A method for guiding a ship into dry dock

Abstract

This application relates to the field of shipbuilding and discloses a method for guiding a ship into dock. The method includes: acquiring multi-source position and attitude data of a target ship and meteorological monitoring data of the current docking environment; obtaining meteorological compensation parameters of the target ship based on the meteorological monitoring data; processing the multi-source position and attitude data based on the meteorological compensation parameters to generate a predicted trajectory coordinate sequence of the target ship; determining whether the predicted trajectory coordinate sequence meets preset cable-dropping safety conditions; generating a cable-dropping trigger command when the predicted trajectory coordinate sequence meets the cable-dropping safety conditions; and controlling a cable-dropping device to perform a cable-dropping action based on the cable-dropping trigger command.

Description

Technical Field

[0001] This application relates to the field of shipbuilding, and more particularly to a method for guiding a ship into dry dock. Background Technology

[0002] The docking of a ship is a crucial step in the process of ship repair, construction, and inspection.

[0003] The casting of cables during a ship's docking usually relies on visual observation by on-site personnel and the coordinates of the positioning system. Heavy-loaded ships have great inertia when moving on the water, and the mechanical execution of the casting cable equipment has a certain delay. When the system issues a casting cable command based on the current position, the ship's trajectory may deviate from the actual effective casting range due to lateral wind pressure deviation during the equipment's response period.

[0004] Solving this technical problem is a technical challenge that needs to be overcome by those skilled in the art. Summary of the Invention

[0005] This application provides a method for guiding a ship into dry dock, which at least partially solves the above-mentioned technical problems.

[0006] To achieve the above objectives, this application provides a method for guiding a ship into dry dock, comprising: Acquire multi-source position and attitude data of the target vessel and meteorological monitoring data of the current docking environment; The meteorological compensation parameters for the target vessel are obtained based on the meteorological monitoring data. The target is generated by processing the multi-source position and attitude data based on the meteorological compensation parameters. The predicted trajectory coordinate sequence of the ship; Determine whether the predicted trajectory coordinate sequence meets the preset cable throwing safety conditions; When the predicted trajectory coordinate sequence meets the cable throwing safety conditions, a cable throwing trigger command is generated; The cable throwing trigger command controls the cable throwing device to perform the cable throwing action.

[0007] The embodiments of this application effectively solve the problem of insufficient cable throwing accuracy caused by weather interference in traditional ship docking cable throwing operations through the above technical solution.

[0008] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0009] To more clearly illustrate the technical solutions in the embodiments of this application, 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 application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0010] Figure 1 This is a flowchart illustrating the steps of a ship docking guidance method provided in an exemplary embodiment of this application. Detailed Implementation

[0011] 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 a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the protection scope of this application.

[0012] This application provides a method for guiding a ship into dry dock. Please refer to [link / reference]. Figure 1 The method for guiding a ship into dry dock provided in this application includes the following steps: Step 101: Obtain multi-source position and attitude data of the target vessel and meteorological monitoring data of the current docking environment.

[0013] Step 102: Obtain the meteorological compensation parameters for the target vessel based on the meteorological monitoring data.

[0014] Step 103: Process the multi-source position and attitude data based on the meteorological compensation parameters to generate... The predicted trajectory coordinate sequence of the target vessel is generated.

[0015] Step 104: Determine whether the predicted trajectory coordinate sequence meets the preset cable throwing safety conditions.

[0016] Step 105: When the predicted trajectory coordinate sequence meets the cable throwing safety conditions, generate a cable throwing trigger command.

[0017] Step 106: Control the cable throwing device to perform the cable throwing action based on the cable throwing trigger command.

[0018] Specifically, this application effectively solves the problem of insufficient cable-throwing accuracy caused by weather interference in traditional ship docking and cable-throwing operations.

[0019] In some embodiments, to address the execution time difference between the predicted command and the mechanical action, the minimum response time of the cable-throwing device is obtained in some implementations. Based on the minimum response time, the timing offset of the cable-throwing trigger command is compensated to generate a compensated trigger command. When the system's main clock frequency reaches the execution timestamp corresponding to the compensated trigger command, a drive current is issued to control the cable-throwing device to perform the physical-level cable-throwing action. The minimum response time refers to the inherent hysteresis time constant from receiving the digital trigger command to the time the launching mechanical structure reaches its maximum working range. By fusing and compensating for the spatial displacement disturbance caused by weather offset and the time axis misalignment caused by mechanical equipment hysteresis, the time misalignment problem during the launching of the actuator is effectively resolved, improving the accuracy of the docking guidance cable-throwing operation.

[0020] In some embodiments, before acquiring the multi-source position and attitude data of the target vessel and the meteorological monitoring data of the current docking environment, the process includes: acquiring the dock gate lifting signal on the maintenance platform in the central control room; parsing the dock gate lifting signal to obtain the current physical deployment angle of the dock gate; when the current physical deployment angle reaches a preset opening threshold, activating multiple monitoring cameras and meteorological monitoring equipment; acquiring image data of the target vessel through the multiple monitoring cameras and acquiring the initial positioning coordinates of the target vessel through a positioning device; and generating the multi-source position and attitude data based on the image data and the initial positioning coordinates.

[0021] In some embodiments, obtaining the meteorological compensation parameters of the target vessel based on the meteorological monitoring data includes: extracting real-time wind speed data and real-time wind direction data of the dock area from the meteorological monitoring data; obtaining the current grid position of the target vessel in a pre-divided dock space grid based on the initial positioning coordinates; extracting local wind field parameters from the real-time wind speed data and real-time wind direction data based on the current grid position; inputting the local wind field parameters and the current grid position into a preset meteorological compensation mapping table for matching to obtain a lateral drift compensation value; and using the lateral drift compensation value as the meteorological compensation parameter.

[0022] Specifically, local wind field parameters refer to the three-dimensional vectorized representation of airflow intensity and fluid tangential angle within a single grid space; the meteorological compensation mapping table is a data table pre-constructed through physical fluid dynamics simulation to map different wind pressure vectors into lateral displacement corrections. By using spatial gridding and matching with the meteorological mapping table, the real-time computational overhead of the system is effectively reduced.

[0023] In some embodiments, processing the multi-source position and attitude data based on the meteorological compensation parameters to generate a predicted trajectory coordinate sequence for the target vessel includes: extracting the target vessel's current absolute coordinates, current speed, and current heading angle based on the multi-source position and attitude data; obtaining the vessel's basic velocity vector based on the current speed and current heading angle; obtaining a meteorological drift velocity vector based on the meteorological compensation parameters and a preset dock reference coordinate system; vector synthesizing the vessel's basic velocity vector and the meteorological drift velocity vector to obtain a synthesized velocity vector; obtaining a preset total prediction time and segmentation step size, and obtaining multiple consecutive prediction time nodes based on the total prediction time and the segmentation step size; obtaining the predicted position coordinates corresponding to each prediction time node, starting from the current absolute coordinates, based on the synthesized velocity vector and each prediction time node; sequentially arranging all the predicted position coordinates in chronological order to obtain the trajectory coordinate sequence; and using the trajectory coordinate sequence as the predicted trajectory coordinate sequence.

[0024] Specifically, the ship's basic velocity vector refers to the theoretical motion direction matrix formed by the output of the target ship's own power system and its original inertia in the horizontal plane; the meteorological drift velocity vector refers to the yaw motion direction matrix caused by wind pressure and hydrological lateral thrust applied to the side of the hull; by algebraically fusing the two, a composite velocity vector that conforms to the laws of physical kinematics is obtained, and it is divided into multiple prediction time nodes for coordinate extrapolation and matrix arrangement, which improves the reliability of trajectory safety prediction.

[0025] In some embodiments, the cable-throwing safety conditions include a collision avoidance zone and a valid cable-throwing zone; when the predicted trajectory coordinate sequence meets the cable-throwing safety conditions, a cable-throwing trigger command is generated, including: determining whether the trajectory coordinate sequence intersects with the collision avoidance zone; when the trajectory coordinate sequence does not intersect with the collision avoidance zone and the trajectory coordinate sequence enters the valid cable-throwing zone, determining that the predicted trajectory coordinate sequence meets the cable-throwing safety conditions.

[0026] Specifically, the collision avoidance zone refers to the three-dimensional no-entry envelope space formed by the coordinates of the edge of the concrete dock wall structure and the safety redundancy distance of the maximum physical outline above the waterline of the ship; the effective cable throwing zone refers to the operational envelope space that the mechanical throwing head of the cable throwing equipment can stably throw and cover with the physical cable under a specific air pressure output.

[0027] In some embodiments, the monitoring camera equipment includes a first camera located at the bow end of the dock and a second camera located at the stern end of the dock. Acquiring image data of the target vessel through the plurality of monitoring camera devices includes: acquiring first image data captured by the first camera and second image data captured by the second camera; extracting the longitudinal docking distance of the target vessel relative to a fixed reference point at the dock based on the initial positioning coordinates; inputting the longitudinal docking distance into a preset field-of-view distortion correction function to obtain a first field-of-view weight coefficient corresponding to the first image data and a second field-of-view weight coefficient corresponding to the second image data; obtaining a first confidence weight based on the first field-of-view weight coefficient and a second confidence weight based on the second field-of-view weight coefficient; and performing weighted feature fusion on the first image data and the second image data based on the first confidence weight and the second confidence weight to obtain the image data.

[0028] Among them, the field of view distortion correction function refers to the negative correlation attenuation mapping relationship between the degree of pixel stretching distortion at the edge of the wide-angle lens and the physical depth into which the target ship enters; the greater the longitudinal docking distance, the more severe the field of view distortion of the first camera at the bow, and the system will assign it a lower weight coefficient.

[0029] Furthermore, in some embodiments, generating the multi-source position and attitude data based on the image data and the initial positioning coordinates includes: synchronously extracting the dock fixed reference point and the hull edge contour features from the image data; constructing a transformation matrix between the pixel coordinate system and the real physical coordinate system based on the dock fixed reference point; performing coordinate transformation on the hull edge contour features based on the transformation matrix to obtain visual auxiliary pose parameters; and fusing the visual auxiliary pose parameters with the initial positioning coordinates to obtain the multi-source position and attitude data.

[0030] Among them, the fixed reference point at the dock entrance refers to a physical beacon with a constant three-dimensional spatial coordinate mapping relationship, cast and set during the construction of the dock infrastructure; the transformation matrix refers to the parameter transformation matrix used to restore the pixel size of the two-dimensional plane to the physical size in three-dimensional space. By adaptively adjusting the fusion weight of image features through longitudinal physical distance, the visual reference value of image stitching is improved.

[0031] In some embodiments, before acquiring the multi-source position and attitude data of the target vessel and the meteorological monitoring data of the current docking environment, the process includes: acquiring docking application information of each vessel in the waiting docking vessel queue; wherein, the docking application information includes vessel identification, vessel size parameters, docking urgency level, and estimated arrival time; constructing a docking scheduling queue based on the docking application information and assigning docking priority to each vessel in the docking scheduling queue; acquiring the current position status and predicted trajectory coordinate sequence of each vessel in the docking scheduling queue; when multiple vessels in the docking scheduling queue simultaneously meet the cable-dropping safety conditions, generating a collaborative scheduling instruction based on the docking priority and the safety distance constraints between the vessels; and controlling the cable-dropping equipment to execute the cable-dropping actions of each vessel sequentially according to the scheduling sequence based on the collaborative scheduling instruction.

[0032] Specifically, the safety distance constraint refers to the critical spatial threshold for preventing rear-end collisions calculated based on the difference in physical speed and displacement between adjacent vessels; the underlying application dimension data of each vessel is obtained and collaborative scheduling instructions are output. This extends the guidance and control of individual vessels to global queue collaborative scheduling, effectively resolving resource conflicts and congestion issues when multiple targets concurrently enter the dock.

[0033] In some embodiments, assigning docking priorities to each vessel in the docking scheduling queue includes: obtaining a vessel size weighting coefficient based on the vessel size parameters; obtaining an urgency weighting coefficient based on the docking urgency level; obtaining a time urgency weighting coefficient based on the estimated arrival time; weighting and summing the vessel size weighting coefficient, the urgency weighting coefficient, and the time urgency weighting coefficient to obtain a comprehensive priority score; and sorting each vessel in the docking scheduling queue according to the comprehensive priority score from high to low to generate a priority ranking result. The comprehensive priority score is a numerical system used to assess the objective urgency of a vessel occupying dock resources under multi-dimensional constraints.

[0034] In some embodiments, generating a collaborative scheduling instruction based on the docking priority and the safety distance constraints between vessels includes: obtaining the corresponding minimum safety distance based on the predicted trajectory coordinate sequence of each vessel in the docking scheduling queue; determining that there is a trajectory conflict risk when the minimum safety distance is less than a preset safety threshold; scheduling the vessels with trajectory conflict risk according to the docking priority; generating a delayed cable dropping instruction for the vessels with lower scheduling order; and regenerating the delayed correction trajectory sequence of the vessels with lower scheduling order based on the delayed cable dropping instruction.

[0035] Specifically, the delayed correction trajectory sequence refers to the regenerated coordinate matrix based on the original kinematic deduction sequence after inserting braking deceleration constraints or stagnation waiting time variables. When a collision risk is determined, a delayed instruction is proactively generated for the weaker vessel, transforming the spatial overlapping risk into staggered execution of instructions in the time domain, thus ensuring safe collision avoidance for multiple vessels under complex convoy operation conditions.

[0036] In some embodiments, when the trajectory coordinate sequence does not intersect with the collision avoidance area and the trajectory coordinate sequence enters the effective cable throwing area, determining that the predicted trajectory coordinate sequence meets the cable throwing safety condition includes: obtaining the standard range parameters of the cable throwing device and the current wind speed and wind direction characteristics; updating the boundary deformation of the effective cable throwing area based on the standard range parameters, the current wind speed characteristics, and the wind direction characteristics to obtain a dynamic effective range; extracting a continuous trajectory point sequence located within the dynamic effective range from the trajectory coordinate sequence; obtaining an effective cable throwing time window based on the time nodes corresponding to the continuous trajectory point sequence; and determining that the predicted trajectory coordinate sequence meets the cable throwing safety condition when the duration of the effective cable throwing time window is greater than the preset minimum response time of the device.

[0037] The dynamic effective range refers to the actual operational boundary after deformation caused by the compression of the headwind or the extension of the tailwind, based on the original cable-throwing area; the effective cable-throwing time window refers to the expected physical duration of the predicted coordinate flow remaining within the dynamic effective range.

[0038] This effectively avoids the problem of equipment being thrown out due to the ship passing the throwing boundary too fast, and improves the success rate of cable-guided operations under complex working conditions.

[0039] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0040] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0041] The embodiments, implementation methods, and related technical features of this application can be combined and substituted for each other without conflict.

[0042] The above are merely preferred embodiments of this application and are not intended to limit this application in any way. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of this application without departing from the scope of the technical solution of this application shall still fall within the scope of the technical solution of this application.

Claims

1. A method for guiding a ship into dry dock, characterized in that, include: Acquire multi-source position and attitude data of the target vessel and meteorological monitoring data of the current docking environment; The meteorological compensation parameters for the target vessel are obtained based on the meteorological monitoring data. The target is generated by processing the multi-source position and attitude data based on the meteorological compensation parameters. The predicted trajectory coordinate sequence of the ship; Determine whether the predicted trajectory coordinate sequence meets the preset cable throwing safety conditions; When the predicted trajectory coordinate sequence meets the cable throwing safety conditions, a cable throwing trigger command is generated; The cable throwing trigger command controls the cable throwing device to perform the cable throwing action.

2. The method according to claim 1, characterized in that, Before acquiring multi-source position and attitude data of the target vessel and meteorological monitoring data of the current docking environment, the method further includes: Obtain the lifting signal of the dock safety door on the maintenance console in the central control room; The current physical deployment angle of the dock gate is obtained by analyzing the lifting signal of the dock gate. When the current physical deployment angle reaches the preset activation threshold, multiple monitoring cameras and meteorological monitoring equipment are activated. Image data of the target vessel is acquired through the multiple monitoring cameras, and the initial positioning coordinates of the target vessel are obtained through the positioning device. The multi-source position and attitude data is generated based on the image data and the initial positioning coordinates.

3. The method according to claim 2, characterized in that, The meteorological compensation parameters for the target vessel are obtained based on the meteorological monitoring data, including: Extract real-time wind speed and real-time wind direction data for the dock area from the meteorological monitoring data; Based on the initial positioning coordinates, the current grid position of the target vessel in the pre-divided dock space grid is obtained; Local wind field parameters are extracted from the real-time wind speed data and the real-time wind direction data based on the current grid position; The local wind field parameters and the current grid position are input into a preset meteorological compensation mapping table for matching to obtain the lateral drift compensation value; The lateral drift compensation value is used as the meteorological compensation parameter.

4. The method according to claim 3, characterized in that, Based on the meteorological compensation parameters, the multi-source position and attitude data are processed to generate a predicted trajectory coordinate sequence for the target vessel, including: Based on the multi-source position and attitude data, the current absolute coordinates, current speed, and current heading angle of the target vessel are extracted. Based on the current speed and the current heading angle, the ship's basic speed vector is obtained; Based on the meteorological compensation parameters and the preset dock reference coordinate system, the meteorological drift velocity vector is obtained; The ship's basic velocity vector and the weather drift velocity vector are vector-synthesized to obtain a composite velocity vector; Obtain the preset total prediction time and segmentation step size, and obtain multiple consecutive prediction time nodes based on the total prediction time and segmentation step size. Starting from the current absolute coordinates, and based on the synthesized velocity vector and each of the predicted time nodes, the predicted position coordinates corresponding to each of the predicted time nodes are obtained. Arrange all the predicted position coordinates in chronological order to obtain the trajectory coordinate sequence; The trajectory coordinate sequence is used as the predicted trajectory coordinate sequence.

5. The method according to claim 4, characterized in that, The cable-throwing safety conditions include the collision avoidance zone and the effective cable-throwing zone; When the predicted trajectory coordinate sequence meets the cable-throwing safety condition, a cable-throwing trigger command is generated, including: Determine whether the trajectory coordinate sequence intersects with the collision avoidance area; When the trajectory coordinate sequence does not intersect with the collision avoidance area and the trajectory coordinate sequence enters the effective cable throwing area, it is determined that the predicted trajectory coordinate sequence meets the cable throwing safety condition.

6. The method according to claim 5, characterized in that, The surveillance camera equipment includes a first camera located at the front end of the dock and a second camera located at the rear end of the dock. Image data of the target vessel is acquired through the multiple surveillance camera devices, including: Acquire the first image data captured by the first camera and the second image data captured by the second camera; Based on the initial positioning coordinates, the longitudinal docking distance of the target vessel relative to the fixed reference point at the dock entrance is extracted; The longitudinal docking distance is input into a preset field of view distortion correction function to obtain the first field of view weight coefficient corresponding to the first image data and the second field of view weight coefficient corresponding to the second image data. A first confidence weight is obtained based on the first field of view weight coefficient, and a second confidence weight is obtained based on the second field of view weight coefficient; Based on the first confidence weight and the second confidence weight, the first image data and the second image data are weighted feature fusion to obtain the image data; The multi-source position and pose data is generated based on the image data and the initial positioning coordinates, including: Simultaneously extract the fixed reference point at the dock and the contour features of the ship's hull edge from the image data; A transformation matrix between the pixel coordinate system and the real physical coordinate system is constructed based on the fixed reference point of the dock. Based on the transformation matrix, coordinate transformation is performed on the hull edge contour features to obtain pose parameters; The visual-assisted pose parameters are fused with the initial positioning coordinates to obtain the multi-source position and pose data.

7. The method according to claim 6, characterized in that, Before acquiring the multi-source position and attitude data of the target vessel and the meteorological monitoring data of the current docking environment, the method further includes: Obtain docking application information for each vessel in the waiting docking queue; wherein, the docking application information includes vessel identification, vessel size parameters, docking urgency level, and estimated arrival time; Based on the docking application information, a docking scheduling queue is constructed and docking priorities are assigned to each vessel in the docking scheduling queue; Obtain the current position status and predicted trajectory coordinate sequence of each vessel in the docking scheduling queue; When multiple vessels in the docking scheduling queue simultaneously meet the cable-dropping safety conditions, a collaborative scheduling instruction is generated based on the docking priority and the safety distance constraints between the vessels. Based on the coordinated scheduling instructions, the cable-dropping equipment is controlled to execute the cable-dropping actions of each vessel in sequence according to the scheduling order.

8. The method according to claim 7, characterized in that, Assigning docking priorities to each vessel in the docking scheduling queue includes: The ship size weighting coefficient is obtained based on the aforementioned ship size parameters; An urgency weighting coefficient is obtained based on the aforementioned docking urgency level. The time urgency weighting coefficient is obtained based on the estimated arrival time; The weighted sum of the ship size weight coefficient, the urgency weight coefficient, and the time urgency weight coefficient is used to obtain the comprehensive priority score. The vessels in the docking scheduling queue are sorted in descending order of their comprehensive priority scores to generate a priority ranking result.

9. The method according to claim 8, characterized in that, Based on the docking priority and the safety distance constraints between each vessel, a collaborative scheduling instruction is generated, including: Based on the predicted trajectory coordinate sequence of each vessel in the docking scheduling queue, the corresponding minimum safe distance is obtained; When the minimum safe distance is less than the preset safe threshold, it is determined that there is a risk of trajectory conflict; The scheduling order of vessels with trajectory conflict risk is determined based on the docking priority. Generate a delayed cable-dropping instruction for the ships that are later in the scheduling order; Based on the delayed cable-dropping command, the delay correction trajectory sequence of the ships with later scheduling order is regenerated.

10. The method according to claim 9, characterized in that, The step of determining that the predicted trajectory coordinate sequence satisfies the cable-throwing safety condition when the trajectory coordinate sequence does not intersect with the collision avoidance area and enters the effective cable-throwing area includes: Obtain the standard range parameters of the cable-throwing device, as well as the current wind speed and wind direction characteristics; Based on the standard range parameters, the current wind speed characteristics, and the wind direction characteristics, the effective cable-throwing area is updated by boundary deformation to obtain the dynamic effective range; Take a sequence of continuous trajectory points within the dynamic effective range from the trajectory coordinate sequence; Based on the time nodes corresponding to the continuous trajectory point sequence, the effective cable throwing time window is obtained; When the duration of the effective cable throwing time window is greater than the preset minimum device response time, the predicted trajectory coordinate sequence is determined to meet the cable throwing safety conditions.

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