Modern ship automatic berthing and unberthing system and method

Abstract

The invention provides a modern ship automatic berthing and unberthing system and method, and belongs to the technical field of ship control. The system comprises a positioning system, an inertial navigation unit, a scene reconstruction unit, a sensor monitoring unit, a comprehensive data processing center, a fault emergency processing system, and a shore-based command center. The positioning system is used for detecting the geographical position of the ship. The inertial navigation system is used for sensing the posture and the motion state of the ship. The scene reconstruction unit is used for reconstructing a three-dimensional model of a shore-based environment and ship navigation. According to the invention, the three-dimensional scene reconstruction technology is used to realize real-time and visual visualization of the whole berthing and unberthing process, and at the same time, the fault emergency processing system can refine the processing steps in emergency, so that the loss is reduced to the minimum.

Description

technical field [0001] The invention relates to the technical field of ship manipulation, in particular to a modern ship automatic berthing and unberthing system and method. Background technique [0002] With the rapid development of robot technology, modern communication technology, computer technology, data mining technology and navigation technology, unmanned ship technology is gradually applied to sea surface environment monitoring, marine meteorological forecast, communication relay, maritime accident search and rescue, maritime traffic guidance, Assist in the maintenance of maritime traffic order, near- and long-range target recognition and tracking, and automatic driving of unmanned commercial ships. At present, manual operation or tugboat assistance is still widely used in the field of automatic berthing of ships, which has low efficiency and high cost. Therefore, it is particularly important to invent an automatic berthing and unberthing system based on modern ship ...

AI Technical Summary

Problems solved by technology

At present, manual operation or tugboat assistance is still widely used in the field of automatic berthing of ships, which has low efficiency and high cost. Therefore, it is particularly important to invent an automatic berthing and unberthing system based on modern ship platforms.

[0003] Chinese patent CN207529224U discloses an automatic berthing system for ships. Cameras in various directions transmit the real-time situation of the berthing edge of the pier to the berthing control system, and the berthing control system adjusts the propulsion system according to the data corresponding to the real-time situation of the pier to drive the ship. Realize automatic berthing; but only rely on the accuracy of the information collected by the camera is greatly affected by environmental factors such as weather

[0004] Chinese patent CN107065878A discloses a ship automatic berthing system and method, including a measurement subsystem, an automatic control subsystem, a ship-borne actuator, and a system start-stop device; the measurement subsystem collects and processes the ship speed required for ship berthing in real time and angle data, the automatic control subsystem controls the ship's actuators to realize the automatic berthing of the ship; but the measurement subsystem of this patent only includes laser range finder and GPS, and the accuracy of the collected data needs to be improved

[0005] Chinese patent CN 109739238A discloses an automatic ship berthing and unberthing system and its working method, including a navigation unit, a motion control unit, and a shore-based monitoring unit, which considers the problem of route planning, but the ship itself has a relatively simple way of handling emergencies , and the shore-based operators can only decide how to control the movement of the ship through visual observation or data, which has a large error and a greater risk to shore personnel

[0006] It can be seen from the above that the data collection of the automatic berthing and unberthing system of ships at this stage is relatively simple, which is affected by environmental factors; at the same time, a large number of manual operations are used, which has low efficiency, high cost, and there are a lot of errors, which will cause certain damage to the personnel on the shore. risks of

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