Beidou high-precision berthing and unberthing auxiliary system

Abstract

The invention relates to the technical field of berthing and unberthing auxiliary systems, and discloses a Beidou high-precision berthing and unberthing auxiliary system. The system comprises a ship data sensing subsystem, an environment sensing subsystem, a berthing and departing auxiliary subsystem, berth equipment, high-precision berth modeling ship equipment, berth and departing auxiliary system software, and a voice scheduling command module, a panoramic video module, a berth / ship basic database module, a 3D modeling module, a monitoring module, a machine learning module, a risk early warning module and the like. The autonomous innovative Beidou high-precision berthing and leaving auxiliary system is applied, and Beidou high-precision positioning, MEC Internet of Things technology, ship-shore heterogeneous environment perception, AR / VR display, artificial intelligence and converged communication scheduling technology are adopted, so that monitoring and sharing of the berthing and leaving process of a ship shared by a scheduling center, the ship and a tug are realized. The berthing and unberthing operation safety is improved through artificial intelligence assistance, and the berthing and unberthing efficiency of the ship can be improved by 35%.

Description

Technical Field

[0001] The present invention relates to the technical field of docking and undocking assistance systems, and in particular to a Beidou high-precision docking and undocking assistance system. Background Art

[0002] The main function of the assisted berthing and unberthing system is to provide the captain or pilot with a real-time display of the movement of the ship and the berth pier, so that they can complete the operation safely and accurately when berthing and unberthing. The system can be adjusted and optimized in real time according to environmental conditions, ship characteristics, berthing conditions and other factors to ensure the stability and safety of the ship when berthing and unberthing. The assisted berthing and unberthing system can greatly reduce the errors and risks of human operation and improve the efficiency and safety of ships berthing and unberthing.

[0003] The assisted berthing and unberthing system usually consists of multiple subsystems, including berthing and unberthing auxiliary system, ship sensing system, ship communication system, etc. These subsystems work together to realize the automated berthing and unberthing of ships.

[0004] Traditional berthing and unberthing assistance systems mostly use berth laser rangefinders and hydrological and meteorological sensing display technology to assist ships and tugboats in berthing and unberthing. Berth laser rangefinder equipment is complex, occupies berth resources, is greatly affected by coal dust, and has high maintenance costs. The berthing and unberthing assistance data displayed using ship AIS data has large errors, low update rates, and large delays. Summary of the invention

[0005] 1. Technical issues to be resolved

[0006] In view of the shortcomings of the existing technology, the present invention provides a Beidou high-precision berthing and unberthing assistance system, which adopts Beidou high-precision positioning, 3D modeling technology, MEC Internet of Things technology, ship-shore heterogeneous environment perception, AR / VR display, artificial intelligence, and integrated communication scheduling technology to realize the monitoring and sharing of the berthing and unberthing process of the dispatch center, ships, and tugboats. Relying on artificial intelligence to assist in improving the safety of berthing and unberthing operations, the efficiency of ship berthing and unberthing can be increased by 35%. The advantages solve the problems of large data errors, low update rates, and large delays in existing unberthing assistance systems.

[0007] (II) Technical solution

[0008] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a Beidou high-precision berthing and unberthing assistance system, comprising a ship data sensing subsystem, an environment sensing subsystem, and a berthing and unberthing assistance subsystem.

[0009] Ship data perception subsystem, including Beidou high-precision positioning, high-definition video, ship situation awareness and other modules;

[0010] Environmental perception subsystem, including real-time high-precision water level meter, real-time meteorological data meter, wireless data transmission terminal and other modules;

[0011] The berthing and unberthing assistance subsystem includes voice dispatch command, panoramic video, berth / ship basic database, 3D modeling, monitoring, machine learning, risk warning and other modules.

[0012] Berth equipment includes: high-precision real-time depth meter, real-time meteorological data, high-precision berth modeling

[0013] Ship equipment includes: high-precision ship positioning / fusion communication terminal, hull modeling data, and ship situation awareness;

[0014] Berthing and unberthing assistance system software: including voice dispatch command, panoramic video, berth / ship basic database, 3D modeling, monitoring, machine learning, risk warning and other modules.

[0015] In some embodiments, there are two high-precision ship positioning / fusion communication terminals in the ship equipment.

[0016] In some embodiments, the converged communication terminal includes audio scheduling and video transmission.

[0017] In some embodiments, the docking and undocking assistance system software and monitoring in the docking and undocking assistance subsystem include AR and VR.

[0018] (III) Beneficial effects

[0019] Compared with the prior art, the present invention provides a Beidou high-precision docking and undocking assistance system, which has the following beneficial effects:

[0020] The present invention applies the independently innovated Beidou high-precision berthing and unberthing assistance system, adopts Beidou high-precision positioning, MEC Internet of Things technology, 3D modeling technology, ship-shore heterogeneous environment perception, AR / VR display, artificial intelligence, and integrated communication dispatching technology to realize the monitoring and sharing of the berthing and unberthing process of the dispatch center, ships, and tugboats. Relying on artificial intelligence to assist in improving the safety of berthing and unberthing operations, the efficiency of ship berthing and unberthing can be increased by 35%. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the structure of the present invention;

[0022] Figure 2 It is a schematic diagram for comparing U-turn berthing, direct unberthing, forward berthing and U-turn unberthing according to the present invention. DETAILED DESCRIPTION

[0023] 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, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0024] It should be noted that all directional indications in the embodiments of the present application are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0025] In this application, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0026] In addition, in this application, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0027] The assisted berthing and unberthing system usually consists of multiple subsystems, including ship motion control system, ship sensing system, ship communication system, etc. These subsystems work together to realize the automated berthing and unberthing of ships.

[0028] Among the related technologies, the berthing and unberthing assistance system utilizes berth laser rangefinders and hydrological and meteorological sensing display technology to assist ships and tugboats in berthing and unberthing. The berth laser rangefinder equipment is complex, occupies berth resources, is greatly affected by coal dust, and has high maintenance costs. The berthing and unberthing assistance data displayed using ship AIS data has large errors, low update rates, and high delays.

[0029] In order to solve the problems in the related technologies to a certain extent, the embodiment of this application provides a Beidou high-precision berthing and unberthing assistance system. This project applies the independently innovated Beidou high-precision berthing and unberthing assistance system, adopts Beidou high-precision positioning, 3D modeling technology, MEC Internet of Things technology, ship-shore heterogeneous environment perception, AR / VR display, artificial intelligence, and integrated communication scheduling technology to realize the monitoring and sharing of the berthing and unberthing process of the dispatch center, ships, and tugboats. Relying on artificial intelligence assistance to improve the safety of berthing and unberthing operations, the efficiency of ship berthing and unberthing can be increased by 35%, which is more convenient and quick, and improves the convenience of the device.

[0030] The present application is described below with reference to the accompanying drawings and specific embodiments:

[0031] Combination Figure 1-Figure 2 The embodiment of the present application provides a Beidou high-precision docking and undocking assistance system, including a ship data perception subsystem, an environment perception subsystem, and a docking and undocking assistance subsystem.

[0032] Ship data perception subsystem, including Beidou high-precision positioning, high-definition video, ship situation awareness and other modules;

[0033] Environmental perception subsystem, including real-time high-precision water level meter, real-time meteorological data meter, wireless data transmission terminal and other modules;

[0034] The berthing and unberthing assistance subsystem includes voice dispatch command, panoramic video, berth / ship basic database, 3D modeling, monitoring, machine learning, risk warning and other modules.

[0035] Berth equipment includes: high-precision real-time depth meter, real-time meteorological data, high-precision berth modeling

[0036] Ship equipment includes: high-precision ship positioning / fusion communication terminal, hull modeling data, and ship situation awareness;

[0037] Berthing and unberthing assistance system software: including voice dispatch command, panoramic video, berth / ship basic database, 3D modeling, monitoring, machine learning, risk warning and other modules.

[0038] In some embodiments, there are two high-precision ship positioning / fusion communication terminals in the ship equipment.

[0039] In some embodiments, the converged communication terminal includes audio scheduling and video transmission.

[0040] In some embodiments, the docking and undocking assistance system software and monitoring in the docking and undocking assistance subsystem include AR and VR.

[0041] When in use, the surrounding environmental information and the ship's own status information are perceived through modules such as the real-time high-precision water level meter, real-time meteorological data meter, wireless data transmission terminal in the environmental perception subsystem and modules such as the Beidou high-precision positioning, high-definition video, and ship situational awareness in the ship data perception subsystem. It can not only perceive bow roll, roll, and pitch, but also sway, pitch, heave, ship's bow direction, and ship speed, thus solving the problem of insufficient perception of the ship's own status.

[0042] The berthing and unberthing assistance system is also equipped with AR / VR monitoring to solve the problem of visual perception when the ship berths and leaves the berth at night. It adopts a strategy combining panoramic cameras and infrared cameras to provide full-time and all-weather visual perception, and transmits the data of the perception information to the berth / ship basic database in the berthing and unberthing assistance system software, and stores it in a standard format for future use. The voice dispatch command module in the berthing and unberthing assistance system software makes tugboats and cables to assist the captain in making decisions on the berthing and unberthing process. The captain's decision is based on the three-point distance and velocity vector between the ship's external rotation and the berthing trestle. When the ship operator takes the ship out of the channel and enters the berthing, the berthing and unberthing assistance system is started. The berthing and unberthing assistance system determines the distance and velocity vector between the three points of the ship (bow, stern, and midship) and the berthing trestle, as well as the wind speed and flow velocity vector in real time through Beidou high-precision positioning, 3D modeling data and water level data, and displays the berthing display line of the berthing space at the same time. AI intelligent processing outputs the ship's berthing speed, berthing distance, and berthing space. When the safety threshold is exceeded, an alarm prompt is issued. The initial value of the safety alarm threshold is based on the pilot / captain's experience, and is continuously optimized for specific ships and berths through machine learning. The captain uses the tour terminal to refer to the real-time three-point distance between the hull's external rotation and the pier, the ship's speed, wind speed, and flow velocity vector display, and reasonably performs ship operations such as parking, idling, calling the rudder, and bow and stern thrusters to ensure smooth berthing. When there is no ship without a thruster function, tugboat and cable operations can also be coordinated through audio and video scheduling. The terminal dispatcher, tugboat, and cable personnel can use the shared tour terminal to assist in berthing and unberthing, further improving the collaborative efficiency of berthing and unberthing.

[0043] The external environment data and actuator status data collected by the sensing equipment and monitoring equipment are displayed, so that the ship operator can intuitively grasp the ship status information and the surrounding environment information. Relying on this berthing and unberthing auxiliary coordination can effectively improve the safety operation and coordination efficiency of berthing and unberthing.

[0044] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", "some examples", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification.

[0045] In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0046] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A Beidou high-precision berthing and unberthing assistance system, comprising a ship data sensing subsystem, an environment sensing subsystem, and a berthing and unberthing assistance subsystem. Ship data perception subsystem, including Beidou high-precision positioning, high-definition video, ship situation awareness and other modules; Environmental perception subsystem, including real-time high-precision water level meter, real-time meteorological data meter, wireless data transmission terminal and other modules; The berthing and unberthing assistance subsystem includes voice dispatch command, panoramic video, berth / ship basic database, 3D modeling, monitoring, machine learning, risk warning and other modules. Berth equipment includes: high-precision real-time depth meter, real-time meteorological data, high-precision berth modeling Ship equipment includes: high-precision ship positioning / fusion communication terminal, hull modeling data, and ship situation awareness; Berthing and unberthing assistance system software: including voice dispatch command, panoramic video, berth / ship basic database, 3D modeling, monitoring, machine learning, risk warning and other modules.

2. The Beidou high-precision docking and undocking assistance system according to claim 1, characterized in that: There are two high-precision ship positioning / fusion communication terminals in the ship equipment.

3. The Beidou high-precision docking and undocking assistance system according to claim 2, characterized in that: The converged communication terminal includes audio scheduling and video transmission.

4. The Beidou high-precision docking and undocking assistance system according to claim 1, characterized in that: The docking and undocking assistance system software and the monitoring in the docking and undocking assistance subsystem include AR and VR.

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