CN113120187A - Cargo loading and positioning method for semi-submersible ship - Google Patents
Cargo loading and positioning method for semi-submersible ship Download PDFInfo
- Publication number
- CN113120187A CN113120187A CN202110533155.1A CN202110533155A CN113120187A CN 113120187 A CN113120187 A CN 113120187A CN 202110533155 A CN202110533155 A CN 202110533155A CN 113120187 A CN113120187 A CN 113120187A
- Authority
- CN
- China
- Prior art keywords
- semi
- ship
- loading
- submersible
- positioning
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 18
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 30
- 230000000007 visual effect Effects 0.000 claims description 10
- 238000012544 monitoring process Methods 0.000 claims description 9
- 238000013528 artificial neural network Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 3
- 238000003062 neural network model Methods 0.000 claims description 3
- 238000012549 training Methods 0.000 claims description 3
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B79/00—Monitoring properties or operating parameters of vessels in operation
- B63B79/10—Monitoring properties or operating parameters of vessels in operation using sensors, e.g. pressure sensors, strain gauges or accelerometers
- B63B79/15—Monitoring properties or operating parameters of vessels in operation using sensors, e.g. pressure sensors, strain gauges or accelerometers for monitoring environmental variables, e.g. wave height or weather data
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Atmospheric Sciences (AREA)
- Environmental & Geological Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Navigation (AREA)
Abstract
The invention relates to the field of loading and positioning, and particularly provides a cargo loading and positioning method for a semi-submersible ship. Compared with the prior art, the invention can greatly shorten the loading time, improve the positioning precision and protect the safety of the loading operation.
Description
Technical Field
The invention relates to the field of loading positioning, and particularly provides a cargo loading positioning method for a semi-submersible ship.
Background
The semi-submersible ship is also called a semi-submersible mother ship, and the cargo loading deck is submerged through the adjustment of ballast water of the semi-submersible ship so as to float specific cargo (such as barges, yachts, ships, drilling platforms and the like) to be carried from a specified position onto the cargo loading deck of the semi-submersible ship and transport the cargo to the specified position.
The existing semi-submersible ship loading operation highly depends on the working experience of operators, lacks intelligent operation guidance, and seriously causes the collision of large cargos with the semi-submersible ship and a ship pier, harms the safety of the ship, and cannot finish the loading operation quickly and well.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a cargo loading and positioning method for a semi-submersible ship with strong practicability.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a cargo loading and positioning method for a semi-submersible ship comprises the steps of placing a plurality of current meters in a water body environment near a loading ship, collecting three-dimensional water flow movement monitoring data of a semi-submersible ship operation water area, placing a gyroscope on the loading ship, obtaining a real-time movement trend of the semi-submersible ship by using the gyroscope, installing a visual positioning camera at a fixed point of the loading ship, and judging a relative position by using the visual positioning camera so as to obtain a movement trend of the semi-submersible ship.
Preferably, the adopted current meter is a direct-reading current meter.
Further, the direct-reading type current meter acquires the water flow speed and the water flow direction of a water body near the loading ship, and acquires three-dimensional water flow motion monitoring data of a semi-submersible ship operation water area according to different placement positions and depths of the direct-reading type current meter.
And further, obtaining a three-dimensional motion direction prediction model of the semi-submersible loading ship according to the three-dimensional water flow motion monitoring data and the real-time motion trend of the semi-submersible ship.
Furthermore, the visual positioning camera is used for realizing the distance measurement between the camera and the target position in the visual range, and the positioning guide direction is given by combining the prediction result of the three-dimensional motion direction prediction model.
Furthermore, data obtained by a plurality of direct-reading current meters and gyroscopes at the same time point are used as input of the neural network model.
Further, gyroscope data after a certain time interval is used as output, and a prediction model of the water flow movement-semi-submersible ship movement trend around the semi-submersible ship is obtained by combining neural network training.
Furthermore, when the set cargo positioning point appears in the recognition range of the camera, the relative position of the loading ship fixing point and the cargo positioning point can be used for judging, and the motion trend of the semi-submersible ship can be obtained by combining the model prediction.
Compared with the prior art, the cargo loading and positioning method for the semi-submersible ship has the following outstanding beneficial effects:
the invention uses the direct-reading current meter, the gyroscope and the vision positioning camera to realize dynamic accurate positioning in a certain range, assists the loading ship to load large cargos, can greatly shorten the loading time, improve the positioning accuracy and protect the safety of the loading operation.
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 introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a flow diagram of a cargo loading and positioning method for a semi-submersible ship.
Detailed Description
The present invention will be described in further detail with reference to specific embodiments in order to better understand the technical solutions of the present invention. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
A preferred embodiment is given below:
as shown in fig. 1, in the cargo loading and positioning method for the semi-submersible vessel in the embodiment, first, a plurality of direct-reading current meters are placed in the water environment near the loading vessel, and three-dimensional water flow movement monitoring data of the operating water area of the semi-submersible vessel are acquired. The gyroscope is placed on the loading ship, the gyroscope is used for obtaining the real-time movement trend of the semi-submersible ship, the visual positioning camera is installed at the fixed point of the loading ship and used for judging the relative position, and therefore the movement trend of the semi-submersible ship is obtained.
The direct-reading type current meter acquires the water flow speed and the water flow direction of a water body near a loading ship, and acquires three-dimensional water flow motion monitoring data of a semi-submersible ship operation water area according to different placement positions and depths of the direct-reading type current meter.
And obtaining a three-dimensional motion direction prediction model of the semi-submersible loading ship according to the three-dimensional water flow motion monitoring data and the real-time motion trend of the semi-submersible ship.
And taking data obtained by a plurality of direct-reading current meters and gyroscopes at the same time point as the input of the neural network model. In this embodiment, the gyroscope data after 1 second is used as output, and a prediction model (one-ship one-model) of the current movement around the semi-submersible ship and the movement trend of the semi-submersible ship is obtained by combining with neural network training.
And (3) distance measurement between the camera and the target position within the visual range is realized by using the visual positioning camera, and the positioning guide direction is given by combining the prediction result of the three-dimensional motion direction prediction model. When the set cargo positioning point appears in the recognition range of the camera, the relative position of the fixed point of the loading ship and the cargo positioning point can be used for judging, the motion trend of the semi-submersible ship is obtained by combining the prediction according to the model, and the suggestion on the ship operation is intelligently given.
The above embodiments are only specific ones of the present invention, and the scope of the present invention includes but is not limited to the above embodiments, and any suitable changes or substitutions that are required by a person of ordinary skill in the art and in accordance with the claims of a method for positioning and loading cargo on a semi-submersible vessel according to the present invention shall fall within the scope of the present invention.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. A cargo loading and positioning method for a semi-submersible ship is characterized in that a plurality of current meters are placed in a water body environment near a loading ship, three-dimensional water flow movement monitoring data of a semi-submersible ship operation water area are collected, a gyroscope is placed on the loading ship, the gyroscope is used for obtaining a real-time movement trend of the semi-submersible ship, a visual positioning camera is installed at a fixed point of the loading ship and used for judging a relative position, and therefore the movement trend of the semi-submersible ship is obtained.
2. The method for loading and positioning the cargo of the semi-submersible ship according to claim 1, wherein the adopted current meter is a direct-reading current meter.
3. The method for loading and positioning the cargo of the semi-submersible ship according to claim 2, wherein the direct-reading current meter acquires the water flow velocity and the water flow direction of the water body near the loading ship, and acquires three-dimensional water flow motion monitoring data of the operation water area of the semi-submersible ship according to different placement positions and depths of the direct-reading current meter.
4. The cargo loading and positioning method for the semi-submersible ship according to claim 3, wherein a three-dimensional motion direction prediction model of the semi-submersible loading ship is obtained according to the three-dimensional water flow motion monitoring data and the real-time motion trend of the semi-submersible ship.
5. The semi-submersible ship cargo loading and positioning method according to claim 4, characterized in that a visual positioning camera is used for realizing distance measurement between a camera visual range and a target position, and a positioning guide direction is given by combining a prediction result of a three-dimensional motion direction prediction model.
6. The semi-submersible ship cargo loading and positioning method according to claim 4, wherein data obtained by a plurality of direct-reading current meters and gyroscopes at the same time point is used as input of the neural network model.
7. The semi-submersible ship cargo loading and positioning method according to claim 6, characterized in that gyroscope data after a certain time interval is used as output, and a prediction model of water flow movement around the semi-submersible ship-movement trend is obtained by combining neural network training.
8. The method for loading and positioning the cargo of the semi-submersible ship according to claim 1, wherein when the set cargo positioning point is within the identification range of the camera, the relative position between the fixed point of the loading ship and the cargo positioning point is used for judgment, and the motion trend of the semi-submersible ship is obtained by combining model prediction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110533155.1A CN113120187A (en) | 2021-05-17 | 2021-05-17 | Cargo loading and positioning method for semi-submersible ship |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110533155.1A CN113120187A (en) | 2021-05-17 | 2021-05-17 | Cargo loading and positioning method for semi-submersible ship |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113120187A true CN113120187A (en) | 2021-07-16 |
Family
ID=76782724
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110533155.1A Pending CN113120187A (en) | 2021-05-17 | 2021-05-17 | Cargo loading and positioning method for semi-submersible ship |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113120187A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1732417A (en) * | 2002-12-30 | 2006-02-08 | 海运控制公司 | System and method for testing a control system of a marine vessel |
| EP2506235A2 (en) * | 2011-03-28 | 2012-10-03 | The Boeing Company | Methods and systems for predicting ship motion |
| CN103253357A (en) * | 2013-02-04 | 2013-08-21 | 中国科学院自动化研究所北仑科学艺术实验中心 | Control method for ship posture display device |
| CN204007625U (en) * | 2014-08-12 | 2014-12-10 | 中船重工（武汉）船舶与海洋工程装备设计有限公司 | A kind of semi-submerged ship loads locating device |
| US20180105236A1 (en) * | 2016-10-18 | 2018-04-19 | International Business Machines Corporation | Proactive control of watercraft movement based on water surface features |
| CN110345943A (en) * | 2018-04-02 | 2019-10-18 | 哈尔滨工业大学（威海） | Ship attitude monitoring and forecasting system and forecasting method thereof |
| CN110753894A (en) * | 2017-06-15 | 2020-02-04 | Abb瑞士股份有限公司 | Controlling a vessel |
-
2021
- 2021-05-17 CN CN202110533155.1A patent/CN113120187A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1732417A (en) * | 2002-12-30 | 2006-02-08 | 海运控制公司 | System and method for testing a control system of a marine vessel |
| EP2506235A2 (en) * | 2011-03-28 | 2012-10-03 | The Boeing Company | Methods and systems for predicting ship motion |
| CN103253357A (en) * | 2013-02-04 | 2013-08-21 | 中国科学院自动化研究所北仑科学艺术实验中心 | Control method for ship posture display device |
| CN204007625U (en) * | 2014-08-12 | 2014-12-10 | 中船重工（武汉）船舶与海洋工程装备设计有限公司 | A kind of semi-submerged ship loads locating device |
| US20180105236A1 (en) * | 2016-10-18 | 2018-04-19 | International Business Machines Corporation | Proactive control of watercraft movement based on water surface features |
| CN110753894A (en) * | 2017-06-15 | 2020-02-04 | Abb瑞士股份有限公司 | Controlling a vessel |
| CN110345943A (en) * | 2018-04-02 | 2019-10-18 | 哈尔滨工业大学（威海） | Ship attitude monitoring and forecasting system and forecasting method thereof |
Non-Patent Citations (2)
| Title |
|---|
| 倪涛等: "《海洋平台设备与系统》", 31 May 2017 * |
| 杨玥: "Truss Spar平台在装船、运输、浮卸过程中的水动力性能及结构强度研究", 《中国优秀博硕士学位论文全文数据库(硕士) 工程科技Ⅱ辑》 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104916166A (en) | Bridge anti-collision warning system and realization method | |
| CN103531043B (en) | Based on the boats and ships point-to-point hours underway evaluation method of course line coupling | |
| CN105390028B (en) | The correcting method and system of ship's navigation track | |
| CN107577230A (en) | A kind of intelligent avoidance collision system towards unmanned boat | |
| US11772758B2 (en) | Apparatus, method, and recording medium for autonomous ship navigation | |
| CN204257002U (en) | A kind of boats and ships are by the safety navigation backup system of ship lock | |
| CN104123855B (en) | A kind of boats and ships pass through safety navigation backup system and the method for ship lock | |
| CN110133659A (en) | A kind of Novel surface naval vessel is assisted from berthing pilotage device and method | |
| CN109460021A (en) | Intelligently navigation can meet track identification actuarial collision avoidance system to ship | |
| KR101959927B1 (en) | Apparatus and methods for the launch and recovery of craft from and to a host ship | |
| RU2467914C1 (en) | Method of ship navigability control and device to this end | |
| CN117232520A (en) | Ship intelligent navigation system and navigation method suitable for offshore navigation | |
| CN105464049A (en) | Real-time testing-controlling acceptance system for deepwater dumping ship and construction method | |
| RU2277495C1 (en) | Method of automatic pilotage of ships | |
| CN115601998A (en) | Inland ship navigation collision avoidance method and system | |
| CN113120187A (en) | Cargo loading and positioning method for semi-submersible ship | |
| CN109398615B (en) | Deep sea laying method of sinking block for buoy | |
| US20210285771A1 (en) | Method for evaluating shallow water influence | |
| CN116486252A (en) | Intelligent unmanned search and rescue system and search and rescue method based on improved PV-RCNN target detection algorithm | |
| Verwilligen et al. | Full-scale measurements to assess squat and vertical motions in exposed shallow water | |
| Reichert et al. | X-Band radar derived sea surface elevation maps as input to ship motion forecasting | |
| CN114089750A (en) | Semi-physical unmanned ship berthing system based on artificial potential field method and evaluation method | |
| CN102736079A (en) | Realization method for tracing boats at state of passing through bridges by using boat traffic navigation system | |
| Du | Study on the bridge-waters area ship safety collision avoidance navigation system | |
| CN111984006A (en) | Unmanned ship multi-target meeting collision avoidance method integrating ocean current and scale difference influences |
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 | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210716 |