Automatic ship lock control system and control method

Abstract

The invention discloses an automatic control system and a control method for a ship lock, and relates to the technical field of ship lock control. The invention comprises: a passage request receiving module, a passage mode confirmation module, a passage parameter evaluation module, a monitoring module, an automatic control terminal and a database. The invention respectively conducts targeted analysis on the synchronous passage mode and the single-step passage mode of the ship lock, and makes up for the deficiencies in the prior art, avoids an excessive number of ships in the waiting area, and reduces the accident rate of traffic jams. The invention arranges the synchronous passage of ships, and reasonably allocates the synchronously passing ships, and at the same time adjusts the speed of subsequent ships that are about to pass through the lock, so as to ensure the safety of passing through the lock and ensure that the ships can pass through in the optimal order, avoid frequent starting and stopping of the ships, thereby reducing the energy consumption of the ships, improving the management efficiency of the ship lock, reducing the management cost, and having a relatively good management effect, thereby improving the passing capacity of the ship lock and reducing the waiting time of the ship.

Description

Technical Field

[0001] The present invention relates to the technical field of ship lock control, and in particular to an automatic ship lock control system and a control method. Background Art

[0002] In the modern water transport system, ship locks are important navigation facilities, and their operating efficiency and safety are directly related to the smooth flow of the entire waterway and the economic benefits. With the increasing complexity of the water transport network and the continuous increase in the number of ships, the traditional manual management mode can no longer meet the needs of efficient, safe and environmentally friendly navigation. Therefore, automatic control of ship locks is extremely necessary.

[0003] The prior art, such as the invention application patent with announcement number: CN107313417B, discloses an automatic control system and control method for a ship lock, the purpose of which is to provide an automatic control system and control method for a ship lock with high safety and high automation. The control system includes a monitoring module, and the monitoring module includes a gate opening and closing sensor, a water level sensor, a gate opening sensor, a water flow velocity sensor, a first camera, a distance sensor, a second camera, a ship draft depth sensor, and a door sensor arranged on a gate control device. The entire process of ship lock opening, ship passage, and ship lock closing is automatically controlled by the on-site control unit, and the entire process can be monitored in real time, which improves the efficiency and safety of ship lock operation, and ships of different tonnages and speeds can pass through the ship lock without deceleration.

[0004] Combining the above solutions, it can be found that the current automatic control of the ship locks is still insufficient, which is specifically reflected in the following aspects: the existing technology does not pay much attention to the passage mode of ships. When the number of ships requesting to pass the lock is too large, a reservation system or traffic lights are often used. The ships pass through the locks in an orderly manner, which is prone to the problem of wasting resources for reservations and the problem of extending the waiting time due to the failure of ships to make reservations in advance, which can easily lead to too many ships in the waiting area and traffic jams. At the same time, the attention to the situation where multiple ships pass through the locks simultaneously is not high. When the estimated time points for passing the locks of the ships are close, and the shape and speed of the ships are different, the ship locks are not stable. When the speed is close, the ships can be arranged to pass through the lock simultaneously, which improves the efficiency of passing through the lock and ensures the safety of passing through the lock. At the same time, the speed of subsequent ships that are about to pass through the lock is adjusted to ensure that the ships can pass through in the optimal order, avoid frequent starting and stopping of ships, reduce energy consumption of ships, ensure the safety of subsequent passage, and avoid traffic jams. The existing technology ignores this aspect, which reduces the management efficiency of the lock, increases the management cost, and the management effect is not ideal, which reduces the passing capacity of the lock, prolongs the waiting time of ships, increases the shipping cost of ships, and makes it difficult to provide strong support for the rapid development of water transportation and logistics. Summary of the invention

[0005] The purpose of the present invention is to provide an automatic ship lock control system and a control method, which solve the problems existing in the background technology.

[0006] In order to solve the above technical problems, the present invention adopts the following technical solutions: In a first aspect, the present invention provides an automatic ship lock control system, comprising: a passage request receiving module for receiving a passage request from a ship.

[0007] The passage mode confirmation module is used to summarize the number of passage requests received from ships within a set period. If the number of passage requests is greater than 1, the passage mode of the lock is judged to be synchronous passage. If the number of passage requests is equal to 1, the passage mode of the lock is judged to be single-step passage.

[0008] The passage parameter evaluation module, when the passage mode of the lock is synchronous passage, obtains the driving data and basic data of each ship, combines the characteristic data of the lock stored in the database, and evaluates the ship adjustment parameters of the lock and the passage parameters of the lock, wherein the ship adjustment parameters are the adjusted navigation speed of each ship for each passage, and the passage parameters include the opening speed of each passage and the appropriate opening time point. When the passage mode of the lock is single-step passage, obtains the driving data and basic data of the ship, combines the characteristic data of the lock, and evaluates the adjusted navigation speed of the ship and the opening speed of the lock and the appropriate opening time point.

[0009] The monitoring module is used to monitor the speed of ships passing through the lock in real time.

[0010] The automatic control terminal is used to make adjustments according to the passage mode of the lock, the passage parameters of the lock, and the ship adjustment parameters, and compare the speed of the ship passing through the lock with the corresponding adjusted navigation speed. If the speed of the ship passing through the lock is greater than the adjusted navigation speed, the airbag is activated and the ship passing through the lock is reminded to slow down. If the speed of the ship passing through the lock is less than the adjusted navigation speed, the ship passing through the lock is reminded to speed up.

[0011] A second aspect of the present invention provides a method for automatic control of a ship lock, which is applied to the automatic control system of the ship lock described in the present invention, and comprises: A1. receiving a passage request of a ship.

[0012] A2. Summarize the number of passage requests received from ships within a set period. If the number of passage requests is greater than 1, the passage mode of the lock is determined to be synchronous passage. If the number of passage requests is equal to 1, the passage mode of the lock is determined to be single-step passage.

[0013] A3. When the passage mode of the lock is synchronous passage, the travel data and basic data of each ship are obtained, and combined with the characteristic data of the lock stored in the database, the ship adjustment parameters of the lock and the passage parameters of the lock are evaluated, wherein the ship adjustment parameters are the adjusted navigation speed of each ship for each passage, and the passage parameters include the opening speed of each passage and the appropriate opening time point. When the passage mode of the lock is single-step passage, the travel data and basic data of the ship are obtained, and combined with the characteristic data of the lock, the adjusted navigation speed of the ship and the opening speed of the lock and the appropriate opening time point are evaluated.

[0014] A4. Real-time monitoring of the speed of ships passing through the lock.

[0015] A5. Adjustments are made according to the passage mode of the lock, the passage parameters of the lock, and the ship adjustment parameters, and the speed of the ship passing through the lock is compared with the corresponding adjusted navigation speed. If the speed of the ship passing through the lock is greater than the adjusted navigation speed, the airbag is activated and the ship passing through the lock is reminded to slow down. If the speed of the ship passing through the lock is less than the adjusted navigation speed, the ship passing through the lock is reminded to speed up.

[0016] The beneficial effects of the present invention are as follows: (1) The present invention receives a passage request from a ship in a passage request receiving module, laying a foundation for determining the passage mode of the subsequent ship lock.

[0017] (2) The present invention summarizes the number of passage requests received from ships within a set period in the passage mode confirmation module, and then determines whether the passage mode of the lock is synchronous passage or single-step passage.

[0018] (3) The present invention conducts targeted analysis on the synchronous passage mode and the single-step passage mode of the ship lock in the passage parameter evaluation module, which makes up for the deficiencies in the prior art. It also evaluates each ship passing through the ship lock, the opening speed, the appropriate opening time point and the adjustment of the navigation speed based on the ship's driving data and basic data, thereby avoiding the problem of wasting resources due to reservations and the problem of extending the waiting time due to the failure of ships to make reservations in advance, avoiding an excessive number of ships in the waiting area and reducing the accident rate of traffic jams.

[0019] (4) The present invention arranges the synchronous passage of ships in the passage parameter evaluation module, and reasonably allocates the synchronously passing ships, and adjusts the speed of the subsequent ships that are about to pass through the lock, thereby overcoming the defects in the prior art, ensuring the safety of passing through the lock while also ensuring that the ships can pass through in the optimal order, avoiding frequent starting and stopping of ships, thereby reducing the energy consumption of ships, improving the management efficiency of the lock, reducing management costs, and the management effect is relatively good, improving the passing capacity of the lock, reducing the waiting time of ships, and reducing the shipping costs of ships to a certain extent, providing strong support for the rapid development of water transport logistics. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, 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.

[0021] Figure 1 It is a schematic diagram of the system structure connection of the present invention.

[0022] Figure 2 The figure is a flow chart of the method of the present invention. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] Reference Figure 1 As shown, the first aspect of the present invention provides an automatic control system for a ship lock, comprising: a passage request receiving module, a passage mode confirmation module, a passage parameter evaluation module, a monitoring module and an automatic control terminal.

[0025] It should be noted that the present invention also includes a database for storing characteristic data of the lock, allowable gap time, prior passage data, appropriate reduction speed of the first constraint characteristic parameter by unit reduction, appropriate reduction speed of the second constraint characteristic parameter by unit reduction, appropriate reduction speed of the third constraint characteristic parameter by unit reduction, appropriate reduction acceleration of the first constraint characteristic parameter by unit reduction, appropriate reduction acceleration of the second constraint characteristic parameter by unit reduction, appropriate reduction acceleration of the third constraint characteristic parameter by unit reduction, basic information of the lock, safe interval time of adjacent passages, relationship diagram of the compensation speed and compensation time of the lock, allowable driving speed difference of similar passages, allowable restricted driving speed difference, allowable acceleration difference, and allowable driving distance difference.

[0026] It should also be noted that the passage request receiving module is connected to the passage mode confirmation module, the passage mode confirmation module is connected to the passage parameter evaluation module, the passage parameter evaluation module is respectively connected to the monitoring module and the automatic control terminal, the monitoring module is connected to the automatic control terminal, and the database is connected to the passage parameter evaluation module.

[0027] The passage request receiving module is used to receive a passage request from a vessel.

[0028] The present invention receives the passage request of the ship in the passage request receiving module, which lays a foundation for determining the passage mode of the subsequent ship lock.

[0029] The passage mode confirmation module is used to summarize the number of passage requests received from ships within a set period. If the number of passage requests is greater than 1, the passage mode of the lock is determined to be synchronous passage. If the number of passage requests is equal to 1, the passage mode of the lock is determined to be single-step passage.

[0030] The present invention summarizes the number of passage requests received from ships within a set period in a passage mode confirmation module, and then determines whether the passage mode of the lock is synchronous passage or single-step passage.

[0031] The passage parameter evaluation module, when the passage mode of the lock is synchronous passage, obtains the driving data and basic data of each ship from the control platform of each ship, and evaluates the ship adjustment parameters of the lock and the passage parameters of the lock in combination with the characteristic data of the lock stored in the database, wherein the ship adjustment parameters are the adjusted navigation speed of each ship for each passage, and the passage parameters include the opening speed of each passage and the appropriate opening time point. When the passage mode of the lock is single-step passage, the driving data and basic data of the ship are obtained, and in combination with the characteristic data of the lock, the adjusted navigation speed of the ship and the opening speed of the lock and the appropriate opening time point are evaluated.

[0032] In a specific embodiment of the present invention, the driving data includes driving speed, driving trajectory, and draft depth.

[0033] The basic data includes the time point, length, width and height of the request.

[0034] The characteristic data includes meteorological data, water source data and performance data.

[0035] It should be noted that the meteorological data is obtained from the meteorological management center where the lock is located, the water source data is obtained from the water source online detection platform of the lock, and the performance data is specifically uploaded to the database after the detection personnel regularly detect the performance of the lock.

[0036] In a specific embodiment of the present invention, the specific evaluation method of the ship adjustment parameter of the lock is: extracting the travel trajectory from the travel data of each ship in the lock, and then obtaining the estimated travel distance of each ship in the lock.

[0037] The travel speed is extracted from the travel data of each ship in the lock, and the length, width and height are extracted from the basic data of each ship in the lock. The restricted travel speed and restricted acceleration of each ship in the lock are evaluated, so as to analyze the expected travel time of each ship.

[0038] It should be noted that the estimated travel distance refers specifically to the distance the vessel travels to the lock according to the travel trajectory.

[0039] It should also be noted that the estimated travel time of each ship in the lock is based on the travel speed, travel speed limit, travel acceleration limit and estimated travel distance of each ship in the lock, and the travel speed, travel speed limit, acceleration, travel distance and actual travel time of each passing ship are extracted from the prior passage data of the lock in the database, and similar passages of each ship in the lock are screened, and the actual travel time of each similar passage of each ship in the lock is averaged as the estimated travel time of each ship in the lock.

[0040] The screening method comprises the following steps: for screening similar passages of each ship through the lock, subtracting the speed, speed limit, acceleration limit and expected distance of each ship through the lock from the speed, speed limit, acceleration and distance of each ship through each passage, respectively, to obtain the speed difference, speed limit, acceleration difference and distance difference between each ship through the lock and each passage, and comparing them with the allowed speed difference, allowed speed limit, acceleration difference and distance difference of similar passages stored in a database; if the speed difference between a ship through the lock and a ship through a certain passage is less than the allowed speed difference, the speed limit difference is less than the allowed speed limit difference, the acceleration difference is less than the allowed acceleration difference and the distance difference is less than the allowed distance difference, then the passage is regarded as a similar passage of the ship, and the screening method comprises the following steps:

[0041] Based on the requested passing time of each ship and the estimated travel time of each ship, the estimated arrival time of each ship is obtained.

[0042] A certain ship is designated as a ship. If the time difference between the estimated arrival time of the designated ship and the estimated arrival time of other ships is greater than the allowable time difference stored in the database, the designated ship is recorded as the ship passing for the first time. Conversely, if the time difference between the estimated arrival time of the designated ship and the estimated arrival time of a certain ship is less than the allowable time difference stored in the database, the ship is recorded as an associated ship of the designated ship. The associated ships of the designated ship are obtained by statistics. The matching ships of the designated ship are screened based on the length, width and height of the associated ships of the designated ship. Then the ships traveling with the designated ship are screened, and the ships traveling with the designated ship are recorded as the ships passing for the first time. This process is repeated to obtain the ships passing each time, and the adjusted sailing speed of the ships passing each time is evaluated.

[0043] It should be noted that the designated vessel refers to the vessel with the earliest estimated arrival time as the designated vessel.

[0044] It should also be noted that the method of screening the matching ships for the designated ship is consistent with the analysis method of screening the similar passages of the ships through the lock.

[0045] In a specific embodiment of the present invention, the evaluation method of the limited travel speed and limited acceleration of each ship in the ship lock is as follows: extracting the travel speed V from the travel data of each ship j and draft S j , and extract the length C from the basic data of each ship j , Width K j and height G j , and then combined with the prior traffic data stored in the database, the initial restricted speed v′ of each ship is screened j and the initial limiting acceleration u′ j , where j is the number of each ship, j=1,2,...,k, and k is any integer greater than 2.

[0046] It should be noted that the draft depth S of each ship passing through is obtained from the prior passage data. b ′, length C b ′, width K b ′、Height G b ', driving speed V b ′, restricted speed and acceleration, wherein b is the number of each passage, b=1,2,...,d, d is any integer greater than 2, evaluate the basic data similarity between each ship in the lock and each passing ship, and compare the basic data similarity between each ship in the lock and each passing ship with a preset basic similarity threshold, if the basic data similarity between a certain ship in the lock and a certain passing ship is greater than or equal to the basic similarity threshold, then the passage of the lock is recorded as the basic data similar passage of the ship, and then the basic data similar passages of each ship in the lock are screened to obtain the restricted speed and acceleration of each ship in the lock. After average processing, the restricted speed and restricted acceleration of each ship in the lock are obtained.

[0047] It should also be noted that the specific calculation formula for the similarity of the basic data of each ship in the lock and each passing ship is:

[0048]

[0049] From the meteorological data, water source data and performance data of the ship lock, the characteristic values ​​of each meteorological data are extracted, the water source data includes the characteristic values ​​of each water source data, the performance data includes the characteristic values ​​of each performance data, and the first constraint characteristic parameter of the ship lock is evaluated Second constraint feature parameter and the third constraint feature parameter where β i , χ m , γ p They are respectively represented as the characteristic value of the i-th meteorological data of the ship lock, the characteristic value of the m-th water source data, and the characteristic value of the p-th performance data, β i ′、χ′ m , γ′ p They are respectively represented as the suitable characteristic value interval of the i-th meteorological data of the ship lock, the suitable characteristic value interval of the m-th water source data, and the suitable characteristic value interval of the p-th performance data. They are respectively represented as the maximum and minimum values ​​of the suitable characteristic value interval of the i-th meteorological data of the ship lock, the maximum and minimum values ​​of the suitable characteristic value interval of the m-th water source data, and the maximum and minimum values ​​of the suitable characteristic value interval of the p-th performance data, where i is the number of each meteorological data, i∈[1,6], m is the number of each water source data, m∈[1,6], and p is the number of each performance data, p∈[1,4].

[0050] Based on the first constraint characteristic parameter, the second constraint characteristic parameter and the third constraint characteristic parameter of the ship lock, the restricted speed and restricted acceleration of each ship are output through the restricted speed correction model and the restricted acceleration correction model.

[0051] In a specific embodiment of the present invention, the limited driving speed correction model is specifically:

[0052]

[0053] Where α′ _1 is the reference first constraint feature parameter, v′ _0 The appropriate reduction speed of the first constraint characteristic parameter for the unit reduction stored in the database, α′ _2 is the reference second constraint feature parameter, v′ _1 The appropriate reduction speed of the second constraint characteristic parameter for the unit reduction stored in the database, α′ _3 is the reference third constraint characteristic parameter, v′ _2 The appropriate reduction speed of the third constraint feature parameter is reduced for the units stored in the database.

[0054] The limited acceleration correction model is specifically:

[0055]

[0056] Where u′ _0 , u′ _1 , u′ _2The appropriate reduction acceleration for reducing the first constraint characteristic parameter by unit, the appropriate reduction acceleration for reducing the second constraint characteristic parameter by unit, and the appropriate reduction acceleration for reducing the third constraint characteristic parameter by unit are stored in the database.

[0057] In a specific embodiment of the present invention, the characteristic values ​​of each meteorological data include average temperature, average humidity, average wind speed, temperature difference, humidity difference, and wind speed difference.

[0058] The characteristic values ​​of each water source data include pH value, impurity content, temperature, speed, wave height difference, and maximum wave height.

[0059] The characteristic values ​​of the performance data include structural strength, sealing performance, power and speed of the power device.

[0060] It should be noted that when a ship is sailing, meteorological data, water source data and performance data will affect the speed limit, that is, the speed of the ship passing through the lock. Therefore, it is necessary to analyze the meteorological data, water source data and performance data of the ship when sailing.

[0061] In a specific embodiment of the present invention, the specific screening method for screening the traveling vessels of the designated vessel is as follows: obtaining basic information of the lock from a database, wherein the basic information includes the number of ships that the lock allows to pass simultaneously at each ship width, and screening the number of ships that the lock allows to pass simultaneously.

[0062] Combine the matching ships of the designated ship, based on the limited speed and draft of each ship, filter the limited speed V′, draft H′ of the designated ship and the limited speed V of each matching ship h , Draft H h , evaluates the recommended peer index of each matching vessel for a given vessel h is the number of each matching ship, h=1, 2, ..., g, and g is any integer greater than 2.

[0063] The matching ships of the designated ship are sorted in descending order according to the recommended peer index, and the matching ships after the sorting of the number of ships allowed to pass through simultaneously of the lock are selected from top to bottom as the peer ships of the designated ship.

[0064] It should be noted that the adjusted navigation speed of the vessel is consistent with the analysis method of the restricted speed of designated ships in the lock, and the opening speed and appropriate opening time of the lock are consistent with the analysis method of the opening speed and appropriate opening time of each passage of the lock.

[0065] The present invention conducts targeted analysis on the synchronous passage mode and the single-step passage mode of the ship lock in the passage parameter evaluation module, which makes up for the deficiencies in the prior art, and evaluates each ship passing through the ship lock, the opening speed, the appropriate opening time point and the adjustment of the navigation speed according to the driving data and basic data of the ship, so as to avoid the problem of wasting resources due to reservations and the problem of extending the waiting time due to the failure of ships to make reservations in advance, avoid too many ships in the waiting area, and reduce the accident rate of traffic jams.

[0066] In a specific embodiment of the present invention, the adjusted navigation speed of each ship passing through is evaluated by a specific evaluation method: the restricted speed, duration and number of passing ships of each passing ship are extracted from the prior passage data of the lock stored in the database.

[0067] Based on each ship passing through the lock each time, the restricted speed of each ship passing through the lock for the first time is obtained, the minimum restricted speed for the first passage of the lock is screened and used as the reference speed for the first passage of the lock, the number of ships passing through the lock for the first passage is summarized, and the estimated duration of the first passage of the lock is screened.

[0068] It should be noted that the specific screening method for the estimated duration of the first passage of the screening lock is as follows: based on the restricted speed, number of passing ships and duration of each passage of the ships in the prior passage data of the lock, the average estimated duration of each passage restricted speed interval of the lock in the number of passing ships is constructed, and then combined with the number of passing ships and the reference speed of the first passage of the lock, the average estimated duration of the first passage of the lock is screened as the estimated duration of the first passage of the lock.

[0069] The earliest expected arrival time point of the first passage of the lock is used as the reference arrival time point of the first passage of the lock, and then the end time point of the first passage of the lock is obtained according to the estimated duration of the first passage of the lock.

[0070] The estimated arrival time of each ship for the second passage of the lock is obtained, and the earliest estimated arrival time of the second passage of the lock is used as the reference estimated arrival time of the second passage of the lock. Combined with the end time of the first passage of the lock, the interval between the first and second passages of the lock is obtained.

[0071] The interval time between the first and second passages of the lock is compared with the safety interval time of adjacent passages of the lock stored in the database. If the interval time between the first and second passages of the lock is greater than the safety interval time of adjacent passages of the lock, the adjusted navigation speed of each ship in the second passage of the lock is recorded as VI. Otherwise, the compensation time of the first and second passages of the lock is subtracted from the safety interval time of adjacent passages of the lock. Combined with the relationship diagram between the compensation speed and the compensation time of the lock stored in the database, the compensation speed of the second passage of the lock is screened, and the limited driving speed of each ship in the second passage of the lock is subtracted from the compensation speed to obtain the adjusted navigation speed of each ship in the second passage of the lock.

[0072] It should be noted that, in the relationship diagram between the compensation speed and the compensation time of the ship lock, for example, the horizontal axis is the compensation time and the vertical axis is the compensation speed, the compensation speed increases as the compensation time increases.

[0073] By analogy, the adjusted sailing speed of each ship passing through the lock is obtained.

[0074] In a specific embodiment of the present invention, the specific evaluation method of the passage parameters of the lock is: extracting the opening speed, opening time, limited speed, duration and number of passing ships of each passage from the prior passage data of the lock, and screening the opening speed and opening time of each passage of the lock in accordance with the method of screening the estimated duration of the first passage of the lock.

[0075] Based on the estimated arrival time of each ship at each passage of the lock, the earliest estimated arrival time of each passage of the lock is obtained, and combined with the opening time of each passage of the lock, the appropriate opening time of each passage of the lock is obtained.

[0076] The opening speed and appropriate opening time of each passage of the lock are summarized.

[0077] The present invention arranges the synchronous passage of ships in the passage parameter evaluation module, and reasonably allocates the synchronously passing ships, and adjusts the speed of the subsequent ships that are about to pass through the lock, thereby overcoming the defects in the prior art, ensuring the safety of passing through the lock while also ensuring that the ships can pass through in the optimal order, avoiding frequent starting and stopping of ships, thereby reducing the energy consumption of ships, improving the management efficiency of the lock, reducing management costs, and the management effect is relatively good, which improves the passing capacity of the lock, reduces the waiting time of ships, reduces the shipping cost of ships to a certain extent, and provides strong support for the rapid development of water transportation and logistics.

[0078] The monitoring module is used to monitor the speed of ships passing through the lock in real time.

[0079] The automatic control terminal is used to make adjustments according to the passage mode of the lock, the passage parameters of the lock, and the ship adjustment parameters, and compare the speed of the ship passing through the lock with the corresponding adjusted navigation speed. If the speed of the ship passing through the lock is greater than the adjusted navigation speed, the airbag is activated and the ship passing through the lock is reminded to slow down. If the speed of the ship passing through the lock is less than the adjusted navigation speed, the ship passing through the lock is reminded to speed up.

[0080] Reference Figure 2 As shown, the second aspect of the present invention provides a method for automatic control of a ship lock, which is applied to the automatic control system of the ship lock described in the present invention, and includes: A1. receiving a passage request of a ship.

[0081] A2. Summarize the number of passage requests received from ships within a set period. If the number of passage requests is greater than 1, the passage mode of the lock is determined to be synchronous passage. If the number of passage requests is equal to 1, the passage mode of the lock is determined to be single-step passage.

[0082] A3. When the passage mode of the lock is synchronous passage, the travel data and basic data of each ship are obtained, and combined with the characteristic data of the lock stored in the database, the ship adjustment parameters of the lock and the passage parameters of the lock are evaluated, wherein the ship adjustment parameters are the adjusted navigation speed of each ship for each passage, and the passage parameters include the opening speed of each passage and the appropriate opening time point. When the passage mode of the lock is single-step passage, the travel data and basic data of the ship are obtained, and combined with the characteristic data of the lock, the adjusted navigation speed of the ship and the opening speed of the lock and the appropriate opening time point are evaluated.

[0083] A4. Real-time monitoring of the speed of ships passing through the lock.

[0084] A5. Adjustments are made according to the passage mode of the lock, the passage parameters of the lock, and the ship adjustment parameters, and the speed of the ship passing through the lock is compared with the corresponding adjusted navigation speed. If the speed of the ship passing through the lock is greater than the adjusted navigation speed, the airbag is activated and the ship passing through the lock is reminded to slow down. If the speed of the ship passing through the lock is less than the adjusted navigation speed, the ship passing through the lock is reminded to speed up.

[0085] The above contents are merely examples and explanations of the concept of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in a similar manner. As long as they do not deviate from the concept of the invention or exceed the scope defined by the present invention, they shall all fall within the protection scope of the present invention.

Claims

1. A ship lock automatic control system, characterized in that: include: A passage request receiving module, used for receiving a passage request from a vessel; The passage mode confirmation module is used to summarize the number of passage requests received from ships within a set period. If the number of passage requests is greater than 1, the passage mode of the lock is determined to be synchronous passage. If the number of passage requests is equal to 1, the passage mode of the lock is determined to be single-step passage. The passage parameter evaluation module, when the passage mode of the lock is synchronous passage, obtains the travel data and basic data of each ship, combines the characteristic data of the lock stored in the database, and evaluates the ship adjustment parameters of the lock and the passage parameters of the lock, wherein the ship adjustment parameters are the adjusted navigation speed of each ship for each passage, and the passage parameters include the opening speed of each passage and the appropriate opening time point. When the passage mode of the lock is single-step passage, obtains the travel data and basic data of the ship, combines the characteristic data of the lock, and evaluates the adjusted navigation speed of the ship and the opening speed of the lock and the appropriate opening time point; The ship adjustment parameters of the lock are specifically evaluated as follows: Extracting the travel trajectory from the travel data of each ship in the lock, and then obtaining the estimated travel distance of each ship in the lock; Extract the travel speed from the travel data of each ship in the lock, and extract the length, width and height from the basic data of each ship in the lock, evaluate the limited travel speed and limited acceleration of each ship in the lock, and thus analyze the expected travel time of each ship; Based on the requested passing time of each ship and the estimated travel time of each ship, the estimated arrival time of each ship is obtained; A certain ship is designated as a ship. If the time difference between the estimated arrival time of the designated ship and the estimated arrival time of the other ships is greater than the allowable time difference stored in the database, the designated ship is recorded as the ship that passes for the first time. On the contrary, if the time difference between the estimated arrival time of the designated ship and the estimated arrival time of a certain ship is less than the allowable time difference stored in the database, the ship is recorded as an associated ship of the designated ship. The associated ships of the designated ship are obtained by statistics. The length, width and height of the associated ships of the designated ship are combined to screen the matching ships of the designated ship, and then the ships traveling with the designated ship are screened. The ships traveling with the designated ship are recorded as the ships that pass for the first time. By analogy, the ships that pass each time are obtained, and the adjusted sailing speed of the ships that pass each time is evaluated. The specific evaluation method for evaluating the adjusted sailing speed of each vessel in each passage is as follows: Extract the restricted speed, duration and number of passing ships of each pass from the prior passage data of the lock stored in the database; The estimated duration of the first pass of the screening locks based on each vessel passing through the locks; The earliest estimated arrival time point of the first passage of the ship lock is used as the reference arrival time point of the first passage of the ship lock, and then the end time point of the first passage of the ship lock is obtained according to the estimated duration of the first passage of the ship lock; Get the interval between the first and second passages of the lock; The interval time between the first passage and the second passage of the lock is compared with the safety interval time of adjacent passages of the lock stored in the database. If the interval time between the first passage and the second passage of the lock is greater than the safety interval time of adjacent passages of the lock, the adjusted navigation speed of each ship in the second passage of the lock is recorded as VI. Otherwise, the interval time between the first passage and the second passage is subtracted from the safety interval time of adjacent passages of the lock to obtain the compensation time of the first passage and the second passage of the lock. Combined with the relationship diagram between the compensation speed and the compensation time of the lock stored in the database, the compensation speed of the second passage of the lock is screened, and the restricted speed of each ship in the second passage of the lock is subtracted from the compensation speed to obtain the adjusted navigation speed of each ship in the second passage of the lock. By analogy, the adjusted sailing speed of each ship passing through the lock is obtained; The specific evaluation method of the passage parameters of the ship lock is as follows: Extract the lock opening speed, lock opening time, ship speed limit, time and number of ships passing through each time from the prior passage data of the lock, and screen the lock opening speed and lock opening time of each time of the lock in the same way as the method of screening the estimated time of the first passage of the lock; Based on the estimated arrival time of each ship at each passage of the lock, the earliest estimated arrival time of each passage of the lock is obtained, and combined with the opening time of each passage of the lock, the appropriate opening time of each passage of the lock is obtained; The lock opening speed and appropriate lock opening time of each passage are summarized; A monitoring module, used to monitor the speed of ships passing through the lock in real time; The automatic control terminal is used to make adjustments according to the passage mode of the lock, the passage parameters of the lock, and the ship adjustment parameters, and compare the speed of the ship passing through the lock with the corresponding adjusted navigation speed. If the speed of the ship passing through the lock is greater than the adjusted navigation speed, the airbag is activated and the ship passing through the lock is reminded to slow down. If the speed of the ship passing through the lock is less than the adjusted navigation speed, the ship passing through the lock is reminded to speed up.

2. The automatic ship lock control system according to claim 1, characterized in that: The driving data includes driving speed, driving track, and draft; The basic data includes the time point, length, width and height of the request; The characteristic data includes meteorological data, water source data and performance data.

3. The automatic control system for ship locks according to claim 2, characterized in that: The specific evaluation method for evaluating the limited speed and limited acceleration of each ship in the lock is as follows: The speed and draft of each ship are extracted from its driving data, and the length, width and height are extracted from its basic data. Then, the initial speed limit v′ of each ship is selected based on the prior traffic data stored in the database. j and initial limiting acceleration u′ j , where j is the number of each ship, j = 1, 2, ..., k, k is any integer greater than 2; From the meteorological data, water source data and performance data of the ship lock, the characteristic values ​​of each meteorological data are extracted, the water source data includes the characteristic values ​​of each water source data, the performance data includes the characteristic values ​​of each performance data, and the first constraint characteristic parameter of the ship lock is evaluated The second constraint feature parameter and the third constraint feature parameter where β i , χ m , γ p They are respectively represented as the characteristic value of the i-th meteorological data of the ship lock, the characteristic value of the m-th water source data, and the characteristic value of the p-th performance data, β i ′、χ′ m , γ′ p They are respectively represented as the suitable characteristic value interval of the i-th meteorological data of the ship lock, the suitable characteristic value interval of the m-th water source data, and the suitable characteristic value interval of the p-th performance data. They are respectively represented as the maximum and minimum values ​​of the suitable characteristic value interval of the i-th meteorological data of the ship lock, the maximum and minimum values ​​of the suitable characteristic value interval of the m-th water source data, and the maximum and minimum values ​​of the suitable characteristic value interval of the p-th performance data, where i is the number of each meteorological data, i∈[1,6], m is the number of each water source data, m∈[1,6], and p is the number of each performance data, p∈[1,4]; Based on the first constraint characteristic parameter, the second constraint characteristic parameter and the third constraint characteristic parameter of the ship lock, the restricted speed and restricted acceleration of each ship are output through the restricted speed correction model and the restricted acceleration correction model.

4. The automatic ship lock control system according to claim 3, characterized in that: The limited driving speed correction model is specifically as follows: Where α′ _1 is the reference first constraint feature parameter, v′ _0 The appropriate reduction speed of the first constraint characteristic parameter for the unit reduction stored in the database, α′ _2 is the reference second constraint characteristic parameter, v′ _1 The appropriate reduction speed of the second constraint characteristic parameter for the unit reduction stored in the database, α′ _3 is the reference third constraint characteristic parameter, v′ _2 An appropriate reduction rate for reducing the third constraint characteristic parameter for the unit stored in the database; The limited acceleration correction model is specifically: Where u′ _0 , u′ _1 , u′ _2 The appropriate reduction acceleration for reducing the first constraint characteristic parameter by unit, the appropriate reduction acceleration for reducing the second constraint characteristic parameter by unit, and the appropriate reduction acceleration for reducing the third constraint characteristic parameter by unit are stored in the database.

5. The automatic ship lock control system according to claim 3, characterized in that: The characteristic values ​​of each meteorological data include average temperature, average humidity, average wind speed, temperature difference, humidity difference, and wind speed difference; The characteristic values ​​of each water source data include pH value, impurity content, temperature, speed, wave height difference, and maximum wave height; The characteristic values ​​of the performance data include structural strength, sealing performance, power and speed of the power device.

6. The automatic ship lock control system according to claim 3, characterized in that: The specific screening method for screening the vessels traveling with the designated vessel is as follows: Obtain basic information of the lock from the database, wherein the basic information includes the number of ships that can be allowed to pass through the lock at each ship width, and the number of ships that can be allowed to pass through the lock at the same time is screened; Combine the matching ships of the designated ship, based on the limited speed and draft of each ship, filter the limited speed V′, draft H′ of the designated ship and the limited speed V of each matching ship h , Draft H h , evaluates the recommended peer index of each matching vessel for a given vessel h is the number of each matching ship, h = 1, 2, ..., g, g is any integer greater than 2; The matching ships of the designated ship are sorted in descending order according to the recommended peer index, and the matching ships after the sorting of the number of ships allowed to pass through the lock simultaneously are selected from top to bottom as the peer ships of the designated ship.

7. A ship lock automatic control method, applied to the ship lock automatic control system according to any one of claims 1 to 6, characterized in that: include: A1. Receive passage requests from vessels; A2. Summarize the number of passage requests received from ships within a set period. If the number of passage requests is greater than 1, the passage mode of the lock is determined to be synchronous passage. If the number of passage requests is equal to 1, the passage mode of the lock is determined to be single-step passage. A3. When the passage mode of the ship lock is synchronous passage, the travel data and basic data of each ship are obtained, and combined with the characteristic data of the ship lock stored in the database, the ship adjustment parameters of the ship lock and the passage parameters of the ship lock are evaluated, wherein the ship adjustment parameters are the adjusted navigation speed of each ship for each passage, and the passage parameters include the opening speed of each passage and the appropriate opening time point. When the passage mode of the ship lock is single-step passage, the travel data and basic data of the ship are obtained, and combined with the characteristic data of the ship lock, the adjusted navigation speed of the ship and the opening speed of the ship lock and the appropriate opening time point are evaluated; A4. Real-time monitoring of the speed of ships passing through the lock; A5. Adjustments are made according to the passage mode of the lock, the passage parameters of the lock, and the ship adjustment parameters, and the speed of the ship passing through the lock is compared with the corresponding adjusted navigation speed. If the speed of the ship passing through the lock is greater than the adjusted navigation speed, the airbag is activated and the ship passing through the lock is reminded to slow down. If the speed of the ship passing through the lock is less than the adjusted navigation speed, the ship passing through the lock is reminded to speed up.

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