CN111469983B - Intelligent ship berthing and departing method, device and system - Google Patents
Intelligent ship berthing and departing method, device and system Download PDFInfo
- Publication number
- CN111469983B CN111469983B CN202010315902.XA CN202010315902A CN111469983B CN 111469983 B CN111469983 B CN 111469983B CN 202010315902 A CN202010315902 A CN 202010315902A CN 111469983 B CN111469983 B CN 111469983B
- Authority
- CN
- China
- Prior art keywords
- ship
- berthing
- control end
- real
- position information
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B49/00—Arrangements of nautical instruments or navigational aids
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G3/00—Traffic control systems for marine craft
Abstract
The invention provides an intelligent ship berthing and separating method, an intelligent ship berthing and separating device and an intelligent ship berthing and separating system, and relates to the technical field of ships.A marine control end receives real-time position information, real-time motion parameters and marine environment parameters of a ship, which are sent by a ship control end; calculating a berthing-alongside planning path of the ship according to the real-time position information, the real-time motion parameters and the marine environment parameters based on the motion equation model of the ship; and sending the planned route close to the berthing to the ship control end so that the ship control end controls the ship to move according to the planned route close to the berthing. The invention plans the ship by the offshore control end along the berthing path, relieves the data processing pressure of the ship and reduces the calculation load of the ship.
Description
Technical Field
The invention relates to the technical field of ships, in particular to an intelligent ship berthing method, device and system.
Background
During the process of berthing, the ship is generally operated by a pilot or a captain, and a large ship needs to be assisted by a tug, so that the efficiency is low, the cost is high, and the risk of human accidents is high. The automatic berthing and the debarking of the ship can well solve the problems.
However, automatic berthing of a ship requires the ship to calculate the power and direction of a ship propeller in real time according to a given route and control the advance of the ship.
Disclosure of Invention
The invention aims to provide an intelligent ship berthing and departing method, device and system to solve the technical problem that the calculation load of automatic berthing and departing of a ship is large.
In a first aspect, an embodiment of the present invention provides an intelligent ship berthing and departing method, which is applied to an offshore control end, and the method includes:
receiving real-time position information, real-time motion parameters and marine environment parameters of a ship sent by a ship control end;
calculating a ship berthing planning path according to the real-time position information, the real-time motion parameters and the marine environment parameters based on a motion equation model of the ship;
and sending the berthing planning path to the ship control end so that the ship control end controls the ship to move according to the berthing planning path.
In an alternative embodiment, the method further comprises:
correcting the berthing-alongside planned path according to the real-time position information, the real-time motion parameters and the marine environment parameters of the ship in the berthing-alongside process;
and sending the corrected berthing-leaning planning path to the ship control end so that the ship control end controls the ship to move according to the corrected berthing-leaning planning path.
In an alternative embodiment, the method further comprises:
after receiving an automatic berthing request instruction sent by the ship control end, carrying out virtual berthing scene reconstruction on the ship according to the real-time position information, the real-time motion parameters and the marine environment parameters on the basis of the ship motion equation model;
judging whether the ship meets an automatic berthing condition according to the reconstructed virtual berthing scene;
if yes, sending an instruction for allowing automatic berthing to the ship control end so that the ship control end activates an automatic berthing system.
In an alternative embodiment, the method further comprises:
judging whether the ship deviates from a berthing planning path according to the real-time motion parameters of the ship in the berthing process;
and if so, sending early warning information to the ship.
In a second aspect, an embodiment of the present invention provides an intelligent ship berthing method, which is applied to a ship control end, and the method includes:
acquiring real-time position information, real-time motion parameters and marine environment parameters of a ship;
sending the real-time position information, the real-time motion parameters and the marine environment parameters to an offshore control end so that the offshore control end calculates a berthing planning path of the ship according to the real-time position information, the real-time motion parameters and the marine environment parameters based on a motion equation model of the ship;
and receiving the berthing planning path sent by the offshore control end, and controlling the ship to move according to the berthing planning path.
In an alternative embodiment, the method further comprises:
and in the process of ship berthing, receiving the corrected berthing-leaning and berthing planned path sent by the offshore control end, and controlling the ship to move according to the corrected berthing-leaning and berthing planned path.
In an alternative embodiment, the method further comprises:
when the distance between the ship and the offshore operation platform reaches a set distance, sending an automatic berthing and departing request instruction to the offshore control end;
and receiving an automatic berthing and berthing allowing instruction obtained by responding to the automatic berthing request instruction sent by the offshore control end, and activating an automatic berthing and berthing system.
In a third aspect, an embodiment of the present invention provides an intelligent ship berthing and departing device, which is applied to an offshore control end, and the method includes:
the first receiving module is used for receiving the real-time position information, the real-time motion parameters and the marine environment parameters of the ship, which are sent by the ship control end;
the calculation module is used for calculating a berthing planning path of the ship according to the real-time position information, the real-time motion parameters and the marine environment parameters based on a motion equation model of the ship;
and the first sending module is used for sending the berthing planning path to the ship control end so as to enable the ship control end to control the ship to move according to the berthing planning path.
In a fourth aspect, an embodiment of the present invention provides an intelligent ship berthing and departing system, including an offshore control end and a ship control end;
the ship control end is used for acquiring real-time position information, real-time motion parameters and marine environment parameters of a ship; sending the real-time position information, the real-time motion parameters and the marine environment parameters to a marine control end;
and the offshore control end is used for calculating a planned berthing-leaning and departing path of the ship according to the real-time position information, the real-time motion parameters and the offshore environment parameters based on a motion equation model of the ship, and sending the planned berthing-leaning and departing path to the ship control end so that the ship control end controls the ship to move according to the planned berthing-leaning and departing path.
In an alternative embodiment, the vessel control terminal comprises:
the position reference module is used for acquiring real-time position information of the ship;
the marine environment sensing module is used for acquiring marine environment parameters;
the ship state detection module is used for acquiring real-time motion parameters of the ship;
the automatic berthing and debarking processing module is used for sending the real-time position information, the real-time motion parameters and the marine environment parameters to the marine control end through a communication module and receiving the berthing and debarking planning path sent by the marine control end;
and the dynamic positioning module is used for controlling the power and the steering of a propeller of the ship according to the berthing-leaning planned path.
According to the intelligent ship berthing and departing method, the intelligent ship berthing and departing device and the intelligent ship berthing and departing system, the offshore control end receives the real-time position information, the real-time motion parameters and the offshore environment parameters of a ship, which are sent by the ship control end; calculating a berthing-alongside planning path of the ship according to the real-time position information, the real-time motion parameters and the marine environment parameters based on the motion equation model of the ship; and sending the planned route close to the berthing to the ship control end so that the ship control end controls the ship to move according to the planned route close to the berthing. The ship berthing path planning is carried out through the offshore control end, the data processing pressure of the ship is relieved, and the calculation load of the ship is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a flowchart of an intelligent ship berthing and departing method according to an embodiment of the present invention;
FIG. 2 is a flowchart of another method for intelligent berthing and departing of a ship according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an intelligent berthing and departing device for a ship according to an embodiment of the present invention;
fig. 4 is a schematic diagram of an intelligent ship berthing and departing system according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
Fig. 1 shows a flowchart of a method for intelligent berthing and disembarking of a ship according to an embodiment of the present invention. Referring to fig. 1, an embodiment of the present invention provides an intelligent ship berthing and departing method, where an offshore control end of an offshore operation platform performs the following steps:
step S101, receiving real-time position information, real-time motion parameters and marine environment parameters of a ship sent by a ship control end;
step S102, calculating a berthing and departing planning path of the ship according to the real-time position information, the real-time motion parameters and the marine environment parameters based on the motion equation model of the ship;
and S103, sending the berthing planning path to the ship control end so that the ship control end controls the ship to move according to the berthing planning path.
The real-time motion parameters comprise the motion direction, speed, acceleration and the like of the ship, and the marine environment parameters comprise the environment parameters such as wind, waves, flow and the like. Longitudinal motion displacement, transverse motion displacement and heading motion direction parameter values of the ship can be obtained according to the real-time position information and the real-time motion parameters, the parameters and the marine environment parameters are substituted into a motion equation model of the ship, as shown in the following formula (1), the propelling force and the moment of each propeller of the ship are calculated according to the formula (1), namely, a berthing and debarking planned path of the ship is obtained, when the ship is berthed, the berthing planned path of the ship is obtained, and when the ship is debarked, the debarking planned path of the ship is obtained through calculation. The ship control end can calculate the change of the heading direction moving according to the off-berth planning path, the propelling force and the steering of each propeller needing to be distributed, and the like.
Wherein, Txi、TyiAnd MziRespectively generating forces and moments in the longitudinal direction, the transverse direction and the yawing direction for each thruster; n is a radical ofTThe number of thrusters; fwvx、FwvyAnd MwvzForces and moments caused by wave drifting action, namely second-order average drifting force; fcx、FcyAnd MczSea current force and moment; fwdx、FwdyAnd MwdzWind force and moment; if the task is capable of producing horizontal forces, Fopx、FopyAnd MopzThe work level forces and moments.
According to the embodiment of the invention, the berthing-against path planning is carried out on the ship through the offshore control end, the data processing pressure of the ship is relieved, and the calculation load of the ship is reduced. And the offshore control end can conveniently plan the berthing-against paths of a plurality of ships. When the offshore environment is severe, the autonomous berthing and departing of the unmanned working ship can be realized by the intelligent berthing and departing method for the ship.
In some embodiments, since the marine environment is complex and variable, in order to avoid the variable environment affecting the ship berthing, the berthing planning path needs to be modified, and therefore, the intelligent ship berthing method further includes the following steps:
step 1) correcting a berthing-dependent planned path according to real-time position information, real-time motion parameters and marine environment parameters of a ship in the berthing-dependent process;
and step 2) sending the corrected berthing-leaning planned path to the ship control end so that the ship control end controls the ship to move according to the corrected berthing-leaning planned path.
Specifically, the actual berthing-leaning path of the ship is determined according to the real-time position information, the real-time motion parameters and the marine environment parameters of the ship in the berthing-leaning process, so that the deviation between the actual berthing-leaning path and the planned berthing-leaning path is obtained, and the deviation value is corrected by changing the real-time thrust distribution of the propeller.
In some embodiments, in order to ensure the safety and reliability of the berthing process, when the ship needs to berth, the ship control end sends a request instruction whether an automatic berthing system can be activated or not to the offshore operation platform after the distance between the ship and the offshore operation platform reaches a certain distance; when the ship needs to be undocked, a request instruction whether the automatic berthing system can be activated is sent to the offshore operation platform, and at the moment, the offshore control end can further execute the following steps:
step a), after receiving an automatic berthing and departing request instruction sent by a ship control end, carrying out virtual berthing and departing scene reconstruction on a ship according to real-time position information, real-time motion parameters and marine environment parameters on the basis of a ship motion equation model;
step b) judging whether the ship meets an automatic berthing condition according to the reconstructed virtual berthing scene, for example, judging whether the ship operation is safe;
and c) if the automatic berthing and debarking conditions are met, sending an instruction for allowing the automatic berthing and debarking to the ship control end so that the ship control end activates an automatic berthing and debarking system.
And d) if the automatic berthing condition is not met, sending an automatic berthing refusing instruction to the ship control end, and controlling the ship berthing by controlling a control system of the ship by the offshore control end at the moment.
In some embodiments, the offshore control end can also judge whether the ship deviates from the berthing planning path according to the real-time motion parameters of the ship in the berthing process; and if so, sending early warning information to the ship.
The offshore control end monitors whether the deviation of the ship from the berthing planning path exceeds a certain threshold (which can be a change threshold of speed, acceleration and displacement) or not by receiving information of the motion direction, speed, acceleration and the like of the ship in the berthing process in real time, evaluates the influence of the ship on an offshore operation platform in the berthing process, mainly reflects the berthing speed and the berthing impact force (the evaluation is carried out by adopting an energy method through the acceleration and the thrust of the ship), judges that a dangerous condition possibly occurs when the deviation of the berthing planning path or the berthing speed is too high or the possible impact force is too large, timely sends early warning information to the ship, stops the berthing process or is timely intervened by ship personnel to carry out handle operation.
It should be noted that the above-mentioned method for intelligently berthing a ship is not only suitable for berthing an offshore operation platform, but also suitable for berthing a dock at a berthing base.
According to the embodiment of the invention, the offshore control end of the offshore operation platform is adopted to integrate the function of planning the berthing-leaning path, complex environmental parameters such as offshore wind, wave and flow are comprehensively considered, the berthing-leaning path is corrected in real time and fed back to the ship in real time, so that the berthing-leaning scheme of the ship is adjusted in real time, the calculation processing load of the ship is reduced, and the control precision is improved.
As shown in fig. 2, an embodiment of the present invention provides an intelligent berthing and departing method for a ship, where a ship control end executes the following steps:
step S201, acquiring real-time position information, real-time motion parameters and marine environment parameters of a ship;
step S202, sending real-time position information, real-time motion parameters and marine environment parameters to a marine control end so that the marine control end is based on a motion equation model of the ship, and calculating a berthing planning path of the ship according to the real-time position information, the real-time motion parameters and the marine environment parameters;
and step S203, receiving the berthing planning path sent by the offshore control end, and controlling the ship to move according to the berthing planning path.
In the specific implementation, after receiving the berthing planning path sent by the offshore control end, the ship control end obtains the change of the heading direction along the berthing planning path and the propelling force and the steering of each propeller which need to be distributed, transmits related control signals to a propeller control system of the ship, and controls the ship to finish the berthing process according to the berthing planning path.
In addition, the ship control end can also input the parameters into a constructed motion equation model of three degrees of freedom of the ship in longitudinal motion, transverse motion and yawing motion according to the acquired parameters of longitudinal motion displacement, transverse motion displacement and yawing motion direction, and environmental parameters such as wind, wave, flow and the like, and calculates the yawing direction change of the ship along the deviation planning path, the propelling force required to be distributed to each propeller and the steering based on the model.
In some embodiments, since the marine environment is complex and variable, in the process of berthing the ship, in order to avoid the influence of the variable environment on the berthing of the ship, the berthing planning path needs to be corrected, so that the offshore control end sends the corrected berthing planning path to the ship control end after correcting the berthing planning path according to the real-time position information, the real-time motion parameters and the marine environment parameters of the ship in the process of berthing, the ship control end receives the corrected berthing planning path sent by the offshore control end, and controls the ship to move according to the corrected berthing planning path.
In addition, when the obstacle exists on the preset berthing route of the ship, such as other ships, the offshore control end can also obtain the position information of the obstacle, and further revise the berthing planning path according to the position information of the obstacle.
And after receiving the corrected near-berthing planned path sent by the offshore control end, the ship control end adjusts the change of the heading direction and the propelling force and the steering of each propeller to be distributed according to the corrected near-berthing planned path, transmits a related control signal to a propeller control system of the ship and controls the ship to finish the near-berthing process according to the corrected near-berthing planned path.
In some embodiments, the ship control end may further perform the following steps:
step 1) when the distance between a ship and an offshore operation platform reaches a set distance, sending an automatic berthing request instruction to an offshore control end;
and 2) receiving an automatic berthing allowing instruction obtained by responding to the automatic berthing request instruction sent by the offshore control end, and activating an automatic berthing system.
Specifically, the ship control end obtains the distance between the ship control end and the offshore operation platform according to the current position of the ship, sends a request instruction whether to activate the automatic berthing and departing system to the offshore operation platform after the distance reaches a set distance, the offshore operation platform judges whether the current operation of the ship is safe after receiving the request instruction, if the current operation of the ship is safe, the ship control end sends an instruction allowing automatic berthing and departing to the ship control end, and the ship control end automatically activates the automatic berthing and departing system after receiving the instruction allowing automatic berthing and departing.
As shown in fig. 3, an embodiment of the present invention provides an intelligent ship berthing and departing device, which is applied to an offshore control end, and includes:
the first receiving module 31 is configured to receive real-time position information, real-time motion parameters, and marine environment parameters of a ship sent by a ship control end;
the calculation module 32 is used for calculating a ship berthing planning path according to the real-time position information, the real-time motion parameters and the marine environment parameters based on the motion equation model of the ship;
the first sending module 33 is configured to send the planned berthing-approaching path to the ship control end, so that the ship control end controls the ship to move according to the planned berthing-approaching path.
In some embodiments, the apparatus further comprises:
the correction module is used for correcting the berthing planning path according to the real-time position information, the real-time motion parameters and the marine environment parameters of the ship in the berthing process;
and the second sending module is used for sending the corrected berthing-leaning planning path to the ship control end so that the ship control end controls the ship to move according to the corrected berthing-leaning planning path.
In some embodiments, the apparatus further comprises:
the scene reconstruction module is used for performing virtual berthing and debarking scene reconstruction on the ship according to the real-time position information, the real-time motion parameters and the marine environment parameters based on the ship motion equation model after receiving an automatic berthing and debarking request instruction sent by the ship control end;
the first judgment module is used for judging whether the ship meets an automatic berthing condition according to the reconstructed virtual berthing scene;
and the instruction sending module is used for sending an instruction for allowing automatic berthing to be allowed to the ship control end if the instruction is positive so that the ship control end activates an automatic berthing system.
In some embodiments, the apparatus further comprises:
the second judgment module is used for judging whether the ship deviates from the berthing planning path according to the real-time motion parameters of the ship in the berthing process;
and the early warning sending module is used for sending early warning information to the ship if the ship is in the early warning state.
As shown in fig. 4, an embodiment of the present invention provides an intelligent ship berthing and departing system, including an offshore control end and a ship control end;
the ship control terminal 41 is used for acquiring real-time position information, real-time motion parameters and marine environment parameters of a ship; sending real-time position information, real-time motion parameters and marine environment parameters to a marine control end;
and the offshore control end 42 is used for calculating a ship berthing planning path according to the real-time position information, the real-time motion parameters and the offshore environment parameters based on the motion equation model of the ship, and sending the berthing planning path to the ship control end so that the ship control end controls the ship to move according to the berthing planning path.
In some embodiments, the vessel control end 41 includes:
a position reference module 411, configured to obtain real-time position information of a ship;
an offshore environment sensing module 412, configured to obtain an offshore environment parameter;
a ship state detection module 413, configured to obtain real-time motion parameters of a ship;
the automatic berthing and debarking processing module 414 is used for sending the real-time position information, the real-time motion parameters and the marine environment parameters to the marine control end through the communication module and receiving a berthing and debarking planning path sent by the marine control end;
and a dynamic positioning module 415 for controlling the power and steering of the propeller of the ship according to the off-berth planning path.
Specifically, the marine environment sensing module 412 may include, for example, an anemorumbometer, a buoy, a wave radar, and the like, and is configured to sense environmental parameters of wind, wave, and current outside the sea, the position reference module 411 obtains actual position information of the ship by using GPS positioning, and determines a longitudinal movement displacement, a transverse movement displacement, and a heading movement direction of the ship according to the GPS positioning information, and the dynamic positioning module 415 enables the ship to control power and steering of each propeller of the ship by using a conventional dynamic calculation model, so as to control the ship to track a predetermined track movement at a low speed.
The automatic berthing/undocking processing module 414 is respectively connected to the dynamic positioning module 415, the position reference module 411, the marine environment sensing module 412 and the ship state detection module 413, and communicates with the marine control end through a communication module, for example, the communication module and the marine control end may communicate in a VSAT (Very Small Aperture Terminal, micro earth station) communication manner.
According to the intelligent ship berthing and departing method, the intelligent ship berthing and departing device and the intelligent ship berthing and departing system, the offshore control end receives the real-time position information, the real-time motion parameters and the offshore environment parameters of a ship, which are sent by the ship control end; calculating a berthing and departing planning path of the ship according to the real-time position information, the real-time motion parameters and the marine environment parameters based on the motion equation model of the ship; and sending the planned route close to the berthing to the ship control end so that the ship control end controls the ship to move according to the planned route close to the berthing. The ship is planned by the offshore control end along the berthing path, so that the data processing pressure of the ship is relieved, and the load capacity of the ship is reduced.
It can be clearly understood by those skilled in the art that, for convenience and simplicity of description, the specific working process of the system and the apparatus described above may refer to the corresponding process in the foregoing method embodiment, and details are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk, and various media capable of storing program codes.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and these modifications or substitutions do not depart from the spirit of the corresponding technical solutions of the embodiments of the present invention.
Claims (6)
1. An intelligent ship berthing and releasing method is applied to an offshore control end and comprises the following steps:
receiving real-time position information, real-time motion parameters and marine environment parameters of a ship sent by a ship control end;
calculating a ship berthing planning path according to the real-time position information, the real-time motion parameters and the marine environment parameters based on a motion equation model of the ship;
sending the berthing planning path to the ship control end so that the ship control end controls a ship to move according to the berthing planning path;
after receiving an automatic berthing request instruction sent by the ship control end, carrying out virtual berthing scene reconstruction on the ship according to the real-time position information, the real-time motion parameters and the marine environment parameters on the basis of the ship motion equation model;
judging whether the ship meets an automatic berthing condition according to the reconstructed virtual berthing scene;
if yes, sending an instruction for allowing automatic berthing to be carried out to the ship control end so that the ship control end activates an automatic berthing system;
the method further comprises the following steps:
determining the actual berthing-leaning path of the ship according to the real-time position information, the real-time motion parameters and the marine environment parameters of the ship in the berthing-leaning process;
calculating the deviation between the actual berthing and departing paths and correcting the deviation value by changing the real-time thrust distribution of a propeller to obtain a corrected berthing and departing path;
and sending the corrected berthing and departing planning path to the ship control end so that the ship control end controls the ship to move according to the corrected berthing and departing planning path.
2. The method of claim 1, further comprising:
judging whether the ship deviates from a berthing planning path according to the real-time motion parameters of the ship in the berthing process;
and if so, sending early warning information to the ship.
3. An intelligent ship berthing and departing method is applied to a ship control end and comprises the following steps:
acquiring real-time position information, real-time motion parameters and marine environment parameters of a ship;
sending the real-time position information, the real-time motion parameters and the marine environment parameters to an offshore control end so that the offshore control end calculates a berthing planning path of the ship according to the real-time position information, the real-time motion parameters and the marine environment parameters based on a motion equation model of the ship;
receiving the berthing planning path sent by the offshore control end, and controlling the ship to move according to the berthing planning path;
when the distance between the ship and the offshore operation platform reaches a set distance, sending an automatic berthing and releasing request instruction to the offshore control end;
receiving an automatic berthing and berthing allowing instruction obtained by responding to the automatic berthing and berthing request instruction sent by the offshore control end, and activating an automatic berthing and berthing system;
the method further comprises the following steps:
and in the process of ship berthing, receiving the corrected berthing-leaning and berthing planned path sent by the offshore control end, and controlling the ship to move according to the corrected berthing-leaning and berthing planned path.
4. An intelligent ship berthing and separating device is applied to an offshore control end and comprises:
the first receiving module is used for receiving the real-time position information, the real-time motion parameters and the marine environment parameters of the ship, which are sent by the ship control end;
the calculation module is used for calculating a berthing planning path of the ship according to the real-time position information, the real-time motion parameters and the marine environment parameters based on a motion equation model of the ship;
the first sending module is used for sending the berthing planning path to the ship control end so as to enable the ship control end to control the ship to move according to the berthing planning path;
the scene reconstruction module is used for performing virtual berthing and departing scene reconstruction on the ship according to the real-time position information, the real-time motion parameters and the marine environment parameters on the basis of the ship motion equation model after receiving an automatic berthing and departing request instruction sent by the ship control end;
the first judgment module is used for judging whether the ship meets an automatic berthing condition according to the reconstructed virtual berthing scene;
the instruction sending module is used for sending an instruction for allowing automatic berthing to be allowed to the ship control end if the instruction is positive so that the ship control end activates an automatic berthing system;
the device further comprises:
the correction module is used for determining the actual berthing-against path of the ship according to the real-time position information, the real-time motion parameters and the marine environment parameters of the ship in the berthing-against process; calculating the deviation between the actual berthing and departing paths and correcting the deviation value by changing the real-time thrust distribution of a propeller to obtain a corrected berthing and departing path;
and the second sending module is used for sending the corrected berthing-leaning planning path to the ship control end so that the ship control end controls the ship to move according to the corrected berthing-leaning planning path.
5. An intelligent ship berthing and departing system is characterized by comprising an offshore control end and a ship control end;
the ship control end is used for acquiring real-time position information, real-time motion parameters and marine environment parameters of a ship; sending the real-time position information, the real-time motion parameters and the marine environment parameters to a marine control end;
the offshore control end is used for receiving real-time position information, real-time motion parameters and offshore environment parameters of the ship, which are sent by the ship control end, calculating a planned berthing and departing path of the ship according to the real-time position information, the real-time motion parameters and the offshore environment parameters based on a motion equation model of the ship, and sending the planned berthing and departing path to the ship control end so that the ship control end controls the ship to move according to the planned berthing and departing path;
the ship control end is further used for: when the distance between the ship and the offshore operation platform reaches a set distance, sending an automatic berthing and departing request instruction to the offshore control end; receiving an automatic berthing and berthing allowing instruction obtained by responding to the automatic berthing and berthing request instruction sent by the offshore control end, and activating an automatic berthing and berthing system;
the offshore control terminal is further used for: after receiving an automatic berthing request instruction sent by the ship control end, carrying out virtual berthing scene reconstruction on the ship according to the real-time position information, the real-time motion parameters and the marine environment parameters on the basis of the ship motion equation model; judging whether the ship meets an automatic berthing condition or not according to the reconstructed virtual berthing scene; if yes, sending an instruction for allowing automatic berthing to be carried out to the ship control end so that the ship control end activates an automatic berthing system;
the offshore control terminal is further used for: determining the actual berthing-leaning path of the ship according to the real-time position information, the real-time motion parameters and the marine environment parameters of the ship in the berthing-leaning process; calculating the deviation between the actual berthing and departing paths and correcting the deviation value by changing the real-time thrust distribution of a propeller to obtain a corrected berthing and departing path; sending the corrected berthing and departing planning path to the ship control end so that the ship control end controls the ship to move according to the corrected berthing and departing planning path;
the ship control end is further used for: and in the process of berthing the ship, receiving the corrected berthing planning path sent by the offshore control end, and controlling the ship to move according to the corrected berthing planning path.
6. The system of claim 5, wherein the vessel control end comprises:
the position reference module is used for acquiring real-time position information of the ship;
the marine environment sensing module is used for acquiring marine environment parameters;
the ship state detection module is used for acquiring real-time motion parameters of the ship;
the automatic berthing and debarking processing module is used for sending the real-time position information, the real-time motion parameters and the marine environment parameters to the marine control end through a communication module and receiving the berthing and debarking planning path sent by the marine control end;
and the dynamic positioning module is used for controlling the power and the steering of a propeller of the ship according to the berthing-leaning planned path.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010315902.XA CN111469983B (en) | 2020-04-20 | 2020-04-20 | Intelligent ship berthing and departing method, device and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010315902.XA CN111469983B (en) | 2020-04-20 | 2020-04-20 | Intelligent ship berthing and departing method, device and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111469983A CN111469983A (en) | 2020-07-31 |
| CN111469983B true CN111469983B (en) | 2022-06-14 |
Family
ID=71755509
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010315902.XA Active CN111469983B (en) | 2020-04-20 | 2020-04-20 | Intelligent ship berthing and departing method, device and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111469983B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113139301B (en) * | 2021-05-19 | 2024-03-15 | 大连海事大学 | Ship berthing-leaning backward-pushing controller design method based on generalized noise |
| CN115258093B (en) * | 2022-08-30 | 2023-10-27 | 江苏科技大学 | Autonomous leaning and off-berthing test method and system for under-driven commercial ship |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008201225A (en) * | 2007-02-19 | 2008-09-04 | Makku:Kk | Ship automatically berthing/leaving system for enabling berthing/leaving of ship within basic imaging area |
| CN204473093U (en) * | 2014-11-24 | 2015-07-15 | 中国人民解放军镇江船艇学院 | Automation auxiliary device handled by a kind of ships and light boats |
| 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 |
| CN110471427A (en) * | 2019-09-06 | 2019-11-19 | 大连海事大学 | A kind of ship formation intelligent Collision Avoidance method based on path planning and Artificial Potential Field Method |
| EP3632789A1 (en) * | 2018-10-01 | 2020-04-08 | Kongsberg Defence & Aerospace AS | System and method for assisting docking of a vessel |
-
2020
- 2020-04-20 CN CN202010315902.XA patent/CN111469983B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008201225A (en) * | 2007-02-19 | 2008-09-04 | Makku:Kk | Ship automatically berthing/leaving system for enabling berthing/leaving of ship within basic imaging area |
| CN204473093U (en) * | 2014-11-24 | 2015-07-15 | 中国人民解放军镇江船艇学院 | Automation auxiliary device handled by a kind of ships and light boats |
| EP3632789A1 (en) * | 2018-10-01 | 2020-04-08 | Kongsberg Defence & Aerospace AS | System and method for assisting docking of a vessel |
| 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 |
| CN110471427A (en) * | 2019-09-06 | 2019-11-19 | 大连海事大学 | A kind of ship formation intelligent Collision Avoidance method based on path planning and Artificial Potential Field Method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111469983A (en) | 2020-07-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10467908B2 (en) | Autonomous boat design for tandem towing | |
| DK201800700A1 (en) | A method and system for operating one or more tugboats | |
| CN111469983B (en) | Intelligent ship berthing and departing method, device and system | |
| EP3670320B1 (en) | Marine propulsion control system and method with collision avoidance override | |
| US20220009602A1 (en) | Tugboat with a capsizing and sinking prevention system | |
| EP3696079B1 (en) | Marine propulsion control system and method | |
| CN111221336B (en) | Ship end auxiliary leaning and off-berthing system | |
| US11443637B2 (en) | Proximity sensing system and method for a marine vessel | |
| US20200247518A1 (en) | Marine propulsion control system, method, and user interface for marine vessel docking and launch | |
| US11862026B2 (en) | Marine propulsion control system and method with proximity-based velocity limiting | |
| WO2017167892A1 (en) | A tugboat with a crane for handling a towing line | |
| CN111465554A (en) | Navigation system with independent control of transverse and longitudinal thrust | |
| CN112004741B (en) | Method for controlling a towing fleet | |
| WO2014175831A1 (en) | A system and method for dynamically positioning a floating vessel alongside a turret moored floating vessel | |
| CN108255176B (en) | Method for autonomously and cooperatively recovering ships by double unmanned boats | |
| RU2403169C1 (en) | Device for ship automatic approach to berth | |
| KR100992577B1 (en) | Support system of tugboat and method based network | |
| WO2017167894A1 (en) | Tugboat with crane or robot arm | |
| CN115335284A (en) | Ship steering support system | |
| Frank et al. | PropaGator 2015: UF autonomous surface vehicle | |
| CN114661053A (en) | Ship dynamic obstacle avoidance guidance and control method considering dangerous behaviors of obstacle ship | |
| Okuda et al. | A study on berthing and unberthing of a single-shaft ship with a bow thruster | |
| KR20220132930A (en) | Automatic control system for water of ballast tanks for autonomous ships | |
| KR20240030937A (en) | Berthing path generation method and apparatus thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |