Mooring assisting operation system for tug

Abstract

The utility model relates to a berthing assisting operation system for tugboat, which belongs to the technical field of tugboat monitoring and comprises a laser radar group, a wide-angle camera group, a point cloud and video signal fusion processing server, a berthing assisting operation server, an audible and visual alarm, a first router and a data acquisition box. The laser radar group and the wide-angle camera group are arranged on the periphery of the tug; by means of the wide-angle camera set and the laser radar set which are additionally arranged, the surrounding environment of the tug can be monitored in an all-around mode, the surrounding situation of a ship can be accurately sensed, and accidents are avoided; besides, communication connection is established between the tug and the ship to be towed through the added data acquisition box, so that various monitoring data of the ship to be towed can be borrowed by the tug in the ship towing process, and the sailing safety of the tug is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of tugboat monitoring, and in particular relates to a mooring assistance system for a tugboat. Background Art

[0002] Tugboats, also known as tugboats, are used to tow ships and rafts that are not capable of self-propulsion, or to assist large ships in entering and leaving ports, berthing and leaving docks, or to rescue ships in distress at sea. Tugboats do not have cargo holds, and their hulls are not large, but they are equipped with high-power propulsion engines and towing equipment, and have the characteristics of "small size and great strength". Towing facilities include towing hooks, towing poles, mooring winches, etc. Tugboats are divided into ocean tugboats, inland river (such as the Yangtze River) tugboats, and port tugboats. Ocean tugboats can be divided into ocean-going tugboats and coastal tugboats, which can carry out towing and transportation operations in the corresponding navigation areas, and can also perform rescue missions. Inland river tugboats mainly carry out towing operations in inland rivers. Port tugboats mainly operate in ports, such as assisting large ships to berth and leave docks, and entering and leaving docks.

[0003] A harbor tugboat is responsible for berthing and unberthing ships entering and leaving the port and picking up pilots. With the development of ports, the number of ship berthing and unberthing operations is increasing. The daily utilization rate of a single tugboat is high, and the daily operating hours of a single tugboat are long. The busy operating tasks and long sea voyages increase the safety risks of tugboat production operations. It is increasingly urgent for tugboat drivers to have a comprehensive and accurate understanding and grasp of the surrounding sea environment, obstacles and other safety risk environments during navigation operations.

[0004] Since tugboats usually have many facilities such as navigation equipment and smoke exhaust ducts around the 2nd and 3rd floor cabs, visual blind spots will be generated during tugboat operations, especially at night. The top of the main mast and the sides of the stern cannot be effectively observed by the naked eye. Due to blind spots and accuracy issues, the existing traditional marine radars on tugboats cannot accurately detect objects in the vicinity of the tugboats, nor can they provide effective distance information. Therefore, in order to solve the problem of visual blind spots, the current common navigation practice is to arrange tugboat sailors to assist in lookout. However, the 360-degree operating area of ​​the tugboat cannot be observed simultaneously and accurately perceived by the naked eye alone. In recent years, many near-misses have occurred due to the influence of visual blind spots, which has sounded the alarm for tugboat safety production. The loss of objects caused by visual blind spots and the inability to accurately judge the distance of potential dangerous objects result in the ship's drivers being unable to make correct judgments about the ship's situation and potential risks, which may eventually lead to accidents.

[0005] This method of using ship radar and sailors to assist in viewing can meet certain needs, but it also has major defects. The driver's naked eyes alone cannot solve the problem of blind spots. The blind spots are large and there are great safety hazards. The sailors' viewing efficiency is low, the labor intensity is high, the labor cost is high, the viewing is dangerous, and falling into the water is prone to safety accidents. This is the shortcoming of the existing technology. Summary of the invention

[0006] The purpose of the utility model is to provide a mooring assistance system for tugboats to solve the problems in the prior art, that is, the traditional marine radar cannot accurately detect the objects in the vicinity of the tugboat at a close distance due to the blind spots and accuracy problems, and cannot provide effective distance information. Moreover, the driver's naked eyes cannot solve the problem of the blind spots, the blind spots are large, the potential safety hazards are great, the sailors' viewing efficiency is low, the labor intensity is high, the labor cost is high, the viewing is dangerous, and the safety accidents of falling into the water are prone to occur.

[0007] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0008] A berthing assistance system for a tugboat, the tugboat is used to tow a ship without self-propulsion capability, comprising a laser radar group, a wide-angle camera group, a point cloud and video signal fusion processing server, a berthing assistance server, an audible and visual alarm, a first router and a data acquisition box; the laser radar group and the wide-angle camera group are arranged on the periphery of the tugboat;

[0009] The laser radar group and the wide-angle camera group are connected to the parking assistance server through the point cloud and video signal fusion processing server, and the sound and light alarm is connected to the parking assistance server;

[0010] The data collection box includes a second router, a signal collector and an edge terminal device. The second router and the signal collector are both connected to the berthing assistance server through the first router. The signal collector is also connected to the electronic inclinometer, depth sounder and ECDIS of the ship to be towed. One end of the edge terminal device is connected to the second router, and the other end of the edge terminal device is connected to the GPS, gyrocompass and AIS of the ship to be towed.

[0011] A further improvement of the technical solution is that it also includes an uninterruptible power supply, and the parking assistance server is connected to the uninterruptible power supply.

[0012] A further improvement of the technical solution is that it also includes a cabinet, in which the uninterruptible power supply, the parking assistance server and the first router are all arranged.

[0013] A further improvement of the technical solution is that it also includes a display connected to the parking assistance server.

[0014] A further improvement of the technical solution is that it also includes a personal access terminal, which is connected to the first router via a ship local area network of the ship to be towed.

[0015] A further improvement of the technical solution is that the first router is also connected to an external VSAT.

[0016] A further improvement of the technical solution is that the laser radar group includes 4 wide-angle laser radars, and the wide-angle camera group includes 4 wide-angle low-light cameras.

[0017] The beneficial effect of the utility model is that the utility model can monitor the surrounding environment of the tugboat in all directions through the added wide-angle camera group and laser radar group, and can accurately perceive the situation around the ship to avoid dangerous incidents; in addition, the utility model also establishes a communication connection between the tugboat and the towed ship through the added data acquisition box, so that the tugboat can borrow various monitoring data of the towed ship during the towing process, thereby improving the navigation safety of the tugboat.

[0018] In addition, the utility model has a reliable design principle, a simple structure and a very broad application prospect.

[0019] It can be seen that compared with the prior art, the present invention has outstanding substantial features and significant progress, and the beneficial effects of its implementation are also obvious. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic diagram of the system relationship is shown below.

[0021] 110 is a laser radar group, 120 is a wide-angle camera group, 130 is a point cloud and video signal fusion processing server, 140 is a parking assistance server, 150 is an audible and visual alarm, 160 is a first router, 170 is a data acquisition box, 171 is a second router, 172 is a signal collector, 173 is an edge terminal device, 180 is a display, 191 is an uninterruptible power supply, 192 is a cabinet, and 193 is a personal access terminal. DETAILED DESCRIPTION

[0022] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0023] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0024] The key terms appearing in the present invention are explained below.

[0025] ECDIS, Electronic Chart Display and Information System, refers to a marine electronic chart system that complies with relevant international standards. It is based on computers, connects positioning, depth sounding, radar and other equipment, and is based on ENC. It comprehensively reflects the ship's driving status and provides ship drivers with various information query, measurement and navigation record special tools. It is a thematic geographic information system.

[0026] GPS, Global Positioning System, also known as the Global Satellite Positioning System, is a medium-range circular orbit satellite navigation system. It can provide accurate positioning, speed measurement and high-precision time standards for most areas (98%) on the earth's surface. The GPS system has the following advantages: using low-frequency signals, it can maintain considerable signal penetration even in bad weather; global coverage (up to 98%); three-dimensional speed and timing with high accuracy; fast, time-saving, and efficient; widely used and multifunctional; mobile positioning; unlike the dual-star positioning system, the receiver does not need to send any signal during use, which increases its concealment and improves its military application efficiency.

[0027] AIS, Automatic Identification System, is the abbreviation of Automatic Identification System for Ships. It is composed of shore-based (base station) facilities and ship-borne equipment. It is a new type of digital navigation aid system and equipment that integrates network technology, modern communication technology, computer technology, and electronic information display technology. In conjunction with the Global Positioning System (GPS), the ship's position, speed, rate of change of heading, and heading, as well as the ship's static information such as ship name, call sign, draft, and dangerous goods, are broadcast to nearby ships and shore stations through the VHF channel, so that nearby ships and shore stations can timely grasp the dynamic and static information of all ships on the nearby sea surface, and can immediately communicate and coordinate with each other to take necessary avoidance actions, which is of great help to ship safety.

[0028] VSAT, Very Small Aperture Terminal, literally translated as "very small aperture terminal", and the literal translation should be "very small antenna earth station". Other names include satellite communication earth station, micro earth station or small earth station. It is a satellite communication system developed in the mid-1980s. VSAT is derived from the traditional satellite communication system, so it is also called satellite small data station or personal earth station. The "small" here refers to the small antenna aperture of the small station equipment in the VSAT system, which is usually 0.3m~1.4m. The equipment has a compact structure, solid, intelligent, cheap, easy to install, and has low requirements for the use environment. It is not restricted by the ground network and has flexible networking.

[0029] POE, Power Over Ethernet, refers to a technology that can provide DC power to some IP-based terminals (such as IP phones, wireless LAN access points AP, network cameras, etc.) while transmitting data signals without making any changes to the existing Ethernet Cat.5 wiring infrastructure.

[0030] The utility model will be further described below in conjunction with the accompanying drawings.

[0031] like Figure 1 As shown, the utility model provides a mooring assistance system for a tugboat, wherein the tugboat is used to tow a ship without self-propulsion capability, and the mooring assistance system for a tugboat comprises a laser radar group, a wide-angle camera group, a point cloud and video signal fusion processing server, a mooring assistance server, an audible and visual alarm, a first router and a data acquisition box; the laser radar group and the wide-angle camera group are arranged on the periphery of the tugboat.

[0032] Among them, the laser radar group and the wide-angle camera group are connected to the berthing assistance server through the point cloud and video signal fusion processing server, and the sound and light alarm is connected to the berthing assistance server; the laser radar group includes 4 wide-angle laser radars, and the wide-angle camera group includes 4 wide-angle low-light cameras; the 4 wide-angle low-light cameras can use video fusion technology to capture the 360° direction of the tugboat, and support POE power supply; the 4 wide-angle laser radars emit multi-line petal-shaped laser beams to achieve the purpose of external perception and detection of the tugboat. When there is a target blocking the laser beam, it will be fed back to the laser radar point cloud and image the external contour of the target. In addition, the sound and light alarm is a prompt issued by the warning sound of the berthing assistance server. Among them, the speaker is built into the tugboat console, which can support the setting of mute, including LED red / green light display prompts.

[0033] The point cloud and video signal fusion processing server is a service client running on the Ubuntu system. By mapping and calibrating the collected video and lidar point cloud data, the electronic fence range can be set in the system. When the electronic fence area is reached, an audible and visual alarm signal is issued to remind the driver to pay attention to nearby targets. The anti-collision measurement distance value is supported to be displayed in real time in the video image, showing the real-time distance between the nearest collision point of the large ship and the mast of the tugboat. Specifically, it is displayed through the display configured by the utility model, which is connected to the berthing assistance operation server.

[0034] The system's display uses a marine embedded touch screen. Since the ship shakes severely when sailing, mouse and keyboard operation is not user-friendly on the ship. This method allows crew members to control it with finger touch, making it easier to operate the system.

[0035] Specifically, the data collection box includes a second router, a signal collector and an edge terminal device. The second router and the signal collector are connected to the mooring assistance server through the first router. The signal collector is also connected to the electronic inclinometer, depth sounder and ECDIS of the towed ship. One end of the edge terminal device is connected to the second router, and the other end of the edge terminal device is connected to the GPS, gyrocompass and AIS of the towed ship. The first router is also connected to an external VSAT. Among them, the signal collector model is the signal data collector of SP-WG200C.

[0036] The data collection box collects the data required by the system from the ship to be towed. The signal collector defines standardized key values ​​according to the required fields, and uses the collection tool software to obtain data from the corresponding fields to complete the collection of the corresponding data. Specifically including: the heading of the ship to be towed, the longitude and latitude of the current position, the speed, the depth of the current navigation waters, AIS information, the planned route and the AIS information of surrounding ships. After the system collects the data, it is transmitted to the berthing assistance server through the first router and the second router. The berthing assistance server uses a variety of data storage methods, including Redis and MongoDB, which store short-term and long-term navigation data respectively.

[0037] The VSAT network access in the berthing assistance server is to ensure that the tugboat can maintain smooth network access when sailing along the coast and in the ocean, to facilitate shore-based personnel to carry out maintenance and debugging, and to transmit data from the ship at all times, and to keep the meteorological data updated.

[0038] The edge terminal device calculates the ship encounter situation based on the position of the tugboat and surrounding ships, the heading and speed of the tugboat, and other information. It also includes data calculations on various collected signals, and determines whether there is a collision risk and whether the current navigation depth risk is triggered according to the threshold set by the user. This is a common method in the prior art and will not be repeated here.

[0039] In addition, the tugboat berthing assistance system also includes an uninterruptible power supply and a cabinet, and the berthing assistance server is connected to the uninterruptible power supply. The uninterruptible power supply is to ensure that the system provides power reserve as a backup power supply in the event of a sudden power outage on the ship to ensure the normal operation of the system; the uninterruptible power supply, the berthing assistance server and the first router are all arranged in the cabinet, and the cabinet can protect the uninterruptible power supply, the berthing assistance server and the first router.

[0040] Finally, the tugboat berthing assistance system also includes a personal access terminal, which is connected to the first router through the ship's LAN of the towed vessel. The access to the ship's LAN is to enable the system to access any computer terminal on the ship for display. Since the system is based on web development, this form of network access greatly expands the number of concurrent connections and the number of terminal displays in the system, so that the crew can receive navigation alarm information and sound prompts in their own rooms without leaving home.

[0041] The above disclosure is only the preferred implementation mode of the utility model, but the utility model is not limited thereto. Any non-creative changes that can be thought of by technicians in this field, as well as several improvements and modifications made without departing from the principle of the utility model, should fall within the scope of protection of the utility model.

Claims

1. A tugboat mooring assistance system, wherein the tugboat is used to tow a ship without self-propulsion capability, characterized in that: It includes a laser radar group, a wide-angle camera group, a point cloud and video signal fusion processing server, a berthing assistance server, an audible and visual alarm, a first router and a data collection box; the laser radar group and the wide-angle camera group are arranged on the periphery of the tugboat; The laser radar group and the wide-angle camera group are connected to the parking assistance server through the point cloud and video signal fusion processing server, and the sound and light alarm is connected to the parking assistance server; The data collection box includes a second router, a signal collector and an edge terminal device. The second router and the signal collector are both connected to the berthing assistance server through the first router. The signal collector is also connected to the electronic inclinometer, depth sounder and ECDIS of the ship to be towed. One end of the edge terminal device is connected to the second router, and the other end of the edge terminal device is connected to the GPS, gyrocompass and AIS of the ship to be towed.

2. The tugboat mooring assistance system according to claim 1, characterized in that: An uninterruptible power supply is also included to connect the server to the uninterruptible power supply.

3. The tugboat mooring assistance system according to claim 2, characterized in that: It also includes a cabinet, in which an uninterruptible power supply, a parking assistance server and a first router are all arranged.

4. The tugboat mooring assistance system according to claim 1, characterized in that: The device also includes a display connected to the parking assistance server.

5. The tugboat mooring assistance system according to claim 1, characterized in that: It also includes a personal access terminal, which is connected to the first router through the ship local area network of the to-be-towed ship.

6. The tugboat mooring assistance system according to claim 1, characterized in that: The first router is also connected to an external VSAT.

7. The tugboat mooring assistance system according to claim 1, characterized in that: The laser radar group includes 4 wide-angle laser radars, and the wide-angle camera group includes 4 wide-angle low-light cameras.

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