CN115542919B - Intelligent ship berthing backrest port enterprise method - Google Patents
Intelligent ship berthing backrest port enterprise method Download PDFInfo
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- CN115542919B CN115542919B CN202211308992.5A CN202211308992A CN115542919B CN 115542919 B CN115542919 B CN 115542919B CN 202211308992 A CN202211308992 A CN 202211308992A CN 115542919 B CN115542919 B CN 115542919B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
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Abstract
The invention discloses an intelligent berthing and leaning port enterprise method for ships, wherein the intelligent berthing and leaning port enterprise method for ships comprises the steps of obtaining a ship berthing information list of a pre-berthing wharf, wherein the ship berthing information comprises berthing position information, berthing states and residual berthing duration, and selecting a first berthing position of the ship in the berthing information list; selecting a first berthable berth of the vessel in the berthing information list comprises: s1, calculating the distance between the ship and the berth according to berth position information, and sequencing the distances between the ship and the berth in sequence from short to long; s2, judging whether the berth state is an empty berth according to the ordered sequence, if yes, entering a berth program, if not, judging whether the residual berth duration meets the preset condition, if yes, entering the berth program, if not, sending non-permitted berth information, and updating a ship berth information list to reenter the step S1; has the advantages of reducing labor cost, improving the berthing efficiency of ships and the like.
Description
Technical Field
At present, when a ship enters a port and approaches a wharf, the ship is berthed by mainly guiding by a water taker of a port authorities and dragging by a tug or manually operating by the crews, so that great manpower and material resources are required, and the efficiency is low.
With the rapid development of artificial intelligence technology, intelligent autopilot, automatic berth and other technologies are greatly improved, and meanwhile, the intelligent autopilot and automatic berth technology is more and more applied to equipment such as automobiles, unmanned aerial vehicles and the like, and great use convenience is brought to corresponding industries, so that the intelligent autopilot technology is necessary to solve the problems that a great deal of manpower and material resources are required to be spent when ships are berthed at present and the efficiency is low, and the intelligent autopilot technology is applied to the field of ships, and part of the autopilot technology is already available in the prior art, but the autopilot technology in the prior art only considers to select an empty berth for berth under most conditions, and the berth waiting for berth being berthed can not be selected, so that the efficiency is low and the queuing time of the ships is increased.
Therefore, the intelligent berthing method port enterprise for the ship can solve the problems.
Background
At present, when a ship enters a port and approaches a wharf, the ship is berthed by mainly guiding by a water taker of a port authorities and dragging by a tug or manually operating by the crews, so that great manpower and material resources are required, and the efficiency is low.
With the rapid development of artificial intelligence technology, intelligent autopilot, automatic berth and other technologies are greatly improved, and meanwhile, the intelligent autopilot and automatic berth technology is more and more applied to equipment such as automobiles, unmanned aerial vehicles and the like, and great use convenience is brought to corresponding industries, so that the intelligent autopilot technology is necessary to solve the problems that a great deal of manpower and material resources are required to be spent when ships are berthed at present and the efficiency is low, and the intelligent autopilot technology is applied to the field of ships, and part of the autopilot technology is already available in the prior art, but the autopilot technology in the prior art only considers to select an empty berth for berth under most conditions, and the berth waiting for berth being berthed can not be selected, so that the efficiency is low and the queuing time of the ships is increased.
Therefore, the intelligent berthing method port enterprise for the ship can solve the problems.
Disclosure of Invention
The invention aims to solve the technical problems that in the prior art, the automatic berthing technology only considers the choice of an empty berth for berthing under most conditions, the berthing waiting for the berthing being berthed cannot be selected for berthing, and the efficiency is low, so that the queuing time of a ship is increased, and therefore, the intelligent berthing method port enterprise for the ship is provided, and the intelligent berthing method port enterprise for the ship comprises the following steps:
Acquiring a ship berthing information list of a pre-berthing wharf, wherein the ship berthing information comprises berthing position information, berthing states and residual berthing duration, and selecting a first berthing possible berthing of the ship in the berthing information list; the selecting the first berthable berth of the ship in the berthing information list comprises: s1, calculating the distance between the ship and the berth according to berth position information, and sequencing the distances between the ship and the berth in sequence from short to long; s2, judging whether the berth state is an empty berth according to the ordered sequence, if yes, selecting the berth state as a first berth capable of berthing, entering a berthing program, if not, judging whether the residual berthing duration meets the preset condition, if the residual berthing duration meets the preset condition, selecting the berth capable of berthing as the first berthing, entering the berthing program, if the residual berthing duration does not meet the preset condition, transmitting non-permitted berthing information, updating the ship in a berthing information list, and re-entering the step S1;
The docking program includes: sending a berthing request to the pre-berthing wharf, after receiving the berthing permission information sent by the pre-berthing wharf, acquiring environment information and meteorological information of an area where the ship is located, and acquiring berthing position information of the ship and the first berthing permission berthing to generate a berthing path;
And adjusting the current running direction of the ship in time according to the berthing path.
Further, a berthing request is sent to the pre-berthing wharf, and after the permission berthing information sent by the pre-berthing wharf is received;
the landing call comprises: the size of the vessel, the weight of the vessel and the selected first berthable berth.
Further, whether the remaining parking duration satisfies a preset condition is whether the remaining parking duration is less than one hour.
Further, acquiring the 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 by 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, the timely adjusting the current running 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 berthing path, and controlling the steering of the ship and the forward or backward of the ship in time.
Further, after the vessel is moored at the first dockable berth, further comprising: after the berthing completion information is sent to the pre-berthing wharf, the current berthing position of the ship is timely detected to be identical to the first berthing position after the berthing completion information is received by the pre-berthing wharf, and a corresponding alarm prompt is sent to the ship according to a judging result.
Further, the docking program further includes: and sending a berthing request to the pre-berthing wharf, acquiring environment information and meteorological information of an area where the ship is located after receiving the berthing permission information sent by the pre-berthing wharf, acquiring residual berthing duration, the position of the ship body and the berthing position of the first berthing, 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. The invention establishes communication connection between the ship and the pre-berthing wharf so as to obtain the berthing list of the pre-berthing wharf, is convenient for the ship to automatically select the first berthing position closest to the acquired berthing list and send 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, berths which are berthing are also considered, and under the condition that no berths exist, the time from the ship to the berths is fully utilized, the berthing of the ship at berthing is completed, and the berthing efficiency of the ship is improved.
Drawings
Fig. 1 is a flow chart of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Examples
Referring to the drawings of the specification, the technical problem to be solved in the present embodiment is that in most cases, the automatic berthing technology in the prior art only considers selecting an empty berth for berthing, and the berthing waiting for berthing being berthing is not selected, so that the efficiency is low, and the queuing time of the ship is increased, so that a ship intelligent berthing backrest port enterprise method is provided, and the ship intelligent berthing backrest port enterprise method includes:
Acquiring a ship berthing information list of a pre-berthing wharf, wherein the ship berthing information comprises berthing position information, berthing states and residual berthing duration, and selecting a first berthing position of the ship in the berthing information list; selecting a first berthable berth of the vessel in the berthing information list comprises: s1, calculating the distance between the ship and the berth according to berth position information, and sequencing the distances between the ship and the berth in sequence from short to long; s2, judging whether the berth state is an empty berth according to the ordered sequence, if yes, selecting the berth state as a first berth capable of berthing, entering a berthing program, if not, judging whether the residual berthing duration meets the preset condition, if the residual berthing duration meets the preset condition, selecting the berth capable of berthing as the first berthing, entering the berthing program, if the residual berthing duration does not meet the preset condition, transmitting non-permitted berthing information, updating the ship in a berthing information list, and re-entering the step S1;
In case the berth status of the first dockable berth is an empty berth, the berth procedure is: sending a berthing request to a pre-berthing wharf, after receiving the berthing permission information sent by the pre-berthing wharf, acquiring environment information and weather information of an area where a ship is located, and acquiring berthing position information of the ship and a first berthing permission berthing to generate a berthing path;
in the case that the berth status of the first dockable berth is not an empty berth, the berthing procedure is: after receiving the permission berthing information sent by the pre-berthing wharf, acquiring environment information and meteorological information of an area where the ship is located, acquiring the rest berthing duration, the ship body position and the berthing position of the first berthing position, and generating temporary berthing points and berthing paths according to the information.
And the running direction of the current ship is timely adjusted according to the berthing path.
Sending a berthing request to a pre-berthing wharf, and after receiving the permission berthing information sent by the pre-berthing wharf;
the landing call includes: the size of the vessel, the weight of the vessel and the selected first berthable berth.
The remaining berthing duration satisfies the preset condition that whether the remaining berthing duration is less than one hour, and the berthing time of the normal ship is about one hour, so the remaining berthing duration is selected to be one hour in the embodiment.
Acquiring environmental information of an area where a ship is located, including: the image acquisition device loaded on the ship acquires an image of the area where the ship is located, converts the image into two-dimensional data, and identifies the image according to a drawing matching algorithm to acquire barrier information and drivable area information of the area of the ship.
The method for timely adjusting the running azimuth of the current ship according to the berthing path comprises the following steps: according to the berthing path, a steering engine device and a propulsion device of the ship are controlled, and the steering engine device and the propulsion device are used for controlling the steering of the ship and controlling the forward or backward of the ship in time.
After the ship is moored at the first berthable berth, further comprising: after the berthing completion information is sent to the pre-berthing wharf, the current berthing position of the ship is timely detected to be identical with the first berthing position after the berthing completion information is received by the pre-berthing wharf, and a corresponding alarm prompt is sent to the ship according to the judging result.
In this embodiment, the berth is cooperatively provided with corresponding equipment for providing berth information, including but not limited to a locator for providing position information, a timer for providing residual berth duration, an alarm device for providing alarm prompts, and berth information providing devices for providing berth states, and the berth is cooperatively provided with corresponding information interaction equipment, in the whole berthing process, the ship acquires berth list information of the ship at the berth from the berth through information interaction, the berth position information, the berth states and the residual berth duration information of the ship are provided by the berth list information, the expected berth duration information actively provided by the ship when the ship enters the berth is obtained by counting down the timer, the ship starts to select the first reliable berth after receiving the information, and the steps of selecting the first reliable berth are as follows:
The first step: 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 in sequence from short to long;
and a second step of: sequentially judging whether the berth state is an empty berth according to the ordered sequence;
When the berth state is an empty berth, selecting a first berth capable of berthing, sending a berthing request to a pre-berthing wharf, acquiring environment information and meteorological information of an area where a ship is located after receiving permission berthing information sent by the pre-berthing wharf, acquiring residual berthing duration, a ship body position and a berthing position of the first berth capable of berthing, and generating a temporary berthing point and a berthing path according to the information;
Judging whether the residual berthing duration is less than a preset duration when the berthing state is that the ship berthes, wherein the preset duration is one hour in the embodiment; when the remaining berthing duration is less than one hour, selecting a first berthable berth, and when the berthing state of the first berthable berth is not an empty berthing, the berthing program is as follows: after receiving the permission berthing information sent by the pre-berthing wharf, acquiring environment information and meteorological information of an area where a ship is located, acquiring residual berthing time length, a ship body position and a berthing position of a first berthing position, and generating a temporary berthing point and a berthing path according to the information; if the remaining berthing duration is less than the hour, sending the non-permitted berthing information, updating the reelect of the ship in the berthing information list, and if the reelect is not completed in a period of time, selecting to exit queuing or continue to select, wherein in the embodiment, the time when the first berthable berth is not selected can be set;
Finally, when the berthing position is selected, controlling a steering engine device and a propulsion device of the ship according to the berthing path, and controlling the steering of the ship and the forward or backward of the ship in time, and when the berthing position is not selected, actively leaving.
In the description of the present invention, it should be understood that the terms "coaxial," "bottom," "one end," "top," "middle," "another end," "upper," "one side," "top," "inner," "front," "center," "two ends," etc. indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "configured," "connected," "secured," "screwed," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intermediaries, or in communication with each other or in interaction with each other, unless explicitly defined otherwise, the meaning of the terms described above in this application will be understood by those of ordinary skill in the art in view of the specific circumstances.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein 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. A method of intelligent berthing of a vessel port enterprise comprising:
Acquiring a ship berthing information list of a pre-berthing wharf, wherein the ship berthing information comprises berthing position information, berthing states and residual berthing duration, and selecting a first berthing possible berthing of the ship in the berthing information list; the selecting the first berthable berth of the ship in the berthing information list comprises: s1, calculating the distance between the ship and the berth according to berth position information, and sequencing the distances between the ship and the berth in sequence from short to long; s2, judging whether the berth state is an empty berth according to the ordered sequence, if yes, selecting the berth state as a first berth capable of berthing, entering a berthing program, if not, judging whether the residual berthing duration meets the preset condition, if the residual berthing duration meets the preset condition, selecting the berth capable of berthing as the first berthing, entering the berthing program, if the residual berthing duration does not meet the preset condition, transmitting non-permitted berthing information, updating the ship in a berthing information list, and re-entering the step S1;
The docking program includes: sending a berthing request to the pre-berthing wharf, after receiving the berthing permission information sent by the pre-berthing wharf, acquiring environment information and meteorological information of an area where the ship is located, acquiring berthing position information of the ship and the first berthing permission berthing, and generating a berthing path according to the information;
And adjusting the current running direction of the ship in time according to the berthing path.
2. The intelligent berthing and harboring method of a ship according to claim 1, wherein a berthing request is sent to the pre-berthing wharf, and after receiving the permission berthing information sent by the pre-berthing wharf;
the landing call comprises: the size of the vessel, the weight of the vessel and the selected first berthable berth.
3. The intelligent berthing and harboring method of 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 method for intelligent berthing and harboring of a ship according to claim 3, wherein the acquiring of the 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 by 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 harboring method of a ship according to claim 4, wherein the adjusting the current traveling direction of the ship according to the berthing path in time comprises: and controlling a steering engine device and a propulsion device of the ship according to the berthing path, and controlling the steering of the ship and the forward or backward of the ship in time.
6. The intelligent berthing and harbour method of claim 5, wherein the vessel is berthed at the first berthable berth, further comprising: after the berthing completion information is sent to the pre-berthing wharf, the current berthing position of the ship is timely detected to be identical to the first berthing position after the berthing completion information is received by the pre-berthing wharf, and a corresponding alarm prompt is sent to the ship according to a judging result.
7. The intelligent berthing and harboring method of a vessel of claim 6, wherein the berthing program further comprises: and sending a berthing request to the pre-berthing wharf, acquiring environment information and meteorological information of an area where the ship is located after receiving the berthing permission information sent by the pre-berthing wharf, acquiring residual berthing duration, the position of the ship body and the berthing position of the first berthing, and generating a temporary berthing point and a berthing path according to the information.
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| CN202211308992.5A CN115542919B (en) | 2022-10-25 | 2022-10-25 | Intelligent ship berthing backrest port enterprise method |
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| CN116403441B (en) * | 2023-06-09 | 2023-11-10 | 广船国际有限公司 | Scheduling method, device, equipment and medium for ship arrival and departure |
| CN117252341B (en) * | 2023-09-27 | 2024-04-05 | 江苏泓鑫科技有限公司 | Intelligent port environment equipment data management system and method |
| 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 |
| CN118072556B (en) * | 2023-12-23 | 2026-03-06 | 武汉理工大学 | A method and apparatus for allocating berths for a fleet waiting in port. |
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| JPH0699047B2 (en) * | 1989-12-20 | 1994-12-07 | 株式会社ソーティス | Berth management system |
| CN109523215B (en) * | 2018-11-16 | 2023-09-29 | 大连大学 | Intelligent management method for automatic dock ship entering and exiting port |
| CN111899547B (en) * | 2020-07-08 | 2021-11-12 | 长安大学 | Multi-line bus station parking space allocation and vehicle speed guidance method and system |
| CN114372660A (en) * | 2021-11-26 | 2022-04-19 | 浪潮通信技术有限公司 | Port ship scheduling method and system |
| CN114254962B (en) * | 2022-03-01 | 2022-06-28 | 天津港第二集装箱码头有限公司 | Dynamic synchronous berthing planning method for automatic port loading and unloading along shore |
| CN114655388A (en) * | 2022-03-21 | 2022-06-24 | 中船黄埔文冲船舶有限公司 | Automatic berthing method, device and system for intelligent ship |
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| CN104183152A (en) * | 2013-05-21 | 2014-12-03 | 宝马股份公司 | System and Method for Recognizing a Parking Place That is Potentially Becoming Free |
| CN105810011A (en) * | 2016-05-26 | 2016-07-27 | 南京信息工程大学 | Dynamic parking space allocation method and intelligent vehicle parking guide system |
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