CN118478982B - Ship anchoring operation flow design method based on electronic chart - Google Patents
Ship anchoring operation flow design method based on electronic chart Download PDFInfo
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- CN118478982B CN118478982B CN202410948136.9A CN202410948136A CN118478982B CN 118478982 B CN118478982 B CN 118478982B CN 202410948136 A CN202410948136 A CN 202410948136A CN 118478982 B CN118478982 B CN 118478982B
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- 238000012544 monitoring process Methods 0.000 claims abstract description 20
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
- B63B21/22—Handling or lashing of anchors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
- B63B2021/003—Mooring or anchoring equipment, not otherwise provided for
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- Combustion & Propulsion (AREA)
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Abstract
The invention relates to the technical field of ships, in particular to a ship anchoring operation flow design method based on an electronic chart, which comprises the following steps: anchoring guide arrangement: starting an electronic chart system to input required information and receiving navigation information of the ship; and (5) anchoring guide monitoring: drawing a guide anchor point, an anchoring auxiliary route and a connecting line between the guide anchor point and the ship on the electronic chart, and calculating azimuth angles, distances, anchor horizontal distances and anchor longitudinal distances of the ship and the guide anchor point, wherein the ship is sailed to the guide anchor point along the set anchoring auxiliary route; and (5) anchor walking monitoring: inputting required information in an electronic sea chart system, drawing an anchoring ring, calculating azimuth angle and distance between the ship and an anchor-moving anchor point in real time, and judging whether the ship is in the anchoring ring. The method provided by the invention can assist navigation personnel to realize automatic anchor-breaking operation, saves time and labor, and improves the safety of anchor-breaking operation.
Description
Technical Field
The invention relates to the technical field of ships, in particular to a ship anchoring operation flow design method based on an electronic chart.
Background
The anchoring operation is one of the most common operations of the ship, and the ship needs to be moored at a set anchor position in a set course, so that the safety of the ship is important. The traditional anchoring operation is completed by a ship driver according to experience through modes such as manual observation, manual calculation and the like, and has to have a higher service level. If the steering is not advanced to the set course, if the vehicle is to be accurately stopped at the anchor site, frequent steering, reversing and the like are needed, so that the control difficulty is greatly increased, and the safety risks of collision with other anchor ships and the like are increased. The parameters such as the distance and the azimuth between the manual calculation and the anchor position point are not strong in real-time performance, if the parameters cannot be calculated in time in dangerous waters such as large wind waves and high flow speed, the parameters are predicted, the anchor position point is easily deviated, and the anchor breaking time is increased. In addition, the ship anchor running cannot be prevented, and the ship anchor running can only be found in advance by a person on duty. The on-duty personnel of the anchor-taking and duty-changing ship must watch at regular time, keep careful state constantly, judge the ship or other ships take place the anchor phenomenon in advance and make ready in advance, just can reduce the maritime accident. The working load of personnel is greatly increased, and the safety hidden trouble exists due to the influence of visibility, sea conditions and other weather conditions.
Disclosure of Invention
The technical problem to be solved by the invention is to provide the ship anchoring operation flow design method based on the electronic chart, which is simple and flexible to operate, can assist navigation personnel to realize automatic anchoring operation, saves time and manpower, and improves the safety of anchoring operation.
The invention is realized by the following technical scheme:
a ship anchoring operation flow design method based on an electronic chart comprises the following steps:
s1: anchoring guide arrangement: starting an electronic chart system and receiving the navigation information of the ship sent by the navigation system, wherein the electronic chart system inputs the position information of a guiding anchor point, the information of an anchoring heading and the information of the length of an anchoring auxiliary route;
S2: and (5) anchoring guide monitoring: the electronic sea chart system draws a guide anchor point and an anchor-throwing auxiliary course on the electronic sea chart according to the input guide anchor point position information, the set anchor-throwing course information and the set anchor-throwing auxiliary course length information, draws a connecting line between the guide anchor point and the ship in real time in combination with the navigation information of the ship, calculates an azimuth angle, a distance, an anchor course and an anchor course between the ship and the guide anchor point, and steers the ship to the set anchor-throwing course according to the deviation position relation between the connecting line between the guide anchor point and the ship and the anchor-throwing auxiliary course and the azimuth angle, the distance, the anchor course and the anchor course between the ship and the guide anchor point, so that the ship is navigated to the guide anchor point along the set anchor-throwing auxiliary course;
S3: and (5) anchor walking monitoring: stopping sailing after the ship reaches the guiding anchor point, inputting a set anchoring radius and a set anchoring alarm speed into an electronic chart system, drawing an anchoring ring on the electronic chart by taking the anchoring point as a circle center and the anchoring radius as a radius, acquiring position information of the ship by the electronic chart system according to the received navigation information, calculating azimuth angle between the ship and the anchoring point and distance between the ship and the anchoring point in real time according to the position information of the ship and the position information of the anchoring point, judging whether the ship is in the anchoring ring, and carrying out alarm prompt if the ship is not in the anchoring ring.
Preferably, in step S1, the navigation information of the host ship includes longitude, latitude, speed and heading information of the host ship.
Preferably, the guiding anchor position information input in step S1 includes the longitude of the guiding anchor point and the latitude of the guiding anchor point.
Further, the electronic sea chart system inputs the guiding anchor site position or the walking anchor site position as follows:
the first way is: direct input; the second way is: selecting from an anchor location library; third mode: clicking from the electronic chart; fourth mode: the last leading anchor site position or the last walking anchor site position is selected.
Further, in step S3, whether the ship is in the anchoring ring is judged, and meanwhile, whether the ship speed exceeds the set anchor walking alarming speed is judged in real time, and if the ship speed exceeds the set anchor walking alarming speed, alarming prompt is carried out.
Further, in step S2, the azimuth angle, the distance, the anchor horizontal distance and the anchor vertical distance between the ship and the guiding anchor point are calculated by adopting the following method:
S21: converting longitude and latitude coordinates of the ship and the guiding anchor point into physical coordinates according to the formula (1):
（1）；
wherein: is the ordinate of the point to be converted in the physical coordinates, The radius of the reference weft ring,As the latitude of the point to be converted,Is the abscissa of the point to be converted in physical coordinates,For the longitude of the point to be converted,Is the longitude of the origin,In the case of a standard dimension,For the first degree of eccentricity the disc drive,For the second degree of eccentricity to be the same,Is a long half-axle of the earth,Is an earth short half shaft;
S22: calculating azimuth angle between the ship and the guiding anchor point according to the formula (2) ：
（2）；
Wherein: the coordinates of the ship position in a rectangular coordinate system; the anchor position is the coordinate of the anchor position under the rectangular coordinate system;
S23: calculating the distance between the ship and the guide anchor point according to the formula (3) ：
（3）；
Wherein: 1852 is the conversion coefficient between the distance units of the sea and the meters for the current display scale;
s24: calculating the anchor transverse distance between the ship and the guiding anchor point according to the formula (4) Anchor position longitudinal distance between ship and guiding anchor position：
（4）。
Optimally, the frequency of the ship navigation information sent by the ship navigation system in the step S1 is 1 Hz.
The invention has the beneficial effects that:
According to the ship anchoring operation flow design method based on the electronic chart, anchoring guidance can draw an anchoring auxiliary course according to the set anchoring course, so that navigation personnel can clearly see whether the ship turns to the preset course in time, and the control difficulty is reduced. And through calculating parameters such as distance, position and the like between this ship and the anchor site in real time, reduce the degree of difficulty that navigation personnel frequently calculated, can assist navigation personnel to realize automatic anchor-breaking operation, save time and manpower, make navigation personnel can concentrate more and deal with complicated sea conditions, improved the security of anchor-breaking operation. Meanwhile, the anchor walking monitoring can calculate and judge whether the distance between the ship and the anchor point exceeds a set threshold value in real time, and display alarm information, so that the anchor walking monitoring device can replace a person on duty to finish part of monitoring work and reduce the workload.
Drawings
FIG. 1 is a schematic flow chart of the present invention.
Figure 2 is a schematic view of the vessel and pilot anchor points of the present invention.
Detailed Description
The design method of the ship anchoring operation flow based on the electronic chart is shown in fig. 1, and specifically comprises the following steps:
s1: anchoring guide arrangement: starting an electronic chart system and receiving the navigation information of the ship sent by the navigation system, wherein the electronic chart system inputs the position information of a guiding anchor point, the information of an anchoring heading and the information of the length of an anchoring auxiliary route; the ship and the guiding anchor point are schematically shown in fig. 2.
The navigation information of the ship comprises longitude, latitude, navigational speed and heading information of the ship, and the frequency of the navigation information of the ship sent by the ship navigation system is 1 Hz.
The input guiding anchor position information comprises the longitude of the guiding anchor point and the latitude of the guiding anchor point;
specifically, the electronic chart system may input guide anchor site location information in several ways:
The first way is: the direct input mode is mainly applicable to the situations of upper-level issuing or known accurate anchoring positions;
the second way is: selecting from an anchor site library, and being suitable for the situation of selecting an experience anchor site;
Third mode: clicking from the electronic chart, which is suitable for autonomous selection, and clicking and selecting a proper throwing anchor point on the electronic chart by observing the substrate information on the electronic chart;
Fourth mode: the last guiding anchor site position is selected, and the method is suitable for the situation of quickly recovering historical information.
The position information of the guiding anchor point can be set in any mode, so that the method is very simple, convenient and quick.
After the electronic sea chart system is started, the electronic sea chart system provides a display and interactive operation entrance of the electronic sea chart, and the display and interactive operation entrance of the electronic sea chart can input position information of a guiding anchor point, information of setting an anchoring heading and information of setting an anchoring auxiliary route length.
The anchoring course refers to the course of the ship during anchoring, the ship needs to turn to the anchoring course first during anchoring and then sails to the anchoring guide position, the anchoring auxiliary course is a straight line drawn along the anchoring course, the end point is the anchoring guide position, and the length is the set anchoring auxiliary course length.
The electronic chart system is interconnected with the ship navigation system to receive the ship navigation information sent by the ship navigation system.
S2: and (5) anchoring guide monitoring: the electronic sea chart system draws a guide anchor point and an anchor-throwing auxiliary course on the electronic sea chart according to the input guide anchor point position information, the set anchor-throwing course information and the set anchor-throwing auxiliary course length information, draws a connecting line between the guide anchor point and the ship in real time in combination with the navigation information of the ship, calculates an azimuth angle, a distance, an anchor course and an anchor course between the ship and the guide anchor point, and steers the ship to the set anchor-throwing course according to the deviation position relation between the connecting line between the guide anchor point and the ship and the anchor-throwing auxiliary course and the azimuth angle, the distance, the anchor course and the anchor course between the ship and the guide anchor point, so that the ship is navigated to the guide anchor point along the set anchor-throwing auxiliary course;
The azimuth angle refers to the angle between the line between the position of the ship and the guiding anchor point and the track direction of the ship.
Specifically, the azimuth angle, the distance, the anchor horizontal distance and the anchor longitudinal distance between the ship and the guide anchor point can be calculated by adopting the following method:
S21: converting longitude and latitude coordinates of the ship and the guiding anchor point into physical coordinates according to the formula (1):
（1）；
wherein: is the ordinate of the point to be converted in the physical coordinates, The radius of the reference weft ring,As the latitude of the point to be converted,Is the abscissa of the point to be converted in physical coordinates,For the longitude of the point to be converted,Is the longitude of the origin,In the case of a standard dimension,For the first degree of eccentricity the disc drive,For the second degree of eccentricity to be the same,Is a long half-axle of the earth,Is an earth short half shaft;
first eccentricity of ; Second eccentricity。
S22: calculating azimuth angle between the ship and the guiding anchor point according to the formula (2)：
（2）；
Wherein: the coordinates of the ship position in a rectangular coordinate system; the anchor position is the coordinate of the anchor position under the rectangular coordinate system;
S23: calculating the distance between the ship and the guide anchor point according to the formula (3) ：
（3）；
Wherein: For the current display scale 1852 is the conversion factor between the distance units maritime and meter, 1 maritime=1852m;
s24: calculating the anchor transverse distance between the ship and the guiding anchor point according to the formula (4) Anchor position longitudinal distance between ship and guiding anchor position：
（4）。
And after the navigation personnel drive the ship to the guiding anchor point, controlling the ship to stop sailing. And operating an anchor break guide monitoring page on the electronic chart, clicking an anchor break button, switching to an anchor running monitoring flow, and entering an anchor running monitoring design page. The longitude and latitude information of the anchor running position point can be automatically filled into the information of the guide anchor position point, and the anchor breaking guide monitoring process is automatically finished.
According to the anchoring guiding monitoring method, the anchoring auxiliary route can be drawn according to the set anchoring course, so that a ship driver can clearly see whether the ship turns to the preset course in time, and the control difficulty is reduced. By calculating parameters such as distance, azimuth and the like between the ship and the anchor position in real time, the difficulty of frequent calculation of a driver can be reduced, and the complex sea conditions can be more concentrated.
S3: and (5) anchor walking monitoring: stopping sailing after the ship reaches the guiding anchor point, inputting a set anchoring radius and a set anchoring alarm speed into an electronic chart system, drawing an anchoring ring on the electronic chart by taking the anchoring point as a circle center and the anchoring radius as a radius, acquiring position information of the ship by the electronic chart system according to the received navigation information, calculating azimuth angle between the ship and the anchoring point and distance between the ship and the anchoring point in real time according to the position information of the ship and the position information of the anchoring point, judging whether the ship is in the anchoring ring, and carrying out alarm prompt if the ship is not in the anchoring ring.
The anchoring radius refers to the radius of the anchoring ring, is a preset value and can be determined according to the size of the ship, whether the ship can safely turn or not and other factors.
Specifically, the electronic chart system may input the anchor walking position information in the following ways:
The first way is: the direct input mode is mainly applicable to the situations of upper-level issuing or known accurate anchoring positions;
the second way is: selecting from an anchor site library, and being suitable for the situation of selecting an experience anchor site;
Third mode: clicking from the electronic chart, which is suitable for autonomous selection, and clicking and selecting a proper throwing anchor point on the electronic chart by observing the substrate information on the electronic chart;
fourth mode: the last anchor-moving position is selected, and the method is suitable for the situation of quickly recovering the history information.
The position information of the anchor walking site can be set in any mode, so that the method is very simple, convenient and quick.
Furthermore, whether the ship speed exceeds the set anchor running alarming speed can be judged in real time while judging whether the ship is in the anchoring ring, and alarming prompt is carried out if the ship speed exceeds the set anchor running alarming speed.
The navigation personnel can make a countermeasure to the anchor running measures in advance by observing whether the ship is in the anchor ring or not on the electronic chart and checking the monitoring parameters and the navigation speed warning information of the ship, and after the anchor running warning, the navigation personnel should confirm the current ship position, confirm whether the anchor is running or not, find the anchor running reason and can re-perform the anchor breaking operation if necessary.
When the ship resumes sailing, the monitoring is cancelled by clicking, and the anchoring operation can be ended.
The anchor walking monitoring calculates and judges whether the distance between the ship and the anchor position exceeds a set threshold value in real time, and displays alarm information, so that the anchor walking monitoring system can replace a person on duty to finish part of monitoring work and reduce the workload. The automatic association among the operation flows can assist the navigation personnel to automatically complete the anchoring operation, so that the time and the labor are saved, the navigation personnel can concentrate more on coping with complex sea conditions, and the safety of the anchoring operation is improved.
In summary, the invention provides the electronic chart-based ship anchoring operation flow design method, which can assist navigation personnel to realize automatic anchoring operation, save time and labor, and improve the safety of anchoring operation.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A ship anchoring operation flow design method based on an electronic chart is characterized in that: the method comprises the following steps:
s1: anchoring guide arrangement: starting an electronic chart system and receiving ship navigation information sent by the ship navigation system, wherein the electronic chart system inputs position information of a guiding anchor point, setting anchoring course information and setting anchoring auxiliary course length information, the anchoring course is the course of a ship during anchoring, the anchoring auxiliary course is a straight line drawn along the anchoring course, the terminal point is the guiding anchor point, and the length is the set anchoring auxiliary course length;
S2: and (5) anchoring guide monitoring: the electronic sea chart system draws a guide anchor point and an anchor-throwing auxiliary course on the electronic sea chart according to the input guide anchor point position information, the set anchor-throwing course information and the set anchor-throwing auxiliary course length information, draws a connecting line between the guide anchor point and the ship in real time in combination with the navigation information of the ship, calculates an azimuth angle, a distance, an anchor course and an anchor course between the ship and the guide anchor point, and steers the ship to the set anchor-throwing course according to the deviation position relation between the connecting line between the guide anchor point and the ship and the anchor-throwing auxiliary course and the azimuth angle, the distance, the anchor course and the anchor course between the ship and the guide anchor point, so that the ship is sailed to the guide anchor point along the set anchor-throwing auxiliary course;
S3: and (5) anchor walking monitoring: stopping sailing after the ship reaches the guiding anchor point, inputting a set anchoring radius and a set anchoring alarm speed into an electronic chart system, drawing an anchoring ring on the electronic chart by taking the anchoring point as a circle center and the anchoring radius as a radius, acquiring position information of the ship by the electronic chart system according to the received navigation information, calculating azimuth angle between the ship and the anchoring point and distance between the ship and the anchoring point in real time according to the position information of the ship and the position information of the anchoring point, judging whether the ship is in the anchoring ring, and carrying out alarm prompt if the ship is not in the anchoring ring.
2. The electronic chart-based ship anchoring operation flow design method is characterized by comprising the following steps of: in step S1, the navigation information of the host ship includes longitude, latitude, speed and heading information of the host ship.
3. The electronic chart-based ship anchoring operation flow design method is characterized by comprising the following steps of: the guide anchor position information input in step S1 includes the longitude of the guide anchor point and the latitude of the guide anchor point.
4. The electronic chart-based ship anchoring operation flow design method is characterized by comprising the following steps of: the electronic sea chart system inputs the guiding anchor site position or the walking anchor site position as follows:
the first way is: direct input; the second way is: selecting from an anchor location library; third mode: clicking from the electronic chart; fourth mode: the last leading anchor site position or the last walking anchor site position is selected.
5. The electronic chart-based ship anchoring operation flow design method is characterized by comprising the following steps of: and step S3, judging whether the ship is in the anchoring ring, judging whether the ship speed exceeds the set anchor walking alarming speed in real time, and if the ship speed exceeds the set anchor walking alarming speed, alarming and prompting.
6. The electronic chart-based ship anchoring operation flow design method is characterized by comprising the following steps of: in the step S2, the azimuth angle, the distance, the anchor horizontal distance and the anchor longitudinal distance between the ship and the guiding anchor point are calculated by adopting the following method:
S21: converting longitude and latitude coordinates of the ship and the guiding anchor point into physical coordinates according to the formula (1):
（1）；
wherein: is the ordinate of the point to be converted in the physical coordinates, The radius of the reference weft ring,As the latitude of the point to be converted,Is the abscissa of the point to be converted in physical coordinates,For the longitude of the point to be converted,Is the longitude of the origin,In the case of a standard dimension,For the first degree of eccentricity the disc drive,For the second degree of eccentricity to be the same,Is a long half-axle of the earth,Is an earth short half shaft;
S22: calculating azimuth angle between the ship and the guiding anchor point according to the formula (2) ：
（2）；
Wherein: the coordinates of the ship position in a rectangular coordinate system; the anchor position is the coordinate of the anchor position under the rectangular coordinate system;
S23: calculating the distance between the ship and the guide anchor point according to the formula (3) ：
（3）；
Wherein: 1852 is the conversion coefficient between the distance units of the sea and the meters for the current display scale;
s24: calculating the anchor transverse distance between the ship and the guiding anchor point according to the formula (4) Anchor position longitudinal distance between ship and guiding anchor position：
（4）。
7. The electronic chart-based ship anchoring operation flow design method is characterized by comprising the following steps of: in step S1, the frequency of the navigation information of the ship sent by the ship navigation system is 1 hz.
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| CN106516007A (en) * | 2016-12-09 | 2017-03-22 | 大连海事大学 | A mooring assistance system |
| CN112129299A (en) * | 2020-09-22 | 2020-12-25 | 海南卫航通讯导航科技有限公司 | Navigation GPS position indicator system |
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| KR102223363B1 (en) * | 2020-06-16 | 2021-03-05 | 이상창 | System for automatically berthing ship at pier |
| US11940280B2 (en) * | 2020-12-09 | 2024-03-26 | Furuno Electric Co., Ltd. | Apparatus and method for navigation route planning |
| CN117311354B (en) * | 2023-10-12 | 2024-03-29 | 大连海事大学 | An autonomous path planning and berthing method for harbor vessels based on precise task orientation |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106516007A (en) * | 2016-12-09 | 2017-03-22 | 大连海事大学 | A mooring assistance system |
| CN112129299A (en) * | 2020-09-22 | 2020-12-25 | 海南卫航通讯导航科技有限公司 | Navigation GPS position indicator system |
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