CN111498055A - Testing device and testing method for automatic berthing test of intelligent ship - Google Patents
Testing device and testing method for automatic berthing test of intelligent ship Download PDFInfo
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- CN111498055A CN111498055A CN202010388670.0A CN202010388670A CN111498055A CN 111498055 A CN111498055 A CN 111498055A CN 202010388670 A CN202010388670 A CN 202010388670A CN 111498055 A CN111498055 A CN 111498055A
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Abstract
The invention relates to a testing device and a testing method for automatic berthing test of an intelligent ship, wherein the testing device comprises: the system comprises a test working condition setting module, a shore-based data communication module, a test data recording module and a shipborne data communication module, wherein the shipborne data communication module is positioned on a ship to be tested; the test condition setting module generates traffic environment perception information of the area where the berth to be tested is located according to the test requirement; the shore-based data communication module sends traffic environment sensing information of a berth to be detected to a ship to be detected, and the shipborne data communication module interacts with a berthing command obtained by a berthing system corresponding to berthing of a real ship so that the ship to be detected executes the corresponding berthing command based on the received sensing information and the surrounding hydrology and weather information; the test data recording module records the traffic environment information generated by the test working condition setting module, and the information sent and received by the shore-based data communication module. The invention can reduce the danger of real ship test and can completely realize the whole real ship test process of the berthing function.
Description
Technical Field
The invention relates to the technical field of intelligent ship testing, in particular to a testing device and a testing method for automatic berthing test of an intelligent ship.
Background
The automatic berthing and departing technology is a new technology, can get rid of dangerous factors caused by artificial berthing, enables a ship to complete the whole berthing and departing process more safely, can greatly improve the intelligentization level of the ship, and is an indispensable technology in the development of intelligent ships.
In order to realize practical application of the automatic berthing technology, the technology needs to be fully tested and verified, the testing and verifying means comprises both simulation testing and real ship testing, the real ship testing can make up errors caused by unreal simulation environment in the simulation testing process, but the real ship testing process has many uncertain factors and large danger degree, and no testing system and method for the automatic berthing function of the intelligent ship exist at the present stage, so that the device and the method for testing the automatic berthing function of the intelligent ship are very necessary.
Disclosure of Invention
Technical problem to be solved
In view of the above disadvantages and shortcomings of the prior art, the present invention provides a testing apparatus and a testing method for automatic berthing test of an intelligent ship, which can reduce the danger of real ship test, and simultaneously can completely realize the real ship test process of the whole berthing function, save the test cost, and improve the efficiency of the test process.
(II) technical scheme
In order to achieve the purpose, the invention adopts the main technical scheme that:
in a first aspect, an embodiment of the present invention provides a testing apparatus for an automatic berthing test of a smart ship, including:
the system comprises a test working condition setting module, a shore-based data communication module, a test data recording module and a shipborne data communication module;
the system comprises a test working condition setting module, a shore-based data communication module and a test data recording module, wherein the test working condition setting module and the shore-based data communication module are all positioned in test equipment, the shipborne data communication module is positioned in a ship to be tested, and the ship to be tested is positioned in a safe water area and waits for a debarking test;
the system comprises a test condition setting module, a test condition setting module and a control module, wherein the test condition setting module is used for receiving traffic environment setting information input by a user according to a predetermined test requirement and generating traffic environment perception information of an area where a berth to be tested is located;
the shore-based data communication module is used for sending the traffic environment perception information of the berth to be tested to the ship to be tested according to the traffic environment perception information set by the test working condition setting module,
the shipborne data communication module is used for taking the received traffic environment perception information as the environment perception information perceived by the ship to be detected, and sending the environment perception information, the current hydrological environment information and the state information of the ship to be detected to a departing system carried on a real ship;
the shipborne data communication module is also used for receiving a berthing command returned by the berthing system according to the environment perception information, the hydrological environment information and the state information so as to enable the ship to be tested to execute corresponding operation based on the berthing command; the shore-based data communication module is also used for receiving a berthing command, hydrological environment information and the state information returned by the shipborne data communication module;
the test data recording module is used for recording the traffic environment information generated by the test working condition setting module, and the shore-based data communication module sends and receives information.
Optionally, the method further comprises:
the image acquisition module is used for acquiring the information of the berthing-against action/process of the ship to be tested in the test execution process;
and the test data recording module is used for storing the image information acquired by the image acquisition module.
Optionally, before generating the traffic environment sensing information, the test condition setting module is further configured to receive ship navigation information input by a user according to a predetermined test requirement, and generate navigation information of the test ship;
correspondingly, the shore-based data communication module interacts with the shipborne data communication module, so that the ship to be tested runs according to the navigation information.
Optionally, in the berthing test, the speed of the ship to be tested is a preset speed, and the heading is towards the wharf area;
in the process of the departure test, the target position coordinate to be reached is preset in the navigation information of the ship to be tested, and the heading of the ship to be tested is set to be the same as or opposite to the departure direction.
Optionally, the traffic environment awareness information comprises one or more of: simulating position information and state information, berth number information, berth position information and berth occupation information of the barrier ship;
the hydrological environment information of the ship to be tested comprises one or more of the following items: the system comprises wind wave grade information, flow velocity and direction information, wind velocity and direction information and visibility information;
the berthing command of the ship to be tested comprises one or more of the following items: depending on a speed instruction and a heading instruction in the process of the berthing; running state instructions of all the propellers and running state instructions of the control mechanism; and (5) carrying out ship position instruction.
In a second aspect, an embodiment of the present invention provides a test method for an automatic berthing test of a smart ship, including:
the testing device receives traffic environment setting information input by a user and generates traffic environment perception information around a berth;
the testing device sends the traffic environment perception information to a ship to be tested;
the ship to be tested sends the traffic environment sensing information, the hydrological environment information and the state information of the ship to a berthing system carried on a real ship and receives a berthing-leaning command returned by the berthing system;
the testing device receives a berthing-against command returned by the ship to be tested, and the traffic environment perception information, the hydrological environment information and the state information of the ship corresponding to the berthing-against command;
the testing device stores the berthing-leaning command, the traffic environment perception information corresponding to the berthing-leaning command, and the hydrological environment information and the state information of the ship.
Optionally, the method further comprises:
the testing device collects image information of each angle of the ship to be tested in the process of berthing in real time and stores the image information.
Optionally, the testing apparatus receives traffic environment setting information input by a user, and before generating traffic environment perception information around the berth, the testing apparatus further includes:
the test device receives ship navigation information of a ship to be tested input by a user and sends the ship to be tested so that the ship to be tested runs according to the navigation information.
(III) advantageous effects
The invention has the beneficial effects that: the testing device disclosed by the invention combines the actual hydrological environment and the virtual traffic environment, realizes the simulation of the surrounding environment of the berth by setting the position and other related parameters of ships around the berth, and avoids the complexity of building a testing environment by using a real ship; and the real hydrological environment is utilized, so that the problem that hydrological simulation is not real enough at the present stage is avoided, and the real ship test result has better authenticity.
In addition, the application of the testing method can reduce the testing preparation time, reduce the cost in the aspect of traffic environment setting, improve the testing safety and avoid the safety problem caused by the instability of a berthing system;
in the testing process, subjective and objective means are combined, the feasibility of decision making by a debarking system can be judged, and the superiority and inferiority of the system can be objectively proved through test data acquired in real time, so that the test result is more reliable.
Drawings
Fig. 1 is a schematic structural diagram of a testing apparatus for an automatic berthing test of a smart ship according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a testing apparatus for an automatic berthing test of a smart ship according to another embodiment of the present invention;
fig. 3 is a schematic flowchart of a testing method for an automatic berthing test of a smart ship according to another embodiment of the present invention.
Detailed Description
For the purpose of better explaining the present invention and to facilitate understanding, the present invention will be described in detail by way of specific embodiments with reference to the accompanying drawings.
In order to better understand the above technical solutions, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
Example one
As shown in fig. 1, fig. 1 is a schematic structural diagram illustrating a testing apparatus for an automatic berthing test of a smart ship according to an embodiment of the present invention, where the testing apparatus of this embodiment may include:
the system comprises a test working condition setting module 11, a shore-based data communication module 12, a test data recording module 13 and a shipborne data communication module 14;
the test working condition setting module 11, the shore-based data communication module 12 and the test data recording module 13 are all positioned in test equipment, the shipborne data communication module 14 is positioned in a ship to be tested, and the ship to be tested is positioned in a safe water area to wait for a debarking test;
the test condition setting module 11 is configured to receive traffic environment setting information input by a user according to a predetermined test requirement, and generate traffic environment perception information of an area where a to-be-tested berth is located;
a shore-based data communication module 12 for sending the traffic environment perception information of the berth to be tested to the ship to be tested according to the traffic environment perception information set by the test condition setting module 11, and
the shipborne data communication module 14 is configured to use the received traffic environment sensing information as environment sensing information sensed by the ship to be detected, and send the environment sensing information, current hydrological environment information of the ship to be detected, and state information to a debarking system (i.e., an automatic debarking system described below) corresponding to true ship debarking; the berthing system corresponding to the berthing of the real ship is the berthing system carried on the real ship;
the shipborne data communication module 14 is further configured to receive a berthing command returned by the berthing system according to the environment perception information, the hydrological environment information and the state information, so that the ship to be tested executes corresponding operations based on the berthing command.
It should be noted that the berthing-leaning system to be tested is actually carried on the ship to be tested and is a component of the whole intelligent system of the ship, and when the berthing-leaning system is tested, the real ship can generate a corresponding berthing-leaning instruction according to the combination of the received traffic environment information sent from the shore base and the information generated by the sensing equipment carried on the ship.
In the embodiment, the ship-borne data communication module is used for (1) receiving traffic environment commands near a berth for testing sent from a shore base; (2) hydrological information, state information and berthing instructions generated by the berthing system are sent back to the shore base.
That is, the onboard data communication module is used for data communication exchange between ships and shore.
The shore-based data communication module 12 is further configured to receive a berthing command, hydrological environment information, and the state information returned by the onboard data communication module;
the test data recording module 13 is configured to record traffic environment information generated by the test condition setting module, and the shore-based data communication module sends and receives information.
The testing device of the embodiment combines the actual hydrological environment and the virtual traffic environment, realizes the simulation of the surrounding environment of the berth by setting the position of the ships around the berth and other related parameters, and avoids the complexity of constructing the testing environment by using a real ship; and the real hydrological environment is utilized, so that the problem that hydrological simulation is not real enough at the present stage is avoided, and the real ship test result has better authenticity.
Further, as shown in fig. 2, the testing apparatus of this embodiment further includes an image acquisition module 15 located outside the testing device and electrically connected to the testing device, where the image acquisition module 15 is configured to acquire the berthing action/process information of the ship to be tested in the testing process;
correspondingly, the test data recording module 13 is configured to store the image information acquired by the image acquisition module 15.
In practical application, before generating the traffic environment perception information, the test condition setting module is further configured to receive ship navigation information input by a user according to a predetermined test requirement, and generate navigation information of a test ship;
correspondingly, the shore-based data communication module 12 interacts with the shipborne data communication module 14, so that the ship to be tested runs according to the navigation information.
For example, in the berthing test, the speed of the ship to be tested is a preset speed, and the course is towards the wharf area;
in the process of the departure test, the ship to be tested sets the coordinates of a target position to be reached, and the heading of the ship is set to be the same as or opposite to the departure direction.
In a specific implementation process, the traffic environment perception information includes one or more of the following: simulating position information and state information of the barrier ship, berth number information, berth position information, berth occupation information and the like;
the hydrological environment information of the ship to be tested comprises one or more of the following items: the information of the grade of wind and wave, the information of the flow velocity and the flow direction, the information of the wind speed and the wind direction, the information of the visibility and the like;
the berthing command of the ship to be tested comprises one or more of the following items: depending on a speed instruction and a heading instruction in the process of the berthing; running state instructions of all the propellers and running state instructions of the control mechanism; vessel position commands, etc.
The testing device of the embodiment can reduce the testing preparation time, reduce the cost in the aspect of traffic environment setting, improve the testing safety and avoid the safety problem caused by the instability of the berthing system in the testing process.
Example two
As shown in fig. 3, fig. 3 is a schematic flow chart of a testing method for an automatic berthing test of a smart ship according to an embodiment of the present invention, where the testing method of the embodiment may include the following steps:
301. the testing device receives traffic environment setting information input by a user and generates traffic environment perception information around a berth;
302. the testing device sends the traffic environment perception information to a ship to be tested;
303. the ship to be tested sends the traffic environment sensing information, the hydrological environment information and the state information of the real ship to a berthing system carried on the real ship, so that the berthing system generates a corresponding operation command;
304. the testing device receives a berthing-against command returned by the ship to be tested, and the traffic environment perception information, the hydrological environment information, the state information and the berthing-against operation command corresponding to the berthing-against command;
305. the testing device stores the berthing operation command and the traffic environment perception information, the hydrological environment information and the state information corresponding to the berthing operation command.
In practical application, the testing device collects image information of each angle of the ship to be tested in the process of berthing in real time and stores the image information.
Furthermore, before step 301, the method comprises the following step 300, not shown in the figures:
300. the test device receives ship navigation information of a ship to be tested input by a user and sends the ship to be tested so that the ship to be tested runs according to the navigation information.
The test method can reduce the danger of real ship test, and simultaneously can completely realize the whole real ship test process by the function of berthing, thereby saving the test cost and improving the efficiency of the test process.
In practical applications, the above test method can be further described as follows:
(1) by means of a test working condition setting module 11 in the test device, the traffic environment perception information around the berth is set according to the requirements of test regulations.
(2) And driving the ship to the wharf area from the open water area according to the navigational speed required by the test regulation, and transmitting the set traffic environment perception information around the berth to the ship end through the shore-based data communication module 12.
For example, the designed speed is set according to the requirements of the test regulations, and the speed of the ship during the berthing test needs to be reasonably set according to the different types of the ships during the design of the test regulations, and the required speed in open waters is the designed speed.
The notification mode can include:
A. during the test, a person parks the ship and sets the position, the tester sets the position and the navigational speed of the ship to be tested according to the test rule and takes charge of supervision,
B. and a person parks the ship and sets the position, a shore-based person sends the speed and target position point instruction to the ship through the communication module, the ship control system sails according to the target instruction after receiving the speed and target position instruction, and the person supervises.
The test condition setting module is also set according to the test rules, and all the setting and test processes during the pull-off test are strictly according to the previously established test rules.
(3) The shipborne data communication module 14 receives the traffic environment perception information and then transmits the traffic environment perception information to the automatic berthing and departing system;
(4) the automatic berthing and berthing system calculates the information by combining hydrological environment information generated by other sensing equipment on the ship and test ship state information to obtain a corresponding berthing and berthing command;
(5) the shipborne data communication module 14 transmits the berthing command, the hydrological environment information and the test ship state information back to the shore end;
(6) the test data recording module 13 is responsible for recording and storing the returned data.
(7) And in the test process, the feasibility of a decision command of the berthing system is judged by observing the actual berthing action of the ship, and the superiority and inferiority of the berthing system are judged by combining the obtained test data after the test is finished.
When conducting a pull-off test, the test protocol should include a number of test items:
in order to better understand the testing method described in the second embodiment, the following description is provided in conjunction with the testing apparatus and testing in various testing scenarios.
Berthing test
Test scenario 1: no other ships are parked near the preset berth, the berthing water area is wide, no other obstacles exist, and the weather meets the requirements of berthing tests;
in practical application, a test scene is set through a test working condition setting module located on the shore. The test condition setting module of the embodiment can be divided into several units:
(1) the berth information setting unit comprises berth number setting, berth area setting and berth occupation condition setting;
(2) the traffic information setting unit comprises a traffic obstacle ship and a state setting unit;
(3) and the test time setting unit comprises a day time and a night time, wherein corresponding signal lamp perception information and the like can be set at night.
The test condition setting module further comprises a ship navigation information setting unit for setting the ship state.
The ship state: the speed is the design speed and the heading is towards the dock area. In this embodiment, the ship state is set by the ship navigation information setting unit in the test condition setting module, and is sent to the ship to be tested, so that the ship to be tested executes the corresponding state information and the corresponding navigation information.
The test method comprises the following steps: and driving the test ship into the wharf area from the outside of the wharf water area according to the preset navigational speed and the preset course, sending the information of the position to be berthed to the ship, and observing an operation command executed by the ship to be tested.
The test requirements are as follows: the inertia residual speed is required to not exceed the required standard value when the ship arrives at the front edge of the berth, the speed and the direction are adjusted in time in the berthing process, the speed and the angle in the berthing process meet the requirements of performance, and the ship can safely drive into the preset berth.
In this embodiment, the test requirement refers to what action is to be performed under the test condition, namely the test requirement is a pass standard when the ship berthing test is checked.
Test scenario 2: other ships are parked or blocked by other barriers before and after the preset berth, and the weather condition can meet the requirement of the berth test;
the ship state: the navigation speed is the designed navigation speed, the course is towards the wharf area, and the ship is provided with a head-side pushing and full-rotation propeller;
the test method comprises the following steps: and driving the test ship into the wharf area from the outside of the wharf water area according to the preset navigational speed and the preset course, sending the preset berth information to the ship, and observing an operation command executed by the ship to be tested.
The test requirements are as follows: the speed and direction of the ship are required to be adjusted when the ship approaches the front edge of the berth, the ship is moved to be basically parallel to the berth by inertia when the ship reaches the berth and is kept basically still, the ship is safely driven into the preset berth by utilizing a side-push propeller and a full-rotation propeller, and the mooring ropes are tied in a preset sequence.
Test scenario 3: other ships are parked or blocked by other barriers before and after the preset berth, and the weather condition can meet the requirement of the berth test;
the ship state: the navigation speed is the designed navigation speed, the course is towards the wharf area, and the ship is not provided with a head-side thrust propeller and a full-rotation propeller or has a fault in the head-side thrust;
the test method comprises the following steps: and driving the test ship into the wharf area from the outside of the wharf water area according to the preset navigational speed and the preset course, sending the preset berth information to the ship, and observing an operation command executed by the ship to be tested.
The test requirements are as follows: the speed and the course are adjusted in the process of approaching the berth, the middle part or the head part of the berth is rotated by a larger course angle, the course is adjusted in time when the distance from the berth is 3B, so that a proper approaching angle is formed between the ship and the berth, the position of the ship is adjusted by the cooperation of the rudder, the ship is driven into the preset berth safely, and the mooring ropes are tied well according to the preset sequence.
Test scenario 4: other ships are parked or blocked by other barriers before and after the preset berth, the weather condition can meet the requirement of berthing test, the berthing time is night, red signal lamps are arranged at the front end and the rear end of the berth, green signal indicator lamps are arranged on the shore of the middle part of the berth, and other required acousto-optic signals also meet the requirement of berthing;
the ship state: the navigation speed is the designed navigation speed, the course is towards the wharf area, and the ship is provided with a head-side pushing propeller and a full-rotation propeller;
the test method comprises the following steps: and driving the test ship into the wharf area from the outside of the wharf water area according to the preset navigational speed and the preset course, sending the preset berth information to the ship, and observing an operation command executed by the ship to be tested.
The test requirements are as follows: the inertia residual speed is required to not exceed the required standard value when the ship arrives at the front edge of the berth, the speed and the direction are adjusted in time in the berthing process, the speed and the angle in the berthing process meet the requirements of performance, and the ship can safely drive into the preset berth.
Test scenario 5: other ships are parked or blocked by other barriers before and after the preset berth, the weather condition can meet the requirement of the berthing test, and the steering capacity of the ship is damaged due to the failure of the first-side thrust or the full-rotation propeller on the ship;
the ship state: the navigation speed is the designed navigation speed, the course is towards the wharf area, the ship pushes at the first side to be out of work, and the full-rotation propeller cannot realize rotation action;
the test method comprises the following steps: and driving the test ship into the wharf area from the outside of the wharf water area according to the preset navigational speed and the preset course, sending the preset berth information to the ship, and observing an operation command executed by the ship to be tested.
The test requirements are as follows: the speed and the course are adjusted in the process of approaching the berth, the middle part or the head part of the berth is rotated by a larger course angle, the course is adjusted in time when the distance from the berth is 3B, so that a proper approaching angle is formed between the ship and the berth, the position of the ship is adjusted by the cooperation of the rudder, the ship is driven into the preset berth safely, and the mooring ropes are tied well according to the preset sequence.
Off-dock testing
Test scenario 1: no other ship is parked near the berth, the berthing water area is wide, no other barrier exists, the weather meets the requirement of berthing test, and the berthing direction of the ship is opposite to the direction of leaving the wharf;
the ship state: the ship is moored in a preset berth, and various equipment of the ship works normally.
The test method comprises the following steps: and sending a debarking command to the test ship, and observing an operation command executed by the ship to be tested.
The test requirements are as follows: and realizing a correct cable retracting operation sequence according to requirements, and adopting a correct bow-away command to enable the ship to safely exit from a preset berth, realize turning around in a gyrating water area and exit from a wharf.
Test scenario 2: other ships are parked or other obstacles are arranged at the front end of the berth where the ship is parked, the weather meets the requirements of the berthing test, and the berthing direction of the ship is opposite to the direction of leaving the wharf;
the ship state: the ship is moored in a preset berth, and various equipment of the ship works normally.
The test method comprises the following steps: and sending a debarking command to the test ship, and observing an operation command executed by the ship to be tested.
The test requirements are as follows: and realizing a correct cable retracting operation sequence according to requirements, and adopting a correct stern departing command to enable the ship to safely exit from a preset berth, realize turning around in a gyrating water area and exit from a wharf.
Test scenario 3: other ships are parked or other obstacles are arranged at the front end and the rear end of the berth where the ship is parked, the weather meets the requirements of the berthing test, and the berthing direction of the ship is opposite to the direction of leaving the wharf;
the ship state: the ship is moored in a preset berth, and various equipment of the ship works normally.
The test method comprises the following steps: and sending a debarking command to the test ship, and observing an operation command executed by the ship to be tested.
The test requirements are as follows: and realizing a correct cable retracting operation sequence according to requirements, and adopting a correct parallel separation command to enable the ship to safely exit from a preset berth, and realize turning around in a gyrating water area to exit from a wharf.
Test scenario 4: other ships are parked or blocked by other barriers before and after the preset berth, the weather condition can meet the requirement of berthing test, the berthing time is night, red signal lamps are arranged at the front end and the rear end of the berth, green signal indicator lamps are arranged on the shore of the middle part of the berth, and other required acousto-optic signals also meet the requirement of berthing;
the ship state: the ship is moored in a preset berth, and various equipment of the ship works normally;
the test method comprises the following steps: and sending a debarking command to the test ship, and observing an operation command executed by the ship to be tested.
The test requirements are as follows: and realizing a correct cable retracting operation sequence according to requirements, and adopting a correct parallel separation command to enable the ship to safely exit from a preset berth, and realize turning around in a gyrating water area to exit from a wharf.
Test scenario 5: other ships are parked or blocked by other barriers before and after the preset berth, and the weather condition can meet the requirement of the berth test;
the ship state: the vessel is moored in a predetermined berth and a lateral thruster failure or a slewing failure of the vessel;
the test method comprises the following steps: and sending a debarking command to the test ship, and observing an operation command executed by the ship to be tested.
The test requirements are as follows: the existence of the fault is automatically prompted, and a corresponding departure suggestion is given.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions.
It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the terms first, second, third and the like are for convenience only and do not denote any order. These words are to be understood as part of the name of the component.
Furthermore, it should be noted that in the description of the present specification, the description of the term "one embodiment", "some embodiments", "examples", "specific examples" or "some examples", etc., means that a specific feature, structure, material or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, the claims should be construed to include preferred embodiments and all changes and modifications that fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention should also include such modifications and variations.
Claims (8)
1. A testing arrangement for testing automatic berthing of a smart vessel, comprising:
the system comprises a test working condition setting module, a shore-based data communication module, a test data recording module and a shipborne data communication module;
the system comprises a test working condition setting module, a shore-based data communication module and a test data recording module, wherein the test working condition setting module and the shore-based data communication module are all positioned in test equipment, the shipborne data communication module is positioned in a ship to be tested, and the ship to be tested is positioned in a safe water area and is to be subjected to a debarking test;
the system comprises a test condition setting module, a test condition setting module and a control module, wherein the test condition setting module is used for receiving traffic environment setting information input by a user according to a predetermined test requirement and generating traffic environment perception information of an area where a berth to be tested is located;
the shore-based data communication module is used for sending the traffic environment perception information of the berth to be tested to the ship to be tested according to the traffic environment perception information set by the test working condition setting module,
the shipborne data communication module is used for taking the received traffic environment perception information as the environment perception information perceived by the ship to be detected, and sending the environment perception information, the current hydrological environment information and the state information of the ship to be detected to a departing system carried on a real ship;
the shipborne data communication module is also used for receiving a berthing command returned by the berthing system according to the environment perception information, the hydrological environment information and the state information so as to enable the ship to be tested to execute corresponding operation based on the berthing command; the shore-based data communication module is also used for receiving a berthing command, hydrological environment information and the state information returned by the shipborne data communication module;
the test data recording module is used for recording the traffic environment information generated by the test working condition setting module, and the shore-based data communication module sends and receives information.
2. The testing device of claim 1, further comprising:
the image acquisition module is used for acquiring the information of the berthing-against action/process of the ship to be tested in the test execution process;
and the test data recording module is used for storing the image information acquired by the image acquisition module.
3. The test device according to claim 1, wherein the test condition setting module is further configured to receive ship navigation information input by a user according to a predetermined test requirement before generating the traffic environment perception information, and generate navigation information of the test ship;
correspondingly, the shore-based data communication module interacts with the shipborne data communication module, so that the ship to be tested runs according to the navigation information.
4. The test device of claim 1, wherein in the berthing test, the ship to be tested has a preset speed and a heading towards the wharf area;
in the process of the departure test, the target position coordinate to be reached is preset in the navigation information of the ship to be tested, and the heading of the ship to be tested is set to be the same as or opposite to the departure direction.
5. The test device of claim 1,
the traffic environment awareness information includes one or more of: simulating position information and state information, berth number information, berth position information and berth occupation information of the barrier ship;
the hydrological environment information of the ship to be tested comprises one or more of the following items: the system comprises wind wave grade information, flow velocity and direction information, wind velocity and direction information and visibility information;
the berthing command of the ship to be tested comprises one or more of the following items: depending on a speed instruction and a heading instruction in the process of the berthing; running state instructions of all the propellers and running state instructions of the control mechanism; and (5) carrying out ship position instruction.
6. A test method for automatic berthing tests on smart ships, comprising:
the testing device receives traffic environment setting information input by a user and generates traffic environment perception information around a berth;
the testing device sends the traffic environment perception information to a ship to be tested;
the ship to be tested sends the traffic environment sensing information, the hydrological environment information and the state information of the ship to a berthing system carried on a real ship and receives a berthing-leaning command returned by the berthing system;
the testing device receives a berthing-against command returned by the ship to be tested, and the traffic environment perception information, the hydrological environment information and the state information of the ship corresponding to the berthing-against command;
the testing device stores the berthing-leaning command, the traffic environment perception information corresponding to the berthing-leaning command, and the hydrological environment information and the state information of the ship.
7. The method of claim 6, further comprising:
the testing device collects image information of each angle of the ship to be tested in the process of berthing in real time and stores the image information.
8. The method of claim 6, wherein the test device receives the traffic environment setting information input by the user, and further comprises, before generating the traffic environment perception information around the berth:
the test device receives ship navigation information of a ship to be tested input by a user and sends the ship to be tested so that the ship to be tested runs according to the navigation information.
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