A method of coordinated berthing and assisted berthing for a ship and a berth

Abstract

This invention discloses a collaborative berthing method and an assisted berthing method for ships and berths, applied to a ship control device in an autonomous berthing system. The method involves sending a berthing request to a first berth within a certain distance, then controlling the ship to enter the berth bow-forward based on the received berthing start command, and determining the ship's berthing degree using image recognition technology. Once the ship reaches a preset berthing threshold, an assisted berthing command is sent to the first berth, causing the berth to adjust its assisted berthing device and issue a stop berthing command. The ship then stops based on the stop berthing command. This invention achieves berthing operations by having the ship control device and berth control device respectively operate the ship and berth in coordination, shortening berthing time and improving berthing efficiency, enabling autonomous berthing for unmanned vessels; the bow-forward approach also reduces berthing difficulty.

Description

Technical Field

[0001] This invention relates to the field of ship control, and more particularly to a coordinated berthing method and an auxiliary berthing method for ships and berths. Background Technology

[0002] With the development of larger, more automated, and more intelligent ships, intelligent ship technology has become a key focus for countries worldwide. In existing technologies, the main steps for ship berthing control are: first, changing course; then, gradually reducing speed until the main engine stops; and finally, relying on residual speed to enter the berth. After entering the berth, traditional ship mooring methods are used, relying on mooring workers or mooring boats to connect high-strength cables such as steel wire to mooring bollards, thereby securing the ship in the berth.

[0003] However, existing berthing methods are difficult and time-consuming, resulting in low ship operating efficiency. They are also highly susceptible to environmental factors, which can prevent ships from berthing for short periods of time. Summary of the Invention

[0004] This invention provides a collaborative berthing method and an auxiliary berthing method for ships and berths, so as to reduce the difficulty of ship berthing and shorten berthing time.

[0005] To address the aforementioned technical problems, embodiments of the present invention provide a collaborative berthing method for ships and berths, applied to a ship control device in an autonomous berthing system;

[0006] The berthing method includes:

[0007] The ship control device sends a berthing request to the first berth within a preset distance range, causing the first berth to adjust its auxiliary berthing device according to the berthing request and send back a berthing start command.

[0008] The ship control device receives the start berthing command, controls the ship to enter the first berth in a forward-facing manner, and determines the berthing degree of the ship according to image recognition technology. After the berthing degree reaches a preset berthing threshold, it sends an auxiliary berthing command to the first berth, so that the first berth adjusts the auxiliary berthing device according to the auxiliary berthing command and feeds back a stop berthing command.

[0009] The ship control device receives the stop berthing command and controls the ship to stop moving.

[0010] In the berthing method provided by this invention, the ship control device sends a berthing request to the first berth when it approaches within a certain distance. The first berth then adjusts its auxiliary berthing device according to the request and establishes a data connection with the ship control device via feedback berthing commands. The ship control device and the berth control device then respectively operate the ship and the berth to coordinate the berthing operation. This reduces the difficulty of berthing while improving the efficiency of ship berthing, achieving unmanned autonomous berthing.

[0011] After receiving the berthing instruction, the vessel will proceed to the first berth with its bow facing forward. Compared with the existing technologies that mostly use the stern or hull facing forward berthing methods, the bow-forward berthing method reduces the difficulty of autonomous berthing for unmanned vessels and makes it easier for the vessel control device to control the vessel and the berth to achieve the entire berthing process.

[0012] Simultaneously, during berthing, the ship's control system uses image recognition technology to determine the ship's berthing level and sends auxiliary berthing commands to the berth based on this level. The berth then assists the ship in berthing smoothly using auxiliary berthing devices, including fine-tuning the ship's direction of travel and its position relative to the berth. The berth determines whether berthing is successful and, based on a stop berthing command, stops the ship, thus completing the entire berthing process. This invention achieves autonomous berthing of unmanned vessels through mutual cooperation between the ship and the berth, exchanging commands and requests. This reduces berthing difficulty, and because the command transmission between the ship and the berth is more efficient than manual control in existing technologies, this invention also improves berthing efficiency and shortens berthing time.

[0013] As a preferred example, the control of the vessel to enter the first berth in a bow-forward manner specifically involves:

[0014] Adjust the vessel's orientation so that its bow points towards the entrance of the first berth, and then control the vessel to begin sailing at a first speed.

[0015] To further reduce the difficulty of berthing ships, this invention also includes a method of adjusting the specific orientation of the ship's bow before berthing, which avoids situations where the ship collides with the berth, resulting in reduced berthing efficiency or berthing problems.

[0016] Meanwhile, in order to further reduce the difficulty of berthing, the ship orientation method provided by this invention is to face the berth entrance with the bow, so as to move the bow forward into the berth. Compared with the stern forward into the berth, the method of moving the bow forward into the berth is simpler, reducing the difficulty of berthing and improving berthing efficiency.

[0017] As a preferred example, the step of determining the berthing level of the vessel based on image recognition technology, and sending an auxiliary berthing command to the first berth after the berthing level reaches a preset berthing threshold, specifically involves:

[0018] Images are captured in real time by a camera located at the bow of the vessel, and the captured images are analyzed using image recognition technology. Then, a first distance is calculated between the bow of the vessel and the first berth side perpendicular to the direction of the vessel's movement, and the first distance is compared with a preset first distance threshold.

[0019] If it is determined that the first distance is less than the first distance threshold, then the auxiliary berthing command is sent to the first berth;

[0020] If it is determined that the first distance is greater than the first distance threshold, then the ship is controlled to continue sailing.

[0021] To further improve ship berthing efficiency and enhance the connection with berths, thereby utilizing berth auxiliary berthing devices to assist ship berthing, this invention also provides a method for determining whether to send an auxiliary berthing command to a first berth. By performing image recognition on real-time images captured by a camera at the ship's bow, the method confirms whether the distance between the ship's bow and the side of the berth facing the bow is less than a preset first distance threshold. Based on this first distance, it determines whether to send an auxiliary berthing command.

[0022] The above-mentioned judgment mechanism avoids the problem of collisions between the auxiliary berthing device and the ship due to incorrect triggering time of the auxiliary berthing device. At the same time, the improved accuracy of judging the activation trigger point of the auxiliary berthing device also reduces the energy consumption of the berth control device and reduces the probability of problems, malfunctions or collisions of the auxiliary berthing device.

[0023] As a preferred example, before sending a berthing request to the first berth within a preset distance range, the method further includes:

[0024] The ship control device calculates several first distances between the ship's positioning information and several preset berths' position information based on the ship's positioning information and the position information of several preset berths.

[0025] The ship control device selects the first distance with the smallest value from the plurality of first distances and determines it as the second distance, then sends the first berth corresponding to the second distance to the ship, and controls the ship to adjust its sailing direction to point to the first berth;

[0026] The ship control device controls the ship to sail toward the first berth and acquires the positioning information in real time until it is determined that the straight-line distance between the positioning information and the position information of the first berth is less than a certain distance.

[0027] To improve the berthing method provided by this invention, the above preferred example provides a method for locating the first berth before the vessel reaches a certain distance from it. Several first distances between the vessel and the several berths are calculated using the vessel's positioning information and the position information of several berths. The first distance with the smallest numerical value is then selected from these first distances, which is equivalent to selecting the berth closest to the vessel, i.e., the first berth, from among the several berths. The vessel's direction of travel is then adjusted accordingly, causing the vessel to sail towards the first berth, until the straight-line distance between the vessel and the first berth is less than a certain distance.

[0028] The above positioning method improves the berthing efficiency of ships, provides ships with multiple berth options, expands the range of berth choices for ships, and enhances the flexibility of ship berthing.

[0029] Accordingly, the present invention also provides an auxiliary berthing method for ships and berths, which is applied to the berth control device in an autonomous berthing system;

[0030] The assisted berthing method includes:

[0031] The berth control device receives a berthing request sent by the vessel, adjusts the auxiliary berthing device to the open state according to the berthing request, generates a start berthing command and sends it to the vessel, so that the vessel begins berthing and feeds back the auxiliary berthing command; wherein, the auxiliary berthing device includes a first auxiliary device and a second auxiliary device;

[0032] The berth control device receives the auxiliary berthing command and controls the auxiliary berthing device to adjust to the berthing state, so that the first auxiliary equipment and the second auxiliary equipment start to move at a first speed until the detection determines that the ship has completed berthing, then adjusts the auxiliary berthing device to the off state, and sends a stop berthing command to the ship after it is turned off, so that the ship stops sailing.

[0033] The berthing request and the auxiliary berthing instruction are generated by the vessel using a berthing method specific to the vessel.

[0034] To improve upon the aforementioned berthing method, this invention also provides an auxiliary berthing method. This method involves a berth control device receiving and executing instructions from the ship's control device, and then providing corresponding response instructions. This data loop between the auxiliary berthing device and the ship's control device completes the entire autonomous berthing process. Upon receiving a berthing request, the auxiliary berthing device is activated, saving energy consumption and establishing a data loop with the ship. This collaborative mechanism reduces the difficulty of berthing.

[0035] When the berth control system receives an assisted berthing command, it controls the two auxiliary devices of the assisted berthing system to move at the same speed as the ship. This avoids collisions caused by speed differences between the auxiliary devices and the ship, improving the accuracy of berthing. Simultaneously, the movement of the two auxiliary devices generates a forward thrust on the ship as it enters the berth, while also adjusting the ship's position, thus enabling fine-tuning of the ship's direction of travel and further improving the efficiency and accuracy of berthing. Furthermore, the berth's determination of successful berthing is more accurate and convenient than the ship's own determination.

[0036] As a preferred example, the step of detecting until the vessel has completed berthing specifically includes:

[0037] The third distance between the stern of the vessel and the entrance of the first berth is detected and calculated in real time using a laser rangefinder sensor, and the calculated third distance is compared with a preset third distance threshold.

[0038] When the third distance is greater than the third distance threshold, the third distance is detected and calculated in real time by the laser ranging sensor until the third distance is less than or equal to the third distance threshold;

[0039] When the third distance is less than or equal to the third distance threshold, the detection determines that the ship has completed berthing.

[0040] The berth control device uses a laser rangefinder sensor to detect the distance between the stern of the vessel and the berth entrance in real time, and determines that the vessel has completed the berthing process when this distance is less than a preset third distance threshold. The judgment mechanism provided by this invention is simple and clear to operate, and this distance judgment method is more convenient and intuitive to execute by the berth, while the detection accuracy of the laser rangefinder sensor at the berth is also higher.

[0041] As a preferred example, adjusting the auxiliary docking device to the off state specifically means:

[0042] Control the first auxiliary device and the second auxiliary device to move to the closed state, and use a contact tester to detect whether the first auxiliary device and the second auxiliary device are in contact and closed. After confirming that they are in contact and closed, adjust the auxiliary docking device to the closed state.

[0043] The contact closure status of the first and second auxiliary devices is determined by the contact tester on the first and second auxiliary devices, and the closed status of the auxiliary berthing device is confirmed by this, thereby improving the stability of the ship in the berth.

[0044] Accordingly, the present invention also provides an autonomous berthing system, which includes a ship control device and a berth control device, wherein the ship control device and the berth control device are interconnected via a back-end device for data linking.

[0045] The ship control device can execute any of the above-described coordinated berthing methods for ships and berths.

[0046] The berth control device can execute any of the above-described auxiliary berthing methods for ships and berths.

[0047] As a preferred example, the ship control device includes a berthing request module, a berthing execution module, and a berthing termination module;

[0048] The berthing request module is used to send a berthing request to the first berth within a preset certain distance range, so that the first berth adjusts the auxiliary berthing device according to the berthing request and feeds back a start berthing command.

[0049] The berthing execution module is used to receive the start berthing command, control the ship to enter the first berth in a forward-facing manner, determine the berthing degree of the ship according to image recognition technology, and send an auxiliary berthing command to the first berth after the berthing degree reaches a preset berthing threshold, so that the first berth adjusts the auxiliary berthing device according to the auxiliary berthing command and feeds back a stop berthing command.

[0050] The berthing termination module is used to receive the stop berthing command and control the vessel to stop sailing.

[0051] As a preferred example, the berth control device includes an auxiliary berthing activation module and an auxiliary berthing execution module;

[0052] The auxiliary berthing activation module is used to receive a berthing request sent by the vessel, adjust the auxiliary berthing device to the activated state according to the berthing request, generate a start berthing command and send it to the vessel, so that the vessel starts berthing and feeds back the auxiliary berthing command; wherein the auxiliary berthing device includes a first auxiliary device and a second auxiliary device;

[0053] The auxiliary berthing execution module is used to receive the auxiliary berthing command and control the auxiliary berthing device to adjust to the berthing state, so that the first auxiliary device and the second auxiliary device start moving at a first speed until it is detected that the ship has completed berthing, then adjusts the auxiliary berthing device to the off state, and sends a stop berthing command to the ship after it is turned off, so that the ship stops sailing; wherein, the berthing request and the auxiliary berthing command are generated by the ship through a collaborative berthing method for the ship and the berth. Attached Figure Description

[0054] Figure 1 : A flowchart illustrating an embodiment of a collaborative berthing method for ships and berths provided by the present invention;

[0055] Figure 2 : A flowchart illustrating an embodiment of a method for determining a berth for a ship provided by the present invention;

[0056] Figure 3 : A flowchart illustrating an embodiment of an auxiliary berthing method for ships and berths provided by the present invention;

[0057] Figure 4 : A flowchart illustrating an embodiment of a detection method for determining whether a ship has completed berthing, provided by the present invention;

[0058] Figure 5 : A schematic diagram of the structure of an embodiment of the autonomous docking system provided by the present invention;

[0059] Figure 6 : A schematic diagram of the structure of one embodiment of the ship control device provided by the present invention;

[0060] Figure 7 : A schematic diagram of one embodiment of the berth control device provided by the present invention. Detailed Implementation

[0061] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0062] Example 1

[0063] Please refer to Figure 1The following is a flowchart illustrating an embodiment of a coordinated berthing method for ships and berths provided by the present invention, including steps 101 to 103, each step of which is detailed below:

[0064] Step 101: Send a berthing request to the first berth within a preset distance range, so that the first berth adjusts its auxiliary berthing device according to the berthing request and sends back a berthing start command.

[0065] In this embodiment, the ship control device sends a berthing request to the first berth only after the ship has traveled a certain distance to it, thus saving energy consumption of the berth control device. Simultaneously, due to this distance-triggered request, when there are no ships within a certain distance of the first berth, the berth control device is in a dormant state, and the corresponding auxiliary berthing device is also turned off. This prevents other objects from entering the first berth when it is not in use, thus avoiding situations where the ship is blocked from entering the berth and fails to berth.

[0066] Step 102: Receive the start berthing command, control the vessel to enter the first berth in a bow-forward manner, and determine the berthing degree of the vessel according to image recognition technology. After the berthing degree reaches a preset berthing threshold, send an auxiliary berthing command to the first berth, so that the first berth adjusts the auxiliary berthing device according to the auxiliary berthing command and feeds back a stop berthing command.

[0067] In this embodiment, the ship control device continuously determines the berthing degree of the ship through image recognition technology during the berthing process after entering the berth. On the one hand, this avoids collisions between the ship and the berth due to excessive berthing degree, or collisions between the auxiliary berthing device and the ship when the berth adjustment auxiliary berthing device is used due to insufficient berthing degree. On the other hand, real-time monitoring of the ship's berthing degree through image recognition technology improves the accuracy of ship berthing, effectively reduces the berthing difficulty of unmanned vessels, and improves the berthing efficiency of unmanned vessels.

[0068] For example, the specific implementation method of controlling the ship to enter the first berth in a bow-forward manner as described in this embodiment is as follows:

[0069] Adjust the vessel's orientation so that its bow points towards the entrance of the first berth, and then control the vessel to begin sailing at a first speed.

[0070] To further reduce the difficulty of berthing ships, this invention also includes a method of adjusting the specific orientation of the ship's bow before berthing, which avoids situations where the ship collides with the berth, resulting in reduced berthing efficiency or berthing problems.

[0071] Meanwhile, in order to further reduce the difficulty of berthing, the ship orientation method provided by this invention is to face the berth entrance with the bow, so as to move the bow forward into the berth. Compared with the stern forward into the berth, the method of moving the bow forward into the berth is simpler, reducing the difficulty of berthing and improving berthing efficiency.

[0072] After receiving the berthing start command, the vessel will proceed to the first berth with its bow facing forward. Compared to existing technologies that mostly use stern-forward or hull-forward berthing methods, the bow-forward berthing method reduces the difficulty of autonomous berthing for unmanned vessels and facilitates the coordination between the vessel control device and the berth to achieve the entire berthing process.

[0073] In this embodiment, the berthing level of the vessel is determined based on image recognition technology. After the berthing level reaches a preset berthing threshold, an auxiliary berthing command is sent to the first berth. The specific implementation method is as follows:

[0074] Images are captured in real time by a camera located at the bow of the vessel, and the captured images are analyzed using image recognition technology. Then, a first distance is calculated between the bow of the vessel and the first berth side perpendicular to the direction of the vessel's movement, and the first distance is compared with a preset first distance threshold.

[0075] If it is determined that the first distance is less than the first distance threshold, then the auxiliary berthing command is sent to the first berth;

[0076] If it is determined that the first distance is greater than the first distance threshold, then the ship is controlled to continue sailing.

[0077] To further improve ship berthing efficiency and enhance the connection with berths, thereby utilizing berth auxiliary berthing devices to assist ship berthing, this invention also provides a method for determining whether to send an auxiliary berthing command to a first berth. By performing image recognition on real-time images captured by a camera at the ship's bow, the method confirms whether the distance between the ship's bow and the side of the berth facing the bow is less than a preset first distance threshold. Based on this first distance, it determines whether to send an auxiliary berthing command.

[0078] The above-mentioned judgment mechanism avoids the problem of collisions between the auxiliary berthing device and the ship due to incorrect triggering time of the auxiliary berthing device. At the same time, the improved accuracy of judging the activation trigger point of the auxiliary berthing device also reduces the energy consumption of the berth control device and reduces the probability of problems, malfunctions or collisions of the auxiliary berthing device.

[0079] Step 103: Receive the stop berthing command and control the vessel to stop sailing.

[0080] In summary, in the berthing method provided by this invention, the ship control device sends a berthing request to the first berth when it is within a certain distance of the berth. The first berth then adjusts its auxiliary berthing device according to the request and establishes a data connection with the ship control device via a feedback berthing command. The ship control device and the berth control device then respectively operate the ship and the berth to coordinate the berthing operation. This reduces the difficulty of berthing while improving the efficiency of ship berthing, achieving unmanned autonomous berthing.

[0081] Simultaneously, during berthing, the ship's control system uses image recognition technology to determine the ship's berthing level and sends auxiliary berthing commands to the berth based on this level. The berth then assists the ship in berthing smoothly using auxiliary berthing devices, including fine-tuning the ship's direction of travel and its position relative to the berth. The berth determines whether berthing is successful and, based on a stop berthing command, stops the ship, thus completing the entire berthing process. This invention achieves autonomous berthing of unmanned vessels through mutual cooperation between the ship and the berth, exchanging commands and requests. This reduces berthing difficulty, and because the command transmission between the ship and the berth is more efficient than manual control in existing technologies, this invention also improves berthing efficiency and shortens berthing time.

[0082] As another example of this embodiment, see Figure 2 , Figure 2 The flowchart illustrating an embodiment of a method for determining a ship's berth according to the present invention includes steps 2101 to 203, each step being as follows:

[0083] Step 201: Calculate several first distances between the positioning information of the ship and the position information of several preset berths based on the positioning information of the ship and the position information of several preset berths.

[0084] In this example, the ship control device uses GPS positioning and navigation technology to monitor and determine the ship's current positioning information in real time. Based on the monitoring and obtained positioning information and the position information of several berths pre-stored in the system, it calculates the distance between the ship's current positioning and each berth, i.e., several first distances, to provide a reference basis for the subsequent selection and determination of the first berth.

[0085] Step 202: Select the first distance with the smallest distance value from the plurality of first distances and determine it as the second distance, send the first berth corresponding to the second distance to the vessel, and control the vessel to adjust its sailing direction to point to the first berth.

[0086] After calculating the distance between the ship's current position and each berth, the berth control device selects the smallest first distance from among several first distances as the second distance. This smallest distance is the distance between the ship and the berth closest to its current position. The berth corresponding to this selected second distance is designated as the first berth, i.e., the berth where the ship will berth. Once the first berth is determined, its location is confirmed, and the ship control device adjusts the ship's bow to face the first berth, thus adjusting the ship's direction of travel towards the first berth.

[0087] Step 203: Control the vessel to sail toward the first berth and acquire the positioning information in real time until it is determined that the straight-line distance between the positioning information and the position information of the first berth is less than a certain distance.

[0088] After adjusting the ship's direction of travel, the ship control system will not only guide the ship to travel in the adjusted direction, but also monitor the ship's current positioning information in real time. It will continuously calculate the distance between the ship's current positioning and the first berth based on the monitored positioning information and the determined position information of the first berth. When the distance reaches or is less than the first distance, it will send a berthing request to the first berth.

[0089] To improve the berthing method provided in Embodiment 1 of the present invention, the above example provides a method for locating the first berth before the ship reaches a certain distance from it. Several first distances between the ship and several berths are calculated using the ship's positioning information and the position information of several berths. The first distance with the smallest value is then selected from these first distances, which is equivalent to selecting the berth closest to the ship, i.e., the first berth, from among the several berths. The ship's direction of travel is then adjusted accordingly, causing the ship to sail towards the first berth until the straight-line distance between the ship and the first berth is less than a certain distance.

[0090] The above positioning method improves the berthing efficiency of ships, provides ships with multiple berth options, expands the range of berth choices for ships, and enhances the flexibility of ship berthing.

[0091] Example 2

[0092] See Figure 3 , Figure 3 The flowchart of an embodiment of an auxiliary berthing method for a berth provided by the present invention includes steps 301 to 302, wherein the berthing request received by the berth control device in step 301 and the auxiliary berthing command received in step 302 are generated by the ship control device described in Embodiment 1 through a ship berthing method.

[0093] Step 301: Receive a berthing request sent by the vessel, adjust the auxiliary berthing device to the open state according to the berthing request, generate a start berthing command and send it to the vessel, so that the vessel starts berthing and feeds back the auxiliary berthing command.

[0094] As an improvement to the berthing method described in Embodiment 1, this embodiment of the invention also provides an auxiliary berthing method. This method involves a berth control device receiving and executing instructions from a ship control device and providing corresponding response instructions. This forms a data loop with the ship control device to complete the entire autonomous berthing process. Upon receiving a berthing request, the auxiliary berthing device is activated, saving energy consumption and establishing a data loop with the ship. This collaborative mechanism reduces the difficulty of berthing.

[0095] The auxiliary berthing device described in this embodiment includes a first auxiliary device and a second auxiliary device. In this embodiment, the first auxiliary device is preferably a first auxiliary berthing door, and the second auxiliary device is preferably a second auxiliary berthing door. When the berth control device of this embodiment does not receive a berthing request from a vessel, both auxiliary berthing doors are closed. This effectively prevents excessive garbage accumulation in the berth due to strong winds and waves, which could affect vessel berthing and thus hinder berthing efficiency. It also prevents garbage from accumulating and rotting in the berth, thus affecting the normal operation of the equipment within the berth. Simultaneously, opening the auxiliary berthing doors upon receiving a berthing request saves energy consumption and reduces energy loss in the auxiliary berthing device.

[0096] Step 302: Receive the assisted berthing command and control the assisted berthing device to adjust to the berthing state, so that the first auxiliary device and the second auxiliary device start moving at a first speed until it is detected that the ship has completed berthing. Adjust the assisted berthing device to the off state and send a stop berthing command to the ship after it is turned off, so that the ship stops sailing.

[0097] When the berth control system receives an assisted berthing command, it controls the two auxiliary devices of the assisted berthing system to move at the same speed as the ship. This avoids collisions caused by speed differences between the auxiliary devices and the ship, improving the accuracy of berthing. Simultaneously, the movement of the two auxiliary devices generates a forward thrust on the ship as it enters the berth, while also adjusting the ship's position, thus enabling fine-tuning of the ship's direction of travel and further improving the efficiency and accuracy of berthing. Furthermore, the berth's determination of successful berthing is more accurate and convenient than the ship's own determination.

[0098] Meanwhile, the two auxiliary devices, namely the two berthing auxiliary doors, can not only move at the same speed as the ship to generate a thrust for the ship to berth, but also continuously fan as the ship berths, thereby adjusting the ship's forward direction and the position of the ship's hull, improving the efficiency and accuracy of berthing and reducing the possibility of collision between the ship and the berth.

[0099] The specific implementation method of step 302 in this embodiment, which involves detecting and determining that the ship has completed berthing, is as follows: Figure 4 , Figure 4 This is a flowchart illustrating an embodiment of a detection method for determining whether a ship has completed berthing, provided by the present invention. Figure 4 As shown, the detection method includes steps 401 to 403, and the specific steps are as follows:

[0100] Step 401: Detect and calculate the third distance between the stern of the vessel and the entrance of the first berth in real time using a laser rangefinder sensor, and compare the calculated third distance with a preset third distance threshold.

[0101] In this embodiment, when a ship is berthing, the berth control device will monitor the distance between the stern of the ship and the auxiliary berthing device, namely the two auxiliary berthing gates, in real time through a laser rangefinder sensor installed on the side of the berth facing the bow of the ship. The calculated distance will be used as the third distance, and the third distance will be compared with a preset third distance threshold. The comparison result will serve as the reference basis for the subsequent berth control device to detect and determine whether the ship has completed berthing.

[0102] Step 402: When the third distance is greater than the third distance threshold, the third distance is detected and calculated in real time by the laser ranging sensor until the third distance is less than or equal to the third distance threshold.

[0103] Step 403: When the third distance is less than or equal to the third distance threshold, the detection determines that the ship has completed berthing.

[0104] As the berthing process continues, the distance between the stern of the ship and the two auxiliary berthing gates, i.e., the third distance, will decrease accordingly. The berth control device will monitor this third distance in real time. Once the third distance determined by the monitoring and calculation is less than the third distance threshold, it can be determined that the ship has completed berthing.

[0105] Since the ship's speed is the primary speed, and the two auxiliary berthing gates also move at the primary speed, the distance between the ship's stern and the gates should remain constant as the ship moves together with them. When this distance begins to decrease and falls below a preset third distance threshold, it can be determined that the ship has reached a point where it can no longer move forward, and the auxiliary berthing gates are about to collide with the stern. Therefore, when the third distance is equal to or less than the third distance threshold, it serves as the reference basis for determining whether the ship has completed the entire berthing process.

[0106] In addition, if the two berthing auxiliary gates do not move at the same speed as the ship but are constantly flapping to adjust the ship's direction of travel, the berth control device will monitor the third distance between the two berthing auxiliary gates and the stern of the ship, and will also monitor the time. When the berth control device detects that the third distance is less than or equal to the third distance threshold, it will also monitor whether the time during which the third distance is less than or equal to the third distance threshold is greater than or equal to a preset time threshold. Only when both of the above judgments are affirmative will it be determined that the ship has completed the entire berthing process.

[0107] In summary, the berth control device uses a laser rangefinder sensor to detect the distance between the stern of the vessel and the berth entrance in real time, and determines that the vessel has completed the berthing process when this distance is less than a preset third distance threshold. The judgment mechanism provided by this invention is simple and clear to operate, and this distance judgment method is more convenient and intuitive to execute when performed by the berth, while the detection accuracy of the laser rangefinder sensor at the berth is also higher.

[0108] In addition, the specific implementation process of adjusting the auxiliary docking device to the off state as described in the embodiments of the present invention is as follows:

[0109] Control the first auxiliary device and the second auxiliary device to move to the closed state, and use a contact tester to detect whether the first auxiliary device and the second auxiliary device are in contact and closed. After confirming that they are in contact and closed, adjust the auxiliary docking device to the closed state.

[0110] The contact closure status of the first and second auxiliary devices is determined by the contact tester on the first and second auxiliary devices, and the closed status of the auxiliary berthing device is confirmed by this, thereby improving the stability of the ship in the berth.

[0111] To better illustrate the working principle and steps of the berthing method and auxiliary berthing method for ships of the present invention, please refer to the relevant descriptions above, but not limited to.

[0112] Accordingly, see Figure 5 , Figure 5 This is a schematic diagram of the structure of one embodiment of the autonomous docking system provided by the present invention. Figure 5 As shown, the autonomous berthing system includes a ship control device 501 and a berth control device 502. The ship control device 501 and the berth control device 502 are interconnected through a backend device 503, meaning that all instructions sent by the ship control device 501 are transmitted to the berth control device 502 by the backend device 503.

[0113] The ship control device 501 can execute any of the above-described berthing methods for ships; the berth control device 502 can execute any of the above-described auxiliary berthing methods for berths.

[0114] Accordingly, the present invention also provides an internal structure for a ship control device 501, such as... Figure 6 As shown, the ship control device 501 includes a berthing request module 601, a berthing execution module 602, and a berthing termination module 603.

[0115] The berthing request module 601 is used to send a berthing request to the first berth within a preset certain distance range, so that the first berth adjusts the auxiliary berthing device according to the berthing request and feeds back a start berthing command.

[0116] The berthing request module 601 is further configured to calculate several first distances between the positioning information and several preset berths based on the positioning information of the ship and the position information of several berths, and to select the first distance with the smallest distance value from the several first distances as the second distance, and send the first berth corresponding to the second distance to the ship, and control the ship to adjust its sailing direction to point to the first berth; then control the ship to sail to the first berth and obtain the positioning information in real time, until it is determined that the straight-line distance between the positioning information and the position information of the first berth is less than a certain distance.

[0117] The berthing execution module 602 is used to receive the start berthing command, control the ship to enter the first berth in a forward-facing manner, determine the berthing degree of the ship according to image recognition technology, and send an auxiliary berthing command to the first berth after the berthing degree reaches a preset berthing threshold, so that the first berth adjusts the auxiliary berthing device according to the auxiliary berthing command and feeds back a stop berthing command.

[0118] The berthing execution module 602 controls the vessel to enter the first berth in a bow-forward manner, specifically:

[0119] Adjust the vessel's orientation so that its bow points towards the entrance of the first berth, and simultaneously adjust the vessel's hull position so that its hull is perpendicular to the entrance of the first berth. After adjustment, control the vessel to begin sailing at a first speed.

[0120] The berthing execution module 602 determines the berthing level of the vessel based on image recognition technology, and sends an auxiliary berthing command to the first berth after the berthing level reaches a preset berthing threshold. Specifically:

[0121] Images are captured in real time by a camera located at the bow of the vessel, and the captured images are analyzed using image recognition technology. Then, a first distance is calculated between the bow of the vessel and the first berth side perpendicular to the direction of the vessel's movement, and the first distance is compared with a preset first distance threshold.

[0122] If it is determined that the first distance is less than the first distance threshold, the auxiliary berthing command is sent to the first berth; if it is determined that the first distance is greater than the first distance threshold, the vessel is controlled to continue sailing.

[0123] The berthing termination module 603 is used to receive the stop berthing command and control the ship to stop sailing.

[0124] Accordingly, the present invention also provides an internal structure of a berth control device 502, the berth control device 502 including an auxiliary berthing activation module 701 and an auxiliary berthing execution module 702.

[0125] The auxiliary berthing activation module 701 is used to receive a berthing request sent by the ship, adjust the auxiliary berthing device to the activated state according to the berthing request, generate a start berthing command and send it to the ship, so that the ship starts berthing and feeds back the auxiliary berthing command; wherein the auxiliary berthing device includes a first auxiliary device and a second auxiliary device.

[0126] The auxiliary berthing execution module 702 is used to receive the auxiliary berthing command and control the auxiliary berthing device to adjust to the berthing state, so that the first auxiliary device and the second auxiliary device start moving at a first speed until it is detected that the ship has completed berthing, adjust the auxiliary berthing device to the off state, and send a stop berthing command to the ship after it is turned off, so that the ship stops sailing; wherein, the berthing request and the auxiliary berthing command are generated by the ship through a ship-specific berthing method.

[0127] The auxiliary berthing execution module 702 continues until it detects that the vessel has completed berthing, specifically as follows:

[0128] The third distance between the stern of the vessel and the entrance of the first berth is detected and calculated in real time using a laser rangefinder sensor, and the calculated third distance is compared with a preset third distance threshold.

[0129] When the third distance is greater than the third distance threshold, the laser ranging sensor detects and calculates the third distance in real time until the third distance is less than or equal to the third distance threshold; when the third distance is less than or equal to the third distance threshold, the system detects and determines that the ship has completed berthing.

[0130] The auxiliary docking execution module 702 adjusts the auxiliary docking device to the off state, specifically as follows:

[0131] Control the first auxiliary device and the second auxiliary device to move to the closed state, and use a contact tester to detect whether the first auxiliary device and the second auxiliary device are in contact and closed. After confirming that they are in contact and closed, adjust the auxiliary docking device to the closed state.

[0132] In summary, this invention provides a berthing method and an assisted berthing method for ships, applied to a ship control device in an autonomous berthing system. The method involves sending a berthing request to a first berth within a certain distance, causing the first berth to adjust its assisted berthing device and send back a berthing start command. The ship then enters the first berth bow-forward according to the berthing start command, and the berthing degree is determined using image recognition technology. Once the ship reaches a preset berthing threshold, an assisted berthing command is sent to the first berth, causing the first berth to adjust its assisted berthing device and send back a stop berthing command. Finally, the ship stops according to the stop berthing command. This invention achieves berthing operations by having the ship control device and berth control device operate the ship and berth respectively, working together to shorten berthing time and improve berthing efficiency, enabling autonomous berthing for unmanned vessels. Entering the berth bow-forward also reduces berthing difficulty.

[0133] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. In particular, it should be noted that any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention for those skilled in the art.

Claims

1. A method of coordinated berthing for a ship and a berth, characterized in that, Ship control devices applied to autonomous berthing systems; The berthing method includes: The ship control device sends a berthing request to the first berth within a preset distance range, causing the first berth to adjust the auxiliary berthing device to the activated state according to the berthing request and feed back a berthing start command; wherein, the auxiliary berthing device includes a first auxiliary device and a second auxiliary device; The ship control device receives the start berthing command, controls the ship to enter the first berth in a bow-forward manner, and collects images in real time through a camera located at the bow of the ship. The collected images are then analyzed using image recognition technology to calculate a first distance between the bow of the ship and the side of the first berth perpendicular to the ship's direction of travel, and the first distance is compared with a preset first distance threshold. If it is determined that the first distance is less than the first distance threshold, the auxiliary berthing instruction is sent to the first berth, so that the first berth adjusts the auxiliary berthing device to the berthing state according to the auxiliary berthing instruction, and causes the first auxiliary device and the second auxiliary device to start moving at the first speed until the ship control device completes berthing, adjusts the auxiliary berthing device to the off state and feeds back a stop berthing instruction. If it is determined that the first distance is greater than the first distance threshold, then the ship is controlled to continue sailing; The ship control device receives the stop berthing command and controls the ship to stop moving.

2. A method of coordinated berthing of a vessel and a berth as claimed in claim 1, characterized in that, The control of the vessel to enter the first berth in a bow-forward manner is specifically as follows: Adjust the vessel's orientation so that its bow points towards the entrance of the first berth, and then control the vessel to begin sailing at a first speed.

3. A method of coordinated berthing of a vessel and a berth as claimed in claim 1, characterized in that, Before sending a berthing request to the first berth within a preset distance range, the method further includes: The ship control device calculates several first distances between the ship's positioning information and several preset berths' position information based on the ship's positioning information and the position information of several preset berths. The ship control device selects the first distance with the smallest value from the plurality of first distances and determines it as the second distance, then sends the first berth corresponding to the second distance to the ship, and controls the ship to adjust its sailing direction to point to the first berth; The ship control device controls the ship to sail toward the first berth and acquires the positioning information in real time until it is determined that the straight-line distance between the positioning information and the position information of the first berth is less than a certain distance.

4. A method of assisted berthing for a ship and a berth, characterized in that, Berth control device used in autonomous berthing systems; The assisted berthing method includes: The berth control device receives a berthing request sent by the vessel, adjusts the auxiliary berthing device to the open state according to the berthing request, generates a start berthing command and sends it to the vessel, so that the vessel begins berthing and feeds back the auxiliary berthing command; wherein, the auxiliary berthing device includes a first auxiliary device and a second auxiliary device; The berth control device receives the auxiliary berthing command and controls the auxiliary berthing device to adjust to the berthing state, so that the first auxiliary equipment and the second auxiliary equipment start to move at a first speed until the detection determines that the ship has completed berthing, then adjusts the auxiliary berthing device to the off state, and sends a stop berthing command to the ship after it is turned off, so that the ship stops sailing. The berthing request and the auxiliary berthing instruction are generated by the vessel through a collaborative berthing method for the vessel and the berth.

5. The auxiliary berthing method for ships and berths as described in claim 4, characterized in that, The process until the detection confirms that the vessel has completed berthing specifically includes: The third distance between the stern of the vessel and the entrance of the first berth is detected and calculated in real time using a laser rangefinder sensor, and the calculated third distance is compared with a preset third distance threshold. When the third distance is greater than the third distance threshold, the third distance is detected and calculated in real time by the laser ranging sensor until the third distance is less than or equal to the third distance threshold; When the third distance is less than or equal to the third distance threshold, the detection determines that the ship has completed berthing.

6. The auxiliary berthing method for ships and berths as described in claim 4, characterized in that, The step of adjusting the auxiliary docking device to the off state specifically involves: Control the first auxiliary device and the second auxiliary device to move to the closed state, and use a contact tester to detect whether the first auxiliary device and the second auxiliary device are in contact and closed. After confirming that they are in contact and closed, adjust the auxiliary docking device to the closed state.

7. An autonomous berthing system characterized in that, The autonomous berthing system includes a ship control device and a berth control device, and the ship control device and the berth control device are interconnected via a back-end device for data linking. The ship control device can execute a coordinated berthing method for a ship and a berth as described in any one of claims 1-3; The berth control device can perform an auxiliary berthing method for ships and berths as described in any one of claims 4-6.

8. An autonomous berthing system as claimed in claim 7, characterized in that The ship control device includes a berthing request module, a berthing execution module, and a berthing termination module; The berthing request module is used to send a berthing request to the first berth within a preset distance range, so that the first berth adjusts the auxiliary berthing device to the open state according to the berthing request and feeds back a start berthing command; wherein the auxiliary berthing device includes a first auxiliary device and a second auxiliary device; The berthing execution module is used to receive the start berthing command, control the ship to enter the first berth in a bow-forward manner, determine the berthing degree of the ship according to image recognition technology, and send an auxiliary berthing command to the first berth after the berthing degree reaches a preset berthing threshold. The first berth adjusts the auxiliary berthing device to the berthing state according to the auxiliary berthing command, and causes the first auxiliary device and the second auxiliary device to start moving at a first speed until the ship control device completes berthing, adjusts the auxiliary berthing device to the off state and feeds back a stop berthing command. The berthing termination module is used to receive the stop berthing command and control the vessel to stop sailing.

9. An autonomous berthing system as claimed in claim 7, characterized in that The berth control device includes an auxiliary berthing activation module and an auxiliary berthing execution module; The auxiliary berthing activation module is used to receive a berthing request sent by the vessel, adjust the auxiliary berthing device to the activated state according to the berthing request, generate a start berthing command and send it to the vessel, so that the vessel starts berthing and feeds back the auxiliary berthing command; wherein the auxiliary berthing device includes a first auxiliary device and a second auxiliary device; The auxiliary berthing execution module is used to receive the auxiliary berthing command and control the auxiliary berthing device to adjust to the berthing state, so that the first auxiliary device and the second auxiliary device start moving at a first speed until it is detected that the ship has completed berthing, then adjusts the auxiliary berthing device to the off state, and sends a stop berthing command to the ship after it is turned off, so that the ship stops sailing; wherein, the berthing request and the auxiliary berthing command are generated by the ship through a collaborative berthing method for the ship and the berth.

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