A mooring stabilization method and device for ship berthing

Abstract

The present invention discloses a mooring stabilization method and device for ship berthing. The method comprises: obtaining external environmental parameters and ship parameters; obtaining relative position information between the ship and the dock, and determining the position of the ship in the wind flow based on the relative position information; determining the desired distance between each mooring pile, the desired distance between the ship and the shore, and the desired length of each cable based on the external environmental parameters, the ship parameters, and the position of the ship in the wind flow; obtaining the ship's roll angular velocity and the ship-turning torque due to environmental factors, and transmitting these to a mooring stabilization device for the mooring stabilization device to assist the ship in mooring. The present invention combines the current external environmental conditions of the ship with its own parameters to determine the desired distance between each mooring pile, the desired distance between the ship and the shore, and the desired length of each cable under different wind flow conditions, thereby accurately controlling the ship's mooring state, ensuring the safety and economic benefits of the ship during mooring, and can be widely used in the fields of ship berthing and ship mooring.

Description

Technical Field

[0001] The present invention relates to the field of ship berthing and ship mooring, and in particular to a mooring stabilization method and device for ship berthing. Background Art

[0002] With the rapid development of global trade, the shipping industry is also developing rapidly, and the corresponding demand is also increasing. After the ship has finished berthing, during the mooring operation, the ship will be affected by environmental factors, causing six degrees of freedom movement, increasing the difficulty of the operation, and even causing collisions with the quay, seriously damaging economic benefits and threatening the safety of both the ship and the shore.

[0003] Therefore, the above problems need to be solved urgently. Summary of the Invention

[0004] In view of this, an embodiment of the present invention provides a mooring stabilization method and device for ship berthing, which are used to improve the stability of ship mooring.

[0005] One aspect of an embodiment of the present invention provides a mooring stabilization method for a ship berthing, comprising:

[0006] Obtain external environment parameters and ship parameters;

[0007] Obtaining relative position information between the ship and the dock, and determining the position of the ship in the wind flow based on the relative position information;

[0008] Determining the desired distance between each mooring pile, the desired distance between the ship and the shore, and the desired length of each cable according to the external environment parameters, the ship parameters, and the position of the ship in the wind current;

[0009] The ship's rolling angular velocity and the ship-turning moment caused by environmental factors are obtained and sent to a mooring stabilization device so that the mooring stabilization device assists the ship in mooring.

[0010] Optionally, the external environmental parameters include wind speed, wind direction and wave height; and the ship parameters include ship displacement and ship length.

[0011] Optionally, obtaining external environment parameters and ship parameters includes:

[0012] Obtain wind speed, wind direction and wave height through the ship's AIS system, CCTV system and VTS system;

[0013] Obtain the ship displacement and ship length through the ship parameter table.

[0014] Optionally, obtaining the relative position information between the ship and the dock and determining the position of the ship in the wind flow includes:

[0015] Obtain the relative position information between the ship and the dock, with the dock as the inner side of the ship and the water area as the outer side of the ship. The ship's position in the wind flow is divided into four quadrants. The positions of the first quadrant, the second quadrant, the third quadrant, and the fourth quadrant are the inner side of the bow, the inner side of the stern, the outer side of the bow, and the outer side of the stern, respectively.

[0016] Determine the quadrant in which the vessel is located.

[0017] Optionally, determining the desired distance between each mooring pile, the desired distance between the ship and the shore, and the desired length of each cable according to the external environment parameters, the ship parameters, and the position of the ship in the wind current includes:

[0018] If the position of the ship in the wind current is in the first quadrant, the expected distance between the mooring piles is determined according to the first expression, the expected distance between the ship and the shore is determined according to the second expression, and the expected length of each cable is determined according to the third expression;

[0019] Among them, the first expression is:

[0020]

[0021] The second expression is:

[0022]

[0023] The third expression is:

[0024]

[0025] If the position of the ship in the wind flow is in the second quadrant, the expected length of each cable is determined according to the fourth expression:

[0026] l n (90°<β<180°)=l 7-n (0°<β<90°), n=1, 2, 3, 4, 5, 6;

[0027] If the position of the ship in the wind current is in the third quadrant, the expected distance between the mooring piles is determined according to the fifth expression, and the expected length of each cable is determined according to the third expression;

[0028] Among them, the fifth expression is:

[0029]

[0030] If the position of the ship in the wind flow is in the fourth quadrant, the expected length of each cable is determined according to the sixth expression, which is:

[0031] l n(180°<β<270°)=l 7-n (270°<β<360°), n=1, 2, 3, 4, 5, 6;

[0032] in, are the desired distances between the mooring piles, L is the length of the ship, Δt is the displacement of the ship, v is the wind speed, β is the wind direction, h is the wave height, is the expected distance between ship and shore, are the expected lengths of each cable, and η1, η2, η3, η4, η5, and η6 are the length correction coefficients of the corresponding cables.

[0033] Another aspect of the present invention provides a mooring stabilization device for a ship, comprising:

[0034] Parameter acquisition module, used to obtain external environment parameters and ship parameters;

[0035] A wind direction determination module is used to obtain relative position information between the ship and the dock, and determine the position of the ship in the wind flow based on the relative position information;

[0036] an expected value determination module, configured to determine an expected distance between each mooring pile, an expected distance between the ship and the shore, and an expected length of each cable according to the external environment parameters, the ship parameters, and the position of the ship in the wind current;

[0037] The auxiliary data acquisition module is used to obtain the ship's roll angular velocity and the ship-turning moment caused by environmental factors, and send them to the mooring stabilization device so that the mooring stabilization device can assist the ship in mooring.

[0038] Another aspect of an embodiment of the present invention further provides a mooring stabilization device for a ship berthing, comprising: a plurality of mechanical arms and a device body;

[0039] The bottom of the device body is fixed to the dock, and the mechanical arm is installed on the side close to the water;

[0040] The device body includes a processor, which is used to receive the roll angular velocity in the above-mentioned mooring stabilization method for ship berthing and the ship-turning torque of environmental factors, calculate the mooring torque in the opposite direction of the ship-turning torque, and control the mechanical arm to assist the ship in mooring according to the mooring torque.

[0041] Another aspect of the present invention provides another mooring stabilization device for berthing a ship, comprising:

[0042] Receive the ship turning moment of the rolling angular velocity and environmental factors;

[0043] Determine the angle between the ship and the wind direction;

[0044] Calculating a mooring moment in a direction opposite to the turning moment according to the roll angular velocity, the turning moment, and the angle;

[0045] The mechanical arm is controlled according to the mooring torque to assist in mooring the ship.

[0046] Optionally, controlling a mechanical arm to assist in mooring a ship according to the mooring torque includes:

[0047] Calculate the force required to be provided by each robotic arm based on the mooring torque and the lever arm corresponding to the robotic arm;

[0048] The control manipulator arm provides corresponding force to assist the ship in mooring.

[0049] Optionally, the process of determining the force arm corresponding to the robotic arm includes:

[0050] Determine the force arm corresponding to each robotic arm based on the length of the robotic arm and the distance from the robotic arm to the center of gravity of the ship.

[0051] Another aspect of an embodiment of the present invention further provides an electronic device, including a processor and a memory;

[0052] The memory is used to store programs;

[0053] The processor executes the program to implement any of the above methods.

[0054] Another aspect of an embodiment of the present invention further provides a computer-readable storage medium, wherein the storage medium stores a program, and the program is executed by a processor to implement any of the above methods.

[0055] The present invention also discloses a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device can read the computer instructions from the computer-readable storage medium and execute the computer instructions, causing the computer device to perform the above method.

[0056] The beneficial effects of the present invention are:

[0057] By adopting the method and device provided by the present invention, by combining the current external environment of the ship and its own parameters, the expected distance between each mooring pile, the expected distance between the ship and the shore, and the expected length of each cable under different wind and flow conditions are jointly determined, thereby more accurately controlling the ship's mooring state, meeting the needs of stable mooring of ships in different environments and at different docks, avoiding problems such as swaying of the ship when moored and collision with the quay wall, and ensuring the safety and economic benefits of the ship when moored to the greatest extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] 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.

[0059] Figure 1 A schematic flow chart of a mooring stabilization method for a ship berthing provided by an embodiment of the present invention;

[0060] Figure 2 A structural diagram illustrating a mooring stabilization device for berthing a ship provided by an embodiment of the present invention;

[0061] Figure 3 This is an example diagram of a real-life ship mooring scene provided by an embodiment of the present invention;

[0062] Figure 4 An exemplary diagram of the working principle of a mooring stabilization device provided in an embodiment of the present invention;

[0063] Figure 5 A schematic structural diagram of a mooring stabilization device for ship berthing provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0064] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0065] After the ship has finished berthing, during the mooring operation, the ship will be affected by environmental factors, resulting in six-degree-of-freedom movement, which increases the difficulty of the operation and may even cause collision with the quay wall, seriously damaging economic benefits and threatening the safety of both the ship and the shore. In order to solve this problem, the present invention proposes a mooring stabilization method and device for ship berthing. Figure 1 , the embodiment of the present invention provides a flow chart of a mooring stabilization method for a ship berthing. Figure 2 , an embodiment of the present invention provides a structural schematic diagram of a mooring stabilization device for berthing a ship.

[0066] Next, the process of ship mooring stabilization is described in conjunction with the method and device of the present invention, as follows:

[0067] S1. Initialize external environmental parameters. Obtain external environmental parameters based on the ship's external sensing equipment, including wind speed, wind direction, and wave height; and obtain the ship's displacement and length through the ship parameter table.

[0068] The ship obtains information about its external environment based on the AIS system, CCTV system, and VTS system, including wind speed v, wind direction β, and wave height h.

[0069] The ship's own parameters are obtained through the ship parameter table, which include: ship displacement Δt, ship length L.

[0070] S2. The position relationship between the ship and the dock when the ship is docking. The position, direction and function of the mooring line can be divided into head line, tail line, front transverse line, rear transverse line, front fall line and rear fall line. The wind flow from different directions is divided into four quadrants, namely the first quadrant wind flow, the second quadrant wind flow, the third quadrant wind flow and the fourth quadrant wind flow. Figure 3 As shown, an embodiment of the present invention provides an example diagram of a real scene of a ship mooring.

[0071] The dock is the inner side of the ship, the water area is the outer side of the ship, and the positions of the first quadrant, second quadrant, third quadrant, and fourth quadrant are the inner side of the bow, inner side of the stern, outer side of the bow, and outer side of the stern respectively.

[0072] S3. Perform force analysis on the ship under the influence of wind currents in different quadrants. To ensure the stability of the ship's mooring, calculate the expected distance between the mooring piles, the expected distance between the ship and the shore, and the expected length of each cable under different wind current conditions. Then, find suitable mooring piles and adjust the cable lengths to stabilize the ship.

[0073] Furthermore, the obtained wind speed v and wind direction β, wave height h, ship displacement Δt, and ship length L are input into the established mathematical model for calculating the expected distance between each mooring pile, the expected distance between the ship and the shore, and the expected length of each cable, and the expected distance x between each mooring pile is obtained. e , expected distance between ship and shore The desired length of each cable l e .

[0074] The distance from the mooring pile to the shore is y2. When the ship is affected by wind currents of different directions and magnitudes, the ship-shore interval y1 needs to be adjusted. The lateral distance between different mooring piles is xnn. The maximum lateral distance X is: X = x1 + L + x2 = x 11 +x 22 +x 33 +x 44 +x 55 .

[0075] If the wind blows in the mooring port and it is the first quadrant wind flow (0°<β<90°), according to the ship force analysis, in order to ensure the ship's mooring stability, the expected distance between the mooring piles is:

[0076]

[0077] Expected distance from ship to shore for:

[0078]

[0079] The desired length of each cable is:

[0080]

[0081] Among them, η1, η2, η3, η4, η5, η6 are the length correction coefficients of the corresponding cables, which are determined according to the actual situation. Usually η n ∈(0.95,1.05).

[0082] If the wind flow is in the second quadrant (90°<β<180°), since the hull is relatively symmetrical, the length of each cable satisfies: l n (90°<β<180°)=l 7-n (0°<β<90°)(n=1,2,3,4,5,6).

[0083] If the wind blowing at the mooring port is in the third quadrant (180°<β<270°), the distance between the mooring piles is:

[0084]

[0085] The length of each cable can still be obtained from formula (3).

[0086] If the wind flow is in the fourth quadrant (270°<β<360°), since the hull is relatively symmetrical, the length of each cable satisfies: l n (180°<β<270°)=l 7-n (270°<β<360°)(n=1,2,3,4,5,6).

[0087] For wind currents from different quadrants, the ship searches for bollards at the port with the same or close distances to the expected distances between bollards, the expected distance between ship and shore, and the expected lengths of each cable, based on the above mathematical model. This allows the ship to maintain the expected distance between ship and shore and adjust the cable lengths to the expected lengths.

[0088] S4. Based on the above, the device of the present invention can obtain the ship's rolling angular velocity ω measured by the ship sensor and the ship turning moment M caused by the environmental factors through the processor. 环境 .

[0089] The mooring stabilizing device of the present invention is as follows Figure 2As shown, it includes multiple robotic arms 2 and a device body 1, wherein the bottom of the device body is fixed to the dock, and the robotic arm is installed on the side close to the water; the device body includes a processor, which is used to receive the roll angular velocity and the ship-turning torque of environmental factors in the above-mentioned mooring stabilization method for ship berthing, calculate the mooring torque in the opposite direction of the ship-turning torque, and control the robotic arm to assist the ship in mooring according to the mooring torque.

[0090] The mooring stabilization device of the present invention can provide a mooring torque opposite to the ship turning torque caused by environmental factors, so that the angular velocity of the ship in the rolling direction approaches zero, thereby achieving the purpose of assisting mooring stability. Figure 4 As shown, an embodiment of the present invention provides an exemplary diagram of the working principle of a mooring stabilization device.

[0091] When a ship is at anchor, its sway, pitch, heave, pitching and bowing are all restricted by the mooring cables, but the cables have limitations in restricting the movement of the ship in the rolling direction.

[0092] The ship's rolling angular velocity ω and the ship's turning moment M caused by environmental factors are obtained through ship sensors. X (M X1 , M X2 , M X3 …), where M X1 , M X2 , M X3 The rotational moments correspond to wind speed, wind direction and wave height respectively.

[0093] The forces provided by the device of the present invention are F1 and F2, and the force arms from the center of gravity of the ship are l1 and l2.

[0094] It satisfies:

[0095]

[0096] Among them, M Y It represents the mooring torque provided by the device of the present invention, ΣM includes the rotation torque caused by wind speed, wind direction and wave height, as well as the rotation torque caused by other environmental factors.

[0097] The device of the present invention calculates the required mooring torque based on the ship-turning torque generated by the external environment, minimizing the generation of angular velocity. If a rolling angular velocity has already occurred, an appropriate mooring torque is applied to stop the ship's rolling as quickly as possible, thereby improving the ship's mooring stability.

[0098] The mooring stabilization method provided by the present invention is adopted. By obtaining the current external environment of the ship and the ship's own parameters, the corresponding external environment parameters and the ship's own parameters are substituted into the corresponding mathematical model to obtain the expected mooring pile distance, expected ship-to-shore distance, and expected cable length for the ship's berthing under the current environment. Then, the ship is made to meet the above expectations as much as possible. On this basis, a mooring stabilization device is added. The ship's rolling angular velocity and the ship-turning torque generated by environmental factors are obtained through the ship's sensor. The rolling angular velocity and the ship-turning torque generated by environmental factors are further substituted into the mathematical model of formula (5) to calculate the mooring torque that can offset the angular velocity and send it to the mooring stabilization device through the processor for processing. Then, the mechanical arm of the mooring stabilization device connected to the hull underwater and above the water provides the ship with a corresponding mooring torque. Still with Figure 4 For example, the ship-turning torque generated by the wind flow causes the ship to turn clockwise. The mechanical arm connected to the ship above water provides the ship with a thrust F1, and the mechanical arm connected to the ship underwater provides the ship with a pull F2. The thrust and pull work together to provide the ship with a damping torque for turning counterclockwise, offsetting the ship-turning torque generated by environmental factors, reducing the ship's roll angular velocity, and improving the stability of the ship. The method and device provided by the present invention, by combining the current external environment of the ship and its own parameters, jointly determine the expected distance between each mooring pile, the expected distance between the ship and the shore, and the expected length of each cable under different wind flow conditions, more accurately control the ship's mooring state, meet the needs of stable mooring of ships in different environments and different docks, avoid problems such as swaying of the ship when moored and collision with the shore, and maximize the safety and economic benefits of the ship when moored.

[0099] Reference Figure 5 , an embodiment of the present invention provides a mooring stabilization device for a ship berthing, comprising:

[0100] Parameter acquisition module, used to obtain external environment parameters and ship parameters;

[0101] A wind direction determination module is used to obtain relative position information between the ship and the dock, and determine the position of the ship in the wind flow based on the relative position information;

[0102] an expected value determination module, configured to determine an expected distance between each mooring pile, an expected distance between the ship and the shore, and an expected length of each cable according to the external environment parameters, the ship parameters, and the position of the ship in the wind current;

[0103] The auxiliary data acquisition module is used to obtain the ship's roll angular velocity and the ship-turning moment caused by environmental factors, and send them to the mooring stabilization device so that the mooring stabilization device can assist the ship in mooring.

[0104] The embodiment of the present invention also discloses a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device can read the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs Figure 1 The method shown.

[0105] In some optional embodiments, the function / operation mentioned in the block diagram may not occur in the order mentioned in the operation diagram. For example, depending on the function / operation involved, the two boxes shown in succession can actually be executed substantially simultaneously or the boxes can sometimes be executed in reverse order. In addition, the embodiment presented and described in the flow chart of the present invention is provided in an exemplary manner for the purpose of providing a more comprehensive understanding of the technology. The disclosed method is not limited to the operation and logic flow presented herein. Optional embodiments are contemplated in which the order of the various operations is changed and the sub-operations described as a part of a larger operation are performed independently.

[0106] Furthermore, although the present invention is described in the context of functional modules, it should be understood that, unless otherwise indicated, one or more of the functions and / or features described may be integrated into a single physical device and / or software module, or one or more functions and / or features may be implemented in separate physical devices or software modules. It will also be understood that a detailed discussion of the actual implementation of each module is not necessary for understanding the present invention. More specifically, given the properties, functions, and internal relationships of the various functional modules in the devices disclosed herein, the actual implementation of the module will be understood within the ordinary skill of an engineer. Therefore, a person skilled in the art using ordinary skill will be able to implement the present invention set forth in the claims without undue experimentation. It will also be understood that the specific concepts disclosed are merely illustrative and are not intended to limit the scope of the present invention, which is determined by the full scope of the appended claims and their equivalents.

[0107] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0108] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device.

[0109] More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection with one or more wires (electronic devices), a portable computer disk cartridge (magnetic devices), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disc read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering, or processing in another suitable manner as necessary, and then stored in a computer memory.

[0110] It should be understood that various parts of the present invention can be implemented using hardware, software, firmware, or a combination thereof. In the above-described embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0111] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0112] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the claims and their equivalents.

[0113] The above is a specific description of the preferred implementation of the present invention, but the present invention is not limited to the embodiments. Those skilled in the art can make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of the present invention.

Claims

1. A mooring stabilization method for a ship berthing, characterized in that: include: Obtain external environment parameters and ship parameters; Obtaining relative position information between the ship and the dock, and determining the position of the ship in the wind flow based on the relative position information; Determining the desired distance between each mooring pile, the desired distance between the ship and the shore, and the desired length of each cable according to the external environment parameters, the ship parameters, and the position of the ship in the wind current; Obtaining the ship's rolling angular velocity and the ship-turning moment caused by environmental factors, and sending the information to a mooring stabilization device so that the mooring stabilization device assists in mooring the ship; The external environmental parameters include wind speed, wind direction and wave height; the ship parameters include ship displacement and ship length; The obtaining of relative position information between the ship and the dock and determining the position of the ship in the wind flow includes: Obtain the relative position information between the ship and the dock, with the dock as the inner side of the ship and the water area as the outer side of the ship. The ship's position in the wind flow is divided into four quadrants. The positions of the first quadrant, the second quadrant, the third quadrant, and the fourth quadrant are the inner side of the bow, the inner side of the stern, the outer side of the bow, and the outer side of the stern, respectively. Determine the quadrant in which the vessel is located; The step of determining the desired distance between each mooring pile, the desired distance between the ship and the shore, and the desired length of each cable according to the external environmental parameters, the ship parameters, and the position of the ship in the wind current includes: If the position of the ship in the wind current is in the first quadrant, the expected distance between the mooring piles is determined according to the first expression, the expected distance between the ship and the shore is determined according to the second expression, and the expected length of each cable is determined according to the third expression; Among them, the first expression is: The second expression is: The third expression is: If the position of the ship in the wind flow is in the second quadrant, the expected length of each cable is determined according to the fourth expression: l n (90°<β<180°)＝l 7-n (0°<β<90°)，n＝1，2，3，4，5，6； If the position of the ship in the wind current is in the third quadrant, the expected distance between the mooring piles is determined according to the fifth expression, and the expected length of each cable is determined according to the third expression; Among them, the fifth expression is: If the position of the ship in the wind flow is in the fourth quadrant, the expected length of each cable is determined according to the sixth expression, which is: l n (180°<β<270°)＝l 7-n (270°<β<360°)，n＝1，2，3，4，5，6； in, are the desired distances between the mooring piles, L is the length of the ship, Δt is the displacement of the ship, v is the wind speed, β is the wind direction, h is the wave height, is the expected distance between ship and shore, are the expected lengths of each cable, and η1, η2, η3, η4, η5, and η6 are the length correction coefficients of the corresponding cables.

2. A mooring stabilization method for a ship berthing according to claim 1, characterized in that: The obtaining of external environment parameters and ship parameters includes: Obtain wind speed, wind direction and wave height through the ship's AIS system, CCTV system and VTS system; Obtain the ship displacement and ship length through the ship parameter table.

3. A mooring stabilization device for a ship, characterized in that: For implementing the mooring stabilization method for a ship berthing according to claim 1, the device comprises: Parameter acquisition module, used to obtain external environment parameters and ship parameters; A wind direction determination module is used to obtain relative position information between the ship and the dock, and determine the position of the ship in the wind flow based on the relative position information; an expected value determination module, configured to determine an expected distance between each mooring pile, an expected distance between the ship and the shore, and an expected length of each cable according to the external environment parameters, the ship parameters, and the position of the ship in the wind current; An auxiliary data acquisition module is used to obtain the ship's roll angular velocity and the ship-turning moment caused by environmental factors, and send them to the mooring stabilization device so that the mooring stabilization device can assist the ship in mooring; The external environmental parameters include wind speed, wind direction and wave height; the ship parameters include ship displacement and ship length; The obtaining of relative position information between the ship and the dock and determining the position of the ship in the wind flow includes: Obtain the relative position information between the ship and the dock, with the dock as the inner side of the ship and the water area as the outer side of the ship. The ship's position in the wind flow is divided into four quadrants. The positions of the first quadrant, the second quadrant, the third quadrant, and the fourth quadrant are the inner side of the bow, the inner side of the stern, the outer side of the bow, and the outer side of the stern, respectively. Determine the quadrant in which the vessel is located; The step of determining the desired distance between each mooring pile, the desired distance between the ship and the shore, and the desired length of each cable according to the external environmental parameters, the ship parameters, and the position of the ship in the wind current includes: If the position of the ship in the wind current is in the first quadrant, the expected distance between the mooring piles is determined according to the first expression, the expected distance between the ship and the shore is determined according to the second expression, and the expected length of each cable is determined according to the third expression; Among them, the first expression is: The second expression is: The third expression is: If the position of the ship in the wind flow is in the second quadrant, the expected length of each cable is determined according to the fourth expression: l n (90°<β<180°)＝l 7-n (0°<β<90°)，n＝1，2，3，4，5，6； If the position of the ship in the wind current is in the third quadrant, the expected distance between the mooring piles is determined according to the fifth expression, and the expected length of each cable is determined according to the third expression; Among them, the fifth expression is: If the position of the ship in the wind flow is in the fourth quadrant, the expected length of each cable is determined according to the sixth expression, which is: l n (180°<β<270°)＝l 7-n (270°<β<360°)，n＝1，2，3，4，5，6； in, are the desired distances between the mooring piles, L is the length of the ship, Δt is the displacement of the ship, v is the wind speed, β is the wind direction, h is the wave height, is the expected distance between ship and shore, are the expected lengths of each cable, and η1, η2, η3, η4, η5, and η6 are the length correction coefficients of the corresponding cables.

4. A mooring stabilization device for a ship berthing, characterized in that: include: multiple robotic arms and device bodies; The bottom of the device body is fixed to the dock, and the mechanical arm is installed on the side close to the water; The device body includes a processor, which is used to receive the roll angular velocity and the ship-turning torque of environmental factors in a mooring stabilization method for ship berthing as described in any one of claims 1 to 2, calculate a mooring torque in the opposite direction of the ship-turning torque, and control the mechanical arm to assist the ship in mooring according to the mooring torque.

5. A mooring stabilization method for a ship berthing, characterized in that: The method applied to the mooring stabilization device for berthing a ship according to claim 4 comprises: Receive the ship turning moment of the rolling angular velocity and environmental factors; Determine the angle between the ship and the wind direction; Calculating a mooring moment in a direction opposite to the turning moment according to the roll angular velocity, the turning moment, and the angle; The mechanical arm is controlled according to the mooring torque to assist in mooring the ship.

6. A mooring stabilization method for a ship according to claim 5, characterized in that: The method of controlling the mechanical arm to assist in mooring the ship according to the mooring torque comprises: Calculate the force required to be provided by each robotic arm based on the mooring torque and the lever arm corresponding to the robotic arm; The control manipulator arm provides corresponding force to assist the ship in mooring.

7. A mooring stabilization method for a ship according to claim 6, characterized in that: The process of determining the force arm corresponding to the robotic arm includes: Determine the force arm corresponding to each robotic arm based on the length of the robotic arm and the distance from the robotic arm to the center of gravity of the ship.

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