CN111897342A - Automatic berthing and departing system and method for modern ship - Google Patents
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Abstract
The invention provides an automatic berthing and departing system and a method for a modern ship, which belong to the technical field of ship control and comprise a positioning system, an inertial navigation unit, a scene reconstruction unit, a sensor monitoring unit, a comprehensive data processing center, a fault emergency processing system and a shore-based command center; the positioning system is used for detecting the geographic position of the ship; the inertial navigation system is used for sensing the attitude and the motion state of the ship; the scene reconstruction unit is used for reconstructing a three-dimensional model of a shore-based environment and ship navigation; the invention can realize the visualization of the whole berthing process in real time and intuitively by using a three-dimensional scene reconstruction technology, and meanwhile, the processing steps under the emergency condition can be more refined by a failure emergency processing system, so that the loss is reduced to the lowest.
Description
Technical Field
The invention relates to the technical field of ship control, in particular to an automatic berthing and disembarking system and method for a modern ship.
Background
With the rapid development of robotics, modern communication technologies, computer technologies, data mining technologies and navigation technologies, unmanned ship technologies are gradually applied to the fields of sea surface environment monitoring, oceanographic weather forecasting, communication relaying, marine accident search and rescue, marine traffic dispersion, assistance in maintaining marine traffic order, near-remote target identification and tracking, unmanned commercial ship automatic driving and the like. At present, the field of automatic berthing of ships still uses manual operation or tug assistance in a large quantity, the efficiency is low, and the cost is high, so that the invention of the automatic berthing and departing system based on the modern ship platform is particularly important.
Chinese patent CN207529224U discloses an automatic berthing system for ships, which is characterized in that cameras of all directions transmit the real-time situation of the berthing edge of a wharf to a berthing control system, and the berthing control system adjusts a propulsion system according to the data corresponding to the real-time situation of the wharf and drives the ships to realize automatic berthing; however, the accuracy of the information collected only by the camera is greatly influenced by environmental factors such as weather.
Chinese patent CN107065878A discloses an automatic berthing system and method for ships, which comprises a measuring subsystem, an automatic control subsystem, a ship-borne executing mechanism and a system start-stop device; the measurement subsystem collects and processes ship speed and angle data required by ship berthing in real time, and the automatic control subsystem controls a ship actuating mechanism to realize automatic berthing of a ship; however, the measurement subsystem of the patent only comprises a laser range finder and a GPS, and the accuracy of the acquired data is to be improved.
Chinese patent CN 109739238A discloses an automatic berthing and departing system for ships and a working method thereof, which includes a navigation unit, a motion control unit, and a shore-based monitoring unit, and considers the problem of route planning, but the ships themselves have a single handling way for emergency, and shore-based operators can only determine how to control the motions of the ships by visual observation or data, so that the errors and the risks to the personnel on shore are large.
As can be seen from the above, the data acquisition of the automatic ship berthing and separating system at the present stage is single, and the influence of environmental factors is received; meanwhile, manual operation is used in a large amount, the efficiency is low, the cost is high, a large amount of errors exist, and certain risks are caused to people on the shore.
Therefore, the application provides a novel automatic berthing system and a method for modern ships.
Disclosure of Invention
In order to solve the problems, the invention aims to provide an automatic berthing and separating system and method for modern ships. The system can realize the visualization of the whole berthing process in real time and intuitively by using a three-dimensional scene reconstruction technology, and meanwhile, the processing steps under the emergency condition can be more refined by the emergency fault processing system, so that the loss is reduced to the lowest.
In order to achieve the above purpose, the present invention provides the following technical solutions.
An automatic berthing and departing system of a modern ship comprises a positioning system, an inertial navigation unit, a scene reconstruction unit, a sensor monitoring unit, a comprehensive data processing center, a fault emergency processing system and a shore-based command center;
the positioning system comprises a ship compass, a GPS and a Beidou receiver, and is used for acquiring signals of the offshore position and the advancing direction of a ship in real time and sending the signals to the comprehensive data processing center;
the inertial navigation unit is used for acquiring the information of the inclination angle, the speed, the acceleration, the yaw angle and the position of the ship in real time and sending the information to the comprehensive data processing center;
the scene reconstruction unit comprises a binocular camera, a laser radar, an ultrasonic ranging module and a three-dimensional point cloud resolving system; the binocular camera is used for collecting photo information of a target wharf, and the ultrasonic ranging module is used for measuring the distance from a ship to the target wharf; the laser radar acquires point cloud data of a target wharf, and three-dimensional scene reconstruction is carried out through the three-dimensional point cloud resolving system; the scene reconstruction unit sends the photo information, the distance information and the three-dimensional scene information to the comprehensive data processing center;
the sensor monitoring unit comprises a sensing element arranged on a ship, and sensing information obtained by the sensing element is sent to the comprehensive data processing center;
the comprehensive data processing center comprises an attitude resolving module, a visual information calculating module and a comprehensive decision-making module; the attitude calculation module fuses information of the positioning system and information of the inertial navigation unit to acquire ship attitude information; the visual information calculation module processes the pictures collected by the binocular camera, obtains distance information and outputs the distance information to the comprehensive decision module for processing; the comprehensive decision-making module evaluates the ship attitude information, the distance information and the three-dimensional scene information and transmits an evaluation result to the control mechanism; the comprehensive data processing center sends ship attitude information, distance information and three-dimensional scene information to the shore-based command center;
the emergency fault handling system is used for starting emergency braking after the ship is in danger; the failure emergency processing system emergently collects data of the sensing element at the collision position through the comprehensive data processing center and transmits the data to the control mechanism; the control mechanism controls the actuating mechanism to carry out emergency braking.
Preferably, the ultrasonic ranging module and the binocular camera measure the distance between the installation position and the detection position in real time in the working process of the ship near the berth, and finally, an optimization algorithm is adopted to carry out optimal estimation on the distance.
Preferably, the laser radar, the ultrasonic ranging module and the binocular cameras are distributed and arranged on the ship body broadside, the distribution rule of the laser radar, the ultrasonic ranging module and the binocular cameras meets the optimization requirement of a binocular ranging algorithm, and the performance of the ultrasonic and the laser radar can be guaranteed to the maximum extent; the binocular camera is used for long-distance ranging, and the ultrasonic ranging module is used for short-distance ranging.
Preferably, the attitude calculation module performs linear fusion on the information of the positioning system and the information of the inertial navigation unit through a kalman filtering algorithm, and finally obtains the optimally estimated ship attitude information.
Preferably, the control mechanism comprises an instruction receiving and processing module, the instruction receiving and processing module processes and compiles an evaluation result transmitted from the comprehensive data processing center, calculates the result through a PID algorithm, and finally outputs an instruction to the execution mechanism; the actuator includes a rudder and a power propulsion device.
Preferably, the ship and the shore-based command center are in wireless communication in a satellite communication mode.
Preferably, the sensing elements comprise a water flow sensor and a wind direction sensor.
A method for berthing a modern ship by using an automatic berthing and berthing system comprises the following steps:
acquiring multi-angle photo information at a target wharf by a binocular camera before sailing, and transmitting the photo information to a comprehensive data processing center; carrying out three-dimensional scene reconstruction on information acquired by the laser radar through a three-dimensional point cloud resolving system and inputting the information into a comprehensive data processing center, and transmitting a three-dimensional scene reconstruction model to a shore-based command center by the comprehensive data processing center;
the positioning system acquires signals of the offshore position and the advancing direction of the ship in real time and sends the signals to the comprehensive data processing center;
the inertial navigation system acquires the information of the inclination angle, the speed, the acceleration, the yaw angle and the position of the ship in real time and sends the information to the comprehensive data processing center;
in the time period from the ship starting to act in the shore to the stopping, an attitude resolving module of the comprehensive data processing center fuses information of a positioning system and information of an inertial navigation unit to obtain ship attitude information; a visual information calculation module of the comprehensive data processing center processes the pictures collected by the binocular camera, obtains distance information and outputs the distance information to the comprehensive decision module for processing; the comprehensive decision-making module evaluates the ship attitude information and the distance information and transmits an evaluation result to the control mechanism;
the comprehensive data processing center sends ship attitude information, photo information, distance information and three-dimensional scene information to a shore-based command center, and the shore-based command center distributes berthing areas and feeds the berthing areas back to the ship;
the control mechanism acquires and compiles an evaluation result sent by the comprehensive data processing center, processes the evaluation result through a Kalman filtering algorithm and a PID algorithm to obtain an instruction, and sends the instruction to the execution mechanism; the execution mechanism receives the instruction of the control mechanism, starts working and drives the whole ship to move;
before berthing stops, the binocular camera is shut down, the ultrasonic ranging module is started up, and short-distance ranging is carried out until berthing stops;
before berthing, if a comprehensive data processing system of the ship breaks down, triggering a failure emergency processing system; the communication line between the integrated data processing center and the control mechanism and the actuating mechanism is immediately cut off, and the ship is operated by a crew or remotely controlled by a shore-based command center;
if the ship collides with other ships, an automatic triggering mode is adopted, the ship can immediately carry out emergency braking, and the comprehensive data processing system can emergently collect data of each sensor and continuously send the sensor data of the collision position to the shore-based command center and the ship master control room; the control mechanism and the execution mechanism keep the posture of the ship according to the processing result;
and if the shore-based command center evaluates that the processing result of the data processing center is wrong, cutting off the control authority of the comprehensive data processing center.
The invention has the beneficial effects that:
the invention provides an automatic berthing and departing system and method for a modern ship, which can realize the visualization of the integrity of the whole berthing process in real time and intuitively by using a three-dimensional scene reconstruction technology, and meanwhile, the processing steps under the emergency condition can be more refined by a fault emergency processing system, so that the loss is reduced to the minimum.
The invention is further described with reference to the following figures and examples.
Drawings
FIG. 1 is a flow chart of a method of operation of a modern automatic berthing and disembarking system of a vessel according to an embodiment of the present invention;
fig. 2 is a layout diagram of main detection elements of a modern automatic ship berthing system according to an embodiment of the invention.
In the figure: 1. a binocular camera; 2. an inertial navigation system; 3. a laser radar.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Examples
An automatic berthing and departing system of a modern ship, as shown in fig. 1-2, comprises a positioning system, an inertial navigation unit, a scene reconstruction unit, a sensor monitoring unit, a comprehensive data processing center, a fault emergency processing system and a shore-based command center;
the positioning system comprises a ship compass, a GPS and a Beidou receiver, and is used for acquiring signals of the offshore position and the advancing direction of the ship in real time and sending the signals to the comprehensive data processing center;
the inertial navigation unit comprises a ship inertial measurement module and is used for acquiring the information of the inclination angle, the speed, the acceleration, the yaw angle and the position of a ship in real time and sending the information to the comprehensive data processing center;
the scene reconstruction unit comprises a binocular camera 1, a laser radar 3, an ultrasonic ranging module and a three-dimensional point cloud resolving system; the binocular camera 1 is used for collecting picture information of a target wharf, and the ultrasonic ranging module measures the distance from a ship to the target wharf; the laser radar 3 acquires point cloud data of a target wharf and carries out three-dimensional scene reconstruction through a three-dimensional point cloud resolving system; the scene reconstruction unit sends the photo information, the distance information and the three-dimensional scene information to the comprehensive data processing center;
the sensor monitoring unit comprises a sensing element arranged on the ship, and sensing information obtained by the sensing element is sent to the comprehensive data processing center;
the comprehensive data processing center comprises an attitude resolving module, a visual information calculating module and a comprehensive decision-making module; the attitude calculation module fuses information of the positioning system and information of the inertial navigation unit to obtain ship attitude information; the visual information calculation module processes the pictures acquired by the binocular camera 1, acquires distance information and outputs the distance information to the comprehensive decision module for processing; the comprehensive decision-making module evaluates the ship attitude information, the distance information and the three-dimensional scene information and transmits an evaluation result to the control mechanism; the comprehensive data processing center sends ship attitude information, distance information and three-dimensional scene information to a shore-based command center;
the failure emergency processing system is used for starting emergency braking after the ship is in danger; the fault emergency processing system emergently collects data of the sensing element at the collision position through the comprehensive data processing center and transmits the data to the control mechanism; the control mechanism controls the actuating mechanism to perform emergency braking.
Further, the ultrasonic ranging module and the binocular camera 1 measure the distance between the installation position and the detection position in real time in the working process that the ship is close to the berth, and finally, the optimal estimation is carried out on the distance by adopting an optimization algorithm.
Preferably, the laser radar 3, the ultrasonic ranging module and the binocular camera 1 are distributed on the ship body broadside, the distribution rule meets the optimization requirement of a binocular ranging algorithm, and the performance of the ultrasonic and the laser radar 3 can be guaranteed to the maximum extent; binocular camera 1 is used for long-range finding, and ultrasonic ranging module is used for closely finding range.
In addition, the attitude calculation module carries out linear fusion on the information of the positioning system and the information of the inertial navigation unit through a Kalman filtering algorithm to finally obtain the optimally estimated ship attitude information.
Furthermore, the control mechanism comprises an instruction receiving and processing module, the instruction receiving and processing module processes and compiles an evaluation result transmitted from the comprehensive data processing center, calculates the result through a PID algorithm and finally outputs an instruction to the execution mechanism; the actuator includes a rudder and a power propulsion device.
Preferably, the ship and the shore-based command center carry out wireless communication in a satellite communication mode.
In addition, the sensing elements include a water flow sensor and a wind direction sensor.
In the present embodiment, the first and second electrodes are,
the binocular camera 1 collects multi-angle photo information at a target wharf before sailing; carrying out three-dimensional scene reconstruction on information acquired by the laser radar 3 through a three-dimensional point cloud resolving system and inputting the information into a comprehensive data processing center, and transmitting a three-dimensional scene reconstruction model to a shore-based command center through the comprehensive data processing center;
the positioning system acquires signals of the offshore position and the advancing direction of the ship in real time and sends the signals to the comprehensive data processing center;
the inertial navigation system 22 acquires information of the inclination angle, the speed, the acceleration, the yaw angle and the position of the ship in real time and sends the information to the comprehensive data processing center;
in the time period from the ship starting to act in the shore to the stopping, an attitude resolving module of the comprehensive data processing center fuses information of a positioning system and information of an inertial navigation unit to obtain ship attitude information; a visual information calculation module of the comprehensive data processing center processes the pictures acquired by the binocular camera 1, obtains distance information and outputs the distance information to the comprehensive decision module for processing; the comprehensive decision-making module evaluates the ship attitude information and the distance information and transmits an evaluation result to the control mechanism;
the comprehensive data processing center sends ship attitude information, photo information, distance information and three-dimensional scene information to a shore-based command center, and the shore-based command center distributes berthing areas and feeds the berthing areas back to the ship;
the control mechanism acquires and compiles an evaluation result sent by the comprehensive data processing center, processes the evaluation result through a Kalman filtering algorithm and a PID algorithm to obtain an instruction, and sends the instruction to the execution mechanism; the execution mechanism receives the instruction of the control mechanism, starts working and drives the whole ship to move;
before berthing stops, the binocular camera 1 is shut down, the ultrasonic ranging module is started, the distance is accurately measured, and the position of the ship is controlled to be finely adjusted;
if the ship has an emergency condition, if the integrated data processing system has a fault, triggering a fault emergency processing system; the communication line between the integrated data processing center and the control mechanism and the actuating mechanism is immediately cut off, and the ship is operated by a crew or remotely controlled by a shore-based command center;
if the ship collides with other ships, an automatic triggering mode is adopted, the ship can immediately carry out emergency braking, and the comprehensive data processing system promptly collects data of each sensor and continuously sends the sensor data of the collision position to the shore-based command center and the ship master control room; the control mechanism and the execution mechanism can keep the posture of the ship according to the processing result;
and if the shore-based command center evaluates that the processing result of the data processing center is wrong, cutting off the control authority of the comprehensive data processing center.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. An automatic berthing and departing system of a modern ship is characterized by comprising a positioning system, an inertial navigation unit, a scene reconstruction unit, a sensor monitoring unit, a comprehensive data processing center, a fault emergency processing system and a shore-based command center;
the positioning system comprises a ship compass, a GPS and a Beidou receiver, and is used for acquiring signals of the offshore position and the advancing direction of a ship in real time and sending the signals to the comprehensive data processing center;
the inertial navigation unit is used for acquiring the information of the inclination angle, the speed, the acceleration, the yaw angle and the position of the ship in real time and sending the information to the comprehensive data processing center;
the scene reconstruction unit comprises a binocular camera, a laser radar, an ultrasonic ranging module and a three-dimensional point cloud resolving system; the binocular camera is used for collecting photo information of a target wharf, and the ultrasonic ranging module is used for measuring the distance from a ship to the target wharf; the laser radar acquires point cloud data of a target wharf, and three-dimensional scene reconstruction is carried out through the three-dimensional point cloud resolving system; the scene reconstruction unit sends the photo information, the distance information and the three-dimensional scene information to the comprehensive data processing center;
the sensor monitoring unit comprises a sensing element arranged on a ship, and sensing information obtained by the sensing element is sent to the comprehensive data processing center;
the comprehensive data processing center comprises an attitude resolving module, a visual information calculating module and a comprehensive decision-making module; the attitude calculation module fuses information of the positioning system and information of the inertial navigation unit to acquire ship attitude information; the visual information calculation module processes the pictures collected by the binocular camera, obtains distance information and outputs the distance information to the comprehensive decision module for processing; the comprehensive decision-making module evaluates the ship attitude information, the distance information and the three-dimensional scene information and transmits an evaluation result to the control mechanism; the comprehensive data processing center sends ship attitude information, distance information and three-dimensional scene information to the shore-based command center;
the emergency fault handling system is used for starting emergency braking after the ship is in danger; the failure emergency processing system emergently collects data of the sensing element at the collision position through the comprehensive data processing center and transmits the data to the control mechanism; the control mechanism controls the actuating mechanism to carry out emergency braking.
2. The automatic berthing and departing system of modern ships according to claim 1, characterized in that the ultrasonic ranging module and the binocular camera measure the distance between the installation position and the detection position in real time during the working process of berthing of the ships, and finally the optimal estimation is carried out on the distance by adopting an optimization algorithm.
3. The automatic berthing and departing system of modern ships according to claim 2, characterized in that the laser radar, the ultrasonic ranging module and the binocular cameras are distributed and arranged on the side of the ship body; the binocular camera is used for long-distance ranging, and the ultrasonic ranging module is used for short-distance ranging.
4. The automatic modern ship berthing and departing system of claim 1, wherein the attitude calculation module performs linear fusion on the information of the positioning system and the information of the inertial navigation unit through a Kalman filtering algorithm to finally obtain the optimally estimated ship attitude information.
5. The automatic alongside and alongside system of modern ship of claim 1, wherein the said control mechanism includes instruction receiving and processing module, the said instruction receiving and processing module processes and compiles the assessment result transmitted from the comprehensive data processing center, and then calculates through PID algorithm, finally output the instruction to the said actuator; the actuator includes a rudder and a power propulsion device.
6. The system of claim 1, wherein the vessel is in wireless communication with the shore-based command center via satellite communication.
7. The modern vessel auto-mooring system of claim 1, wherein the sensing elements comprise a water flow sensor and a wind direction sensor.
8. A method for berthing a modern ship by using an automatic berthing and berthing system is characterized by comprising the following steps:
acquiring multi-angle photo information at a target wharf by a binocular camera before sailing, and transmitting the photo information to a comprehensive data processing center; carrying out three-dimensional scene reconstruction on information acquired by the laser radar through a three-dimensional point cloud resolving system and inputting the information into a comprehensive data processing center, and transmitting a three-dimensional scene reconstruction model to a shore-based command center by the comprehensive data processing center;
the positioning system acquires signals of the offshore position and the advancing direction of the ship in real time and sends the signals to the comprehensive data processing center;
the inertial navigation system acquires the information of the inclination angle, the speed, the acceleration, the yaw angle and the position of the ship in real time and sends the information to the comprehensive data processing center;
in the time period from the ship starting to act in the shore to the stopping, an attitude resolving module of the comprehensive data processing center fuses information of a positioning system and information of an inertial navigation unit to obtain ship attitude information; a visual information calculation module of the comprehensive data processing center processes the pictures collected by the binocular camera, obtains distance information and outputs the distance information to the comprehensive decision module for processing; the comprehensive decision-making module evaluates the ship attitude information and the distance information and transmits an evaluation result to the control mechanism;
the comprehensive data processing center sends ship attitude information, photo information, distance information and three-dimensional scene information to a shore-based command center, and the shore-based command center distributes berthing areas and feeds the berthing areas back to the ship;
the control mechanism acquires and compiles an evaluation result sent by the comprehensive data processing center, processes the evaluation result through a Kalman filtering algorithm and a PID algorithm to obtain an instruction, and sends the instruction to the execution mechanism; the execution mechanism receives the instruction of the control mechanism, starts working and drives the whole ship to move;
before berthing stops, the binocular camera is shut down, the ultrasonic ranging module is started up, and short-distance ranging is carried out until berthing stops;
before berthing, if a comprehensive data processing system of the ship breaks down, triggering a failure emergency processing system; the communication line between the integrated data processing center and the control mechanism and the actuating mechanism is immediately cut off, and the ship is operated by a crew or remotely controlled by a shore-based command center;
if the ship collides with other ships, an automatic triggering mode is adopted, the ship can immediately carry out emergency braking, and the comprehensive data processing system can emergently collect data of each sensor and continuously send the sensor data of the collision position to the shore-based command center and the ship master control room; the control mechanism and the execution mechanism keep the posture of the ship according to the processing result;
and if the shore-based command center evaluates that the processing result of the data processing center is wrong, cutting off the control authority of the comprehensive data processing center.
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Application publication date: 20201106 |