A pilot device and a pilot method for facilitating berthing of a ship

Abstract

This invention patent relates to a pilotage device and method for facilitating ship berthing. The pilotage device is installed on both sides of the berth and includes an outer arc track section, a straight track section, and an inner arc track section. The outer arc track section, straight track section, and inner arc track section on the same side can be longitudinally spliced ​​to form an S-shaped pilotage track. The outer arc track section is set on the forward side wall of the berth and can expand outward to both sides to form a forward horn opening. The straight track section is set on the middle side wall of the berth and can prevent ships from directly impacting the side wall of the berth laterally and guide ships to sail longitudinally within the berth. The inner arc track section is set on the stern side wall of the berth and gradually curves towards the berth with increasing convex distance, thereby forming a forward wedge pointing towards the designated berthing point. The pilotage method can selectively control the timing and angle of the movement of the outer arc track section and the inner arc track section to improve the ship entry rate, reduce rigid contact strength, and achieve flexible pilotage.

Description

Technical Field

[0001] This invention patent relates to the field of intelligent ship technology, and in particular to a pilotage device and pilotage method that facilitates ship berthing, making it easier to flexibly guide ships to the target berthing location. Background Technology

[0002] Vessels need to resupply or pick up / drop off passengers / cargo multiple times during their operation in waterways, so they need to frequently stop at berths, especially to bring their forward end to the designated point; intelligent cruise ships often only carry passengers and do not have skilled helmsmen, making it difficult to stop accurately under the influence of wind and waves.

[0003] When ships automatically enter and berth, the following phenomena occur: Due to positioning deviations combined with wind and wave interference, ships are prone to colliding with one side of the berth entrance when entering narrow berths. Often, the ship is only slightly off-center from entering the berth. This small-distance yaw is difficult to completely avoid using only the ship's controller algorithm settings. Firstly, the ship's short-distance lateral correction capability is weak; secondly, overshooting can easily lead to a collision with the other side. The traditional approach is to widen the berth, which greatly reduces the probability of collision, but it cannot completely eliminate the possibility of collision. Side impact rebound incidents have also increased the amount of unused berth space, leading to an overall shortage of berths. Furthermore, widened berths are prone to drifting to the opposite side, increasing the difficulty of passenger boarding and the challenge of automatic positioning at the forward end of the vessel. When a vessel enters the berth, it is prone to scraping against the middle side wall, making it difficult to glide to the bottom of the berth. When the forward end of the vessel reaches the stern of the berth, it may randomly strike any point at the bottom, making it difficult to lock the vessel in place and potentially damaging the cruise ship or the dock.

[0004] Therefore, overcoming the shortcomings of the existing technology is an urgent problem to be solved in this technical field. Summary of the Invention

[0005] The technical problem that this invention patent aims to solve is that existing berths are unable to actively correct the course of ships and guide them to the target berthing position.

[0006] Firstly, this invention patent proposes a pilotage device that facilitates ship berthing and can be installed on both sides of the berthing position;

[0007] The navigation device is divided into multiple sections from front to back, including an outer arc track section, a straight track section, and an inner arc track section; the outer arc track section, straight track section, and inner arc track section on the same side can be longitudinally spliced ​​into an S-shaped navigation track;

[0008] The outer arc track section is set on the front side wall of the berth and can be extended outward to both sides to form a forward horn opening, expanding the entrance passage of the berth.

[0009] The straight track section is set on the middle side wall of the berth, which can prevent the ship from directly impacting the side wall of the berth laterally and guide the ship to sail longitudinally within the berth.

[0010] The inner arc track section is set on the stern side wall of the berth and gradually curves towards the berth with increasing convex distance, thus forming a forward wedge that can flexibly guide the ship to the designated berth.

[0011] Furthermore, a mounting platform is provided on the side wall of the berth;

[0012] The outer arc rail section is provided with an outer rail hanger on its back, and the outer arc rail section is mounted on the mounting platform on the front side wall of the berth by means of the outer rail hanger.

[0013] The back of the straight track section is provided with a straight rail arm, and the straight track section is attached to the mounting platform on the middle side wall of the parking position by means of the straight rail arm.

[0014] The back of the inner arc track section is provided with multiple inner rail arms of varying lengths. The inner arc track section is mounted on the mounting platform on the rear side wall of the berthing position by means of the inner rail arms. The protrusion length of the inner rail arms is larger as it is closer to the rear end of the berthing position.

[0015] Specifically, the front ends of the outer rail hanger, the straight rail hanger, and the inner rail hanger are all provided with mounting holes, and the mounting platform is provided with corresponding mounting holes; the mounting holes can be concentrically aligned with the corresponding mounting holes and are hinged by bolts.

[0016] Furthermore, the outer arc track segment is connected to the adjacent straight track segment by a hinge, which facilitates adjustment of the opening angle of the forward flare.

[0017] The inner arc track section is connected to the adjacent straight track section by a hinge, which facilitates the adjustment of the opening angle of the forward wedge.

[0018] Specifically, the inner arc track section has a cylindrical male head at its first end and a cylindrical female head at its last end. The outer arc track section has a cylindrical male head at its first end and a cylindrical female head at its last end. The cylindrical male head can be inserted into the cylindrical female head and hinged by bolts to fasten the outer arc track section and the straight track section together, or to fasten the straight track section and the outer arc track section together.

[0019] Furthermore, the outer rail arm is configured as an external telescopic rod with a variable working length, and the bottom end of the external telescopic rod is hinged to the mounting platform. top Hinged to the outer arc rail section; when the working length of the outer telescopic rod changes, the opening size and / or boundary position of the forward flare can be changed, thereby meeting the needs of changes in the ship's entry point or changes in the size of the forward end;

[0020] The inner rail arm is configured as an inner telescopic rod with a variable working length, and the bottom end of the inner telescopic rod is hinged to the mounting platform. top It is hinged to the inner arc rail section; when the working length of the inner telescopic rod changes, the opening size and / or boundary position of the forward wedge can be changed, thereby meeting the needs of changes in the ship's berthing point or changes in the size of the forward end. In particular, different ships need to enter the same berthing position or target contact point in batches, and offset is set.

[0021] Furthermore, the outer telescopic rod and the inner telescopic rod can be configured as multi-stage electric cylinders, the multi-stage electric cylinder comprising multiple layers of cylinder barrels from the inside out, wherein the bottom end of the outermost cylinder barrel can be hinged to the mounting platform, and the innermost cylinder barrel corresponding to the outer telescopic rod... top It can be hinged to the outer arc section, and the innermost cylinder corresponding to the inner telescopic rod. top It can be hinged to the inner arc rail section; or, the outer telescopic rod and the inner telescopic rod can be configured as hydraulic cylinders, the hydraulic cylinder including a matching cylinder barrel and piston rod, wherein the bottom end of the cylinder barrel can be hinged to the mounting platform, and the piston rod corresponding to the outer telescopic rod... top It can be hinged to the outer arc section, and the piston rod corresponding to the inner telescopic rod. top It can be hinged to the inner arc section.

[0022] Furthermore, the outer arc section, straight section and inner arc section are provided with outer buffer strips and / or guide wheels to further buffer lateral impacts and reduce longitudinal navigation resistance. When the ship's hull comes into contact with the outer buffer strips and / or guide wheels, the impact temperature decreases and the frictional resistance decreases.

[0023] The guide wheel includes a base and a rotating wheel, the rotating wheel being rotatably mounted on the base;

[0024] The base is horizontally fixed to the front side of the outer arc section, the straight section and the inner arc section, and the wheel protrudes into the parking position.

[0025] Furthermore, control cabinets are installed around the berth, and the control cabinets contain pilot controllers, pilot communication boxes and pilot batteries, with a pilot communication antenna on the top that works in conjunction with the pilot communication box.

[0026] Pilot detection devices are installed at the four corners of the berth;

[0027] The vessel is equipped with a shipboard controller and a shipboard communication box.

[0028] The pilot controller serves as the control hub of the berth, connecting to and monitoring the operational status information of the pilot detection device, pilot communication box, pilot battery, outer telescopic boom, and inner telescopic boom.

[0029] The pilot communication box provides a wired and / or wireless communication channel for the pilot controller, is connected to the pilot communication antenna, and receives / transmits data via the pilot communication antenna;

[0030] The pilot battery can receive shore power for charging and provide working power to the pilot controller, pilot detection device, pilot communication box, pilot battery, outer telescopic mast and inner telescopic mast;

[0031] The shipboard controller serves as the control hub of the ship, connecting to and monitoring the operational information of the shipboard communication box; the shipboard communication box provides wired and / or wireless communication channels for the shipboard controller.

[0032] Furthermore, the pilot detection device includes millimeter-wave radar and / or lidar.

[0033] Secondly, based on the pilotage device proposed in the first aspect, a pilotage method for ship mooring is also proposed, comprising the following steps:

[0034] Step S1, Marking the berth: When the vessel is at the first designated distance from the berth, the ship's controller transmits navigation information to the pilot controller via wireless communication. The pilot controller interprets the navigation information and determines whether it is suitable for entry into the berth. If the berth meets the vessel's entry requirements, it marks the berth as a suitable berth; otherwise, the vessel searches for the next berth. The navigation information includes the vessel's current position, speed, heading, and dimensions.

[0035] Step S2: Initialize berth: For the selected and marked as suitable berth, the pilot controller initializes the working length of the corresponding external telescopic boom and internal telescopic boom;

[0036] Specifically, based on the dimensions of the ship's forward end, the pilot controller drives the outer telescopic boom to adjust the spacing and angle of the outer arc track section, ensuring that the forward horn opening matches the dimensions of the ship's forward end, facilitating the ship's forward end to enter the berth position.

[0037] Based on the dimensions of the ship's forward end and its target berthing position, the pilot controller drives the inner telescopic boom to adjust the spacing and angle of the inner arc track section, ensuring that the forward wedge is compatible with the dimensions of the ship's forward end, and can guide the ship's forward end to the target berthing position.

[0038] Step S3, Pre-entry Pilotage: Based on the location and size information of the berth and the ship's navigation information, the pilotage controller obtains a series of reference entry routes and informs the shipboard controller wirelessly. The shipboard controller combines the reference entry routes and the ship's navigation information to form and execute the first navigation plan. As the ship continues to approach the berth, the pilotage controller periodically sends the best pilotage advice to the ship based on the ship's real-time navigation information and the monitoring information from the pilotage detection device.

[0039] Step S4, outer arc track section navigation: Under the influence of multiple factors such as wind, waves and ship self-positioning error, the ship will deviate from its course. When the ship is at the second designated distance from the berth, the pilot controller determines whether the ship will deviate to one side at the entrance based on the monitoring information of the pilot detection device. If it deviates to one side, it means that the ship has not entered the berth along the middle of the entrance and will collide with the corresponding outer arc track section. Then, the outer arc track section on this side will first increase the first designated angle outward. This first designated angle corresponds to the ship's deviation, ensuring that the ship is within the forward horn opening range.

[0040] When the forward end of the vessel travels to the outer arc section adjacent to this side, the pilot controller adjusts the working angle of the outer arc section according to the interpreted travel angle of the forward end of the vessel, and moves and corrects the travel angle of the forward end of the vessel to ensure that the forward end of the vessel can at least tangentially enter the berth along the outer arc section, and prevent the forward end of the vessel from hitting the outer arc section perpendicularly and rebounding.

[0041] Step S5, Straight Track Guidance: When the forward end of the vessel enters the berth, if the forward end or side of the vessel strikes the straight track on either side of the berth, it will proceed tangentially along the straight track on that side, with the straight track end guiding the vessel to straighten its bow.

[0042] Step S6, Inner Arc Rail Section Pilotage: When the ship enters the berth, the pilotage controller determines whether the ship is veering to one side based on the monitoring information from the pilotage detection device. If it is veering to one side, it means that the ship's forward end has not entered the target berthing position along the middle of the forward wedge and will first collide with the corresponding inner arc rail section. The inner arc rail section on this side will first open to the second specified angle. When the inner arc rail section on this side contacts the forward end of the ship, the inner arc rail section on this side linearly and uniformly retracts to the initial angle, thereby reducing the rigid contact strength between the forward end of the ship and the inner arc rail section on this side, and realizing flexible pilotage.

[0043] Step S7, Inner Arc Rail Section Deceleration and Stopping: When the forward end of the ship enters the inner arc rail section area, the pilot controller determines whether the ship's speed exceeds the first specified speed based on the monitoring information of the pilot detection device. If it exceeds the speed limit, it means that the ship's speed is too fast. Then, both inner arc rail sections open to the third specified angle. When either inner arc rail section contacts the forward end of the ship, the contacting inner arc rail section linearly and uniformly retracts to the initial angle. In this way, the impact speed of the ship is reduced by buffering and squeezing the forward end of the ship, realizing flexible piloting, which is conducive to the forward end of the ship reaching the target docking position at an appropriate speed.

[0044] Step S8, outer arc track section accelerates into the berth: When the rear end of the ship enters the berth, the pilot controller determines whether the ship's speed is less than the second specified speed based on the monitoring information of the pilot detection device. If it stalls, it means that the ship's speed is too slow. The outer arc track section can be driven to turn to the middle and push the ship inward to ensure that the ship can slide to the designated point.

[0045] Step S9, Inner Arc Rail Section Assisted Pushing Out of the Barrier: When the vessel is about to leave the berth, the pilot controller can respond to the instructions of the shipboard controller and drive the inner arc rail section to turn to the middle according to the action timing given by the shipboard controller, pushing the vessel outward to achieve the assistance of pushing out of the barrier.

[0046] Furthermore, the pilotage controller can store successful berthing schemes during ship trials and operations, revise and enrich pilotage recommendations, and directly call upon the best pilotage recommendations based on navigation information during subsequent ship pilotage processes.

[0047] Compared with the prior art, the beneficial effects of this invention patent are as follows.

[0048] 1. By setting up symmetrical S-shaped pilot tracks on both sides of the berth, forming a forward horn and a forward wedge, the success rate of vessel entry into berth can be improved, making it easier for vessels to enter the berth from the outside to the inland, and guiding the forward end of the vessel to the designated point for further locking.

[0049] 2. The outer rail arm is configured as an external telescopic rod with a variable working length, which can change the opening size and / or boundary position of the forward flare, thereby meeting the needs of changes in the ship's entry point or changes in the size of the forward end; the inner rail arm is configured as an inner telescopic rod with a variable working length, which can change the opening size and / or boundary position of the forward wedge, thereby meeting the needs of changes in the ship's mooring point or changes in the size of the forward end.

[0050] 3. By installing outer buffer strips and / or guide wheels on the outer arc section, straight section and inner arc section, lateral impacts can be further buffered and longitudinal navigation resistance can be reduced.

[0051] 4. Provide corresponding guidance and berthing methods, and control the timing and angle of the movement of the outer arc section and the inner arc section in a targeted manner. Not only can the outer arc section be used to correct the direction of travel of the ship's forward end, but it can also reduce the rigid contact strength between the ship's forward end and the corresponding inner arc section, so as to achieve flexible pilotage.

[0052] 5. During the pilotage process before entering the warehouse, the pilotage detection device is installed on the shore of the berth, which has stronger stability and detection capabilities. Compared with the positioning and detection devices on the ship itself, the success rate of pilotage is higher when guided by the shore device. Pilotage through the outer arc track section solves the problem of the difficulty of fine adjustment of the ship's lateral position. Attached Figure Description

[0053] To more clearly illustrate the technical solutions in the embodiments or prior art, the drawings used in the description of the embodiments or prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0054] Figure 1 This is a top-view perspective view of the guide rail device installed on both sides of the parking space in this invention patent.

[0055] Figure 2 This is a perspective view of the right-side guide rail device of the parking space in this invention patent, after an external buffer strip has been added, showing it in isolation and in an exploded mode.

[0056] Figure 3 This is a perspective view of the right-side guide rail device of the parking space in this invention patent, after the addition of an outer buffer belt and a rotating wheel, displayed in isolation and in an exploded mode.

[0057] Figure 4 This is a perspective view of the explosion mode corresponding to the guide rail device and control cabinet after they are installed in the parking position in this invention patent.

[0058] Figure 5 This is a perspective view of the isolated left guide rail device and its corresponding explosion mode in this invention patent.

[0059] Figure 6 This is a perspective view of the isolated left guide rail device and its corresponding explosion mode in this invention patent.

[0060] Figure 7 This is a perspective view of the ship at the first designated distance from the berth in this invention patent.

[0061] Figure 8 This is a three-dimensional view of the outer arc track section used for piloting a ship in this invention patent.

[0062] Figure 9 This is a perspective view of the middle side wall of the berth in Example 3 when the ship is being piloted.

[0063] Figure 10 This is a three-dimensional view of the ship after the inner arc track section guides the ship to the target docking position in Example 3.

[0064] Figure 11 This is a flowchart corresponding to the guided parking method in Example 3.

[0065] In the diagram: 1-Outer arc rail section; 2-Straight rail section; 3-Inner arc rail section; 4-Loading platform; 5-Bolt; 6-Outer telescopic rod; 7-Inner telescopic rod; 11-Outer rail hanger arm; 12-Loading hole; 13-Columnar male head; 14-Columnar female head; 15-Outer buffer strip; 16-Guide wheel; 21-Straight rail hanger arm; 31-Inner rail hanger arm; 401-Loading hole; 100-Borehole; 200-Pilot device; 211-Forward horn mouth; 212-Forward wedge mouth; 310-Control cabinet; 311-Pilot controller; 312-Pilot communication box; 313-Pilot battery; 314-Pilot communication antenna; 315-Pilot detection device; 500-Boat; 501-Shipboard controller; 502-Shipboard communication box. Detailed Implementation

[0066] To make the objectives, technical solutions, and advantages of this invention patent clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this invention. Furthermore, the technical features involved in the various embodiments of this invention patent described below can be combined with each other as long as they do not conflict with each other.

[0067] Example 1: As Figure 1-3 As shown, this invention patent proposes a pilotage device that facilitates ship berthing and can be installed on both sides of a berthing position (100); wherein the berthing position (100) is a U-shaped berthing position (100).

[0068] The pilotage device (200) is divided into three sections from the outside to the inside, including an outer arc track section (1), a straight track section (2) and an inner arc track section (3); the outer arc track section (1), the straight track section (2) and the inner arc track section (3) on the same side can be longitudinally spliced ​​into an S-shaped pilotage track. The overall setting height corresponds to the surface that the ship (500) can contact. For small cruise ships, the height above the water surface can generally be set to 30cm.

[0069] The outer arc track section (1) is set on the front side wall of the parking space (100), and can be extended to both sides to form a forward horn mouth (211), which can be opened outward by 45 degrees to expand the entrance channel of the parking space (100).

[0070] The straight track section (2) is set on the middle side wall of the berth (100), which can prevent the ship (500) from directly impacting the side wall of the berth (100) laterally, and guide the ship (500) to sail longitudinally within the berth (100).

[0071] The inner arc track section (3) is set on the rear side wall of the berth (100) and gradually curves towards the berth (100) in a manner with increasing convex distance, thereby forming a forward wedge (212) that can flexibly guide the ship (500) to the designated berth.

[0072] In this embodiment, a mounting platform (4) is provided on the side wall of the parking space (100).

[0073] The outer arc rail section (1) is provided with an outer rail hanger (11) on the back side. The outer arc rail section (1) is mounted on the mounting platform (4) on the front side wall of the parking space (100) by means of the outer rail hanger (11).

[0074] The straight track section (2) is provided with a straight rail hanger (21) on the back. The straight track section (2) is attached to the mounting platform (4) on the middle side wall of the parking space (100) by means of the straight rail hanger (21).

[0075] The inner arc track section (3) is provided with three inner rail arms (31) of different lengths on its back side. The inner arc track section (3) is mounted on the mounting platform (4) on the side wall of the rear end of the parking space (100) by means of the inner rail arms (31). The protrusion length of the inner rail arms (31) is larger as it is closer to the rear end of the parking space (100).

[0076] Specifically, the front ends of the outer rail hanger (11), the straight rail hanger (21) and the inner rail hanger (31) are all provided with mounting holes (12), and the mounting platform (4) is provided with corresponding mounting holes (401); the mounting holes (12) can be concentrically aligned with the corresponding mounting holes (401) and are hinged by bolts (5).

[0077] In this embodiment, as Figure 2 As shown, an outer buffer strip (15) can be provided on the outer arc track section (1), the straight track section (2), and the inner arc track section (3); or as shown in the figure. Figure 3 As shown, an outer buffer strip (15) can be provided on the outer arc track section (1), and a guide wheel (16) can be provided on the straight track section (2) and the inner arc track section (3). When the hull of the ship (500) comes into contact with the outer buffer strip (15) and / or the guide wheel (16), the lateral impact temperature decreases and the longitudinal friction resistance decreases.

[0078] The guide wheel (16) includes a base and a rotating wheel, the rotating wheel being rotatably mounted on the base;

[0079] The base is fixed laterally to the front side of the outer arc track section (1), the straight track section (2) and the inner arc track section (3), and the wheel protrudes into the parking position (100).

[0080] Example 2: Based on Example 1, such as Figure 4-6As shown, the outer arc track section (1) is connected to the adjacent straight track section (2) by a hinge, which facilitates the adjustment of the opening angle of the forward horn mouth (211). The adjustment range is from -45 degrees to 90 degrees. When the angle is -45 degrees, the front end of the outer arc track section (1) is attached to the front end side wall of the parking position (100). When the angle is 90 degrees, the front end of the outer arc track section (1) extends to the middle of the parking position (100).

[0081] The inner arc track section (3) is connected to the adjacent straight track section (2) by a hinge, which facilitates the adjustment of the opening angle of the forward wedge (212). The adjustment range is from 45 degrees to 80 degrees. When the angle is 80 degrees, the inner arc track section (3) is tangentially attached to the rear side wall of the parking position (100). When the angle is 45 degrees, the front end of the inner arc track section (3) extends to the middle of the parking position (100).

[0082] Specifically, the inner arc track section (3) is provided with a column-shaped male head (13) at its first end, and the straight track section (2) is provided with a column-shaped female head (14) at its last end. The outer arc track section (1) is provided with a column-shaped male head (13) at its first end and the outer arc track section (1) is provided with a column-shaped female head (14) at its last end. The column-shaped male head (13) can be inserted into the column-shaped female head (14) and hinged by bolts (5) to fasten the outer arc track section (1) and the straight track section (2) in adjacent positions together, or to fasten the straight track section (2) and the outer arc track section (1) in adjacent positions together.

[0083] In this embodiment, the outer rail arm (11) is configured as an outer telescopic rod (6) with a variable working length, and the bottom end of the outer telescopic rod (6) is hinged to the mounting platform. top Hinged to the outer arc rail section (1); when the working length of the outer telescopic rod (6) changes, the opening size and / or boundary position of the forward horn mouth (211) can be changed, thereby meeting the needs of the ship (500) entrance point change or the forward end size change;

[0084] The inner rail arm (31) is configured as an inner telescopic rod (7) with a variable working length, and the bottom end of the inner telescopic rod (7) is hinged to the mounting platform. top Hinged to the inner arc rail section (3); when the working length of the inner telescopic rod (7) changes, the opening size and / or boundary position of the forward wedge (212) can be changed to meet the needs of the vessel (500) berthing point change or the forward end size change, especially when different vessels (500) need to enter the same berthing position (100) in batches or the target contact point is offset.

[0085] When a vessel enters the berth forward, the forward end is the bow; when a vessel enters the berth backward, the forward end is the stern.

[0086] In this embodiment, the outer telescopic rod (6) and the inner telescopic rod (7) can be configured as a three-stage electric cylinder. The multi-stage electric cylinder includes three cylinders from the inside out, wherein the bottom end of the outermost cylinder can be hinged to the mounting platform (4), and the outer telescopic rod (6) corresponds to the innermost cylinder. top It can be hinged to the outer arc rail section (1), and the inner telescopic rod (7) corresponds to the innermost cylinder. top It can be hinged to the inner arc section (3).

[0087] In this embodiment, a control cabinet (310) is set around the berth (100). The control cabinet (310) is equipped with a pilot controller (311), a pilot communication box (312) and a pilot battery (313). A pilot communication antenna (314) that cooperates with the pilot communication box (312) is set on the top.

[0088] A pilot detection device (315) is installed at each of the four corners of the berth (100).

[0089] The vessel (500) is equipped with a shipboard controller (501) and a shipboard communication box (502).

[0090] The pilot controller (311) is equipped with an MCU microprocessor and a memory, and connects to and monitors the working information of the pilot detection device (315), the pilot communication box (312), the pilot battery (313), the outer telescopic rod (6) and the inner telescopic rod (7);

[0091] The pilot communication box (312) provides a wireless communication channel for the pilot controller (311), is connected to the pilot communication antenna (314), and receives / sends data via the pilot communication antenna (314);

[0092] The pilot battery (313) can receive shore power charging and provide working power to the pilot controller (311), pilot detection device (315), pilot communication box (312), pilot battery (313), outer telescopic rod (6) and inner telescopic rod (7);

[0093] The shipboard controller (501) is equipped with an MCU microprocessor and a memory, and connects to and monitors the operating information of the shipboard communication box (502); the shipboard communication box (502) provides a wireless communication channel for the shipboard controller (501); the shipboard controller (501) is embedded with a Beidou positioning chip, which can provide the navigation position of the ship (500).

[0094] In this embodiment, the pilot detection device (315) is an XT-S240 area array solid-state lidar, which can detect the navigation information of ships (500) at close range, with a detection range of 0-80m.

[0095] Example 3: Based on Example 2, as follows Figure 7-11 As shown, a pilotage method for ship berthing includes the following steps:

[0096] Step S1, Marking the berth: During the voyage, the ship's onboard controller (501) saves the entrance positions of each berth (100) via wireless communication and calculates the distance to each berth (100). When the ship (500) is 10m away from the designated berth (100), the ship's onboard controller (501) transmits the navigation information to the pilot controller (311) of this berth (100) via wireless communication. The pilot controller (311)... The navigation information is interpreted to determine whether it is suitable for entry into the berth. Specifically, the lateral dimensions of the forward end of the vessel (500) and the forward flare (211) of the berth (100) are compared to determine whether it is suitable for entry into the berth. When the berth (100) meets the entry requirements of the vessel (500), the berth (100) is marked as the suitable berth (100). Otherwise, the vessel (500) searches for the next berth (100). The navigation information includes the current position, speed, heading and dimensions of the vessel (500).

[0097] Step S2, Initialize berth: For the selected and marked as suitable berth (100), the pilot controller (311) initializes the working length of the corresponding outer telescopic boom (6) and inner telescopic boom (7);

[0098] Specifically, based on the dimensions of the forward end of the vessel (500), the pilot controller (311) drives the outer telescopic rod (6) to adjust the spacing and angle of the outer arc track section (1) to ensure that the forward horn (211) is compatible with the dimensions of the forward end of the vessel (500), so that the forward end of the vessel (500) can enter the berth (100).

[0099] Based on the dimensions of the forward end of the vessel (500) and its target docking position, the pilot controller (311) drives the inner telescopic rod (7) to adjust the spacing and angle of the inner arc track section (3) to ensure that the forward wedge (212) is compatible with the dimensions of the forward end of the vessel (500) and can guide the forward end of the vessel (500) to the target docking position.

[0100] Step S3, Pre-entry pilotage: The pilotage controller (311) obtains a series of reference entry routes based on the position and size information of the berth (100) and the navigation information of the vessel (500), and informs the shipboard controller (501) wirelessly; The shipboard controller (501) combines the reference entry routes and the navigation information of the vessel (500) to form and execute the first navigation plan; As the vessel (500) continues to approach the berth (100), the pilotage controller (311) periodically sends the best pilotage advice to the vessel (500) based on the position information in the real-time navigation information of the vessel (500) and the monitoring information of the pilotage detection device (315), including turning left to a specified angle route or turning right to a specified angle route;

[0101] Step S4, outer arc track section navigation: Under the influence of wind and waves and self-positioning error, the ship (500) will have a navigation deviation. When the ship (500) is 2m away from the second designated distance of the berth (100), the pilot controller (311) determines whether the ship (500) will deviate to one side at the entrance according to the monitoring information of the pilot detection device (315). If it deviates to one side, it means that the ship (500) has not entered the berth (100) along the middle of the entrance and will collide with the corresponding outer arc track section (1). Then the outer arc track section (1) on this side will first increase the first designated angle by 10 degrees, but the maximum opening angle of the forward horn mouth (211) is limited. This first designated angle corresponds to the offset of the ship (500) to ensure that the ship (500) is within the range of the forward horn mouth (211).

[0102] When the forward end of the vessel (500) travels to the outer arc track section (1) adjacent to this side, the pilot controller (311) adjusts the working angle of the outer arc track section (1) according to the interpreted travel angle of the forward end of the vessel (500), and moves and corrects the travel angle of the forward end of the vessel (500) to ensure that the forward end of the vessel (500) can at least tangentially enter the berth (100) along the outer arc track section (1), and prevent the forward end of the vessel (500) from hitting the outer arc track section (1) vertically and rebounding;

[0103] Step S5, Straight Track Guidance: When the forward end of the vessel (500) enters the berth (100), if the forward end or side of the vessel (500) hits the straight track (2) on either side of the berth (100), it will proceed tangentially along the straight track (2) on that side, where the straight track end will guide the vessel (500) to straighten its bow;

[0104] Step S6, Inner Arc Rail Section Pilotage: When the ship (500) enters the berth (100), the pilotage controller (311) determines whether the ship (500) is biased to one side in the berth (100) based on the monitoring information of the pilotage detection device (315). If it is biased to one side, it means that the forward end of the ship (500) has not entered the target berthing position along the middle of the forward wedge (212), and will first collide with the corresponding inner arc rail section (3). Then the inner arc rail section (3) on this side opens the second specified angle of 10 degrees, but is limited to the maximum opening angle of the forward wedge (212). When the inner arc rail section (3) on this side contacts the forward end of the ship (500), the inner arc rail section (3) on this side linearly and uniformly retracts to the initial angle, thereby reducing the rigid contact strength between the forward end of the ship (500) and the inner arc rail section (3) on this side, and realizing flexible pilotage.

[0105] Step S7, slowing down and stopping the ship on the inner arc track: When the forward end of the ship (500) enters the area of ​​the inner arc track (3), the pilot controller (311) determines whether the speed of the ship (500) exceeds the first specified speed of 5m / s based on the monitoring information of the pilot detection device (315). If so, it is defined as speeding, indicating that the speed of the ship (500) is too fast. Then, the inner arc track (3) on both sides first open the third specified angle of 50 degrees. When the inner arc track (3) on either side contacts the forward end of the ship (500), the contacted inner arc track (3) linearly and uniformly retracts to the initial angle, thereby reducing the impact speed of the ship (500) by buffering and squeezing the forward end of the ship (500), realizing flexible piloting, which is conducive to the forward end of the ship (500) reaching the target docking position at a suitable speed.

[0106] Step S8, Accelerating entry into the berth on the outer arc track: When the rear end of the vessel (500) enters the berth (100), the pilot controller (311) determines whether the speed of the vessel (500) is less than the second specified speed of 0.2m / s based on the monitoring information of the pilot detection device (315). If so, it is defined as stall, indicating that the speed of the vessel (500) is too slow. The outer arc track (1) can be driven to turn to the middle and push the vessel (500) inward to ensure that the vessel (500) can slide to the designated point.

[0107] Step S9, Inner Arc Rail Section Assisted Pushing Out of the Garage: When the vessel (500) is about to leave the berth (100), the pilot controller (311) can respond to the instructions of the shipboard controller (501) and drive the inner arc rail section (3) to turn to the middle according to the action timing given by the shipboard controller (501), pushing the vessel (500) outward to achieve the assisted pushing out of the garage.

[0108] In this embodiment, the pilotage controller (311) can store successful berthing schemes during the experiment and operation of the vessel (500), modify and enrich the pilotage suggestions, and directly call the best pilotage suggestions based on the navigation information during the subsequent pilotage process of the vessel (500).

[0109] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A pilotage device for facilitating ship berthing, installed on both sides of the berthing position (100); Its features are, The pilot device (200) is divided into multiple sections from head to tail, including an outer arc track section (1), a straight track section (2) and an inner arc track section (3); the outer arc track section (1), the straight track section (2) and the inner arc track section (3) on the same side are longitudinally spliced ​​into an S-shaped pilot track; The outer arc track section (1) is set on the front end side wall of the parking space (100) and extends outward to both sides to form a forward horn mouth (211), expanding the entrance channel of the parking space (100); The straight track section (2) is set on the middle side wall of the berth (100), which can prevent the ship (500) from directly impacting the side wall of the berth (100) laterally, and guide the ship (500) to sail longitudinally within the berth (100). The inner arc track section (3) is set on the rear end side wall of the berth (100) and gradually curves towards the berth (100) with increasing convex distance. This creates a forward wedge (212), which can flexibly guide the vessel (500) to the designated mooring point; The parking space (100) is provided with a mounting platform (4) on its side wall. The outer arc rail section (1) is provided with an outer rail hanger (11) on the back side. The outer arc rail section (1) is mounted on the mounting platform (4) on the front side wall of the parking space (100) by means of the outer rail hanger (11). The straight track section (2) is provided with a straight rail hanger (21) on the back. The straight track section (2) is attached to the mounting platform (4) on the middle side wall of the parking space (100) by means of the straight rail hanger (21). The back of the inner arc track section (3) is provided with multiple inner rail arms (31) of different lengths. The inner arc track section (3) is mounted on the mounting platform (4) on the side wall of the rear end of the parking space (100) by means of the inner rail arms (31). The protrusion length of the inner rail arms (31) is larger as it is closer to the rear end of the parking space (100). The outer arc track section (1) is connected to the adjacent straight track section (2) by a hinge. The inner arc track section (3) is connected to the adjacent straight track section (2) by a hinge. The outer rail arm (11) is configured as an outer telescopic rod (6) with a variable working length. The bottom end of the outer telescopic rod (6) is hinged to the mounting platform, and the top end is hinged to the outer arc rail section (1). When the working length of the outer telescopic rod (6) changes, the opening size and / or boundary position of the forward horn mouth (211) can be changed, thereby meeting the needs of the ship (500) entrance point change or the forward end size change. The inner rail arm (31) is configured as an inner telescopic rod (7) with a variable working length. The bottom end of the inner telescopic rod (7) is hinged to the mounting platform, and the top end is hinged to the inner arc rail section (3). When the working length of the inner telescopic rod (7) changes, the opening size and / or boundary position of the forward wedge (212) can be changed, thereby meeting the needs of the ship (500) to change the berthing point or the size of the forward end.

2. The pilotage device for facilitating ship berthing according to claim 1, characterized in that, The outer telescopic rod (6) and the inner telescopic rod (7) are configured as multi-stage electric cylinders. The multi-stage electric cylinders include multiple cylinders from the inside to the outside. The bottom end of the outermost cylinder is hinged to the mounting platform (4). The top end of the innermost cylinder corresponding to the outer telescopic rod (6) is hinged to the outer arc rail section (1). The top end of the innermost cylinder corresponding to the inner telescopic rod (7) is hinged to the inner arc rail section (3).

3. The pilotage device for facilitating ship berthing according to claim 1, characterized in that, The outer telescopic rod (6) and the inner telescopic rod (7) are configured as hydraulic cylinders. The hydraulic cylinder includes a cylinder barrel and a piston rod. The bottom end of the cylinder barrel is hinged to the mounting platform (4). The top end of the piston rod corresponding to the outer telescopic rod (6) is hinged to the outer arc rail section (1). The top end of the piston rod corresponding to the inner telescopic rod (7) is hinged to the inner arc rail section (3).

4. The pilotage device for facilitating ship berthing according to claim 2 or 3, characterized in that, The outer arc track section (1), the straight track section (2) and the inner arc track section (3) are provided with an outer buffer strip (15) and / or a guide wheel (16) to further buffer lateral impacts and reduce longitudinal navigation resistance.

5. The pilotage device for facilitating ship berthing according to claim 4, characterized in that, A control cabinet (310) is provided around the berth (100). The control cabinet (310) is equipped with a pilot controller (311), a pilot communication box (312) and a pilot battery (313). A pilot communication antenna (314) that works with the pilot communication box (312) is provided on the top. The four corners of the berth (100) are equipped with pilot detection devices (315). The vessel (500) is equipped with a shipboard controller (501) and a shipboard communication box (502). The pilot controller (311) serves as the control hub of the berth (100), connecting and monitoring the operating information of the pilot detection device (315), pilot communication box (312), pilot battery (313), outer telescopic mast (6) and inner telescopic mast (7); The pilot communication box (312) provides a wired and / or wireless communication channel for the pilot controller (311), is connected to the pilot communication antenna (314), and receives / sends data via the pilot communication antenna (314); The pilot battery (313) receives shore power for charging and provides working power to the pilot controller (311), pilot detection device (315), pilot communication box (312), pilot battery (313), outer telescopic rod (6) and inner telescopic rod (7); The shipboard controller (501) serves as the control hub of the ship (500), connecting to and monitoring the operating status information of the shipboard communication box (502); the shipboard communication box (502) provides wired and / or wireless communication channels for the shipboard controller (501).

6. The pilotage device for facilitating ship berthing according to claim 5, characterized in that, The pilot detection device (315) includes millimeter-wave radar and / or lidar.

7. A pilotage method for the pilotage device of claim 6, characterized in that, include The following steps are required: Step S1, Marking the berth: When the vessel (500) is at the first specified distance from the berth (100), the shipboard controller (501) informs the pilot controller (311) of the navigation information via wireless communication. The pilot controller (311) interprets the navigation information and determines whether it is suitable for entering the berth. If the berth (100) meets the vessel's (500) entry requirements, the berth (100) is marked as a suitable berth (100). Otherwise, the vessel (500) searches for the next berth (100). The navigation information includes the vessel's (500) current position, speed, heading, and dimensions. Step S2, Initialize berth: For the selected and marked as suitable berth (100), the pilot controller (311) initializes the working length of the corresponding outer telescopic boom (6) and inner telescopic boom (7); Specifically, based on the dimensions of the forward end of the vessel (500), the pilot controller (311) drives the outer telescopic rod (6) to adjust the spacing and angle of the outer arc track section (1) to ensure that the forward horn (211) is compatible with the dimensions of the forward end of the vessel (500), so that the forward end of the vessel (500) can enter the berth (100). Based on the dimensions of the forward end of the vessel (500) and its target docking position, the pilot controller (311) drives the inner telescopic rod (7) to adjust the spacing and angle of the inner arc track section (3) to ensure that the forward wedge (212) is compatible with the dimensions of the forward end of the vessel (500) and can guide the forward end of the vessel (500) to the target docking position. Step S3, Pre-entry pilotage: The pilotage controller (311) obtains a series of reference entry routes based on the location and size information of the berth (100) and the navigation information of the vessel (500), and informs the shipboard controller (501) wirelessly; The shipboard controller (501) combines the reference entry routes and the navigation information of the vessel (500) to form and execute the first navigation plan; As the vessel (500) continues to approach the berth (100), the pilotage controller (311) periodically sends the best pilotage advice to the vessel (500) based on the real-time navigation information of the vessel (500) and the monitoring information of the pilotage detection device (315); Step S4, outer arc track section navigation: Under the influence of multiple factors such as wind and waves and the self-positioning error of the ship (500), the ship (500) will have a navigation deviation. When the ship (500) is at the second specified distance from the berth (100), the pilot controller (311) determines whether the ship (500) will deviate to one side at the entrance based on the monitoring information of the pilot detection device (315). If it deviates to one side, it means that the ship (500) has not entered the berth (100) along the middle of the entrance and will collide with the corresponding outer arc track section (1). Then the outer arc track section (1) on this side will first increase the first specified angle outward. This first specified angle corresponds to the offset of the ship (500) to ensure that the ship (500) is within the range of the forward horn mouth (211). When the forward end of the vessel (500) travels to the outer arc track section (1) adjacent to this side, the pilot controller (311) adjusts the working angle of the outer arc track section (1) according to the interpreted travel angle of the forward end of the vessel (500), and moves and corrects the travel angle of the forward end of the vessel (500) to ensure that the forward end of the vessel (500) can at least tangentially enter the berth (100) along the outer arc track section (1), and prevent the forward end of the vessel (500) from hitting the outer arc track section (1) vertically and rebounding; Step S5, Straight Track Guidance: When the forward end of the vessel (500) enters the berth (100), if the forward end or side of the vessel (500) hits the straight track (2) on either side of the berth (100), it will proceed tangentially along the straight track (2) on that side, where the straight track end will guide the vessel (500) to straighten its bow; Step S6, Inner Arc Rail Section Pilotage: When the vessel (500) enters the berth (100), the pilotage controller (311) determines whether the vessel (500) is biased to one side in the berth (100) based on the monitoring information of the pilotage detection device (315). If it is biased to one side, it means that the forward end of the vessel (500) has not entered the target berthing position along the middle of the forward wedge (212), and will first collide with the corresponding inner arc rail section (3). Then the inner arc rail section (3) on this side opens the second specified angle. When the inner arc rail section (3) on this side contacts the forward end of the vessel (500), the inner arc rail section (3) on this side linearly and uniformly retracts to the initial angle, thereby reducing the rigid contact strength between the forward end of the vessel (500) and the inner arc rail section (3) on this side, and realizing flexible pilotage. Step S7, slowing down and stopping the ship on the inner arc track: When the forward end of the ship (500) enters the area of ​​the inner arc track (3), the pilot controller (311) determines whether the speed of the ship (500) exceeds the first specified speed based on the monitoring information of the pilot detection device (315). If it exceeds the speed, it means that the speed of the ship (500) is too fast. Then the inner arc track (3) on both sides opens the third specified angle. When the inner arc track (3) on either side contacts the forward end of the ship (500), the contacted inner arc track (3) retracts linearly and uniformly to the initial angle, thereby reducing the impact speed of the ship (500) by buffering and squeezing the forward end of the ship (500), realizing flexible piloting, which is conducive to the forward end of the ship (500) reaching the target docking position at a suitable speed. Step S8, Accelerating into the berth on the outer arc track: When the rear end of the vessel (500) enters the berth (100), the pilot controller (311) determines whether the speed of the vessel (500) is less than the second specified speed based on the monitoring information of the pilot detection device (315). If it stalls, it means that the speed of the vessel (500) is too slow. The outer arc track (1) is driven to turn to the middle and push the vessel (500) inward to ensure that the vessel (500) slides to the designated point. Step S9, Inner Arc Rail Section Assisted Pushing Out of the Garage: When the vessel (500) is about to leave the berth (100), the pilot controller (311) responds to the instruction of the shipboard controller (501) and drives the inner arc rail section (3) to turn to the middle according to the action timing given by the shipboard controller (501), pushing the vessel (500) outward to achieve assisted pushing out of the garage.

8. The pilotage method according to claim 7, characterized in that, The pilot controller (311) stores successful berthing schemes during the experiment and operation of the vessel (500), corrects and enriches the pilotage suggestions, and directly calls the best pilotage suggestions based on navigation information during subsequent pilotage of the vessel (500).

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