Monitoring and early warning system for ship block closure in dock environment

Abstract

The invention relates to a monitoring and early warning system for ship block closure in a dock environment in the field of ships, which is used for monitoring the horizontal distance from a ship block to the inner wall of a dock chamber and the vertical distance from the ship block to the ground of the dock chamber in real time through a monitoring device arranged at the equal-height point of the bulwark of the ship block. According to the method, the real-time data is acquired, the acquired real-time data is compared with the closure requirement data acquired by modeling, and when the real-time data is different from the closure requirement data, early warning is given out in time, so that a traditional mode that a total station is manually adopted to measure and position a plurality of target spots is replaced, the monitoring efficiency and the prediction timeliness during ship block closure are greatly improved, and the accuracy of ship block closure is improved. Therefore, the safety and the operation efficiency during folding operation are improved; meanwhile, through a central infrared sensor and a light emitting plate which are arranged on the two to-be-folded ship blocks, measurement and early warning of the folding distance and the folding speed are achieved, and the accuracy and safety of folding operation are further improved.

Description

Technical Field

[0001] The present invention relates to a monitoring and early warning system, in particular to a monitoring and early warning system for the hull block closure in a dock environment applied to the ship field. Background Art

[0002] During the process of hull block closure, in order to ensure the closure accuracy, a total station is usually used to conduct multiple precise measurements on the hull center line and preset target points. As an advanced measuring instrument integrating an electronic theodolite and an electro-optical distance meter, the total station can accurately measure the three-dimensional coordinates of the target points, thereby accurately reflecting the spatial position relationship of each part of the hull. Its working principle is to quickly and accurately calculate the horizontal distance, vertical angle, and horizontal angle between the measuring point and the total station through the built-in precise optical system and electronic distance measuring device, combined with the internal calculation software of the total station, and then deduce the three-dimensional coordinates of the measuring point. During multiple measurements, the measuring personnel will set up the total station at different positions, repeatedly observe the hull center line and the target points, and make fine adjustments to the hull block according to the results of each measurement to gradually approach the accuracy required by the design. However, this method relying on manual multiple measurements and adjustments is not only cumbersome and inefficient in operation, but also easily affected by human factors.

[0003] The patent with the publication number CN114701618B discloses a ship precision control method based on block construction. This precision control method adopts a precision control technical solution of segment transfer benchmark, gradually improving precision, and distributed implementation of compensation. First, the control events and corresponding precision target values are clarified, then the precision control scheme is determined, the priority of precision adjustment is set, the precision of the events is actually measured and analyzed, and finally the corresponding precision compensation measures are implemented, ultimately achieving effective control of ship precision. This precision control method solves the problem of difficult precision control during the construction of ship hull blocks, shortens the engineering construction time, improves the ship construction efficiency, and is at the same time safe and reliable, ensuring the safety of on-site construction. The present invention effectively solves the problem that it is difficult to control the precision error in the closure of hull blocks, the positioning and installation of pedestals and equipment during the construction of ship hull blocks, improves the ship construction quality and construction efficiency, and thus effectively overcomes various shortcomings in the prior art and has high industrial utilization value;

[0004] The above prior art adopts multi-level precision control to improve the precision control effect. However, during the process of hull block closure, the total station is used to measure and control the hull position and attitude, relying on manual multiple frequent operations, which is inefficient and cumbersome. Summary of the Invention

[0005] Aiming at the above prior art, the technical problem to be solved by the present invention is that the method of using a total station to control the closure precision during the closure of existing ship hull blocks is inefficient and cumbersome.

[0006] To solve the above problems, the present invention provides a monitoring and early warning system for the assembly of ship blocks in a dock environment, including monitoring components installed on each ship block and a control terminal communicatively connected to the monitoring components; the monitoring components include a plurality of monitoring devices, and the plurality of monitoring devices are all fixed at the same height position on the block bulkhead and are symmetrically arranged for two monitoring devices at the same end of the ship block;

[0007] The monitoring device includes a mounting base, the mounting base is fixedly connected to the block bulkhead through an electromagnetic chuck, a follower arm is hinged to the outside of the mounting base, the follower arm is connected to the output shaft of a rotating motor, an electronic level is fixedly connected to the follower arm, and the rotating motor and the electronic level cooperate to keep the follower arm in a horizontal state all the time during the swinging process of the ship block. A horizontal infrared sensor facing the inner wall of the dock chamber and a vertical infrared sensor facing the ground of the dock chamber are also fixedly connected to the follower arm;

[0008] The control terminal includes a modeling module and a data monitoring module. The modeling module is used to model the ship block to be assembled and the dock. The modeling module is connected to a monitoring point selection module, and the monitoring point selection module is used to select monitoring points on the model. The monitoring point selection module is connected to a closing data acquisition module; the input end of the data monitoring module is connected to a plurality of monitoring devices, and the data monitoring module is used to acquire the real-time data of the monitoring devices. Both the data monitoring module and the closing data acquisition module are connected to the same data comparison module, and the data comparison module is used to compare the real-time data with the closing requirement data. The data comparison module is connected to a control module, and the output end of the control module is respectively connected to a display module and an early warning module. The display module is used to display the real-time data obtained by the monitoring devices, and the early warning module generates an early warning instruction for early warning.

[0009] In the above monitoring and early warning system for the assembly of ship blocks in a dock environment, the attitude and position of the ship block are monitored in real time and automatically through four monitoring devices set at a high position on the ship's side bulkhead of the ship block and the control terminal, and an early warning is issued in time.

[0010] As a further improvement of the present application, the monitoring component further includes a central monitoring device. The central monitoring device includes a central infrared sensor and a reflector respectively fixedly installed at the splicing ends of the two ship blocks to be assembled. The central infrared sensor and the reflector are arranged opposite to each other and are respectively fixed on the center lines of the ship blocks where they are located.

[0011] As a further improvement of the present application, the following steps are included:

[0012] Step 1, modeling, based on the specification data of the dock and the specification data of the ship block to be assembled for modeling to obtain a modeling model;

[0013] Step 2, based on the modeling model in Step 1, select four monitoring points at the same height on the block bulkhead;

[0014] Step 3: Based on the four monitoring points selected in Step 2, obtain the closing requirement data at the four monitoring points on the modeling model. The closing requirement data includes the horizontal distance between each monitoring point and the inner wall of the dock chamber and the vertical distance between the monitoring point and the ground of the dock chamber.

[0015] Step 4: Before the closing operation, install four monitoring devices at the four monitoring points on the general section bulkhead.

[0016] Step 5: During the closing operation, the four monitoring devices perform real-time monitoring to obtain real-time data and transmit the real-time data to the control terminal. The control terminal compares the real-time data with the closing requirement data. When the real-time data is different from the closing requirement data, a warning reminder is issued.

[0017] As a further improvement of this application, in Step 5, the method for comparing the real-time data with the closing requirement data includes the following steps:

[0018] S1: Define the four monitoring devices in the monitoring component as the first monitoring device, the second monitoring device, the third monitoring device, and the fourth monitoring device. Among them, the first monitoring device and the second monitoring device are symmetrically arranged at the same end of the ship's general section, and the third monitoring device and the fourth monitoring device are symmetrically arranged at the other end of the ship's general section.

[0019] Based on the modeling model, the horizontal distance between the first monitoring point and the second monitoring point and the inner wall of the dock chamber is S01; based on the modeling model, the horizontal distance between the third monitoring point and the fourth monitoring point and the inner wall of the dock chamber is S02; based on the modeling model, the vertical distances between the first monitoring point, the second monitoring point, the third monitoring point, and the fourth monitoring point and the ground of the dock chamber are H0.

[0020] Define the four real-time values of the vertical distance between the monitoring points and the ground of the dock chamber measured by the vertical infrared sensors on the first monitoring device, the second monitoring device, the third monitoring device, and the fourth monitoring device as H1, H2, H3, and H4 respectively.

[0021] Define the four real-time values of the horizontal distance between the monitoring points and the inner wall of the dock chamber measured by the horizontal infrared sensors on the first monitoring device, the second monitoring device, the third monitoring device, and the fourth monitoring device as S1, S2, S3, and S4 respectively.

[0022] S2: When any one of the three groups of equations H1 = H2 = H3 = H4 = H0, S1 = S2 = S01, and S3 = S4 = S02 does not hold, the warning module will issue a warning.

[0023] As a further improvement of this application, both the horizontal infrared sensor and the vertical infrared sensor are infrared distance sensors.

[0024] As a further improvement of the present application, the warning module includes an attitude warning unit, a position warning unit, and a distance warning unit. The attitude warning unit issues an attitude warning instruction when the attitude of the ship section is not horizontal. The position warning unit issues a position warning instruction when the ship section is not in the position required for joining. The distance warning unit issues a distance warning instruction when the distance between the two end ship sections is less than the set warning distance.

[0025] As a further improvement of the present application, the control terminal further includes a speed calculation module. The output end of the speed calculation module is connected to the data comparison module. The speed calculation module includes a timing unit, a distance calculation unit, and a speed calculation unit. The speed calculation module is connected to the output end of the central monitoring device. The speed calculation module calculates the real-time approaching speed of the two ship sections. The data comparison module compares the calculated real-time approaching speed with the set joining speed. The warning module further includes a speed warning unit. When the real-time approaching speed is greater than the set joining speed, the speed warning unit issues a speed warning instruction.

[0026] In summary, the present invention uses a monitoring device arranged at the equal height points of the ship section bulkhead to monitor the horizontal distance between the ship section and the inner wall of the dock chamber and the vertical distance between the ship section and the dock chamber floor in real time, and compares the obtained real-time data with the joining requirement data obtained by modeling. When the real-time data is different from the joining requirement data, a warning is issued in a timely manner, replacing the traditional method of using a total station by manual to measure and position multiple target points, greatly improving the monitoring efficiency and prediction timeliness during the joining of ship sections, and thus improving the safety and operation efficiency during the joining operation. At the same time, by driving the follower arm to rotate through a rotating motor, the horizontal infrared sensor and the vertical infrared sensor on the follower arm are respectively kept in a horizontal measurement state and a vertical measurement state, improving the measurement accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is the system module diagram in the first embodiment of the present application;

[0028] Figure 2 It is the top view schematic diagram of the installation position of the monitoring component in the present application;

[0029] Figure 3 It is the right view schematic diagram of the installation position of the monitoring component in the present application;

[0030] Figure 4 It is the structural schematic diagram of the monitoring device in the present application;

[0031] Figure 5 It is the system module diagram in the second embodiment of the present application;

[0032] Figure 6 Schematic diagram of the warning module in the second implementation manner of the present application;

[0033] Figure 7 Schematic diagram of the speed calculation module in the second implementation manner of the present application.

[0034] Description of the reference numerals in the figure:

[0035] 1. Mounting base; 2. Electromagnetic chuck; 3. Follow-up arm; 4. Rotating motor; 5. Electronic level; 6. Horizontal infrared sensor; 7. Vertical infrared sensor; 8. Central infrared sensor; 9. Reflector. Specific implementation manner

[0036] The following will describe in detail the two implementation manners of the present application with reference to the accompanying drawings.

[0037] The first implementation manner:

[0038] Figures 1-4 A monitoring and warning system for the assembly of ship blocks in a dock environment is shown, including a monitoring component installed on each ship block and a control terminal communicatively connected to the monitoring component; the monitoring component includes a plurality of monitoring devices, and the plurality of monitoring devices are all fixed at the same height on the block bulkhead and are symmetrically arranged for two monitoring devices at the same end of the ship block;

[0039] The monitoring device includes a mounting base 1, the mounting base 1 is fixedly connected to the block bulkhead through an electromagnetic chuck 2, a follow-up arm 3 is hinged outside the mounting base 1, the follow-up arm 3 is connected to the output shaft of a rotating motor 4, an electronic level 5 is fixedly connected to the follow-up arm 3, and the rotating motor 4 and the electronic level 5 cooperate to keep the follow-up arm 3 in a horizontal state all the time during the swinging process of the ship block. A horizontal infrared sensor 6 facing the inner wall of the dock and a vertical infrared sensor 7 facing the ground of the dock chamber are also fixedly connected to the follow-up arm 3;

[0040] The control terminal includes a modeling module and a data monitoring module. The modeling module is used to model the ship block to be assembled and the dock. The modeling module is connected to a monitoring point selection module, and the monitoring point selection module is used to select monitoring points on the model. The monitoring point selection module is connected to a block assembly data acquisition module; the input end of the data monitoring module is connected to a plurality of monitoring devices, and the data monitoring module is used to obtain the real-time data of the monitoring devices. Both the data monitoring module and the block assembly data acquisition module are connected to the same data comparison module, and the data comparison module is used to compare the real-time data with the block assembly requirement data. The data comparison module is connected to a control module, and the output end of the control module is respectively connected to a display module and a warning module. The display module is used to display the real-time data obtained by the monitoring devices, and the warning module generates a warning instruction for warning.

[0041] Specifically, please refer toFigure 4 When the electronic level 5 detects that the follower arm 3 deviates from the horizontal state, the rotation motor 4 is started to drive the follower arm 3 to be adjusted to the horizontal state in real time, so that the horizontal infrared sensor 6 maintains the horizontal measurement state, and at the same time, the vertical infrared sensor 7 maintains the vertical state.

[0042] When in use, it includes the following steps:

[0043] Step 1, modeling, based on the specification data of the dock and the specification data of the ship section to be joined, modeling is carried out to obtain a modeling model;

[0044] Step 2, based on the modeling model in Step 1, four monitoring points with the same height are selected on the section bulkhead;

[0045] Step 3, based on the four monitoring points selected in Step 2, the joining requirement data at the four monitoring points are obtained on the modeling model. The joining requirement data include the horizontal distance between each monitoring point and the inner wall of the dock chamber and the vertical distance between the monitoring point and the ground of the dock chamber;

[0046] Step 4, before the joining operation, four monitoring devices are installed at the four monitoring points on the section bulkhead;

[0047] Step 5, during the joining operation, the four monitoring devices monitor in real time to obtain real-time data, and transmit the real-time data to the control terminal. The control terminal compares the real-time data with the joining requirement data. When the real-time data is different from the joining requirement data, a warning reminder is given.

[0048] It should be noted that, please refer to Figure 2 and Figure 3 In Step 5, the method of comparing the real-time data with the joining requirement data includes the following steps:

[0049] S1, define the four monitoring devices in the monitoring component as the first monitoring device, the second monitoring device, the third monitoring device and the fourth monitoring device. Among them, the first monitoring device and the second monitoring device are symmetrically arranged at the same end of the ship section, and the third monitoring device and the fourth monitoring device are symmetrically arranged at the other end of the ship section;

[0050] Based on the modeling model, the horizontal distance between the first monitoring point and the second monitoring point and the inner wall of the dock chamber is S01; based on the modeling model, the horizontal distance between the third monitoring point and the fourth monitoring point and the inner wall of the dock chamber is S02; based on the modeling model, the vertical distance between the first monitoring point, the second monitoring point, the third monitoring point and the fourth monitoring point and the ground of the dock chamber is H0;

[0051] Define the four real-time values of the vertical distances from the monitoring points measured by the vertical infrared sensors 7 on the first monitoring device, the second monitoring device, the third monitoring device, and the fourth monitoring device to the dock chamber floor as H1, H2, H3, and H4 respectively;

[0052] Define the four real-time values of the horizontal distances from the monitoring points measured by the horizontal infrared sensors 6 on the first monitoring device, the second monitoring device, the third monitoring device, and the fourth monitoring device to the inner wall of the dock chamber as S1, S2, S3, and S4 respectively;

[0053] When any one of the three groups of equations H1 = H2 = H3 = H4 = H0, S1 = S2 = S01, and S3 = S4 = S02 does not hold, the warning module will issue a warning.

[0054] Specifically, when H1 = H2 = H3 = H4, it indicates that the attitude of the ship section is in a horizontal state, and there is no left-right tilt in the width direction of the ship section and no front-back tilt in the length direction of the ship section. When H1 = H2 = H3 = H4 = H0, it indicates that the ship section is at the vertical height required for mating. When S1 = S2 = S01 and S3 = S4 = S02, it indicates that the center line of the ship section coincides with the center line of the dock, that is, the ship section is located at the center of the dock and the ship section is at the required mating position.

[0055] Compared with the traditional ship section mating monitoring system, the present invention monitors the horizontal distance from the ship section to the inner wall of the dock chamber and the vertical distance from the ship section to the dock chamber floor in real time through the monitoring devices arranged at the equal height points on the side walls of the ship section, and compares the obtained real-time data with the mating requirement data obtained by modeling. When the real-time data is different from the mating requirement data, a warning is issued in a timely manner, replacing the traditional manual method of using a total station to measure and position multiple target points, greatly improving the monitoring efficiency and prediction timeliness during the ship section mating, and thus improving the safety and operation efficiency during the mating operation; at the same time, by driving the follower arm to rotate through the rotation motor, the horizontal infrared sensor and the vertical infrared sensor on the follower arm are respectively kept in a horizontal measurement state and a vertical measurement state, improving the measurement accuracy.

[0056] In this embodiment, both the horizontal infrared sensor 6 and the vertical infrared sensor 7 are infrared distance sensors.

[0057] Specifically, the infrared distance sensor is used to measure the distance from the ship section to the inner wall and the floor of the dock chamber.

[0058] The second implementation method:

[0059] Figure 5 、 Figure 6 and Figure 7A monitoring and early warning system for the assembly of ship blocks in a dock environment is shown. Based on the first implementation method, the monitoring component further includes a central monitoring device. The central monitoring device includes a central infrared sensor 8 and a reflector 9 that are respectively fixedly installed at the splicing ends of two ship blocks to be assembled. The central infrared sensor 8 and the reflector 9 are arranged opposite to each other and are respectively fixed on the center lines of the ship blocks where they are located.

[0060] Specifically, the central monitoring device monitors the distance between the two ship blocks to be assembled in real time. The data comparison module compares the real-time distance between the two ship blocks with the set warning distance. When the real-time distance is less than the set warning distance, a warning is issued to remind the operator that the distance between the two ship blocks is already small, and the assembly speed should be slowed down to avoid excessive impact during assembly and affect the assembly quality.

[0061] Please refer to Figure 6 , the early warning module includes an attitude early warning unit, a position early warning unit, and a distance early warning unit. The attitude early warning unit issues an attitude early warning instruction when the attitude of the ship block is not horizontal. The position early warning unit issues a position early warning instruction when the ship block is not in the required position for assembly. The distance early warning unit issues a distance early warning instruction when the distance between the two ship blocks is less than the set warning distance.

[0062] Specifically, by issuing different types of early warning instructions, it is better to remind the operator to perform corresponding operations. More specifically, when the attitude early warning instruction is issued, the operator can adjust the attitude of the ship block by adjusting the dock crane, flatbed transporter, or the hydraulic adjustment device installed on the flatbed transporter. When the position early warning instruction is issued, the operator can correspondingly adjust the position of the ship block in the dock to improve the timeliness of the early warning.

[0063] Please refer to Figure 7 , the control terminal further includes a speed calculation module. The output end of the speed calculation module is connected to the data comparison module. The speed calculation module includes a timing unit, a distance calculation unit, and a speed calculation unit. The speed calculation module is connected to the output end of the central monitoring device. The speed calculation module calculates the real-time approaching speed of the two ship blocks. The data comparison module compares the calculated real-time approaching speed with the set assembly speed. The early warning module further includes a speed early warning unit. When the real-time approaching speed is greater than the set assembly speed, the speed early warning unit issues a speed early warning instruction to remind the operator to reduce the assembly speed and improve the assembly safety.

[0064] Combined with the current actual requirements, the above implementation methods adopted in this application, the protection scope is not limited to this. Within the knowledge scope of those skilled in the art, various changes made without departing from the concept of this application still fall within the protection scope of the present invention.

Claims

1. A monitoring and early warning system for the closure of ship sections in a dock environment, characterized in that: It includes a monitoring component installed on each ship section and a control terminal connected to the monitoring component in communication; the monitoring component includes a plurality of monitoring devices, the plurality of monitoring devices are fixed at equal height positions on the bulwark of the section, and the two monitoring devices located at the same end of the ship section are symmetrically arranged; The monitoring device comprises a mounting seat (1), the mounting seat (1) is fixedly connected to the bulwark of the ship section via an electromagnetic suction cup (2), a follower arm (3) is hingedly connected to the outer side of the mounting seat (1), the follower arm (3) is connected to the output shaft of a rotating motor (4), an electronic level (5) is fixedly connected to the follower arm (3), the rotating motor (4) and the electronic level (5) cooperate to ensure that the follower arm (3) always maintains a horizontal state during the swinging process of the ship section, and a horizontal infrared sensor (6) facing the inner wall of the dock room and a vertical infrared sensor (7) facing the ground of the dock room are also fixedly connected to the follower arm (3); The control terminal includes a modeling module and a data monitoring module. The modeling module is used to model the ship section and dock to be assembled. The modeling module is connected to a monitoring point selection module. The monitoring point selection module is used to select monitoring points on the model. The monitoring point selection module is connected to a closure data acquisition module. The input end of the data monitoring module is connected to multiple monitoring devices. The data monitoring module is used to obtain real-time data from the monitoring devices. The data monitoring module and the closure data acquisition module are both connected to the same data comparison module. The data comparison module is used to compare real-time data with closure requirement data. The data comparison module is connected to a control module. The output end of the control module is respectively connected to a display module and an early warning module. The display module is used to display real-time data obtained by the monitoring device. The early warning module generates an early warning instruction for early warning.

2. A monitoring and early warning system for closing of ship sections in a dock environment according to claim 1, characterized in that: The monitoring assembly also includes a central monitoring device, which includes a central infrared sensor (8) and a reflector (9) respectively fixedly mounted on the joint ends of two ship sections to be joined, and the central infrared sensor (8) and the reflector (9) are arranged relative to each other and respectively fixed on the center line of the ship sections.

3. The monitoring and early warning system for the closure of ship sections in a dock environment according to claim 1 is characterized in that: The steps include: Step 1: Modeling: Modeling is performed based on the specification data of the dock and the specification data of the ship section to be assembled to obtain a modeling model; Step 2: Based on the modeling model in step 1, four monitoring points of equal height are selected on the bulkhead; Step 3: Based on the four monitoring points selected in step 2, the closing requirement data at the four monitoring points are obtained on the modeling model, and the closing requirement data includes the horizontal distance between each monitoring point and the inner wall of the dock room and the vertical distance between the monitoring point and the ground of the dock room; Step 4: Before the closing operation, four monitoring devices are installed at four monitoring points on the bulkhead; Step 5: During the closing operation, the four monitoring devices conduct real-time monitoring to obtain real-time data, and transmit the real-time data to the control terminal. The control terminal compares the real-time data with the closing requirement data. When the real-time data is different from the closing requirement data, an early warning reminder is issued.

4. A monitoring and early warning system for closing of ship sections in a dock environment according to claim 3, characterized in that: In step 5, the method for comparing the real-time data with the closing requirement data comprises the following steps: S1, define the four monitoring devices in the monitoring assembly as the first monitoring device, the second monitoring device, the third monitoring device and the fourth monitoring device, wherein the first monitoring device and the second monitoring device are located at the same end of the ship section and are symmetrically arranged, and the third monitoring device and the fourth monitoring device are located at the other end of the ship section and are symmetrically arranged; Based on the modeling model, the horizontal distances from the first monitoring point and the second monitoring point to the inner wall of the dock room are obtained as S01; based on the modeling model, the horizontal distances from the third monitoring point and the fourth monitoring point to the inner wall of the dock room are obtained as S02; based on the modeling model, the vertical distances from the first monitoring point, the second monitoring point, the third monitoring point and the fourth monitoring point to the ground of the dock room are obtained as H0; Four real-time values ​​of vertical distances between the monitoring points and the ground of the dock room measured by the vertical infrared sensors (7) on the first monitoring device, the second monitoring device, the third monitoring device and the fourth monitoring device are defined as H1, H2, H3 and H4 respectively; Four real-time numerical values ​​of the horizontal distances between the monitoring points and the inner wall of the dock chamber measured by the horizontal infrared sensors (6) on the first monitoring device, the second monitoring device, the third monitoring device and the fourth monitoring device are defined as S1, S2, S3 and S4 respectively; S2, when any of the three sets of equations H1=H2=H3=H4=H0, S1=S2=S01, S3=S4=S02 is not true, the early warning module will issue an early warning.

5. The monitoring and early warning system for the closure of ship sections in a dock environment according to claim 1 is characterized in that: The horizontal infrared sensor (6) and the vertical infrared sensor (7) are both infrared distance sensors.

6. The monitoring and early warning system for closing of ship sections in a dock environment according to claim 2 is characterized in that: The warning module includes a posture warning unit, a position warning unit, and a distance warning unit. The posture warning unit issues a posture warning command when the posture of the ship section is not horizontal, the position warning unit issues a position warning command when the ship section is not in the required position for closure, and the distance warning unit issues a distance warning command when the distance between the ship sections at both ends is less than a set warning distance.

7. A monitoring and early warning system for closing of ship sections in a dock environment according to claim 6, characterized in that: The control terminal also includes a speed calculation module, the output end of the speed calculation module is connected to the data comparison module, the speed calculation module includes a timing unit, a distance calculation unit and a speed calculation unit, and the speed calculation module is connected to the output end of the central monitoring device; the speed calculation module calculates the real-time approach speed of the two ship sections, the data comparison module compares the calculated real-time approach speed with the set closing speed, and the warning module also includes a speed warning unit. When the real-time approach speed is greater than the set closing speed, the speed warning unit issues a speed warning instruction.

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