A method, device and system for positioning and avoiding collision of a hull during docking

Abstract

The present application relates to a method for positioning, determining and avoiding collision when a hull is docked, wherein the hull is longitudinally provided with a bow mooring pile located at a preset position of the bow, a bow satellite receiving device, and a stern mooring pile and a stern satellite receiving device located at a preset position of the stern along the central axis, and the positioning, determining and avoiding collision method comprises the steps of: during the docking process of the hull, selecting the satellite positioning signal collected by the bow satellite receiving device and / or the stern satellite receiving device that have not entered the dock, and when necessary, calculating the heading angle of the hull and the lateral distance from the hull to the side wall of the dock in combination with the relative position relationship between the bow mooring pile and the stern satellite receiving device to prevent the hull from colliding with the dock wall during the docking process. The present invention can effectively avoid the problem of inaccurate positioning and positioning error due to the obstruction of satellite signals during the docking process.

Description

Technical Field

[0001] The invention relates to the field of ship positioning and measurement, and in particular to a method, device and system for positioning, fixing and avoiding collision of a ship entering dock. Background Art

[0002] When a long and narrow ship enters a dock, it needs to be positioned and guided accurately to ensure that it does not collide with the side wall of the dock. In open waters far away, satellite GNSS can be used to locate the ship, and the ship's heading can be calculated using the method of dual satellites at the bow and stern.

[0003] In related technologies, Beidou satellites are used to obtain the position of the ship on the electronic nautical chart, and the tide table of the location is obtained through Tiantong satellites. The actual navigable depth of complex and narrow waterways is taken into account, and the large unmanned ships with deep drafts are prevented from being stranded when using electronic nautical charts with inaccurate water depths. Other technologies use Beidou and GPS satellite positioning systems to redundantly locate the ship, and use this as a basis for operating and guiding the ship to ensure safety.

[0004] However, the above method is only applicable to ships sailing in open waterways. It is difficult to effectively obtain the heading and attitude of the ship and the distance from the side of the dock during the entire docking process when there is satellite obstruction. Especially for ships that must install GNSS for hull positioning, how to obtain the accurate position and attitude of the ship during the entire docking process and determine whether the ship has collided with the side wall of the dock is a problem that has not yet been well solved. The actual docking process is often based on visual estimation by relevant personnel at the bow and the dock. Summary of the invention

[0005] The embodiments of the present invention provide a method, device and system for hull docking positioning and attitude determination for collision avoidance, so as to solve the problems in the above-mentioned related technologies.

[0006] In a first aspect, the present invention proposes a method for positioning, determining and avoiding collision when a hull is docked, wherein the hull is longitudinally provided with a bow mooring bollard located at a preset position of the bow, a bow satellite receiving device, and a stern mooring bollard and a stern satellite receiving device located at a preset position of the stern along the central axis, and the positioning, determining and avoiding collision method comprises the steps of:

[0007] During the docking process, the satellite positioning signals collected by the bow satellite receiving device and / or the stern satellite receiving device that have not entered the dock are selected, and when necessary, the heading angle of the ship and the lateral distance from the ship to the side wall of the dock are calculated in combination with the relative position relationship between the bow mooring pile and the stern satellite receiving device to prevent the ship from colliding with the dock wall during the docking process.

[0008] In some embodiments, during the docking process of the hull, the satellite positioning signals collected by the bow satellite receiving device and / or the stern satellite receiving device that have not entered the docking port are selected, and when necessary, the heading angle of the hull and the lateral distance from the hull to the dock side wall are calculated in combination with the relative position relationship between the bow mooring pile and the stern satellite receiving device to prevent the hull from colliding with the dock wall during the docking process, including the steps of:

[0009] Before the bow satellite receiving device reaches the dock entrance, the heading angle of the hull and the lateral distance from the hull to the dock side wall are calculated according to the satellite positioning signals received by the bow satellite receiving device and the stern satellite receiving device;

[0010] At the stage when the bow satellite receiving device enters the dock entrance and the stern satellite receiving device has not reached the dock entrance, the heading angle of the hull and the lateral distance from the hull to the side wall of the dock are calculated based on the satellite positioning signal received by the stern satellite receiving device and the relative position relationship between the bow mooring bollard and the stern satellite receiving device.

[0011] In some embodiments, before the bow satellite receiving device reaches the dock entrance, the heading angle of the hull and the lateral distance from the hull to the dock side wall are calculated according to the satellite positioning signals received by the bow satellite receiving device and the stern satellite receiving device, including the steps of:

[0012] Establishing a coordinate system based on the dock entrance, and determining the positioning coordinates of the bow satellite receiving device and the stern satellite receiving device within the coordinate system according to the satellite positioning signals received by the bow satellite receiving device and the stern satellite receiving device;

[0013] The heading angle of the hull and the lateral distance from the hull to the side wall of the dock are calculated according to the positioning coordinates of the bow satellite receiving device and the stern satellite receiving device.

[0014] In some embodiments, the coordinate system is established with the direction of entering the dock parallel to the central axis of the dock as the y-axis direction and the direction parallel to the dock line as the x-axis direction;

[0015] The method comprises the following steps: calculating the heading angle of the ship and the lateral distance from the ship to the side wall of the dock according to the positioning coordinates of the bow satellite receiving device and the stern satellite receiving device.

[0016] The heading angle of the hull is calculated according to the first formula, which is:

[0017] when , ,when , ,

[0018] in, is the heading angle of the ship, X B1 , Y B1 are the x-axis coordinate and y-axis coordinate of the bow satellite receiving device, respectively. B2 , Y B2 are the x-axis coordinate and y-axis coordinate of the stern satellite receiving device respectively;

[0019] The lateral distance from the hull to the dock sidewall is calculated according to a second formula, and the second formula is:

[0020]

[0021] ,

[0022] in, is the distance from the bow to the left side wall of the dock, and the left side wall of the dock is the dock side wall located on the left side of the hull when entering the dock, is the distance from the bow to the right side wall of the dock, and the right side wall of the dock is the dock side wall located on the right side of the hull when entering the dock, is the x-axis coordinate of the left wall of the dock, is the x-axis coordinate of the right wall of the dock, is the distance from the bow satellite receiving device to the bow center H, is the bow circle radius.

[0023] In some embodiments, at the stage when the bow satellite receiving device enters the dock entrance and the stern satellite receiving device has not reached the dock entrance, the heading angle of the hull and the lateral distance from the hull to the dock side wall are calculated according to the satellite positioning signal received by the stern satellite receiving device and the relative position relationship between the bow mooring bollard and the stern satellite receiving device, comprising the steps of:

[0024] Establishing a coordinate system based on the dock entrance, and determining the positioning coordinates of the stern satellite receiving device within the coordinate system according to the satellite positioning signal received by the stern satellite receiving device;

[0025] Determining the positioning coordinates of the bow mooring bollard according to the positioning coordinates of the stern satellite receiving device and the relative position relationship between the bow mooring bollard and the stern satellite receiving device;

[0026] The heading angle of the hull and the lateral distance from the hull to the side wall of the dock are calculated according to the positioning coordinates of the stern satellite receiving device and the positioning coordinates of the bow mooring pile.

[0027] In some embodiments, the coordinate system is established with the direction of entering the dock parallel to the central axis of the dock as the y-axis direction and the direction parallel to the dock line as the x-axis direction;

[0028] The method comprises the steps of determining the positioning coordinates of the bow mooring bollard according to the positioning coordinates of the stern satellite receiving device and the relative position relationship between the bow mooring bollard and the stern satellite receiving device.

[0029] The positioning coordinates of the bow bollard are determined according to a third formula, and the third formula is:

[0030] , ,

[0031] Among them, X J1 , Y J1 are the x-axis and y-axis coordinates of the bow bollard, X is the distance from the bow mooring pile to the stern satellite receiving device, B2 , Y B2 are the x-axis coordinate and y-axis coordinate of the stern satellite receiving device respectively;

[0032] The method comprises the following steps: calculating the heading angle of the hull and the lateral distance from the hull to the side wall of the dock according to the positioning coordinates of the stern satellite receiving device and the positioning coordinates of the bow mooring pile.

[0033] The heading angle of the hull is determined according to the fourth formula, and the fourth formula is:

[0034] when , ,when , ,

[0035] in, is the heading angle of the ship, X B2 , Y B2 are the x-axis coordinate and y-axis coordinate of the stern satellite receiving device respectively;

[0036] Determine the transverse distance from the hull to the dock sidewall according to the fifth formula;

[0037] The fifth formula is:

[0038]

[0039] ,

[0040] in, is the distance from the stern to the left side wall of the dock, and the left side wall of the dock is the dock side wall located on the left side of the hull when entering the dock, is the distance from the stern to the right side wall of the dock, and the right side wall of the dock is the dock side wall located on the right side of the hull when entering the dock, is the x-axis coordinate of the left wall of the dock, is the x-axis coordinate of the right wall of the dock, is the distance from the stern satellite receiving device to the stern center H, is the bow circle radius.

[0041] In some embodiments, the method for docking positioning and attitude determination for collision avoidance comprises the steps of:

[0042] After both the bow satellite receiving device and the stern satellite receiving device enter the docking port, the bow mooring pile and / or the stern mooring pile are used to tow the hull to ensure that the hull enters the dock straightly.

[0043] In some embodiments, the bow mooring bollard is closer to the bow than the bow satellite receiving device; and the stern satellite receiving device is closer to the stern than the stern mooring bollard.

[0044] In a second aspect, the present invention further provides a hull docking positioning and attitude anti-collision device, which comprises:

[0045] A memory and a processor, wherein at least one instruction is stored in the memory, and the at least one instruction is loaded and executed by the processor to implement the method as described above.

[0046] In a third aspect, the present invention further provides a hull docking positioning and attitude collision avoidance system, which comprises:

[0047] A bow mooring bollard and a bow satellite receiving device are sequentially arranged at a preset position of the bow along the longitudinal axis of the hull, and a stern mooring bollard and a stern satellite receiving device are arranged at a preset position of the stern;

[0048] A hull docking positioning and attitude avoidance device connected to the bow satellite receiving device and the stern satellite receiving device via wired or wireless signals;

[0049] The bow mooring bollard and the stern mooring bollard are used to be towed by a cable car when necessary to allow the hull to be safely docked;

[0050] The bow satellite receiving device and the stern satellite receiving device are used to receive satellite positioning signals;

[0051] The hull docking positioning, attitude determination and collision avoidance device is used to obtain the satellite positioning signal received by the bow satellite receiving device and / or the stern satellite receiving device when necessary and realize the positioning, attitude determination and collision avoidance of the hull docking process according to the method as described above.

[0052] The present invention proposes a method for positioning and determining the attitude of a ship body during docking based only on satellite signals that have not entered the dock. When necessary, based on available satellite signals, the relative positions of the ship body's mooring piles and satellite receiving devices are cleverly combined to determine the attitude of the ship body, thereby effectively avoiding the problem of inaccurate positioning and positioning errors due to obstruction of satellite signals during docking, and at the same time providing a simple and practical positioning and collision avoidance method for docking of ships in narrow and long docks. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0054] Figure 1 A schematic diagram of the structure of a ship docking positioning and attitude avoidance system provided by an embodiment of the present invention;

[0055] Figure 2 A schematic diagram of the structure of a ship docking positioning and attitude avoidance system provided by an embodiment of the present invention;

[0056] Figure 3 A schematic diagram of a bow docking process provided by an embodiment of the present invention;

[0057] Figure 4 A schematic diagram of a stern docking process provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0058] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0059] An embodiment of the present invention provides a method for positioning, determining and avoiding collision when a hull is docked, wherein the hull is longitudinally provided with a bow mooring bollard located at a preset position of the bow, a bow satellite receiving device, and a stern mooring bollard and a stern satellite receiving device located at a preset position of the stern along the central axis, and the positioning, determining and avoiding collision method comprises the steps of:

[0060] S100: During the docking process, the satellite positioning signals collected by the bow satellite receiving device and / or the stern satellite receiving device that have not entered the docking port are selected, and when necessary, the heading angle of the ship and the lateral distance from the ship to the dock side wall are calculated in combination with the relative position relationship between the bow mooring bollard and the stern satellite receiving device to prevent the ship from colliding with the dock wall during the docking process.

[0061] It should be noted that the situation where the bow satellite receiving device and the stern satellite receiving device enter the dock entrance respectively includes the situation where the bow satellite receiving device and the stern satellite receiving device have reached the dock entrance respectively, which can be divided into the stages where neither the bow satellite receiving device nor the stern satellite receiving device has reached the dock entrance, the bow satellite receiving device has reached the dock entrance but the stern satellite receiving device has not reached the dock entrance, and both the bow satellite receiving device and the stern satellite receiving device have passed the dock entrance. Selecting the satellite positioning signal collected by the corresponding satellite receiving device according to the above situation may include selecting only the satellite positioning signal received by the bow satellite receiving device, selecting the satellite positioning signals received by both the bow satellite receiving device and the stern satellite receiving device, and selecting only the satellite positioning signal received by the stern satellite receiving device.

[0062] This embodiment takes into account the situation where satellite signals are blocked after the hull enters the dock, and proposes a method for positioning and determining the attitude of the hull during the docking process based only on satellite signals that have not entered the dock. When necessary, based on the available satellite signals, the relative positions of the hull's mooring piles and the satellite receiving device are cleverly combined to determine the hull's attitude, effectively avoiding the problem of inaccurate positioning and positioning errors due to blocking of satellite signals during the docking process, and at the same time providing a simple and practical positioning and collision avoidance method for the docking of ships in narrow and long docks.

[0063] Preferably, the bow mooring bollard is closer to the bow than the bow satellite receiving device; the stern satellite receiving device is closer to the stern than the stern mooring bollard. When the satellite receiving device crosses the docking line (the line connecting the two corner points of the docking) and loses the signal, the mooring bollard has been fixed by the operator to ensure that the hull can slide along the central axis.

[0064] In some embodiments, S100 includes the steps of:

[0065] S110: before the bow satellite receiving device reaches the dock entrance, calculating the heading angle of the hull and the lateral distance from the hull to the dock side wall according to the satellite positioning signals received by the bow satellite receiving device and the stern satellite receiving device;

[0066] S120: When the bow satellite receiving device enters the dock entrance and the stern satellite receiving device has not reached the dock entrance, the heading angle of the hull and the lateral distance from the hull to the dock side wall are calculated according to the satellite positioning signal received by the stern satellite receiving device and the relative position relationship between the bow mooring bollard and the stern satellite receiving device.

[0067] In this embodiment, the docking process is divided into two stages, and different satellite positioning information is used for attitude determination and collision avoidance according to different stages. In the transition from the area with good satellite signals on the sea surface to the area without satellite signals in the dock, the satellite positioning information and the spatial position of the mooring pile are used for calculation, which not only avoids the use of the satellite positioning information of the docked area (satellite positioning information that may be blocked), but also the calculation method is simple and easy to operate, has good practicality, and can also be easily automated in computer software. Analysis.

[0068] In some embodiments, S110 includes the steps of:

[0069] S111: establishing a coordinate system based on the dock entrance, and determining the positioning coordinates of the bow satellite receiving device and the stern satellite receiving device in the coordinate system according to the satellite positioning signals received by the bow satellite receiving device and the stern satellite receiving device;

[0070] S112: Calculate the heading angle of the hull and the lateral distance from the hull to the side wall of the dock according to the positioning coordinates of the bow satellite receiving device and the stern satellite receiving device.

[0071] In some embodiments, the coordinate system in S111 is established with the direction of entering the dock parallel to the central axis of the dock as the y-axis direction and with the direction parallel to the dock line as the x-axis direction;

[0072] S111 calculates the heading angle of the ship and the lateral distance from the ship to the side wall of the dock according to the positioning coordinates of the bow satellite receiving device and the stern satellite receiving device, including the steps of:

[0073] S111-a: Calculate the heading angle of the ship according to a first formula, wherein the first formula is:

[0074] when , ,when , ,

[0075] in, is the heading angle of the ship, X B1 , Y B1 are the x-axis coordinate and y-axis coordinate of the bow satellite receiving device, respectively. B2 , Y B2They are respectively the x-axis coordinate and the y-axis coordinate of the stern satellite receiving device; it should be noted that the positioning information received by the satellite receiving device are all real-time coordinates, therefore, the coordinate values ​​involved in the present invention are all absolute values ​​of the real-time position coordinates.

[0076] S111-b: Calculate the lateral distance from the hull to the dock sidewall according to a second formula, and the second formula is:

[0077]

[0078] ,

[0079] in, is the distance from the bow to the left side wall of the dock, and the left side wall of the dock is the dock side wall located on the left side of the hull when entering the dock, is the distance from the bow to the right side wall of the dock, and the right side wall of the dock is the dock side wall located on the right side of the hull when entering the dock, is the x-axis coordinate of the left wall of the dock, is the x-axis coordinate of the right wall of the dock, is the distance from the bow satellite receiving device to the bow center H, is the bow circle radius.

[0080] In some embodiments, S120 includes the steps of:

[0081] S121: establishing a coordinate system based on the dock entrance, and determining the positioning coordinates of the stern satellite receiving device within the coordinate system according to the satellite positioning signal received by the stern satellite receiving device;

[0082] S122: determining the positioning coordinates of the bow mooring bollard according to the positioning coordinates of the stern satellite receiving device and the relative position relationship between the bow mooring bollard and the stern satellite receiving device;

[0083] S123: Calculate the heading angle of the hull and the lateral distance from the hull to the side wall of the dock according to the positioning coordinates of the stern satellite receiving device and the positioning coordinates of the bow mooring bollard.

[0084] In some embodiments, the coordinate system in S121 is established with the direction of entering the dock parallel to the central axis of the dock as the y-axis direction and with the direction parallel to the dock line as the x-axis direction;

[0085] S121 determines the positioning coordinates of the bow mooring bollard according to the positioning coordinates of the stern satellite receiving device and the relative position relationship between the bow mooring bollard and the stern satellite receiving device, including the steps of:

[0086] S121-a: Determine the positioning coordinates of the bow mooring bollard according to a third formula, and the third formula is:

[0087] , ,

[0088] Among them, X J1 , Y J1 are the x-axis and y-axis coordinates of the bow bollard, X is the distance from the bow mooring pile to the stern satellite receiving device, B2 , Y B2 are the x-axis coordinate and y-axis coordinate of the stern satellite receiving device respectively;

[0089] S121-b: Calculating the heading angle of the hull and the lateral distance from the hull to the side wall of the dock according to the positioning coordinates of the stern satellite receiving device and the positioning coordinates of the bow mooring bollard, comprising the steps of:

[0090] The heading angle of the hull is determined according to the fourth formula, and the fourth formula is:

[0091] when , ,when , ,

[0092] in, is the heading angle of the ship, X B2 , Y B2 are the x-axis coordinate and y-axis coordinate of the stern satellite receiving device respectively;

[0093] S121-c: Determine the transverse distance from the hull to the dock sidewall according to the fifth formula;

[0094] The fifth formula is:

[0095]

[0096] ,

[0097] in, is the distance from the stern to the left side wall of the dock, and the left side wall of the dock is the dock side wall located on the left side of the hull when entering the dock, is the distance from the stern to the right side wall of the dock, and the right side wall of the dock is the dock side wall located on the right side of the hull when entering the dock, is the x-axis coordinate of the left wall of the dock, is the x-axis coordinate of the right wall of the dock, is the distance from the stern satellite receiving device to the stern center H, is the bow circle radius.

[0098] In some embodiments, after the stern satellite receiving device enters the dock entrance, the satellite positioning signals received by the bow satellite receiving device and / or the stern satellite receiving device are no longer used to perform attitude determination and collision avoidance on the hull.

[0099] An embodiment of the present invention further provides a hull docking positioning and attitude determination collision avoidance device, which includes: a memory and a processor, wherein the memory stores at least one instruction, and the at least one instruction is loaded and executed by the processor to implement the method as described above.

[0100] like Figure 1 As shown, an embodiment of the present invention further provides a hull docking positioning and attitude collision avoidance system, which includes:

[0101] A bow mooring bollard J1 and a bow satellite receiving device B1 are sequentially arranged at a preset position of the bow along the longitudinal axis of the hull, and a stern mooring bollard J2 and a stern satellite receiving device B2 are arranged at a preset position of the stern;

[0102] A hull docking positioning and attitude anti-collision device W connected to the bow satellite receiving device and the stern satellite receiving device via wired or wireless signals;

[0103] The bow mooring bollard J1 and the stern mooring bollard J2 are used to be towed by the cable car when necessary to allow the hull to be safely docked;

[0104] The bow satellite receiving device B1 and the stern satellite receiving device B2 are used to receive satellite positioning signals;

[0105] The hull docking positioning, attitude determination and collision avoidance device W is used to obtain satellite positioning signals received by the bow satellite receiving device B1 and / or the stern satellite receiving device B2 when necessary and realize positioning, attitude determination and collision avoidance during the hull docking process according to the above-mentioned method.

[0106] In a specific embodiment, Figure 2 As shown, a combination of dual satellite receivers and dual bollards is used to accurately calculate the position of the ship without the cooperation of other positioning devices, and to determine the distance between the ship and the side wall. Satellite receiving devices (GNSS receivers) B1 and B2 are installed on the deck above the centerline of the hull; two bollards J1 and J2 are also provided on the centerline of the hull, and B1 is close to the bow and located behind the bollard J1 (away from the bow), and B2 is close to the stern and located behind the bollard J2 (close to the stern). Among them, the satellite receiving devices (GNSS receivers) B1 and B2 can use R970 or M10S based on Beidou III. The data acquisition / solution frequency of B1 and B2 is 5 to 10Hz, and 5 to 10 position data (satellite positioning information) can be given per second. B1 and B2 are represented by B1 (X Ｂ１ ,Y Ｂ１ ,ZＢ１ ) and B2 (X B２ ,Y B２ ,Z B２ ).

[0107] like Figure 3 As shown, a coordinate system based on the dock entrance is established, with the Y direction parallel to the dock entrance centerline and pointing inward, and the X direction parallel to the dock entrance line and pointing to the right (the right side of the hull entering the dock is the right).

[0108] The real-time calculation of the ship's attitude and position is divided into three stages:

[0109] like Figure 3 As shown in the figure, the first stage is when the ship enters the dock from a distance, until B1 reaches the dock entrance line. At this stage, the heading angle of the ship and the lateral distance between the ship and the dock side wall are calculated by the satellite positioning information obtained by B1 and B2, mainly considering the spatial relationship between the bow and the side wall to prevent collision.

[0110] The positioning information obtained by the satellite positioning devices B1 and B2 is converted into coordinates, which are respectively denoted as B1 (X B1 ,Y B1 ,Z B1 ) and B2 (X B2 ,Y B2 ,Z B2 ), then the heading angle of the ship The calculation formula is:

[0111] ,when ,

[0112] ,when ;

[0113] The distance from the bow to the left dock wall is:

[0114] ,

[0115] in, is the X-axis coordinate of the left dock wall (since the dock wall is parallel to the Y-axis, it is an X value), B１ is the X-axis coordinate value of the satellite receiver’s position, L HB１ is the distance from the satellite receiver B1 to the center of the bow circle H, and R is the radius of the bow circle.

[0116] The distance from the bow to the right dock wall is:

[0117]

[0118] in, is the X-axis coordinate of the right dock wall (because the dock wall is parallel to the Y axis, it is an X value), X B１ is the X value of the satellite receiver’s position, L HB１ is the distance from the satellite receiver B1 to the center of the bow circle H, and R is the radius of the bow circle.

[0119] like Figure 4 As shown in the figure, the second stage is when B1 enters the dock (crosses the dock line) and B2 reaches the dock line. In this stage, the heading angle of the ship and the lateral distance between the hull and the dock side wall are calculated based on the satellite positioning information obtained by B2 and the sliding process of J1, mainly considering the spatial relationship between the stern and the side wall to prevent collision.

[0120] First, calculate the coordinates of the mooring pile J1 ( , ):

[0121]

[0122]

[0123] Where L J１B２ It is the distance from the mooring bollard J1 to the receiving station B2, which is a fixed value after installation.

[0124] According to the satellite positioning information of B2 and the coordinates of the mooring pile J1 ( , ) Calculate the heading angle of the ship :

[0125] ,when ,

[0126] ,when ,

[0127] Therefore, the distance from the stern to the left dock wall is:

[0128]

[0129] in, is the X-axis coordinate of the left dock wall (because the dock wall is parallel to the Y-axis, it is a fixed X value), XB2 is the X value of the satellite receiver's position, LTB1 is the distance from the satellite receiver B2 to the stern circle center T, and R is the bow circle radius.

[0130] The distance from the stern to the right dock wall is:

[0131]

[0132] in, is the X-axis coordinate of the right dock wall (because the dock wall is parallel to the Y axis, it is a fixed X value), B２ is the X value of the satellite receiver’s position, L TB2 is the distance from satellite receiver B2 to the center T of the stern circle, and R is the radius of the stern circle.

[0133] The third stage is when J2 has completed the fixing of the cable car. At this time, the satellite positioning information of B1 or B2 is no longer used for calculations. Instead, the cable car is used to pull the mooring piles to ensure that the ship goes straight into the dock.

[0134] In the description of the present invention, it should be noted that the terms "upper", "lower", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the present invention. Unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0135] It should be noted that, in the present invention, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0136] The foregoing is merely a specific embodiment of the present invention, which enables those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A method for preventing collision when positioning and locating a ship during docking, characterized in that: The hull is longitudinally provided with a bow mooring bollard and a bow satellite receiving device at a preset position of the bow, and a stern mooring bollard and a stern satellite receiving device at a preset position of the stern along the central axis. The positioning, attitude determination and collision avoidance method comprises the steps of: During the docking process, the satellite positioning signals collected by the bow satellite receiving device and / or the stern satellite receiving device that have not entered the docking port are selected, and when necessary, the heading angle of the hull and the lateral distance from the hull to the dock side wall are calculated in combination with the relative position relationship between the bow mooring bollard and the stern satellite receiving device to prevent the hull from colliding with the dock wall during the docking process; Before the bow satellite receiving device reaches the dock entrance, the heading angle of the hull and the lateral distance from the hull to the dock side wall are calculated according to the satellite positioning signals received by the bow satellite receiving device and the stern satellite receiving device, including the steps of: Establishing a coordinate system based on the dock entrance, and determining the positioning coordinates of the bow satellite receiving device and the stern satellite receiving device within the coordinate system according to the satellite positioning signals received by the bow satellite receiving device and the stern satellite receiving device; Calculating the heading angle of the ship and the lateral distance from the ship to the side wall of the dock according to the positioning coordinates of the bow satellite receiving device and the stern satellite receiving device; The coordinate system is established with the direction of entering the dock parallel to the central axis of the dock as the y-axis direction and the direction parallel to the dock line as the x-axis direction; The method comprises the following steps: calculating the heading angle of the ship and the lateral distance from the ship to the side wall of the dock according to the positioning coordinates of the bow satellite receiving device and the stern satellite receiving device. The heading angle of the hull is calculated according to the first formula, which is: when , ,when , , in, is the heading angle of the ship, X B1 , Y B1 are the x-axis coordinate and y-axis coordinate of the bow satellite receiving device, respectively. B2 , Y B2 are the x-axis coordinate and y-axis coordinate of the stern satellite receiving device respectively; The lateral distance from the hull to the dock sidewall is calculated according to a second formula, and the second formula is: ， in, is the distance from the bow to the left side wall of the dock, and the left side wall of the dock is the dock side wall located on the left side of the hull when entering the dock, is the distance from the bow to the right side wall of the dock, and the right side wall of the dock is the dock side wall located on the right side of the hull when entering the dock, is the x-axis coordinate of the left wall of the dock, is the x-axis coordinate of the right wall of the dock, is the distance from the bow satellite receiving device to the bow center H, is the bow circle radius.

2. The method for preventing collision when positioning and stabilizing a hull during docking as claimed in claim 1, characterized in that: During the docking process of the ship, the satellite positioning signals collected by the bow satellite receiving device and / or the stern satellite receiving device that have not entered the docking port are selected, and when necessary, the heading angle of the ship and the lateral distance from the ship to the dock side wall are calculated in combination with the relative position relationship between the bow mooring bollard and the stern satellite receiving device to prevent the ship from colliding with the dock wall during the docking process, including the steps of: Before the bow satellite receiving device reaches the dock entrance, the heading angle of the hull and the lateral distance from the hull to the dock side wall are calculated according to the satellite positioning signals received by the bow satellite receiving device and the stern satellite receiving device; At the stage when the bow satellite receiving device enters the dock entrance and the stern satellite receiving device has not reached the dock entrance, the heading angle of the hull and the lateral distance from the hull to the side wall of the dock are calculated based on the satellite positioning signal received by the stern satellite receiving device and the relative position relationship between the bow mooring bollard and the stern satellite receiving device.

3. The method for preventing collision when positioning and stabilizing a hull during docking as claimed in claim 2, characterized in that: At a stage where the bow satellite receiving device enters the dock entrance and the stern satellite receiving device has not reached the dock entrance, the heading angle of the hull and the lateral distance from the hull to the dock side wall are calculated according to the satellite positioning signal received by the stern satellite receiving device and the relative position relationship between the bow mooring bollard and the stern satellite receiving device, including the steps of: Establishing a coordinate system based on the dock entrance, and determining the positioning coordinates of the stern satellite receiving device within the coordinate system according to the satellite positioning signal received by the stern satellite receiving device; Determining the positioning coordinates of the bow mooring bollard according to the positioning coordinates of the stern satellite receiving device and the relative position relationship between the bow mooring bollard and the stern satellite receiving device; The heading angle of the hull and the lateral distance from the hull to the side wall of the dock are calculated according to the positioning coordinates of the stern satellite receiving device and the positioning coordinates of the bow mooring pile.

4. The method for preventing collision when positioning and stabilizing a hull during docking as claimed in claim 3, characterized in that: The coordinate system is established with the direction of entering the dock parallel to the central axis of the dock as the y-axis direction and the direction parallel to the dock line as the x-axis direction; The method comprises the steps of determining the positioning coordinates of the bow mooring bollard according to the positioning coordinates of the stern satellite receiving device and the relative position relationship between the bow mooring bollard and the stern satellite receiving device. The positioning coordinates of the bow bollard are determined according to a third formula, and the third formula is: ， ， Among them, X J1 , Y J1 are the x-axis and y-axis coordinates of the bow bollard, X is the distance from the bow mooring pile to the stern satellite receiving device, B2 , Y B2 are the x-axis coordinate and y-axis coordinate of the stern satellite receiving device respectively; The method comprises the following steps: calculating the heading angle of the hull and the lateral distance from the hull to the side wall of the dock according to the positioning coordinates of the stern satellite receiving device and the positioning coordinates of the bow mooring pile. The heading angle of the hull is determined according to the fourth formula, and the fourth formula is: when , ,when , , in, is the heading angle of the ship, X B2 , Y B2 are the x-axis coordinate and y-axis coordinate of the stern satellite receiving device respectively; Determine the transverse distance from the hull to the dock sidewall according to the fifth formula; The fifth formula is: ， in, is the distance from the stern to the left side wall of the dock, and the left side wall of the dock is the dock side wall located on the left side of the hull when entering the dock, is the distance from the stern to the right side wall of the dock, and the right side wall of the dock is the dock side wall located on the right side of the hull when entering the dock, is the x-axis coordinate of the left wall of the dock, is the x-axis coordinate of the right wall of the dock, L TB2 is the distance from the stern satellite receiving device to the stern center H, is the bow circle radius.

5. The method for preventing collision when positioning and stabilizing a hull during docking as claimed in claim 1, characterized in that: It includes the steps of: After both the bow satellite receiving device and the stern satellite receiving device enter the docking port, the bow mooring pile and / or the stern mooring pile are used to tow the hull to ensure that the hull enters the dock straightly.

6. The method for preventing collision when positioning and stabilizing a hull during docking as claimed in claim 1, characterized in that: The bow mooring bollard is closer to the bow than the bow satellite receiving device; the stern satellite receiving device is closer to the stern than the stern mooring bollard.

7. A hull docking positioning and attitude anti-collision device, characterized in that: It includes: A memory and a processor, wherein the memory stores at least one instruction, and the at least one instruction is loaded and executed by the processor to implement the method according to any one of claims 1 to 6.

8. A ship docking positioning and attitude collision avoidance system, characterized in that: It includes: A bow mooring bollard and a bow satellite receiving device are sequentially arranged at a preset position of the bow along the longitudinal axis of the hull, and a stern mooring bollard and a stern satellite receiving device are arranged at a preset position of the stern; A hull docking positioning and attitude avoidance device connected to the bow satellite receiving device and the stern satellite receiving device via wired or wireless signals; The bow mooring bollard and the stern mooring bollard are used to be towed by a cable car when necessary to allow the hull to be safely docked; The bow satellite receiving device and the stern satellite receiving device are used to receive satellite positioning signals; The hull docking positioning, attitude determination and collision avoidance device is used to obtain the satellite positioning signal received by the bow satellite receiving device and / or the stern satellite receiving device when necessary and to achieve positioning, attitude determination and collision avoidance during the hull docking process according to the method described in any one of claims 1 to 6.

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