CN114168827A - Method and device for indicating ship to park and electronic equipment - Google Patents
Method and device for indicating ship to park and electronic equipment Download PDFInfo
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Abstract
The application provides a method of indicating a vessel to berth, comprising: acquiring detection data of detection equipment; according to the model of the ship to be moored in the detection data and preset models contained in a database, model matching is carried out in the database, and the database comprises at least one preset model and preset berth information corresponding to each preset model; determining a target berthing position corresponding to the ship to be berthed from the wharf according to a matching result of the model and a preset model in the database; and according to the target berth, indicating the ship to be berthed to berth at the wharf. By the above method, the mooring of the respective ship at the quay can be controlled efficiently.
Description
Technical Field
The present application belongs to the technical field of ship control, and in particular, to a method, an apparatus, an electronic device, and a computer-readable storage medium for indicating a ship to berth.
Background
At present, when a ship is berthed at a wharf, a worker at the wharf usually conducts dredging on the ship and arranges berths for the ship, but when the number of ships to be berthed at the wharf is too large, the efficiency of conducting dredging on the ship and arranging berths is greatly reduced, so that the time consumed when the ship enters the wharf to berth is long, and the berth efficiency is low.
Disclosure of Invention
The application provides a method, a device, an electronic device and a computer readable storage medium for indicating ships to berth, which can effectively control each ship to berth at a wharf.
In a first aspect, the present application provides a method of indicating that a vessel is moored, comprising:
acquiring detection data of the detection equipment, wherein the detection data comprises the information of the model of the ship to be moored, which is detected by the detection equipment;
according to the model and preset models contained in a database, model matching is carried out in the database, and the database comprises at least one preset model and preset parking position information corresponding to each preset model;
determining a target berthing position corresponding to the ship to be berthed from the wharf according to a matching result of the model and a preset model in the database;
and according to the target berth, indicating the ship to be berthed to berth at the wharf.
In a second aspect, the present application provides an apparatus for indicating the berthing of a vessel, comprising:
the acquisition module is used for acquiring detection data of the detection equipment, wherein the detection data comprises the information of the model of the ship to be moored detected by the detection equipment;
the matching module is used for matching the models in the database according to the models and preset models contained in the database, and the database comprises at least one preset model and preset parking position information corresponding to each preset model;
the determining module is used for determining a target berthing position corresponding to the ship to be berthed from the wharf according to the matching result of the model and the preset model in the database;
and the indicating module is used for indicating the ship to be moored to berth at the wharf according to the target berth.
In a third aspect, the present application provides an electronic device comprising a memory, a processor and a computer program stored in said memory and executable on said processor, said processor implementing the method of instructing a vessel to berth as in the first aspect when executing said computer program.
In a fourth aspect, the present application provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method of instructing a vessel to berth as in the first aspect.
In a fifth aspect, the present application provides a computer program product for causing an electronic device to perform the method of instructing a vessel to berth as described above in the first aspect when the computer program product is run on the electronic device.
Compared with the prior art, the application has the beneficial effects that: according to the scheme, the model of the ship to be moored detected by the detection device can be obtained, the model is matched in the database according to the model and the preset model contained in the database, and the target berthing position corresponding to the ship to be moored is determined from the wharf according to the matching result of the model and the preset model in the database.
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In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic flow chart diagram of a method of indicating a vessel to berth according to an embodiment of the present application;
FIG. 2 is a schematic flow chart diagram of another method of indicating a vessel to berth according to an embodiment of the present application;
FIG. 3 is a block diagram of an apparatus for indicating a vessel to berth according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
Specifically, fig. 1 shows a flowchart of a method for instructing a ship to berth according to an embodiment of the present application, which may be applied to an electronic device.
The electronic device may be a terminal device, a server, a Virtual Machine (VM), or a container (container).
Illustratively, the terminal device may be a tablet computer (pad), a computer with a wireless transceiving function, a Virtual Reality (VR) terminal, an Augmented Reality (AR) terminal, a wireless terminal in industrial control (industrial control), a wireless terminal in self driving (self driving), a wireless terminal in remote medical (remote medical), a wireless terminal in smart grid (smart grid), a wireless terminal in transportation safety (transportation safety), a wireless terminal in smart city (smart city), a wireless terminal in home (smart home), a mobile phone (mobile phone), a wireless terminal in internet of things (IoT), and the like. The embodiment of the present application does not set any limit to the specific type of the electronic device.
The electronic device can be a cloud device or a local device located at a dock. In one scenario, the electronic device may serve as a control center of the dock, and may be connected to various detection devices, control devices, and the like in the dock in a wired or wireless manner, and may also be connected to a communication device such as a ship close to the dock, a ship authenticated with the electronic device, and the like, so as to perform information transmission with the corresponding ship.
As shown in fig. 1, the method of indicating that a vessel is moored may include:
Illustratively, the detection device may be a device such as an infrared sensor, a camera, a lidar, or the like. The detection device may be in wireless or wired communication with the electronic device. The number of the detection devices may be one or at least two. The position where each detection device is provided is not limited herein. In one example, in order to reduce the situation that the obstacle obstructs the detection and ensure better detection accuracy and wider detection range, the detection device may be arranged at a position with wider visual field, such as a lookout tower top end of a wharf.
The data type of the detection data corresponding to each detection device may be determined based on the type of the respective detection device. For example, for a camera, the detection data may be image data, and for a lidar, the detection data may be point cloud data.
The ship to be moored may be a ship that passes through a designated area of the quay (e.g., a quay entrance, etc.), a ship that is within a preset distance from a detection device of the quay, or a ship that sends a request for entry into the quay to an electronic device, etc.
In the embodiment of the present application, the detection device may recognize the model of the ship to be moored from the detection data, or the electronic device may recognize the model of the ship to be moored from the detection data. The specific classification mode of the model can be various, for example, the model can be customized by a wharf worker, and can also be determined according to information such as relevant industry standards of ships. Wherein the model of the ship to be moored can be determined based on the shape, size, and number of the ship collected by the detection device. In one example, the electronic device may perform target detection on the image data acquired by the camera through a convolutional neural network model so as to identify information of the model of the ship to be moored in the image data, and may also identify the ship plate number of the ship to be moored from the image data acquired by the camera through a text identification model so as to determine the model of the ship to be moored according to the ship plate number of the ship to be moored.
The specific form of the model can be various, and is not limited herein. Illustratively, the model number may be represented by one or more of letters, numbers, symbols, and patterns.
And 102, matching the models in a database according to the models and preset models contained in the database, wherein the database comprises at least one preset model and preset parking space information corresponding to each preset model.
In the embodiment of the application, at least one preset model and preset parking space information corresponding to each preset model can be stored in the database in advance. The preset parking space information may include at least one of a size, a position at the dock, a number, parking fee, and the like of a parking space corresponding to a corresponding preset model. The preset model can comprise the model of the ship which has arrived at the wharf, the model of the ship which is counted by other wharfs, and the counted model of the ship which is sold on the market at present. The database may be located in the electronic device or in a device external to the electronic device.
In one example, the preset parking space information corresponding to the preset models acquired in different manners may be different. For example, if the number of times that a ship corresponding to a certain preset model arrives at the dock is large, a fixed berth corresponding to the preset model may be set at the dock in advance, and at this time, the preset berth information corresponding to the preset model may include information of a corresponding fixed berth. If the number of times that a ship corresponding to a certain preset model arrives at the dock is small, even the ship never arrives at the dock, the preset berth information corresponding to the preset model may include information of the size of the corresponding berth, and the like.
In the embodiment of the application, the model can be compared with each preset model in the database, and if the model is consistent with any preset model, the model can be considered to be matched with the preset model.
And 103, determining a target berthing position corresponding to the ship to be berthed from the wharf according to the matching result of the model and the preset model in the database.
In this embodiment of the application, the matching result may indicate whether the model matches any preset model in the database. Accordingly, a target berth corresponding to the ship to be berthed may be determined from the quay according to the matching result.
The manner in which the target berth corresponding to the vessel to be berthed is determined may be various. For example, if a preset model matching the model is found in the database, the target berth corresponding to the ship to be berthed may be determined according to the preset berth information of the matching preset model. If the preset model matched with the model is not inquired in the database, the berthing position with the size meeting the size requirement of the ship to be berthed can be searched in the current idle berthing position in the wharf according to the size of the ship to be berthed, and the idle berthing position with the size meeting the size requirement of the ship to be berthed is used as the target berthing position of the ship to be berthed.
In some examples, if a plurality of idle berths meeting the requirement of the ship to be berthed are determined from the current idle berths in the dock according to the matching result, the plurality of idle berths meeting the requirement of the ship to be berthed can be screened according to distance information, path information and the like to obtain a target berth which is more in line with the requirement of the ship to be berthed and is convenient for the running of the ship to be berthed.
And 104, indicating the ship to be moored to berth at the wharf according to the target berth.
In the embodiment of the application, the electronic device may send the position information of the target parking space to the ship to be parked, and may also send corresponding path information and the like to instruct the ship to be parked to travel to the target parking space for parking.
In the embodiment of the application, the model of the ship to be moored detected by the detection device can be obtained, the model is matched in the database according to the model and the preset model contained in the database, and the target berthing position corresponding to the ship to be moored is determined from the wharf according to the matching result of the model and the preset model in the database, so that the target berthing position of the ship to be moored can be efficiently determined by referring to the preset berthing position information of the preset model in the database in some scenes, and the ship to be moored can be instructed to berth at the wharf efficiently according to the target berthing position.
In some embodiments, as shown in fig. 2, instructing a vessel to be moored to moor at a dock according to a target berth includes:
And step 202, indicating the ship to be moored to berth at the wharf according to the target berthing position and the path information.
The path information may be information of a path whose distance from the current position of the vessel to be moored to the target berth is the shortest or a path whose travel time period is the shortest.
Alternatively, the path information may also include information of a plurality of paths from the ship to be moored to the target berth, and may also include information of relevant resources (e.g., refueling equipment, charging equipment, food replenishment resources, etc.) on each path. After the electronic device determines the path information, the path information can be sent to the ship to be moored, the selection information of the ship to be moored on a plurality of paths in the path information is obtained, and the ship to be moored is navigated according to the path pointed by the selection information, so that the ship to be moored can reach the corresponding target berth through the selected path.
Therefore, in the embodiment of the application, the ship to be moored is instructed to moor at the wharf according to the target berth and the path information, so that the ship to be moored can be helped to travel to the corresponding target berth in a better path.
In some embodiments, the detection data comprises size information of the vessel to be moored;
determining a target berthing position corresponding to the ship to be berthed from the wharf according to a matching result of the model and a preset model in the database, wherein the method comprises the following steps:
if the preset model corresponding to the model is matched in the database, determining a target berthing position corresponding to the ship to be berthed from the wharf according to the preset berthing position information of the preset model corresponding to the model;
and if the preset model corresponding to the model is not matched in the database, determining a target berthing position corresponding to the ship to be berthed from the wharf according to the size information.
In the embodiment of the application, if the model has the matched preset model in the database, the requirement of the ship to be berthed on the berth is usually consistent with or similar to the requirement of the ship of the matched preset model on the berth, so that the target berth of the model can be determined relatively quickly by referring to the preset berth information corresponding to the matched preset model.
If the model does not have a preset model matching with the model in the database, it can be considered that the ship of the model does not stop at the wharf before, or the ship of the model rarely stops at the wharf, and the information of the berth matching with the model is not stored in the database in advance. At this time, the target parking space corresponding to the model can be determined in the current idle parking space of the wharf according to the size information corresponding to the model.
In some examples, if the preset model corresponding to the model is not matched in the database, after determining the target berthing position corresponding to the ship to be berthed from the wharf according to the size information, the method may further include:
and updating the database according to the information of the target parking space corresponding to the model and the model to take the model as a new preset model, and determining the new preset parking space information of the preset model according to the information of the target parking space corresponding to the model.
Therefore, the preset models in the database can be updated according to the berthing condition of the ship in the wharf so as to meet the requirements of more application scenes.
In some embodiments, if the preset model corresponding to the model is matched in the database, determining a target berthing position corresponding to the ship to be berthed from the wharf according to the preset berthing position information of the preset model corresponding to the model, including:
if the preset model corresponding to the model is matched in the database, searching an idle parking space matched with the preset parking space information corresponding to the model from the first parking area, wherein the size of the parking space in the first parking area is a fixed value;
and if the idle parking space matched with the preset parking space information corresponding to the model is found from the first parking area, determining the target parking space corresponding to the ship to be parked from the idle parking space matched with the preset parking space information corresponding to the model.
For example, different berthing areas may be set in advance at the quay, wherein the size of the berth in the first berthing area is a fixed value, and the size of the berth in the second berthing area can be adjusted. Therefore, different berthing positions can be matched for ships of different models according to different scene requirements. The first and second mooring areas may each include a plurality of berths, and the sizes of the different berths may be the same or different.
In some examples, the model of the ship that is often moored at the quay may be counted as a hot model, and then a fixed berth is preset at the first berth area for berthing the hot model of the ship. The size of the berth of the first berthing area may also be determined based on the current general size of the vessel to meet the berthing requirements of vessels of ordinary size.
While the second mooring area may be used for mooring some non-universal models of vessels, as well as some vessels with special requirements. The edge of the parking space in the second parking area may be a movable structure and the electronic device may send instructions to the control device to instruct the control device to control the movable structure to move to adjust the size of the parking space, e.g. to adjust the width and/or length of the parking space.
In some examples, the target berth corresponding to the vessel to be berthed may be determined from idle berths matched with preset berth information corresponding to the model, according to information such as distance information, path information, and the like. For example, the nearest idle berth to the ship to be berthed among the idle berths matching the preset berth information corresponding to the model may be taken as the corresponding target berth.
In some examples, if an idle parking space matching the preset parking space information corresponding to the model is not found from the first parking space, an idle parking space matching the preset parking space information corresponding to the model may be subsequently found from the second parking space. If the idle parking space matched with the preset parking space information corresponding to the model is found from the second parking area, the target parking space corresponding to the ship to be parked can be determined from the idle parking spaces matched with the preset parking space information corresponding to the model according to the information such as the path, the distance and the like.
If the idle parking space matched with the preset parking space information corresponding to the model is not found from the second parking area, the idle parking space with the parking space size meeting the preset size condition relative to the size of the ship to be parked can be found from the second parking area. And if the idle berth with the berth size meeting the preset size condition relative to the size of the ship to be berthed is found in the second berthing area, determining a target berth from the found idle berths meeting the preset size condition, and adjusting the size of the target berth according to the size information of the ship to be berthed. And after the size adjustment of the target parking space is completed, indicating that the ship to be parked is parked to the target parking space after the size adjustment is completed. If the idle berth with the berth size meeting the preset size condition relative to the size of the ship to be berthed is not found in the second berthing area, the berth of the ship to be berthed can not be found in the wharf, and at the moment, corresponding prompt information can be sent to the ship to be berthed to prompt the ship to be berthed to need to berth at other wharfs. In addition, the position information of other wharfs with short distances can be sent to the ship to be moored for the ship to be moored to refer to.
In some embodiments, if the preset model corresponding to the model is not matched in the database, determining a target berthing position corresponding to the ship to be berthed from the wharf according to the size information includes:
if the preset model corresponding to the model is not matched in the database, searching an idle berth matched with the ship to be berthed from the wharf according to the size information;
if the idle berth matched with the ship to be berthed is not found from the wharf according to the size information, the idle berth with the berth size meeting the preset size condition relative to the size of the ship to be berthed is found from the second berthing area, and the size of the berth in the second berthing area can be adjusted;
if the idle berth with the berth size meeting the preset size condition relative to the size of the ship to be berthed is found in the second berthing area, determining a target berth from the found idle berth meeting the preset size condition;
instructing a vessel to be moored to moor at a dock according to a target berth, comprising:
adjusting the size of the target berth according to the size information of the ship to be berthed;
and after the size adjustment of the target parking space is completed, indicating that the ship to be parked is parked to the target parking space after the size adjustment is completed.
Wherein, when searching for an idle berth matching with the ship to be berthed from the dock according to the size information, the searching can be performed based on priorities respectively corresponding to the first berthing area and the second berthing area.
For example, in one example, there are more berths in the first berth area, and the size of the berth of the first berth area is fixed, so that an idle berth matching the vessel to be berthed can be preferentially found in the first berth area. If the idle berth matched with the ship to be berthed is not found in the first berthing area, the idle berth matched with the ship to be berthed is found in the second berthing area.
In some examples, the preset size condition may mean that a difference between the berth size and the size of the vessel to be berthed meets a specified difference condition. The difference condition may include that the difference between the berth size and the size of the vessel to be berthed is smaller than a specified difference. Further, the difference condition may also include that the berth size is larger than the size of the vessel to be berthed, etc.
If the idle berth matched with the ship to be berthed is not found in the wharf according to the size information, the idle berth with the berth size meeting the preset size condition relative to the size of the ship to be berthed is found in the second berthing area, and the idle berth meeting the requirement of the ship to be berthed can be found in the second berthing area for the ship to be berthed, so that the adjustment amplitude is reduced during subsequent adjustment.
The manner of adjusting the size of the target berth is determined according to the specific control form of the adjustable edge structure of the target berth, according to the size information of the ship to be berthed.
For example, an adjustable edge structure of the target parking space is used to adjust the width of the target parking space. The electronic device may send a control instruction to the corresponding control device to instruct the control device to adjust the movement of the adjustable edge structure of the target parking space, according to the size information of the vessel with the parking space and the current size of the target parking space, thereby adjusting the width of the target parking space.
In the embodiment of the application, the second berthing area is arranged on the wharf, the berthing position capable of being adjusted in size is obtained, the wharf can flexibly adjust the berthing position according to an actual scene, the wharf can well meet the berthing requirements of various ships, and the adaptability of the wharf is improved.
In some embodiments, adjusting the size of the target berth according to the size information of the ship to be berthed includes:
instructing the ship to be moored to run to a target berth;
if the relative position relation between the ship to be berthed and the target berthing position meets a preset position condition, acquiring sensing data of sensing equipment corresponding to the target berthing position, wherein the sensing data comprises data aiming at the ship to be berthed;
and adjusting the size of the target parking space according to the sensing data.
In the embodiment of the present application, the preset position condition may mean that the distance between the vessel to be moored and the target berth is smaller than a preset distance threshold, and/or that the orientation of the vessel to be moored with respect to the target berth is a preset orientation.
The sensing device can be a camera, an infrared sensor, a laser sensor and the like. The sensory data may comprise data for one or more of position, orientation, shape, size etc. of the vessel to be moored. By the sensing data, the positional relationship and the dimensional relationship of the ship to be moored with respect to the target berth can be determined, so that the size of the target berth can be modulated according to the sensing data.
In one example, if the vessel to be moored is located in a front area of the target berth and travels toward the target berth, and the infrared sensor in front of the target berth detects that the distance from the vessel to be moored to the infrared sensor is less than a specified distance threshold, it may be considered that the relative positional relationship between the vessel to be moored and the target berth meets a preset positional condition.
In the embodiment of the application, after the ship to be moored approaches the vicinity of the target berth, the information such as the size, the current position and the like of the ship to be moored can be detected through the sensing device corresponding to the target berth, so that the size of the target berth can be adaptively adjusted according to the size and the movement condition of the ship to be moored, the adjusted target berth can better match the requirement of the ship to be moored, and the condition that resources such as the target berth is obviously larger than the ship to be moored due to improper adjustment can be avoided.
In some embodiments, the method further comprises:
acquiring replenishment request information of a ship to be moored, wherein the replenishment request information comprises information for requesting refueling and/or charging;
determining a target berthing position corresponding to the ship to be berthed from the wharf according to a matching result of the model and a preset model in the database, wherein the method comprises the following steps:
and determining a target parking space from the wharf according to the replenishment request information and the matching result, wherein the target parking space comprises target replenishment equipment, and the target replenishment equipment corresponds to the replenishment request information.
The correspondence of the target replenishment apparatus with the replenishment request information may mean that the target replenishment apparatus is capable of satisfying the replenishment demand in the replenishment request information. For example, if the replenishment request information requests refueling, the corresponding target replenishment device may be a refueling device, and if the replenishment request information requests charging, the corresponding target replenishment device may be a charging device. Further, in some examples, the replenishment request information may also include information requesting other resource replenishments, e.g., the replenishment request information may include information requesting fresh water resource replenishment, replenishment of things, and/or replenishment of hardware, etc.
The target replenishing equipment can be fixed in a corresponding parking space or can be movable replenishing equipment. For example, the target replenishment device may be a mobile charging device or a mobile refueling device.
In the embodiment of the application, after the replenishment request information of the ship to be moored is acquired, the berth which can meet the replenishment demand of the ship to be moored is matched for the ship to be moored, so that the replenishment efficiency of the ship to be moored at a wharf is improved.
In some embodiments, the method further comprises:
determining the posture of the ship to be moored entering the target berthing position according to the position of the target replenishment equipment and the position of a replenishment interface on the ship to be moored;
instructing a vessel to be moored to moor at a dock according to a target berth, comprising:
and indicating the ship to be moored to berth at the wharf according to the attitude and the target berthing position.
In the embodiment of the present application, the electronic device may obtain information of a position of the target replenishment device in the target berth and information of a position of the replenishment interface on the ship to be berthed. For example, the position of the target replenishment device may be determined by the electronic device according to data detected by the sensing device corresponding to the target parking space, or may be sent to the electronic device by the target replenishment device. The information of the position of the replenishment interface on the ship to be moored can be determined by the electronic equipment according to the data detected by the sensing equipment corresponding to the target mooring position, or can be only sent to the electronic equipment by the ship to be moored.
The supply interface is an interface for the ship to be moored to obtain supply. The replenishment interface may correspond to the replenishment request information. Illustratively, the replenishment request message requests refueling, the replenishment interface is a refueling interface that can be connected to a refueling device and to the tanks of the vessel to be moored. If the replenishment request information requests charging, the replenishment interface is a charging interface, can be connected with charging equipment, and is connected with a battery in the ship to be moored and/or a designated electronic device in the ship to be moored.
According to the position of the target replenishment equipment and the position of the replenishment interface on the ship to be moored, the posture of the ship to be moored entering the target mooring position can be determined, so that the ship to be moored can be conveniently replenished after being moored.
For example, if the target replenishment device is a charging device which is disposed near an exit of the target parking space and a charging interface of the ship to be moored is disposed at a rear end of the ship to be moored, it is determined that the posture at which the ship to be moored enters the target parking space is such that a front end of the ship to be moored first enters the target parking space. And if the charging interface of the ship to be moored is arranged at the front end of the ship to be moored, determining the posture of the ship to be moored entering the target berth as that the rear end of the ship to be moored enters the target berth first.
The information of the attitude may be transmitted by the electronic device to the vessel to be moored to instruct the vessel to be moored to enter the target berth based on the information of the attitude.
Therefore, in the embodiment of the application, the posture of the ship to be moored entering the target berthing position is determined according to the position of the target replenishing equipment and the position of the replenishing interface on the ship to be moored, so that the ship to be moored can be more conveniently replenished from the target replenishing equipment after being moored to the corresponding target berthing position according to the posture, the problems caused by the length limitation of a charging wire or an oil charging pipeline and the like are avoided, and the labor cost, the time cost, the hardware cost and the like of corresponding replenishing operation are saved.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Fig. 3 shows a block diagram of a device for indicating a vessel to berth according to an embodiment of the present application, which corresponds to the method for indicating a vessel to berth of the above embodiment, and only shows parts related to the embodiment of the present application for convenience of explanation.
Referring to fig. 3, the means 3 for indicating the berthing of a vessel comprises:
an obtaining module 301, configured to obtain detection data of a detection device, where the detection data includes information of a model of a ship to be moored, which is detected by the detection device;
a matching module 302, configured to perform model matching in a database according to the model and preset models included in the database, where the database includes at least one preset model and preset berth information corresponding to each preset model;
a determining module 303, configured to determine, according to a matching result between the model and a preset model in the database, a target berthing position corresponding to the ship to be berthed from the dock;
and the indicating module 304 is used for indicating the ship to be moored to berth at the wharf according to the target berth.
Optionally, the detection data comprises size information of the vessel to be moored;
a determining module 303, comprising:
the first determining unit is used for determining a target berthing position corresponding to the ship to be berthed from the wharf according to the preset berthing position information of the preset model corresponding to the model if the preset model corresponding to the model is matched in the database;
and the second determining unit is used for determining the target berthing position corresponding to the ship to be berthed from the wharf according to the size information if the preset model corresponding to the model is not matched in the database.
Optionally, the first determining unit includes:
the first searching subunit is used for searching an idle parking space matched with the preset parking space information corresponding to the model from the first parking area if the preset model corresponding to the model is matched in the database, and the size of the parking space in the first parking area is a fixed value;
and the first determining subunit is used for determining the target parking position corresponding to the ship to be parked from the idle parking positions matched with the preset parking position information corresponding to the model if the idle parking positions matched with the preset parking position information corresponding to the model are found from the first parking area.
Optionally, the second determining unit includes:
the second searching subunit is used for searching an idle berth matched with the ship to be berthed from the wharf according to the size information if the preset model corresponding to the model is not matched in the database;
the third searching subunit is used for searching the idle berth with the berth size meeting the preset size condition relative to the size of the ship to be berthed from the second berthing area if the idle berth matched with the ship to be berthed is not searched from the wharf according to the size information, and the size of the berth in the second berthing area can be adjusted;
a second determining subunit, configured to determine, if an idle parking space whose parking space size satisfies a preset size condition with respect to the size of the ship to be parked is found in the second parking area, a target parking space from the found idle parking space satisfying the preset size condition;
an indication module 304, comprising:
the adjusting unit is used for adjusting the size of the target berth according to the size information of the ship to be berthed;
and the first indicating unit is used for indicating that the ship to be moored is moored to the target berth after the size adjustment of the target berth is completed.
Optionally, the adjusting unit includes:
the indicating subunit is used for indicating the ship to be moored to run to the target berth;
the acquisition subunit is used for acquiring sensing data of sensing equipment corresponding to the target berth if the relative position relation between the ship to be berthed and the target berth meets a preset position condition, wherein the sensing data comprises data specific to the ship to be berthed;
and the adjusting subunit is used for adjusting the size of the target parking space according to the sensing data.
Optionally, the apparatus 3 further comprises:
the second acquisition module is used for acquiring replenishment request information of the ship to be moored, wherein the replenishment request information comprises information for requesting to refuel and/or charge;
the determination module 303 is configured to:
and determining a target parking space from the wharf according to the replenishment request information and the matching result, wherein the target parking space comprises target replenishment equipment, and the target replenishment equipment corresponds to the replenishment request information.
Optionally, the apparatus 3 further comprises:
the attitude determination module is used for determining the attitude of the ship to be moored into the target berthing position according to the position of the target replenishment equipment and the position of the replenishment interface on the ship to be moored;
the indication module 304 is configured to:
and indicating the ship to be moored to berth at the wharf according to the attitude and the target berthing position.
Optionally, the indication module 304 includes:
a third determining unit for determining path information of the ship to be moored to the target berth;
and the second indicating unit is used for indicating the ship to be moored to berth at the wharf according to the target berth and the path information.
In the embodiment of the application, the model of the ship to be moored detected by the detection device can be obtained, the model is matched in the database according to the model and the preset model contained in the database, and the target berthing position corresponding to the ship to be moored is determined from the wharf according to the matching result of the model and the preset model in the database, so that the target berthing position of the ship to be moored can be efficiently determined by referring to the preset berthing position information of the preset model in the database in some scenes, and the ship to be moored can be instructed to berth at the wharf efficiently according to the target berthing position.
It should be noted that, for the information interaction, execution process, and other contents between the above-mentioned devices/units, the specific functions and technical effects thereof are based on the same concept as those of the embodiment of the method of the present application, and specific reference may be made to the part of the embodiment of the method, which is not described herein again.
Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application. As shown in fig. 4, the electronic apparatus 4 of this embodiment includes: at least one processor 40 (only one shown in fig. 4), a memory 41 and a computer program stored in said memory 41 and executable on said at least one processor 40, said processor 40 when executing said computer program performing the steps of any of the various above described method embodiments of instructing a vessel to moor.
The electronic device 4 may be a robot, a server, a mobile phone, a wearable device, an Augmented Reality (AR)/Virtual Reality (VR) device, a desktop computer, a notebook, a desktop computer, a palmtop computer, or other computing devices. The electronic device may include, but is not limited to, a processor 40, a memory 41. Those skilled in the art will appreciate that fig. 4 is merely an example of the electronic device 4, and does not constitute a limitation of the electronic device 4, and may include more or less components than those shown, or combine certain components, or different components, such as may also include input devices, output devices, network access devices, etc. The input device may include a keyboard, a touch pad, a fingerprint sensor (for collecting fingerprint information of a user and direction information of a fingerprint), a microphone, a camera, and the like, and the output device may include a display, a speaker, and the like.
The Processor 40 may be a Central Processing Unit (CPU), and the Processor 40 may also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, and the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The storage 41 may be an internal storage unit of the electronic device 4 in some embodiments, for example, a hard disk or a memory of the electronic device 4. In other embodiments, the memory 41 may be an external storage device of the electronic device 4, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like provided on the electronic device 4. Further, the memory 41 may include both an internal storage unit and an external storage device of the electronic device 4. The memory 41 is used for storing an operating system, an application program, a Boot Loader (Boot Loader), data, and other programs, such as program codes of the computer programs. The above-mentioned memory 41 may also be used to temporarily store data that has been output or is to be output.
In addition, although not shown, the electronic device 4 may further include a network connection module, such as a bluetooth module Wi-Fi module, a cellular network module, and the like, which is not described herein again.
In this embodiment, when the processor 40 executes the computer program to implement the steps of any of the above method embodiments for instructing a ship to berth, the model of the ship to berth detected by the detection device may be obtained, the model may be matched in the database according to the model and the preset model included in the database, and the target berthing position corresponding to the ship to berth may be determined from the quay according to the matching result between the model and the preset model in the database.
The embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program implements the steps in the above method embodiments.
The embodiments of the present application provide a computer program product, which when running on an electronic device, enables the electronic device to implement the steps in the above method embodiments when executed.
The integrated unit may be stored in a computer-readable storage medium if it is implemented in the form of a software functional unit and sold or used as a separate product. Based on such understanding, all or part of the processes in the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium and can implement the steps of the embodiments of the methods described above when the computer program is executed by a processor. The computer program includes computer program code, and the computer program code may be in a source code form, an object code form, an executable file or some intermediate form. The computer-readable medium may include at least: any entity or device capable of carrying computer program code to a photographing apparatus/electronic device, a recording medium, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), an electrical carrier signal, a telecommunications signal, and a software distribution medium. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc. In certain jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and patent practice.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/network device and method may be implemented in other ways. For example, the above-described apparatus/network device embodiments are merely illustrative, and for example, the division of the above modules or units is only one logical function division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A method of indicating that a vessel is moored, comprising:
acquiring detection data of detection equipment, wherein the detection data comprises the information of the model of the ship to be moored, which is detected by the detection equipment;
according to the model and preset models contained in a database, matching the models in the database, wherein the database comprises at least one preset model and preset parking position information corresponding to each preset model;
determining a target berthing position corresponding to the ship to be berthed from a wharf according to a matching result of the model and a preset model in the database;
and according to the target berth, indicating the ship to be berthed to berth at the wharf.
2. The method according to claim 1, wherein the detection data includes size information of the vessel to be moored;
determining a target berthing position corresponding to the ship to be berthed from a wharf according to a matching result of the model and a preset model in the database, wherein the method comprises the following steps:
if the preset model corresponding to the model is matched in the database, determining a target berthing position corresponding to the ship to be berthed from the wharf according to the preset berthing position information of the preset model corresponding to the model;
and if the preset model corresponding to the model is not matched in the database, determining a target berthing position corresponding to the ship to be berthed from the wharf according to the size information.
3. The method of claim 2, wherein if the preset model corresponding to the model is matched in the database, determining the target berth corresponding to the ship to be berthed from the wharf according to the preset berth information of the preset model corresponding to the model, comprises:
if the preset model corresponding to the model is matched in the database, searching an idle parking space matched with the preset parking space information corresponding to the model from a first parking space, wherein the size of the parking space in the first parking space is a fixed value;
and if the idle berth matched with the preset berth information corresponding to the model is found in the first berthing area, determining the target berth corresponding to the ship to be berthed from the idle berth matched with the preset berth information corresponding to the model.
4. The method of claim 2, wherein if the preset model corresponding to the model is not matched in the database, determining the target berth corresponding to the ship to be berthed from the wharf according to the size information comprises:
if the preset model corresponding to the model is not matched in the database, searching an idle berth matched with the ship to be berthed from the wharf according to the size information;
if the idle berth matched with the ship to be berthed is not found in the wharf according to the size information, searching the idle berth with the berth size meeting the preset size condition relative to the size of the ship to be berthed in a second berthing area, wherein the berth size in the second berthing area can be adjusted;
if the idle berth with the berth size meeting the preset size condition relative to the size of the ship to be berthed is found in the second berthing area, determining the target berth from the found idle berth meeting the preset size condition;
the instructing the ship to be moored to moor at the dock according to the target berth comprises:
adjusting the size of the target berth according to the size information of the ship to be berthed;
and after the size adjustment of the target parking space is finished, indicating the ship to be parked at the target parking space after the size adjustment is finished.
5. The method of claim 4, wherein the adjusting the size of the target berth according to the size information of the vessel to be berthed comprises:
instructing the ship to be moored to travel to the target berth;
if the relative position relation between the ship to be berthed and the target berthing position meets a preset position condition, acquiring sensing data of sensing equipment corresponding to the target berthing position, wherein the sensing data comprises data aiming at the ship to be berthed;
and adjusting the size of the target parking space according to the sensing data.
6. The method of claim 1, further comprising:
obtaining replenishment request information of a ship to be moored, wherein the replenishment request information comprises information requesting refueling and/or charging;
determining a target berthing position corresponding to the ship to be berthed from a wharf according to a matching result of the model and a preset model in the database, wherein the method comprises the following steps:
and determining the target parking space from the wharf according to the replenishment request information and the matching result, wherein the target parking space comprises target replenishment equipment, and the target replenishment equipment corresponds to the replenishment request information.
7. The method of claim 6, further comprising:
determining the attitude of the ship to be moored into the target berth according to the position of the target replenishment equipment and the position of a replenishment interface on the ship to be moored;
the instructing the ship to be moored to moor at the dock according to the target berth comprises:
and indicating the ship to be moored to berth at the wharf according to the attitude and the target berthing position.
8. The method of any one of claims 1 to 7, wherein said instructing the vessel to be moored to moor at the quay in accordance with the target berth comprises:
determining the path information of the ship to be moored to the target berth;
and indicating the ship to be moored to berth at the wharf according to the target berthing position and the path information.
9. An apparatus for indicating the berthing of a vessel, comprising:
the system comprises an acquisition module, a storage module and a control module, wherein the acquisition module is used for acquiring detection data of detection equipment, and the detection data comprises information of the model of a ship to be moored, which is detected by the detection equipment;
the matching module is used for matching the models in the database according to the models and preset models contained in the database, and the database comprises at least one preset model and preset parking position information corresponding to each preset model;
the determining module is used for determining a target berthing position corresponding to the ship to be berthed from a wharf according to a matching result of the model and a preset model in the database;
and the indicating module is used for indicating the ship to be moored at the wharf according to the target berth.
10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing the method of any of claims 1 to 8 when executing the computer program.
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