CN115542919A - Intelligent berthing and port-berthing method for ship - Google Patents
Intelligent berthing and port-berthing method for ship Download PDFInfo
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- CN115542919A CN115542919A CN202211308992.5A CN202211308992A CN115542919A CN 115542919 A CN115542919 A CN 115542919A CN 202211308992 A CN202211308992 A CN 202211308992A CN 115542919 A CN115542919 A CN 115542919A
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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Abstract
The invention discloses an intelligent ship berthing and berthing method which comprises the steps of obtaining a ship berthing information list of a pre-berthed wharf, wherein the ship berthing information comprises berth position information, berth states and residual berthing duration, and selecting a first berthable position in the ship berthing information list; selecting a first berthable position in the ship berthing information list comprises the following steps: s1, calculating the distance between a ship and a berth according to berth position information, and sequencing the distances between the ship and the berth from short to long in sequence; s2, sequentially judging whether the berth state is an empty berth according to the sequencing order, if so, entering a berthing program, if not, judging whether the residual berthing time meets the preset condition, if so, entering the berthing program, and if not, sending information not allowing berthing, updating a ship berthing information list and entering the step S1 again; the method has the advantages of reducing labor cost, improving the berthing efficiency of ships, and the like.
Description
Technical Field
At present, ships enter ports and lean against the wharf, the ships are mainly berthed on the shore by means of guidance of port authorities and dragging of tugboats or manual operation of crews and the like, and the ships need to spend great manpower and material resources and are low in efficiency.
With the rapid development of artificial intelligence technology, technologies such as intelligent automatic driving and automatic berthing are greatly improved, and meanwhile, the intelligent automatic driving and automatic berthing technology is more and more applied to equipment such as automobiles and unmanned aerial vehicles, and great convenience is brought to corresponding industries, so that the intelligent automatic berthing technology is necessary to be applied to the field of ships in order to solve the problems that a large amount of manpower and material resources are needed to be spent and the efficiency is low when ships are berthed at present, part of automatic berthing technologies exist in the prior art, but in most cases of the automatic berthing technology in the prior art, only empty berths are considered to be selected for berthing, berthing after waiting for berthing cannot be selected, the efficiency is low, and the ship queuing time is increased.
Therefore, the intelligent berthing and berthing method for the ship can solve the problems.
Background
At present, ships enter ports and lean against the wharf, the ships are mainly berthed on the shore by means of guidance of port authorities and dragging of tugboats or manual operation of crews and the like, and the ships need to spend great manpower and material resources and are low in efficiency.
With the rapid development of artificial intelligence technology, technologies such as intelligent automatic driving and automatic berthing are greatly improved, and meanwhile, the intelligent automatic driving and automatic berthing technology is more and more applied to equipment such as automobiles and unmanned aerial vehicles, and great convenience is brought to corresponding industries, so that the intelligent automatic berthing technology is necessary to be applied to the field of ships in order to solve the problems that a large amount of manpower and material resources are needed when ships are berthed at present and the efficiency is low.
Therefore, the intelligent berthing and port-berthing method for the ship can solve the problems.
Disclosure of Invention
The invention aims to solve the technical problem that in most cases of automatic berthing technologies in the prior art, only selection of empty berths for berthing is considered, berths which are going out of berths cannot be selected for berthing after waiting, efficiency is low, and ship queuing time is increased, so that an intelligent ship berthing and berthing method is provided, and comprises the following steps:
acquiring a ship berthing information list of a pre-berthed wharf, wherein the ship berthing information comprises berth position information, berth states and residual berthing duration, and selecting a first berthable position in the ship berthing information list; the selecting a first berthable position in the ship berthing information list comprises the following steps: s1, calculating the distance between a ship and a berth according to berth position information, and sequencing the distances between the ship and the berth from short to long in sequence; s2, sequentially judging whether the berth state is an empty berth according to the sequencing order, if so, selecting the first berth capable of berthing, entering a berthing program, if not, judging whether the residual berthing time meets the preset conditions, if so, selecting the first berth capable of berthing, entering the berthing program, if not, sending information not allowing berthing, updating a ship berthing information list, and entering the step S1 again;
the docking procedure includes: sending a docking request to the pre-docking dock, acquiring environmental information and meteorological information of an area where the ship is located after receiving docking permission information sent by the pre-docking dock, and acquiring berth position information of the ship and the first berthable position to generate a berth path;
and adjusting the current driving direction of the ship in time according to the berth path.
Further, a docking request is sent to the pre-docking wharf, and after receiving the information for allowing docking sent by the pre-docking wharf;
the docking request includes: the size of the vessel, the weight of the vessel, and the selected first berthable position.
Further, whether the remaining parking duration satisfies a preset condition is whether the remaining parking duration is less than one hour.
Further, acquiring environmental information of the area where the ship is located includes: the method comprises the steps of collecting an image of an area where a ship is located through an image collecting device loaded on the ship, converting the image into two-dimensional data, identifying the image according to a drawing matching algorithm, and obtaining obstacle information and drivable area information of the area of the ship.
Further, timely adjusting the current driving position of the ship according to the berthing path includes: and controlling a steering engine device and a propelling device of the ship according to the berth path, and controlling the steering of the ship and the advancing or retreating of the ship in time.
Further, after the ship is berthed at the first berthable berth, the method further comprises the following steps: and sending berthing completion information to the pre-berthing wharf, so that the pre-berthing wharf can timely detect whether the current berthing position of the ship is the same as the first berthing position after receiving the berthing completion information, and sending a corresponding alarm prompt to the ship according to a judgment result.
Further, the docking program further comprises: sending a berthing request to the pre-berthing wharf, obtaining environmental information and meteorological information of an area where the ship is located after receiving berthing permission information sent by the pre-berthing wharf, obtaining the remaining berthing duration, the position of the ship body and the berthing position of the first berthable position, and generating a temporary berthing point and a berthing path according to the information.
The implementation of the invention has the following beneficial effects:
1. according to the invention, based on the communication connection established between the ship and the pre-berthing wharf, the berthable list of the pre-berthing wharf is obtained, so that the ship can automatically select the first berthable position closest to the ship directly according to the obtained berthable list, and sends a berthing request to the pre-berthing wharf, thereby realizing automatic selection and reducing the working pressure of related personnel; meanwhile, when the first berthable ship is selected, the berth which is going out of the berth is also taken into consideration, the time from the ship to the berth is fully utilized under the condition that no empty berth exists, the berth-out of the ship which is in the berth is completed, and the berth efficiency of the ship is improved.
Drawings
FIG. 1 is a flow chart of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.
Examples
Referring to the drawings in the specification, the technical problem to be solved in this embodiment is that, in most cases, in the automatic berthing technology in the prior art, only selection of an empty berth for berthing is considered, and a berth that is going out of berth cannot be selected for berthing after waiting, which is inefficient and increases the queuing time of ships, so that an intelligent berthing and berthing method for ships is provided, and the intelligent berthing and berthing method for ships includes:
acquiring a ship berthing information list of a pre-berthing wharf, wherein the ship berthing information comprises berth position information, berth states and residual berthing duration, and selecting a first berthable position in the ship berthing information list; selecting a first berthable position in the ship berthing information list comprises the following steps: s1, calculating the distance between a ship and a berth according to berth position information, and sequencing the distances between the ship and the berth from short to long in sequence; s2, sequentially judging whether the berth state is an empty berth according to the sequencing order, if so, selecting the first berth capable of berthing, entering a berthing program, if not, judging whether the residual berthing time meets the preset conditions, if so, selecting the first berth capable of berthing, entering the berthing program, if not, sending information not allowing berthing, updating a ship berthing information list, and entering the step S1 again;
when the berthing state of the first berthable berth is an empty berthing, the berthing procedure is as follows: sending a berthing request to a pre-berthing wharf, acquiring environmental information and meteorological information of an area where a ship is located after receiving berthing permission information sent by the pre-berthing wharf, and acquiring berth position information of the ship and a first berthable berth to generate a berth path;
in the case that the berthing status of the first berthable berth is not an empty berth, the berthing procedure is: sending a berthing request to the pre-berthing wharf, obtaining environmental information and meteorological information of an area where the ship is located after receiving berthing permission information sent by the pre-berthing wharf, obtaining the remaining berthing duration, the position of the ship body and the berthing position of the first berthable position, and generating a temporary berthing point and a berthing path according to the information.
And adjusting the running direction of the current ship in time according to the berth path.
Sending a docking request to the pre-docking dock, and after receiving the information of allowing docking sent by the pre-docking dock;
the landing requests include: the size of the vessel, the weight of the vessel and the selected first berthable.
Whether the remaining berthing duration meets the preset condition is whether the remaining berthing duration is less than one hour, and the normal ship berthing time is about one hour, so the remaining berthing duration is selected as one hour in the embodiment.
The method for acquiring the environmental information of the area where the ship is located comprises the following steps: the method comprises the steps of collecting an image of an area where a ship is located through an image collecting device loaded on the ship, converting the image into two-dimensional data, identifying the image according to a drawing matching algorithm, and obtaining obstacle information and pilotable area information of the ship area.
The method for timely adjusting the driving direction of the current ship according to the berth route comprises the following steps: and controlling a steering engine device and a propulsion device of the ship according to the berth path, and controlling the steering of the ship and the advancing or retreating of the ship in time.
After the ship is berthed at the first berth, the method further comprises the following steps: and sending berthing completion information to the pre-berthing wharf, so that the pre-berthing wharf can timely detect whether the current berthing position of the ship is the same as the first berthing position after receiving the berthing completion information, and sending corresponding alarm prompt to the ship according to the judgment result.
In this embodiment, the berth is cooperatively installed with corresponding devices for providing berth information, including but not limited to a positioner for providing position information, a timer for providing remaining berth time, an alarm device for providing an alarm prompt, and a berth information providing device for providing berth state, the berth is cooperatively installed with corresponding information interaction devices including but not limited to a corresponding device, in the whole berthing process, a ship acquires berth list information of the ship at the dock from the dock through information interaction, the berth list information of the ship provides berth position information, berth state information and remaining berth time information, the remaining berth time information is obtained after the expected berth time actively provided by the ship when the ship enters the berth is counted down by the timer, the ship starts to select a first reliable berth after receiving the information, and the step of selecting the first reliable berth is:
the first step is as follows: calculating the distance between the ship and the berth according to the berth position information, and sequencing the distances between the ship and the berth from short to long in sequence;
the second step is that: sequentially judging whether the berth state is an empty berth according to the sequencing order;
when the berth state is an empty berth, selecting the first berth as a berthable berth, sending a berthing request to the pre-berthing wharf, acquiring environmental information and meteorological information of an area where the ship is located after receiving berthing permission information sent by the pre-berthing wharf, acquiring the remaining berthing duration, the position of a ship body and the berthing position of the first berthable berth, and generating a temporary berthing point and a berthing path according to the information;
when the berthing state is that a ship is berthed, judging whether the remaining berthing time is less than a preset time, wherein the preset time is one hour in the embodiment; when the remaining parking time is less than one hour, selecting the first berthable position as a first berthable position, and when the berth state of the first berthable position is not an empty berthable position, the parking procedure is as follows: sending a docking request to a pre-docking wharf, after receiving docking permission information sent by the pre-docking wharf, acquiring environmental information and meteorological information of an area where a ship is located, acquiring the remaining docking duration, the position of a ship body and the position of a first berthable position, and generating a temporary docking point and a berthing path according to the information; if the remaining berthing time is less than an hour, sending the information of not allowing berthing, updating the ship berthing information list for reselection, and if the selection is not performed within a period of time, selecting to quit queuing or continue the selection, wherein in the embodiment, the time of selecting the time of not reaching the first berthable position can be set;
and finally, when the berth position is selected, controlling a steering engine device and a propulsion device of the ship according to the berth path, controlling the steering of the ship and the advancing or retreating of the ship in time, and actively leaving when the berth position is not selected.
In the description of the present invention, it is to be understood that the terms "coaxial", "bottom", "one end", "top", "middle", "other end", "upper", "one side", "top", "inner", "front", "center", "both ends", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "disposed," "connected," "secured," "screwed" and the like are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; the terms may be directly connected or indirectly connected through an intermediate, and may be communication between two elements or interaction relationship between two elements, unless otherwise specifically limited, and the specific meaning of the terms in the present invention will be understood by those skilled in the art according to specific situations.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various 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 (7)
1. An intelligent berthing and port-berthing method for ships is characterized by comprising the following steps:
acquiring a ship berthing information list of a pre-berthed wharf, wherein the ship berthing information comprises berth position information, berth states and residual berthing duration, and selecting a first berthable position in the ship berthing information list; selecting a first berthable position of the ship in the berthing information list comprises the following steps: s1, calculating the distance between a ship and a berth according to berth position information, and sequencing the distances between the ship and the berth from short to long in sequence; s2, sequentially judging whether the berth state is an empty berth according to the sequencing order, if so, selecting the first berth capable of berthing, entering a berthing program, if not, judging whether the residual berthing time meets the preset conditions, if so, selecting the first berth capable of berthing, entering the berthing program, and if not, sending information not allowing berthing, updating a ship berthing information list, and entering the step S1 again;
the docking program includes: sending a berthing request to the pre-berthing wharf, acquiring environmental information and meteorological information of an area where the ship is located after receiving berthing permission information sent by the pre-berthing wharf, acquiring berth position information of the ship and the first berthable berth, and generating a berth path according to the information;
and adjusting the current driving direction of the ship in time according to the berthing path.
2. The intelligent berthing and berthing method for ships according to claim 1, characterized in that a berthing request is sent to the pre-berthing wharf, and after receiving berthing permission information sent by the pre-berthing wharf;
the docking request includes: the size of the vessel, the weight of the vessel and the selected first berthable.
3. The intelligent berthing method for ships according to claim 2, wherein whether the remaining berthing time period satisfies a preset condition is whether the remaining berthing time period is less than one hour.
4. The intelligent berthing and berthing method according to claim 3, wherein acquiring environmental information of the area where the ship is located comprises: the method comprises the steps of collecting an image of an area where a ship is located through an image collecting device loaded on the ship, converting the image into two-dimensional data, identifying the image according to a drawing matching algorithm, and obtaining obstacle information and drivable area information of the area of the ship.
5. The intelligent berthing and berthing method for ships according to claim 4, wherein the timely adjustment of the current driving direction of the ship according to the berthing path comprises: and controlling a steering engine device and a propulsion device of the ship according to the berth path, and controlling the steering of the ship and the advancing or retreating of the ship in time.
6. The intelligent berthing, harbor berthing method according to claim 5, wherein the vessel berths at the first berthable berth, further comprising: and sending berthing completion information to the pre-berthing wharf, so that the pre-berthing wharf can timely detect whether the current berthing position of the ship is the same as the first berthing position after receiving the berthing completion information, and sending a corresponding alarm prompt to the ship according to a judgment result.
7. The intelligent berthing, berthing method of claim 6, wherein the berthing program further comprises: sending a berthing request to the pre-berthing wharf, obtaining environmental information and meteorological information of an area where the ship is located after receiving berthing permission information sent by the pre-berthing wharf, obtaining the remaining berthing duration, the position of the ship body and the berthing position of the first berthable position, and generating a temporary berthing point and a berthing path according to the information.
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| CN116403441A (en) * | 2023-06-09 | 2023-07-07 | 广船国际有限公司 | Scheduling method, device, equipment and medium for ship arrival and departure |
| CN117252341A (en) * | 2023-09-27 | 2023-12-19 | 江苏泓鑫科技有限公司 | Intelligent port environment equipment data management system and method |
| CN117437810A (en) * | 2023-10-25 | 2024-01-23 | 亿海蓝（北京）数据技术股份公司 | Method and device for determining ship berthing time and readable storage medium |
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| CN117437810A (en) * | 2023-10-25 | 2024-01-23 | 亿海蓝（北京）数据技术股份公司 | Method and device for determining ship berthing time and readable storage medium |
| CN117437810B (en) * | 2023-10-25 | 2024-02-23 | 亿海蓝（北京）数据技术股份公司 | Method and device for determining ship berthing time and readable storage medium |
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| CN115542919B (en) | 2024-09-27 |
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