Container ship gravity center position determination method, device, equipment, medium and product

Abstract

The invention discloses a container ship gravity center position determination method, device, equipment, medium and product, and the method comprises the steps: obtaining the structure information and size information of a container ship, and determining an inclination angle test environment construction scheme of the container ship based on a preset container ship gravity center detection rule, structure information and size information; controlling the signal sending equipment to run along the test track, and controlling the signal sending equipment to send a test signal when the signal sending equipment runs to each test point; on the basis of test response information and reference response information of the tilt angle sensor array to the test signals, tilt parameters of the container ship are determined, and the gravity center position of the container ship is determined according to the tilt parameters and the weight information of the container ship. The gravity center position of the container ship can be automatically determined according to the weight information of the container ship, the test response information of the tilt angle sensor array to the test signal and the reference response information, the calculation cost of the gravity center position is low, and the calculation efficiency and accuracy are high.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of container ship testing, in particular to a method and device for determining the position of the center of gravity of a container ship, equipment, medium and products. BACKGROUND

[0002] The position of the center of gravity of a container ship is of great significance in optimizing cargo loading strategies, reducing operating costs, improving transportation efficiency, ensuring ship stability and navigation safety, etc. At present, the method for determining the position of the center of gravity of a container ship is the pendulum test method, i.e. a plurality of vertically suspended metal pendulums are arranged on the deck of the container ship, the pendulums remain vertical under the action of gravity, an oil tank / water tank is arranged below the pendulums, and a scale is arranged in the tank. When the ship tilts, the pendulums remain vertical, but there is a horizontal shift relative to the ship body. By measuring and reading the shift of the pendulums, the roll angle of the ship can be calculated, and then the position of the center of gravity of the ship can be obtained. However, the pendulum needs to be fixed on the lashing bridge of the container ship, and the structure of the lashing bridge is complex, with struts and beams staggered, making it difficult to suspend the pendulum. Moreover, the pendulum is greatly affected by environmental factors such as wind and vibration, and has poor stability and limited accuracy of the shift.

[0003] Therefore, it is one of the key issues in the field of ship technology to provide a method for determining the position of the center of gravity of a container ship with small influence of the structure of the lashing bridge, wind, vibration and other environmental factors, high stability and high accuracy. SUMMARY

[0004] The present application provides a method, device, equipment, medium and products for determining the position of the center of gravity of a container ship, which can deploy an inclination test environment in combination with the structural information and size information of the container ship, and automatically determine the position of the center of gravity of the container ship according to the weight information of the container ship, the test response information and the reference response information of the test signal of the inclination sensor array, with low calculation cost, high calculation efficiency and high accuracy.

[0005] According to an aspect of the present application, a method for determining the position of the center of gravity of a container ship is provided, which comprises:

[0006] Obtaining the structural information and size information of the container ship, and determining an inclination test environment construction scheme of the container ship based on the pre-set container ship center of gravity detection rules, structural information and size information, wherein the inclination test environment construction scheme is used to construct an inclination sensor array, a test track and at least two test points uniformly distributed on the test track of the container ship;

[0007] Controlling a signal sending device to run along the test track, and controlling the signal sending device to send a test signal when the signal sending device runs to each test point;

[0008] Based on the test response information and reference response information of the tilt sensor array to the test signal, the tilt parameters of the container ship are determined, and the center of gravity position of the container ship is determined according to the tilt parameters and the weight information of the container ship.

[0009] According to another aspect of the present invention, an apparatus for determining the center of gravity position of a container ship is provided. This apparatus is used to implement the method for determining the center of gravity position of a container ship in any embodiment of the present invention. The apparatus includes:

[0010] The scheme acquisition module is used to acquire the structural and dimensional information of the container ship, and based on the pre-set container ship center of gravity detection rules, structural and dimensional information, determine the tilt angle test environment construction scheme of the container ship. The tilt angle test environment construction scheme is used to construct the tilt angle sensor array, test track and at least two test points evenly distributed on the test track of the container ship.

[0011] The equipment control module is used to control the signal transmitting device to run along the test track, and to control the signal transmitting device to send test signals when it runs to each test point;

[0012] The center of gravity determination module is used to determine the tilt parameters of the container ship based on the test response information and reference response information of the test signal from the tilt sensor array, and to determine the position of the center of gravity of the container ship based on the tilt parameters and the weight information of the container ship.

[0013] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0014] At least one processor; and a memory communicatively connected to the at least one processor;

[0015] The memory stores a computer program that can be executed by at least one processor, which enables the at least one processor to perform the method for determining the center of gravity of a container ship in any embodiment of the present invention.

[0016] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the method for determining the center of gravity position of a container ship in any embodiment of the present invention.

[0017] According to another aspect of the present invention, a computer program product is provided, comprising a computer program that, when executed by a processor, implements a method for determining the center of gravity position of a container ship according to any embodiment of the present invention.

[0018] The method for determining the center of gravity of a container ship according to the present invention includes: acquiring the structural and dimensional information of the container ship, and determining a tilt angle test environment construction scheme based on pre-set container ship center of gravity detection rules, structural and dimensional information, wherein the tilt angle test environment construction scheme is used to construct a tilt angle sensor array, a test track, and at least two test points evenly distributed on the test track; controlling a signal transmitting device to run along the test track, and controlling the signal transmitting device to send test signals when the signal transmitting device runs to each test point; determining the tilt parameters of the container ship based on the test response information and reference response information of the tilt angle sensor array to the test signals, and determining the center of gravity position of the container ship according to the tilt parameters and the weight information of the container ship. The technical solution of this invention can determine the construction scheme of the container ship tilt angle test environment based on pre-set container ship center of gravity detection rules, structural information, and dimensional information. This allows for the creation of an environment suitable for testing the tilt angle and center of gravity position of the current container ship, improving the measurement accuracy of tilt angle and center of gravity position. Furthermore, based on the container ship's weight information, the test response information of the tilt angle sensor array to the test signal, and the reference response information, the center of gravity position of the container ship is automatically determined without the need for manual viewing and reading of test data. This results in low calculation cost, high calculation efficiency, and high accuracy. Secondly, the tilt angle sensor array does not need to be deployed on the lashing bridge, and the response information of the tilt angle sensor array is a light spot, minimizing the impact of lashing bridge structure, wind force, and vibration on tilt angle measurement. This solves the problem that the pendulum needs to be fixed to the container ship's lashing bridge, which has a complex structure with intersecting supports and beams, making pendulum suspension difficult. Additionally, the pendulum is greatly affected by environmental factors such as wind force and vibration, resulting in poor stability and limited accuracy of offset.

[0019] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in this invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a flowchart illustrating a method for determining the center of gravity of a container ship provided by the present invention.

[0022] Figure 2 This is a schematic diagram of an inclination testing environment provided by the present invention;

[0023] Figure 3 This is a schematic diagram of another tilt angle testing environment provided by the present invention;

[0024] Figure 4 This is a flowchart illustrating another method for determining the center of gravity of a container ship provided by the present invention.

[0025] Figure 5 This is a schematic diagram of the structure of a device for determining the center of gravity position of a container ship provided by the present invention;

[0026] Figure 6 This is a schematic diagram of the structure of an electronic device provided by the present invention. Detailed Implementation

[0027] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are merely some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort should fall within the scope of protection of the present invention.

[0028] It should be noted that the terms "first," "second," "initial," "intermediate," "candidate," "alternate," "target," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0029] Figure 1 This is a flowchart illustrating a method for determining the center of gravity of a container ship according to the present invention. This embodiment is applicable to determining the center of gravity of a container ship in a low-cost, high-efficiency, and high-accuracy manner. The method can be executed by the container ship center of gravity determination device provided by the present invention. This device can be implemented in hardware and / or software. In a specific embodiment, the device can be integrated into an electronic device. The following embodiments will illustrate this using the integration of the device into an electronic device as an example. (Refer to...) Figure 1 The method specifically includes the following steps:

[0030] S101. Obtain the structural and dimensional information of the container ship, and determine the construction scheme of the container ship tilt angle test environment based on the pre-set container ship center of gravity detection rules, structural and dimensional information.

[0031] Container ships, also known as container ships or container vessels, are modern cargo ships specifically designed to transport international standard containers. The structural information of a container ship can be understood as its structural layout, including but not limited to hull form, cargo hold openings, frame type, lashing bridge structure, torsional moment, lateral force, local loads, load type, and bending moment. The dimensional information of a container ship can be understood as its physical dimensions, including but not limited to length, beam, depth, draft, height, and deck area. This structural and dimensional information can represent and reconstruct the three-dimensional structure of the container ship; that is, based on this information, the actual hull information can be deduced. Pre-defined rules for detecting the center of gravity of a container ship can be understood as a guidance scheme for detecting its center of gravity position. For example, how to determine the deployment method of the tilt sensor array, the test track deployment method, and the test point marking method based on the structural and dimensional information—that is, the tilt test environment construction scheme—and how to determine the tilt angle of the container ship based on test data, the tilt sensor array, and the relative distance between the tilt sensor arrays. The tilt angle test environment construction scheme is used to instruct ship testing personnel or test environment construction equipment (e.g., a robot) to construct a tilt angle sensor array, a test track, and at least two test points evenly distributed on the test track for a container ship. Each test point generates a test signal and requires a corresponding tilt angle sensor to detect the signal. Therefore, the tilt angle sensor array of this invention includes at least two tilt angle sensors, with a one-to-one correspondence between the tilt angle sensor and the test point.

[0032] In one specific implementation, based on pre-defined container ship center of gravity detection rules, structural information, and dimensional information, a scheme for constructing the container ship's tilt angle testing environment is determined, including: determining the number and deployment locations of tilt sensors based on the container ship center of gravity detection rules, structural information, and dimensional information; the number and deployment locations of tilt sensors are used to construct a tilt sensor array; determining the location information of the test track based on the array information of the tilt sensor array and the distance threshold between the tilt sensor array and the test track; the location information of the test track is used to construct the test track; and determining the number and deployment locations of test points based on the location information of the test track, the number and deployment locations of the tilt sensors; the number and deployment locations of test points are used to mark at least two test points.

[0033] The tilt sensor of this invention is a magnetic tilt sensor. The magnetic attachment method reduces the deployment difficulty of the tilt sensor, thereby saving deployment time for the tilt detection equipment. It eliminates the need for physical suspension and can be directly fixed to the steel structure, improving the stability of the tilt sensor and avoiding the obstruction of the measurement path by the lashing bridge structure. It also eliminates errors caused by deck deformation in traditional laser ranging methods. The container ship center of gravity detection rules include the deployment position of the tilt sensor on the container ship. Generally, the magnetic tilt sensor can be directly attached to the hatch cover between the lashing bridge pillars, vertically deployed along the centerline of the hull. This arrangement aims to form a distributed measurement network while avoiding the container lashing area, minimizing the impact of the complex structure of the lashing bridge on the tilt testing work. The tilt sensors are generally deployed at equal intervals. The container ship center of gravity detection rules include the spacing distance of the tilt sensors. Based on this, combined with the structural and dimensional information of the container ship, the number and deployment positions of the tilt sensors can be obtained. For example, assuming the tilt sensors are spaced 3 meters apart, no tilt sensors are needed at the beginning and end of the center line, and the length of the center line is 21, then the number of tilt sensors is 6, deployed at 3 meters, 6 meters, 9 meters, 12 meters, 15 meters, and 18 meters along the center line (from bow to stern). The test track is generally deployed above the tilt sensor array so that the tilt sensor array can receive test signals from the laser emitter located on the test track. The distance threshold between the tilt sensor array and the test track (i.e., the relative distance between the tilt sensor array and the test track is related to the control range of the laser emitter, the structural and dimensional information of the container ship, etc., and can be determined by combining the above data and the container ship's center of gravity detection rules). A test point can be understood as the position on the test track where the laser emitter stops and emits a test signal. Since there is a one-to-one correspondence between tilt sensors and test points, the number of test points is the same as the number of tilt sensors. The deployment position of a test point is the corresponding point on the test track where the tilt sensor is deployed.

[0034] On the one hand, the tilt sensor of this invention incorporates a vibration compensation algorithm. This design aims to eliminate the interference of the inherent vibration of the ties bridge structure on tilt measurement, thereby improving the accuracy of the tilt test results. On the other hand, the tilt sensor's housing is made of waterproof and electromagnetic interference-resistant material to reduce the impact of humid environments on the tilt sensor's performance, thus extending its lifespan and improving the accuracy of testing. A neodymium iron boron permanent magnet array is embedded at the bottom of the tilt sensor for rapid adsorption and disassembly, improving the deployment efficiency of the tilt sensor array.

[0035] Figure 2 This is a schematic diagram of an inclination testing environment provided by the present invention. Figure 3 This is a schematic diagram of another tilt angle testing environment provided by the present invention. Figure 2This is a top view of a container ship. Figure 3 This is a cross-sectional view of a container ship. In the diagram, 1 represents the tilt sensor; all tilt sensors form a tilt sensor array. 2 represents the test track, and 3 represents the test point. Figure 2 and Figure 3 As can be seen, the test track is located above the tilt sensor array, and the tilt sensors correspond one-to-one with the test points.

[0036] S102. Control the signal transmitting device to run along the test track, and when the signal transmitting device runs to each test point, control the signal transmitting device to send test signals.

[0037] Signal transmitting equipment can be understood as a device that can run on a test track and transmit laser signals. For example, a calibration robot includes a reference laser emitter, motor-driven wheels, and a robotic arm. The calibration robot can move along a preset track on a tying bridge via the motor-driven wheels and interact with an inclination sensor via the reference laser emitter at the end of the robotic arm (the reference laser emitter transmits a test signal, and the inclination sensor generates a response signal in response to the test signal) to achieve millimeter-level positioning calibration.

[0038] S102 can control the signal transmitting device to run along the test track by driving the motor wheel, and when the signal transmitting device runs to each test point, control the signal transmitting device to stop for a preset time (1 second, 2 seconds, 3 seconds, etc.) by driving the motor wheel and control the reference laser emitter to send test signals.

[0039] It is worth noting that after setting up the tilt test environment, the origin of each tilt sensor in the tilt sensor array will be marked. That is, the signal transmitting device is first controlled to run along the test track, and when the signal transmitting device runs to each test point, the signal transmitting device is controlled to send test signals to obtain the response signal of the tilt sensor array to the test signal, that is, the reference response information, so as to determine the tilt of the container ship in the form of offset, and eliminate the system error caused by the installation position deviation.

[0040] S103. Based on the test response information and reference response information of the tilt sensor array to the test signal, determine the tilt parameters of the container ship, and determine the center of gravity position of the container ship according to the tilt parameters and the weight information of the container ship.

[0041] The test response information can be understood as the response signal of the tilt sensor array when S102 is executed, that is, the position of the light spot formed on the tilt sensor array by the test signal sent by S102. The container ship's tilt parameters can be understood as the tilt angle of the container ship. Based on the light spot position corresponding to the test response information and the light spot position corresponding to the reference response information, the lateral offset of the container ship can be calculated. Combining the lateral offset of the container ship and the relative distance between the tilt sensor array and the test track, a tilt triangle of the ship can be constructed, and then the tilt parameters of the container ship can be calculated. The center of gravity position of the container ship can be understood as the vertical height of the overall center of mass of the ship and its load (including empty ship, fuel, ballast water, containers, etc.) relative to the keel baseline, and is one of the core parameters for evaluating ship stability. The weight information of the container ship can be understood as the current weight of the container ship, including the sum of the container ship's own weight and the weight of the current load. Specifically, the center of gravity position of the container ship is related to the container ship's weight information and tilt parameters. Substituting the container ship's weight information and tilt parameters into the center of gravity calculation formula yields the center of gravity position of the container ship.

[0042] Based on the test response information and reference response information of the tilt sensor array to the test signal, the tilt parameters of the container ship are determined, including: determining at least two ship roll distances based on the test response information and reference response information of at least two tilt sensors, with a one-to-one correspondence between the ship roll distance and the tilt sensor; determining at least two container ship tilt angles based on the relative distance between the tilt sensor array and the test track and the at least two ship roll distances, with a one-to-one correspondence between the container ship tilt angle and the ship roll distance; and determining the tilt parameters of the container ship based on the average value of the tilt angles of the at least two container ships.

[0043] The ship's roll distance can be understood as the distance between the test spot (the spot position corresponding to the test response information) and the origin spot (the spot position corresponding to the reference response information) on the tilt sensor. This invention calculates the tilt angle measured by each tilt sensor based on the relative distance between the tilt sensor array and the test track, the response signal of each tilt sensor, and the reference signal. The tilt parameters of the container ship are then determined based on the average of the tilt angles measured by all tilt sensors, in order to obtain stable tilt parameters and improve the accuracy of the container ship's tilt parameters.

[0044] Optionally, after determining the center of gravity position of the container ship, the present invention performs a ballast water allocation task. After the allocation task is completed, the backup center of gravity position is tested. After multiple allocations and tests, the above center of gravity position is updated based on multiple backup center of gravity positions. The purpose of this setting is to test the center of gravity position under various operating conditions (different ballast water states) in order to obtain a more accurate and statistically significant center of gravity position of the container ship by normalizing and analyzing the trend of center of gravity position changes.

[0045] Container ships typically include a port ballast tank and a starboard ballast tank. Initially, the ballast water volume in both tanks is the same (e.g., 1000 tons, 1200 tons, etc., depending on the size of the container ship). The allocation and testing process specifically includes: obtaining the ballast water adjustment rules for the container ship's ballast tanks. These rules include the first ballast water adjustment direction (e.g., injecting ballast water from the port ballast tank to the starboard ballast tank or vice versa; the ship will heel when weight shifts between the left and right sides), the ballast water adjustment scale (the amount of ballast water injected each time, e.g., 100 tons, 200 tons, etc., depending on the heel angle testing requirements and the size of the container ship), and the preset ship heel angle (used to evaluate the current ballast water adjustment). Whether the tilting method meets the standards for tilt testing (e.g., 1 degree, 1.5 degrees, etc., which are related to the tilt angle testing requirements, the size and weight of the container ship); adjusting the ballast water state (ballast water volume state on both sides of the container ship) of the ballast water tanks based on the first ballast water adjustment direction and ballast water adjustment scale; controlling the signal transmitting equipment to run along the test track, and sending test signals when the signal transmitting equipment reaches each test point; based on the test response information and reference response information of the tilt angle sensor array to the test signals... The first standby inclination parameter of the container ship (the inclination parameter of the container ship obtained after adjusting the ballast water state) is determined, and the first standby center of gravity position of the container ship (the center of gravity position of the container ship calculated using the first standby inclination parameter) is determined based on the first standby inclination parameter and the weight information of the container ship. When the first standby inclination parameter is less than the preset ship inclination angle, the process returns to the step of adjusting the ballast water state of the container ship's ballast water tanks based on the first ballast water adjustment direction and ballast water adjustment scale. When the first standby inclination parameter is not less than the preset ship inclination angle, it proves that the current adjustment method has met the standard for inclination test requirements, and the ballast water adjustment direction needs to be changed. The first ballast water adjustment direction is updated to the second ballast water adjustment direction (for example, injecting ballast water from the right ballast water tank to the left ballast water tank or injecting ballast water from the left ballast water tank to the right ballast water tank, the second ballast water adjustment direction is opposite to the first ballast water adjustment direction), and the center of gravity position of the container ship is updated based on the second ballast water adjustment direction, ballast water adjustment scale, preset ship inclination angle, and at least one first standby center of gravity position. It is worth noting that changing the ballast water adjustment direction can change the ballast water state of the ballast water tank, that is, change the working condition for determining the center of gravity position, but the method for determining the center of gravity position is the same.

[0046] Furthermore, updating the container ship's center of gravity position based on the second ballast water adjustment direction, ballast water adjustment scale, preset ship tilt angle, and at least one first backup center of gravity position includes: adjusting the ballast water state of the container ship's ballast water tanks based on the second ballast water adjustment direction and ballast water adjustment scale; controlling the signal transmitting equipment to run along the test track, and sending test signals when the signal transmitting equipment reaches each test point; determining the container ship's second backup tilt parameters based on the test response information and reference response information of the tilt sensor array to the test signals, and according to the second backup tilt parameters... Based on the number and weight information of the container ship, determine the second backup center of gravity position of the container ship; when the second backup tilt parameter is less than the preset ship tilt angle, return to the step of adjusting the ballast water state of the container ship's ballast water tanks based on the second ballast water adjustment direction and ballast water adjustment scale; when the second backup tilt parameter is not less than the preset ship tilt angle, update the center of gravity position of the container ship based on at least one first backup center of gravity position and at least one second backup center of gravity position, for example, determine the average value of each first backup center of gravity position and each second backup center of gravity position as the new center of gravity position to improve the accuracy of the center of gravity position.

[0047] Generally, if the first or second backup tilt angle is not less than the preset ship tilt angle, at least one ballast water allocation task needs to be performed. After each ballast water allocation task, a backup center of gravity position is calculated. Therefore, there are at least one first and one second backup center of gravity position. This invention measures multiple backup center of gravity positions by successively changing the ballast water state of the ballast tanks, and updates the center of gravity position based on the average value of multiple backup center of gravity positions. This fully considers different ship states, resulting in a more accurate and statistically significant center of gravity position.

[0048] After updating the container ship's center of gravity position based on at least one first backup center of gravity position and at least one second backup center of gravity position, the present invention will also restore the ballast water in the port and starboard ballast tanks to their initial state in order to conduct the next test task or ensure that the container ship has a stable operating state. In a specific embodiment, taking the initial state of 1000 tons of ballast water in both port and starboard ballast tanks, the adjustment scale of each ballast water is 100 tons, and the preset ship tilt angle is 1 degree as an example, assuming that the ballast water in the port ballast tank is first injected into the port ballast tank, then 100 tons of ballast water in the port ballast tank is pumped out and injected into the port ballast tank. The backup tilt parameters and backup center of gravity position are measured. When the backup tilt parameters are less than 1 degree, 100 tons of ballast water in the port ballast tank are pumped out and injected into the port ballast tank. The backup tilt parameters and backup center of gravity position are measured, and the relationship between the backup tilt parameters and 1 degree is determined, until the backup tilt parameters are not less than 1 degree. When the standby tilt parameter is not less than 1 degree, 100 tons of ballast water are pumped out of the right ballast tank and injected into the left ballast tank. The standby tilt parameter and the standby center of gravity position are measured, and the relationship between the standby tilt parameter and 1 degree is determined. When the standby tilt parameter is less than 1 degree, 100 tons of ballast water are pumped out of the right ballast tank and injected into the left ballast tank. The standby tilt parameter and the standby center of gravity position are measured, and the relationship between the standby tilt parameter and 1 degree is determined, until the standby tilt parameter is not less than 1 degree. The center of gravity position of the container ship is updated based on the average of all standby center of gravity positions. It is worth noting that, in order to ensure the comprehensiveness of the test data, if the standby tilt parameter measured after pumping out 100 tons of ballast water from the right ballast tank and injecting it into the left ballast tank is not less than 1 degree, the ballast water state can continue to be adjusted in reverse. That is, ballast water from the left ballast tank is injected into the right ballast tank in increments of 100 tons, and the standby tilt parameter and standby center of gravity position are measured after each adjustment, until the ballast water in both the left and right ballast tanks is 1000 tons. The center of gravity position of the container ship is then updated based on the average of the standby center of gravity positions.

[0049] Before determining the tilt parameters of the container ship based on the test response information and reference response information of the tilt sensor array to the test signals, the present invention further includes: determining at least two test response information based on the response of the test tilt sensor to at least two test signals sent by the signal transmitting device within a preset time period, that is, determining the position of the test spot corresponding to the two test response information on the test tilt sensor. The test tilt sensor is the tilt sensor corresponding to the first test point when the signal transmitting device runs along the test track. The test signal includes the test signal, and the test response information and the test signal are in one-to-one correspondence. When the matching degree (deviation degree) of at least two test response information is not less than a preset matching threshold (the distance value that measures the deviation of the positions of the two test spots), the present invention further includes: determining at least two test response information corresponding to the test response information. When the overlap between the two test response information is high, the test signal environment is less affected by environmental factors such as vibration and wind, and the test environment is stable, the average value of at least two test response information is determined as the test response information of the tilt sensor to the test signal, and the tilt test continues. When the matching degree of at least two test response information is less than the preset matching threshold, the overlap between the test response information is poor, the test signal environment is greatly affected by environmental factors such as vibration and wind, the container ship test environment is unstable, and an abnormal test environment warning is generated to prompt the test personnel to stop the current test work to avoid obtaining inaccurate test conclusions and wasting test resources.

[0050] The technical solution of the above embodiments can determine the construction scheme of the container ship tilt angle test environment according to the pre-set container ship center of gravity detection rules, structural information, and dimensional information, so as to build an environment suitable for testing the tilt angle and center of gravity position of the current container ship, thereby improving the measurement accuracy of tilt angle and center of gravity position. Furthermore, based on the container ship's weight information, the test response information of the tilt angle sensor array to the test signal, and the reference response information, the center of gravity position of the container ship is automatically determined without the need for manual viewing and reading of test data. The calculation cost of the center of gravity position is low, and the calculation efficiency and accuracy are high. Secondly, the tilt angle sensor array does not need to be deployed on the lashing bridge, and the response information of the tilt angle sensor array is a light spot, so the tilt angle measurement is less affected by the lashing bridge structure, wind force, and vibration. This solves the problem that the pendulum needs to be fixed on the container ship's lashing bridge, which has a complex structure with intersecting supports and beams, making pendulum suspension difficult, and the pendulum is greatly affected by environmental factors such as wind force and vibration, resulting in poor stability and limited accuracy of offset.

[0051] Figure 4 This is a flowchart illustrating another method for determining the center of gravity of a container ship provided by the present invention. Based on the above embodiments, this embodiment provides a preferred method for determining the center of gravity of a container ship, essentially a method with more complete process details. Specifically, as shown...Figure 4 As shown, the method includes:

[0052] S201. Obtain the structural and dimensional information of the container ship, and determine the number and deployment location of tilt sensors based on the container ship's center of gravity detection rules, structural and dimensional information.

[0053] The number and deployment location of tilt sensors are used to construct the tilt sensor array.

[0054] S202. Based on the array information of the tilt sensor array and the distance threshold between the tilt sensor array and the test track, determine the position information of the test track.

[0055] The location information of the test track is used to construct the test track.

[0056] S203. Determine the number and deployment location of test points based on the location information of the test track, the number of tilt sensors, and their deployment locations.

[0057] The number of test points and their deployment locations are used to mark at least two test points.

[0058] S204. Control the signal transmitting device to run along the test track, and when the signal transmitting device runs to each test point, control the signal transmitting device to send test signals.

[0059] S205. Based on the test response information and reference response information of at least two tilt sensors to the test signal, determine at least two ship roll distances.

[0060] Among them, the ship's roll distance and tilt angle sensors are matched one-to-one.

[0061] S206. Based on the relative distance between the tilt sensor array and the test track and the roll distance of at least two ships, determine the tilt angle of at least two container ships.

[0062] The tilt angle and the heel distance of the container ship correspond one-to-one.

[0063] S207. Determine the inclination parameters of a container ship based on the average of the inclination angles of at least two container ships.

[0064] S208. Determine the center of gravity of the container ship based on the inclination parameters and the weight information of the container ship.

[0065] Following S208, the method for determining the center of gravity position of a container ship according to the present invention further includes: Step 1) obtaining the ballast water adjustment rules of the container ship's ballast water tanks, wherein the ballast water adjustment rules include a first ballast water adjustment direction, a ballast water adjustment scale, and a preset ship tilt angle; Step 2) adjusting the ballast water state of the container ship's ballast water tanks based on the first ballast water adjustment direction and the ballast water adjustment scale; Step 3) controlling the signal transmitting device to run along the test track, and controlling the signal transmitting device to send test signals when it reaches each test point; Step 4) determining the first backup tilt parameter of the container ship based on the test response information and reference response information of the tilt sensor array to the test signal, and determining the first backup center of gravity position of the container ship based on the first backup tilt parameter and the weight information of the container ship; when the first backup tilt parameter is less than the preset ship tilt angle, returning to execute step 2); when the first backup tilt parameter is not less than the preset ship tilt angle, returning to execute step 2); At the preset ship tilt angle, the first ballast water adjustment direction is updated to the second ballast water adjustment direction, and step 5) is executed; Step 5) adjusts the ballast water state of the container ship's ballast water tanks based on the second ballast water adjustment direction and ballast water adjustment scale; Step 6) controls the signal transmitting equipment to run along the test track, and sends test signals when the signal transmitting equipment reaches each test point; Step 7) determines the second backup tilt parameter of the container ship based on the test response information and reference response information of the tilt sensor array to the test signal, and determines the second backup center of gravity position of the container ship based on the second backup tilt parameter and the weight information of the container ship; if the second backup tilt parameter is less than the preset ship tilt angle, return to execute step 5); when the second backup tilt parameter is not less than the preset ship tilt angle, update the center of gravity position of the container ship based on at least one first backup center of gravity position and at least one second backup center of gravity position.

[0066] Figure 5 This is a structural schematic diagram of a device for determining the center of gravity position of a container ship provided by the present invention. Figure 5 As shown, the device includes: a scheme acquisition module 301, an equipment control module 302, and a center of gravity determination module 303.

[0067] The scheme acquisition module 301 is used to acquire the structural and dimensional information of the container ship, and determine the tilt angle test environment construction scheme of the container ship based on the pre-set container ship center of gravity detection rules, structural and dimensional information. The tilt angle test environment construction scheme is used to construct the tilt angle sensor array, test track and at least two test points evenly distributed on the test track of the container ship.

[0068] The equipment control module 302 is used to control the signal transmitting device to run along the test track, and to control the signal transmitting device to send test signals when it runs to each test point.

[0069] The center of gravity determination module 303 is used to determine the tilt parameters of the container ship based on the test response information and reference response information of the test signal from the tilt sensor array, and to determine the center of gravity position of the container ship based on the tilt parameters and the weight information of the container ship.

[0070] Optionally, the tilt sensor array includes at least two tilt sensors, with each tilt sensor corresponding to a test point; the center of gravity determination module 303 is specifically used for: determining at least two ship roll distances based on the test response information and reference response information of the at least two tilt sensors to the test signal, with each ship roll distance corresponding to a tilt sensor; determining at least two container ship tilt angles based on the relative distance between the tilt sensor array and the test track and the at least two ship roll distances, with each container ship tilt angle corresponding to a ship roll distance; and determining the container ship tilt parameters based on the average of the tilt angles of the at least two container ships.

[0071] Optionally, the scheme acquisition module 301 is specifically used for: determining the number and deployment location of tilt sensors based on the container ship center of gravity detection rules, structural information, and dimensional information; the number and deployment location of tilt sensors are used to construct a tilt sensor array; determining the location information of the test track based on the array information of the tilt sensor array and the distance threshold between the tilt sensor array and the test track; the location information of the test track is used to construct the test track; and determining the number and deployment location of test points based on the location information of the test track, the number and deployment location of the tilt sensors; the number and deployment location of test points are used to mark at least two test points.

[0072] Optionally, the center of gravity determination module 303 is further configured to: after determining the center of gravity position of the container ship, obtain the ballast water adjustment rules of the container ship's ballast water tanks, the ballast water adjustment rules including a first ballast water adjustment direction, a ballast water adjustment scale, and a preset ship tilt angle; adjust the ballast water state of the container ship's ballast water tanks based on the first ballast water adjustment direction and the ballast water adjustment scale; control the signal transmitting equipment to run along the test track, and control the signal transmitting equipment to send test signals when the signal transmitting equipment runs to each test point; and determine the first ballast water state of the container ship based on the test response information and reference response information of the tilt sensor array to the test signals. A first backup tilt parameter is established, and the first backup center of gravity position of the container ship is determined based on the first backup tilt parameter and the weight information of the container ship. When the first backup tilt parameter is less than the preset ship tilt angle, the process returns to the step of adjusting the ballast water state of the container ship's ballast water tanks based on the first ballast water adjustment direction and ballast water adjustment scale. When the first backup tilt parameter is not less than the preset ship tilt angle, the first ballast water adjustment direction is updated to the second ballast water adjustment direction, and the center of gravity position of the container ship is updated based on the second ballast water adjustment direction, the ballast water adjustment scale, the preset ship tilt angle, and at least one first backup center of gravity position.

[0073] Optionally, the center of gravity determination module 303 is specifically used for: adjusting the ballast water state of the container ship's ballast water tanks based on the second ballast water adjustment direction and ballast water adjustment scale; controlling the signal transmitting device to run along the test track, and controlling the signal transmitting device to send test signals when it reaches each test point; determining the container ship's second backup tilt parameter based on the test response information and reference response information of the tilt sensor array to the test signal, and determining the container ship's second backup center of gravity position based on the second backup tilt parameter and the container ship's weight information; when the second backup tilt parameter is less than the preset ship tilt angle, returning to the step of adjusting the ballast water state of the container ship's ballast water tanks based on the second ballast water adjustment direction and ballast water adjustment scale; when the second backup tilt parameter is not less than the preset ship tilt angle, updating the container ship's center of gravity position based on at least one first backup center of gravity position and at least one second backup center of gravity position.

[0074] Optionally, the center of gravity determination module 303 is specifically used for: before determining the tilt parameters of the container ship based on the test response information and reference response information of the tilt sensor array to the test signal, determining at least two test response information based on the response of the tilt sensor to at least two test signals sent by the signal transmitting device within a preset time period, wherein the test tilt sensor is the tilt sensor corresponding to the first test point when the signal transmitting device runs along the test track, and the test signal includes the test signal, and the test response information and the test signal are in one-to-one correspondence; when the matching degree of at least two test response information is not less than a preset matching threshold, determining the average value of at least two test response information as the test response information of the tilt sensor to the test signal; when the matching degree of at least two test response information is less than the preset matching threshold, determining that the detection environment of the container ship is unstable, and generating an abnormal detection environment warning.

[0075] The container ship center of gravity determination device provided in this embodiment can execute the container ship center of gravity determination method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0076] Figure 6 This is a schematic diagram of the structure of an electronic device provided by the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0077] like Figure 6 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the read-only memory (ROM) 12 or loaded from storage unit 18 into the random access memory (RAM) 13. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0078] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0079] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the method for determining the center of gravity position of a container ship.

[0080] In some embodiments, the method for determining the center of gravity of a container ship may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the method for determining the center of gravity of a container ship described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the method for determining the center of gravity of a container ship by any other suitable means (e.g., by means of firmware).

[0081] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0082] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0083] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0084] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0085] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0086] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0087] In one embodiment, the present invention further includes a computer program product comprising a computer program that, when executed by a processor, implements a method for determining the center of gravity position of a container ship according to any embodiment of the present invention.

[0088] In the implementation of a computer program product, computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof. Programming languages ​​include object-oriented programming languages ​​as well as conventional procedural programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or it can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0089] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0090] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for determining the center of gravity of a container ship, characterized in that, include: Obtain the structural and dimensional information of the container ship, and based on the pre-set container ship center of gravity detection rules, the structural and dimensional information, determine the tilt angle test environment construction scheme of the container ship. The tilt angle test environment construction scheme is used to construct the tilt angle sensor array, test track, and at least two test points evenly distributed on the test track of the container ship. The signal transmitting device is controlled to run along the test track, and when the signal transmitting device runs to each of the test points, the signal transmitting device is controlled to send test signals. Based on the test response information and reference response information of the tilt sensor array to the test signal, the tilt parameters of the container ship are determined, and the center of gravity position of the container ship is determined according to the tilt parameters and the weight information of the container ship.

2. The method according to claim 1, characterized in that, The tilt sensor array includes at least two tilt sensors, and each tilt sensor corresponds to a test point. The determination of the container ship's tilt parameters based on the test response information and reference response information of the tilt sensor array to the test signal includes: Based on the test response information and reference response information of the at least two tilt sensors to the test signal, at least two ship roll distances are determined, wherein the ship roll distance corresponds one-to-one with the tilt sensor; Based on the relative distance between the tilt sensor array and the test track and the roll distances of the at least two ships, the tilt angles of at least two container ships are determined, wherein the tilt angles of the container ships and the roll distances of the ships correspond one-to-one. The tilting parameters of the container ships are determined based on the average of the tilting angles of the at least two container ships.

3. The method according to claim 1, characterized in that, The method for constructing the container ship's tilt angle testing environment, based on pre-defined container ship center of gravity detection rules, structural information, and dimensional information, includes: Based on the container ship center of gravity detection rules, the structural information, and the dimensional information, the number and deployment positions of the tilt sensors are determined, wherein the number and deployment positions of the tilt sensors are used to construct the tilt sensor array; Based on the array information of the tilt sensor array, the distance threshold between the tilt sensor array and the test track, the position information of the test track is determined, wherein the position information of the test track is used to construct the test track; The number and deployment location of test points are determined based on the location information of the test track, the number of tilt sensors, and their deployment locations, wherein the number and deployment locations of the test points are used to mark the at least two test points.

4. The method according to claim 1, characterized in that, After determining the center of gravity of the container ship, the process also includes: Obtain the ballast water adjustment rules for the ballast water tanks of a container ship, wherein the ballast water adjustment rules include a first ballast water adjustment direction, a ballast water adjustment scale, and a preset ship tilt angle; The ballast water state of the container ship's ballast water tanks is adjusted based on the first ballast water adjustment direction and the ballast water adjustment scale. The signal transmitting device is controlled to run along the test track, and when the signal transmitting device runs to each of the test points, the signal transmitting device is controlled to send test signals. Based on the test response information and reference response information of the tilt sensor array to the test signal, the first backup tilt parameter of the container ship is determined, and based on the first backup tilt parameter and the weight information of the container ship, the first backup center of gravity position of the container ship is determined. When the first spare tilt parameter is less than the preset ship tilt angle, return to the step of adjusting the ballast water state of the container ship's ballast water tank based on the first ballast water adjustment direction and the ballast water adjustment scale; When the first backup tilt parameter is not less than the preset ship tilt angle, the first ballast water adjustment direction is updated to the second ballast water adjustment direction, and the center of gravity position of the container ship is updated based on the second ballast water adjustment direction, the ballast water adjustment scale, the preset ship tilt angle, and at least one of the first backup center of gravity positions.

5. The method according to claim 4, characterized in that, The step of updating the center of gravity position of the container ship based on the second ballast water adjustment direction, the ballast water adjustment scale, the preset ship inclination angle, and at least one first spare center of gravity position includes: The ballast water state of the container ship's ballast water tanks is adjusted based on the second ballast water adjustment direction and the ballast water adjustment scale. The signal transmitting device is controlled to run along the test track, and when the signal transmitting device runs to each of the test points, the signal transmitting device is controlled to send test signals. Based on the test response information and reference response information of the tilt sensor array to the test signal, the second backup tilt parameter of the container ship is determined, and based on the second backup tilt parameter and the weight information of the container ship, the second backup center of gravity position of the container ship is determined. When the second spare tilt parameter is less than the preset ship tilt angle, return to the step of adjusting the ballast water state of the container ship's ballast water tank based on the second ballast water adjustment direction and the ballast water adjustment scale; When the second backup tilt parameter is not less than the preset ship tilt angle, the center of gravity position of the container ship is updated based on at least one first backup center of gravity position and at least one second backup center of gravity position.

6. The method according to claim 1, characterized in that, Before determining the tilt parameters of the container ship based on the test response information and reference response information of the test signal from the tilt sensor array, the method further includes: Based on the response of the inclination sensor to at least two test signals sent by the signal transmitting device within a preset time period, at least two test response information is determined. The inclination sensor is the inclination sensor corresponding to the first test point when the signal transmitting device runs along the test track. The test signal includes the test signal. The test response information corresponds one-to-one with the test signal. When the matching degree of the at least two test response information is not less than a preset matching threshold, the average value of the at least two test response information is determined as the test response information of the test tilt sensor to the test signal; When the matching degree of the at least two inspection response information is less than the preset matching threshold, it is determined that the detection environment of the container ship is unstable, and an abnormal detection environment warning is generated.

7. A device for determining the center of gravity position of a container ship, characterized in that, The method for determining the center of gravity position of a container ship according to any one of claims 1 to 6, wherein the apparatus for determining the center of gravity position of the container ship comprises: The scheme acquisition module is used to acquire the structural and dimensional information of the container ship, and based on the pre-set container ship center of gravity detection rules, the structural information and the dimensional information, determine the tilt angle test environment construction scheme of the container ship. The tilt angle test environment construction scheme is used to construct the tilt angle sensor array, test track and at least two test points evenly distributed on the test track of the container ship. The equipment control module is used to control the signal transmitting device to run along the test track, and to control the signal transmitting device to send test signals when it runs to each of the test points; The center of gravity determination module is used to determine the tilt parameters of the container ship based on the test response information and reference response information of the test signal from the tilt sensor array, and to determine the center of gravity position of the container ship based on the tilt parameters and the weight information of the container ship.

8. An electronic device, characterized in that, The electronic device includes: At least one processor; and a memory communicatively connected to said at least one processor; The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the method for determining the center of gravity of a container ship as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the method for determining the center of gravity position of a container ship as described in any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When executed by a processor, the computer program implements the method for determining the center of gravity position of a container ship as described in any one of claims 1 to 6.

Images