Intelligent berthing indicating device based on Beidou No.3 and berthing and leaving assisting method

Abstract

The invention discloses an intelligent berthing indicating device based on Beidou No.3 and a berthing and leaving assisting method. The intelligent berthing indicating device comprises an outer shell, and a single-Beidou dual-frequency positioning module, an AIS transmitting module, a Bluetooth module and a power management module are arranged in the outer shell; the single-Beidou dual-frequency positioning module is connected with the AIS transmitting module through a TTL interface and is used for transmitting positioning data to the AIS transmitting module; the single-Beidou dual-frequency positioning module is connected with the Bluetooth module and is used for transmitting positioning data; the power management module is electrically connected with the single-Beidou double-frequency positioning module, the AIS transmitting module and the Bluetooth module and supplies power to the single-Beidou double-frequency positioning module, the AIS transmitting module and the Bluetooth module, the intelligent degree is high, multi-aspect performance breakthrough is achieved in ship berthing and departing operation by means of technologies such as Beidou third positioning, AIS message transmission and WDN wireless network, and the ship berthing and departing system is suitable for ship berthing and departing operation. And the safety, the efficiency and the cooperative capability of the operation are obviously improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ship berthing and unberthing assistance, in particular to an intelligent berthing guiding device based on Beidou-3 and a berthing and unberthing assistance method. BACKGROUND

[0002] In ship berthing operations, the traditional berthing guiding device mainly relies on "berthing signal flags / lights" to transmit key operation instructions between the ship and the wharf or between the ship and the pilot and tugboat, so as to ensure the safety and efficiency of the berthing process, and its principle and requirements follow the international maritime rules (such as the International Signal Rules / INTERCO) and local regulations of the port. Functionally, it has visual communication function, and when the radio communication is limited or assisted by oral instructions, it transmits instructions through standardized flags or lights; it can also perform state indication, indicating the berthing stages of the ship, such as preparation, deceleration, stop, completion, etc.; and it can also play a safety warning role, reminding surrounding ships to pay attention to the dynamic, such as tugboat operation, cable operation, etc. Signal carrier: flags are used during the day, and their colors and patterns represent specific meanings, for example, a green flag or "H flag" indicates permission to berth, a yellow flag or "L flag" indicates deceleration, etc.; and lights are used at night or in low visibility, and the information is coded through color and flashing frequency, such as a green constant light indicating permission to berth, a yellow flashing light (2 flashes per minute) indicating deceleration, etc.

[0003] Some ports have introduced electronic signals as a supplement, such as using LED display screens or AIS (Automatic Identification System) text instructions to replace traditional signals. AIS messages for berthing indication have been widely used in the fields of port, wharf, and ship management, and through AIS data exchange, ship berthing guidance, dynamic monitoring, and operation collaboration are achieved.

[0004] Existing systems, whether AIS and VTS collaborative berthing systems, shipborne AIS berthing terminals, or third-party AIS data platforms, all rely on AIS messages to send berth parameters, berthing operations, or berth safety broadcast information, and essentially they are only wireless extensions of berth electronic display screens, and they cannot directly display berth positions on AIS terminals.

[0005] The three AIS messages (Message12, Message14, Message8) used are all sent by VTS authorities to ships for berthing instructions, and generally the wharf dispatch cannot send berthing information through AIS because it is not authorized by the authorities.

[0006] The 4G public mobile network signal within the port is poor, especially in remote port areas where the public network signal is extremely weak, resulting in unstable operation when using 4G as the network for berthing guidance. This leads to captains unfamiliar with the port berth environment being unable to obtain berth location display and indication on their AIS terminals when preparing to berth (3 to 5 nautical miles) below the channel line, posing significant difficulties when berthing in densely packed port basin areas. Even local pilots struggle to accurately determine berth locations at night and in low visibility conditions. Therefore, it is necessary to design an intelligent berthing guidance device and berthing / departure assistance method based on BeiDou-3. Summary of the Invention

[0007] The purpose of this invention is to provide an intelligent berthing device and berthing / departure assistance method based on BeiDou-3, so as to solve the problems mentioned in the background art.

[0008] To achieve the above objectives, the present invention provides the following technical solution: an intelligent docking device based on BeiDou-3, comprising an outer shell;

[0009] The outer casing houses a single Beidou dual-frequency positioning module, an AIS transmission module, a Bluetooth module, and a power management module.

[0010] The single Beidou dual-frequency positioning module is connected to the AIS transmitting module via a TTL interface, and is used to transmit positioning data to the AIS transmitting module;

[0011] The single Beidou dual-frequency positioning module is connected to the Bluetooth module for transmitting positioning data;

[0012] The power management module is electrically connected to the single Beidou dual-frequency positioning module, the AIS transmitting module, and the Bluetooth module, and supplies them with power.

[0013] Preferably, the system also includes a mobile terminal, which is communicatively connected to the Bluetooth module and is used to receive and display the positioning data of the single Beidou dual-frequency positioning module. The mobile terminal is connected to the dock scheduling system via a WDN wireless network.

[0014] Preferably, the single Beidou dual-frequency positioning module is installed on the mooring device at the bow and stern of the ship to obtain the position information of the bow and stern. The AIS transmitting module is installed on the mooring device and is arranged adjacent to the single Beidou dual-frequency positioning module.

[0015] Preferably, the mobile terminal is a tablet computer or a smartphone, and the mobile terminal is provided with a display screen for displaying location data and an input unit for inputting commands, the input unit being electrically connected to the display screen.

[0016] Preferably, it also includes a BeiDou-3 short message terminal, which is connected to both the dock scheduling system and the shipborne AIS terminal to enable information exchange between the dock scheduling system and the ship in remote sea areas.

[0017] Preferably, it also includes a U3D model display module, which is connected to the dock scheduling system and the shipborne AIS terminal.

[0018] Preferably, the U3D model display module has a built-in docking path optimization algorithm, the steps of which include:

[0019] Collect historical AIS trajectory data of similar vessels at the same berths;

[0020] The historical trajectory data is preprocessed to extract the channel exit point, cable dropping point, and berth alignment point during the berthing process;

[0021] A berthing path prediction model is constructed based on machine learning algorithms. The inputs of the model are the ship length, draft, berthing mode and real-time environmental parameters, and the outputs are recommended berthing trajectories and speed vector sequences.

[0022] Preferably, a berthing and unberthing assistance method for an intelligent berthing device based on BeiDou-3 includes the following steps:

[0023] A. The single Beidou dual-frequency positioning module acquires the positioning data of the bow and stern mooring devices;

[0024] B. The Bluetooth module transmits the positioning data to the mobile terminal, which displays the distance between the bow and stern positions and transmits the data to the dock scheduling system.

[0025] C. The AIS transmitting module sends the positioning data to the shipborne AIS terminal via virtual beacon message 21. The shipborne AIS terminal displays the bow and stern positions.

[0026] D. The dock scheduling system interacts with ships via WDN wireless network or Beidou-3 short message terminal, sending berthing instructions and receiving ship parameters.

[0027] E. The U3D model display module receives the berthing information and displays the names of the bow / stern berthing devices and the bright lines of the vertical pier on the U3D model to guide the captain to berth.

[0028] Beneficial effects:

[0029] (1) This invention is highly intelligent. Relying on technologies such as Beidou-3 positioning, AIS message transmission, and WDN wireless network, it has achieved multiple performance breakthroughs in ship berthing and unberthing operations, significantly improving the safety, efficiency, and collaborative capabilities of the operations.

[0030] (2) The present invention adopts independent and controllable single Beidou dual-frequency positioning technology, and the positioning accuracy of the berthing device reaches 1.5 meters, which is significantly improved compared with the traditional Beidou / GPS fusion positioning technology. It can accurately mark the berthing interval of ships with a length of 200-300 meters, meet the berthing length requirements of maritime management agencies, and reduce the risk of collision caused by positioning errors.

[0031] (3) This invention uses the AIS21 virtual navigation mark message to display information such as the berth bow / stern name, latitude and longitude, water depth, pier elevation, and edge distance on the shipborne AIS terminal, forming a visual highlight marker. Even at night, in low visibility, or in dense harbor areas, the captain / pilot can plan the berthing route 3-5 nautical miles in advance, avoiding berth location errors caused by traditional AIS only transmitting text commands.

[0032] (4) This invention utilizes Beidou-3 short message technology to enable information exchange between dock scheduling and ships in remote sea areas far beyond the coverage of AIS. It can transmit operational information such as berthing plans and loading and unloading plans, solving the limitation that traditional AIS requires authorization from the VTS authority to send instructions, and enabling dock scheduling to have independent communication capabilities.

[0033] The above description is merely an overview of the technical solutions of the embodiments of this application. In order to better understand the technical means of the embodiments of this application and to implement them in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the embodiments of this application more apparent and understandable, specific implementation methods of this application are described below. Attached Figure Description

[0034] Fig. 1 This is a schematic diagram of the structure of the present invention.

[0035] Fig. 2 This is a block diagram illustrating the working principle of the present invention;

[0036] Fig. 3 This is a flowchart of the workflow of the present invention;

[0037] In the diagram: 1. Outer shell; 2. Single Beidou dual-frequency positioning module; 3. AIS transmission module; 4. Bluetooth module; 5. Power management module; 6. Mobile terminal; 7. WDN wireless network; 8. Dock scheduling system; 9. Beidou-3 short message terminal; 10. Shipborne AIS terminal; 11. U3D model display module. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0039] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein in the specification of the application is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims and drawings of this application are intended to cover non-exclusive inclusion.

[0040] The term "embodiment" as used herein means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of the phrase "embodiment" in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0041] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, "connection" or "joining" in mechanical structures can refer to a physical connection, such as a fixed connection, for example, a connection fixed by fasteners, such as a connection fixed by screws, bolts, or other fasteners; a physical connection can also be a detachable connection, such as a snap-fit ​​or interlocking connection; a physical connection can also be an integral connection, such as a connection formed by welding, bonding, or integral molding. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0042] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0043] Please see Figs. 1-3 The present invention discloses an intelligent docking device based on Beidou-3, including an outer shell 1;

[0044] The outer casing 1 is equipped with a single Beidou dual-frequency positioning module 2, an AIS transmission module 3, a Bluetooth module 4, and a power management module 5.

[0045] The single Beidou dual-frequency positioning module 2 is connected to the AIS transmitting module 3 via a TTL interface 4, and is used to transmit positioning data to the AIS transmitting module 3; the single Beidou dual-frequency positioning module obtains data such as latitude and longitude, elevation, distance from the pier, and width of the pier fender of the bow and stern mooring devices in real time.

[0046] The single-Beidou dual-frequency positioning module 2 is connected to the Bluetooth module 4 for transmitting positioning data. The positioning data is transmitted to a mobile terminal via Bluetooth, where it displays the real-time position and distance of the bow and stern, and transmits the data to the dispatch center. Simultaneously, the single-Beidou dual-frequency module outputs the positioning data via TTL to the AIS transmitting module. The AIS transmitting module then sends berthing information to the shipborne AIS terminal via virtual beacon message 21, displaying the bow and stern positions and related information on the AIS chart.

[0047] The power management module 5 is electrically connected to the single Beidou dual-frequency positioning module 2, the AIS transmitting module 3, and the Bluetooth module 4, and supplies them with power.

[0048] The invention also includes a mobile terminal 6, which is communicatively connected to the Bluetooth module 4 and is used to receive and display the positioning data from the single Beidou dual-frequency positioning module. The mobile terminal 6 is connected to the dock scheduling system 8 via a WDN wireless network 7. Berthing information and vessel information are transmitted via the WDN wireless network; when no system is established, ship-shore information exchange, including berthing method, berth data, vessel parameters, and operation plans, is achieved through Beidou-3 short message service.

[0049] In this invention, a single Beidou dual-frequency positioning module 2 is installed on the mooring device at the bow and stern of the ship to obtain the position information of the bow and stern. The AIS transmitting module 3 is installed on the mooring device and is arranged adjacent to the single Beidou dual-frequency positioning module.

[0050] The mobile terminal 6 is a tablet computer or a smartphone. The mobile terminal 6 is equipped with a display screen for displaying location data and an input unit for inputting commands. The input unit is electrically connected to the display screen.

[0051] This invention also includes a BeiDou-3 short message terminal 9, which is connected to both the dock dispatching system 8 and the shipborne AIS terminal 10, enabling information exchange between the dock dispatching system and vessels in remote sea areas. Dockworkers, following instructions from the dispatch center, set the berthing location via mobile terminals. The dispatch center then sends the berthing information to the vessel via the WDN network, facilitating collaborative operations between shore-based personnel, vessels, and tugboats. Simultaneously, audio and video dispatching and command are implemented through the WDN network, ensuring the safety and efficiency of berthing and unberthing processes.

[0052] In addition, the present invention also includes a U3D model display module 11, which is connected to the dock scheduling system 8 and the shipborne AIS terminal 10. This module receives berthing information and displays the names of the bow / stern berthing devices and the bright lines of the vertical pier on the U3D model. The berthing information and auxiliary berthing / unberthing data are transmitted to the ship's U3D model via a WDN network, displaying the names of the bow / stern berthing devices and the bright lines of the vertical pier on the U3D model, providing the captain with intuitive berthing guidance.

[0053] The U3D model display module 11 incorporates a docking path optimization algorithm, the steps of which include:

[0054] Collect historical AIS trajectory data of similar vessels at the same berths;

[0055] The historical trajectory data is preprocessed to extract the channel exit point, cable dropping point, and berth alignment point during the berthing process;

[0056] A berthing path prediction model is constructed based on machine learning algorithms. The inputs of the model are the ship length, draft, berthing mode and real-time environmental parameters, and the outputs are recommended berthing trajectories and speed vector sequences.

[0057] The algorithm is trained based on historical AIS trajectory data of similar vessels at the same berth. By extracting key nodes such as channel exit points, mooring line dropping points, and berth alignment points, it can generate the optimal berthing path that conforms to the hydrological characteristics of the berth and the vessel type. For example, for vessels of 50,000 to 100,000 tons, the algorithm can recommend the shortest path or the path with the lowest energy consumption, reducing berthing time by about 20% compared to traditional manual experience-based planning.

[0058] Working principle: A berthing and unberthing assistance method for an intelligent berthing device based on BeiDou-3, characterized by the following steps:

[0059] A. The single Beidou dual-frequency positioning module acquires the positioning data of the bow and stern mooring devices;

[0060] B. The Bluetooth module transmits the positioning data to the mobile terminal, which displays the distance between the bow and stern positions and transmits the data to the dock scheduling system.

[0061] C. The AIS transmitting module sends the positioning data to the shipborne AIS terminal via virtual beacon message 21. The shipborne AIS terminal displays the bow and stern positions.

[0062] D. The dock scheduling system interacts with ships via WDN wireless network or Beidou-3 short message terminal, sending berthing instructions and receiving ship parameters.

[0063] E. The U3D model display module receives the berthing information and displays the names of the bow / stern berthing devices and the bright lines of the vertical pier on the U3D model to guide the captain to berth.

[0064] This invention employs independently controllable single-BeiDou dual-frequency positioning technology, achieving a positioning accuracy of 1.5 meters for the berthing device. This represents a significant improvement over traditional BeiDou / GPS fusion positioning technology, enabling precise marking of berthing intervals for vessels 200-300 meters long. This meets the berthing length requirements of maritime authorities and reduces the risk of collisions caused by positioning errors.

[0065] This invention uses AIS21 virtual navigation mark messages to display information such as the berth bow / stern name, latitude and longitude, water depth, pier elevation, and edge distance on the ship's AIS terminal, forming a visual highlight marker. Even at night, in low visibility, or in dense harbor areas, the captain / pilot can plan the berthing route 3-5 nautical miles in advance, avoiding berth location errors caused by traditional AIS only transmitting text commands.

[0066] This invention utilizes BeiDou-3 short message technology to enable information exchange between terminal scheduling and vessels in remote sea areas far beyond the coverage of AIS. It can transmit operational information such as berthing plans and loading / unloading plans, solving the limitation that traditional AIS requires authorization from the VTS authority to send instructions, and enabling terminal scheduling to have independent communication capabilities.

[0067] In summary, this invention achieves intelligent, precise, and efficient berthing and unberthing processes for ships, improving berthing efficiency and safety, and has broad application prospects and significant technical advantages.

[0068] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A smart docking device based on BeiDou-3, characterized in that: Includes the outer shell (1); The outer casing (1) is equipped with a single Beidou dual-frequency positioning module (2), an AIS transmission module (3), a Bluetooth module (4), and a power management module (5); The single Beidou dual-frequency positioning module (2) is connected to the AIS transmitting module (3) via a TTL interface (4) and is used to transmit positioning data to the AIS transmitting module (3); The single Beidou dual-frequency positioning module (2) is connected to the Bluetooth module (4) for transmitting positioning data; The power management module (5) is electrically connected to the single Beidou dual-frequency positioning module (2), the AIS transmitting module (3) and the Bluetooth module (4) to supply power to them.

2. The intelligent parking device based on BeiDou-3 according to claim 1, characterized in that: It also includes a mobile terminal (6), which is communicatively connected to the Bluetooth module (4) and is used to receive and display the positioning data of the single Beidou dual-frequency positioning module. The mobile terminal (6) is connected to the dock scheduling system (8) through the WDN wireless network (7).

3. The intelligent parking device based on BeiDou-3 according to claim 1, characterized in that: The single Beidou dual-frequency positioning module (2) is installed on the mooring device at the bow and stern of the ship to obtain the position information of the bow and stern. The AIS transmitting module (3) is installed on the mooring device and is set adjacent to the single Beidou dual-frequency positioning module.

4. The intelligent parking device based on BeiDou-3 according to claim 2, characterized in that: The mobile terminal (6) is a tablet computer or a smartphone. The mobile terminal (6) is provided with a display screen for displaying location data and an input unit for inputting commands. The input unit is electrically connected to the display screen.

5. The intelligent parking device based on BeiDou-3 according to claim 1, characterized in that: It also includes a Beidou-3 short message terminal (9), which is connected to the dock scheduling system (8) and the shipborne AIS terminal (10) respectively, and is used to realize information interaction between the dock scheduling system and the ship in remote sea areas.

6. The intelligent parking device based on BeiDou-3 according to claim 1, characterized in that: It also includes a U3D model display module (11).

7. The intelligent parking device based on BeiDou-3 according to claim 6, characterized in that: The U3D model display module (11) has a built-in docking path optimization algorithm, the steps of which include: Collect historical AIS trajectory data of similar vessels at the same berths; The historical trajectory data is preprocessed to extract the channel exit point, cable dropping point, and berth alignment point during the berthing process; A berthing path prediction model is constructed based on machine learning algorithms. The inputs of the model are the ship length, draft, berthing mode and real-time environmental parameters, and the outputs are recommended berthing trajectories and speed vector sequences.

8. A method for assisting berthing and unberthing of an intelligent berthing device based on BeiDou-3 as described in claim 1, characterized in that: Includes the following steps: A. The single Beidou dual-frequency positioning module acquires the positioning data of the bow and stern mooring devices; B. The Bluetooth module transmits the positioning data to the mobile terminal, which displays the distance between the bow and stern positions and transmits the data to the dock scheduling system. C. The AIS transmitting module sends the positioning data to the shipborne AIS terminal via virtual beacon message 21. The shipborne AIS terminal displays the bow and stern positions. D. The dock scheduling system interacts with ships via WDN wireless network or Beidou-3 short message terminal, sending berthing instructions and receiving ship parameters. E. The U3D model display module receives the berthing information and displays the names of the bow / stern berthing devices and the bright lines of the vertical pier on the U3D model to guide the captain to berth.

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