Automatic berthing method for inland river ship

Abstract

An inland river ship automatic berthing method comprises the steps that an inland river ship is made to sail into a wharf basin, then berthing signals of the inland river ship are collected, then the anchoring distance, the cable throwing distance and control instructions of an anchor gear, a steering engine and a main engine are calculated according to the berthing signals, then the control instructions are executed so that the inland river ship can move towards a berth, and when the anchoring distance is reached, the steering engine is started; the control instruction of the anchor gear is executed for anchoring, then the control instruction continues to be executed, when the cable throwing distance is reached, cable throwing and pile loading are conducted, and then the control instruction continues to be executed till the inland river ship berths on the berth; the inland ship is directly moved through the control instruction for automatic berthing, so that the inland ship does not need to wait for the traction of an automatic tugboat, the time is saved, and the berthing efficiency is high. Therefore, the design does not need to wait for automatic tugboat traction, and the berthing efficiency is high.

Description

TECHNICAL FIELD

[0001] The present application relates to an automatic berthing method, belonging to the field of automatic berthing of ships, in particular to an automatic berthing method for inland river ships. BACKGROUND

[0002] The berthing of an inland river ship is a process of driving the inland river ship in the harbor basin from the channel to the dock berth by manually operating the steering gear, main engine and other equipment. However, the channel environment of the inland river ship is complex, for example, there are curved and narrow channels, high navigation density, sudden changes in tidal water level, and turbulent water flow during flood season, so it is difficult to rely on manual operation to berth the inland river ship.

[0003] A patent with the application number 201811372168.X and the application date of November 16, 2018 discloses an intelligent management method for automatic wharf ship entering and leaving port, belonging to the field of automatic wharf, which solves the problem of current ship entering and leaving wharf. When the cargo ship approaches the anchorage sea area, the cargo ship terminal sends the collected external environment information and its own information to the cargo ship terminal information module of the intelligent information management center. The self information includes cargo ship number, length x width, waterline, ship stowage plan, number of containers to be loaded, number of containers to be unloaded, loading and unloading time, ship preference and other information. An automatic tugboat is introduced, and the wharf operating units are coordinated through this system to achieve the effect of ship berthing. Although this design can complete the berthing of the ship without manual operation, it still has the following defects: In this design, the inland river ship needs to wait for the automatic tugboat to sail from its parking position to the inland river ship. Then the automatic tugboat can tow the inland river ship after the automatic tugboat and the inland river ship converge and establish a connection. The process of waiting for the automatic tugboat to sail and establish a connection needs to consume time, so the berthing efficiency of this design is low.

[0004] The information disclosed in this background section is intended only to increase an understanding of the general context of the present application, and it should not be taken as an acknowledgement or any form of suggestion that this information forms prior art that is already widely known in the art before the application was made. SUMMARY

[0005] The purpose of the present application is to overcome the defects and problems of waiting for the automatic tugboat to tow and consuming time in the prior art, and to provide an automatic berthing method for inland river ships without waiting for the automatic tugboat to tow, which has high berthing efficiency.

[0006] To achieve the above purpose, the technical solution of the present application is: An automatic berthing method for inland river ships, comprising the following steps: Step 1: sailing the inland river ship into the wharf basin; The second step is to collect the berthing signal, the berthing signal includes the water flow signal, the channel depth signal, the wind speed signal, the draft signal, the mooring berth width signal, the distance signal between the inland river ship and the wharf and other ships, the distance signal between the inland river ship and the berth, and the real-time force analysis of the inland river ship based on the berthing signal to obtain the anchor throwing distance, the cable throwing distance, the control instruction of the anchor machine, the control instruction of the rudder machine and the control instruction of the main engine; The third step is to execute the control instruction of the rudder machine and the control instruction of the main engine to control the moving direction and speed of the inland river ship, so that the inland river ship moves to the berth direction, and then monitor the distance signal between the inland river ship and the berth. When the value of the distance signal between the inland river ship and the berth reaches the anchor throwing distance, the control instruction of the anchor machine is executed, that is, the anchor is thrown to preliminarily fix the inland river ship. The fourth step is to execute the control instruction of the rudder machine, the control instruction of the main engine and the control instruction of the anchor machine to control the moving direction and speed of the inland river ship, so that the inland river ship moves to the berth direction, and then monitor the distance signal between the inland river ship and the berth. When the value of the distance signal between the inland river ship and the berth reaches the cable throwing distance, the cable is thrown and the pile is lifted to fix the inland river ship again. The fifth step is to execute the control instruction of the rudder machine, the control instruction of the main engine and the control instruction of the anchor machine to control the moving direction and speed of the inland river ship, so that the inland river ship moves to the berth direction until the inland river ship is close to the berth, and then the cable is tightened to complete the berthing of the inland river ship.

[0007] In the fifth step, the completion of the berthing of the inland river ship refers to completing the berthing of the inland river ship first, and then performing the mooring cable tension monitoring process. The mooring cable tension monitoring process refers to first judging the threshold value according to the environmental force acting on the inland river ship, and then obtaining the force normal or force abnormal result. If the result is force abnormal, the real-time tension of the cable is judged, and then the emergency alarm or cable tension adjustment suggestion is outputted, and the mooring cable tension monitoring process is ended. If the result is force normal, it is detected whether there is an abnormal alarm signal of the inland river ship. If there is no abnormal alarm signal, the mooring cable tension monitoring process is ended. If there is an abnormal alarm signal, the real-time tension of the cable is judged, and then the cable tension adjustment suggestion is outputted, and the mooring cable tension monitoring process is ended.

[0008] In the fifth step, the threshold value judgment according to the environmental force acting on the inland river ship refers to first performing force analysis according to the environmental force acting on the inland river ship, then obtaining the force calculation result, then comparing the force calculation result with the previous force calculation result or empty, then obtaining the comparison threshold value, and then judging the force calculation result according to the comparison threshold value. The force normal conclusion is obtained when the force calculation result is within the comparison threshold value range, and the force abnormal conclusion is obtained when the force calculation result is outside the comparison threshold value range.

[0009] In the fifth step, if the force is abnormal, the real-time tension of the cable is judged, and then an emergency alarm or a cable tension adjustment suggestion is output, which means that the real-time tension of the cable is first judged, if the real-time tension of the cable exceeds the failure threshold, it represents that the cable fails, an emergency alarm is output, and the mooring cable tension monitoring process is ended; if the real-time tension of the cable does not exceed the failure threshold, the cable tension uniform distribution strategy is calculated according to the real-time tension of the cable, and then the foregoing strategy is output as the cable tension adjustment suggestion.

[0010] In the fifth step, the output of the cable tension adjustment suggestion means that the cable tension adjustment suggestion is first output, and after the cable tension adjustment suggestion is confirmed by manual, the corresponding anchor and winch control system executes the cable tension adjustment suggestion.

[0011] In the fifth step, the real-time tension of the cable is measured by a cable tension sensor, and the cable tension sensor is located on the winch.

[0012] In the second step, the water flow signal is measured by a ship-mounted log, the ship-mounted log is signal connected with the data acquisition and integration device; the channel depth signal is measured by a ship-mounted depth finder, the ship-mounted depth finder is signal connected with the data acquisition and integration device; the wind speed signal is measured by a wind speed and direction instrument, the wind speed and direction instrument is signal connected with the data acquisition and integration device; the draft signal is measured by a draft sensor, the draft sensor is signal connected with the data acquisition and integration device; the mooring berth width signal is manually input; the distance signals of the inland river ship from the wharf and other ships are measured by a monitoring system based on image ranging technology, the distance signal of the inland river ship from the berth is measured by a monitoring system based on image ranging technology, and the monitoring system is signal connected with the data acquisition and integration device.

[0013] In the second step, the data acquisition and integration device is signal connected with a ship-end industrial computer, the ship-end industrial computer receives the berthing signal of the data acquisition and integration device, and then the ship-end industrial computer sends control instructions of the anchor, the steering engine and the main engine to the data acquisition and integration device.

[0014] In the second step, the berthing signal includes anchor state parameter signals, steering engine state parameter signals and main engine state parameter signals; the anchor state parameter signals are measured by the anchor, the anchor is signal connected with the data acquisition and integration device, and the data acquisition and integration device sends control instructions of the anchor to the anchor; the steering engine state parameter signals are measured by the steering engine, the steering engine is signal connected with the data acquisition and integration device, and the data acquisition and integration device sends control instructions of the steering engine to the steering engine; The host state parameter signal is measured by a host, the host is connected with a data acquisition and integration device signal, and the data acquisition and integration device sends a control instruction of the host to the host.

[0015] In the third step, the monitoring system comprises multiple cameras located on the front, middle and rear parts of the two sides of the river ship.

[0016] Compared with the prior art, the beneficial effects of the present application are: 1、The method for automatic berthing of the river ship comprises the following steps: first, the river ship is navigated to the wharf basin; second, the berthing signal is collected, and the anchor throwing distance, the cable throwing distance, the control instruction of the anchor machine, the control instruction of the rudder machine and the control instruction of the host are calculated based on the berthing signal; third, the control instructions of the rudder machine and the host are executed to move the river ship to the berth, when the distance between the river ship and the berth is the anchor throwing distance, the control instruction of the anchor machine is executed to preliminarily fix the river ship; fourth, the control instructions of the rudder machine, the host and the anchor machine are executed to continue moving the river ship to the berth, when the distance between the river ship and the berth is the cable throwing distance, the cable is thrown and the pile is lifted to fix the river ship again; and fifth, the control instructions of the rudder machine, the host and the anchor machine are executed to make the river ship adhere to the berth, thereby completing the method. Firstly, the control instructions of the rudder machine, the host and the anchor machine are executed to control the moving direction and speed of the river ship, thereby realizing automatic berthing; Secondly, the river ship can be automatically berthed without waiting for an automatic tugboat, so that the berthing efficiency is high; Thirdly, the berthing signal can reflect the changes of the surrounding environment and water flow during the berthing process, so that the control instructions of the rudder machine, the host and the anchor machine calculated based on the berthing signal can adapt to the berthing process, thereby avoiding collision accidents (including collision with other ships and collision with the shore) during the berthing process, so that the safety is high; Therefore, the river ship can be automatically berthed without waiting for an automatic tugboat, and the berthing efficiency is high.

[0017] 2. In the automatic berthing method for inland waterway vessels of the present invention, in the fifth step, after the berthing process is completed, the mooring line tension monitoring process is then completed. During the mooring line tension monitoring process, the environmental forces acting on the inland waterway vessel are first judged by a threshold, and then the result of normal or abnormal force is obtained. Then, different analyses are performed to output mooring line tension adjustment suggestions or emergency alarms. In application, after the inland waterway vessel completes the berthing process, loading and unloading operations or changes in the surrounding environment may cause uneven tension on the mooring lines, that is, some mooring lines may be too tight or too loose. Therefore, the tension of the mooring lines is judged by threshold judgment and analysis, and then the mooring lines are adjusted according to the mooring line tension adjustment suggestions to avoid mooring line breakage accidents caused by uneven mooring line tension. Mooring line breakage accidents will affect the mooring effect of inland waterway vessels. Therefore, the present invention has a better mooring effect on inland waterway vessels.

[0018] 3. In the automatic berthing method for inland waterway vessels of the present invention, in the second step, the berthing signal is measured by various instruments, sensors, steering gear, anchor winch, and main engine on the inland waterway vessel. These instruments, sensors, steering gear, anchor winch, and main engine are connected to a signal acquisition and integration device, which is also connected to the ship's industrial control computer. In application, the berthing signal obtained by the instruments, sensors, steering gear, anchor winch, and main engine is sent to the signal acquisition and integration device, which then sends the berthing signal to the ship's industrial control computer. The ship's industrial control computer calculates the control commands for the steering gear, anchor winch, and main engine based on the berthing signal. The signal acquisition and integration device then sends these control commands to the steering gear, anchor winch, and main engine respectively, thereby achieving coordinated operation of the anchor winch, steering gear, and main engine at low speeds during berthing, ultimately completing the fully automated berthing process. Therefore, the present invention exhibits good coordination. Attached Figure Description

[0019] Figure 1 This is a flowchart of the present invention.

[0020] Figure 2 This is a flowchart of Example 2.

[0021] Figure 3 This is a flowchart of the second step in Example 1.

[0022] Figure 4 yes Figure 3 Flowchart of the shipborne odometer.

[0023] Figure 5 yes Figure 3 Flowchart of a medium-speed wind vane.

[0024] Figure 6 yes Figure 3 Flowchart of the draft sensor.

[0025] Figure 7is a flowchart of the anchor winch in Example 3.

[0026] Figure 8 is a flowchart of the rudder in Example 3.

[0027] Figure 9 is a flowchart of the main engine in Example 3.

[0028] Figure 10 is Figure 3 a flowchart of the monitoring system in Example 3.

[0029] Figure 11 is a flowchart of the cable tension sensor in Example 2.

[0030] Figure 12 is Figure 3 a flowchart of the shipboard depth sounder in Example 3.

[0031] Figure 13 is a flowchart of uploading the mooring berth width signal in Example 3. DETAILED DESCRIPTION

[0032] The application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0033] Please refer to Figure 1 — Figure 13 An automatic mooring method for inland ships, the method comprising the following steps: First step: sailing the inland ship into the wharf basin; Second step: collecting the mooring signals first, the mooring signals including the water flow signal, the channel depth signal, the wind speed signal, the draught signal, the mooring berth width signal, the distance signals of the inland ship from the wharf and other ships, and the distance signal of the inland ship from the berth, and then performing real-time force analysis on the inland ship based on the mooring signals to obtain the anchor throwing distance, the cable throwing distance, the control instructions of the anchor winch, the control instructions of the rudder, and the control instructions of the main engine; Third step: executing the control instructions of the rudder and the main engine first to control the moving direction and speed of the inland ship, so that the inland ship moves towards the berth, and then monitoring the distance signal of the inland ship from the berth, when the value of the distance signal of the inland ship from the berth reaches the anchor throwing distance, executing the control instructions of the anchor winch, i.e. throwing the anchor to preliminarily fix the inland ship; Fourth step: executing the control instructions of the rudder, the main engine, and the anchor winch first to control the moving direction and speed of the inland ship, so that the inland ship moves towards the berth, and then monitoring the distance signal of the inland ship from the berth, when the value of the distance signal of the inland ship from the berth reaches the cable throwing distance, throwing the cable and piling the pile to fix the inland ship again by the cable; The fifth step is to execute the control instructions of the steering engine, the control instructions of the main engine and the control instructions of the anchor engine to control the moving direction and speed of the inland river ship, so that the inland river ship moves to the berth direction until the inland river ship is close to the berth, and then the mooring rope is tightened to complete the berthing of the inland river ship.

[0034] In the fifth step, the completion of the berthing of the inland river ship refers to completing the berthing of the inland river ship first, and then performing the mooring rope tension monitoring process. The mooring rope tension monitoring process refers to first judging the threshold according to the environmental force acting on the inland river ship, and then obtaining a normal force or abnormal force result. If the result is abnormal force, the real-time tension of the rope is judged, and then an emergency alarm or a rope tension adjustment suggestion is output, and the mooring rope tension monitoring process is ended. If the result is normal force, it is detected whether there is an abnormal alarm signal of the inland river ship, if there is no abnormal alarm signal, the mooring rope tension monitoring process is ended, if there is an abnormal alarm signal, the real-time tension of the rope is judged, and then a rope tension adjustment suggestion is output, and the mooring rope tension monitoring process is ended.

[0035] In the fifth step, the threshold judgment according to the environmental force acting on the inland river ship refers to first performing force analysis according to the environmental force acting on the inland river ship, then obtaining a force calculation result, then comparing the force calculation result with the previous force calculation result or empty, then obtaining a comparison threshold, and then judging the force calculation result according to the comparison threshold. If the force calculation result is within the comparison threshold, the force is normal, and if the force calculation result is outside the comparison threshold, the force is abnormal.

[0036] In the fifth step, if the result is abnormal force, the real-time tension of the rope is judged, and then an emergency alarm or a rope tension adjustment suggestion is output, which refers to first judging the real-time tension of the rope. If the real-time tension of the rope exceeds the failure threshold, it means that the rope fails, an emergency alarm is output, and the mooring rope tension monitoring process is ended. If the real-time tension of the rope does not exceed the failure threshold, the rope tension uniform distribution strategy is calculated according to the real-time tension of the rope, and then the aforementioned strategy is output as the rope tension adjustment suggestion.

[0037] In the fifth step, the output of the rope tension adjustment suggestion refers to first outputting the rope tension adjustment suggestion, and then executing the rope tension adjustment suggestion by the corresponding anchor engine and winch control system after the rope tension adjustment suggestion is confirmed by manual.

[0038] In the fifth step, the real-time tension of the rope is measured by a rope tension sensor, and the rope tension sensor is located on the winch.

[0039] The water flow signal is measured by a shipborne log, the shipborne log is signal connected with the data acquisition and integration device; the channel depth signal is measured by a shipborne depth finder, the shipborne depth finder is signal connected with the data acquisition and integration device; the wind speed signal is measured by a wind speed and direction meter, the wind speed and direction meter is signal connected with the data acquisition and integration device; the draught signal is measured by a draught sensor, the draught sensor is signal connected with the data acquisition and integration device; the mooring berth width signal is manually input; the distance signals of the inland river ship from the wharf and other ships are measured by a monitoring system based on image ranging technology, the distance signal of the inland river ship from the berth is measured by the monitoring system based on image ranging technology, and the monitoring system is signal connected with the data acquisition and integration device.

[0040] In the second step, the data acquisition and integration device is signal connected with a ship end industrial computer, the ship end industrial computer receives the berthing signal of the data acquisition and integration device, and then the ship end industrial computer sends control instructions of an anchor machine, a rudder machine and a main engine to the data acquisition and integration device.

[0041] In the second step, the berthing signal includes an anchor machine state parameter signal, a rudder machine state parameter signal and a main engine state parameter signal; the anchor machine state parameter signal is measured by the anchor machine, the anchor machine is signal connected with the data acquisition and integration device, and the data acquisition and integration device sends the control instruction of the anchor machine to the anchor machine; the rudder machine state parameter signal is measured by the rudder machine, the rudder machine is signal connected with the data acquisition and integration device, and the data acquisition and integration device sends the control instruction of the rudder machine to the rudder machine; the main engine state parameter signal is measured by the main engine, the main engine is signal connected with the data acquisition and integration device, and the data acquisition and integration device sends the control instruction of the main engine to the main engine.

[0042] In the third step, the monitoring system includes multiple cameras located on the front, middle and rear positions of the two sides of the inland river ship.

[0043] The supplementary description of the application is as follows: The inland river ship in the application refers to a ship sailing in inland closed or semi-closed water areas such as rivers, lakes, canals and reservoirs.

[0044] The use scenario of the application refers to that after the inland river ship receives the berthing notification of the wharf dispatching department, the inland river ship adopts water following or water reversing berthing according to the actual situation of the wharf, and when the inland river ship sails into the wharf basin, the method can be used; or a start button and a stop button can be set for the method, that is, when the start button is pressed, the method is started, and after the fifth step is completed, the stop button is pressed to end the method.

[0045] The ship end industrial personal computer comprises a data processing module, an image processing module, a dynamic modeling module, a berthing and leaving ship control module and a cable tension module. The image processing module obtains the distance between the inland ship and the wharf, other ship and berth based on the distance signals between the inland ship and the wharf and other ship and the distance signal between the inland ship and the berth, so as to avoid collision between the inland ship and the wharf or other ship. The data processing module obtains berthing information based on the berthing signal, and the dynamic modeling module performs dynamic modeling based on the dynamic berthing information. Then, the berthing and leaving ship control module obtains the anchor throwing distance, cable throwing distance, control instruction of the anchor machine, control instruction of the rudder machine and control instruction of the main engine based on the dynamic modeling. The cable tension module is used for analyzing and judging in the embodiment 2.

[0046] Embodiment 1 Please refer to Figure 1 — Figure 13 An automatic berthing method of an inland ship, the method comprising the following steps: First step: making the inland ship sail into the wharf basin; Second step: collecting the berthing signal, the berthing signal comprising the water flow signal, the channel depth signal, the wind speed signal, the draft signal, the mooring berth width signal, the distance signal between the inland ship and the wharf and other ship and the distance signal between the inland ship and the berth, and then performing real-time force analysis on the inland ship based on the berthing signal to obtain the anchor throwing distance, the cable throwing distance, the control instruction of the anchor machine, the control instruction of the rudder machine and the control instruction of the main engine; Third step: executing the control instruction of the rudder machine and the control instruction of the main engine to control the moving direction and speed of the inland ship, making the inland ship move towards the berth, and then monitoring the distance signal between the inland ship and the berth, when the value of the distance signal between the inland ship and the berth reaches the anchor throwing distance, executing the control instruction of the anchor machine, i.e. throwing the anchor to preliminarily fix the inland ship; Fourth step: executing the control instruction of the rudder machine, the control instruction of the main engine and the control instruction of the anchor machine to control the moving direction and speed of the inland ship, making the inland ship move towards the berth, and then monitoring the distance signal between the inland ship and the berth, when the value of the distance signal between the inland ship and the berth reaches the cable throwing distance, throwing the cable and piling the pile to fix the inland ship again by the cable; Fifth step: executing the control instruction of the rudder machine, the control instruction of the main engine and the control instruction of the anchor machine to control the moving direction and speed of the inland ship, making the inland ship move towards the berth until the inland ship is close to the berth, and then tightening the cable to complete the berthing of the inland ship.

[0047] Embodiment 2 The basic content is the same as that of embodiment 1, and the difference is that: Please refer to Figure 1 — Figure 11the fifth step, the completing the berthing of the inland river ship refers to: first completing the berthing of the inland river ship, and then performing the mooring cable tension monitoring process; the mooring cable tension monitoring process refers to: first performing threshold value judgment according to the environmental force borne by the inland river ship, and then obtaining a normal force bearing result or an abnormal force bearing result; if the result is the abnormal force bearing result, then judging the real-time tension of the cable, and then outputting an emergency alarm or a cable tension adjustment suggestion, and then ending the mooring cable tension monitoring process; if the result is the normal force bearing result, then detecting whether the inland river ship has an abnormal alarm signal, if the inland river ship does not have the abnormal alarm signal, then ending the mooring cable tension monitoring process, if the inland river ship has the abnormal alarm signal, then judging the real-time tension of the cable, and then outputting a cable tension adjustment suggestion, and then ending the mooring cable tension monitoring process. In the fifth step, the threshold value judgment according to the environmental force borne by the inland river ship refers to: first performing force analysis according to the environmental force borne by the inland river ship, and then obtaining a force calculation result, and then comparing the force calculation result with a previous force calculation result or nothing, and then obtaining a comparison threshold value, and then judging the force calculation result according to the comparison threshold value, and obtaining a normal force bearing conclusion if the force calculation result is within the comparison threshold value, and obtaining an abnormal force bearing conclusion if the force calculation result is outside the comparison threshold value. In the fifth step, if the result is the abnormal force bearing result, then judging the real-time tension of the cable, and then outputting an emergency alarm or a cable tension adjustment suggestion refers to: first judging the real-time tension of the cable, if the real-time tension of the cable exceeds a failure threshold value, then representing that the cable fails, outputting an emergency alarm, and then ending the mooring cable tension monitoring process; if the real-time tension of the cable does not exceed the failure threshold value, then calculating a cable tension uniform distribution strategy according to the real-time tension of the cable, and then outputting the foregoing strategy as the cable tension adjustment suggestion. In the fifth step, the outputting the cable tension adjustment suggestion refers to: first outputting the cable tension adjustment suggestion, and then executing the cable tension adjustment suggestion by a corresponding anchor winch and winch control system after the cable tension adjustment suggestion is confirmed by a human being. In the fifth step, the real-time tension of the cable is measured by a cable tension sensor, and the cable tension sensor is located on the winch.

[0048] In application, after the berthing process is completed and the mooring lines are properly arranged, the inland ship starts the cargo loading and unloading process, so the weight of the inland ship changes, and the external environment such as wind, wave and flow to which the inland ship is subjected may also change, so it is necessary to monitor the cable tension in real time to avoid the tension of one or several cables being abnormally high or low, so as to avoid the cable breaking accident and a series of serious consequences caused by the loss of control of the inland ship; the interval time of the mooring line tension monitoring process is manually set, which should not be too long or too short, otherwise the monitoring effect of the cable tension will be poor, and if the interval time is too short, the calculation amount will be large and the calculation burden will be heavy; the mooring line tension monitoring process can also be manually started or stopped; after the mooring line tension monitoring process is started, the force analysis of the inland ship is first carried out according to the environmental force (i.e. the force generated by the wind, wave and flow on the inland ship) to which the inland ship is subjected, the force calculation result is obtained, then the force calculation result is compared with the last force calculation result, the comparison threshold value is set based on the comparison result, then the force calculation result of this time is judged based on the comparison threshold value, if the force calculation result is within the comparison threshold value range, the force of the inland ship is normal, if the force calculation result is outside the comparison threshold value range, the force of the inland ship is abnormal; if the force of the inland ship is abnormal, it indicates that the environmental force to which the inland ship is subjected has changed significantly, so the real-time tension of each cable is read through the cable tension sensor, then it is judged whether the cable tension exceeds the failure threshold value, if the cable tension does not exceed the failure threshold value, the cable tension uniform distribution strategy is calculated according to the real-time cable tension, then the cable tension adjustment suggestion is output, after manual confirmation, the corresponding anchor and winch system executes the cable tension adjustment suggestion, during execution, only one cable can be adjusted at a time, adjustment of two or more cables at the same time is strictly prohibited, and only cable tension adjustment is allowed, cable slack adjustment is prohibited, so as to avoid the loss of control of the inland ship, after the adjustment is completed, the cable tension is normal, then the next mooring line tension monitoring process is waited to run; if the tension of one or several cables exceeds the failure threshold value, an emergency alarm is output, then the cable failure treatment is carried out according to the specified requirements, and the emergency treatment scheme under emergency working condition is executed by manual (captain); the failure threshold value is the specified application range of the cable, which is determined according to the material, thickness, dry or wet state of the cable, if it exceeds the failure threshold value, the cable has the risk of breaking; if the force of the inland ship is normal, it indicates that the environmental force to which the inland ship is subjected has not changed significantly, then the force change of the inland ship is mainly the vertical force caused by the tidal fluctuation or the height change of the inland ship caused by the cargo loading and unloading process, at this time, one or several cables may also be too tight or too loose, so it is first detected whether there is an abnormal alarm signal such as inland ship displacement, oil arm displacement, cable tension abnormality, if there is no abnormal alarm signal, it indicates that the cable tension is normal at this time, then the next mooring line tension monitoring process is waited to run.If there is an abnormal alarm signal, it indicates that there is an abnormal situation of cable tensioning degree, then each cable real-time tension is read, and then a cable tension uniform distribution strategy is calculated according to the cable real-time tension, and a cable tensioning adjustment suggestion is output, which is executed by the corresponding anchor and winch system after manual confirmation, so as to make the tensioning degree of each cable normal.

[0049] Embodiment 3: The basic content is the same as that in Embodiment 1, except that: Please refer to Figure 1 Figure 13 In the second step, the water flow signal is measured by a shipborne log, the shipborne log is signal connected with the data acquisition and integration device, the channel depth signal is measured by a shipborne depth finder, the shipborne depth finder is signal connected with the data acquisition and integration device, the wind speed signal is measured by a shipborne wind speed and direction instrument, the shipborne wind speed and direction instrument is signal connected with the data acquisition and integration device, the draft signal is measured by a draft sensor, the draft sensor is signal connected with the data acquisition and integration device, the mooring berth width signal is manually input, the distance signals of the inland river ship from the wharf and other ships are measured by a monitoring system based on image ranging technology, the distance signal of the inland river ship from the berth is measured by a monitoring system based on image ranging technology, the monitoring system is signal connected with the data acquisition and integration device. In the second step, the data acquisition and integration device is signal connected with a ship end industrial computer, the ship end industrial computer receives the berthing signal of the data acquisition and integration device, and then the ship end industrial computer sends control instructions of the anchor, the steering engine and the main engine to the data acquisition and integration device. In the second step, the berthing signal includes anchor state parameter signals, steering engine state parameter signals and main engine state parameter signals; the anchor state parameter signals are measured by the anchor, the anchor is signal connected with the data acquisition and integration device, and the data acquisition and integration device sends the control instructions of the anchor to the anchor; the steering engine state parameter signals are measured by the steering engine, the steering engine is signal connected with the data acquisition and integration device, and the data acquisition and integration device sends the control instructions of the steering engine to the steering engine; the main engine state parameter signals are measured by the main engine, the main engine is signal connected with the data acquisition and integration device, and the data acquisition and integration device sends the control instructions of the main engine to the main engine. In the third step, the monitoring system includes multiple cameras located on the front, middle and rear parts of the two sides of the inland river ship.

[0050] ​In application, the ship-borne log measures the water flow signal and the speed signal, and then the ship-borne log sends the water flow signal and the speed signal to the data acquisition and integration device through the communication interface; the ship-borne depth finder measures the channel depth signal, and then the ship-borne depth finder sends the channel depth signal to the data acquisition and integration device through the communication interface; the ship-borne wind speed and direction meter measures the wind speed signal, and then the ship-borne wind speed and direction meter sends the wind speed signal to the data acquisition and integration device through the communication interface; the draft sensor measures the draft signal, and then the draft sensor sends the draft signal to the data acquisition and integration device through the communication interface; the mooring berth width signal is manually input into the data acquisition and integration device; the monitoring system measures the distance signals of the inland ship and the wharf and other ships, and the distance signal of the inland ship and the berth, and then the monitoring system sends the distance signals of the inland ship and the wharf and other ships, and the distance signal of the inland ship and the berth to the data acquisition and integration device through the communication interface; the anchor machine measures the anchor machine state parameter signal, and then the anchor machine sends the anchor machine state parameter signal to the data acquisition and integration device through the communication interface; the rudder machine measures the rudder machine state parameter signal, and then the rudder machine sends the rudder machine state parameter signal to the data acquisition and integration device through the communication interface; the main engine measures the main engine state parameter signal, and then the main engine sends the main engine state parameter signal to the data acquisition and integration device through the communication interface; then the data acquisition and integration device sends all the aforementioned signals to the ship-end industrial computer, and then the ship-end industrial computer calculates the anchor throwing distance, the cable throwing distance, the control instruction of the anchor machine, the control instruction of the rudder machine and the control instruction of the main engine according to all the aforementioned signals, and then the ship-end industrial computer sends the anchor throwing distance, the cable throwing distance, the control instruction of the anchor machine, the control instruction of the rudder machine and the control instruction of the main engine to the data acquisition and integration device, and then the data acquisition and integration device sends the control instruction of the anchor machine to the anchor machine, the control instruction of the rudder machine to the rudder machine and the control instruction of the main engine to the main engine, and then the main engine executes the control instruction of the main engine to control the rotation speed of the paddle, thereby controlling the moving speed of the inland ship, the rudder machine executes the control instruction of the rudder machine to control the moving direction of the inland ship, and the anchor machine executes the control instruction of the anchor machine to complete the anchor throwing and the anchor chain tension control, so that the main engine, the rudder machine and the anchor machine cooperate with each other to complete the process of moving the inland ship to the berth to perform berthing; the monitoring system comprises the original monitoring camera on the inland ship and a plurality of monitoring cameras located on the front, middle and rear positions of the two sides of the inland ship, so as to realize the real-time distance measurement of the distance signals of the inland ship and the wharf and other ships, and the distance signal of the inland ship and the berth based on the image recognition technology, thereby avoiding the collision accidents of the inland ship.

[0051] The above merely describes the preferred embodiments of the present application, and the protection scope of the present application is not limited to the above-mentioned embodiments, but any equivalent modification or change made by the ordinary skilled in the art according to the disclosed content of the present application shall be included in the protection scope recorded in the claims.

Claims

1. A method for automatic berthing of inland waterway vessels, characterized in that: The method includes the following steps: Step 1: Navigate the inland river vessel to the dock basin; The second step is to collect berthing signals, including water flow signals, channel depth signals, wind speed signals, draft signals, mooring berth width signals, distance signals between the inland waterway vessel and the dock and other vessels, and distance signals between the inland waterway vessel and the berth. Then, based on the berthing signals, real-time force analysis is performed on the inland waterway vessel to obtain the anchoring distance, cable-laying distance, anchor winch control commands, steering gear control commands, and main engine control commands. The third step is to first execute the control commands of the rudder and the main engine to control the direction and speed of the inland waterway vessel, so that the inland waterway vessel moves towards the berth. Then, monitor the distance signal between the inland waterway vessel and the berth. When the value of the distance signal between the inland waterway vessel and the berth reaches the anchoring distance, execute the control command of the anchor winch, that is, to anchor the inland waterway vessel to initially fix it. Step 4: First, execute the control commands of the rudder, main engine, and anchor winch to control the direction and speed of the inland waterway vessel, so that the inland waterway vessel moves towards the berth. Then, monitor the distance signal between the inland waterway vessel and the berth. When the value of the distance signal between the inland waterway vessel and the berth reaches the cable-laying distance, lay the cable and put up the bollard to fix the inland waterway vessel with the cable again. Step 5: First, execute the control commands of the rudder, main engine, and anchor winch to control the direction and speed of the inland waterway vessel, so that the inland waterway vessel moves towards the berth until it is close to the berth. Then, tighten the mooring lines to complete the berthing of the inland waterway vessel.

2. The automatic berthing method for inland waterway vessels according to claim 1, characterized in that: In the fifth step, completing the berthing of the inland waterway vessel means: first completing the berthing of the inland waterway vessel, and then carrying out the process of monitoring the tension of the mooring lines. The mooring cable tension monitoring process refers to: first, judging the threshold based on the environmental forces experienced by the inland waterway vessel, and then obtaining the result of normal or abnormal force. If the result is abnormal stress, the real-time tension of the mooring cable will be assessed, and then an emergency alarm or a suggestion for adjusting the cable tension will be output before ending the mooring cable tension monitoring process. If the stress result is normal, then check if there is any abnormal alarm signal on the inland waterway vessel. If there is no abnormal alarm signal, then end the mooring line tension monitoring process. If there is an abnormal alarm signal, then judge the real-time tension of the mooring line, then output the mooring line tension adjustment suggestion, and then end the mooring line tension monitoring process.

3. The automatic berthing method for inland waterway vessels according to claim 2, characterized in that: In the fifth step, the threshold judgment based on the environmental forces experienced by the inland waterway vessel refers to: firstly, performing a force analysis based on the environmental forces experienced by the inland waterway vessel, then obtaining the force calculation results, then comparing the force calculation results with the previous force calculation results or empty values, then obtaining a comparison threshold, and then judging the force calculation results based on the comparison threshold. If the force calculation results are within the comparison threshold range, the conclusion of normal force is obtained; if the force calculation results are outside the comparison threshold range, the conclusion of abnormal force is obtained.

4. The automatic berthing method for inland waterway vessels according to claim 3, characterized in that: In the fifth step, the step of judging the real-time tension of the mooring cable if the result is abnormal force, and then outputting an emergency alarm or a suggestion for adjusting the cable tension, means: first, judge the real-time tension of the mooring cable; if the real-time tension of the mooring cable exceeds the failure threshold, it means that the mooring cable has failed, an emergency alarm is output, and then the mooring cable tension monitoring process ends. If the real-time tension of the cable does not exceed the failure threshold, a cable tension uniform distribution strategy is calculated based on the real-time tension of the cable, and then the aforementioned strategy is output as a cable tension adjustment suggestion.

5. The automatic berthing method for inland waterway vessels according to claim 4, characterized in that: In the fifth step, the output cable tension adjustment suggestion means: first output the cable tension adjustment suggestion, and then execute the cable tension adjustment suggestion by the corresponding anchor winch and winch control system after the cable tension adjustment suggestion is manually confirmed.

6. The automatic berthing method for inland waterway vessels according to claim 5, characterized in that: In the fifth step, the real-time tension of the cable is measured by a cable tension sensor located on the winch.

7. The automatic berthing method for inland waterway vessels according to claim 1, characterized in that: In the second step, the water flow signal is measured by an onboard log, which is connected to the data acquisition and integration equipment; the channel depth signal is measured by an onboard depth sounder, which is connected to the data acquisition and integration equipment; the wind speed signal is measured by an onboard anemometer, which is connected to the data acquisition and integration equipment; the draft signal is measured by a draft sensor, which is connected to the data acquisition and integration equipment; the mooring berth width signal is manually entered; the distance signals between the inland waterway vessel and the dock and other vessels are measured by the monitoring system based on image ranging technology; the distance signal between the inland waterway vessel and the berth is measured by the monitoring system based on image ranging technology, and the monitoring system is connected to the data acquisition and integration equipment.

8. The automatic berthing method for inland waterway vessels according to claim 7, characterized in that: In the second step, the data acquisition and integration equipment is connected to the ship's industrial control computer. The ship's industrial control computer receives the berthing signal from the acquisition and integration equipment, and then sends control commands for the anchor winch, steering gear, and main engine to the acquisition and integration equipment.

9. The automatic berthing method for inland waterway vessels according to claim 8, characterized in that: In the second step, the berthing signal includes the anchor winch status parameter signal, the steering gear status parameter signal, and the main engine status parameter signal; the anchor winch status parameter signal is measured by the anchor winch, the anchor winch is signal-connected to the data acquisition and integration equipment, and the data acquisition and integration equipment sends control commands to the anchor winch; The servo motor status parameter signal is measured by the servo motor, the servo motor is connected to the data acquisition and integration equipment, and the data acquisition and integration equipment sends control commands to the servo motor. The host status parameter signal is measured by the host, the host is signal-connected to the data acquisition and integration device, and the data acquisition and integration device sends control commands to the host.

10. The automatic berthing method for inland waterway vessels according to claim 9, characterized in that: In the third step, the monitoring system includes multiple cameras located at the front, middle, and rear sections of both sides of the inland waterway vessel.

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