Shipborne tug state monitoring system, method, device, equipment, medium and product

Abstract

The invention relates to the technical field of shipborne equipment, in particular to a shipborne tug state monitoring system, method, device, equipment, medium and product, and the system comprises a strain sensor which is arranged at a preset position of a ship and is used for detecting the force applied to the ship by a tug; the calculation unit is connected to the strain sensor and judges the actual working state of the tug based on the force applied to the ship by the tug and detected by the strain sensor; the early warning unit is connected to the calculation unit, compares the actual working state of the tug with a preset working state, and gives out early warning under the condition that the actual working state of the tug is not consistent with the preset working state; the working state of the tug can be monitored.

Description

Technical Field

[0001] The present invention relates to the technical field of shipborne equipment, and in particular to a shipborne tugboat status monitoring system, method, device, equipment, medium and product. Background Art

[0002] At present, when entering and leaving the port, larger ships cannot complete the port entry and exit operations independently, and need tugboats to tow and push the ships beside them. Generally, there are towing piles and supporting piles for tugboat operations on ships. The tugboat puts the cable on the tugboat pile to tow the ship, and pushes the hull against the supporting pile or the special supporting position on the side of the ship. The working state of the tugboat related to the ship during operation is divided into towing state and pushing state.

[0003] Currently, when a ship is being driven, since there are usually 3-4 tugboats operating at the same time, it is impossible to grasp the working status of all the tugboats at the same time, which can easily cause information gaps. The tugboat driver may misunderstand the intention of the ship driver, leading to accidents.

[0004] There is a technical problem in this field that it is difficult to monitor the working status of the tugboat. Summary of the invention

[0005] The present invention provides a shipborne tugboat status monitoring system, method, device, equipment, medium and product, which solve the technical problem that it is difficult to monitor the working status of the tugboat.

[0006] In a first aspect, the present invention provides a shipborne tugboat status monitoring system, the system comprising: a strain sensor, arranged at a preset position of the ship, for detecting the force applied to the ship by the tugboat; a computing unit, connected to the strain sensor, for judging the actual working status of the tugboat based on the force applied to the ship by the tugboat detected by the strain sensor; an early warning unit, connected to the computing unit, for comparing the actual working status of the tugboat with the preset working status, and issuing an early warning when the actual working status of the tugboat does not match the preset working status.

[0007] In some embodiments, the strain sensor includes multiple strain sensor arrays, and the preset positions of the ship include the towing bollards of the ship and the sides of the ship; the strain sensor is arranged at the preset positions of the ship to monitor the force applied to the ship by the tugboat, including: the strain sensor array is arranged on the towing bollards of the ship and / or the sides of the ship to monitor the towing force and / or thrust force applied to the ship by the tugboat.

[0008] In a second aspect, the present invention provides a shipborne tugboat status monitoring method based on the above-mentioned shipborne tugboat status monitoring system, the method comprising: obtaining the force applied to the ship by the tugboat detected by the strain sensor, and judging the actual working status of the tugboat; comparing the actual working status of the tugboat with the preset working status, and issuing an early warning when the actual working status of the tugboat does not match the preset working status.

[0009] In some embodiments, the step of obtaining the force applied to the ship by the tugboat detected by the strain sensor and judging the actual working state of the tugboat comprises: when the force applied to the ship by the tugboat is greater than a preset threshold, judging the actual working state of the tugboat is a supporting operation state; when the force applied to the ship by the tugboat is less than or equal to the preset threshold, judging the actual working state of the tugboat is a non-operating state.

[0010] In some embodiments, the preset thresholds include preset pushing thresholds and preset towing thresholds, and the supporting operation status includes a pushing operation status and a towing operation status; when the force applied by the tugboat to the ship is greater than the preset threshold, the step of determining that the actual working status of the tugboat is the supporting operation status comprises: when the force applied by the tugboat to the ship is greater than the preset pushing threshold, determining that the actual working status of the tugboat is the pushing operation status; when the force applied by the tugboat to the ship is greater than the preset towing threshold, determining that the actual working status of the tugboat is the towing operation status.

[0011] In some embodiments, the actual working state of the tugboat is compared with the preset working state, and the step of issuing an early warning when the actual working state of the tugboat does not match the preset working state includes: obtaining a pre-established preset working state process; comparing the actual working state of the tugboat with the preset working state in the pre-established preset working state process; issuing an early warning when the actual working state of the tugboat does not match the preset working state.

[0012] In a third aspect, the present invention provides a shipborne tugboat status monitoring device, the device comprising: a calculation module, used to obtain the force applied to the ship by the tugboat detected by the strain sensor, and determine the actual working status of the tugboat; an early warning module, used to compare the actual working status of the tugboat with the preset working status, and issue a warning when the actual working status of the tugboat does not match the preset working status.

[0013] In a fourth aspect, the present invention provides a computer device, comprising a memory, a processor and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of any of the shipborne tugboat status monitoring methods described above.

[0014] In a fifth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the shipborne tugboat status monitoring methods described in the above aspects.

[0015] In a sixth aspect, the present invention provides a computer program product, comprising a computer program, which, when executed by a processor, implements the steps of any of the shipborne tugboat status monitoring methods described in the above aspects.

[0016] The present invention provides a ship-borne tugboat status monitoring system, method, device, equipment, medium and product, wherein the system comprises: a strain sensor, arranged at a preset position of the ship, for detecting the force applied to the ship by the tugboat; a computing unit, connected to the strain sensor, for judging the actual working status of the tugboat based on the force applied to the ship by the tugboat detected by the strain sensor; an early warning unit, connected to the computing unit, for comparing the actual working status of the tugboat with the preset working status, and issuing an early warning when the actual working status of the tugboat does not match the preset working status; and the working status of the tugboat can be monitored. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention will be described in more detail below based on embodiments and with reference to the accompanying drawings:

[0018] Figure 1 A schematic diagram of the composition of a shipborne tugboat status monitoring system provided by an embodiment of the present invention;

[0019] Figure 2 A schematic diagram of the installation position of a strain gauge of a shipborne tugboat condition monitoring system provided by an embodiment of the present invention;

[0020] Figure 3 A schematic diagram of installation of a towing bollard strain gauge for a shipborne tugboat condition monitoring system provided by an embodiment of the present invention;

[0021] Figure 4 A schematic flow chart of a method for monitoring the state of a ship-borne tugboat provided in an embodiment of the present invention;

[0022] Figure 5 A schematic structural diagram of a shipborne tugboat status monitoring device provided by an embodiment of the present invention;

[0023] Figure 6 A schematic flow chart of a method for monitoring the state of a ship-borne tugboat provided as an application example of the present invention.

[0024] In the drawings, the same reference numerals are used for the same components and the drawings are not drawn to scale. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the scheme of the present invention, and to fully understand and implement how the present invention applies technical means to solve technical problems and achieve the corresponding technical effects, the technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only an embodiment of a part of the present invention, not all of the embodiments. The embodiments of the present invention and the various features in the embodiments can be combined with each other without conflict, and the technical schemes formed are all within the scope of protection of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work should fall within the scope of protection of the present invention.

[0026] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0027] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0028] At present, when entering and leaving the port, larger ships cannot complete the port entry and exit operations independently, and need tugboats to tow and push beside the ship. Generally, there are towing piles and supporting piles for tugboat operations on the ship. The tugboat puts the cable on the tugboat pile to tow the ship, and pushes the hull against the supporting pile or the special supporting position on the side of the ship to push. The working state of the tugboat related to the ship during operation is divided into towing state and pushing state. At present, when the ship is driving, because there are usually 3-4 tugboats operating at the same time, it is impossible to grasp the working state of all tugboats at the same time, which can easily cause information asymmetry. The tugboat driver may misunderstand the intention of the ship driver, leading to accidents. There are technical problems in this field that make it difficult to monitor the working state of the tugboat.

[0029] In order to solve the above-mentioned technical problem of difficulty in monitoring the working status of a tugboat, the present invention proposes a ship-borne tugboat status monitoring system, method, device, equipment, medium and product. The implementation details of the present invention are described in detail below. The following content is only the implementation details provided for the convenience of understanding and is not necessary for the implementation of this solution.

[0030] Embodiment 1

[0031] Figure 1 The following is a schematic diagram of the composition of a ship-borne tugboat status monitoring system provided by an embodiment of the present invention. Figure 1 As shown, in the technical solution of this embodiment, a ship-borne tugboat status monitoring system is provided, and the system includes: a strain sensor, which is arranged at a preset position of the ship and is used to detect the force applied to the ship by the tugboat; a computing unit, which is connected to the strain sensor and determines the actual working state of the tugboat based on the force applied to the ship by the tugboat detected by the strain sensor; an early warning unit, which is connected to the computing unit and compares the actual working state of the tugboat with the preset working state, and issues an early warning when the actual working state of the tugboat does not match the preset working state.

[0032] The technical problem to be solved by this embodiment is how to construct a system to monitor the working status of each tugboat on board.

[0033] In the technical solution of this embodiment, a ship-borne tugboat status monitoring system is constructed. The system of this embodiment includes a strain sensor, a computing unit and an early warning unit. The strain sensor is placed at a preset position of the ship. The preset position of this embodiment is a key part that contacts the ship during tugboat operation, such as towing piles and the sides of the ship. The function of the strain sensor is to detect the force applied by the tugboat on the ship and to sense the movement of the tugboat. The computing unit is connected to the strain sensor, and determines the actual working state of the tugboat based on the force detected by the strain sensor, and analyzes and processes the information transmitted by the sensor. The early warning unit is connected to the computing unit, and compares the actual working state of the tugboat with the preset working state. Once the two are found to be inconsistent, an early warning is issued.

[0034] The technical solution of this embodiment can effectively monitor the working status of the tugboat on board by constructing a system including a strain sensor, a computing unit and an early warning unit. The strain sensor detects the force of the tugboat at a key position of the ship, providing a data basis for subsequent judgment. The computing unit accurately analyzes the working status of the tugboat, avoiding the subjectivity and negligence of manual judgment. The early warning unit issues an early warning in time, and when the actual working status of the tugboat does not match the preset, the crew can be informed of the situation at the first time. For example, during the berthing process of the ship, three tugboats are operating at the same time, responsible for towing and pushing at different positions. The strain sensors in the system can detect the forces of the three tugboats respectively, and the computing unit analyzes whether each tugboat is in towing operation or pushing operation, or no operation. If one of the tugboats should be in towing operation, but the actual state changes to pushing operation or no operation, the early warning unit will issue an alarm, and the crew can take measures in time to avoid accidents caused by information asymmetry, greatly improving the safety and efficiency of ship operations.

[0035] Embodiment 2

[0036] Figure 2 A schematic diagram of the installation position of a strain gauge of a shipborne tugboat condition monitoring system provided by an embodiment of the present invention; Figure 3 A schematic diagram of the installation of a towing bollard strain gauge for a ship-borne tugboat condition monitoring system provided by an embodiment of the present invention. Figure 2 and Figure 3 As shown, on the basis of the above embodiments, the strain sensor includes a plurality of strain sensor arrays, and the preset positions of the ship include the towing bollards of the ship and the sides of the ship; the strain sensor is arranged at the preset positions of the ship to monitor the force applied to the ship by the tugboat, including: the strain sensor array is arranged on the towing bollards of the ship and / or the sides of the ship to monitor the towing force and / or thrust force applied to the ship by the tugboat.

[0037] The technical problem to be solved in this embodiment is how to arrange strain sensors on board.

[0038] In the technical solution of this embodiment, the strain sensor includes a plurality of strain sensor arrays. The preset positions of the ship are specifically the towing piles of the ship and the sides of the ship. The strain sensor array is arranged on the towing piles of the ship and / or the sides of the ship to monitor the towing force and / or the thrust force applied to the ship by the tugboat. Taking into account the actual structure of the ship and the characteristics of the tugboat operation, for the towing piles, the strain sensor array covers the surface of the lower semi-cylinder, especially the inner semi-cylinder, so that when the towing rope is looped on the towing pile, the stress generated by the tugboat during the towing operation can be accurately detected. For the sides of the ship, the strain sensor array is generally installed at the position marked with the "tug" logo, which is mainly used to obtain the stress of the tugboat during the pushing operation.

[0039] The technical solution of this embodiment realizes effective monitoring of the tugboat force by arranging strain sensor arrays on the towing piles and both sides of the ship. The arrangement on the towing pile can accurately sense the stress changes during the towing operation. For example, when the tugboat puts on the towing cable and starts to tow the ship, the strain sensor array on the towing pile can detect the stress in time, and convert this stress into data that can be processed, such as electrical signals, through its internal sensing elements. The arrangement on both sides of the ship can well monitor the pushing operation. For example, when the tugboat pushes on both sides of the ship, the corresponding strain sensor array detects the pushing force, and can judge the specific situation of the pushing according to the information such as the magnitude and direction of the force. This arrangement method not only improves the accuracy of monitoring, but also can adapt to different ship types and tugboat operation methods, because the commonly used pushing positions of tugboats of different ship types are slightly different, but generally in front of and behind the left and right ports and the stern of the ship. This arrangement basically covers the possible pushing positions, so that the system can be widely used.

[0040] Embodiment 3

[0041] Figure 4 is a flow chart of a method for monitoring the state of a ship-borne tugboat provided in an embodiment of the present application, such as Figure 4 As shown, in the technical solution of this embodiment, a shipborne tugboat status monitoring method based on a shipborne tugboat status monitoring system is provided, and the method includes: obtaining the force applied to the ship by the tugboat detected by the strain sensor, and judging the actual working state of the tugboat; comparing the actual working state of the tugboat with the preset working state, and issuing an early warning when the actual working state of the tugboat does not match the preset working state.

[0042] The technical problem to be solved by this embodiment is how to monitor the working status of each tugboat on board based on the above system.

[0043] In the technical solution of this embodiment, the first step is to obtain the force applied to the ship by the tugboat detected by the strain sensor. The strain sensors are distributed in key positions of the ship, such as towing piles and both sides, and can sense the force generated by the action of the tugboat in real time. Then, the actual working state of the tugboat is judged by analyzing the force of this embodiment. The basis for judgment is some pre-set rules, such as whether the magnitude of the force exceeds a certain threshold to determine whether the tugboat is working or in an idle state. Finally, the actual working state of the tugboat is compared with the preset working state. The preset working state is pre-set by the crew according to factors such as the ship's operation plan. For example, during the berthing process of the ship, a tugboat should be performing towing operations, which is the preset working state. If the actual state detected by the strain sensor does not match it, an early warning is triggered.

[0044] The technical solution of this embodiment realizes effective monitoring of the working status of each tugboat on board through the three main steps of obtaining force, judging state and comparing warning. In the link of obtaining the force detected by the strain sensor, due to the reasonable layout of the strain sensor, the information of the tugboat's force can be fully and accurately obtained. For example, when the ship enters and leaves the port, the force generated by the towing and pushing actions of the tugboat at different positions can be captured by the sensor. When judging the actual working state of the tugboat, it is scientific and reasonable to use the magnitude of the force as the basis for judgment. For example, when the force applied by the tugboat is greater than the preset towing threshold, it is judged to be in the towing operation state, which conforms to the physical laws in actual operation. The link of comparing the actual state with the preset state and issuing an early warning can timely discover abnormal situations. For example, during the process of the ship docking, a tugboat is preset as a pushing operation, but the actual force detected is less than the pushing threshold, that is, there is no operation state. At this time, an early warning is issued, and the crew can quickly check the tugboat situation to avoid accidents such as collisions caused by the tugboat not operating as planned, and ensure the safety of ship operations.

[0045] Embodiment 4

[0046] On the basis of the above embodiment, the step of obtaining the force applied to the ship by the tugboat detected by the strain sensor and judging the actual working state of the tugboat includes: when the force applied to the ship by the tugboat is greater than a preset threshold, judging that the actual working state of the tugboat is a supporting operation state; when the force applied to the ship by the tugboat is less than or equal to the preset threshold, judging that the actual working state of the tugboat is a non-operating state.

[0047] The technical problem to be solved by this embodiment is how to judge the actual working state of the tugboat based on the force applied by the tugboat to the ship detected by the strain sensor.

[0048] In the technical solution of this embodiment, the actual working state of the tugboat is mainly judged based on the comparison between the force applied by the tugboat to the ship and the preset threshold value. The preset threshold value is a key judgment criterion. When the force applied by the tugboat to the ship is greater than the preset threshold value, the actual working state of the tugboat is judged to be the jacking operation state. The jacking operation state includes the jacking operation state and the towing operation state. These two operation states are relatively critical working states during the ship tugboat operation process. When the force applied by the tugboat to the ship is less than or equal to the preset threshold value, the actual working state of the tugboat is judged to be the non-operation state. For example, during the jacking operation, the tugboat applies a certain jacking force to the two sides of the ship. When the force reaches the preset jacking threshold value, it can be judged that the tugboat is performing a jacking operation. Similarly, during the towing operation, the tugboat applies a pulling force to the ship's towing pile through the cable. When the force exceeds the preset towing threshold value, it is judged to be the towing operation state.

[0049] The technical solution of this embodiment can accurately judge the actual working state of the tugboat by comparing the force applied by the tugboat with the preset threshold. During the ship operation process, the change of force is an important basis for judging the working state of the tugboat. For example, when a ship enters the port, there may be multiple tugboats operating at the same time. The force applied by each tugboat is detected by a strain sensor and then compared with the preset threshold. If the force applied by a tugboat is greater than the preset pushing threshold, it can be clearly seen that it is in a pushing operation state, and the crew knows that the ship is being pushed. If the force is less than or equal to the preset threshold, it can be judged that the tugboat is not currently performing a pushing or towing operation, and may be waiting for instructions or has completed the task. This judgment method is simple and effective, and can provide the crew with information on the working status of the tugboat in real time, reduce errors and delays in manual judgment, thereby avoiding accidents such as ship collisions and groundings caused by inaccurate information, and improving the safety and efficiency of ship operations.

[0050] Embodiment 5

[0051] On the basis of the above embodiment, the preset threshold value includes a preset pushing threshold value and a preset towing threshold value, and the supporting operation state includes a pushing operation state and a towing operation state; when the force applied by the tugboat to the ship is greater than the preset threshold value, the step of determining that the actual working state of the tugboat is the supporting operation state includes: when the force applied by the tugboat to the ship is greater than the preset pushing threshold value, determining that the actual working state of the tugboat is the pushing operation state; when the force applied by the tugboat to the ship is greater than the preset towing threshold value, determining that the actual working state of the tugboat is the towing operation state.

[0052] The technical problem to be solved by this embodiment is how to determine the specific situation of the jacking operation state.

[0053] In the technical solution of this embodiment, the preset threshold value includes a preset pushing threshold value and a preset towing threshold value, and the supporting operation state includes a pushing operation state and a towing operation state. When judging the actual working state of the tugboat, when the force applied by the tugboat to the ship is greater than the preset pushing threshold value, the actual working state of the tugboat is determined to be a pushing operation state. This is because in the pushing operation, the pushing force applied by the tugboat to the two sides of the ship reaches a certain level before it can be determined to be in the pushing work. For example, during the berthing process of the ship, the tugboat contacts the two sides of the ship for pushing. When the force detected by the strain sensor exceeds the preset pushing threshold value, the system determines that the tugboat enters the pushing operation state. Similarly, when the force applied by the tugboat to the ship is greater than the preset towing threshold value, the actual working state of the tugboat is determined to be a towing operation state. This is because only when the towing force applied by the tugboat to the ship's towing pile through the cable reaches a certain level can it be determined that the tugboat is performing a towing operation.

[0054] The technical solution of this embodiment can accurately determine the specific situation of the jacking operation state by distinguishing the preset jacking threshold and the preset towing threshold. In the actual operation scenario of the ship, different operation methods generate different forces. For example, when the ship enters the port, the tugboat assists the ship by jacking or towing according to the specific conditions of the port and the position of the ship. When the system can accurately determine whether it is a jacking operation state or a towing operation state, the crew can better understand the working conditions of the tugboat. For example, when the system determines that a tugboat is in a jacking operation state, the crew can pay attention to the conditions on both sides of the ship to ensure that the jacking process proceeds smoothly. If it is determined to be a towing operation state, the crew can check the connection of the towing cable, etc. This precise determination method helps the crew to prevent possible problems in advance, such as loose towing cables or excessive jacking, and improve the safety and controllability of ship operations.

[0055] Embodiment 6

[0056] On the basis of the above embodiment, the actual working state of the tugboat is compared with the preset working state, and when the actual working state of the tugboat does not match the preset working state, a warning is issued, including: obtaining a pre-established preset working state process; comparing the actual working state of the tugboat with the preset working state in the pre-established preset working state process; and issuing a warning when the actual working state of the tugboat does not match the preset working state.

[0057] The technical problem to be solved in this embodiment is how to issue an early warning.

[0058] In the technical solution of this embodiment, it is first necessary to obtain the pre-established preset working status process. The preset working status process of this embodiment is formulated by the crew according to the actual needs and plans of the ship's operations. For example, during the berthing process of the ship, the work that each tugboat should perform at different stages, whether it is towing operation or pushing operation, etc., are clearly specified in the process of this embodiment. Then, the actual working state of the tugboat is compared with the preset working state in the pre-established preset working state process. The comparison of this embodiment can find the difference between the actual working state and the preset state. Finally, when the actual working state of the tugboat does not match the preset working state, an early warning is issued. For example, in the ship berthing operation, it is preset that a tugboat should perform towing operation, but through system monitoring, it is found that its actual working state is a pushing operation, and an early warning is triggered at this time.

[0059] The technical solution of this embodiment realizes an effective early warning function by obtaining the preset working state process, comparing the actual and preset states, and issuing an early warning when they do not match. During the ship operation process, the preset working state process is, for example, an operating guide that specifies how the tugboat should work. After the system obtains the process of this embodiment, it can be compared with the actual monitored state. For example, when ships enter and leave the port, there are usually complex tugboat operation arrangements. If a tugboat does not operate according to the preset working state, such as it should tow the cable at a certain position but it does not, or an incorrect jacking operation is performed, the system will issue an early warning in time, and the crew can respond quickly, adjust the tugboat's operating method, or check whether the tugboat has any faults. This early warning function can effectively avoid ship safety accidents caused by abnormal tugboat operations and ensure the smooth progress of ship operations.

[0060] Embodiment 7

[0061] Figure 5 is a structural schematic diagram of a ship-borne tugboat status monitoring device provided in an embodiment of the present application, such as Figure 5 As shown, in the technical solution of this embodiment, a ship-borne tugboat status monitoring device is provided, and the device includes: a calculation module, which is used to obtain the force applied to the ship by the tugboat detected by the strain sensor, and judge the actual working state of the tugboat; an early warning module, which is used to compare the actual working state of the tugboat with the preset working state, and issue an early warning when the actual working state of the tugboat does not match the preset working state.

[0062] The technical problem to be solved by this embodiment is how to monitor the working status of each tugboat on board based on the above system.

[0063] In the technical solution of this embodiment, the first step is to obtain the force applied to the ship by the tugboat detected by the strain sensor. The strain sensors are distributed in key positions of the ship, such as towing piles and both sides, and can sense the force generated by the action of the tugboat in real time. Then, the actual working state of the tugboat is judged by analyzing the force of this embodiment. The basis for judgment is some pre-set rules, such as whether the magnitude of the force exceeds a certain threshold to determine whether the tugboat is working or in an idle state. Finally, the actual working state of the tugboat is compared with the preset working state. The preset working state is pre-set by the crew according to factors such as the ship's operation plan. For example, during the berthing process of the ship, a tugboat should be performing towing operations, which is the preset working state. If the actual state detected by the strain sensor does not match it, an early warning is triggered.

[0064] The technical solution of this embodiment realizes effective monitoring of the working status of each tugboat on board through the three main steps of obtaining force, judging state and comparing warning. In the link of obtaining the force detected by the strain sensor, due to the reasonable layout of the strain sensor, the information of the tugboat's force can be fully and accurately obtained. For example, when the ship enters and leaves the port, the force generated by the towing and pushing actions of the tugboat at different positions can be captured by the sensor. When judging the actual working state of the tugboat, it is scientific and reasonable to use the magnitude of the force as the basis for judgment. For example, when the force applied by the tugboat is greater than the preset towing threshold, it is judged to be in the towing operation state, which conforms to the physical laws in actual operation. The link of comparing the actual state with the preset state and issuing an early warning can timely discover abnormal situations. For example, during the process of the ship docking, a tugboat is preset as a pushing operation, but the actual force detected is less than the pushing threshold, that is, there is no operation state. At this time, an early warning is issued, and the crew can quickly check the tugboat situation to avoid accidents such as collisions caused by the tugboat not operating as planned, and ensure the safety of ship operations.

[0065] On the basis of the above embodiment, the step of obtaining the force applied to the ship by the tugboat detected by the strain sensor and judging the actual working state of the tugboat includes: when the force applied to the ship by the tugboat is greater than a preset threshold, judging that the actual working state of the tugboat is a supporting operation state; when the force applied to the ship by the tugboat is less than or equal to the preset threshold, judging that the actual working state of the tugboat is a non-operating state.

[0066] The technical problem to be solved by this embodiment is how to judge the actual working state of the tugboat based on the force applied by the tugboat to the ship detected by the strain sensor.

[0067] In the technical solution of this embodiment, the actual working state of the tugboat is mainly judged based on the comparison between the force applied by the tugboat to the ship and the preset threshold value. The preset threshold value is a key judgment criterion. When the force applied by the tugboat to the ship is greater than the preset threshold value, the actual working state of the tugboat is judged to be the jacking operation state. The jacking operation state includes the jacking operation state and the towing operation state. These two operation states are relatively critical working states during the ship tugboat operation process. When the force applied by the tugboat to the ship is less than or equal to the preset threshold value, the actual working state of the tugboat is judged to be the non-operation state. For example, during the jacking operation, the tugboat applies a certain jacking force to the two sides of the ship. When the force reaches the preset jacking threshold value, it can be judged that the tugboat is performing a jacking operation. Similarly, during the towing operation, the tugboat applies a pulling force to the ship's towing pile through the cable. When the force exceeds the preset towing threshold value, it is judged to be the towing operation state.

[0068] The technical solution of this embodiment can accurately judge the actual working state of the tugboat by comparing the force applied by the tugboat with the preset threshold. During the ship operation process, the change of force is an important basis for judging the working state of the tugboat. For example, when a ship enters the port, there may be multiple tugboats operating at the same time. The force applied by each tugboat is detected by a strain sensor and then compared with the preset threshold. If the force applied by a tugboat is greater than the preset pushing threshold, it can be clearly seen that it is in a pushing operation state, and the crew knows that the ship is being pushed. If the force is less than or equal to the preset threshold, it can be judged that the tugboat is not currently performing a pushing or towing operation, and may be waiting for instructions or has completed the task. This judgment method is simple and effective, and can provide the crew with information on the working status of the tugboat in real time, reduce errors and delays in manual judgment, thereby avoiding accidents such as ship collisions and groundings caused by inaccurate information, and improving the safety and efficiency of ship operations.

[0069] On the basis of the above embodiment, the preset threshold value includes a preset pushing threshold value and a preset towing threshold value, and the supporting operation state includes a pushing operation state and a towing operation state; when the force applied by the tugboat to the ship is greater than the preset threshold value, the step of determining that the actual working state of the tugboat is the supporting operation state includes: when the force applied by the tugboat to the ship is greater than the preset pushing threshold value, determining that the actual working state of the tugboat is the pushing operation state; when the force applied by the tugboat to the ship is greater than the preset towing threshold value, determining that the actual working state of the tugboat is the towing operation state.

[0070] The technical problem to be solved by this embodiment is how to determine the specific situation of the jacking operation state.

[0071] In the technical solution of this embodiment, the preset threshold value includes a preset pushing threshold value and a preset towing threshold value, and the supporting operation state includes a pushing operation state and a towing operation state. When judging the actual working state of the tugboat, when the force applied by the tugboat to the ship is greater than the preset pushing threshold value, the actual working state of the tugboat is determined to be a pushing operation state. This is because in the pushing operation, the pushing force applied by the tugboat to the two sides of the ship reaches a certain level before it can be determined to be in the pushing work. For example, during the berthing process of the ship, the tugboat contacts the two sides of the ship for pushing. When the force detected by the strain sensor exceeds the preset pushing threshold value, the system determines that the tugboat enters the pushing operation state. Similarly, when the force applied by the tugboat to the ship is greater than the preset towing threshold value, the actual working state of the tugboat is determined to be a towing operation state. This is because only when the towing force applied by the tugboat to the ship's towing pile through the cable reaches a certain level can it be determined that the tugboat is performing a towing operation.

[0072] The technical solution of this embodiment can accurately determine the specific situation of the jacking operation state by distinguishing the preset jacking threshold and the preset towing threshold. In the actual operation scenario of the ship, different operation methods generate different forces. For example, when the ship enters the port, the tugboat assists the ship by jacking or towing according to the specific conditions of the port and the position of the ship. When the system can accurately determine whether it is a jacking operation state or a towing operation state, the crew can better understand the working conditions of the tugboat. For example, when the system determines that a tugboat is in a jacking operation state, the crew can pay attention to the conditions on both sides of the ship to ensure that the jacking process proceeds smoothly. If it is determined to be a towing operation state, the crew can check the connection of the towing cable, etc. This precise determination method helps the crew to prevent possible problems in advance, such as loose towing cables or excessive jacking, and improve the safety and controllability of ship operations.

[0073] On the basis of the above embodiment, the actual working state of the tugboat is compared with the preset working state, and when the actual working state of the tugboat does not match the preset working state, a warning is issued, including: obtaining a pre-established preset working state process; comparing the actual working state of the tugboat with the preset working state in the pre-established preset working state process; and issuing a warning when the actual working state of the tugboat does not match the preset working state.

[0074] The technical problem to be solved in this embodiment is how to issue an early warning.

[0075] In the technical solution of this embodiment, it is first necessary to obtain the pre-established preset working status process. The preset working status process of this embodiment is formulated by the crew according to the actual needs and plans of the ship's operations. For example, during the berthing process of the ship, the work that each tugboat should perform at different stages, whether it is towing operation or pushing operation, etc., are clearly specified in the process of this embodiment. Then, the actual working state of the tugboat is compared with the preset working state in the pre-established preset working state process. The comparison of this embodiment can find the difference between the actual working state and the preset state. Finally, when the actual working state of the tugboat does not match the preset working state, an early warning is issued. For example, in the ship berthing operation, it is preset that a tugboat should perform towing operation, but through system monitoring, it is found that its actual working state is a pushing operation, and an early warning is triggered at this time.

[0076] The technical solution of this embodiment realizes an effective early warning function by obtaining the preset working state process, comparing the actual and preset states, and issuing an early warning when they do not match. During the ship operation process, the preset working state process is, for example, an operating guide that specifies how the tugboat should work. After the system obtains the process of this embodiment, it can be compared with the actual monitored state. For example, when ships enter and leave the port, there are usually complex tugboat operation arrangements. If a tugboat does not operate according to the preset working state, such as it should tow the cable at a certain position but it does not, or an incorrect jacking operation is performed, the system will issue an early warning in time, and the crew can respond quickly, adjust the tugboat's operating method, or check whether the tugboat has any faults. This early warning function can effectively avoid ship safety accidents caused by abnormal tugboat operations and ensure the smooth progress of ship operations.

[0077] Embodiment 8

[0078] In the technical solution of this embodiment, a computer device is provided, including a memory, a processor and a computer program stored in the memory, and the processor executes the computer program to implement the steps of any of the shipborne tugboat status monitoring methods of the above embodiments.

[0079] In the technical solution of this embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the shipborne tugboat status monitoring method of any of the above embodiments are implemented.

[0080] In the technical solution of this embodiment, a computer program product is provided, including a computer program, which, when executed by a processor, implements the steps of any of the shipborne tugboat status monitoring methods of the above embodiments.

[0081] The processor may include, but is not limited to, for example, one or more processors or microprocessors. Each processor may be an application specific integrated circuit (ASIC), a digital signal processor (DSP), a digital signal processing device (DSPD), a programmable logic device (PLD), a field programmable gate array (FPGA), a controller, a microcontroller, a microprocessor or other electronic components to implement the method in the above embodiment. The computer readable storage medium may be implemented by any type of volatile or non-volatile storage device or a combination thereof, and the computer readable storage medium may include, but is not limited to, for example, a random access memory (RAM), a read-only memory (ROM), a flash memory, an EPROM memory, an EEPROM memory, a register, a computer storage medium (such as a hard disk, a floppy disk, a solid state drive, a removable disk, a CDROM, a DVDROM, a Blu-ray disc, etc.).

[0082] The computer-readable storage medium may also store at least one computer executable program / instruction, which may be, for example, a computer-readable instruction. The computer-readable storage medium includes, but is not limited to, for example, a volatile memory and / or a non-volatile memory. The volatile memory may include, for example, a random access memory (RAM) and / or a cache memory (cache), etc. The computer-readable storage medium may include, for example, a read-only memory (ROM), a hard disk, a flash memory, etc. For example, a non-transitory computer-readable storage medium may be connected to a computing device such as a computer, and then, when the computing device runs the computer-readable instructions stored on the computer-readable storage medium, the various methods described above may be performed.

[0083] In addition, the computer device may also include (but not limited to) a data bus, an input / output (I / O) bus, a display, and an input / output device (e.g., a keyboard, a mouse, a speaker, etc.). The processor may communicate with external devices via the I / O bus via a wired or wireless network. In one embodiment, the at least one computer executable instruction may also be compiled into or constitute a software product / computer program product, wherein one or more computer executable instructions are executed by the processor to perform the various functions and / or steps of the method in the embodiments described in the present technology.

[0084] Embodiment 9

[0085] Based on the above embodiments, this embodiment provides an application example.

[0086] This application example provides a ship-borne tugboat working status early warning system.

[0087] At present, when entering and leaving the port, larger ships cannot complete the port entry and exit operations independently, and need tugboats to tow and push the ships beside them. Generally, there are towing piles and supporting piles for tugboat operations on ships. The tugboat puts the cable on the tugboat pile to tow the ship, and pushes the hull against the supporting pile or the special supporting position on the side of the ship to push the ship.

[0088] The working status of a tugboat in relation to a ship during operation is divided into towing status and pushing status. Currently, when a ship is being driven, since there are usually 3-4 tugboats operating at the same time, it is impossible to grasp the working status of all tugboats at the same time, which can easily lead to information gaps. The tugboat driver may misunderstand the intention of the ship driver, resulting in an accident.

[0089] Therefore, it is very necessary to equip the ship with a set of tugboat working status early warning device.

[0090] There is a technical problem in this field that it is difficult to monitor the working status of the tugboat.

[0091] Currently, there is no effective technical means for ships to obtain information about the status of tugboats, and communication is generally based on manual walkie-talkies.

[0092] The present invention provides a shipborne tugboat working status early warning system. The system senses the force changes and directions of the towing piles and the abutment piles through a circle of strain sensors installed on the towing piles and the abutment piles, and can judge the working status of the tugboat currently operating at this position.

[0093] like Figure 2 The figure shows the installation diagram of the strain gauge position. The red frame area is the approximate area where the strain gauge is installed. The commonly used push positions for different types of tugboats are slightly different, but they are generally in front of and behind the port and starboard sides and at the stern of the ship. Considering the draft of the ship and the width of the tugboat, the strain sensor of the strain gauge structure adopts the strain sensor array / surface array installation method, and the strain gauge is laid in the red frame area.

[0094] In addition, the lower column structure of the towing piles that may be used by each tugboat on the ship needs to be wrapped and laid with strain gauges.

[0095] like Figure 1As shown, the system of the present invention is mainly composed of a strain gauge sensor group, a tugboat working state calculation unit and an early warning unit. The strain gauge sensor group is used to collect the tugboat pushing position and the stress of the ship's towing pile in real time, the tugboat working state calculation unit is used to calculate the stress change data of each sensor point and judge the tugboat operation state, and the early warning unit is used to show the stress analysis results of each point to the crew and judge whether the tugboat working state is consistent with the preset state, so that the crew can take timely action when the tugboat state is inconsistent.

[0096] There are two types of strain sensor groups. One type is installed on both sides of the ship, usually at the position marked with the "tug" logo, which can obtain the stress F of the tugboat during the pushing operation. p If the tugboat does not push, then F p is 0, if F p Greater than a preset push threshold F p0 It is considered that the tugboat has started pushing work at the corresponding position and entered the pushing state.

[0097] The other is to cover the surface of the lower semi-cylindrical part of the ship's towing pile, such as Figure 3 As shown, it is installed on the inner semi-circular cylinder. When the towing rope is put on the towing pile, the stress F of the tugboat when the towing rope is working can be obtained. l , if the tugboat has no towing cable, then F l is 0, if F l Greater than a preset drag threshold F l0 , it is considered that the tugboat has started towing work at this position and entered the towing state.

[0098] like Figure 6 The figure shows the system workflow. The crew first presets the status of the tugboat at each position on the interface according to the actual situation. The system obtains the sensing data of the strain gauges at each point in real time. The system determines the actual working status of each point, which is generally divided into three states: no operation state, towing operation state, and jacking operation state. Among them, the towing operation state and the jacking operation state are collectively referred to as the jacking operation state. The system compares the monitored status with the preset working status. If the actual monitored working status does not match the preset working status, an alarm is issued to help the crew and make judgments.

[0099] The present invention obtains the working status information of the tugboat by installing strain gauges on the ship. The present invention uses strain gauges as sensors to sense the working status of the tugboats around the ship, so that the crew can immediately know whether the tugboat is towing or pushing. The system is real-time, avoiding carelessness of personnel and accidents caused by information asymmetry.

[0100] In the embodiments provided by the present invention, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the above-mentioned module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0101] It should be noted that, in the present invention, the terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element limited by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0102] Although the embodiments disclosed in the present invention are as above, the above contents are only embodiments adopted for facilitating the understanding of the present invention and are not intended to limit the present invention. Any technician in the technical field to which the present invention belongs can make any modifications and changes in the form and details of the implementation without departing from the spirit and scope disclosed in the present invention, but the patent protection scope of the present invention shall still be subject to the scope defined in the attached claims.

Claims

1. A shipborne tugboat status monitoring system, characterized in that: The system comprises: a strain sensor, arranged at a preset position of the vessel, for detecting the force applied to the vessel by the tugboat; a calculation unit connected to the strain sensor, and determining an actual working state of the tugboat based on a force applied by the tugboat to the vessel detected by the strain sensor; The early warning unit is connected to the calculation unit, and compares the actual working state of the tugboat with the preset working state, and issues an early warning when the actual working state of the tugboat does not match the preset working state.

2. The shipborne tugboat status monitoring system according to claim 1, characterized in that: The strain sensor includes a plurality of strain sensor arrays, and the preset positions of the ship include the towing piles of the ship and the two sides of the ship; The strain sensor is arranged at a preset position of the ship and is used to monitor the force applied by the tugboat to the ship, including: The strain sensor array is arranged on the towing bollard of the ship and / or the two sides of the ship, and is used to monitor the towing force and / or thrust force applied to the ship by the tugboat.

3. A shipborne tugboat status monitoring method based on the shipborne tugboat status monitoring system according to claim 1 or 2, characterized in that: The method comprises: Obtain the force applied by the tugboat to the ship detected by the strain sensor to determine the actual working state of the tugboat; The actual working state of the tugboat is compared with the preset working state, and an early warning is issued when the actual working state of the tugboat does not match the preset working state.

4. The method for monitoring the state of a ship-borne tugboat according to claim 3, characterized in that: The step of obtaining the force applied by the tugboat to the ship detected by the strain sensor and determining the actual working state of the tugboat comprises: When the force applied by the tugboat to the ship is greater than a preset threshold, determining that the actual working state of the tugboat is a jacking operation state; When the force applied by the tugboat to the ship is less than or equal to a preset threshold, it is determined that the actual working state of the tugboat is a non-operating state.

5. The method for monitoring the state of a ship-borne tugboat according to claim 4, characterized in that: The preset threshold value includes a preset jacking threshold value and a preset towing threshold value, and the jacking operation state includes a jacking operation state and a towing operation state; The step of determining that the actual working state of the tugboat is a jacking operation state when the force applied by the tugboat to the ship is greater than a preset threshold value comprises: When the force applied by the tugboat to the ship is greater than a preset pushing threshold, determining that the actual working state of the tugboat is a pushing operation state; When the force applied by the tugboat to the vessel is greater than a preset towing threshold, it is determined that the actual working state of the tugboat is a towing operation state.

6. The method for monitoring the state of a ship-borne tugboat according to claim 3, characterized in that: The step of comparing the actual working state of the tugboat with the preset working state and issuing an early warning when the actual working state of the tugboat does not match the preset working state comprises: Get pre-defined preset work status process; Comparing the actual working state of the tugboat with the preset working state in a pre-established preset working state process; When the actual working state of the tugboat does not match the preset working state, an early warning is issued.

7. A shipborne tugboat status monitoring device, characterized in that: The device comprises: A calculation module, used to obtain the force applied by the tugboat to the ship detected by the strain sensor, and determine the actual working state of the tugboat; The early warning module is used to compare the actual working state of the tugboat with the preset working state, and issue an early warning when the actual working state of the tugboat does not match the preset working state.

8. A computer device comprising a memory, a processor and a computer program stored in the memory, characterized in that: The processor executes the computer program to implement the steps of the shipborne tugboat condition monitoring method according to any one of claims 3 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the shipborne tugboat condition monitoring method according to any one of claims 3 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that The computer program is YH2453239CN right Request Letter When executed by the processor, the steps of the shipborne tugboat status monitoring method described in any one of claims 3 to 6 are implemented.

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