Autonomous ship leaving and berthing system

Abstract

The invention provides an autonomous ship leaving and berthing system, and relates to the technical field of intelligent ships. The autonomous ship leaving and berthing system comprises a decision adjustment device which is used for determining first navigation adjustment information according to image information, navigation information and obstacle position information in a preset range; the control device controls the ship to travel based on the first navigation adjustment information; the departing and berthing processing device obtains wharf information according to the image information; the decision adjustment device is used for determining second navigation adjustment information; and the control device controls the ship to travel based on the second navigation adjustment information so as to berth or leave the ship. According to the invention, through cooperative work of the environment sensing device, the conduction device, the decision adjustment device, the control device and the departure and berthing processing device, the capability of autonomous obstacle avoidance of the ship is realized. And meanwhile, when the ship is in an off-berthing stage, the automation degree and efficiency of the ship in the off-berthing stage are improved, and dependence on manual operation is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent ships, and in particular to an autonomous ship berthing and unberthing system. Background Art

[0002] At present, the berthing and unberthing of ships usually rely on the experience of pilots and captains to control and operate, which tests their ability to perceive the navigation characteristics of passing ships and their ability to identify their own movement status. According to statistics, most ship accidents in ports are caused by human factors such as poor operator skills. In actual applications, ships need external assistance to complete berthing and unberthing, resulting in a low degree of automation in ship berthing and unberthing.

[0003] Therefore, in order to improve the safety of ship berthing and reduce the dependence on manual operation, how to propose an autonomous ship berthing system has become a technical problem that needs to be solved urgently. Summary of the invention

[0004] In view of this, the present invention provides a system that enables a ship to autonomously complete berthing and unberthing, thereby reducing dependence on manual operation.

[0005] Specifically, the present invention is achieved through the following technical solutions:

[0006] According to a first aspect of the present invention, there is provided a system for autonomous unberthing and berthing of a ship, comprising: an environment sensing device for acquiring image information of a ship within a preset range; a communication and navigation device for acquiring navigation information of the ship and information on the position of obstacles within a preset range; a decision-making and adjustment device, respectively connected to the environment sensing device and the communication and navigation device, and configured to determine first navigation adjustment information based on the image information, navigation information and information on the position of obstacles within a preset range; a control device, connected to the decision-making and adjustment device, and configured to control the travel of the ship based on the first navigation adjustment information; an unberthing and berthing processing device, respectively connected to the environment sensing device, the communication and navigation device and the decision-making and adjustment device, and configured to determine whether there is a wharf within the preset range based on the image information, and to acquire wharf information if there is a wharf; the decision-making and adjustment device is further configured to determine second navigation adjustment information based on the wharf information, the image information, the navigation information and information on the position of obstacles within the preset range; the control device is further configured to control the travel of the ship based on the second navigation adjustment information for berthing or unberthing.

[0007] In some embodiments, the ship autonomous unberthing system further includes: a human-computer interaction device connected to the control device, the human-computer interaction device being used to send input information input by the user to the control device, and the control device being able to control the ship's travel based on the input information.

[0008] In some embodiments, the human-computer interaction device is also used to display image information, navigation information of the ship, obstacle position information within a preset range, first navigation adjustment information, second navigation adjustment information and dock information.

[0009] In some embodiments, the control device is also used to control the mode switching of the ship between the automatic driving mode and the manual driving mode. The ship autonomous berthing system also includes: an emergency braking device, which is used to determine whether the ship has emergency status information in the automatic driving mode. When the ship has emergency status information, an alarm is issued and the control device is used to switch to the manual driving mode.

[0010] In some embodiments, the emergency status information includes one or a combination of the following: communication failure information, navigation failure information, power failure information, and power supply failure information.

[0011] In some embodiments, the first navigation adjustment information includes a driving speed change and a heading angle; and / or the second navigation adjustment information includes a driving speed change and a heading angle.

[0012] In some embodiments, the decision adjustment device includes: a data conversion module, which is used to unify the data information in different formats; a data fusion module, which is used to fuse the data information obtained from the environmental perception device, the communication and navigation device, and the docking and departure processing device to obtain the fused data information; a calculation unit, which is used to calculate the fused data information to determine the first navigation adjustment information or the second navigation adjustment information.

[0013] In some embodiments, the environment perception device includes one or a combination of the following: a gimbal camera, a lidar, and a panoramic camera.

[0014] In some embodiments, the communication and navigation device includes one or a combination of the following: a wireless communication module, a navigation radar, a differential GPS, an AIS device, and an integrated navigation.

[0015] In some embodiments, the dock information includes one or a combination of the following: a distance between the dock and the ship, an azimuth angle of the dock relative to the ship, and a berth number.

[0016] The technical solution provided by the present invention brings at least the following beneficial effects: through the coordinated work of the environment sensing device, the communication and navigation device, the decision-making and adjustment device, the ship can automatically adjust the navigation state according to various information within the preset range, and realize the ability of the ship to autonomously avoid obstacles. At the same time, when the ship is in the stage of leaving the berthing, by obtaining the dock information, it is helpful for the ship to dock at the designated berth more accurately, improve the accuracy and success rate of berthing, generate the second navigation adjustment information of the ship when leaving the berthing, and control the ship's driving according to the information, improve the automation and efficiency of the ship when leaving the berthing, and reduce the dependence on manual operation. At the same time, the ship's autonomous leaving the berthing system determines the navigation adjustment information by integrating various information, can more accurately respond to complex navigation environments and obstacles, reduce the risk of accidents such as collisions, and ensure the safety of the ship during autonomous leaving the berthing and autonomous navigation. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0019] Figure 1 A block diagram of a ship autonomous berthing system provided in an embodiment of the present invention.

[0020] Figure 2 A block diagram of a cloud server provided in accordance with an embodiment of the present invention.

[0021] Figure 3 A structural diagram of the software architecture function provided for an embodiment of the present invention.

[0022] Figure 4 A block diagram of a prototype of a ship autonomous berthing and unberthing system and an environment sensing device provided in an embodiment of the present invention.

[0023] Figure 5 A block diagram of an interface of a ship autonomous berthing and unberthing system provided in an embodiment of the present invention.

[0024] Figure 6 This is one of the schematic diagrams of the installation position of the combined navigation provided by an embodiment of the present invention.

[0025] Figure 7 A schematic diagram of the installation position of the combined navigation and laser radar provided in an embodiment of the present invention.

[0026] Figure 8 A schematic diagram of the installation positions of the flight control protocol conversion module and the data conversion module provided in an embodiment of the present invention.

[0027] Fig. 9 The second schematic diagram of the installation position of the combined navigation provided by the embodiment of the present invention.

[0028] Fig.10 The third schematic diagram of the installation position of the combined navigation provided by the embodiment of the present invention.

[0029] Fig.11 A schematic diagram of the installation positions of the gimbal camera and the laser radar provided in an embodiment of the present invention.

[0030] in, Figures 1 to 11 The corresponding relationship between the reference numerals and component names in the figure is:

[0031] 10 Ship autonomous berthing system, 1 environment perception device, 12 laser radar, 122 first laser radar, 124 second laser radar, 126 third laser radar, 14 pan-tilt camera, 2 communication and navigation device, 22 combined navigation, 222 combined navigation main antenna, 224 combined navigation auxiliary antenna, 226 combined navigation DTU antenna, 3 decision-making and adjustment device, 32 data conversion module, 34 data fusion module, 342 first data fusion module, 344 second data fusion module, 36 computing unit, 4 control device, 5 berthing processing device, 6 human-computer interaction device, 7 emergency braking device. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] See also Figure 1The embodiment of the present invention provides an autonomous ship berthing and unberthing system 10, comprising: an environment perception device 1, for acquiring image information of a ship within a preset range; a communication and navigation device 2, for acquiring navigation information of the ship and information on the position of obstacles within the preset range; a decision adjustment device 3, connected to the environment perception device 1 and the communication and navigation device 2, respectively, for determining first navigation adjustment information according to the image information, navigation information and information on the position of obstacles within the preset range; a control device 4, connected to the decision adjustment device 3, for controlling the ship to travel based on the first navigation adjustment information; a berthing and unberthing processing device 5, connected to the environment perception device 1, the communication and navigation device 2 and the decision adjustment device 3, respectively, for determining whether there is a wharf within the preset range according to the image information, and acquiring wharf information if there is a wharf; the decision adjustment device 3 is also used to determine second navigation adjustment information according to the wharf information, image information, navigation information and information on the position of obstacles within the preset range; the control device 4 is also used to control the ship to travel based on the second navigation adjustment information to perform berthing or unberthing.

[0034] According to the ship autonomous berthing system 10 provided by the present invention, the environment perception device 1 can obtain the image or video data around the ship to determine the ship's navigation attitude perception information, and at the same time obtain the ship's navigation information and surrounding obstacle information through the navigation device 2. The ship's navigation information includes information such as the ship's attitude angle, position, speed and acceleration, and the ship includes a yacht. Through the coordinated work of the environment perception device 1, the navigation device 2, the decision adjustment device 3 and the control device 4, the ship can automatically adjust the navigation state according to various information within a preset range, and realize the ship's ability to autonomously avoid obstacles. At the same time, the ship autonomous berthing system 10 is also provided with a berthing processing device 5. When the ship is in the berthing stage, by obtaining the dock information, it helps the ship to dock at the designated berth more accurately, improve the accuracy and success rate of berthing, and combine the image information obtained by the environment perception device 1, the navigation information obtained by the navigation device 2 and the obstacle position information within the preset range, generate the second navigation adjustment information of the ship when leaving the berthing, and control the ship's travel according to the second navigation adjustment information, thereby improving the automation and efficiency of the ship when leaving the berthing and reducing the dependence on manual operation. At the same time, the ship autonomous berthing and unberthing system 10 integrates various information to determine navigation adjustment information, which can more accurately respond to complex navigation environments and obstacles, reduce the risk of accidents such as collisions, and ensure the safety of ships during autonomous berthing and autonomous navigation.

[0035] In some embodiments, Figure 1 As shown, the ship autonomous berthing system 10 further includes: a human-computer interaction device 6 connected to the control device 4, the human-computer interaction device 6 is used to send the input information input by the user to the control device 4, and the control device 4 can control the ship's travel based on the input information.

[0036] In this embodiment, the addition of the human-machine interaction device 6 allows the user to input information at any time to control the ship's travel. During the automatic berthing process, if special circumstances occur or manual intervention is required, the driver can conveniently operate, thereby enhancing the flexibility and controllability of ship operation. At the same time, different drivers or different navigation scenarios may have different operating requirements. The human-machine interaction device 6 can receive various instructions input by the user, meet personalized driving needs, and better adapt to various actual situations.

[0037] In some embodiments, the human-computer interaction device 6 is also used to display image information, navigation information of the ship, obstacle position information within a preset range, first navigation adjustment information, second navigation adjustment information and dock information.

[0038] In this embodiment, the human-machine interaction device 6 displays image information, navigation information, obstacle location information, navigation adjustment information, and dock information, so that the driver can fully and intuitively understand the environment around the ship and the operating status of the ship autonomous berthing system 10, which improves the transparency of information and facilitates the driver to make accurate judgments and decisions. At the same time, the driver can better understand the automatic berthing process of the ship based on the displayed information, discover potential problems in time, and perform manual intervention or adjustment when necessary, providing effective auxiliary decision support for the driver and further ensuring navigation safety.

[0039] In some embodiments, Figure 1 As shown, the control device 4 is also used to control the mode switching of the ship between the automatic driving mode and the manual driving mode. The ship autonomous berthing system 10 also includes: an emergency braking device 7, which is used to determine whether there is emergency status information of the ship in the automatic driving mode. When the ship has emergency status information, an alarm prompt is issued, and the control device 4 is used to switch to the manual driving mode.

[0040] In this embodiment, the control device 4 can realize the switching between the automatic driving mode and the manual driving mode. The emergency braking device 7 will issue an alarm prompt and switch to the manual driving mode when the ship is in an emergency state, ensuring that the control right can be transferred to the driver in time when the system fails or other emergency situations occur, avoiding accidents and ensuring the navigation safety of the ship. This dual-mode switching and emergency braking mechanism increases the reliability and fault tolerance of the ship's autonomous berthing system 10, and even if there is a problem with the automatic driving, the normal operation and safety of the ship can be guaranteed through manual intervention. At the same time, if the driver does not take over within the set time, the control device 4 will perform an emergency stop to avoid danger.

[0041] In some embodiments, the emergency status information includes one or a combination of the following: communication failure information, navigation failure information, power failure information, and power supply failure information.

[0042] In some embodiments, the first navigation adjustment information includes a driving speed change and a heading angle; and / or the second navigation adjustment information includes a driving speed change and a heading angle.

[0043] In this embodiment, the first navigation adjustment information and the second navigation adjustment information both include the change in driving speed and the heading deviation angle, which enables the control device 4 to accurately adjust the navigation state of the ship, achieve more accurate route tracking and berthing operations, and improve the ship's maneuvering accuracy and stability during autonomous leaving and berthing.

[0044] In some embodiments, Figure 2 As shown, the decision adjustment device 3 includes: a data conversion module 32, which is used to unify the data information in different formats; a data fusion module 34, which is used to fuse the data information obtained from the environment perception device 1, the navigation device 2 and the berthing processing device 5 to obtain the fused data information; a calculation unit 36, which is used to calculate the fused data information to determine the first navigation adjustment information or the second navigation adjustment information.

[0045] In this embodiment, the data conversion module 32 and the data fusion module 34 can perform unified processing and fusion of various data information from different devices, improve the quality and availability of data, provide more accurate and comprehensive basis for subsequent calculations and decisions, and optimize the decision-making process of the system. The calculation unit 36 ​​performs calculations based on the fused data information to determine the navigation adjustment information, and can make decisions more quickly and accurately, so that the ship can respond to environmental changes and mission requirements in a timely manner, and improve the intelligence level and response speed of the autonomous berthing system.

[0046] In some embodiments, the environment perception device 1 includes one or a combination of the following: a gimbal camera 14, a lidar 12, and a panoramic camera.

[0047] In this embodiment, the environment perception device 1 includes a variety of devices such as a pan / tilt camera 14, a laser radar 12, and a panoramic camera, which can obtain image information and other relevant data around the ship from different angles and methods, realize all-round and multi-dimensional environment perception, and provide richer and more accurate information support for the ship's autonomous berthing. Different environment perception devices have their own advantages and applicable scenarios. The combined use of multiple environment perception devices 1 enables the ship's autonomous berthing system 10 to adapt to various complex weather, lighting and water conditions, improves the reliability and stability of the ship's autonomous berthing system 10 in different environments, and ensures that the ship can accurately perceive the surrounding environment in various situations and achieve safe autonomous berthing.

[0048] In some embodiments, the communication and navigation device 2 includes one of the following or a combination thereof: a wireless communication module, a navigation radar, a differential GPS (Global Positioning System), an AIS (Automatic Identification System) device and a combined navigation 22.

[0049] In this embodiment, the communication and navigation device 2 includes wireless communication modules, navigation radar, differential GPS, AIS equipment and combined navigation 22, etc. These equipment can provide accurate navigation information and reliable communication guarantee, so that the ship can accurately obtain its own position, the position of surrounding obstacles and communication with other ships or shore bases, and provide strong support for navigation and collaborative operations in the process of autonomous departure and berthing. In addition, through the collaborative work of various communication and navigation equipment, the ship can effectively exchange information with other ships, port facilities, etc., achieve better traffic organization and collaborative operations, improve the operating efficiency and safety of the entire shipping system, and also provide more comprehensive information support and guarantee for the autonomous departure and berthing of ships.

[0050] In some embodiments, the dock information includes one or a combination of the following: a distance between the dock and the ship, an azimuth angle of the dock relative to the ship, and a berth number.

[0051] In this embodiment, the wharf information includes information such as the distance between the wharf and the ship, the azimuth of the wharf relative to the ship, and the berth number. This information can help the ship locate the wharf more accurately, plan the berthing path, achieve more accurate berthing operations, improve the efficiency and accuracy of berthing, and reduce the number of adjustments and berthing time during the berthing process. At the same time, accurate wharf information helps ships to dock at designated berths quickly and accurately, thereby improving the operational efficiency of the port.

[0052] The following is a further introduction to the ship autonomous unberthing system in the present application in conjunction with a specific embodiment.

[0053] The ship autonomous berthing system includes the following structures:

[0054] (1) Software architecture such as Figure 3 As shown, it includes the following parts:

[0055] 1) The transport service layer is the infrastructure layer for communication between applications and services, providing the core functions of the service network. It supports domain-oriented data communication isolation, communication end transmission permission management, communication end registration and automatic discovery, communication end topic publishing, communication end subscription topic, communication end publishing, remote procedure call, data monitoring, call link monitoring and other functions.

[0056] 2) The system service layer provides hardware manipulation, file and database access, and network access and control mechanisms for system hardware. The operating system provides underlying system function services and shields The coupling between an operating system and specific operating systems and hardware.

[0057] 3) The basic service layer is The core service layer of the operating system provides core functions including information processing, route planning, navigation control, berthing and unberthing control, obstacle avoidance decision-making, payload control, situation fusion, and equipment virtualization.

[0058] 4) The business application layer includes applications for specific scenarios, which usually have a human-computer interaction graphical interface. Operating system users can develop customized applications based on system application development specifications and SDK (Software Development Kit).

[0059] (2) Software Functions

[0060] Software 1: Obstacle perception and processing module software.

[0061] Function description: During navigation, the sensor information in the obstacle perception module is processed in real time, and target detection and recognition are performed.

[0062] Software 2: docking and undocking perception processing module software.

[0063] Functional description: During the docking and undocking process, the sensor information in the docking and undocking perception module is processed in real time, and target detection and recognition are performed.

[0064] Software 3: Combined navigation 22 device software.

[0065] Function description: During navigation, the navigation information provided by inertial navigation, satellite navigation and other equipment is processed in real time, and combined navigation 22 is solved to provide navigation information for the ship.

[0066] Software 4: Operating system software.

[0067] Function description: Provide the "Xuanlong" operating system, operating environment and communication middleware services in public service infrastructure equipment.

[0068] Software 5: Human-computer interaction module software.

[0069] Function description: Provide human-computer interaction services between the driver and the autonomous navigation system, including navigation planning, berthing and unberthing planning, and real-time display of navigation status.

[0070] Software: Navigation Control Module Software.

[0071] Function description: Provide navigation decision-making and motion control of the boat under autonomous navigation state, including control of heading, speed, route, obstacle avoidance decision-making control, etc.

[0072] Software 7: Docking and undocking control module software.

[0073] Functional description: The berthing and unberthing control module provides berthing and unberthing decision-making and boat motion control in the berthing and unberthing states, including control of heading and speed, obstacle avoidance decision control of dock obstacles, etc.

[0074] (3) Hardware design, such as Figure 4 and Figure 8 As shown, including the following:

[0075] 1) Autonomous navigation interaction unit (human-computer interaction device 6), including a touch panel hardware device, on which the human-computer interaction module software "Xuanlong UI" runs, which can realize the human-computer interaction function on the touch screen.

[0076] 2) An autonomous navigation decision unit (decision adjustment device 3), including hardware devices such as a general computing unit 36, a data conversion module 32 and an information exchange module (data fusion module 34), wherein the data fusion module 34 further includes a first data fusion module 342 and a second data fusion module 344.

[0077] The data conversion module 32 and the information exchange module are connected to the communication and navigation equipment and the environment perception equipment to complete the interface conversion function of the communication and navigation equipment and the perception equipment.

[0078] The general computing unit 36 ​​completes functions such as perception processing, navigation decision-making, and public services, including running obstacle perception processing module software such as the gimbal camera 14 and navigation radar, running docking and undocking perception processing module software such as the laser radar 12; including running navigation control software such as navigation control and docking and undocking control.

[0079] 3) Autonomous navigation control unit (control device 4), including underlying control hardware equipment, connected to the control system to complete information collection and control of the power propulsion system, etc.

[0080] 4) Environmental perception equipment (environmental perception device 1), including special equipment such as PTZ camera 14, laser radar 12, panoramic camera, integrated navigation 22, etc. Figure 6 and Figure 7 It can be seen that the installation positions of the integrated navigation 22 and the laser radar 12 in the ship, the integrated navigation 22 includes the integrated navigation main antenna 222, the integrated navigation auxiliary antenna 224 and the integrated navigation DTU (Data Transfer Unit) antenna 226, the laser radar 12 includes the first laser radar 122, the second laser radar 124 and the third laser radar 126, and the laser radar 12 is a solid-state laser radar. Fig. 9 , Fig.10 and Fig.11 It can be seen that the installation positions of the combined navigation 22, the laser radar 12 and the gimbal camera 14 in the ship.

[0081] (4) External interface design

[0082] like Figure 5 As shown, the external interfaces of the prototype include: environmental sensing equipment, communication equipment (communication device 2), and power system.

[0083] (5) Installation on boat

[0084] According to the master scale drawings provided by the general plan, the installation positions on the boat are planned to be arranged as follows Figures 6 to 11 shown.

[0085] The ship autonomous berthing system 10 provided in this application has the following functions:

[0086] (1) Autonomous navigation capability

[0087] The yacht can complete autonomous navigation in open waters and on conventional routes, and can autonomously leave and dock at the yacht's home port.

[0088] (2) Autonomous obstacle avoidance capability

[0089] It has the ability to autonomously avoid single or multiple typical static obstacles on the water surface (such as ships at anchor), and can provide necessary obstacle avoidance information to buoys or other ships.

[0090] (3) Autonomous berthing and unberthing capabilities

[0091] Autonomous berthing capability: At the yacht home port, autonomous berthing operations can be achieved under sea conditions below level 2.

[0092] (4) System composition

[0093] The autonomous navigation system prototype consists of three parts: autonomous navigation interaction unit, autonomous navigation decision unit and autonomous navigation control unit.

[0094] (5) Working mode

[0095] The yacht's working modes include manual driving and autonomous sailing, of which the manual driving mode has the highest priority. The driver can switch modes using the hard buttons on the console.

[0096] The autonomous navigation system detects an emergency and determines that the system cannot continue to maintain autonomous navigation. It prompts the driver to take over through an alarm. If the driver fails to take over within the set time, an emergency stop will be executed.

[0097] This application has the following beneficial effects:

[0098] This solution can improve the autonomy of yacht navigation. It can screen situational awareness information according to the needs of autonomous navigation, form an autonomous navigation system perception plan, complete the situation fusion processing flow, and provide a perception information interface for situation enhancement; according to the requirements of autonomous navigation for navigation safety, speed and heading, and track tracking, the design of a comfort-oriented navigation control module is completed; for the port entry and berthing stages, a "global-dock" path planning mechanism is designed; for complex waters, breakthroughs are made in key autonomous navigation technologies such as auxiliary safety collision avoidance, and when building a prototype of the yacht autonomous navigation system, its performance indicators are verified through experiments, thereby improving the yacht's autonomy.

[0099] In the embodiments according to the present invention, the terms "first", "second", and "third" are only used for description and cannot be understood as indicating or implying relative importance; the term "plurality" refers to two or more, unless otherwise clearly defined. The terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; "connected" can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments according to the present invention can be understood according to specific circumstances.

[0100] In addition, although each operation is described in a specific order, this should be understood as requiring such operation to be performed in a specific order or in a sequential order, or requiring that all illustrated operations should be performed to obtain desired results. Under certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although some specific implementation details are included in the above discussion, these should not be interpreted as limiting the scope of the present invention. Some features described in the context of a separate embodiment can also be implemented in a single implementation in combination. On the contrary, the various features described in the context of a single implementation can also be implemented in multiple implementations individually or in any suitable sub-combination mode.

[0101] Although the subject matter has been described in the language of specific structural features and / or method logical actions, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. On the contrary, the specific features and actions described above are merely example forms of implementing the claims.

[0102] The above are only preferred embodiments according to the embodiments of the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various modifications and changes may be made according to the embodiments of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the embodiments of the present invention shall be included in the protection scope of the embodiments of the present invention.

Claims

1. A ship autonomous berthing system (10), characterized in that: include: An environment sensing device (1) is used to obtain image information of the ship within a preset range; A navigation device (2) is used to obtain navigation information of the ship and information on the location of obstacles within the preset range; A decision adjustment device (3) is connected to the environment perception device (1) and the navigation device (2) respectively, and is used to determine first navigation adjustment information according to the image information, the navigation information and the obstacle position information within the preset range; A control device (4), connected to the decision adjustment device (3), and used for controlling the navigation of the ship based on the first navigation adjustment information; a docking processing device (5) connected to the environment sensing device (1), the communication and navigation device (2) and the decision adjustment device (3) respectively, and used to determine whether there is a dock within the preset range according to the image information, and to obtain dock information if there is a dock; The decision adjustment device (3) is also used to determine second navigation adjustment information based on the wharf information, the image information, the navigation information and the obstacle position information within the preset range; The control device (4) is also used to control the movement of the ship based on the second navigation adjustment information to perform berthing or unberthing.

2. The ship autonomous berthing system (10) according to claim 1, characterized in that: The ship autonomous berthing system (10) further comprises: A human-machine interaction device (6) is connected to the control device (4), and the human-machine interaction device (6) is used to send input information input by a user to the control device (4), and the control device (4) can control the movement of the ship based on the input information.

3. The ship autonomous berthing system (10) according to claim 2, characterized in that: The human-computer interaction device (6) is also used to display the image information, the navigation information of the ship, the obstacle position information within the preset range, the first navigation adjustment information, the second navigation adjustment information and the dock information.

4. The ship autonomous berthing system (10) according to claim 1, characterized in that: The control device (4) is also used to control the ship to switch between the automatic driving mode and the manual driving mode. The ship autonomous berthing system (10) further includes: An emergency braking device (7) is used to determine whether the ship has emergency status information in the automatic driving mode, and when the ship has the emergency status information, issue an alarm and use the control device (4) to switch to the manual driving mode.

5. The ship autonomous berthing system (10) according to claim 4, characterized in that: The emergency status information includes one of the following or a combination thereof: communication failure information, navigation failure information, power failure information and power supply failure information.

6. The ship autonomous berthing system (10) according to claim 1, characterized in that: The first navigation adjustment information includes a speed change and a heading angle; and / or The second navigation adjustment information includes a travel speed change and a heading angle.

7. The ship autonomous berthing system (10) according to claim 1, characterized in that: The decision adjustment device (3) comprises: A data conversion module (32), used for uniformly processing data information in different formats; A data fusion module (34) is used to fuse the data information acquired by the environment perception device (1), the communication and navigation device (2) and the docking and departure processing device (5) to obtain fused data information; A calculation unit (36) is used to calculate the fused data information to determine the first navigation adjustment information or the second navigation adjustment information.

8. The ship autonomous berthing system (10) according to any one of claims 1 to 7, characterized in that: The environment perception device (1) comprises one of the following or a combination thereof: a pan-tilt camera (14), a laser radar (12) and a panoramic camera.

9. The ship autonomous berthing system (10) according to any one of claims 1 to 7, characterized in that: The communication and navigation device (2) comprises one of the following or a combination thereof: a wireless communication module, a navigation radar, a differential GPS, an AIS device and a combined navigation (22).

10. The ship autonomous berthing system (10) according to any one of claims 1 to 7, characterized in that: The wharf information includes one of the following or a combination thereof: a distance between the wharf and the ship, an azimuth angle of the wharf relative to the ship, and a berth number.

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