A method and device for self-adaptive mooring of a wharf berth

Abstract

The application discloses a method and equipment for self-adaptive mooring of a wharf berth, and the method comprises the following steps: obtaining the ship size, relative position of the ship and the wharf, and the distance between the ship and the wharf, so as to adjust the distance between two mooring bitts on the berth according to the ship size; in the case that the distance between the ship and the wharf is less than the preset berth distance, the two mooring lines of the ship to be berthed are thrown to the berth by a mooring gun according to the relative position of the ship and the wharf; in the case that the two mooring lines are fixed to the winch of the movable winch corresponding to the mooring bitt of the berth, the movable winch is triggered to automatically collect the two mooring lines, and the offset angle and the 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 berth; and the target movable winch corresponding to the offset angle is controlled to rotate according to the offset distance, so that the ship to be berthed is parked at the specified position of the berth.

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 cables for dock berths. Background Art

[0002] In the shipping industry, berthing a ship at a dock is a critical and complex operation that requires a high degree of precision, coordination, and safety. Traditional berthing methods rely primarily on manual operation by the ship's sailors and the ship's own propulsion system. When a ship approaches the dock, the sailors first need to use a cable gun or manually throw one end of the cable to accurately pass it to the dock staff. This process requires the sailors to have excellent force control, sense of direction, and accuracy, as the transfer of the cable not only affects the smooth subsequent berthing process but also directly affects the safety of the dock staff. Once the cable is successfully transferred, the dock staff will quickly secure it to the mooring bollard to provide initial anchoring force for the ship.

[0003] Next, the ship's pilot needs to manipulate the ship's thrusters and steering rudder, meticulously adjusting the ship's position and attitude based on the dock's location, wave strength, wind direction, and the ship's own dynamic characteristics. This process often requires multiple attempts and adjustments, as natural factors such as waves and wind are constantly changing and can interfere with the ship's berthing. Furthermore, the pilot's professional level and experience directly impact the efficiency and safety of berthing. As the ship approaches the dock, the onboard crew must work closely together to wind and secure the cable to the ship's bollards. This step also requires a high degree of coordination and precision, as the cable's securing method directly affects the ship's stability and safety at the dock.

[0004] However, traditional berthing methods present numerous challenges. Particularly in rough seas, the violent surge of waves and powerful winds significantly increase the difficulty and risk of berthing. The ship's swaying and drifting in the wind and waves make the berthing process even more difficult to control, placing higher demands on the sailors' operational skills and mental fortitude. Furthermore, the safety of operators is threatened, as they are vulnerable to the impact of waves and wind while working on deck, posing a risk of falls and injuries. 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 is used to solve the technical problems that existing ship berthing relies on manual labor, has high requirements for professional skills, and poses safety risks.

[0006] In one aspect, an embodiment of the present application provides a method for adaptively cable-taping 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 bollards on the pier according to the ship size;

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

[0009] When the two cables are fixed to the winches of the movable winch corresponding to the bollards of the berthing pier, the movable winch is triggered to automatically reel in 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 pier;

[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 pier.

[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 provided at the berthing terminal, and the detection device is used to monitor the berthing ship in real time during the berthing process to obtain the ship size corresponding to the berthing ship;

[0013] 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 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.

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

[0015] A control box is provided on the berthing pier, and two movable winches are provided within a designated position of the berthing pier; wherein the movable winches are provided with a winch, and the winch is provided with a fixing device for fixing a cable, and a cable bollard is provided 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 bollards on the berthing pier according to the ship size, so that the distance between the bollards matches the ship size.

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

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

[0019] If the comparison result shows that the distance between the ship and the pier is less than the preset berth distance, determining the target orientation and target distance of the berthing pier relative to the ship to be berthed according to the relative positions of the ship and the pier;

[0020] generating, by a control box and according to the direction and distance, a control instruction for the ship to be berthed, 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-skimming gun toward the target direction of the berthing pier and to throw the cable-skimming gun to the target distance, so that the two cables of the ship to be berthed are thrown to the berthing pier.

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

[0023] Arrange a track on the berthing pier, and a movable base that can move along the track, and install a movable winch and a mooring bollard on the movable base;

[0024] Winding the two cables from the outside of the corresponding 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 reel in the two cables based on the mobile base, so that the vessel to be berthed moves toward the berthing pier.

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

[0027] During the process of retracting the two cables, the detection device provided on the berthing pier is used to monitor the berthing ship in real time, and obtain the position of the berthing ship 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 berthing 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 pier specifically includes:

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

[0031] The target movable winch is controlled to rotate forward or reverse the number of rotations 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 terminal.

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

[0033] providing a cable detection device on the movable winch;

[0034] When the berthing vessel 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 ship and the dock 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 current distance between the ship and the dock, specifically including:

[0037] Determining a target cable tension value corresponding to the current ship-pier distance based on the ship-pier distance;

[0038] comparing the real-time cable tension obtained in real time with the target cable tension value, and if the real-time cable tension is less than the target cable tension value, determining a corresponding first tension difference, and controlling the corresponding movable winch 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 provided on the berthing pier, for obtaining 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 provided within the designated position of the berthing pier, for driving the cable to be reeled in, so as to move the berthing vessel toward the berthing pier;

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

[0044] a winch provided on the movable winch 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 is provided on the berthing pier, and 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 invention provides a method and device for adaptively cable-taping a berth at a dock, which has at least the following beneficial effects:

[0047] By acquiring ship size information in real time, the spacing of mooring bollards can be dynamically adjusted to ensure that the spacing of mooring bollards 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 accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:

[0049] Figure 1 A flowchart of a method for self-adaptive mooring of a wharf berth provided by an embodiment of the application.

[0050] Figure 2 An internal structure diagram of a device for self-adaptive mooring of a wharf berth provided by an embodiment of the application.

[0051] In the diagram, 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 mooring bitt. DETAILED DESCRIPTION

[0052] To make the objectives, technical solutions, and superiorities of the application clearer, the following will be a clear and complete description of the technical solutions of the application in combination with the specific embodiments of the application and corresponding drawings. Obviously, the described embodiments are only some of the embodiments of the application, but not all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the application.

[0053] The following will be a detailed description of the technical solutions provided by the embodiments of the application in combination with the drawings.

[0054] Figure 1 A flowchart of a method for self-adaptive mooring of a wharf berth provided by an embodiment of the application.

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

[0056] It should be noted that the server can be a single device or a system composed of multiple devices, i.e., a distributed server, and the application does not make specific limitations on this.

[0057] As shown in the diagram, the method for self-adaptive mooring of a wharf berth provided by an embodiment of the application comprises: Figure 1

[0058] 101, obtaining the ship size, relative position of the ship and the wharf, and the distance between the ship and the wharf, to adjust the distance between the two mooring bitts on the berthing wharf according to the ship size.

[0059] ​Specifically, in one embodiment 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:

[0060] A detection device is installed at the berthing terminal, and the detection device is used to monitor the berthing ship in real time to obtain the corresponding ship size of 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 near the berthing pier. This device emits a laser beam and receives the reflected signal, processing it to accurately measure the vessel's dimensions, including key parameters such as length, width, and height. When the vessel approaches the pier, the laser scanning detection device automatically activates and performs a full-scale scan of the vessel. The scanned data is transmitted in real time to the system's central processing unit, where algorithms are used to quickly and accurately calculate the vessel's dimensions.

[0063] Multiple GPS receivers and radar sensors are also installed at the berthing terminal to obtain real-time location information for ships awaiting berthing. These devices continuously track the movement of the vessel, ensuring the accuracy and real-time nature of the location data. The system also pre-stores the precise location information of the berthing terminal, including the terminal's latitude and longitude coordinates, orientation, and other information. When a ship approaches the terminal, the system calculates the geometric relationship between the ship's real-time position and the terminal's location information to determine the relative position between the ship and the terminal, including the ship's azimuth and distance relative to the terminal. Specifically, the system calculates the vector difference between the ship's position and the terminal's position to determine the ship-to-terminal distance, or the straight-line distance from the ship's current position to the designated berthing point at the terminal. Furthermore, by analyzing the angle between the ship's movement direction and the terminal's orientation, the system determines the ship's offset angle relative to the terminal.

[0064] Data such as vessel size, relative position of the ship and the distance between the berth and the dock are transmitted in real time to the system's control box. Based on this data, the algorithm within the control box dynamically adjusts the spacing between the two mooring bollards at the berth to ensure they can accommodate vessels of varying sizes. Furthermore, when the distance between the ship and the dock falls below the preset berth spacing, the system automatically controls the cable-dropping gun to drop the ship's two cables to the berth based on the relative position of the ship and the dock. During this process, the system continuously monitors the changes in the ship's position to ensure the cables are accurately dropped to the designated locations.

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

[0066] A control box is provided on the berthing pier, and two movable winches are provided within a designated location of the berthing pier; wherein the movable winches are provided with a winch, and the winch is provided with a fixing device for fixing a cable, and a cable bollard is provided 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 has built-in 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 designated position range of the berthing terminal. These two winches are flexibly designed and can move along tracks or designated paths on the terminal to accommodate ships of different sizes. Each movable winch is equipped with a winch, which is provided with a device for fixing the cable, such as a cable clamp or cable hook. A cable pile is provided at a position opposite to the winch to provide a stable support point when the winch reels in the cable.

[0069] When a vessel approaching berthing approaches the dock, laser scanning detection devices or other measurement methods are used to obtain the vessel's dimensions, including length and width. This information is then input into a control box. An algorithm within the control box calculates the ideal spacing between the two bollards based on the vessel's dimensions, ensuring that the bollards accommodate the vessel's dimensions and provide stable support for the cable. The control box then issues control commands, driving the two movable winches along a track or designated path, adjusting the distance between them to match the bollard spacing to the vessel's dimensions. During this process, the control box continuously monitors the winch positions to ensure accurate adjustment of the bollard spacing.

[0070] Once the bollard spacing is adjusted, the crew or automated system drops the ship's mooring line to the bollard near the berthing pier. The crew or automated system secures the line to the capstan's cable fixture and activates the movable winch to automatically reel in the line. During this process, the control box fine-tunes the winch's rotation speed and direction based on the ship's real-time position and offset, ensuring the ship docks smoothly and accurately at the designated location.

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

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

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

[0074] If 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 positions of the ship and the berth;

[0075] Generate control instructions for the ship to be berthed based on the direction and distance through the control box, 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 toward 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 vessel position monitoring system is installed at the berthing terminal. This system acquires real-time position information of the vessel to be berthed and, combined with the known location information of the berthing terminal, calculates the ship-berth distance—the straight-line distance between the vessel's current position and the designated berthing point at the terminal. The system also presets a berth distance threshold in the control box to determine whether the vessel is close enough to the terminal for line-dropping operations. The system compares the calculated real-time ship-berth distance with the preset berth distance to determine whether the vessel has entered the appropriate range for line-dropping operations.

[0078] If the comparison results indicate that the distance between the ship and the berth is less than the preset berth distance, the system determines the target bearing and target distance of the berth relative to the vessel, based on the relative position of the vessel and the berth—the angular direction and distance difference between the vessel's current position and the designated berthing point at the berth. The target bearing refers to the direction the cable skimmer must point to ensure the cable is accurately dropped to the designated location on the berth. The target distance refers to the length of cable or the force required to drop the cable with the cable skimmer to accommodate the actual distance between the vessel and the berth.

[0079] Based on the determined target bearing and distance, the control box generates control instructions for the vessel to be moored. These instructions include parameters such as the angle of the line-dropping gun, the force of the drop, and the duration of the drop. The system wirelessly transmits these instructions to the line-dropping control system on the vessel to be moored. Upon receiving the instructions, the system automatically or manually executes the line-dropping operation.

[0080] The crew or automated system on the berthing vessel adjusts the direction and force of the cable-throwing gun based on received control commands. At the appropriate time, the crew or automated system triggers the cable-throwing gun, throwing the two cables toward the target berthing location and to the target distance. Once the cables reach the berthing terminal, dockside personnel or automated equipment secure them to the bollards, preparing for subsequent berthing operations.

[0081] 103. When two cables are fixed to the winches of the movable winch corresponding to the bollards at the berthing pier, the movable winch is triggered to automatically reel in 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 pier.

[0082] Specifically, in one embodiment of the present application, when two cables are fixed to a winch of a movable winch corresponding to a bollard at a berthing pier, triggering the movable winch to automatically reel in the two cables specifically includes:

[0083] A track and a movable base that can move along the track are set up 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 bollards to the winches of the corresponding movable winches, and fix them to the corresponding winches;

[0085] 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 reel in 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 installed on the dock, extending along the length or width of the dock and providing a path for the mobile base to move. The mobile base is designed with rollers or slides that match the tracks, enabling smooth and accurate movement along the tracks. A drive device, such as a motor or hydraulic cylinder, is installed on the mobile base to provide power for movement.

[0087] Two movable winches are mounted on a mobile base, each equipped with a capstan and a capstan drive. The capstan is used to wind and reel in the cable, while the capstan drive provides the power for the winch's rotation. A corresponding bollard is installed next to each movable winch. The bollard provides additional support and anchoring points when the winch reels in the cable, ensuring stability and security.

[0088] Wind the two cables from the outside of the corresponding bollards onto the corresponding winch drums. When winding, ensure that the cables are evenly distributed on the winch drums, avoiding any overlap or crossing. Secure the ends of the cables to the winch drums with a securing device such as a cable clamp, bolt, or carabiner. Ensure that the cables are securely fastened to prevent them from falling off or slipping during the reeling process.

[0089] Once both cables are secured to the capstans of the movable winches, the two movable winches are activated. The activation signal can be sent from a control box, a remote control, or a manual switch. Once the movable winches are activated, the winch drive begins to rotate the winches, automatically reeling in the cables. Simultaneously, the mobile base moves along the track, adjusting the winch's reeling speed and direction to maintain a stable relative position between the winch and the vessel. During the reeling process, the movable winches and the mobile base work together to gradually move the vessel toward the berthing pier. By controlling the winch's reeling speed and the mobile base's movement speed, the vessel's movement distance and direction can be precisely controlled.

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

[0091] During the process of reeling in the two cables, the detection device installed on the berthing pier monitors the berthing ship in real time and obtains the position of the berthing ship in real time to determine the relative position of the ship and the pier 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, an advanced detection device, such as a radar, LiDAR, or GPS receiver, is installed at the berthing terminal to monitor the berthing vessel in real time. This detection device continuously and accurately acquires the vessel's position information, including its longitude, latitude, heading, and speed. This information is transmitted in real time to a control box or central processing unit via a data cable or wireless network.

[0094] After receiving the ship's position information from the detection device, the control box or central processing unit (CPU) combines it with the known location information of the berthing terminal to calculate the ship's relative position to the terminal in real time. This relative position includes the ship's bearing angle and distance relative to the terminal. The bearing angle represents the angle between the ship's heading and the terminal's orientation, while the distance represents the straight-line distance from the ship's current position to the designated berthing point at the terminal.

[0095] Based on the current relative position of the vessel to the dock, the system further calculates the offset angle of the dock relative to the vessel. This offset angle represents the direction the vessel must adjust to ensure it berths along the correct path. The system also calculates the offset distance relative to the offset angle. This offset distance represents the distance the vessel must move to reach the designated berthing position. This offset distance can be dynamically adjusted based on factors such as the vessel's size, speed, and dock layout.

[0096] The system transmits the calculated offset angle and distance via control commands to the bridge or automated system of the vessel to be berthed. Based on these commands, the crew or automated system adjusts the vessel's course and speed, moving the vessel along the offset angle and distance. During this movement, the detection device continues to monitor the vessel in real time and updates its position. Based on this updated position information, the system dynamically adjusts control commands to ensure the vessel docks 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 pier, the cable detection device obtains the cable data of the two cables in real time; the cable data includes cable tension and cable direction;

[0100] According to the cable data and the current distance between the ship and the dock, 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, each movable winch is equipped with an advanced cable detection device. This device monitors the cable tension and direction in real time, providing accurate data support for cable control during the berthing process. As the vessel approaches the berthing terminal, the cable detection device continuously operates, acquiring real-time cable data from both cables. This cable data includes cable tension (the amount of tension applied to the cable) and cable direction (the orientation of the cable relative to the winch or vessel).

[0102] The system adjusts the cable tension based on real-time cable data and the current distance between the ship and the dock. If the cable tension is too high, the system may command the movable winch to loosen the cable appropriately to reduce tension and prevent damage to the cable or the ship's structure. If the cable tension is too low, the system will command the winch to tighten the cable to ensure the ship can dock stably.

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

[0104] In one embodiment of the present application, the cable tension is adjusted based on the cable data and the current distance between the ship and the dock, specifically including:

[0105] According to the current distance between ships and docks, the target cable tension value corresponding to the distance between ships and docks is determined;

[0106] Comparing the real-time cable tension obtained in real time with the target cable tension value, if the real-time cable tension is less than the target cable tension value, determining a corresponding first tension difference, and controlling the corresponding movable winch 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-to-pier distance, taking into account the ship's type, size, load, and berthing characteristics (such as water depth, tide, wind current, etc.) through a preset algorithm or table lookup method. The target cable tension value is the ideal tension value to ensure the ship can berth stably, neither too high to damage the cable or ship structure, nor too low to cause the ship to lose control or deviate from the berthing path.

[0109] During berthing, the system uses a cable detection device installed on the movable winch to obtain real-time cable tension in both cables. 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, the system calculates a corresponding first tension difference, i.e., the difference between the target cable tension and the real-time cable tension. The system controls the corresponding movable winch to increase tension by tightening the cable until the real-time cable tension reaches the target cable tension. If the real-time cable tension is greater than the target cable tension, the system calculates a corresponding second tension difference, i.e., the difference between the real-time cable tension and the target cable tension. The system controls the corresponding movable winch to reduce tension by loosening the cable to reduce tension so that the cable tension returns to the preset range.

[0111] Throughout the berthing process, the system continuously monitors real-time cable tension and dynamically adjusts the target cable tension based on changes in the distance between the ship and the pier and the influence of external environmental factors. The system uses a feedback control mechanism to compare the real-time cable tension with the target cable tension value, and adjusts the pull output of the movable winch in real time to ensure that the cable tension is always 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 vessel 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, controlling the target movable winch corresponding to the offset angle to rotate so as to dock the vessel to be berthed at a designated position of the berthing terminal specifically includes:

[0114] Determine the corresponding target movable winch among the two movable winches according to the offset angle, and determine the corresponding rotation direction and number of rotations of the target movable winch according to the offset distance; wherein the rotation direction includes forward rotation and reverse rotation;

[0115] The target movable winch can be controlled to rotate forward or reverse according to the rotation direction to adjust the moving position of the ship to be berthed so that the ship to be berthed can dock 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 vessel to be berthed based on real-time monitoring data, it determines the target winch from the two movable winches based on this offset angle. The sign of the offset angle determines the target winch selected. For example, if the offset angle is positive, indicating that the vessel needs to move to the right (assuming the ship's forward direction is the left, negative, and the right is positive), the right movable winch is selected as the target winch; conversely, if the offset angle is negative, the left movable winch is selected.

[0117] Based on 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 sign of the offset distance. If the offset distance is positive, indicating that the vessel needs to move forward closer to the dock, the target winch must rotate forward to reel in the cable and pull the vessel closer. If the offset distance is negative (in actual berthing, this typically requires adjustment via the action of the other winch or the vessel's own power), fine-tuning the overall position may be achieved by adjusting the action of the other winch or combining it with the vessel's power. However, under the logic of this direct control, this can be simplified to achieve this goal by combining the actions of both winches rather than directly reversing the winch (as reversing is usually used to release the cable). However, in this description of single winch control, we assume that adjustment is achieved through different numbers of forward rotations or by combining other methods (such as the vessel's own power). The number of rotations is calculated based on the specific offset distance and the winch's winding diameter to ensure that the length of cable reeled in or released by the winch matches the offset distance.

[0118] Based on the determined rotation direction and number of revolutions, the system issues control commands to the target movable winch. Upon receiving the control commands, the target movable winch rotates forward or (if necessary, through specific logic) reversely in the specified direction and number of revolutions. The winch's rotation reels in or out the cable, adjusting the position of the vessel to be berthed.

[0119] While the winch is adjusting the vessel's position, the system continues to monitor the vessel in real time through detection devices, updating the offset angle and distance in real time. Based on these updated offset angles and distances, the system dynamically adjusts control commands to ensure the vessel docks accurately and smoothly at the designated berthing location.

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

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

[0122] The detection device 5 is provided on the berthing pier, and is 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;

[0123] A movable winch 1 is provided within the designated location of the berthing pier, and is used to drive the cable to be reeled in, so as to move the berthing vessel toward the berthing pier;

[0124] The cable detection device 6 arranged on the movable winch 1 is used to acquire the cable data of the two cables in real time.

[0125] The winch 2 arranged on the movable winch is used to wind the cable, and the fixing device for fixing the cable is arranged on the winch, and the bollard 7 is arranged at the position opposite to the winch.

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

[0127] The device further comprises the movable base 3 used to install the movable winch and the bollard, and the track 4 arranged on the berthing wharf is used to place the movable base 3 which can move.

[0128] The embodiments in the present application are described in a progressive manner, and the same and similar parts among the embodiments can be referred to each other. Each embodiment mainly describes the difference from other embodiments. Especially, the device and medium embodiments are described simply because they are basically similar to the method embodiments, and the relevant parts can be referred to the part of the method embodiments.

[0129] The above describes the specific embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the acts or steps recited in the claims can be performed in a different order than those described in the embodiments, and still achieve desirable results. Also, the processes depicted in the figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In certain implementations, multitasking and parallel processing can be advantageous.

[0130] The device and medium provided by the embodiments of the present application are one-to-one corresponding to the method, and therefore, the device and medium also have the similar beneficial technical effects as the method. Since the beneficial technical effects of the method have been described in detail above, the beneficial technical effects of the device and medium will not be described here.

[0131] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can be in the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can be in the form of a computer program product implemented on one or more computer usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing 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 produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. 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 that can direct a computer or other programmable data processing device to work 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 The 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 operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

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

[0136] 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. Memory is an example of a computer-readable medium.

[0137] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The 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 disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic 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 transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0138] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0139] The foregoing is merely 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 modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A method for adaptively cable-taping at 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 bollards on the pier according to the ship size; When the distance between the ship and the pier is less than the preset berth distance, controlling the cable-skimming gun to throw the two cables of the ship to be berthed to the berthing pier according to the relative position of the ship and the pier; When the two cables are fixed to the winches of the movable winch corresponding to the bollards of the berthing pier, the movable winch is triggered to automatically reel in 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 pier; 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 pier.

2. The method for adaptively belting a berth at a dock 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 of the ship to be berthed, including: A detection device is provided at the berthing terminal, and the detection device is used to monitor the berthing ship in real time during the berthing process to obtain the ship size corresponding to the berthing ship; 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 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.

3. The method for adaptively belting a berth at a dock according to claim 1, characterized in that: Adjust the distance between the two mooring bollards on the berthing pier according to the vessel size, including: A control box is provided on the berthing pier, and two movable winches are provided within a designated position of the berthing pier; wherein the movable winches are provided with a winch, and the winch is provided with a fixing device for fixing a cable, and a cable bollard is provided 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 bollards on the berthing pier according to the ship size, so that the distance between the bollards matches the ship size.

4. The method for adaptively belting 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, controlling the cable-throwing gun to throw two cables of the ship to be berthed to the berthing pier according to the relative position of the ship and the pier specifically includes: Compare the real-time calculated ship-to-berth spacing with the preset berth spacing; If the comparison result shows that the distance between the ship and the pier is less than the preset berth distance, determining the target orientation and target distance of the berthing pier relative to the ship to be berthed according to the relative positions of the ship and the pier; generating, by a control box and according to the direction and distance, a control instruction for the ship to be berthed, 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-skimming gun toward the target direction of the berthing pier and to throw the cable-skimming gun to the target distance, so that the two cables of the ship to be berthed are thrown to the berthing pier.

5. The method for adaptively belting a berth at a dock according to claim 1, characterized in that: When the two cables are fixed to the winch of the movable winch corresponding to the bollard of the berthing pier, triggering the movable winch to automatically reel in the two cables specifically includes: Arrange a track on the berthing pier, and a movable base that can move along the track, and install a movable winch and a mooring bollard on the movable base; Winding the two cables from the outside of the corresponding 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 reel in the two cables based on the mobile base, so that the vessel to be berthed moves toward the berthing pier.

6. The method for adaptively belting a berth at a dock according to claim 1, characterized in that: Determining the offset angle and offset distance of the ship to be berthed based on the relative position between the real-time position of the ship and the berthing terminal specifically includes: During the process of retracting the two cables, the detection device provided on the berthing pier is used to monitor the berthing ship in real time, and obtain the position of the berthing ship 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 berthing berth relative to the ship to be berthed and an offset distance at the offset angle are determined.

7. The method for adaptively belting 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 a designated position of the berthing wharf specifically includes: Determining a corresponding target movable winch among the two movable winches according to the offset angle, and determining a rotation direction and number of rotations corresponding to the target movable winch according to the offset distance; wherein the rotation direction includes forward rotation and reverse rotation; The target movable winch is controlled to rotate forward or reverse the number of rotations 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 terminal.

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: providing a cable detection device on the movable winch; When the berthing vessel 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 ship and the dock 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. The method for adaptively belting a berth at a dock according to claim 8, characterized in that: According to the cable data and in combination with the current distance between ships and docks, the cable tension is adjusted, specifically including: Determining a target cable tension value corresponding to the current ship-pier distance based on the ship-pier distance; comparing the real-time cable tension obtained in real time with the target cable tension value, and if the real-time cable tension is less than the target cable tension value, determining a corresponding first tension difference, and controlling the corresponding movable winch 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 berth, characterized in that: The device comprises: A detection device installed at the berthing pier is 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 provided within the designated position of the berthing pier, for driving 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 provided on the movable winch 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 is provided on the berthing pier, and 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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