NL2033738B1

NL2033738B1 - Ballast control optimization for barge offloading

Info

Publication number: NL2033738B1
Application number: NL2033738A
Authority: NL
Inventors: Geirnaert Peter
Original assignee: Opleidingscentrum voor Hout en Bouw vzw
Priority date: 2022-06-17
Filing date: 2022-12-16
Publication date: 2024-01-05
Also published as: BE1030638B1; BE1030638A1; FR3136741B1; FR3136741A1

Abstract

Ballast control optimization in barge offloading includes a selection of a container for offloading from a vessel, and a determination of a ballast maneuver to maintain level set of the vessel post-removal. The determined ballast maneuver is then executed and thereafter, a set of possible next containers for offloading can be identified. For each of the possible next containers, a corresponding ballast maneuver can be determined. Then, one of the possible next containers is selected that is associated with a least extensive corresponding ballast maneuver. Finally, the least extensive corresponding ballast maneuver is executed. In this way, ballast control is optimized to minimize the necessary ballast maneuver through the strategic sequencing of offloading of the containers on the vessel.

Description

Ballast control optimization for barge offloading

BACKGROUND OF THE INVENTION

[0001] Field of the Invention

[0002] The present invention relates to the technical field of barge docking and cargo loading and offloading in an inland waterway.

[0003] Description of the Related Art

[0004] The control of a vessel within a waterway relates strictly to the attitude of the vessel and the power applied to a power source driving the vessel along a vector defined by its attitude. Unlike other modes of transport, however, controlling a waterborne vessel requires adaptation to the depth of the waterway as well since the depth of the waterway affects the navigability of the waterway for certain types of vessels with particularly large drafts. As well, in the case of a barge or container transporting vessel, heavier loads supported by the vessel result in hull of the vessel enjoying narrower clearance with the bottom of the waterway. Thus, the weight of the load supported by the vessel directly impacts the ability of the vessel to navigate a waterway of limited depth as well as the presence of ballast tanks.

[0005] Navigation within an inland waterway can be a complex undertaking.

Currents predominate along a direction of flow of the waterway can be disrupted with swirling vortexes caused by changes in the bottom surface of the waterway, changes in the direction of the waterway, and the influence of movement of other vessels and the operation of locks along the waterway. For a manually operated vessel, the variable impact of the current can be managed by feel, but for modern autonomous vessels, the challenge can be computationally overwhelming.

[0006] The challenge of operating an autonomous vessel within the central portion of a waterway, however, pales in comparison to the challenge of transitioning a vessel from a central portion of an inland waterway into a docking position at a terminal side of the waterway and then offloading cargo positioned on the barge. The problem of docking a barge in an inland waterway can be compounded by the independent factors of the water level of the waterway relative to the level of the top surface of the dock, and the height of the top surface of the barge relative to the water level of the waterway. The ability to offload cargo on the barge largely depends upon both independent factors.

BRIEF SUMMARY OF THE INVENTION

[0007] Embodiments of the present invention address technical deficiencies of the art in respect to docking a barge. To that end, embodiments of the present invention provide for a novel and non-obvious method for ballast control optimization in barge offloading. Embodiments of the present invention also provide for a novel and non-obvious computing device adapted to perform the foregoing method. Finally, embodiments of the present invention provide for a novel and non-obvious data processing system incorporating the foregoing device in order to perform the foregoing method.

[0008] In one embodiment of the invention, ballast control optimization in barge offloading includes a selection of a container for offloading from a vessel, and a determination of a ballast maneuver to maintain level set of the vessel post- removal. The determined ballast maneuver is then executed and thereafter, a set of possible next containers for offloading can be identified. For each of the possible next containers, a corresponding ballast maneuver can be determined.

Then, one of the possible next containers is selected that is associated with a least extensive corresponding ballast maneuver. Finally, the least extensive corresponding ballast maneuver is executed. In this way, ballast control is optimized to minimize the necessary ballast maneuver through the strategic sequencing of offloading of the containers on the vessel.

[0009] In one aspect of the embodiment, the execution of the least extensive corresponding ballast maneuver pauses before removal of the selected container upon detecting a threshold change in a z-plane attitude of the vessel. In another aspect of the embodiment, the determination of the ballast maneuver is performed according to a lookup in a table correlating a location and weight of a container on the vessel. In this regard, the table can seli-learn based upon a manual adjustment to the ballast maneuver in lieu of a setting presented in table.

As well, the table can correlate the location and the weight of the container on the vessel along with a volatility of water surrounding the vessel.

[0010] In another embodiment of the invention, a data processing system is adapted for ballast control optimization in barge offloading. The system includes a host computing platform that has one or more computers, each with memory and one or processing units including one or more processing cores. The system also includes a ballast control module. The module includes computer program instructions enabled while executing in the memory of at least one of the processing units of the host computing platform to select a container for offloading from a vessel, determine a ballast maneuver to maintain level set of the vessel post-removal and execute the determined ballast maneuver. The program instructions further identify a set of possible next containers for offloading and determine a corresponding ballast maneuver for each of the possible next containers. The program instructions then select one of the possible next containers associated with a least extensive corresponding ballast maneuver and execute the least extensive corresponding ballast maneuver.

[0011] In this way, the technical deficiencies of the docking of a barge in an inland waterway and the offloading of cargo from the barge onto a dock are overcome owing to the variable ballast control so as to ensure proper adaption of offloading equipment and configuration of offloading ramps to accommodate water level.

[0012] Additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The aspects of the invention will be realized and attained by means of the elements and combinations particularly pointed out in the appended claims. It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

[0013] The accompanying drawings, which are incorporated in and constitute part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention. The embodiments illustrated herein are presently preferred, it being understood, however, that the invention is not limited to the precise arrangements and instrumentalities shown, wherein:

[0014] Figure 1 is a pictorial illustration reflecting different aspects of a process of ballast control optimization in barge offloading;

[0015] Figure 2 is a block diagram depicting a data processing system adapted to perform one of the aspects of the process of Figure 1; and,

[0016] Figure 3 is a flow chart illustrating one of the aspects of the process of

Figure 1.

DETAILED DESCRIPTION OF THE INVENTION

[0017] Embodiments of the invention provide for ballast control optimization in barge offloading. In accordance with an embodiment of the invention, a barge docked for the offloading of its cargo includes a ballast chamber which can ingest fluid and expel fluid, on command, by way of a valve and pump arrangement. A first container of cargo is then selected for offloading from the barge and a determination is made as to how much ballast to ingest into the ballast chamber so as to maintain the level set of the barge relative to the water level of the river.

To the extent that the ballast chamber is a composition of multiple different ballast chambers at respectively different locations of the barge, a coordinated ballast maneuver is conducted in the ingesting of ballast into each different chamber so as to assure the level set of the barge both vertically and also horizontally.

Thereafter, different ballast maneuvers are computed in response to a proposed removal of different ones of the remaining containers on the barge. A container is then selected for removal which corresponds to the smallest, most minimal ballast maneuver required to maintain the level set. In this way, the cargo of the barge can be offloaded in the most expeditious and energy efficient manner through the minimization of incremental ballast maneuvers.

[0018] In illustration of one aspect of the embodiment, Figure 1 pictorially shows a process of ballast control optimization in barge offloading. As shown in 5 Figure 1, a barge 100 in water 130 can dock adjacent to a dock 120 at which containers 170 positioned on the barge 100 can be offloaded with a crane 110.

The barge 100 includes one or more ballast tanks 140 into which and from which fluid such as water 130 can be pumped utilizing pumps 150. A ballast controller 180 coupled to a gyroscope 160 can direct the pumps 150 to pump ballast into and from the different ballast tanks 140 in order to maintain level set of the barge 100 in the water 130.

[0019] In this regard, different ballast maneuvers are defined in a ballast maneuver data structure 190. The ballast maneuver data structure 190 stores different entries corresponding to different ones of the containers 170 positioned on the barge 100 at different locations. Each entry specifies the location of a corresponding one of the containers 170, and an associated weight of the corresponding one of the containers 170. Each entry further specifies a change in one or more of the ballast tanks 140 necessary to maintain level set of the barge 100 in the water once the corresponding one of the containers 170 has been removed by the crane 110 onto the dock 120. For instance, the change in each one of the ballast tanks 140 can be specified according to a volume of the water 130 pumped into a corresponding one of the ballast tanks 140, or a volume of the water 130 pumped out from the corresponding one of the ballast tanks 140.

In executing one of the ballast maneuvers in the ballast maneuver data structure 190, the inertial measurement unit (IMU) 160 will report level set in each of the x, y and z planes subsequent to the removal from the barge 100 of a corresponding one of the containers 170.

[0020] In operation, the ballast controller 180 identifies a set of the containers 170 accessible for removal from the barge 100 by the crane 110. For each one ofthe containers 170 in the set, the ballast controller 180 locates within the ballast maneuver data structure 190 an associated entry indicating a ballast maneuver predetermined to result in a level set of the barge 100 once a corresponding one of the containers 170 in the set is removed from the barge 100. The ballast controller 180 then selects amongst the containers 170 in the set, a preferred one of the containers 170 having associated therewith a ballast maneuver in the ballast maneuver data structure 190 requiring a minimum volume of water 130 to be pumped to or pumped from the ballast tanks 140--a so called minimum ballast maneuver. The ballast controller 180 then directs the removal of the preferred one of the containers 170 from the barge 100 whilst executing the minimum ballast maneuver.

[0021] Once the preferred one of the containers 170 has been removed from the barge 100, the ballast controller 180 queries the IMU 160 to determine if the barge 100 rests level within a pre-determined threshold angle of inclination and a pre-determined threshold angle of declination in each of the x-plane, the y- plane and the z-plane. Specifically, the threshold angles account for the periodic vertical movement of the barge 100 resulting from water conditions of the water 130, in the absence of which, the angle of declination in each plane would otherwise be within a tolerance value of zero. So long as the IMU 160 reports to the ballast controller 180 that the barge 100 is level set, a next set of the containers 170 remaining on the barge can be processed to identify a next one of the containers 170 to be removed requiring the minimum ballast maneuver.

However, to the extent that the IMU 160 reports to the ballast controller 180 that the barge 100 is not level set, a manual adjustment can be directed to the pumps 150 in order to adjust the volume of the water 130 in the ballast tanks 140 to achieve level set. The manual adjustment is then written to the entry for the preferred one of the containers 170 in the ballast maneuver data structure 190 such that the ballast maneuver data structure 190 is self-learning.

[0022] Aspects of the process described in connection with Figure 1 can be implemented within a data processing system. In further illustration, Figure 2 schematically shows a data processing system adapted to perform ballast control optimization in barge offloading. In the data processing system illustrated in

Figure 1, a host computing platform 200 is provided. The host computing platform 200 includes one or more embedded computing systems 210, each with memory 220 and one or more processing units 230. The computing systems 210 of the host computing platform (only a single computing system shown for the purpose of illustrative simplicity) can be co-located within one another and in communication with one another over a local area network, or over a data communications bus, or the computers can be remotely disposed from one another and in communication with one another through network interface 260 over a data communications network 240. Further, the host computing platform 200 can be positioned remotely from the barge, or onboard the barge.

[0023] Notably, a computing device 250 including a non-transitory computer readable storage medium can be included with the data processing system 200 and accessed by the processing units 230 of one or more of the computers 210.

The computing device stores 250 thereon or retains therein a program module 300 that includes computer program instructions which when executed by one or more of the processing units 230, performs a programmatically executable process for ballast control optimization in barge offloading. Specifically, the program instructions during execution select a set of containers listed in container manifest 290 in the memory 220 that are accessible for removal while the barge is docked, and cross-references entries in a ballast maneuver table 270, also in the memory 220. Each of the entries includes a corresponding ballast maneuver implicating a pumping of volume of water into or out from corresponding ballast tanks 280 monitored and controlled by the program module 300. 10024] The program instructions select an entry in the ballast maneuver table 270 associated with a minimal volume of the water, e.g. a minimum ballast maneuver and identifies an associated container in the set. Thereafter, the program instructions direct pumps for each of the ballast tanks 280 to pump water according to the minimum ballast maneuver. Once the ballast maneuver has completed, the program instructions consult communicatively coupled IMU 235 to determine whether or not the barge is level set within a threshold value in consequence of the minimal ballast maneuver and the removal of the associated container in the set. To the extent that IMU 235 reports an attitude of the barge outside of the threshold value of level set, manual ballast pumping directives can be applied to the ballast tanks 280 either internally, or remotely from a shore server 245 from over the data communications network 240. To the extent that the IMU 235 reports level set within the threshold value subsequent to the manual ballast pumping directives, the program instructions update the selected entry in the ballast maneuver table 270 with updated values accounting for the manual ballast pumping directives.

[0025] In further illustration of an exemplary operation of the module, Figure 3 is a flow chart illustrating one of the aspects of the process of Figure 1. Beginning in block 305, a manifest of containers on board the barge is loaded into memory and entry in the manifest is selected in block 310 for a specified container. In block 315, a position and weight of the container is determined from the entry in the manifest and in block 320, water volatility is measured, for instance by monitoring periodic changes in attitude of the barge reported by the gyroscope over time so that larger changes in the attitude reflect a more volatile water condition, and smaller changes in the attitude reflect a less volatile water condition. Then, in block 325, a ballast maneuver is computed to account for the removal of the specified container of the determined weight at the determined location, accounting for the determined water volatility. In this regard, a table of ballast maneuvers can include pre-determined ballast tank setting in terms of volume of water corresponding to a known location of a container, a particular weight of a container, and a particular water volatility. Alternatively, the table can include a pre-determined base setting for each ballast tank of the barge presuming a particular weight and no water volatility and a formula for adjusting the pre-determined base setting responsive to variability in the weight and water volatility.

[0026] Once the ballast maneuver is determined, in block 330, the ballast maneuver can be initiated by directing one or more pumps coupled to the ballast tanks to pump water into, or pump water out from the ballast tanks to achieve the specified volume of water in each of the ballast tanks according to the ballast maneuver. In block 335, the gyroscope can be queried to determine whether or not the barge is then at level state. In decision block 340, it is particularly determined whether or not there is a threshold change in the z-plane attitude of the barge indicating an overloaded weight condition at the bow or stern of the barge. If so, the execution of the ballast maneuver pauses in block 340 and the process repeats until the z-plane change in attitude resolves.

[0027] To the extent that no threshold change in z-plane attitude is determined in decision block 340, in decision block 350 it is determined whether or not the ballast maneuver has completed. If not, in block 355, the ballast maneuver continues and the level state is then checked once again in block 335 and the determination of the threshold change in z-plane attitude also performed. In decision block 350, when it is determined that the ballast maneuver has completed, in block 360, in consultation with the gyroscope it is determined whether or not the barge is within a threshold value of level set. If not, the process continues through block 365.

[0028] In block 365, a manual adjustment to the ballast is directed in order to achieve level set. Then, in block 370 the manual adjustment is added to the entry in the ballast maneuver table. Thereafter, in block 375 it is determined whether or not the specified container has been removed from the barge. If so, in block 380 the entry in the container manifest is updated to indicate that the container is no longer present on the barge. Thereafter, in decision block 385 it is determined whether or not additional containers remain on the barge and are accessible for removal. If so, in block 390, a set of all containers accessible for removal from the barge are determined and in block 395, a ballast maneuver is identified in the table for each of the containers in the set.

[0029] In block 400, a minimum ballast maneuver identified in the table is identified and in block 405 a corresponding one of the containers in the set is selected for removal. The process then returns to block 315 so as to fine tune the minimum ballast maneuver according to the weight and position of the corresponding one of the containers and the contemporaneously determined water volatility. In decision black 385, when no containers remain accessible for removal from the barge, in block 410 the process ends and the barge can transition from a loading mode to a sailing mode.

[0030] Of import, the foregoing flowchart and block diagram referred to herein illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computing devices according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which includes one or more executable instructions for implementing the specified logical function or functions. In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures.

For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts or carry out combinations of special purpose hardware and computer instructions.

[0031] More specifically, the present invention may be embodied as a programmatically executable process. As well, the present invention may be embodied within a computing device upon which programmatic instructions are stored and from which the programmatic instructions are enabled to be loaded into memory of a data processing system and executed therefrom in order to perform the foregoing programmatically executable process. Even further, the present invention may be embodied within a data processing system adapted to load the programmatic instructions from a computing device and to then execute the programmatic instructions in order to perform the foregoing programmatically executable process.

[0032] Tothatend, the computing device is a non-transitory computer readable storage medium or media retaining therein or storing thereon computer readable program instructions. These instructions, when executed from memory by one or more processing units of a data processing system, cause the processing units to perform different programmatic processes exemplary of different aspects of the programmatically executable process. In this regard, the processing units each include an instruction execution device such as a central processing unit or "CPU" of a computer. One or more computers may be included within the data processing system. Of note, while the CPU can be a single core CPU, it will be understood that multiple CPU cores can operate within the CPU and in either instance, the instructions are directly loaded from memory into one or more of the cores of one or more of the CPUs for execution.

[0033] Aside from the direct loading of the instructions from memory for execution by one or more cores of a CPU or multiple CPUs, the computer readable program instructions described herein alternatively can be retrieved from over a computer communications network into the memory of a computer of the data processing system for execution therein. As well, only a portion of the program instructions may be retrieved into the memory from over the computer communications network, while other portions may be loaded from persistent storage of the computer. Even further, only a portion of the program instructions may execute by one or more processing cores of one or more CPUs of one of the computers of the data processing system, while other portions may cooperatively execute within a different computer of the data processing system that is either co-located with the computer or positioned remotely from the computer over the computer communications network with results of the computing by both computers shared therebetween.

[0034] The corresponding structures, materials, acts, and equivalents of all means or step plus function elements in the claims below are intended to include any structure, material, or act for performing the function in combination with other claimed elements as specifically claimed. The description of the present invention has been presented for purposes of illustration and description but is not intended to be exhaustive or limited to the invention in the form disclosed.

Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the invention. The embodiment was chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.

[0035] Having thus described the invention of the present application in detail and by reference to embodiments thereof, it will be apparent that modifications and variations are possible without departing from the scope of the invention defined in the appended claims as follows:

Claims

CONCLUSIONS

1. Method for optimizing ballast control during the unloading of an inland vessel, comprising the steps of: selecting a container to be unloaded from a vessel; determining a ballast maneuver to maintain a set level of the vessel after removal; carrying out the specific ballast maneuver; identifying a group of possible next containers to be unloaded and determining a corresponding ballast maneuver for each of the possible next containers; selecting the one of the possible next containers associated with a corresponding ballast maneuver that is the least demanding; and, performing the corresponding least demanding ballast maneuver while the vessel is under a container unloading crane.

A method according to claim 1, wherein the execution of the corresponding least demanding ballast maneuver is interrupted before removing the selected container when a threshold deviation from a position in the z-plane of the vessel is detected.

3. Method according to claim 1 or 2, wherein the determination of the ballast maneuver is carried out on the basis of a search in a table! in which a correlation is established between a location and a weight of a container on the vessel.

Method according to claim 3, wherein the table is self-learning based on manual adjustment of the ballast maneuver instead of a setting suggested in the table.

5. Method according to claim 3 or 4, wherein the table establishes a correlation between the location and the weight of the container on the vessel in combination with a roughness of the water around the vessel.

6. Data processing system designed to optimize ballast control during the unloading of an inland vessel, the system comprising: a host computer platform comprising one or more computers, each having memory and one or more processing units comprising one or more processing cores include; and, a ballast control module comprising computer program instructions that, when executed in the memory of at least one of the processing units of the host computer platform, enable the steps of: selecting a container to be extracted from a vessel to be unloaded; determining a ballast maneuver to maintain a set level of the vessel after removal; carrying out the specific ballast maneuver; identifying a group of possible next containers to be unloaded and determining a corresponding ballast maneuver for each of the possible next containers; selecting the one of the possible next containers associated with a corresponding ballast maneuver that is the least demanding; and, performing the corresponding least demanding ballast maneuver while the vessel is under a container unloading crane.

System according to claim 6, wherein the execution of the corresponding least demanding ballast maneuver is interrupted before the removal of the selected container when a threshold deviation from a position in the z-plane of the vessel is detected.

8. System according to claim 6 or 7, wherein the determination of the ballast maneuver is carried out on the basis of a search in a table in which a correlation is established between a location and a weight of a container on the vessel.

9. System according to claim 8, wherein the table is self-learning based on manual adjustment of the ballast maneuver instead of a setting suggested in the table.

10. System according to claim 8 or 9, wherein the table establishes a correlation between the location and the weight of the container on the vessel in combination with a roughness of the water around the vessel.

11. A computer device comprising a non-volatile storage medium that is readable by a computer and on which program instructions are stored, the instructions being executable by at least one processing core of a processing unit for causing the processing unit to perform a method of optimizing ballast control during the unloading of an inland vessel, the method comprising the steps consisting of: selecting a container to be unloaded from a vessel; determining a ballast maneuver to maintain a set level of the vessel after removal; carrying out the specific ballast maneuver; identifying a group of possible next containers to be unloaded and determining a corresponding ballast maneuver for each of the possible next containers; selecting the one of the possible next containers associated with a corresponding ballast maneuver that is the least demanding; and, performing the corresponding least demanding ballast maneuver while the vessel is under a container unloading crane.

An apparatus according to claim 11, wherein the execution of the corresponding least demanding ballast maneuver is interrupted before the removal of the selected container when a threshold deviation from a position in the z-plane of the vessel is detected.

Device according to claim 11 or 12, wherein the determination of the ballast maneuver is carried out on the basis of a search in a table! in which a correlation is established between a location and a weight of a container on the vessel.

Device according to claim 13, wherein the table is self-learning based on manual adjustment of the ballast maneuver instead of a setting suggested in the table.

15. Device according to claim 13 or 14, wherein the table establishes a correlation between the location and the weight of the container on the vessel in combination with a roughness of the water around the vessel.