Intelligent anchoring method and system based on dynamic positioning

Abstract

The present application relates to the technical field of ship anchoring, and provides an intelligent anchoring method and system based on dynamic positioning. The method includes: obtaining a multi-channel integrated sensor device; real-time sensing of the target ship, and outputting multi-channel environmental and ship sensor signals; configuring a first and a second preset distance; when the real-time distance between the ship and the virtual anchor point reaches the first preset distance, inputting a signal to the first anchoring control model, and outputting a first anchoring control signal; when the real-time distance reaches the second preset distance, inputting a signal to the second anchoring control model, and outputting a second anchoring control signal; and controlling the ship to anchor according to the two control signals. The present application solves the technical problem that the traditional ship anchoring method relies on physical anchors, is easily restricted by the seabed terrain, and is difficult to dynamically adjust the position, resulting in the inability to achieve fixed-point or local anchoring, and achieves the technical effect of improving the ship's precise position control capability in complex sea conditions and different waters through dynamic positioning and multi-sensor data fusion.

Description

Technical Field

[0001] The present application relates to the technical field of ship anchoring, and in particular to an intelligent anchoring method and system based on dynamic positioning. Background Art

[0002] In the field of marine operations and shipping, anchoring of ships is an important means to achieve stable operations at sea. However, traditional ship anchoring technology mainly relies on physical anchors, which are connected to the seabed through anchor chains to fix the ship in a specific position. However, this method has obvious limitations. First, physical anchors are subject to the seabed topography and water depth. The topographic characteristics of different waters vary greatly, and the stability and flexibility of anchoring cannot be guaranteed. Secondly, traditional anchoring equipment is relatively bulky, which increases the weight and volume of the ship and limits the flexibility of operation. In addition, the traditional anchoring method is only suitable for static environments. When encountering dynamic changes such as wind, waves, and tides, it is difficult for ships to remain in a fixed position and they are prone to deviate from the predetermined position, which cannot meet the needs of high-precision fixed-point or local anchoring. Summary of the invention

[0003] The present application provides an intelligent anchoring method and system based on dynamic positioning, aiming to solve the technical problem that the traditional ship anchoring method relies on physical anchors, is easily restricted by the seabed topography and is difficult to dynamically adjust the position, resulting in the inability to achieve fixed-point or local anchoring.

[0004] In view of the above problems, the present application provides an intelligent anchoring method and system based on dynamic positioning.

[0005] In a first aspect of the present application, an intelligent anchoring method based on dynamic positioning is provided, the method comprising: obtaining a multi-channel integrated sensing device, wherein the multi-channel integrated sensing device comprises a multi-channel environmental sensing device and a multi-channel ship sensing device; performing real-time sensing of a target ship according to the multi-channel integrated sensing device, and outputting a multi-channel environmental sensing signal and a multi-channel ship sensing signal; configuring a first preset distance and a second preset distance, wherein the first preset distance is greater than the second preset distance; when the real-time distance between the target ship and a virtual anchor point reaches the first preset distance, inputting the multi-channel environmental sensing signal and the multi-channel ship sensing signal into a first anchoring control model, and outputting a first anchoring control signal; when the real-time distance between the target ship and the virtual anchor point reaches the second preset distance, inputting the multi-channel environmental sensing signal and the multi-channel ship sensing signal into a second anchoring control model, and outputting a second anchoring control signal; and anchoring control of the target ship is performed according to the first anchoring control signal and the second anchoring control signal.

[0006] In a second aspect of the present application, an intelligent anchoring system based on dynamic positioning is provided, the system comprising: a sensor device acquisition module, the sensor device acquisition module is used to acquire a multi-channel integrated sensor device, wherein the multi-channel integrated sensor device comprises a multi-channel environmental sensor device and a multi-channel ship sensor device; a real-time sensing module, the real-time sensing module is used to perform real-time sensing of a target ship according to the multi-channel integrated sensor device, and output a multi-channel environmental sensor signal and a multi-channel ship sensor signal; a distance configuration module, the distance configuration module is used to configure a first preset distance and a second preset distance, wherein the first preset distance is greater than the second preset distance; a first control signal output module, the first control signal output module The control signal output module is used for inputting the multi-channel environmental sensor signals and the multi-channel ship sensor signals into the first anchor control model and outputting the first anchor control signal when the real-time distance between the target ship and the virtual anchor point reaches the first preset distance; the second control signal output module is used for inputting the multi-channel environmental sensor signals and the multi-channel ship sensor signals into the second anchor control model and outputting the second anchor control signal when the real-time distance between the target ship and the virtual anchor point reaches the second preset distance; the anchor control module is used for performing anchor control on the target ship according to the first anchor control signal and the second anchor control signal.

[0007] According to a third aspect of the present application, a storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented: obtaining a multi-channel integrated sensing device, wherein the multi-channel integrated sensing device includes a multi-channel environmental sensing device and a multi-channel ship sensing device; performing real-time sensing of a target ship according to the multi-channel integrated sensing device, and outputting a multi-channel environmental sensing signal and a multi-channel ship sensing signal; configuring a first preset distance and a second preset distance, wherein the first preset distance is greater than the second preset distance; when the real-time distance between the target ship and the virtual anchor point reaches the first preset distance, inputting the multi-channel environmental sensing signal and the multi-channel ship sensing signal into a first anchor control model, and outputting a first anchor control signal; when the real-time distance between the target ship and the virtual anchor point reaches the second preset distance, inputting the multi-channel environmental sensing signal and the multi-channel ship sensing signal into a second anchor control model, and outputting a second anchor control signal; and performing anchor control on the target ship according to the first anchor control signal and the second anchor control signal.

[0008] One or more technical solutions provided in this application have at least the following technical effects or advantages:

[0009] The above-mentioned intelligent anchoring method based on dynamic positioning, the method first obtains a multi-channel integrated sensing device, including environmental and ship sensors, to monitor the surrounding environment of the target ship and its own state in real time, and outputs multi-channel sensing signals of the environment and the ship. These real-time data provide comprehensive information support for the anchoring operation. Subsequently, two preset distances are configured, namely the first preset distance and the smaller second preset distance, to ensure the staged control accuracy. When the distance between the ship and the virtual anchor point reaches the first preset distance, the sensor signal is input into the first anchoring control model to generate a preliminary control signal, and the driving state of the ship is adjusted in time to approach the target position. When the distance is reduced to the second preset distance, the signal is input into the second control model, and a more refined control signal is output, so as to accurately control the fine-tuning position of the ship. Through these control signals, accurate and hierarchical anchoring control is achieved to ensure that the ship gradually approaches the virtual anchor point at different distances, achieves higher positioning accuracy and stability, and ensures the effect of intelligent anchoring.

[0010] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0012] Figure 1 The figure is a flow chart of an intelligent anchoring method based on dynamic positioning in one embodiment.

[0013] Figure 2 The figure is an architecture diagram of an intelligent anchoring system based on dynamic positioning in one embodiment.

[0014] Figure 3 This is a diagram of the internal structure of an electronic device provided in this application.

[0015] Explanation of the accompanying drawings: sensing device acquisition module 1, real-time sensing module 2, distance configuration module 3, first control signal output module 4, second control signal output module 5, anchor control module 6. DETAILED DESCRIPTION

[0016] The embodiments of the present application provide an intelligent anchoring method and system based on dynamic positioning to solve the technical problem that the traditional ship anchoring method relies on physical anchors, is easily restricted by the seabed topography and is difficult to dynamically adjust the position, resulting in the inability to achieve fixed-point or local anchoring.

[0017] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0018] It should be noted that the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or server that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or modules that are not explicitly listed or inherent to these processes, methods, products or devices.

[0019] Embodiment 1, as Figure 1 As shown, the present application provides an intelligent anchoring method based on dynamic positioning, the method comprising:

[0020] A multi-channel integrated sensing device is obtained, wherein the multi-channel integrated sensing device includes a multi-channel environmental sensing device and a multi-channel ship sensing device.

[0021] In an embodiment of the present application, the system terminal will obtain a multi-channel integrated sensor device, and realize comprehensive monitoring of the ship and its environment through the multi-channel integrated sensor device, wherein the multi-channel integrated sensor device includes a multi-channel environmental sensor device and a multi-channel ship sensor device. The multi-channel environmental sensor device is responsible for monitoring external factors, such as wind speed, wind direction, flow rate, etc. These data can be fed back to the system terminal so that it can understand the impact of environmental changes on the position of the ship in real time. The multi-channel ship sensor device includes a dynamic positioning system, GNSS (Global Navigation Satellite System), inertial measurement unit (IMU), etc. These devices monitor the position, speed and attitude of the ship in real time, and feed back information to the system terminal to ensure accurate understanding of the real-time status of the ship. These sensors work together to enable the system terminal to obtain comprehensive environmental and ship data, providing basic support for the realization of intelligent anchoring.

[0022] The target ship is sensed in real time according to the multi-channel integrated sensing device, and multi-channel environmental sensing signals and multi-channel ship sensing signals are output.

[0023] In one embodiment, through a multi-channel integrated sensor device, the system terminal monitors the target ship and its surrounding environment in real time, and outputs two types of key signals, namely, a multi-channel environmental sensor signal and a multi-channel ship sensor signal. The multi-channel environmental sensor signal contains data on external conditions, such as wind speed, wind direction, flow rate and other factors. This information can help the system terminal analyze the potential impact of the environment on the ship's position. The multi-channel ship sensor signal focuses on the ship's own state, including position, speed, heading and attitude, etc., and the dynamic information of the ship is fed back to the system terminal in real time through the measurement of equipment such as GNSS and inertial measurement unit. The continuous output of these signals provides timely and comprehensive data support for precise anchor control.

[0024] A first preset distance and a second preset distance are configured, wherein the first preset distance is greater than the second preset distance.

[0025] In one embodiment, during the intelligent anchoring process, the system terminal will configure two preset distances, namely the first preset distance and the second preset distance, to establish two perimeter areas surrounding the virtual anchor point. The first preset distance constitutes a larger outer perimeter area. When the target ship enters this area, preliminary control measures will be initiated to ensure that the ship gradually approaches the virtual anchor point. The second preset distance forms a smaller inner perimeter area, indicating that the ship is about to reach the final precise anchoring position. After entering this area, the ship is subjected to more detailed posture and position adjustments to ensure accurate anchoring. This phased perimeter configuration enables the system terminal to control layer by layer and gradually improve the positioning accuracy of the ship.

[0026] Furthermore, the method also includes

[0027] Constructing an initial sensor signal sample; setting a test distance sample with the virtual anchor point; performing a sensor signal test on the target ship with the initial sensor signal sample and the test distance sample to obtain a test sensor signal sample; obtaining a signal loss degree at different test distances by comparing the initial sensor signal sample with the test sensor signal sample, and configuring a first preset distance and a second preset distance between the virtual anchor point and the target ship according to the signal loss degrees at different test distances.

[0028] Preferably, near the virtual anchor point, the system terminal collects sensor data through a multi-channel integrated sensor device in an interference-free environment, records basic information such as signal strength, noise, interference, etc. of the multi-channel sensors, and generates a set of initial sensor signal samples. This sample is used as the reference signal data for comparative analysis. Expanding outward from the virtual anchor point, multiple test distance position samples are set. For example, starting from the virtual anchor point, signals are collected at preset position points such as 10 meters, 40 meters, 60 meters, and 80 meters in sequence, covering areas from close distances to longer distances. These distance points will be used for subsequent signal loss measurement. At each test distance, the multi-channel integrated sensor device is started for real-time monitoring, and the signal outputs of the multi-channel environmental sensor device and the multi-channel ship sensor device are recorded respectively to form a test sensor signal sample, including the signal strength, stability, noise, etc. at each distance, to ensure that the sample data at each distance point is representative. Subsequently, the test sensor signal sample of each test distance is compared with the initial sensor signal sample. During the comparison process, the system terminal calculates the difference between the signal strength in the initial sensor signal sample and the signal strength in the test sensor signal sample of each test distance, and then calculates the ratio of the calculation result to the signal strength in the initial sensor signal sample to obtain the signal strength attenuation percentage. The signal noise in the test sensor signal sample of each test distance is calculated by difference with the signal noise in the initial sensor signal sample, and then the calculation result is calculated by ratio with the signal noise in the initial sensor signal sample to obtain the noise increase percentage. The signal stability in the initial sensor signal sample is calculated by difference with the signal stability in the test sensor signal sample of each test distance, and then the calculation result is calculated by ratio with the signal stability in the initial sensor signal sample to obtain the signal stability decrease percentage. After that, the calculated signal strength attenuation percentage, noise increase percentage and signal stability decrease percentage are averaged to obtain the signal loss degree of the test sensor signal sample of each test distance. This signal loss degree can quantify the quality change of the signal at different distances. Then, the calculated signal loss is combined with the constraint distance of the virtual anchor point and the preset signal loss, and two key distances are selected, which are defined as the first preset distance and the second preset distance. The first preset distance ensures that the system terminal starts control at a farther distance to prevent excessive deviation, while the second preset distance achieves more precise attitude and position adjustment to ensure anchoring accuracy.

[0029] Further, the present application provides configuring a first preset distance and a second preset distance between the virtual anchor point and the target ship according to the signal loss at different test distances, including:

[0030] Obtain a constraint distance of a virtual anchor point; obtain a preset signal loss degree, judge the signal loss degree at the different test distances based on the preset signal loss degree, and configure a first preset distance and a second preset distance between the virtual anchor point and the target ship; wherein the first preset distance is the constraint distance, and the second preset distance is a test distance that satisfies the preset signal loss degree.

[0031] Optionally, the system terminal defines the constraint distance of the virtual anchor point according to actual safety and control requirements. This distance is usually set according to factors such as the operating range, environmental restrictions or ship safety. For example, a radius of 80 meters is used as the initial constraint range. A signal loss threshold is preset to determine the acceptable loss degree of the signal at each test distance. The preset signal loss should be set according to the demand for precise control to ensure that the signal quality is sufficient in the precise control stage. Subsequently, the signal loss degree of the test sensor signal sample at each test distance is compared with the preset signal loss threshold. If the signal loss degree of the test sensor signal sample at a certain test distance is less than or equal to the preset signal loss degree, it means that the distance meets the signal quality requirement. At this time, the system terminal sets the constraint distance of the virtual anchor point to the first preset distance. For example, if the constraint distance is 80 meters, the first preset distance is 80 meters, which is used to trigger coarse-grained control. The closest distance at which the signal loss degree first meets the preset signal loss degree is selected as the second preset distance. For example, if the signal first meets the preset signal loss degree at a distance of 60 meters, 60 meters is set as the second preset distance for starting fine control. This configuration ensures coarse control at longer distances and fine control when close to the anchor point, improving the anchoring accuracy and stability of the system terminal at all stages.

[0032] When the real-time distance between the target ship and the virtual anchor point reaches the first preset distance, the multi-channel environment sensor signals and the multi-channel ship sensor signals are input into a first anchor control model, and a first anchor control signal is output.

[0033] In one embodiment, the system terminal monitors the distance between the ship and the virtual anchor point in real time through a multi-channel integrated sensor device. When the distance gradually decreases and reaches a preset first preset distance, the system terminal recognizes that the ship has entered the outer boundary of the anchoring area. At this time, the coarse-grained anchoring control strategy is activated. This area is usually wide, and the main purpose is to make a preliminary correction to the position of the ship to ensure that the ship gradually approaches the virtual anchor point. At this stage, the system terminal inputs the multi-channel environmental sensor signals and multi-channel ship sensor signals collected in real time into the first anchoring control model. This model determines the influence of the ship's position offset and environmental factors on its motion trajectory by analyzing the sensor signal data. The first anchoring control model generates a preliminary control signal, namely the first anchoring control signal. The signal contains a coarse correction instruction for adjusting the position and attitude of the ship to ensure that the ship stably approaches and maintains on the specified path in the process of approaching the virtual anchor point, providing good starting conditions for subsequent precise anchoring.

[0034] Furthermore, the present application provides that the first anchor control model is a coarse-grained anchor control model, including:

[0035] Multiple environmental sensor signals and multiple ship sensor signals are input into a first anchor control model to predict the anchoring influence of the multiple environmental sensor signals, and output multiple first influence indicators, wherein the first anchor control model includes a first control granularity; based on the multiple first influence indicators, first identification environmental sensor signals greater than or equal to a preset influence indicator are screened, offset feedback correction is performed according to the first identification environmental sensor signals and the multiple ship sensor signals, and a first anchor control signal is output.

[0036] Preferably, when the target ship approaches the first preset distance, the system terminal inputs the multi-channel environmental sensor signal and the multi-channel ship sensor signal into the first anchor control model. The first anchor control model starts to analyze the multi-channel environmental sensor signal and evaluates the potential impact of environmental factors on the ship positioning. This process predicts the interference degree of external environmental factors on the ship position and posture through the algorithm in the model, and outputs multiple first impact indicators. Among them, the first anchor control model is a coarse-grained anchor control model, which includes the first control granularity inside. This first control granularity is the control accuracy or refinement degree adopted in the preliminary anchor control stage. It is used to define the coarseness of the adjustment in the first anchor control model, with the purpose of achieving more efficient and moderate preliminary position adjustment, without pursuing particularly fine control, so that the impact prediction can meet the needs of preliminary correction within a rough range. Subsequently, the system terminal screens the generated multi-channel first impact indicators, and marks the environmental sensor signals greater than or equal to the preset impact indicators as the first identification environmental sensor signals. These signals represent environmental factors that have a greater impact on the ship's position, and screening these signals helps to focus on the most critical impact factors for control. Afterwards, by comparing the first identified environmental sensor signal and the ship sensor signal, the ship offset caused by the first identified environmental sensor signal is calculated. and wind direction , combined with the ship's windward area A and the ship's heading angle and air density , calculate the offset vector caused by wind ,Right now ; According to the speed of the ocean current and current direction , combined with the underwater area of ​​the ship and the ship's heading angle and drag coefficient , calculate the offset vector caused by the ocean current ,Right now ; Then add the calculated results to get the combined offset vector. Then, based on the combined offset vector, the system generally generates feedback correction parameters for adjusting the position and heading of the ship. This feedback correction parameter determines the thrust direction and magnitude of the propeller, as well as the adjustment angle of the servo, so that the ship can offset the offset caused by environmental interference. The feedback correction parameter is then converted into a signal to obtain the first anchor control signal. This signal contains specific adjustment instructions, including instructions such as propeller thrust and servo angle, which are used to guide the ship to make rough position and attitude adjustments, so that the ship can achieve preliminary direction and position adjustments in the first anchor control stage, laying the foundation for approaching the virtual anchor point.

[0037] For the first anchor control model, the system terminal extracts multi-channel environmental sensor signals and ship status signal data from the existing navigation and anchor records, and marks the impact indicators of the ship under these conditions, and then summarizes the marked multi-channel environmental sensor signals and ship status signal data to form a training set. Taking the decision tree regression model as an example, the splitting criterion is first defined, and the minimization of mean square error (MSE) or mean absolute error (MAE) is usually used to measure the splitting effect. At each node, all input variables and their different values ​​are traversed as candidate splitting points, and the MSE or MAE value of each candidate splitting point is calculated. By comparing the error values, the variables that can minimize the error and their splitting thresholds are selected, and the data are divided into two groups to generate left and right child nodes. Each newly generated child node will repeat this splitting process, continue to select splitting features and thresholds, and further split the data until the preset stop condition is reached. The stop condition includes the set maximum depth (limiting the number of layers of the decision tree to prevent overfitting), the minimum number of samples (requiring each node to contain at least a certain amount of data), and the error tolerance (if the error reduction brought by the split is not enough to significantly improve the model, the splitting is stopped). When the stop condition is met, the node will stop splitting and become a leaf node, and its output is the mean of the current node data, which is used to represent the predicted value of the influencing indicator under the current environmental conditions, such as the lateral or longitudinal offset influencing indicator. In the model training stage, the training set is split and the decision tree is constructed to gradually generate a complete tree structure. In the process of generating the tree, in order to avoid the problem of overfitting, the pre-pruning technology is used to simplify the model by controlling the depth of the tree and the number of node samples. After the model is generated, it can be further post-pruned to remove branches that have little impact on the final output, thereby improving the generalization ability of the model. After the model training is completed, the model performance is evaluated by cross-validation method, the training set is divided into multiple subsets, and the performance of the model on different data sets is verified one by one to ensure that it has good generalization ability. According to the verification results, the decision tree parameters, such as the maximum depth of the tree and the number of samples of the leaf node, are adjusted to optimize the prediction effect of the model. As the environment and ship status change, the model can be regularly added with new sensor data for retraining to ensure its adaptability and accuracy. Through the construction and training of this decision tree regression model, accurate multi-path first impact indicators can be generated based on the environment and ship signals, providing reliable input support for subsequent coarse-grained anchor control.

[0038] When the real-time distance between the target ship and the virtual anchor point reaches the second preset distance, the multi-channel environment sensing signals and the multi-channel ship sensing signals are input into a second anchor control model, and a second anchor control signal is output.

[0039] In one embodiment, when the target ship approaches the virtual anchor point and reaches the second preset distance, the system terminal inputs the multi-channel environmental sensor signals and ship sensor signals collected in real time into the second anchor control model. The model analyzes the current status and trend of these signals, predicts the potential impact of environmental factors on the anchor position of the ship, and calculates precise control instructions to generate a second anchor control signal, which contains subtle adjustment instructions for the thruster and steering gear to ensure that the ship can accurately stabilize at the target position when approaching the anchor point, achieving the final precise anchor effect.

[0040] Furthermore, the present application provides that the second anchor control model is a fine-grained anchor control model, including:

[0041] The multi-channel environmental sensor signals and the multi-channel ship sensor signals are input into the second anchor control model, the anchor influence prediction is performed on the multi-channel environmental sensor signals, and a multi-channel second influence index is output; based on the multi-channel second influence index, the second identification environmental sensor signal that is greater than or equal to the preset influence index is screened, the offset feedback correction is performed according to the second identification environmental sensor signal and the multi-channel ship sensor signal, and the second anchor control signal is output.

[0042] Optionally, when the ship approaches the second preset distance from the virtual anchor point, the second anchor control model, i.e., the fine-grained anchor control model, is activated. The construction method of this model is similar to the above to achieve more accurate anchor positioning. The system terminal inputs the multi-channel environmental sensor signal and the multi-channel ship sensor signal into the second anchor control model, and the second anchor control model analyzes these signals with higher precision to achieve more refined control. The second anchor control model predicts the impact of environmental factors on the ship's anchoring through high-precision analysis of the multi-channel environmental sensor signal, and outputs multiple second impact indicators. For example, the precise offset and direction under the current wind speed and current are predicted, as well as the impact of various factors on the stability of the ship's anchoring. Subsequently, the generated second impact indicators are screened, and the second identification environmental sensor signal greater than or equal to the preset impact indicator is selected. This screening process ensures that the system terminal centrally controls the most critical environmental impact factors and optimizes the information required for precise control. Afterwards, the screened second identification environmental sensor signal and the multi-channel ship sensor signal are combined, and the precise offset under the current environment is calculated through the same operation as above, so as to minimize the offset and improve the stability. Based on the offset feedback correction result, the second anchor control signal is obtained. This signal contains more detailed adjustment instructions, including the precise thrust of the propeller, the precise angle of the steering gear, etc., which is used to achieve fine-tuning and precise ship attitude adjustment.

[0043] Further, the present application provides that the second anchor control model is connected to a signal gain device, including:

[0044] The real-time distance between the target ship and the virtual anchor point is obtained, and a signal gain value is configured according to the real-time distance; when the real-time distance reaches the second preset distance, the multi-channel environmental sensor signals and the multi-channel ship sensor signals are input into the signal gain device, the signals are gained according to the signal gain value, and the gained multi-channel environmental sensor signals and the multi-channel ship sensor signals are output; the gained multi-channel environmental sensor signals and the multi-channel ship sensor signals are input into the second anchor control model, and a second anchor control signal is output.

[0045] Optionally, the system terminal monitors the distance between the ship and the virtual anchor point in real time. When the ship gradually approaches the anchor point, the signal gain value is set according to the current distance. The closer the distance, the higher the signal gain value. This gain value is used to improve the accuracy of the sensor signal to ensure more accurate control in the fine anchoring area. When the ship approaches the second preset distance, the system terminal recognizes that the ship has entered the fine anchoring control area. This stage requires precise control to achieve the final anchoring correction. At this time, the system terminal inputs the multi-channel environmental sensor signal and the multi-channel ship sensor signal into the signal gain device connected to the second anchoring control model. The signal gain device will enhance the input signal according to the configured gain value, that is, multiply the signal strength of the input signal by the signal gain value to obtain the gain signal strength, and filter and suppress the noise of the input signal through the Kalman filter to improve the resolution and accuracy of the signal, especially in the case of low signal strength, which helps to capture small changes and improve the accuracy of the control model. After gain processing, the multi-channel environmental sensor signal and the multi-channel ship sensor signal after gain are output. The enhanced signal can more clearly reflect the current environmental conditions and ship status, and improve the accuracy of subsequent detailed anchor control. Subsequently, the multi-channel environmental sensor signals and ship sensor signals after gain are input into the second anchor control model. This model is based on high-precision signals, predicts the subtle effects of environmental factors on the ship's position, and makes fine corrections based on the actual state of the ship to obtain the second anchor control signal. The signal contains detailed adjustment instructions, including fine-tuning parameters such as thruster thrust and steering gear angle, so that the system terminal can accurately control the position and attitude of the ship to ensure that the ship is stably moored near the virtual anchor point.

[0046] Anchoring control is performed on the target ship according to the first anchoring control signal and the second anchoring control signal.

[0047] In one embodiment, when the ship reaches the first preset distance, the system terminal will perform signal decomposition on the first anchor control signal and make coarse-grained adjustments based on the signal decomposition results. The control signal instructions at this stage are mainly aimed at the position and general direction of the ship, and the initial adjustment of the propeller and the steering gear helps the ship approach the virtual anchor point. This rough control ensures that the ship will not deviate from the general direction and gradually reduce the distance from the anchor point. When the ship approaches the anchor point further and reaches the second preset distance, the system terminal also performs signal decomposition on the second anchor control signal and makes detailed corrections based on the signal decomposition results. The control signal at this stage is more refined and can adjust the speed, attitude, propeller thrust and steering gear angle of the ship in real time to ensure that the ship can accurately remain near the virtual anchor point. By combining the first and second anchor control signals, the system terminal realizes the anchor control process from coarse to fine, enabling the ship to stably maintain the target position in a complex environment and achieve intelligent high-precision anchoring.

[0048] Further, the present application provides a method for performing anchor control on a target ship according to the first anchor control signal and the second anchor control signal, comprising:

[0049] The first anchor control signal and the second anchor control signal are decomposed to identify a position control vector and an attitude control vector; a control terminal of a ship propeller and a steering gear is connected to perform anchor control on the ship propeller and the steering gear according to the position control vector and the attitude control vector.

[0050] Preferably, the system terminal decomposes the received first anchor control signal and the second anchor control signal, and separates the position adjustment parameter from the attitude adjustment parameter. Subsequently, the position adjustment parameters are summarized to generate a position control vector, which is used to adjust the overall position of the ship to ensure that the ship gradually approaches the virtual anchor point. The vector mainly contains information about the thrust magnitude and direction of the propeller. The attitude adjustment parameters are summarized to generate an attitude control vector, which is used to control the attitude of the ship (such as the heading and tilt angle of the ship, etc.) to adapt to the current environmental conditions and the orientation requirements of the ship to ensure the stability of the ship's attitude. The vector mainly contains information about the steering gear angle and adjustment force. Afterwards, the position control vector and the attitude control vector are transmitted to the control terminals of the ship's propeller and steering gear respectively. These terminals will receive and execute corresponding instructions to ensure that the position and attitude are controlled synchronously. According to the position control vector, the control terminal of the propeller adjusts the magnitude and direction of the thrust to drive the ship to gradually move toward the virtual anchor point. The thrust and direction adjustment of the propeller can offset the impact of environmental factors (such as ocean currents and wind) on the ship, ensuring that the ship stably approaches the target position. According to the attitude control vector, the control terminal of the steering gear adjusts the angle and rotation force of the steering gear. By accurately controlling the heading and tilt angle of the ship, the attitude of the ship is stable when approaching the virtual anchor point, thereby reducing the attitude deviation during high-precision position control. Under the joint action of the thruster and the steering gear, the position and attitude of the ship are synchronously controlled. The system terminal continuously monitors the feedback signal and updates the control vector in real time to ensure that the ship can be stably located near the anchor point, ultimately achieving precise anchoring.

[0051] In summary, the embodiments of the present application have at least the following technical effects:

[0052] The embodiment of the present application obtains multiple environmental and ship sensing devices to perform real-time sensing of the target ship, thereby generating environmental and ship sensing signals. At the same time, two preset distances are set. When the ship enters the first preset distance, the signal is input into the first anchor control model for coarse-grained control, and when the second preset distance is reached, the signal is input into the second anchor control model for fine-grained control, and the first and second anchor control signals are generated respectively to ensure accurate anchoring. In addition, in order to optimize the control accuracy, the initial sensor signal sample is constructed, and the preset distance is configured through signal loss degree analysis. At the same time, the signal gain device can gain the sensor signal according to the real-time distance, and decompose the control signal to identify the position and attitude control vector, so as to perform accurate anchoring control through the terminals of the thruster and the steering gear. These technical effects jointly solve the technical problem that the traditional ship anchoring method relies on physical anchors, is easily restricted by the seabed terrain and is difficult to dynamically adjust the position, resulting in the inability to achieve fixed-point or local anchoring, and realizes the technical effect of improving the precise position control capability of ships in complex sea conditions and different waters through dynamic positioning and multi-sensor data fusion.

[0053] Embodiment 2 is based on the same inventive concept as the intelligent anchoring method based on dynamic positioning in the above embodiment. Figure 2 As shown, the present application provides an intelligent anchoring system based on dynamic positioning, the system comprising: a sensor device acquisition module 1, the sensor device acquisition module 1 is used to acquire a multi-channel integrated sensor device, wherein the multi-channel integrated sensor device includes a multi-channel environmental sensor device and a multi-channel ship sensor device; a real-time sensing module 2, the real-time sensing module 2 is used to perform real-time sensing of a target ship according to the multi-channel integrated sensor device, and output a multi-channel environmental sensor signal and a multi-channel ship sensor signal; a distance configuration module 3, the distance configuration module 3 is used to configure a first preset distance and a second preset distance, wherein the first preset distance is greater than the second preset distance; a first control signal output module 4, the first control signal output module The signal output module 4 is used to input the multi-channel environmental sensor signal and the multi-channel ship sensor signal into the first anchor control model and output the first anchor control signal when the real-time distance between the target ship and the virtual anchor point reaches the first preset distance; the second control signal output module 5 is used to input the multi-channel environmental sensor signal and the multi-channel ship sensor signal into the second anchor control model and output the second anchor control signal when the real-time distance between the target ship and the virtual anchor point reaches the second preset distance; the anchor control module 6 is used to perform anchor control on the target ship according to the first anchor control signal and the second anchor control signal.

[0054] Furthermore, the distance configuration module 3 is also used to execute the following method:

[0055] Constructing an initial sensor signal sample; setting a test distance sample with the virtual anchor point; performing a sensor signal test on the target ship with the initial sensor signal sample and the test distance sample to obtain a test sensor signal sample; obtaining a signal loss degree at different test distances by comparing the initial sensor signal sample with the test sensor signal sample, and configuring a first preset distance and a second preset distance between the virtual anchor point and the target ship according to the signal loss degrees at different test distances.

[0056] Furthermore, the distance configuration module 3 is also used to execute the following method:

[0057] Obtain a constraint distance of a virtual anchor point; obtain a preset signal loss degree, judge the signal loss degree at the different test distances based on the preset signal loss degree, and configure a first preset distance and a second preset distance between the virtual anchor point and the target ship; wherein the first preset distance is the constraint distance, and the second preset distance is a test distance that satisfies the preset signal loss degree.

[0058] Furthermore, the first control signal output module 4 is also used to execute the following method:

[0059] Multiple environmental sensor signals and multiple ship sensor signals are input into a first anchor control model to predict the anchoring influence of the multiple environmental sensor signals, and output multiple first influence indicators, wherein the first anchor control model includes a first control granularity; based on the multiple first influence indicators, first identification environmental sensor signals greater than or equal to a preset influence indicator are screened, offset feedback correction is performed according to the first identification environmental sensor signals and the multiple ship sensor signals, and a first anchor control signal is output.

[0060] Furthermore, the second control signal output module 5 is also used to execute the following method:

[0061] The multi-channel environmental sensor signals and the multi-channel ship sensor signals are input into the second anchor control model, the anchor influence prediction is performed on the multi-channel environmental sensor signals, and a multi-channel second influence index is output; based on the multi-channel second influence index, the second identification environmental sensor signal that is greater than or equal to the preset influence index is screened, the offset feedback correction is performed according to the second identification environmental sensor signal and the multi-channel ship sensor signal, and the second anchor control signal is output.

[0062] Furthermore, the second control signal output module 5 is also used to execute the following method:

[0063] The real-time distance between the target ship and the virtual anchor point is obtained, and a signal gain value is configured according to the real-time distance; when the real-time distance reaches the second preset distance, the multi-channel environmental sensor signals and the multi-channel ship sensor signals are input into the signal gain device, the signals are gained according to the signal gain value, and the gained multi-channel environmental sensor signals and the multi-channel ship sensor signals are output; the gained multi-channel environmental sensor signals and the multi-channel ship sensor signals are input into the second anchor control model, and a second anchor control signal is output.

[0064] Furthermore, the anchor control module 6 is further configured to execute the following method:

[0065] The first anchor control signal and the second anchor control signal are decomposed to identify a position control vector and an attitude control vector; a control terminal of a ship propeller and a steering gear is connected to perform anchor control on the ship propeller and the steering gear according to the position control vector and the attitude control vector.

[0066] Embodiment 3, based on the same inventive concept as the intelligent anchoring method based on dynamic positioning in the above-mentioned embodiment, the present application provides an electronic device, which may be a server, and its internal structure diagram may be as follows: Figure 3As shown. The electronic device includes a processor, a memory and a network interface connected through a system bus. Among them, the processor of the electronic device is used to provide computing and control capabilities. The memory of the electronic device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the electronic device is used to store news data and data such as time attenuation factors. The network interface of the electronic device is used to communicate with an external terminal through a network connection. The computer program is executed by the processor to implement an intelligent anchoring method based on dynamic positioning.

[0067] Those skilled in the art will understand that Figure 3 The structure shown in the figure is merely a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the electronic device to which the scheme of the present application is applied. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0068] In one embodiment, a storage medium is provided, in which a computer program is stored, and when the processor executes the computer program, the following steps are implemented: obtaining a multi-channel integrated sensing device, wherein the multi-channel integrated sensing device includes a multi-channel environmental sensing device and a multi-channel ship sensing device; performing real-time sensing of a target ship according to the multi-channel integrated sensing device, and outputting a multi-channel environmental sensing signal and a multi-channel ship sensing signal; configuring a first preset distance and a second preset distance, wherein the first preset distance is greater than the second preset distance; when the real-time distance between the target ship and the virtual anchor point reaches the first preset distance, inputting the multi-channel environmental sensing signal and the multi-channel ship sensing signal into a first anchor control model, and outputting a first anchor control signal; when the real-time distance between the target ship and the virtual anchor point reaches the second preset distance, inputting the multi-channel environmental sensing signal and the multi-channel ship sensing signal into a second anchor control model, and outputting a second anchor control signal; and performing anchor control on the target ship according to the first anchor control signal and the second anchor control signal.

[0069] It should be noted that the above-mentioned sequence of the embodiments of the present application is only for description and does not represent the advantages and disadvantages of the embodiments. And the above-mentioned specific embodiments of this specification are described. The processes depicted in the accompanying drawings do not necessarily require the specific order and continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0070] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

[0071] This specification and drawings are merely exemplary illustrations of the present application and are deemed to cover any and all modifications, variations, combinations or equivalents within the scope of the present application. Obviously, a person skilled in the art may make various modifications and variations to the present application without departing from the scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the present application and its equivalents, the present application intends to include these modifications and variations.

Claims

1. Intelligent anchoring method based on dynamic positioning, characterized in that: The method comprises: Acquire a multi-channel integrated sensing device, wherein the multi-channel integrated sensing device includes a multi-channel environmental sensing device and a multi-channel ship sensing device; Performing real-time sensing of the target ship according to the multi-channel integrated sensing device, and outputting multi-channel environmental sensing signals and multi-channel ship sensing signals; Configure a first preset distance and a second preset distance, wherein the first preset distance is greater than the second preset distance; When the real-time distance between the target ship and the virtual anchor point reaches the first preset distance, the multi-channel environmental sensor signal and the multi-channel ship sensor signal are input into a first anchor control model, and a first anchor control signal is output; When the real-time distance between the target ship and the virtual anchor point reaches the second preset distance, the multi-channel environmental sensor signal and the multi-channel ship sensor signal are input into the second anchor control model, and a second anchor control signal is output; performing anchor control on the target ship according to the first anchor control signal and the second anchor control signal; The first anchor control model is a coarse-grained anchor control model, and the method includes: Inputting multiple environmental sensor signals and multiple ship sensor signals into a first anchor control model to predict the anchor impact of the multiple environmental sensor signals, and outputting multiple first impact indicators, wherein the first anchor control model includes a first control granularity; Based on the multiple first influencing indicators, a first identification environment sensor signal greater than or equal to a preset influencing indicator is selected, an offset feedback correction is performed according to the first identification environment sensor signal and the multiple ship sensor signals, and a first anchor stop control signal is output; The second anchor control model is a fine-grained anchor control model, and the method includes: Inputting multiple environmental sensor signals and multiple ship sensor signals into a second anchor control model, predicting the anchor impact of the multiple environmental sensor signals, and outputting multiple second impact indicators; Based on the multiple second impact indicators, a second identification environment sensor signal greater than or equal to the preset impact indicator is screened, an offset feedback correction is performed according to the second identification environment sensor signal and the multiple ship sensor signals, and a second anchor control signal is output.

2. The intelligent anchoring method based on dynamic positioning according to claim 1, characterized in that: The method further comprises: Constructing initial sensor signal samples; Using the virtual anchor point, setting a test distance sample; Performing a sensor signal test on the target ship using the initial sensor signal sample and the test distance sample to obtain a test sensor signal sample; By comparing the initial sensing signal sample and the test sensing signal sample, the signal loss degree at different test distances is obtained, and according to the signal loss degree at different test distances, the first preset distance and the second preset distance between the virtual anchor point and the target ship are configured.

3. The intelligent anchoring method based on dynamic positioning according to claim 2, characterized in that: According to the signal loss at different test distances, configuring a first preset distance and a second preset distance between the virtual anchor point and the target ship, the method comprising: Get the constraint distance of the virtual anchor point; Acquire a preset signal loss degree, judge the signal loss degrees at the different test distances based on the preset signal loss degree, and configure a first preset distance and a second preset distance between the virtual anchor point and the target ship; The first preset distance is the constraint distance, and the second preset distance is a test distance that satisfies the preset signal loss degree.

4. The intelligent anchoring method based on dynamic positioning according to claim 1, characterized in that: The second anchor control model is connected to the signal gain device, and the method includes: Acquire the real-time distance between the target ship and the virtual anchor point, and configure the signal gain value according to the real-time distance; When the real-time distance reaches the second preset distance, the multi-channel environmental sensor signals and the multi-channel ship sensor signals are input into the signal gain device, the signals are amplified according to the signal gain value, and the amplified multi-channel environmental sensor signals and the multi-channel ship sensor signals are output; The multi-channel environmental sensor signals and the multi-channel ship sensor signals after gain are input into the second anchor control model, and a second anchor control signal is output.

5. The intelligent anchoring method based on dynamic positioning according to claim 1, characterized in that: The method of performing anchor control on a target ship according to the first anchor control signal and the second anchor control signal includes: performing signal decomposition on the first anchor control signal and the second anchor control signal to identify a position control vector and an attitude control vector; A control terminal connected to the ship propeller and the steering gear performs anchoring control on the ship propeller and the steering gear according to the position control vector and the attitude control vector.

6. Intelligent anchoring system based on dynamic positioning, characterized in that: The steps for implementing the intelligent anchoring method based on dynamic positioning according to any one of claims 1 to 5 include: A sensor device acquisition module: acquires a multi-channel integrated sensor device, wherein the multi-channel integrated sensor device includes a multi-channel environmental sensor device and a multi-channel ship sensor device; Real-time sensing module: performs real-time sensing of the target ship according to the multi-channel integrated sensing device, and outputs multi-channel environmental sensing signals and multi-channel ship sensing signals; Distance configuration module: configure a first preset distance and a second preset distance, wherein the first preset distance is greater than the second preset distance; A first control signal output module: when the real-time distance between the target ship and the virtual anchor point reaches the first preset distance, the multi-channel environmental sensor signal and the multi-channel ship sensor signal are input into the first anchor control model, and the first anchor control signal is output; A second control signal output module: when the real-time distance between the target ship and the virtual anchor point reaches the second preset distance, the multi-channel environmental sensor signal and the multi-channel ship sensor signal are input into the second anchor control model, and a second anchor control signal is output; Anchor control module: performs anchor control on the target ship according to the first anchor control signal and the second anchor control signal.

7. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the intelligent anchoring method based on dynamic positioning described in any one of claims 1 to 5 are implemented.

8. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the intelligent anchoring method based on dynamic positioning described in any one of claims 1 to 5 are implemented.

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