Automatic berthing multi-mode guiding system using laser ranging

Abstract

The invention discloses an automatic berthing multi-mode guiding system using laser ranging, and belongs to the technical field of automatic berthing multi-mode guiding system devices, and the system comprises a laser ranging device which comprises two one-dimensional laser sensors and a matched multi-degree-of-freedom rotation platform and is used for collecting point cloud data of a bow area and a stern area of a ship; the controller is used for controlling the posture of the rotary platform and transmitting data, the ship state data processing system is used for operating software to calculate real-time position information and motion parameters of a ship and providing operation early warning and prompt, and the handheld data terminal is used for ship-shore information collaboration and control of space motion of the simulation platform.

Description

Technical Field

[0001] The present invention relates to an automatic berthing multi-mode guidance system device, in particular to an automatic berthing multi-mode guidance system using laser ranging, and belongs to the technical field of automatic berthing multi-mode guidance system devices. Background Art

[0002] With the continuous expansion of the maritime transport industry, the trend of larger ships is becoming increasingly obvious, which has led to an increase in safety risks during the berthing process. As the main carrier of ocean transportation, the safety of ships in the berthing process is directly related to the safety of ships, cargoes and personnel, and also has a profound impact on the operational efficiency of ports. Traditional ship berthing safety management methods often rely on manual inspections and experience-based judgments, and have problems such as low efficiency and insufficient accuracy. In order to improve the safety and efficiency of berthing and meet the high-precision distance requirements during ship berthing, a new laser berthing guidance system has been developed and applied to solve the above problems. Summary of the Invention

[0003] The main purpose of the present invention is to provide an automatic berthing multi-mode guidance system using laser ranging.

[0004] The purpose of the present invention can be achieved by adopting the following technical solutions:

[0005] An automatic berthing multi-mode guidance system using laser ranging includes a laser ranging device, including two one-dimensional laser sensors and a matching multi-degree-of-freedom rotation platform, which is used to collect point cloud data of the bow and stern areas of the ship;

[0006] a controller for controlling the posture of the rotary platform and transmitting data;

[0007] A ship status data processing system that runs software to calculate the ship's real-time position information and motion parameters, and provides operational warnings and prompts;

[0008] Handheld data terminal, used for ship-shore information coordination and control of simulation platform spatial movement.

[0009] Preferably, the laser ranging device achieves full coverage of point cloud data of the area on one side of the ship through the rotating platform, and the two one-dimensional laser sensors are installed in parallel, respectively used to monitor the offshore distance of the bow and stern during the berthing process of the ship.

[0010] Preferably, the ship status data processing system has a built-in berthing safety warning module, which supports users to preset the ship's progressive speed threshold and safety distance threshold, and triggers a warning when the measured data exceeds the threshold.

[0011] Preferably, the system uses coordinate transformation technology and a ship motion parameter extraction algorithm model to calculate the ship's orientation information, approach speed and attitude parameters relative to the shore in real time based on the two-dimensional point cloud data collected by the laser ranging device.

[0012] Preferably, the communication protocol of the laser ranging device is based on the ASCII encoding format, all communication data uses a carriage return and line feed character as an end mark, and is connected to the RS485 bus through a USB to RS485 module.

[0013] Preferably, the one-dimensional laser sensor supports two ranging modes: pulse and phase:

[0014] The pulse ranging formula is: Where c is the propagation speed of the laser in the air, and t is the time it takes for the laser to travel to and from the target.

[0015] The phase ranging formula is: Where ω is the angular frequency of the modulated light, f is the frequency of the modulating signal, and n is the number of modulated half-wavelengths. The phase delay is less than π.

[0016] Preferably, the ship status data processing system calculates the ship approach speed through continuous ranging data, and the calculation formula is: in is the distance data at the current moment, is the distance data at the previous moment, and Δt is the interval time.

[0017] Preferably, the handheld data terminal is connected to the controller and the ship status data processing system via wireless communication, supports real-time display of ship berthing status data, and sends control instructions to the rotary platform.

[0018] Preferably, the system also includes a large-size display screen for publishing ship berthing status information, early warning prompts and operating instructions in real time.

[0019] Preferably, the controller has a built-in central processing unit for coordinating the collaborative work of the laser ranging device, the ship status data processing system and the handheld data terminal, and dynamically adjusting the parameter settings of the laser sensor to adapt to different ship models and displacements.

[0020] Beneficial technical effects of the present invention:

[0021] The present invention provides an automatic berthing multi-mode guidance system using laser ranging. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A flowchart of a preferred embodiment of an automatic berthing multi-mode guidance system using laser ranging according to the present invention;

[0023] Figure 2 A flowchart of a preferred embodiment of an automatic berthing multi-mode guidance system using laser ranging according to the present invention;

[0024] Figure 3 Schematic diagram of equipment connection of a preferred embodiment of an automatic berthing multi-mode guidance system using laser ranging according to the present invention;

[0025] Figure 4 The figure is a schematic diagram of the operation of a preferred embodiment of an automatic berthing multi-mode guidance system using laser ranging according to the present invention. DETAILED DESCRIPTION

[0026] In order to make the technical solution of the present invention more clear and specific to those skilled in the art, the present invention is further described in detail below with reference to embodiments and drawings, but the embodiments of the present invention are not limited thereto.

[0027] The purpose of this invention is to address the problems of backward existing mooring methods for ships, difficult mooring operations, poor operability and low reliability of mooring equipment, and susceptibility to injuries and accidents during mooring operations caused by meteorological and hydrological environments, changes in ship load and ship waves. By purchasing equipment, an adsorption-type automatic mooring experimental platform is built to carry out function and performance tests of the adsorption-type automatic mooring system and key components, as well as dynamic switching tests of the adsorption device working group, to provide basic experimental conditions and technical support for the development of intelligent ship mooring and unmanned terminal operation technologies.

[0028] The technical solution adopted by the present invention is: an automatic berthing multi-mode guidance system using laser ranging, which includes a laser ranging device, a controller, a ship status data processing system, a set (two) platforms and a handheld data terminal.

[0029] laser-guided berthing system;

[0030] Using two one-dimensional laser sensors in combination with a rotary platform, the ship's position is measured and the ship's motion parameters are calculated, and the data is transmitted to the central processing unit.

[0031] The process of extracting ship dynamic parameter information based on laser sensor combined with slewing platform is highly automated and real-time. Its basic working process is as follows: Figure 3 The process includes multiple stages, including equipment configuration, data acquisition, real-time transmission and processing, and comprehensively covers the key links from ship parameter monitoring to data analysis, providing technical support and scientific basis for ship berthing guidance and control.

[0032] Figure 2Extract flow chart for ship dynamic parameters, controller and ship status data processing system

[0033] It is mainly composed of a controller and a central processing system, which are used to control attitude and transmit data, run software to calculate the real-time position information of the ship, and give operational warnings and prompts.

[0034] Feedback terminal

[0035] The feedback terminal includes a large-size display screen and a handheld data terminal, which are used for information release and ship-shore information coordination, as well as controlling the spatial movement of the simulation platform.

[0036] The overall device structure includes one (two) laser rangefinders, a controller, a ship status data processing system, and a handheld data terminal. The communication protocol of the system is based on the ASCII encoding format, and all communication data is terminated with a carriage return and line feed character.

[0037] The system device can be used for berthing of various ships, and monitors the real-time distance parameters between the ship and the shore according to the actual state of the ship, thereby accurately capturing the complex movements of the ship during berthing.

[0038] Through the above technical solution, a ship berthing status detection system based on a one-dimensional laser ranging and a rotary platform was built. It uses one-dimensional laser scanning technology, image recognition technology, and sensor technology to detect real-time ship-to-shore distance parameters. It can accurately obtain the real-time berthing status of the ship's complex movements and the attitude information of the moored ship. This provides a calculation basis for optimizing the precise attitude self-adjustment function of the ship-to-shore connection device and judges the working status and reliability of the automatic berthing device.

[0039] A multi-mode guidance system for automatic berthing using laser ranging.

[0040] The system consists of two laser rangefinders, a controller, a ship status data processing system, and a handheld data terminal. During the design and implementation of the system, comprehensive consideration was given to the three core functional modules of the laser berthing guidance system: equipment control, data reading and processing, and berthing safety warning.

[0041] At the same time, in-depth research and practice were conducted on key technical aspects such as construction, installation, and system debugging to optimize equipment performance and ensure system stability and reliability. In addition, to enhance the practicality and ease of operation of the system, a comprehensive software control interface and display platform were designed and developed, providing users with an intuitive and efficient operating experience.

[0042] This laser berthing guidance system offers broad adaptability and high engineering value, demonstrating excellent performance in intelligent ship mooring applications. Through the collaborative operation of multiple modules, the system forms a complete technical solution and specific application measures, providing a systematic solution for intelligent port and ship automation operations.

[0043] Through the implementation of this invention, the laser berthing guidance system not only meets the core technical requirements of intelligent mooring, but also provides technical references and innovative ideas for related applications in the future development of intelligent ports and ships. Its achievements lay a solid foundation for improving the efficiency and safety of ship berthing, and also promote the further development and application of port automation technology.

[0044] Figures 1 to 4 , demonstrating the composition and arrangement of an automatic berthing multi-mode guidance system using laser ranging.

[0045] It includes a ship berthing laser ranging device, a ship berthing controller, a ship berthing status data processing system, a handheld data terminal, and a multi-degree-of-freedom rotary platform. Two one-dimensional ship berthing laser ranging devices are used, along with a multi-degree-of-freedom rotary platform, to collect point cloud data from the bow and stern areas, completely covering one side of the ship.

[0046] By implementing coordinate transformation technology, the ship's orientation relative to the shore can be indirectly obtained. By establishing an algorithmic model for extracting ship motion parameter information, this model can process the acquired two-dimensional point cloud data of the ship's berthing process in real time. By analyzing the scanned data, the ship model's posture and its distance from the shore can be determined, providing the necessary calculation basis for optimizing the precise posture self-adjustment function of the ship-to-shore connection device. During the berthing process, the clearance between the bow and stern relative to the dock shoreline must be precisely controlled, while also controlling the speed and contact angle of the ship approaching the shore. Therefore, a berthing safety warning module is incorporated into the ship berthing status data processing system. This module allows users to pre-edit and input thresholds for the ship's progressive speed and safety distance on the software control interface.

[0047] The overall device structure includes one (two) laser rangefinders, a controller, a ship status data processing system, one (two) rotary platforms, and a handheld data terminal. The system's communication protocol is based on the ASCII encoding format, and all communication data is terminated with a carriage return and line feed character.

[0048] To connect the device, connect the laser sensor to the RS485 bus via a USB-to-RS485 converter and launch the configuration software. Upon startup, the software automatically captures all serial devices on the computer. Select the appropriate serial device from the drop-down menu and click the "Run Device" button to activate the sensor. Once activated, the device executes the tracking measurement command from the single-point ranging module, triggering continuous ranging mode. The data acquisition frequency during measurement depends on the parameter settings and the reflectivity of the target object, but can reach a maximum of 20kHz.

[0049] Two laser sensors are mounted in parallel and, combined with the motion of a rotating platform, synchronously monitor the distance from the bow and stern of a vessel during berthing. The distance between the measurement point and the laser is calculated based on the time difference between laser emission and reception. Time-based ranging is divided into pulse ranging and phase ranging. For pulse ranging, the distance between the laser source and the measurement point is: Where c is the propagation speed of the laser in the air, and t is the time it takes for the laser to travel to and from the target.

[0050] The phase ranging formula is: Where ω is the angular frequency of the modulated light, f is the frequency of the modulating signal, and n is the number of modulated half-wavelengths. The phase delay is less than π.

[0051] ω is the angular frequency of the modulated light, f is the frequency of the modulating signal, φ is the phase delay produced by one round trip, n is the number of modulated half-wavelengths contained in the survey line, Δφ is the part of the phase delay produced by the signal in one round trip that is less than π, and Δn is the fraction of the modulated wave contained in the survey line that is less than half a wavelength.

[0052] Because the sensor operates in single-point ranging mode and its measurement frequency is known and fixed, it provides a reliable time reference for calculating the ship's progressive speed. By acquiring consecutive distance measurements at the same time interval, the change in distance can be used to calculate the ship's approach speed relative to the dock. The calculation formula is as follows:

[0053] in is the distance data at the current moment, is the distance data at the previous moment, and Δt is the interval time.

[0054] A laser scanner monitors berthing. The laser berthing guidance system's industrial computer output is connected to an audible and visual alarm system and software display, while the input is connected to a laser sensor. When a vessel enters the berthing area, the berthing pilot sends instructions to the central control system via a computer control terminal. The central control system dynamically adjusts the laser sensor's parameter settings based on the vessel's model and displacement, ensuring the sensor can perform high-precision measurements at the vessel's designated location.

[0055] The system can be used for various ship berthing situations. Based on the actual ship status, it monitors the real-time distance parameters between the ship and the shore, accurately capturing the complex movements of the ship while berthing. Through the above-mentioned technical solution, a ship berthing status detection system based on a one-dimensional laser rangefinder combined with a rotary platform has been established. This system utilizes one-dimensional laser scanning technology, image recognition technology, and sensor technology to detect the real-time distance parameters between the ship and the shore. It can accurately obtain the real-time berthing status of the ship's complex movements and the attitude information of the moored ship, providing a calculation basis for optimizing the precise attitude self-adjustment function of the ship-shore connection device, and judging the working status and reliability of the automatic berthing device.

[0056] The above is only a further embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes based on the technical solutions and concepts of the present invention within the scope disclosed by the present invention, which fall within the scope of protection of the present invention.

Claims

1. An automatic berthing multi-mode guidance system using laser ranging, characterized by: It includes a laser ranging device, which includes two one-dimensional laser sensors and a matching multi-degree-of-freedom rotation platform, used to collect point cloud data of the bow and stern areas of the ship; a controller for controlling the posture of the rotary platform and transmitting data; A ship status data processing system that runs software to calculate the ship's real-time position information and motion parameters, and provides operational warnings and prompts; Handheld data terminal, used for ship-shore information coordination and control of simulation platform spatial movement.

2. The multi-mode guidance system for automatic berthing using laser ranging according to claim 1, characterized in that: The laser ranging device achieves full coverage of point cloud data of the area on one side of the ship through the rotating platform. The two one-dimensional laser sensors are installed in parallel and are used to monitor the offshore distance of the bow and stern during the berthing process of the ship.

3. The multi-mode guidance system for automatic berthing using laser ranging according to claim 1, characterized in that: The ship status data processing system has a built-in berthing safety warning module, which supports users to preset the ship's progressive speed threshold and safety distance threshold, and triggers an alarm when the measured data exceeds the threshold.

4. The multi-mode guidance system for automatic berthing using laser ranging according to claim 1, characterized in that: The system uses coordinate transformation technology and a ship motion parameter extraction algorithm model to calculate the ship's azimuth information, approach speed and attitude parameters relative to the shore in real time based on the two-dimensional point cloud data collected by the laser ranging device.

5. The automatic berthing multi-mode guidance system using laser ranging according to claim 1, characterized in that: The communication protocol of the laser distance measuring device is based on the ASCII encoding format. All communication data ends with a carriage return and line feed character and is connected to the RS485 bus through a USB to RS485 module.

6. The multi-mode guidance system for automatic berthing using laser ranging according to claim 1, characterized in that: The one-dimensional laser sensor supports two ranging modes: pulse and phase: The pulse ranging formula is: Where c is the propagation speed of the laser in the air, and t is the time it takes for the laser to travel to and from the target. The phase ranging formula is: Where ω is the angular frequency of the modulated light, f is the frequency of the modulating signal, and n is the number of modulated half-wavelengths. The phase delay is less than π.

7. The multi-mode guidance system for automatic berthing using laser ranging according to claim 1, characterized in that: The ship status data processing system calculates the ship approach speed through continuous ranging data, and the calculation formula is: in is the distance data at the current moment, is the distance data at the previous moment, and Δt is the interval time.

8. The multi-mode guidance system for automatic berthing using laser ranging according to claim 1, characterized in that: The handheld data terminal is connected to the controller and the ship status data processing system through wireless communication, supports real-time display of ship berthing status data, and sends control instructions to the rotary platform.

9. The multi-mode guidance system for automatic berthing using laser ranging according to claim 1, characterized in that: The system also includes a large-size display screen for real-time release of ship berthing status information, early warning prompts and operating instructions.

10. The automatic berthing multi-mode guidance system using laser ranging according to claim 1, characterized in that: The controller has a built-in central processing unit for coordinating the collaborative work of the laser ranging device, the ship status data processing system and the handheld data terminal, and dynamically adjusting the parameter settings of the laser sensor to adapt to different ship models and displacements.

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