A method and system for automatic ship dispatching based on PLC

Abstract

The present invention provides a PLC-based ship automatic dispatching method and system, the method comprising obtaining a ship dispatching request, obtaining lock operation data based on the ship dispatching request and the PLC; judging whether the ship has arrived at a reporting area based on the ship dispatching request; if the ship has arrived at the reporting area, judging whether the lock is in an open state based on the lock operation data; if the lock is in an open state, controlling the ship to pass through the lock, and if the lock is not in an open state, determining an estimated opening time, and controlling the ship to pass through the lock based on the estimated opening time. The present invention can realize automatic gear shifting and automatic dispatching without the need for staff operation or participation, thereby reducing the probability of ship dispatching errors.

Description

Technical Field

[0001] The invention belongs to the technical field of ship lock control, and in particular relates to a PLC-based ship automatic dispatching method and system. Background Art

[0002] At present, each lock is manually scheduling and dispatching ships, and they all operate two systems, the lock dispatching system and the control system (host computer software). In addition, many places now advocate centralized office, which leads to one person operating multiple line locks or multi-level locks. In order to carry out the business normally, one staff member is added to each level.

[0003] However, this leads to the problem of cumbersome operations. Dispatchers have to operate two systems, and the dispatching system is complicated. For dispatchers, single-line locks are relatively simple, but for double-line locks or multi-line locks, the work pressure of dispatchers will be greatly increased, and the probability of ship dispatching errors will be increased. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides a PLC-based ship automatic scheduling method and system, which are used to solve the technical problems in the prior art.

[0005] On the one hand, the present invention provides the following technical solution, a PLC-based ship automatic scheduling method, comprising:

[0006] Obtaining a ship dispatching request, and obtaining lock operation data based on the ship dispatching request and the PLC;

[0007] Determining whether the ship has arrived at the reporting area based on the ship dispatch request;

[0008] If the ship has arrived at the reporting area, determining whether the lock is in an open state based on the lock operation data;

[0009] If the ship lock is in an open state, the ship is controlled to pass through the lock; if the ship lock is not in an open state, an estimated opening time is determined, and the ship is controlled to pass through the lock based on the estimated opening time;

[0010] The step of judging whether the ship has arrived at the reporting area based on the ship dispatch request comprises:

[0011] A base point is set on the left side of the reporting area, a horizontal ray is emitted from the base point to the right, and the coordinate position of the ship is identified ;

[0012] Identify the coordinate points of each area point in the reporting area, and store the coordinate points of each area point in a coordinate point set;

[0013] Selecting two mutually adjacent coordinate point pairs from the coordinate point set, and storing the coordinate point pairs in the coordinate point pair set;

[0014] Determining whether the ship has arrived at the reporting area based on the coordinate point pair set;

[0015] The step of judging whether the ship has arrived at the reporting area based on the coordinate point pair set comprises:

[0016] Determine whether the ship is within the dimensional range of any coordinate point pair in the set of coordinate point pairs;

[0017] If the ship is within the dimensional range of any coordinate point pair in the coordinate point set, then calculate The horizontal line and the line connecting any pair of coordinate points intersect at the point where :

[0018] ;

[0019] In the formula, , represents the horizontal coordinate of the coordinate point pair, Represents the ordinate of the coordinate point pair;

[0020] Determine whether the horizontal coordinate of the intersection point is greater than , if the horizontal coordinate of the intersection point is greater than , then output a cumulative mark, if the horizontal coordinate of the intersection is not greater than , then no accumulation mark is output;

[0021] Calculating and judging the horizontal coordinates of the intersection points for all the coordinate point pairs in the coordinate point pair set, and outputting a certain number of accumulated marks;

[0022] Whether the ship has arrived at the reporting area is determined based on the number of the accumulated marks.

[0023] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention first obtains a ship dispatch request, and obtains lock operation data based on the ship dispatch request and PLC; determines whether the ship has arrived at the reporting area based on the ship dispatch request; if the ship has arrived at the reporting area, determines whether the lock is in an open state based on the lock operation data; if the lock is in an open state, controls the ship to pass through the lock, and if the lock is not in an open state, determines an estimated opening time, and controls the ship to pass through the lock based on the estimated opening time. The present invention realizes unmanned automatic dispatch of ships based on the lock PLC, freeing the staff from busy business, and the staff will focus on controlling the control system operation, and the present invention only needs to monitor the state of the lock gate to realize automatic gear shifting and automatic dispatching, without the need for staff operation or participation, thereby reducing the probability of ship dispatching errors.

[0024] Preferably, the step of judging whether the ship has arrived at the reporting area based on the number of the accumulated marks is specifically as follows: judging whether the number of the accumulated marks is an odd number or an even number; if the number of the accumulated marks is an odd number, the ship has arrived at the reporting area; if the number of the accumulated marks is an even number, the ship has not arrived at the reporting area.

[0025] Preferably, the step of controlling the ship to pass through the lock comprises:

[0026] If the ship lock is in an open state, the gate is controlled to open and the ship is notified to leave the lock;

[0027] Identify the status of the signal lights in the lock operation data and notify the ships in the pilot area to enter the lock;

[0028] When the ship enters the lock of the pilot area, the ship's AIS data is collected, and the ship's AIS data is used to determine whether the ship is in the pilot bridge area or the lock chamber area;

[0029] If the ship is in the pilot bridge area or the lock chamber area, it will automatically pass through the lock. If the ship is not in the pilot bridge area or the lock chamber area, it will automatically pass through the lock.

[0030] In a second aspect, the present invention provides the following technical solution, a PLC-based ship automatic dispatching system, the system comprising:

[0031] A request module, used to obtain a ship dispatch request, and obtain lock operation data based on the ship dispatch request and the PLC;

[0032] A first judgment module, used for judging whether the ship has arrived at the reporting area based on the ship dispatch request;

[0033] A second judgment module is used to judge whether the lock is in an open state based on the lock operation data if the ship has arrived at the reporting area;

[0034] A scheduling module, for controlling the passage of the ship through the lock if the lock is in an open state, and for determining an estimated opening time if the lock is not in an open state, and controlling the passage of the ship through the lock based on the estimated opening time;

[0035] The first judgment module includes:

[0036] The ray submodule is used to set a base point on the left side of the reporting area, emit horizontal rays from the base point to the right, and identify the coordinate position of the ship ;

[0037] The identification submodule is used to identify the coordinate points of each area point in the reporting area and store the coordinate points of each area point in a coordinate point set;

[0038] A coordinate submodule, used for selecting two mutually adjacent coordinate point pairs from the coordinate point set, and storing the coordinate point pairs in the coordinate point pair set;

[0039] A judgment submodule, used for judging whether the ship has arrived at the reporting area based on the coordinate point pair set;

[0040] The judgment submodule includes:

[0041] A first judgment unit, used to judge whether the ship is within the dimensional range of any coordinate point pair in the coordinate point pair set;

[0042] A calculation unit is used to calculate if the ship is within the dimensional range of any coordinate point pair in the coordinate point pair set. The horizontal line and the line connecting any pair of coordinate points intersect at the point where :

[0043] ;

[0044] In the formula, , represents the horizontal coordinate of the coordinate point pair, Represents the ordinate of the coordinate point pair;

[0045] The second judgment unit is used to judge whether the horizontal coordinate of the intersection point is greater than , if the horizontal coordinate of the intersection point is greater than , then output a cumulative mark, if the horizontal coordinate of the intersection is not greater than , then no accumulation mark is output;

[0046] A repeating unit, used for calculating and judging the horizontal coordinates of the intersection points for all the coordinate point pairs in the coordinate point pair set, and outputting a certain number of accumulated marks;

[0047] The third judgment unit is used to judge whether the ship has arrived at the reporting area based on the number of the accumulated marks.

[0048] In a third aspect, the present invention provides the following technical solution: a computer comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the PLC-based automatic ship scheduling method as described above is implemented.

[0049] In a fourth aspect, the present invention provides the following technical solution: a storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the above-mentioned PLC-based automatic ship scheduling method. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. 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 paying creative work.

[0051] Figure 1 A flow chart of a PLC-based ship automatic dispatching method provided in Embodiment 1 of the present invention;

[0052] Figure 2 A structural block diagram of a PLC-based ship automatic dispatching system provided in Embodiment 2 of the present invention;

[0053] Figure 3 A schematic diagram of the hardware structure of a computer provided in another embodiment of the present invention.

[0054] The embodiments of the present invention will be further described below with reference to the accompanying drawings. DETAILED DESCRIPTION

[0055] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the embodiments of the present invention, and should not be construed as limiting the present invention.

[0056] Embodiment 1

[0057] In the first embodiment of the present invention, Figure 1 As shown, a PLC-based ship automatic scheduling method includes:

[0058] S1. Obtain a ship dispatch request, and obtain lock operation data based on the ship dispatch request and PLC;

[0059] Specifically, when an actual ship dispatch request is made, the corresponding ship dispatch request can be self-declared and issued through mobile phone APP, WeChat applet, etc., and the ship AIS terminal data can be collected in real time through the ship dispatch request. At the same time, when the corresponding ship dispatch request is received, the corresponding lock operation data can be collected through PLC.

[0060] S2. judging whether the ship has arrived at the reporting area based on the ship dispatch request;

[0061] Wherein, the step S2 comprises:

[0062] S21, set a base point on the left side of the reporting area, emit a horizontal ray from the base point to the right, and identify the coordinate position of the ship ;

[0063] S22, identifying the coordinate points of each area point in the reporting area, and storing the coordinate points of each area point in a coordinate point set;

[0064] Specifically, if there are eight regional points in the reporting area, then the corresponding reporting area .

[0065] S23, selecting two mutually adjacent coordinate point pairs from the coordinate point set, and storing the coordinate point pairs in the coordinate point pair set;

[0066] Specifically, two adjacent points are combined, and the above eight points can be 1, 2, 3, 4, 5, 6, 7, and 8 respectively, then there are eight coordinate point pairs in the corresponding coordinate point pair set, which is .

[0067] S24. Determine whether the ship has arrived at the reporting area based on the coordinate point pair set.

[0068] Wherein, the step S24 comprises:

[0069] S241. Determine whether the ship is within the dimensional range of any coordinate point pair in the coordinate point pair set.

[0070] S242. If the ship is within the dimensional range of any coordinate point pair in the coordinate point pair set, calculate The horizontal line and the line connecting any pair of coordinate points intersect at the point where :

[0071] ;

[0072] In the formula, , represents the horizontal coordinate of the coordinate point pair, Represents the ordinate of the coordinate point pair;

[0073] in, is the coordinate value of the ship's position in the y direction.

[0074] S243, determine whether the horizontal coordinate of the intersection point is greater than , if the horizontal coordinate of the intersection point is greater than , then output a cumulative mark, if the horizontal coordinate of the intersection is not greater than , no accumulation mark is output.

[0075] S244, calculating and judging the horizontal coordinates of the intersection points for all the coordinate point pairs in the coordinate point pair set, and outputting a certain number of accumulated marks.

[0076] S245. Determine whether the ship has arrived at the reporting area based on the number of the accumulated marks.

[0077] Among them, step S245 is specifically: judging whether the number of the accumulated marks is an odd number or an even number, if the number of the accumulated marks is an odd number, the ship has arrived at the reporting area, if the number of the accumulated marks is an even number, the ship has not arrived at the reporting area.

[0078] S3. If the ship has arrived at the reporting area, judging whether the lock is in an open state based on the lock operation data;

[0079] Specifically, the lock operation data includes the state of the lock, so the lock state information can be used to determine whether the lock is in an open state.

[0080] S4. If the ship lock is in an open state, the ship is controlled to pass through the lock; if the ship lock is not in an open state, an estimated opening time is determined, and the ship is controlled to pass through the lock based on the estimated opening time.

[0081] Wherein, the step S4 comprises:

[0082] S41. If the ship lock is in an open state, the gate is controlled to open and the ship is notified to leave the lock.

[0083] S42, identifying the status of the signal lights in the ship lock operation data and notifying the ships in the pilot area to enter the lock.

[0084] S43. After the ship enters the lock in the pilot area, the ship AIS data of the ship is collected, and it is determined whether the ship is in the pilot bridge area or the lock chamber area according to the ship AIS data of the ship.

[0085] S44: If the vessel is in the pilot bridge area or the lock chamber area, it will automatically pass through the lock; if the vessel is not in the pilot bridge area or the lock chamber area, it will automatically pass through the lock;

[0086] Specifically, when the ship at the pilot bridge enters the lock, the system initiates the dispatch of the next lock and notifies the ships in the lock to be dispatched from the waiting area to the pilot bridge;

[0087] At the same time, if the lock is not in the open state, the estimated opening time is determined, and the ship can be controlled to wait until the estimated opening time is reached, and then the steps of controlling the ship to pass through the lock can be executed. At the same time, if there are few ships entering the lock, scheduling can continue, and the duration is , Indicates the estimated opening time. Indicates the time from the waiting area to the pilot bridge. Indicates the waiting time allowed after the lock meets the entry conditions.

[0088] The PLC-based ship automatic dispatching method provided in the first embodiment of the present invention first obtains a ship dispatching request, and obtains lock operation data based on the ship dispatching request and the PLC; determines whether the ship has arrived at the reporting area based on the ship dispatching request; if the ship has arrived at the reporting area, determines whether the lock is in an open state based on the lock operation data; if the lock is in an open state, controls the ship to pass through the lock, and if the lock is not in an open state, determines an estimated opening time, and controls the ship to pass through the lock based on the estimated opening time. The present invention realizes unmanned automatic dispatching of ships based on the lock PLC, freeing the staff from busy business, and the staff will focus on controlling the control system operation, and the present invention only needs to monitor the state of the lock gate to realize automatic gear shifting and automatic dispatching, without the need for staff operation or participation, thereby reducing the probability of ship dispatching errors.

[0089] Embodiment 2

[0090] like Figure 2 As shown, in the second embodiment of the present invention, a PLC-based ship automatic dispatching system is provided, and the system includes:

[0091] Request module 1, used to obtain a ship dispatch request, and obtain lock operation data based on the ship dispatch request and PLC;

[0092] A first judgment module 2, used to judge whether the ship has arrived at the reporting area based on the ship dispatch request;

[0093] The second judgment module 3 is used to judge whether the lock is in an open state based on the lock operation data if the ship has arrived at the reporting area;

[0094] The scheduling module 4 is used to control the passage of the ship through the lock if the lock is in an open state, and to determine an estimated opening time if the lock is not in an open state, and to control the passage of the ship through the lock based on the estimated opening time.

[0095] Wherein, the first judgment module 2 includes:

[0096] The ray submodule is used to set a base point on the left side of the reporting area, emit horizontal rays from the base point to the right, and identify the coordinate position of the ship ;

[0097] The identification submodule is used to identify the coordinate points of each area point in the reporting area and store the coordinate points of each area point in a coordinate point set;

[0098] A coordinate submodule, used for selecting two mutually adjacent coordinate point pairs from the coordinate point set, and storing the coordinate point pairs in the coordinate point pair set;

[0099] The judgment submodule is used to judge whether the ship has arrived at the reporting area based on the coordinate point pair set.

[0100] Wherein, the judgment submodule includes:

[0101] A first judgment unit, used to judge whether the ship is within the dimensional range of any coordinate point pair in the coordinate point pair set;

[0102] A calculation unit is used to calculate if the ship is within the dimensional range of any coordinate point pair in the coordinate point pair set. The horizontal line and the line connecting any pair of coordinate points intersect at the point where :

[0103] ;

[0104] In the formula, , represents the horizontal coordinate of the coordinate point pair, Represents the ordinate of the coordinate point pair;

[0105] The second judgment unit is used to judge whether the horizontal coordinate of the intersection point is greater than , if the horizontal coordinate of the intersection point is greater than , then output a cumulative mark, if the horizontal coordinate of the intersection is not greater than , then no accumulation mark is output;

[0106] A repeating unit, used for calculating and judging the horizontal coordinates of the intersection points for all the coordinate point pairs in the coordinate point pair set, and outputting a certain number of accumulated marks;

[0107] The third judgment unit is used to judge whether the ship has arrived at the reporting area based on the number of the accumulated marks.

[0108] The third judgment unit is specifically used for:

[0109] It is determined whether the number of the accumulated marks is an odd number or an even number. If the number of the accumulated marks is an odd number, the ship has arrived at the reporting area; if the number of the accumulated marks is an even number, the ship has not arrived at the reporting area.

[0110] The scheduling module 4 includes:

[0111] The first scheduling submodule is used to control the gate to open and notify the ship to exit the lock if the lock is in an open state;

[0112] The second scheduling submodule is used to identify the status of the signal lights in the ship lock operation data and notify the ships in the pilot area to enter the lock;

[0113] The third scheduling submodule is used to collect the ship AIS data of the ship after entering the lock of the pilot area, and determine whether the ship is in the pilot bridge area or the lock chamber area according to the ship AIS data of the ship;

[0114] The fourth scheduling submodule is used to automatically pass the lock if the ship is in the pilot bridge area or the lock chamber area, and automatically pass the number processing if the ship is not in the pilot bridge area or the lock chamber area.

[0115] In some other embodiments of the present invention, the embodiments of the present invention provide the following technical solutions: a computer, comprising a memory 102, a processor 101, and a computer program stored in the memory 102 and executable on the processor 101; when the processor 101 executes the computer program, the PLC-based automatic ship scheduling method as described above is implemented.

[0116] Specifically, the processor 101 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiment of the present invention.

[0117] Among them, the memory 102 may include a large-capacity memory for data or instructions. By way of example and not limitation, the memory 102 may include a hard disk drive (HDD), a floppy disk drive, a solid state drive (SSD), a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive, or a combination of two or more of these. Where appropriate, the memory 102 may include a removable or non-removable (or fixed) medium. Where appropriate, the memory 102 may be inside or outside the data processing device. In a specific embodiment, the memory 102 is a non-volatile memory. In a specific embodiment, the memory 102 includes a read-only memory (ROM) and a random access memory (RAM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically alterable ROM (EAROM) or a flash memory (FLASH), or a combination of two or more of these. Under appropriate circumstances, the RAM can be a static random access memory (SRAM) or a dynamic random access memory (DRAM), wherein the DRAM can be a fast page mode dynamic random access memory (FPMDRAM), an extended data output dynamic random access memory (EDODRAM), a synchronous dynamic random access memory (SDRAM), etc.

[0118] The memory 102 may be used to store or cache various data files that need to be processed and / or used for communication, as well as possible computer program instructions executed by the processor 101 .

[0119] The processor 101 implements the above-mentioned PLC-based ship automatic scheduling method by reading and executing the computer program instructions stored in the memory 102.

[0120] In some embodiments, the computer may further include a communication interface 103 and a bus 100. Figure 3 As shown, the processor 101, the memory 102, and the communication interface 103 are connected via a bus 100 and communicate with each other.

[0121] The communication interface 103 is used to implement communication between the modules, devices, units and / or equipment in the embodiment of the present invention. The communication interface 103 can also implement data communication with other components such as: external devices, image / data acquisition equipment, databases, external storage, and image / data processing workstations.

[0122] The bus 100 includes hardware, software or both, and couples the components of the computer device to each other. The bus 100 includes but is not limited to at least one of the following: a data bus, an address bus, a control bus, an expansion bus, and a local bus. By way of example and not limitation, bus 100 may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VLB) bus, or other suitable buses or a combination of two or more of these. Where appropriate, bus 100 may include one or more buses. Although embodiments of the present invention describe and illustrate a particular bus, the present invention contemplates any suitable bus or interconnect.

[0123] The computer can execute the PLC-based automatic ship scheduling method of the present invention based on the acquisition of the PLC-based automatic ship scheduling system, thereby realizing the PLC-based automatic ship scheduling method.

[0124] In some further embodiments of the present invention, in combination with the above-mentioned PLC-based automatic ship scheduling method, the embodiments of the present invention provide the following technical solutions, a storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the above-mentioned PLC-based automatic ship scheduling method is implemented.

[0125] Those skilled in the art will appreciate that the logic and / or steps represented in the flowchart or otherwise described herein, for example, may be considered as an ordered list of executable instructions for implementing logical functions, and may be specifically implemented in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in conjunction with such instruction execution systems, devices or apparatuses. For purposes of this specification, "computer-readable medium" may be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in conjunction with such instruction execution systems, devices or apparatuses.

[0126] More specific examples of readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be a paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering or, if necessary, processing in another suitable manner, and then stored in a computer memory.

[0127] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or a combination thereof: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0128] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0129] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A PLC-based ship automatic dispatching method, characterized in that: include: Obtaining a ship dispatching request, and obtaining lock operation data based on the ship dispatching request and the PLC; Determining whether the ship has arrived at the reporting area based on the ship dispatch request; If the ship has arrived at the reporting area, determining whether the lock is in an open state based on the lock operation data; If the ship lock is in an open state, the ship is controlled to pass through the lock; if the ship lock is not in an open state, an estimated opening time is determined, and the ship is controlled to pass through the lock based on the estimated opening time; The step of judging whether the ship has arrived at the reporting area based on the ship dispatch request comprises: A base point is set on the left side of the check-in area, a horizontal ray is emitted from the base point to the right, and the coordinate position of the ship is identified ; Identify the coordinate points of each area point in the reporting area, and store the coordinate points of each area point in a coordinate point set; Selecting two mutually adjacent coordinate point pairs from the coordinate point set, and storing the coordinate point pairs in the coordinate point pair set; Determining whether the ship has arrived at the reporting area based on the coordinate point pair set; The step of judging whether the ship has arrived at the reporting area based on the coordinate point pair set comprises: Determine whether the ship is within the dimensional range of any coordinate point pair in the set of coordinate point pairs; If the ship is within the dimensional range of any coordinate point pair in the coordinate point set, then calculate The horizontal line and the line connecting any pair of coordinate points intersect at the point where : ； In the formula, , represents the horizontal coordinate of the coordinate point pair, Represents the ordinate of the coordinate point pair; Determine whether the horizontal coordinate of the intersection point is greater than , if the horizontal coordinate of the intersection point is greater than , then output a cumulative mark, if the horizontal coordinate of the intersection is not greater than , then no accumulation mark is output; Calculating and judging the horizontal coordinates of the intersection points for all the coordinate point pairs in the coordinate point pair set, and outputting a certain number of accumulated marks; Whether the ship has arrived at the reporting area is determined based on the number of the accumulated marks.

2. The PLC-based ship automatic dispatching method according to claim 1 is characterized in that: The step of judging whether the ship has arrived at the reporting area based on the number of the accumulated marks is specifically: judging whether the number of the accumulated marks is an odd number or an even number; if the number of the accumulated marks is an odd number, the ship has arrived at the reporting area; if the number of the accumulated marks is an even number, the ship has not arrived at the reporting area.

3. The PLC-based ship automatic dispatching method according to claim 1 is characterized in that: The steps of controlling the ship to pass through the lock include: If the ship lock is in an open state, the gate is controlled to open and the ship is notified to leave the lock; Identify the status of the signal lights in the lock operation data and notify the ships in the pilot area to enter the lock; When the ship enters the lock of the pilot area, the ship's AIS data is collected, and the ship's AIS data is used to determine whether the ship is in the pilot bridge area or the lock chamber area; If the ship is in the pilot bridge area or the lock chamber area, it will automatically pass through the lock. If the ship is not in the pilot bridge area or the lock chamber area, it will automatically pass through the lock.

4. A PLC-based ship automatic dispatching system, characterized in that: The system comprises: A request module, used to obtain a ship dispatch request, and obtain lock operation data based on the ship dispatch request and the PLC; A first judgment module, used for judging whether the ship has arrived at the reporting area based on the ship dispatch request; A second judgment module is used to judge whether the lock is in an open state based on the lock operation data if the ship has arrived at the reporting area; A scheduling module, for controlling the passage of the ship through the lock if the lock is in an open state, and for determining an estimated opening time if the lock is not in an open state, and controlling the passage of the ship through the lock based on the estimated opening time; The first judgment module includes: The ray submodule is used to set a base point on the left side of the check-in area, emit horizontal rays from the base point to the right, and identify the coordinate position of the ship ; The identification submodule is used to identify the coordinate points of each area point in the reporting area and store the coordinate points of each area point in a coordinate point set; A coordinate submodule, used for selecting two mutually adjacent coordinate point pairs from the coordinate point set, and storing the coordinate point pairs into the coordinate point pair set; A judgment submodule, used for judging whether the ship has arrived at the reporting area based on the coordinate point pair set; The judgment submodule includes: A first judgment unit, used to judge whether the ship is within the dimensional range of any coordinate point pair in the coordinate point pair set; A calculation unit is used to calculate if the ship is within the dimensional range of any coordinate point pair in the coordinate point pair set. The horizontal line and the line connecting any pair of coordinate points intersect at the point where : ； In the formula, , represents the horizontal coordinate of the coordinate point pair, Represents the ordinate of the coordinate point pair; The second judgment unit is used to judge whether the horizontal coordinate of the intersection point is greater than , if the horizontal coordinate of the intersection point is greater than , then output a cumulative mark, if the horizontal coordinate of the intersection is not greater than , then no accumulation mark is output; A repeating unit, used for calculating and judging the horizontal coordinates of the intersection points for all the coordinate point pairs in the coordinate point pair set, and outputting a certain number of accumulated marks; The third judgment unit is used to judge whether the ship has arrived at the reporting area based on the number of the accumulated marks.

5. A computer comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the PLC-based ship automatic scheduling method as described in any one of claims 1 to 3 is implemented.

6. A storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by the processor, the PLC-based automatic ship scheduling method as described in any one of claims 1 to 3 is implemented.

Images