Method and equipment for self-adaptive cabling of wharf berth

Abstract

The invention discloses a wharf berth self-adaptive mooring method and equipment, and the method comprises the steps: obtaining the ship size of a to-be-berthed ship, the relative position of a ship wharf and the distance between the ship wharf, and adjusting the distance between two mooring bollards on the berthed wharf according to the ship size; under the condition that the ship wharf distance is smaller than the preset berth distance, according to the relative position of the ship wharf, a cable throwing gun is controlled to throw two cables of the ship to be berthed to the berthing wharf; under the condition that the two mooring ropes are fixed to a capstan of the movable winch corresponding to a mooring bollard of the berthing wharf, the movable winch is triggered to automatically take up the two mooring ropes, and the deviation angle and the deviation distance of the ship to be berthed are determined based on the relative position between the real-time position of the ship and the berthing wharf; and according to the offset distance, the target movable winch corresponding to the offset angle is controlled to rotate, so that the to-be-berthed ship is berthed to the designated position of the berthing wharf.

Description

Technical Field

[0001] The present application relates to the technical field of ship berths, and in particular to a method and device for adaptively belting a berth at a dock. Background Art

[0002] In the shipping industry, berthing a ship at a dock is a critical and complex operation process that requires a high degree of precision, coordination and safety. The traditional way of berthing a ship mainly relies on the manual operation of the sailors on board and the ship's own power system. When the ship approaches the dock, the sailors on board first need to use a cable gun or throw it manually to accurately pass one end of the cable to the staff on the dock. This process requires the sailors to have good force control, sense of direction and accuracy, because the transfer of the cable is not only related to the smooth progress of the subsequent berthing, but also directly affects the safety of the dock staff. Once the cable is successfully transferred, the dock staff will quickly fix it on the mooring pile to provide initial fixing force for the ship.

[0003] Next, the ship's driver needs to operate the ship's propeller and steering rudder to finely adjust the ship's position and attitude according to the location of the dock, the size of the waves, the direction of the wind, and the ship's own dynamic characteristics. This process often requires multiple attempts and adjustments, because natural factors such as waves and wind will continue to change and interfere with the ship's berthing. At the same time, the driver's professional level and experience also directly affect the efficiency and safety of berthing. As the ship gradually approaches the dock, the ship's staff need to work closely together to wrap and fix the cable to the ship's mooring pile. This step also requires a high degree of coordination and accuracy, because the way the cable is fixed directly affects the stability and safety of the ship at the dock.

[0004] However, there are many challenges in the traditional way of berthing ships. Especially in rough weather, the violent surge of waves and the strong effect of wind will greatly increase the difficulty and risk of berthing. The swaying and drifting of ships in the wind and waves make the berthing process more difficult to control, and put higher requirements on the sailors' operating skills and psychological quality. At the same time, the safety of operators will also be threatened, because they are easily impacted by waves and blown by wind when working on the deck, and there is a risk of falling and injury. Summary of the invention

[0005] The embodiments of the present application provide a method and device for adaptively berthing cables at a dock berth, which are used to solve the technical problems that the existing ship berthing relies on manual labor, has high requirements on the business level, and has safety risks.

[0006] On the one hand, an embodiment of the present application provides a method for adaptively cable-carrying a berth at a dock, comprising:

[0007] Obtaining the ship size, relative position of the ship and the pier, and the distance between the ship and the pier, so as to adjust the distance between two mooring piles on the berthing pier according to the ship size;

[0008] When the distance between the ship and the pier is less than the preset berth distance, according to the relative position of the ship and the pier, the cable-throwing gun is controlled to throw the two cables of the ship to be berthed to the berthing pier;

[0009] In the case where the two cables are fixed to the winch of the movable winch corresponding to the cable pile of the berthing pier, the movable winch is triggered to automatically retract the two cables, and based on the relative position between the real-time position of the ship and the berthing pier, the offset angle and offset distance of the ship to be berthed are determined;

[0010] According to the offset distance, the target movable winch corresponding to the offset angle is controlled to rotate, so as to dock the ship to be berthed at a designated position of the berthing wharf.

[0011] In one implementation of the present application, obtaining the ship size, relative position of the ship and the dock, and the distance between the ship and the dock of the ship to be berthed specifically includes:

[0012] A detection device is arranged at the berthing wharf, and the detection device is used to monitor the ship to be berthed in real time during the berthing process, so as to obtain the ship size corresponding to the ship to be berthed;

[0013] The ship position of the ship to be berthed during the berthing process is acquired in real time, so as to determine the relative position of the ship-pier between the berthing pier and the ship to be berthed, and the corresponding ship-pier distance based on the position information of the berthing pier and the ship position.

[0014] In one implementation of the present application, adjusting the distance between two mooring piles on the berthing pier according to the size of the ship specifically includes:

[0015] A control box is arranged on the berthing wharf, and two movable winches are arranged within the designated position range of the berthing wharf; wherein the movable winches are provided with a winch, the winch is provided with a fixing device for fixing the cable, and a cable bollard is arranged at a position opposite to the winch;

[0016] The ship size is input into a control box, so that the movable winch is controlled by the control box to adjust the distance between two mooring bollards on the berthing pier according to the ship size, so that the distance between the mooring bollards matches the ship size.

[0017] In one implementation of the present application, when the distance between the ship and the dock is less than the preset berth distance, according to the relative position of the ship and the dock, controlling the cable-throwing gun to throw two cables of the ship to be berthed to the berthing dock specifically includes:

[0018] Compare the real-time calculated ship-to-berth spacing with the preset berth spacing;

[0019] When the comparison result shows that the distance between the ship and the berth is smaller than the preset berth distance, determining the target orientation and target distance of the berth relative to the ship to be berthed according to the relative position of the ship and the berth;

[0020] generating a control instruction for the ship to be berthed according to the position and distance through a control box, and sending the control instruction to the ship to be berthed;

[0021] According to the control instruction, the ship to be berthed is controlled to throw the cable-throwing gun toward the target direction of the berthing wharf and throw the cable-throwing gun to the target distance, so that the two cables of the ship to be berthed are thrown to the berthing wharf.

[0022] In one implementation of the present application, when the two cables are fixed to the winch of the movable winch corresponding to the cable pile of the berthing pier, triggering the movable winch to automatically retract the two cables specifically includes:

[0023] A track and a movable base that can move along the track are arranged on the berthing wharf, and a movable winch and a mooring bollard are installed on the movable base;

[0024] Winding the two cables from the outside of the corresponding cable bollards to the winches of the corresponding movable winches, and fixing them to the corresponding winches;

[0025] When the two cables are fixed to the winches of the movable winches, the two movable winches are triggered to start, so as to automatically collect the two cables based on the mobile base, so that the ship to be berthed moves toward the berthing pier.

[0026] In one implementation of the present application, based on the relative position between the real-time position of the ship and the berthing terminal, determining the offset angle and offset distance of the ship to be berthed specifically includes:

[0027] During the process of collecting the two cables, the detection device provided on the berthing pier is used to monitor the berthing ship in real time, and the position of the berthing ship is obtained in real time to determine the relative position of the ship and the pier at the current moment;

[0028] Based on the relative position of the ship and the berth at the current moment, an offset angle of the berth relative to the ship to be berthed and an offset distance at the offset angle are determined.

[0029] In one implementation of the present application, according to the offset distance, controlling the target movable winch corresponding to the offset angle to rotate so as to dock the ship to be berthed at the designated position of the berthing wharf specifically includes:

[0030] According to the offset angle, a corresponding target movable winch is determined among the two movable winches, and according to the offset distance, a rotation direction and number of rotations corresponding to the target movable winch are determined; wherein the rotation direction includes forward rotation and reverse rotation;

[0031] The target movable winch is controlled to rotate forward or reversely according to the rotation direction to adjust the moving position of the ship to be berthed so that the ship to be berthed docks at the designated position of the berthing wharf.

[0032] In one implementation of the present application, after triggering the movable winch to automatically retract the two cables, the method further includes:

[0033] A cable detection device is provided on the movable winch;

[0034] When the berthing ship approaches the berthing wharf, the cable data of the two cables are acquired in real time by the cable detection device; wherein the cable data includes cable tension and cable direction;

[0035] According to the cable data and in combination with the distance between the ships and docks at the current moment, the cable tension is adjusted, and according to the adjusted cable tension, the two cables are controlled to move in the cable direction.

[0036] In one implementation of the present application, the cable tension is adjusted according to the cable data and in combination with the distance between the ship and the dock at the current moment, specifically including:

[0037] According to the current ship-pier distance, determine the target cable tension value corresponding to the ship-pier distance;

[0038] The real-time cable tension obtained in real time is compared with the target cable tension value, and if the real-time cable tension is less than the target cable tension value, a corresponding first tension difference is determined, and the corresponding movable winch is controlled to increase the first tension difference until the target cable tension value is reached;

[0039] If the real-time cable tension is greater than the target cable tension value, a corresponding second tension difference is determined, and the corresponding movable winch is controlled to reduce the second tension difference so that the cable tension is within a preset range.

[0040] On the other hand, an embodiment of the present application further provides a device for adaptively belting a berth at a dock, the device comprising:

[0041] A detection device disposed on the berthing pier, used to obtain the ship size of the ship to be berthed, the relative position of the ship and the pier, and the distance between the ship and the pier;

[0042] A movable winch disposed within the designated position of the berthing pier, used to drive the cable to be reeled in, so that the berthing vessel moves toward the berthing pier;

[0043] A cable detection device provided on the movable winch, for acquiring cable data of two cables in real time;

[0044] A winch disposed on the movable winch, used for winding a cable, the winch being provided with a fixing device for fixing the cable, and a cable bollard being provided at a position opposite to the winch;

[0045] A control box arranged on the berthing wharf is used to control the detection device, the movable winch, the cable detection device, the capstan, the fixing device and the mooring bollard.

[0046] The present application provides a method and device for adaptively cable-carrying a berth at a dock, which at least has the following beneficial effects:

[0047] By acquiring ship size information in real time, the spacing of mooring piles can be adjusted dynamically to ensure that the spacing of mooring piles matches the ship size, thereby improving the stability and safety of mooring, reducing the difficulty of mooring due to differences in ship size, and improving the berthing efficiency of the dock; by intelligently judging the distance between the ship and the dock and automatically controlling the mooring gun to throw the cable when the distance is appropriate, the complexity and risk of manual operation are reduced, the accuracy and efficiency of the berthing process are improved, and the workload of the crew is reduced; by automatically collecting the cable and determining the offset angle and distance according to the real-time position of the ship, precise control of the ship's berthing process is achieved, errors caused by human factors are reduced, and the accuracy and safety of berthing are improved; by precisely controlling the rotation of the movable winch, the position of the ship can be adjusted in real time to ensure that the ship is accurately docked at the designated location, improving the utilization rate and berthing efficiency of the dock, and reducing the risk of collision between the ship and the dock. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0049] Figure 1 A schematic flow chart of a method for adaptively cable-carrying a berth provided in an embodiment of the present application;

[0050] Figure 2 A schematic diagram of the internal structure of a device for adaptively cable-carrying a berth provided in an embodiment of the present application.

[0051] Among them, 1 is a movable winch, 2 is a winch, 3 is a movable base, 4 is a track, 5 is a detection device, 6 is a cable detection device, and 7 is a cable bollard. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in combination with the specific embodiments of the present application and the corresponding drawings. 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 making creative work are within the scope of protection of the present application.

[0053] The technical solutions provided by various embodiments of the present application are described in detail below in conjunction with the accompanying drawings.

[0054] Figure 1 A schematic flow chart of a method for adaptively cable-carrying a berth provided in an embodiment of the present application.

[0055] The analysis method involved in the embodiments of the present application can be implemented by a terminal device or a server, and the present application does not impose any special restrictions on this. For the convenience of understanding and description, the following embodiments are described in detail by taking a server as an example.

[0056] It should be noted that the server may be a single device or a system consisting of multiple devices, that is, a distributed server, and this application does not make any specific limitation on this.

[0057] like Figure 1 As shown, a method for adaptively cable-carrying a berth provided in an embodiment of the present application includes:

[0058] 101. Obtain the ship size, relative position of the ship and the pier, and the distance between the ship and the pier of the ship to be berthed, so as to adjust the distance between two mooring piles on the berthing pier according to the ship size.

[0059] Specifically, in one embodiment of the present application, obtaining the ship size, the relative position of the ship and the dock, and the distance between the ship and the dock of the ship to be berthed specifically includes:

[0060] A detection device is installed at the berthing wharf, and the berthing ship is monitored in real time by the detection device to obtain the ship size corresponding to the berthing ship;

[0061] The ship position of the ship to be berthed during the berthing process is obtained in real time, so as to determine the relative position of the ship terminal between the berthing terminal and the ship to be berthed, as well as the corresponding ship terminal distance based on the position information of the berthing terminal and the ship position.

[0062] In one embodiment, an advanced laser scanning detection device is installed at a suitable location of the berthing terminal. The device can emit a laser beam and receive the reflected signal, and accurately measure the external dimensions of the ship to be berthed by processing these signals, including key parameters such as the length, width and height of the ship. When the ship to be berthed approaches the terminal, the laser scanning detection device automatically starts to scan the ship in all directions. The scanning data is transmitted to the central processing unit of the system in real time, and the size information of the ship is quickly and accurately calculated through algorithm processing.

[0063] Multiple GPS receivers and radar sensors are also installed at the berthing terminal to obtain the location information of the ship to be berthed in real time. These devices can continuously track the movement trajectory of the ship to ensure the accuracy and real-time nature of the location data. At the same time, the system pre-stores the precise location information of the berthing terminal, including the latitude and longitude coordinates, orientation, etc. of the terminal. When the ship approaches the terminal, the system determines the relative position between the ship and the terminal, including the direction angle and distance of the ship relative to the terminal, based on the real-time location information of the ship and the location information of the terminal, by calculating the geometric relationship. Specifically, the system calculates the vector difference between the ship's position and the terminal's position to obtain the ship-to-terminal spacing, that is, the straight-line distance from the ship's current position to the designated berthing point at the terminal. At the same time, by analyzing the angle between the ship's moving direction and the terminal's orientation, the offset angle of the ship relative to the terminal is determined.

[0064] The acquired data such as ship size, relative position and spacing between the ship and the dock are transmitted to the control box of the system in real time. Based on these data, the algorithm in the control box dynamically adjusts the spacing between the two mooring piles on the berthing dock to ensure that the mooring piles can adapt to ships of different sizes. At the same time, when the distance between the ship and the dock is less than the preset berth spacing, the system automatically controls the cable gun to throw the two cables of the ship to the berthing dock according to the relative position of the ship and the dock. During this process, the system continuously monitors the position changes of the ship to ensure that the cables can be thrown accurately to the specified position.

[0065] In one embodiment of the present application, adjusting the distance between two mooring piles on the berthing pier according to the size of the ship specifically includes:

[0066] A control box is arranged on the berthing wharf, and two movable winches are arranged within the designated position of the berthing wharf; wherein the movable winches are provided with a winch, a fixing device for fixing the cable is arranged on the winch, and a cable bollard is arranged at a position opposite to the winch;

[0067] The ship size is input into the control box so that the movable winch is controlled by the control box to adjust the distance between two mooring bollards on the berthing pier according to the ship size so that the mooring bollard spacing matches the ship size.

[0068] In one embodiment, an intelligent control box is installed on the berthing terminal as the core processing unit of the system. The control box is equipped with advanced control algorithms and communication modules, which can receive and process data from various sensors and issue control instructions. Two movable winches are set within the specified position range of the berthing terminal. The two winches are flexibly designed and can move along tracks or specified paths on the dock to accommodate ships of different sizes. Each movable winch is equipped with a capstan, which is provided with a device for fixing the cable, such as a cable clamp or a cable hook. A cable pile is set at a position opposite to the capstan to provide a stable support point when the winch reels in the cable.

[0069] When the ship to be berthed approaches the dock, the ship's size information, including the length and width of the ship, is obtained through a laser scanning detection device or other measurement means. The obtained ship size information is input into the control box. The algorithm in the control box calculates the ideal spacing between the two mooring bollards based on the size of the ship to ensure that the mooring bollards can adapt to the size of the ship and provide stable support for the mooring bollards. The control box issues a control command to drive the two movable winches to move along the track or specified path, adjusting the distance between them so that the spacing between the mooring bollards matches the size of the ship. During this process, the control box continuously monitors the position of the winch to ensure accurate adjustment of the spacing between the mooring bollards.

[0070] When the spacing between the bollards is adjusted, the crew or the automated system throws the ship's cable near the bollards at the berthing pier. The crew or the automated system fixes the cable to the cable fixing device of the winch and starts the winch of the movable winch to automatically reel in the cable. During the process of reeling in the cable, the control box can fine-tune the rotation speed and direction of the winch according to the real-time position and offset of the ship to ensure that the ship can dock smoothly and accurately at the designated location.

[0071] 102. When the distance between the ship and the dock is less than the preset berth distance, the cable-throwing gun is controlled to throw the two cables of the ship to be berthed to the berthing dock according to the relative position of the ship and the dock.

[0072] Specifically, in one embodiment of the present application, when the distance between the ship and the dock is less than the preset berth distance, according to the relative position of the ship and the dock, controlling the cable-throwing gun to throw two cables of the ship to be berthed to the berthing dock specifically includes:

[0073] Compare the real-time calculated ship-to-berth spacing with the preset berth spacing;

[0074] When the comparison result shows that the distance between the ship and the berth is less than the preset berth distance, the target direction and target distance of the berth relative to the ship to be berthed are determined according to the relative position of the ship and the berth;

[0075] Generate control instructions for the ship to be berthed through the control box according to the direction and distance, and send the control instructions to the ship to be berthed;

[0076] According to the control instructions, the ship to be berthed is controlled to throw the cable gun to the target direction of the berthing terminal and the target distance, so that the two cables of the ship to be berthed are thrown to the berthing terminal.

[0077] In one embodiment, a ship position monitoring system is installed at the berthing terminal. The system can obtain the position information of the ship to be berthed in real time, and calculate the ship-berth distance, that is, the straight-line distance from the current position of the ship to the designated berthing point of the terminal, in combination with the known position information of the berthing terminal. At the same time, the system presets a berth distance threshold in the control box as a basis for judging whether the ship is close enough to the terminal for cable-dropping operation. The system compares the ship-berth distance calculated in real time with the preset berth distance to judge whether the ship has entered the range suitable for cable-dropping.

[0078] When the comparison result shows that the distance between the ship and the dock is less than the preset berth distance, the system determines the target direction and target distance of the berthing dock relative to the ship to be berthed based on the relative position of the ship and the dock, that is, the direction angle and distance difference between the current position of the ship and the designated berthing point of the dock. The target direction refers to the direction in which the cable gun needs to point to ensure that the cable can be thrown accurately to the designated position on the dock. The target distance refers to the length of cable or the throwing force that the cable gun needs to throw to adapt to the actual distance between the ship and the dock.

[0079] The control box generates control instructions for the ship to be berthed based on the determined target direction and target distance. These instructions include parameters such as the direction adjustment angle of the cable-cutting gun, the throwing force or the throwing time. The system sends the control instructions to the cable-cutting control system on the ship to be berthed through wireless communication. After receiving the instructions, the system can automatically or manually perform the cable-cutting operation.

[0080] The crew or automated system on the berthing vessel adjusts the direction and throwing force of the cable gun according to the control instructions received. At the right time, the crew or automated system triggers the cable gun to throw the two cables to the target direction of the berthing terminal and to the target distance. After the cables are thrown to the terminal, the staff or automated equipment on the terminal will fix the cables on the cable bollards to prepare for the subsequent berthing operation.

[0081] 103. When two cables are fixed to the winch of the movable winch corresponding to the cable pile of the berthing terminal, the movable winch is triggered to automatically retract the two cables, and the offset angle and offset distance of the ship to be berthed are determined based on the relative position between the real-time position of the ship and the berthing terminal.

[0082] Specifically, in one embodiment of the present application, when two cables are fixed to the winch of the movable winch corresponding to the cable pile of the berthing terminal, triggering the movable winch to automatically retract the two cables specifically includes:

[0083] A track and a movable base that can move along the track are set on the berthing pier, and a movable winch and a bollard are installed on the movable base;

[0084] Wind the two cables from the outside of the corresponding cable bollards to the winches of the corresponding movable winches, and fix them to the corresponding winches;

[0085] When two cables are fixed to the winches of the movable winches, the two movable winches are triggered to start, so as to automatically collect the two cables based on the mobile base, so that the vessel to be berthed moves toward the berthing pier.

[0086] In one embodiment, one or more tracks are provided on the berthing pier, and these tracks extend along the length or width direction of the pier to provide a path for the movement of the mobile base. The mobile base is designed with rollers or slide rails matching the tracks, and can move smoothly and accurately along the tracks. A driving device, such as a motor or a hydraulic cylinder, is installed on the mobile base to provide movement power.

[0087] Two movable winches are installed on the mobile base, each of which is equipped with a winch and a winch drive. The winch is used to wind and collect the cable, and the winch drive provides the power for the winch to rotate. Next to each movable winch, a corresponding bollard is installed. The bollard is used to provide additional support and fixing points when the winch collects the cable, ensuring the stability and safety of the cable.

[0088] Wind the two cables from the outside of the corresponding bollard to the winch of the corresponding movable winch. When winding, ensure that the cables are evenly distributed on the winch to avoid overlapping or crossing. Secure the ends of the cables to the fixings on the winch, such as cable clamps, bolts or locks. Ensure that the fixing is firm and reliable to prevent the cables from falling off or slipping during the retrieval process.

[0089] When both cables are fixed to the winches of the movable winches, the two movable winches are triggered to start. The start signal can be sent through the control box, or it can be operated by a remote control or a manual switch. After the movable winch is started, the winch drive device starts to rotate the winch and automatically retract the cable. At the same time, the mobile base moves along the track according to the retracting speed and direction of the winch to keep the relative position between the winch and the ship stable. During the retracting process of the cable, the movable winch and the mobile base work together to gradually move the berthing ship to be berthed toward the berthing terminal. By controlling the retracting speed of the winch and the moving speed of the mobile base, the moving distance and direction of the ship can be accurately controlled.

[0090] In one embodiment of the present application, based on the relative position between the real-time position of the ship and the berthing terminal, determining the offset angle and offset distance of the ship to be berthed specifically includes:

[0091] During the process of collecting the two cables, the detection device installed on the berthing dock is used to monitor the berthing ship in real time, and obtain the ship position of the berthing ship in real time to determine the relative position of the ship and the dock at the current moment;

[0092] Based on the relative position of the ship and the pier at the current moment, the offset angle of the berthing pier relative to the ship to be berthed and the offset distance at the offset angle are determined.

[0093] In one embodiment, a set of advanced detection devices, such as radar, LiDAR or GPS receivers, are installed at the berthing terminal to monitor the berthing ship in real time. The detection device can continuously and accurately obtain the position information of the berthing ship, including the longitude, latitude, heading and speed of the ship. This information is transmitted to the control box or central processing unit in real time via a data line or wireless network.

[0094] After the control box or central processing unit receives the ship position information from the detection device, it combines the known position information of the berthing terminal to calculate the relative position of the ship to the terminal at the current moment in real time. The relative position of the ship to the terminal includes the direction angle and distance of the ship relative to the terminal. The direction angle indicates the angle between the ship's heading and the direction of the terminal, and the distance indicates the straight-line distance from the current position of the ship to the designated berthing point of the terminal.

[0095] Based on the relative position of the ship to the dock at the current moment, the system further calculates the offset angle of the berthing dock relative to the ship to be berthed. The offset angle is the direction that the ship needs to adjust to ensure that the ship can berth along the correct path. At the same time, the system also calculates the offset distance at the offset angle. The offset distance is the distance the ship needs to move to reach the specified berthing position. The offset distance can be dynamically adjusted based on factors such as the size of the ship, speed, and layout of the berthing dock.

[0096] The system sends the calculated offset angle and offset distance to the navigation cabin or automation system of the ship to be berthed through control commands. The crew or automation system adjusts the ship's course and speed according to the received control commands, so that the ship moves along the offset angle and offset distance. During the movement, the detection device continues to monitor the ship in real time and updates the ship's position information in real time. The system dynamically adjusts the control commands according to the updated ship's position information to ensure that the ship can dock accurately and smoothly at the designated location.

[0097] In one embodiment of the present application, after triggering the movable winch to automatically retract the two cables, the method further includes:

[0098] A cable detection device is provided on the movable winch;

[0099] When the ship to be berthed approaches the berthing wharf, the cable data of the two cables are obtained in real time through the cable detection device; wherein the cable data includes cable tension and cable direction;

[0100] According to the cable data and the current distance between the ships and docks, the cable tension is adjusted, and according to the adjusted cable tension, the two cables are controlled to move in the cable direction.

[0101] In one embodiment, an advanced cable detection device is installed on each movable winch. This device can monitor the tension and direction of the cable in real time, and provide accurate data support for cable control during the berthing process. When the ship to be berthed approaches the berthing terminal, the cable detection device continues to work and obtains the cable data of the two cables in real time. The cable data includes the tension of the cable, that is, the tension on the cable, and the direction of the cable, that is, the direction of the cable relative to the winch or the ship.

[0102] The system adjusts the cable tension based on the cable data obtained in real time and the distance between the ship and the dock at the current moment. If the cable tension is too large, the system may instruct the movable winch to loosen the cable appropriately to reduce the tension and avoid damage to the cable or ship structure. If the cable tension is too small, the system will instruct the winch to tighten the cable to ensure that the ship can stably approach the dock.

[0103] While adjusting the cable tension, the system also controls the two cables to move in the corresponding direction according to the cable direction data. If the cable direction deviates from the predetermined berthing path, the system will correct the direction of the cable by adjusting the rotation direction or speed of the winch, so that the ship can berth along the correct path.

[0104] In one embodiment of the present application, the cable tension is adjusted according to the cable data and in combination with the distance between the ship and the dock at the current moment, specifically including:

[0105] According to the current ship-pier distance, determine the target cable tension value corresponding to the ship-pier distance;

[0106] The real-time cable tension obtained in real time is compared with the target cable tension value. If the real-time cable tension is less than the target cable tension value, a corresponding first tension difference is determined, and the corresponding movable winch is controlled to increase the first tension difference until the target cable tension value is reached;

[0107] If the real-time cable tension is greater than the target cable tension value, a corresponding second tension difference is determined, and the corresponding movable winch is controlled to reduce the second tension difference so that the cable tension is within a preset range.

[0108] In one embodiment, the system determines the target cable tension value corresponding to the current ship-pier distance, combined with the type, size, load and characteristics of the berthing pier (such as water depth, tide, wind current, etc.) of the ship through a preset algorithm or table lookup method. The target cable tension value is an ideal tension value to ensure that the ship can be stably berthed, which is neither too large to cause damage to the cable or ship structure, nor too small to cause the ship to lose control or deviate from the berthing path.

[0109] During the berthing process, the system obtains the real-time cable tension of the two cables through the cable detection device installed on the movable winch. The system compares the real-time cable tension with the target cable tension value to determine whether the real-time cable tension is within the ideal range.

[0110] If the real-time cable tension is less than the target cable tension value, the system calculates the corresponding first tension difference, that is, the difference between the target cable tension value and the real-time cable tension. The system controls the corresponding movable winch to increase the tension by tightening the cable until the real-time cable tension reaches the target cable tension value. If the real-time cable tension is greater than the target cable tension value, the system calculates the corresponding second tension difference, that is, the difference between the real-time cable tension and the target cable tension value. The system controls the corresponding movable winch to reduce the tension by loosening the cable to reduce the tension so that the cable tension returns to the preset range.

[0111] During the entire berthing process, the system continuously monitors the real-time cable tension and dynamically adjusts the target cable tension value according to the changes in the distance between the ship and the dock and the influence of external environmental factors. The system adopts a feedback control mechanism to adjust the tension output of the movable winch in real time based on the comparison results of the real-time cable tension and the target cable tension value to ensure that the cable tension is always kept within the ideal range.

[0112] 104. According to the offset distance, the target movable winch corresponding to the offset angle is controlled to rotate so as to dock the ship to be berthed at a designated position of the berthing terminal.

[0113] Specifically, in one embodiment of the present application, according to the offset distance, the target movable winch corresponding to the offset angle is controlled to rotate so as to dock the ship to be berthed at the designated position of the berthing wharf, specifically including:

[0114] According to the offset angle, the corresponding target movable winch is determined in the two movable winches, and according to the offset distance, the corresponding rotation direction and number of rotations of the target movable winch are determined; wherein the rotation direction includes forward rotation and reverse rotation;

[0115] According to the rotation direction control target, the movable winch can be rotated forward or reversely for a number of circles to adjust the moving position of the ship to be berthed so that the ship to be berthed can be docked at the designated position of the berthing terminal.

[0116] In one embodiment, after the system calculates the offset angle of the berthing terminal relative to the ship to be berthed based on the real-time monitoring data, the system will determine the corresponding target movable winch from the two movable winches based on the offset angle. The positive or negative value of the offset angle determines the selection of the target winch. For example, if the offset angle is positive, it means that the ship needs to move to the right (assuming that the ship's forward direction is the front, the left side is negative, and the right side is positive), then the movable winch on the right side is selected as the target winch; conversely, if the offset angle is negative, then the movable winch on the left side is selected.

[0117] According to the calculated offset distance, the system further determines the rotation direction and number of rotations of the target movable winch. The rotation direction is determined by the positive or negative offset distance. If the offset distance is positive, it means that the ship needs to move forward closer to the dock, then the target winch needs to rotate forward to collect the cable and pull the ship closer; if the offset distance is negative (in actual berthing, this usually means that it is necessary to adjust by the action of the winch on the other side or with the ship's own power), it is possible to fine-tune the overall position by adjusting the action of the winch on the other side or combining with the ship's power. Under the logic of this direct control, it can be simplified to not directly achieve this through the reversal of this winch (because reversal is usually used to loosen the cable), but to achieve the purpose by comprehensively controlling the actions of the winches on both sides. However, in the description of this single winch control, we assume that it is adjusted by rotating forward for different numbers of times or in combination with other methods (such as the ship's own power). The number of rotations is calculated based on the specific value of the offset distance and the winding diameter of the winch to ensure that the length of the cable collected or released by the winch matches the offset distance.

[0118] The system sends a control command to the target movable winch according to the determined rotation direction and number of rotations. After receiving the control command, the target movable winch rotates forward or (when necessary, through specific logic coordination) reversely according to the rotation direction and number of rotations required by the command. Through the rotation of the winch, the cable is pulled in or released, thereby adjusting the moving position of the ship to be berthed.

[0119] While the winch is adjusting the ship's position, the system continues to monitor the ship in real time through the detection device and updates the offset angle and offset distance in real time. The system dynamically adjusts the control instructions based on the updated offset angle and offset distance to ensure that the ship can dock accurately and smoothly at the designated position of the berthing terminal.

[0120] The above is an embodiment of the method proposed in this application. Based on the same inventive concept, the embodiment of this application also provides a device for adaptively belting a berth at a dock, and its structure is as follows: Figure 2 shown.

[0121] Figure 2 The internal structure diagram of a device for adaptively belting cables at a berth provided in an embodiment of the present application is shown in FIG. Figure 2 As shown, the device includes:

[0122] The detection device 5 provided on the berthing pier is used to obtain the ship size, the relative position of the ship and the pier, and the distance between the ship and the pier;

[0123] A movable winch 1 is arranged within the designated position of the berthing wharf, and is used to drive the cable to be collected so as to move the berthing ship toward the berthing wharf;

[0124] A cable detection device 6 provided on the movable winch 1 is used to obtain the cable data of the two cables in real time;

[0125] A capstan 2 provided on the movable winch, for winding the cable, a fixing device for fixing the cable is provided on the capstan, and a cable bollard 7 is provided at a position opposite to the capstan;

[0126] The control box installed on the berthing wharf is used to control the detection device, movable winch, cable detection device, capstan, fixing device and mooring bollard.

[0127] The equipment further comprises a mobile base 3 for installing a movable winch and a mooring bollard, and a track 4 arranged on the berthing pier for placing the movable mobile base 3 .

[0128] Each embodiment in this application is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device and medium embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0129] The above describes specific embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0130] The devices and media provided in the embodiments of the present application correspond one-to-one to the methods. Therefore, the devices and media also have similar beneficial technical effects as the corresponding methods. Since the beneficial technical effects of the methods have been described in detail above, the beneficial technical effects of the devices and media will not be repeated here.

[0131] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0132] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0133] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0134] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0135] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0136] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0137] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0138] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity 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, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0139] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A method for adaptively cable-carrying a berth, characterized in that: The method comprises: Obtaining the ship size, relative position of the ship and the pier, and the distance between the ship and the pier, so as to adjust the distance between two mooring piles on the berthing pier according to the ship size; When the distance between the ship and the pier is less than the preset berth distance, according to the relative position of the ship and the pier, the cable-throwing gun is controlled to throw the two cables of the ship to be berthed to the berthing pier; In the case where the two cables are fixed to the winch of the movable winch corresponding to the cable pile of the berthing pier, the movable winch is triggered to automatically retract the two cables, and based on the relative position between the real-time position of the ship and the berthing pier, the offset angle and offset distance of the ship to be berthed are determined; According to the offset distance, the target movable winch corresponding to the offset angle is controlled to rotate, so as to dock the ship to be berthed at a designated position of the berthing wharf.

2. A method for adaptively belting at a berth according to claim 1, characterized in that: Obtain the ship size, relative position of the ship and the dock, and the distance between the ship and the dock, including: A detection device is arranged at the berthing wharf, and the detection device is used to monitor the ship to be berthed in real time during the berthing process, so as to obtain the ship size corresponding to the ship to be berthed; The ship position of the ship to be berthed during the berthing process is acquired in real time, so as to determine the relative position of the ship-pier between the berthing pier and the ship to be berthed, and the corresponding ship-pier distance based on the position information of the berthing pier and the ship position.

3. A method for adaptively cable-carrying a berth at a dock according to claim 1, characterized in that: According to the size of the vessel, adjust the distance between the two mooring bollards on the berthing pier, including: A control box is arranged on the berthing wharf, and two movable winches are arranged within the designated position range of the berthing wharf; wherein the movable winches are provided with a winch, the winch is provided with a fixing device for fixing the cable, and a cable bollard is arranged at a position opposite to the winch; The ship size is input into a control box, so that the movable winch is controlled by the control box to adjust the distance between two mooring bollards on the berthing pier according to the ship size, so that the distance between the mooring bollards matches the ship size.

4. A method for adaptively cable-carrying a berth at a dock according to claim 1, characterized in that: When the distance between the ship and the pier is less than the preset berth distance, according to the relative position of the ship and the pier, controlling the cable-throwing gun to throw the two cables of the ship to be berthed to the berthing pier specifically includes: Compare the real-time calculated ship-to-berth spacing with the preset berth spacing; When the comparison result shows that the distance between the ship and the berth is smaller than the preset berth distance, determining the target orientation and target distance of the berth relative to the ship to be berthed according to the relative position of the ship and the berth; generating a control instruction for the ship to be berthed according to the position and distance through a control box, and sending the control instruction to the ship to be berthed; According to the control instruction, the ship to be berthed is controlled to throw the cable-throwing gun toward the target direction of the berthing wharf and throw the cable-throwing gun to the target distance, so that the two cables of the ship to be berthed are thrown to the berthing wharf.

5. The method for adaptively cable-carrying a berth at a dock according to claim 1, characterized in that: In the case where the two cables are fixed to the winch of the movable winch corresponding to the mooring pile of the berthing wharf, triggering the movable winch to automatically retract the two cables specifically includes: A track and a movable base that can move along the track are arranged on the berthing wharf, and a movable winch and a mooring bollard are installed on the movable base; Winding the two cables from the outside of the corresponding cable bollards to the winches of the corresponding movable winches, and fixing them to the corresponding winches; When the two cables are fixed to the winches of the movable winches, the two movable winches are triggered to start, so as to automatically collect the two cables based on the mobile base, so that the ship to be berthed moves toward the berthing pier.

6. A method for adaptively belting at a berth according to claim 1, characterized in that: Based on the relative position between the real-time position of the ship and the berthing wharf, determining the offset angle and offset distance of the ship to be berthed specifically includes: During the process of collecting the two cables, the detection device provided on the berthing pier is used to monitor the berthing ship in real time, and the position of the berthing ship is obtained in real time to determine the relative position of the ship and the pier at the current moment; Based on the relative position of the ship and the berth at the current moment, an offset angle of the berth relative to the ship to be berthed and an offset distance at the offset angle are determined.

7. A method for adaptively cable-carrying a berth at a dock according to claim 1, characterized in that: According to the offset distance, controlling the target movable winch corresponding to the offset angle to rotate so as to dock the ship to be berthed at the designated position of the berthing wharf specifically includes: According to the offset angle, a corresponding target movable winch is determined among the two movable winches, and according to the offset distance, a rotation direction and number of rotations corresponding to the target movable winch are determined; wherein the rotation direction includes forward rotation and reverse rotation; The target movable winch is controlled to rotate forward or reversely according to the rotation direction to adjust the moving position of the ship to be berthed so that the ship to be berthed docks at the designated position of the berthing wharf.

8. The method for adaptively belting a berth at a dock according to claim 1, characterized in that: After triggering the movable winch to automatically retract the two cables, the method further includes: A cable detection device is provided on the movable winch; When the berthing ship approaches the berthing wharf, the cable data of the two cables are acquired in real time by the cable detection device; wherein the cable data includes cable tension and cable direction; According to the cable data and in combination with the distance between the ships and docks at the current moment, the cable tension is adjusted, and according to the adjusted cable tension, the two cables are controlled to move in the cable direction.

9. A method for adaptively cable-carrying a berth at a dock according to claim 8, characterized in that: According to the cable data and in combination with the distance between ships and docks at the current moment, the cable tension is adjusted, specifically including: According to the current ship-pier distance, determine the target cable tension value corresponding to the ship-pier distance; The real-time cable tension obtained in real time is compared with the target cable tension value, and if the real-time cable tension is less than the target cable tension value, a corresponding first tension difference is determined, and the corresponding movable winch is controlled to increase the first tension difference until the target cable tension value is reached; If the real-time cable tension is greater than the target cable tension value, a corresponding second tension difference is determined, and the corresponding movable winch is controlled to reduce the second tension difference so that the cable tension is within a preset range.

10. A device for adaptively belting cables at a dock berth, characterized in that: The device comprises: A detection device disposed on the berthing pier, used to obtain the ship size of the ship to be berthed, the relative position of the ship and the pier, and the distance between the ship and the pier; A movable winch disposed within the designated position of the berthing pier, used to drive the cable to be reeled in, so as to move the berthing vessel toward the berthing pier; A cable detection device provided on the movable winch, for acquiring cable data of the two cables in real time; A winch disposed on the movable winch, used for winding a cable, the winch being provided with a fixing device for fixing the cable, and a cable bollard being provided at a position opposite to the winch; A control box arranged on the berthing wharf is used to control the detection device, the movable winch, the cable detection device, the capstan, the fixing device and the mooring bollard.

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