CN115631657A - Real-time display and control method, device and system for intelligent berthing of ship - Google Patents
Real-time display and control method, device and system for intelligent berthing of ship Download PDFInfo
- Publication number
- CN115631657A CN115631657A CN202211256033.3A CN202211256033A CN115631657A CN 115631657 A CN115631657 A CN 115631657A CN 202211256033 A CN202211256033 A CN 202211256033A CN 115631657 A CN115631657 A CN 115631657A
- Authority
- CN
- China
- Prior art keywords
- ship
- berthing
- information
- berth
- real
- 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 121
- 230000008569 process Effects 0.000 claims abstract description 90
- 230000033001 locomotion Effects 0.000 claims abstract description 70
- 230000007613 environmental effect Effects 0.000 claims description 22
- 238000004891 communication Methods 0.000 claims description 15
- 241001411236 Rumex rupestris Species 0.000 claims description 5
- 238000004364 calculation method Methods 0.000 claims description 4
- 238000012545 processing Methods 0.000 description 16
- 238000010586 diagram Methods 0.000 description 5
- 238000004458 analytical method Methods 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 208000015181 infectious disease Diseases 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G3/00—Traffic control systems for marine craft
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/203—Specially adapted for sailing ships
-
- 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
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G3/00—Traffic control systems for marine craft
- G08G3/02—Anti-collision systems
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Ocean & Marine Engineering (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a real-time display and control method for intelligent berthing of a ship, which comprises the following steps of: acquiring motion information of a ship in a berthing process, and marine environment information and weather conditions of the ship; judging whether the ship can be leaned and debarked or not based on the motion information obtained in the process of berthing and debarking the ship, and planning a path for leaning and debarking the ship when the ship is allowed to lean and debark when the judgment is made; judging whether the berthing of the ship is in a collision accident under the current operating state or not based on the planned berthing path of the ship and various parameters in the motion process of the ship, adjusting various parameters in the berthing process in real time, and sending out control signals to control the ship to realize the berthing; according to the real-time display and control method for intelligent berthing of the ship, the display end and the mobile phone end on the ship are interconnected, and ship personnel can be assisted to enable the berthing operation of the ship to be safer, more efficient and more intelligent.
Description
Technical Field
The invention belongs to the technical field of ship navigation safety, and relates to a real-time display and control method, a device and a system for intelligent berthing of a ship.
Background
At present, the field of automatic berthing of ships still uses manual operation or tug assistance in a large quantity, and has the advantages of low efficiency, high cost and easy occurrence of dangerous accidents. And the ship is easily influenced by wind, flow and the like in the process of berthing. The existing multiple monitoring technologies such as sonar, infrared, radar, two-dimensional laser and the like have certain limitations, are not high enough in precision, are easily influenced by weather and the like, so that the real-time display and control of intelligent berthing of the ship are not accurate enough, and the risk is increased.
Therefore, the development of a safe, automatic and efficient real-time ship intelligent berthing display and control system is imperative.
Disclosure of Invention
In order to solve the above problems, the present invention provides the following technical solutions: a real-time display and control method for intelligent berthing of a ship comprises the following steps:
acquiring motion information of a ship in a berthing process, and marine environment information and weather conditions of the ship;
based on the motion information obtained during the berthing and the departing of the ship, the marine environmental information and the weather condition of the ship, whether the ship can berth or not is judged,
when the ship is allowed to lean against and leave the berth during judgment, planning a path of the ship leaning against and leaving the berth;
judging whether collision accidents occur during the berthing of the ship under the current operating state based on the planned berthing-leaning path of the ship and various parameters in the motion process of the ship, adjusting various parameters in the berthing-leaning process in real time, and sending out control signals to control the ship to realize the berthing-leaning.
Further, based on the motion information in the process of obtaining the ship to berth or depart, the marine environmental information and weather conditions of the ship and the obtained port berthing condition;
and displaying the motion information in the process of berthing, the marine environment information of the ship, the weather condition, the berthing condition of the port and the berthing real-time path of the ship.
Further, the step of judging whether a collision accident occurs when the ship is in a current operating state and is close to the berth comprises the step of advancing according to a current path when the collision accident does not occur when the ship is in the current operating state and is close to the berth; when the collision accident is about to occur by the ship being out of berth in the current operating state, early warning and warning are carried out in advance according to different grades.
Further, the motion information of the ship during the berthing process comprises the speed of the head of the ship, the speed of the tail of the ship, the distance between the ship and a quay and the angle between the ship and the quay.
Further, establishing a shore coordinate system for the speed of the ship head, the speed of the ship tail, the distance between the ship and a shore dock and the angle between the ship and the shore through a point cloud calculation system, extracting characteristic points of the ship to process and analyze data, and then transmitting the data by a socket method through the IP and port number of a communication end.
Furthermore, the method also comprises the steps of dividing the berth of the ship according to the self motion condition of the ship and the surrounding port condition, and popping up the berth information dialog box of the ship.
A real-time display and control device for intelligent berthing of a ship comprises:
an acquisition module I: the system is used for acquiring motion information of a ship in the process of berthing and environmental information and weather conditions of the ship on the sea;
an acquisition module II: the port berth condition is used for obtaining;
a judging module: judging whether the ship can be berthed or not based on the acquired motion information in the berthing and departing process of the ship, the marine environmental information and the weather condition of the ship, when the ship is allowed to berth,
a planning module: planning a ship berthing path;
the intelligent scheduling module: the system is used for judging whether collision accidents occur during the berthing of the ship under the current operating state based on the planned departing path of the ship and various parameters in the motion process of the ship, adjusting various parameters in the berthing process in real time, sending out control signals and controlling the ship to finish the berthing;
a display module: the system is used for displaying the motion information in the process of berthing, the marine environment information of the ship, the weather condition, the berthing condition of a port and the berthing real-time path of the ship.
The early warning module: the early warning system is used for early warning and warning according to different grades in advance when the ship is about to generate a collision accident by being out of berth in the current operating state;
the information popup module: the method is used for dividing the berth of the ship according to the self motion state of the ship and the surrounding port condition and popping up the berth information dialog box of the ship.
A real-time display and control system for intelligent ship berthing comprises a sensor group, a ship display control device, a communication module and a mobile phone APP;
the sensor group collects motion information of a ship in the process of berthing, and marine environment information, weather condition information and port berth information of the ship;
the communication module receives motion information of the ship in the process of berthing and the environmental information and weather conditions of the ship on the sea, which are transmitted by the sensor group;
the ship display control device receives the motion information of the ship in the process of berthing and the marine environmental information and weather condition information of the ship transmitted by the communication module, judges whether the ship can be berthed or not based on the motion information of the ship in the process of berthing and the marine environmental information and weather condition information of the ship, plans and displays the path of the ship close to berthing when the ship can be berthed, adjusts various parameters in the process of berthing in real time based on the planned path of the ship close to berthing, and sends out control signals;
the automatic mooring device receives control sent by the ship display control device to release a mooring hook or a mooring hook, so that the ship can be moored;
the mobile phone APP end receives motion information, marine environment information and weather condition information of a ship and acquired port berth information of the ship in the process of berthing, wherein the motion information, the marine environment information and the weather condition information are transmitted by the ship display control device, whether the ship can berth or not is judged based on the motion information, the marine environment information and the weather condition information of the ship in the process of berthing, when the ship can berth, a path of the ship close to berth is planned and displayed, and each parameter in the process of berthing is adjusted in real time based on the planned path of the ship close to berth, and a control signal is sent.
The real-time display and control method, the device and the system for the intelligent berthing of the ship provided by the invention can reduce the occurrence of accidents and realize the intelligent berthing work, so that the berthing process is more intelligent and is particularly important; according to the system, data transmission is carried out through the local area network, the mobile phone end app can more conveniently and intelligently display the operation process of ship berthing and departing, and the whole berthing and departing process can be well controlled by ship drivers, pilots and pilots paying attention to the conditions of the mobile phone end; the invention can not only avoid danger to personnel in the berthing process, but also avoid contact between people under the current epidemic situation condition, reduce the risk of epidemic situation spread and infection, and ensure that the ship can complete the whole berthing process more safely and intelligently.
This boats and ships intelligence is by real-time display and control system who leaves berth, the interconnection of display end and cell-phone end on the ship, the whole process that can be more convenient, intelligent demonstration boats and ships are by leaving berth has reduced the emergence of accident to can assist boats and ships personnel to become safer, high efficiency, intelligence with the operation of leaving berth.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be 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 chart of the present method of the invention;
FIG. 2 is a schematic view of the intelligent berthing apparatus of the present invention;
FIG. 3 is a schematic diagram of the data processing of the present invention;
fig. 4 is a schematic diagram of the intelligent berthing system of the present invention.
Detailed Description
It should be noted that, in the case of conflict, the embodiments and features of the embodiments of the present invention may be combined with each other, and the present invention will be described in detail with reference to the accompanying drawings and embodiments.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. 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.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. Any specific values in all examples shown and discussed herein are to be construed as exemplary only and not as limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description only, and in the absence of any contrary indication, these directional terms are not intended to indicate and imply that the device or element so referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore should not be considered as limiting the scope of the present invention: the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
For ease of description, spatially relative terms such as "over … …", "over … …", "over … …", "over", etc. may be used herein to describe the spatial positional relationship of one device or feature to another device or feature as shown in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.
FIG. 1 is a flow chart of the present method of the invention;
a real-time display and control method for intelligent berthing of a ship comprises the following steps:
s1: acquiring motion information of a ship in a berthing process, and marine environment information and weather conditions of the ship;
s2: based on the motion information in the process of obtaining the berthing and the departing of the ship, the marine environmental information and the weather condition of the ship, whether the ship can be berthed or not is judged,
s3: when the ship is allowed to lean against and leave the berth during judgment, planning a path of the ship leaning against and leaving the berth;
s4: judging whether the berthing of the ship is in a collision accident under the current operating state based on the planned berthing path of the ship and various parameters in the motion process of the ship, adjusting various parameters in the berthing process in real time, and sending out control signals to control the ship to realize the berthing.
The steps S1, S2, S3 and S4 are executed in sequence;
the method further comprises the following steps:
based on the motion information in the process of the ship berthing and the marine environment information and weather conditions of the ship, and the obtained port berth condition, the berth information of the ship is divided according to the motion condition of the ship and the surrounding port condition, and a dialog box is popped up;
and displaying the motion information in the process of berthing, the marine environment information of the ship, the weather condition, the berthing condition of the port and the berthing real-time path of the ship.
The marine environment information of the ship comprises information such as wind speed information, wind direction information, wave information, water flow direction and flow speed information flow, tide level information and the like;
the motion information in the process of berthing the ship comprises the speed of the head of the ship, the speed of the tail of the ship, the real-time distance between the ship and a shore wharf and the angle between the ship and the shore;
based on the motion information in the process of obtaining the berthing and the berthing of the ship, the marine environmental information and the weather condition of the ship, whether the current ship can be berthed or not is judged by comparing the motion information with relevant knowledge in a database in an early warning module, and the berthing is not allowed under the conditions of severe weather condition, complex surrounding navigation environment, overlarge ship speed and the like generally;
further, judging whether the ship is in a current operating state and is close to or out of the berth to cause a collision accident, and if the ship is in the current operating state and is close to or out of the berth to cause no collision accident, advancing according to a current path; when a collision accident is about to occur due to the fact that the ship is out of berth in the current operating state, early warning and warning are carried out according to different levels;
whether collision accidents occur when the ship is in a berthing state under the current operation state can be judged according to the related content of risk judgment data related to the expert knowledge base, such as weather conditions, the surrounding environment, the attribute speed of the ship and the like;
the weather conditions shown include wind conditions, rain, snow levels, etc., as wind typically falls into four levels: from weak to strong, respectively including 1, average wind up to 6 grades and above; 2. the average wind reaches 7 grades and above; 3. the average wind reaches 8 grades and above, 4, the average wind reaches 9 grades and above;
the weather conditions, the surrounding environment, the attribute and speed information of the ship and the like are stored in a database;
early warning collision danger to occur in the process of berthing, and classifying the grades of the danger, high risk, medium risk and low risk according to the ship collision avoidance principle in the expert knowledge base; and whether collision danger with obstacles or other ships and the shore occurs in the process of berthing is warned.
And further, the method comprises the steps of carrying out data processing and analysis on the speed of the head of the ship, the speed of the tail of the ship, the distance between the ship and a shore dock and the angle between the ship and the shore, and then transmitting the data by a socket method through the IP and the port number of the communication end.
The data processing and analysis of the speed of the ship head, the speed of the ship tail, the distance between the ship and a shore dock and the angle between the ship and the shore are carried out, an opposite-shore coordinate system is established through a point cloud resolving system, and characteristic points of the ship are extracted for carrying out data processing and analysis;
FIG. 2 is a schematic diagram of the intelligent berthing real-time display and control device of the present invention;
a real-time display and control device for intelligent berthing of a ship comprises:
an acquisition module I: the system is used for acquiring motion information of a ship in the process of berthing and environmental information and weather conditions of the ship on the sea;
an acquisition module II: port berth conditions for acquisition;
a judging module: judging whether the ship can be berthed or not based on the acquired motion information of the ship in the berthing and debarking process, the marine environmental information and the weather condition of the ship, when the ship is allowed to berth,
a planning module: planning a path for the ship to berth;
the intelligent scheduling module: the system is used for judging whether the berthing of the ship can generate collision accidents under the current operating state based on the planned berthing path of the ship and various parameters in the motion process of the ship, adjusting various parameters in the berthing process in real time, and sending out a control signal to control the ship to finish the berthing;
if the berthing is allowed to work, the scheduling module intelligently schedules the berthing of the ship according to relevant information data of a port sea area, surrounding real-time weather conditions and motion parameter data of the ship, displays berthing information on a ship display end and a mobile phone end in real time, and displays and plans an optimal path for the berthing of the ship and changes of various parameters in the motion process of the ship on the ship and a mobile phone end app in real time.
If the ship early warning module is judged to be about to collide with the dangerous ship, an alarm is sent out, the dangerous situation is classified in a grading mode, meanwhile, corresponding emergency plans are set for early warning of different levels and categories to guide processing of emergency events in the berthing process, various parameters in the berthing process are adjusted, the adjusted optimized and safe berthing-leaning path is displayed, operation of workers is guided, and the series of early warning information and instruction operation can be synchronized with mobile phone end apps.
A display module: the system is used for displaying motion information in the process of berthing, marine environment information of a ship, weather conditions, port berthing conditions and real-time berthing paths of the ship; the display mode can be a curve or an animation mode; the module receives the berthing-dependent key parameters analyzed by the data processing part, wherein the berthing-dependent key parameters comprise the speed of the head of the ship, the speed of the tail of the ship, the distance between the ship and a shore dock and the angle between the ship and the shore;
the display module comprises a first display module, a second display module and a third display module; the display module comprises a display screen;
the first display module displays the motion information in the process of berthing, the marine environment information of the ship and the weather condition; displaying the situation of the ship on the berth and the speed of the head of the ship, the speed of the tail of the ship, the distance between the ship and a shore wharf, the angle between the ship and the shore and other various parameter conditions, the animation process on the berth and various operation prompt steps on the berth in real time
The control prompting step comprises the steps of adjusting the ship leftwards or rightwards according to the data of the transmitted parameters, and prompting the docking direction of the ship away from the shore;
the second display module displays the port berthing condition;
the third display module displays the real-time path of the ship near the berth in real time;
the harbor berthing condition display is in butt joint with the first laser, and the berthing condition in the harbor and the mobile phone end are interconnected to realize real-time display;
the method comprises the steps that a first display module, a second display module and a mobile phone end APP display motion attribute information of a ship, surrounding marine environment information, weather conditions and the like in real time through interaction with a ship screen;
the third display module plans the berthing-leaning path of the ship according to various real-time data and displays the berthing-leaning path on the mobile phone end app and the shipboard display screen in real time;
the early warning module: when a collision accident is about to occur due to berthing of a ship in the current operation state, early warning and warning are carried out on the current ship state according to relevant knowledge given in the expert knowledge base;
the early warning in the process of operating the ship near the berth is that an expert knowledge base in an early warning module dynamically predicts to early warn in time according to the monitoring condition of the current operating state near the berth of the ship, judges early warning risk levels (high risk, medium risk and low risk) in the process of operating the ship near the berth, synchronizes to a mobile phone terminal app in time by popping up a danger warning window and an alarm sound, and enables an operator to take corresponding measures in time according to the judged condition;
the early warning module comprises an expert knowledge base, wherein ship parameter data and berthing strategies related to berthing, risk judgment data of environment, weather, ship speed, course, distance and the like, ship collision avoidance principles, relevant specifications, experiences and the like are stored in the expert knowledge base;
the early warning module comprises a sound early warning and a display grade early warning;
the information popup module: the system is used for displaying the berth of the ship and popping up a berth information dialog box of the ship based on the self motion state of the ship and the surrounding port conditions, so that the berth information dialog box is conveniently and synchronously displayed to workers on a display screen on the ship and an APP terminal at a mobile phone terminal, and intelligent and dynamic scheduling of port operation tasks is realized;
FIG. 3 is a data processing diagram of the present invention; the device also comprises a data processing module for processing and analyzing the speed of the head part of the ship, the speed of the tail part of the ship, the distance between the ship and a shore wharf and the angle between the ship and the shore,
the data processing module performs real-time calculation (establishing a landed coordinate system through the point cloud calculating system and extracting ship characteristic points to perform data processing and analysis) on the key parameters of the debarking through the point cloud data calculating system, and performs real-time transmission by adopting a socket method through the IP and the port number of a communication terminal;
FIG. 4 is a schematic diagram of an intelligent berthing real-time display and control system of the present invention; a real-time display and control system for intelligent ship berthing comprises a sensor group, a ship display control device, a communication module, an automatic mooring device and a mobile phone APP;
the sensor group is used for acquiring motion information of a ship in the process of berthing, marine environment information of the ship, weather condition information and berth information of a port;
the sensor group comprises a first laser sensor, a second laser sensor and a hydrological meteorological sensor;
the laser sensor collects motion information of the ship in the process of berthing, namely the speed of the head of the ship, the speed of the tail of the ship, the distance between the ship and a shore wharf and the angle between the ship and the shore;
the first laser sensor collects berth information of a port;
the hydrological meteorological sensor acquires marine environment information and weather condition information of a ship;
the communication module receives motion information of the ship in the process of berthing and the environmental information and weather conditions of the ship on the sea, which are transmitted by the sensor group;
the ship display control device receives the motion information of the ship in the process of berthing and the marine environmental information and weather condition information of the ship transmitted by the communication module, judges whether the ship can be berthed or not based on the motion information of the ship in the process of berthing and the marine environmental information and weather condition information of the ship, plans and displays the path of the ship when the ship can be berthed, adjusts various parameters in the process of berthing and berthing in real time based on the planned path of the ship;
the automatic mooring device receives control sent by the ship display control device to release a mooring hook or a mooring hook, so that the ship can be moored;
when the device reaches a certain distance from the shore, the automatic mooring device can be triggered and sends a signal to the mooring release hook, the mobile phone end app pops out the automatic mooring prompt and then enters the automatic mooring operation, the automation of the whole berthing is realized, and the dynamic remote visual monitoring of the process is realized.
The mobile phone APP end receives motion information of the ship in the process of berthing, marine environment information and weather condition information of the ship and port berth information obtained, the motion information of the ship in the process of berthing and the marine environment information and weather condition information of the ship are transmitted by the ship display control device, whether the ship can berth or not is judged on the basis of the motion information of the ship in the process of berthing, when the ship can berth, a path of the ship berthing is planned and displayed, various parameters in the process of berthing are adjusted in real time on the basis of the planned path of the ship berthing, and a control signal is sent.
The berthing maneuver of a vessel implements the following steps:
step 1) synchronously displaying the current real-time motion situation of the ship on a screen of a display end on the ship and a mobile phone end app before the ship enters a port, and receiving and processing real-time position information, ship attribute information, various surrounding marine environment parameters, weather conditions and other information of the ship;
step 2) when the ship is ready to be near to or far from the berth and enters a near to or far from berth state, judging and early warning whether the ship can be near to or far from the berth operation by an early warning module of the ship according to factors such as current real-time weather conditions, surrounding sea condition environmental data, parameter data of the ship and the like;
and 3) when the current environment allows the operation of leaving the berth, the intelligent scheduling module performs intelligent scheduling on the berth of the ship by butting with the first laser sensor, and displays the berth information on an onboard display end and a mobile phone end app in real time.
And 4) after receiving the berth information instruction on the screen, starting operation, and constantly paying attention to the change condition of the ship berthing and departing path and the change condition of various parameters in the ship movement process according to various parameter information of the ship at the ship display end and the mobile phone end. When the interface prompts the berthing and departing operation, clicking to enter a berthing and departing operation module;
step 5) when the ship works by the berthing control module, the communication terminal receives data of the laser sensor terminal by a socket method through an IP and a port number, and transmits the received initial data to the data processing part;
step 6) the data processing part receives the initial data, and the data processing part carries out real-time calculation on the berthing key parameters through a point cloud data resolving system to obtain the berthing key parameters, namely the speed of the head of the ship, the speed of the tail of the ship, the distance between the ship and a quay and the angle between the ship and the quay;
step 7), the data processing part transmits the obtained data of the key parameters of the berthing to a ship display end and a mobile phone end through the communication end, and displays the real-time motion state of the ship according to the obtained data of the key parameters of the berthing on the ship display end and the mobile phone end in an animation mode;
step 8) displaying the situation of the ship on the berth and various parameter conditions in real time in the whole course, and displaying the app on a ship and a mobile phone end in various operation prompting steps on the berth;
step 9) if collision risks occur in the process, entering an early warning part in the operation process of the ship berthing and departing early warning module, judging early warning risk levels in the ship berthing and departing process and taking corresponding measures in time;
step 10) when the ship reaches a certain distance from the shore, triggering an automatic mooring device and sending a signal to a mooring release hook, popping up an automatic mooring prompt at a mobile phone end, and then entering automatic mooring operation;
and 11) displaying the operation of ship berthing by the ship display end and the mobile phone end in real time. When the screen interface pops up and finishes the berthing operation, the operation is finished, and the system realizes the dynamic remote visual monitoring of the whole berthing process.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. A real-time display and control method for intelligent berthing of ships is characterized by comprising the following steps: the method comprises the following steps:
acquiring motion information of a ship in a berthing process, and marine environment information and weather conditions of the ship;
based on the motion information obtained during the berthing and the departing of the ship, the marine environmental information and the weather condition of the ship, whether the ship can berth or not is judged,
when the ship is allowed to lean against and leave the berth during judgment, planning a path of the ship leaning against and leaving the berth;
judging whether collision accidents occur during the berthing of the ship under the current operating state based on the planned berthing-leaning path of the ship and various parameters in the motion process of the ship, adjusting various parameters in the berthing-leaning process in real time, and sending out control signals to control the ship to realize the berthing-leaning.
2. The real-time display and control method for intelligent berthing of ships according to claim 1, characterized in that:
based on the motion information in the process of obtaining the ship to lean against or leave the berth, the marine environmental information and the weather condition of the ship and the port berthing condition;
and displaying the motion information in the process of berthing, the marine environment information of the ship, the weather condition, the berthing condition of the port and the berthing real-time path of the ship.
3. The real-time display and control method for intelligent berthing of ships according to claim 1, characterized in that: judging whether a collision accident happens when the ship is in a current operating state and is close to berthing, wherein the judging comprises the step of advancing according to a current path when the collision accident does not happen when the ship is in the current operating state and is close to berthing; when the collision accident is about to occur by the ship being out of berth in the current operating state, early warning and warning are carried out in advance according to different grades.
4. The real-time display and control method for intelligent berthing of ships according to claim 1, characterized in that: the motion information in the process of berthing the ship comprises the speed of the head of the ship, the speed of the tail of the ship, the distance between the ship and a shore wharf and the angle between the ship and the shore.
5. The real-time display and control method for intelligent berthing of ships according to claim 4, characterized in that: establishing a shore coordinate system for the speed of the head of the ship, the speed of the tail of the ship, the distance between the ship and a shore dock and the angle between the ship and the shore through a point cloud calculation system, extracting characteristic points of the ship to process and analyze data, and then transmitting the data by a socket method through an IP (Internet protocol) and a port number of a communication end.
6. The real-time display and control method for intelligent berthing of ships according to claim 1, characterized in that: the method also comprises the steps of dividing the berth of the ship according to the self motion state of the ship and the surrounding port conditions, and popping up the berth information dialog box of the ship.
7. The utility model provides a real-time display and controlling means that boats and ships intelligence is by keeping away from berth which characterized in that: comprises that
An acquisition module I: the system is used for acquiring motion information of a ship in the process of berthing and environmental information and weather conditions of the ship on the sea;
an acquisition module II: port berth conditions for acquisition;
a judging module: judging whether the ship can be berthed or not based on the acquired motion information of the ship in the berthing and debarking process, the marine environmental information and the weather condition of the ship, when the ship is allowed to berth,
a planning module: planning a path for the ship to berth;
the intelligent scheduling module: the system is used for judging whether collision accidents occur during the berthing of the ship under the current operating state based on the planned departing path of the ship and various parameters in the motion process of the ship, adjusting various parameters in the berthing process in real time, sending out control signals and controlling the ship to finish the berthing;
a display module: the system is used for displaying the motion information in the process of berthing, the marine environment information of the ship, the weather condition, the berthing condition of a port and the berthing real-time path of the ship.
The early warning module: the early warning system is used for early warning and warning according to different grades in advance when the ship is about to generate a collision accident by being out of berth in the current operating state;
the information popup module: the method is used for dividing the berth of the ship according to the self motion state of the ship and the surrounding port condition and popping up the berth information dialog box of the ship.
8. The utility model provides a real-time display and control system that boats and ships intelligence is close to out of berth which characterized in that: the ship display control device comprises a sensor group, the ship display control device as claimed in claim 7, a communication module and a mobile phone APP;
the sensor group collects motion information of a ship in the process of berthing, and marine environment information, weather condition information and port berth information of the ship;
the communication module receives motion information of the ship in the process of berthing and the environmental information and weather conditions of the ship on the sea, which are transmitted by the sensor group;
the ship display control device receives the motion information of the ship in the process of berthing and the marine environmental information and weather condition information of the ship transmitted by the communication module, judges whether the ship can be berthed or not based on the motion information of the ship in the process of berthing and the marine environmental information and weather condition information of the ship, plans and displays the path of the ship close to berthing when the ship can be berthed, adjusts various parameters in the process of berthing in real time based on the planned path of the ship close to berthing, and sends out control signals;
the automatic mooring device receives control sent by the ship display control device to release a mooring hook or a mooring hook, so that the ship can be moored;
the mobile phone APP end receives motion information of the ship in the process of berthing, marine environment information and weather condition information of the ship and port berth information obtained, the motion information of the ship in the process of berthing and the marine environment information and weather condition information of the ship are transmitted by the ship display control device, whether the ship can berth or not is judged on the basis of the motion information of the ship in the process of berthing, when the ship can berth, a path of the ship berthing is planned and displayed, various parameters in the process of berthing are adjusted in real time on the basis of the planned path of the ship berthing, and a control signal is sent.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211256033.3A CN115631657A (en) | 2022-10-13 | 2022-10-13 | Real-time display and control method, device and system for intelligent berthing of ship |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211256033.3A CN115631657A (en) | 2022-10-13 | 2022-10-13 | Real-time display and control method, device and system for intelligent berthing of ship |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115631657A true CN115631657A (en) | 2023-01-20 |
Family
ID=84904356
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211256033.3A Pending CN115631657A (en) | 2022-10-13 | 2022-10-13 | Real-time display and control method, device and system for intelligent berthing of ship |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115631657A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116774962A (en) * | 2023-08-24 | 2023-09-19 | 江苏泓鑫科技有限公司 | Auxiliary leaning and leaving wireless data transmission display terminal |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109739238A (en) * | 2019-01-16 | 2019-05-10 | 大连海事大学 | A kind of ship automatic berthing system and its working method |
| CN111498055A (en) * | 2020-05-09 | 2020-08-07 | 智慧航海（青岛）科技有限公司 | Testing device and testing method for automatic berthing test of intelligent ship |
-
2022
- 2022-10-13 CN CN202211256033.3A patent/CN115631657A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109739238A (en) * | 2019-01-16 | 2019-05-10 | 大连海事大学 | A kind of ship automatic berthing system and its working method |
| CN111498055A (en) * | 2020-05-09 | 2020-08-07 | 智慧航海（青岛）科技有限公司 | Testing device and testing method for automatic berthing test of intelligent ship |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116774962A (en) * | 2023-08-24 | 2023-09-19 | 江苏泓鑫科技有限公司 | Auxiliary leaning and leaving wireless data transmission display terminal |
| CN116774962B (en) * | 2023-08-24 | 2023-12-29 | 江苏泓鑫科技有限公司 | Auxiliary leaning and leaving wireless data transmission display terminal |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2019126755A1 (en) | Generating and classifying training data for machine learning functions | |
| CN107945578B (en) | Accuse formula boats and ships safety navigation induction system in navigation construction waters | |
| CN109360385B (en) | Method and device for monitoring safe berthing state of ship | |
| CN109739238A (en) | A kind of ship automatic berthing system and its working method | |
| Almeida et al. | Radar based collision detection developments on USV ROAZ II | |
| KR101918980B1 (en) | Vessel seaway and maneuverability supporting system for safety evacuation seaway in event of vessel accident based on evacuation level determination using real-time restoration index, and method thereof | |
| KR101693981B1 (en) | Apparatus and method for vessel collision avoidance | |
| CN107065878A (en) | A kind of automatic docking system of ship and method | |
| JP7386041B2 (en) | Ship maneuvering support system and method | |
| CN115631657A (en) | Real-time display and control method, device and system for intelligent berthing of ship | |
| CN111966106A (en) | Intelligent ship formation berthing method based on ship-ship cooperation | |
| KR100352346B1 (en) | collision, grounding avoidance system of artificial intelligence type | |
| Jincan et al. | Based on ECDIS and AIS ship collision avoidance warning system research | |
| CN113009909A (en) | Ship-shore cooperative single-ship autonomous mooring system and control method thereof | |
| CN111220985B (en) | Lean on and leave berth auxiliary system | |
| KR102142381B1 (en) | Marin safety alarm system and method the same | |
| CN209311913U (en) | A kind of communication and navigation control system for unmanned boat | |
| CN113885533B (en) | Unmanned driving method and system of unmanned boat | |
| CN113460233B (en) | Intelligent ship anchoring system and auxiliary decision-making method thereof | |
| CN206805294U (en) | A kind of automatic docking system of ship | |
| CN111801634A (en) | Interface unit | |
| KR20160116138A (en) | Backup apparatus and method of voyage data records | |
| CN111812610B (en) | Water target supervision system, method, terminal equipment and storage medium | |
| CN114120709A (en) | Ship safety management system | |
| CN117111606B (en) | Ship auxiliary collision prevention method and system |
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 |