging control system after any ultrasonic receiver receives the ultrasonic signals;
the wharf ranging control system transmits signals to the shipboard ranging receiving system, the shipboard ranging receiving system decodes the signals, the shipboard ranging control system sends the relative distance information of the ship and the wharf to the shipboard propeller control system, and the propeller control system pushes the ship to adjust the position, so that the aim of berthing to the wharf is fulfilled.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911274111.0A CN110927728A (en) | 2019-12-12 | 2019-12-12 | Automatic berthing system for ship |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911274111.0A CN110927728A (en) | 2019-12-12 | 2019-12-12 | Automatic berthing system for ship |
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| CN110927728A true CN110927728A (en) | 2020-03-27 |
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| CN201911274111.0A Withdrawn CN110927728A (en) | 2019-12-12 | 2019-12-12 | Automatic berthing system for ship |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112864770A (en) * | 2020-12-31 | 2021-05-28 | 江阴凯达机电制造有限公司 | Automatic connection device and method for shore power used by ship |
| WO2023203303A1 (en) * | 2022-04-23 | 2023-10-26 | Wattson Elements | Mobile device location system for a marina |
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| KR101043055B1 (en) * | 2010-10-12 | 2011-06-21 | (주)리노 | System and apparatus of guiding course of a ship by ultrasonic |
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| CN204649964U (en) * | 2015-06-12 | 2015-09-16 | 浙江海洋学院 | The automatic parking system of a kind of boats and ships |
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| JP2017007493A (en) * | 2015-06-22 | 2017-01-12 | スズキ株式会社 | Berthing support system |
| CN107065878A (en) * | 2017-05-12 | 2017-08-18 | 大连海事大学 | A kind of automatic docking system of ship and method |
| CN109285389A (en) * | 2018-09-18 | 2019-01-29 | 广州中国科学院沈阳自动化研究所分所 | A kind of automatic docking system of unmanned boat and method |
| WO2019081019A1 (en) * | 2017-10-26 | 2019-05-02 | Cpac Systems Ab | A system for controlling the movement of a marine vessel |
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2019
- 2019-12-12 CN CN201911274111.0A patent/CN110927728A/en not_active Withdrawn
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU5303473A (en) * | 1972-03-09 | 1974-09-12 | Amalgamated Wireless (Australasia) Limited | Improvements in or relating to navigation aiding systems |
| KR101043055B1 (en) * | 2010-10-12 | 2011-06-21 | (주)리노 | System and apparatus of guiding course of a ship by ultrasonic |
| CN103454645A (en) * | 2013-08-29 | 2013-12-18 | 江门市海星游艇制造有限公司 | Ship berthing system |
| CN105599874A (en) * | 2014-09-30 | 2016-05-25 | 孙立杰 | Method and system for ship ultrasonic-assisted berthing or backward berthing |
| CN104459624A (en) * | 2014-11-13 | 2015-03-25 | 南昌大学 | Ultrasonic indoor positioning method based on time modulation |
| CN204480049U (en) * | 2015-04-13 | 2015-07-15 | 吉林大学 | A kind of automatic ship anchoring system |
| CN204649964U (en) * | 2015-06-12 | 2015-09-16 | 浙江海洋学院 | The automatic parking system of a kind of boats and ships |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112864770A (en) * | 2020-12-31 | 2021-05-28 | 江阴凯达机电制造有限公司 | Automatic connection device and method for shore power used by ship |
| CN112864770B (en) * | 2020-12-31 | 2021-10-19 | 江阴凯达机电制造有限公司 | Automatic connection device and method for shore power used by ship |
| WO2023203303A1 (en) * | 2022-04-23 | 2023-10-26 | Wattson Elements | Mobile device location system for a marina |
| FR3134898A1 (en) * | 2022-04-23 | 2023-10-27 | Wattson Elements | Mobile device tracking system for marina |
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Application publication date: 20200327 |