CN117073676A - Berthing auxiliary system based on combination of difference Beidou information and vision - Google Patents
Berthing auxiliary system based on combination of difference Beidou information and vision Download PDFInfo
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- CN117073676A CN117073676A CN202310822126.6A CN202310822126A CN117073676A CN 117073676 A CN117073676 A CN 117073676A CN 202310822126 A CN202310822126 A CN 202310822126A CN 117073676 A CN117073676 A CN 117073676A
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- 238000005516 engineering process Methods 0.000 claims abstract description 11
- 238000012806 monitoring device Methods 0.000 claims description 25
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 22
- 238000012544 monitoring process Methods 0.000 claims description 16
- 238000000034 method Methods 0.000 claims description 14
- 238000004891 communication Methods 0.000 claims description 8
- 230000003993 interaction Effects 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 4
- 230000003068 static effect Effects 0.000 claims description 4
- 238000012876 topography Methods 0.000 claims description 4
- 230000007613 environmental effect Effects 0.000 claims description 2
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 claims 1
- 238000003032 molecular docking Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 230000002265 prevention Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 239000000523 sample Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/203—Specially adapted for sailing ships
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a berthing auxiliary system based on combination of differential Beidou information and vision, which is characterized in that receivers are arranged at the bow and the stern of a ship, a reference station is arranged at a wharf, an RTK technology is used for realizing accurate positioning of the bow and the stern of the ship, a plane model of the ship is built in a wharf chart according to the accurate positioning, then an unobstructed berthing path is planned through a camera arranged on a side chord of the ship, an image shot by a laser radar and three-dimensional point cloud data, and finally the wharf moves a tugboat to push the ship to berth according to the planned path, so that intelligent management of berthing of the ship is realized, and berthing efficiency is improved.
Description
Technical Field
The invention relates to the technical field of ship berthing safety, in particular to a berthing auxiliary system based on combination of differential Beidou information and vision.
Background
With the development of science and technology, some advanced ports and ships at home and abroad introduce various monitoring devices to assist the safe berthing of the ships, and the installation positions of the berthing monitoring devices are divided into two types:
one is the on-board type, where the monitoring device gives the offshore distance of the installation site, depending on its position on the ship, at least two specific points on the ship are required to be measured. At present, satellite positioning is mostly adopted as a system information source, and because the combined positioning machine is required to be placed at a specific position according to the shape of a ship, the GPS signal is prevented from being blocked, meanwhile, the dependence of the positioning machine on a communication network for transmitting positioning information is large, and the limitation of the offshore distance of the ship on the working range of equipment is not really broken through.
The other is a shore-based type, the monitoring equipment is arranged on the shore, and the information of the shore-based state parameters of the ship is estimated by measuring the distance between the shore-based ship and the shore. At present, a two-dimensional laser ranging technology is mainly used, although the precision of laser ranging is higher, the distance requirements on a laser probe are different due to different berthing ship lengths, point type laser is difficult to find a target due to non-fixed berthing, and meanwhile, laser equipment is higher in berthing installation condition, so that the overall measurement precision angle of the system is limited, and popularization and application are limited.
Disclosure of Invention
Aiming at the problems existing in the berthing process of the existing ship, the invention provides a berthing auxiliary system based on the combination of differential Beidou information and vision, which comprises:
and (3) a server: for the purpose of:
a. establishing a communication network including ships, wharfs and reference stations;
b. editing and storing wharf sea chart;
c. calculating the accurate position of the berthing ship through an RTK technology, and planning a berthing route through the received environmental parameters and observation information;
and (3) satellite: for transmitting signals to the reference station and the receiver to determine the coordinates of the receiver;
terminal equipment: the information interaction device is used for carrying out information interaction with the server and displaying information content;
monitoring equipment: external equipment which is arranged at the ship and the wharf and is used for acquiring real-time satellite positioning information and drawing three-dimensional point cloud images;
reference station: and the receivers are arranged at one or more places in the wharf and are used for receiving satellite signals.
Preferably, the monitoring device comprises receivers mounted to the bow and stern of the watercraft, including the docking watercraft and the tug, and further comprises a camera and a lidar mounted to the side strings of the docking watercraft.
Preferably, the monitoring device further comprises a wind power monitoring device and a water flow monitoring device mounted at one of a berthing ship, a tug, and a dock.
Preferably, the wind power monitoring device, the water flow monitoring device, the reference station and the terminal device are all connected into a communication network constructed by a server.
In addition, a berthing auxiliary method based on combination of differential Beidou information and vision is also provided, and the berthing auxiliary method comprises the following steps:
s1, a berthing ship sends berthing requests to a server, the server displays berthing docks on terminal equipment of berthing ships in a near-to-far sequence through satellite positioning of the berthing ship, after the berthing ship selects a dock needing to be berthed on the terminal equipment, the server sends berthing requests to the dock and ship size information input in advance by the berthing ship, the dock selects a specific berthing position, thus the creation of berthing tasks is completed, and the server displays a seachart of the dock on the berthing ship and the terminal equipment of the dock;
s2, the server calculates and plans a pre-stopping area for stopping the ship according to the berth determined by the wharf;
s3, the server combines the reference stations with determined accurate coordinates through positioning information of the bow and stern receivers of the ship, and achieves real-time accurate positioning of the bow and the stern through an RTK technology;
s4, the server automatically generates a plane model of the ship on the wharf chart according to the ship size information input in advance by the ship and combining with real-time accurate positioning of the bow and the stern;
s5, after the berthing ship enters the pre-stopping area, the server monitors that the plane model of the berthing ship is in the pre-stopping area, if the berthing ship is in countercurrent, the berthing ship is informed to slow down to keep the berthing ship stationary relative to the wharf, if the ship is in concurrent flow, the berthing ship is informed to flameout, and meanwhile, the wharf drives the tug ship to drag the berthing ship behind the wharf so as to keep the berthing ship stationary relative to the wharf;
s6, after the berthing ship is kept relatively static in the pre-berthing area, the server opens a camera and a laser radar to carry out real-time shooting and three-dimensional point cloud image acquisition, and then an unobstructed berthing route is planned and displayed on the terminal equipment;
s7, the wharf side starts the tug to push the berthing ship to berth according to the planned berthing route, and the information of the referenced wind speed and flow speed in the pushing process is provided by wind power monitoring equipment and water flow monitoring equipment of the wharf;
s8, after the tug pushes the berthing ship to berth, the berthing ship is anchored and moored, and berthing is completed.
Preferably, the bow and stern of the tug are also provided with receivers and the planar model is generated in the wharf chart according to the method of the steps S3 and S4.
Preferably, in step S6, the server determines whether there is an obstacle in the planned route according to whether there is an object protruding out of the water in the area of the planned route.
Preferably, in step S1, the dock sea chart is mapped and edited in advance, and the dock sea chart further includes a topography of the near-water bottom mapped by using the sonar equipment and the water level monitoring equipment in combination, for collision prevention when planning the berthing path.
Preferably, the information of the reference station, the wind power monitoring device and the water flow monitoring device forms a data set of the wharf, the data set is bundled with the wharf chart, and when the berthing ship is selected to berth on the wharf, the server displays the wharf chart and the data set on the terminal equipment of the berthing ship.
Preferably, the terminal device includes: PC, mobile device.
According to the invention, the receivers are arranged at the bow and the stern of the ship, the reference station is arranged at the wharf, the precise positioning of the bow and the stern of the ship is realized by using the RTK technology, the plane model of the ship is built in the wharf chart, then the barrier-free berthing path is planned through the camera arranged on the side chord of the ship, the laser radar shooting image and the three-dimensional point cloud data, and finally the wharf drives the tugboat to push the ship to berth according to the planned path, so that the intelligent management of berthing of the ship is realized, and the berthing efficiency is improved.
Drawings
FIG. 1 is a schematic diagram of a berthing assistance system.
Detailed Description
Example 1
As shown in fig. 1, the berthing auxiliary system based on combination of differential Beidou information and vision according to the present invention comprises:
and (3) a server: for the purpose of:
a. establishing a communication network including ships, wharfs and reference stations;
b. editing and storing wharf chart, which is completed by system staff when establishing communication network;
c. calculating the accurate position of the berthing ship through an RTK technology, planning a berthing route through received environment parameters and observation information, wherein the environment parameters comprise water flow speed and wind speed information, and the observation information is information transmitted by external equipment;
and (3) satellite: for transmitting signals to the reference station and the receiver to determine the coordinates of the receiver;
terminal equipment: the information interaction device is used for carrying out information interaction with the server and displaying information content;
monitoring equipment: external equipment which is arranged at the ship and the wharf and is used for acquiring real-time satellite positioning information and drawing three-dimensional point cloud images;
reference station: a receiver located in the dock area proximate to the berth for receiving satellite signals.
Preferably, the monitoring device comprises receivers mounted to the bow and stern of the watercraft, including the docking watercraft and the tug, and further comprises a camera and a lidar mounted to the side strings of the docking watercraft.
Preferably, the monitoring device further comprises a wind power monitoring device and a water flow monitoring device mounted at one of a berthing ship, a tug, and a dock.
Preferably, the wind power monitoring device, the water flow monitoring device, the reference station and the terminal device are all connected into a communication network constructed by a server.
Example 2
The berthing assisting method based on the combination of differential Beidou information and vision comprises the following steps:
s1, a berthing ship sends berthing requests to a server, the server displays berthing docks on terminal equipment of berthing ships in a near-to-far sequence through satellite positioning of the berthing ship, after the berthing ship selects a dock needing berthing on the terminal equipment, the server sends berthing requests to the dock and ship size information input in advance by the berthing ship, the dock selects specific berths, thus the creation of berthing tasks is completed, the server displays a sea chart of the dock on the berthing ship and the terminal equipment of the dock, if the dock does not have residual berthing places available for berthing, the server feeds back to the terminal equipment of the berthing ship, and the berthing dock is reselected by the server;
s2, calculating and planning a pre-stopping area of a berthing ship according to a berth determined by a wharf, wherein the pre-stopping area is defined based on the determined berth, is a certain area in a river channel separated from the berth by a plurality of distances, can be set by the wharf or a berthing ship according to the size of the berthing ship, and the offshore distance is determined by the average offshore distance of the berthing ship in a wharf sea area;
s3, the server combines the reference stations with determined accurate coordinates through positioning information of the bow and stern receivers of the ship, and achieves real-time accurate positioning of the bow and the stern through an RTK technology;
s4, the server automatically generates a plane model of the ship on a wharf chart according to the ship size information input in advance by the ship and combining with real-time accurate positioning of the bow and the stern, in the example, the receivers are arranged at the front end and the rear end of the berthing ship so as to avoid that the server can only identify two positioning points, and the position of the two positioning points on the ship cannot be determined according to the input ship size;
s5, after the berthing ship enters the pre-stopping area, the server monitors that the plane model of the berthing ship is in the pre-stopping area, if the berthing ship is in countercurrent, the berthing ship is informed to slow down to keep the berthing ship stationary relative to the wharf, if the ship is in concurrent flow, the berthing ship is informed to flameout, and meanwhile, the wharf drives the tug ship to drag the berthing ship behind the wharf so as to keep the berthing ship stationary relative to the wharf;
s6, after the berthing ship is kept relatively static in the pre-berthing area, the server opens a camera and a laser radar to carry out real-time shooting and three-dimensional point cloud image acquisition, and then an unobstructed berthing route is planned and displayed on the terminal equipment;
s7, the wharf side starts the tug to push the berthing ship to berth according to the planned berthing route, and the information of the referenced wind speed and flow speed in the pushing process is provided by wind power monitoring equipment and water flow monitoring equipment of the wharf;
s8, after the tug pushes the berthing ship to berth, the berthing ship is anchored and moored, and berthing is completed.
Preferably, the bow and stern of the tug are also provided with receivers and the planar model is generated in the wharf chart according to the method of the steps S3 and S4.
Preferably, in step S8, the server determines whether there is an obstacle in the planned route according to whether there is an object protruding out of the water in the area of the planned route.
Preferably, in step S1, the dock sea chart is mapped and edited in advance, and the dock sea chart further includes a topography of the near-water bottom mapped by using the sonar equipment and the water level monitoring equipment in combination, for collision prevention when planning the berthing path.
Preferably, the information of the reference station, the wind power monitoring device and the water flow monitoring device forms a data set of the wharf, the data set is bundled with the wharf chart, and when the berthing ship is selected to berth on the wharf, the server displays the chart and the data set on the terminal equipment of the berthing ship.
Preferably, the terminal device includes: PC, mobile device.
The invention has the following advantages:
1. the receiver is arranged at the bow and the stern of the ship, the reference station is arranged in combination with the wharf, and the accurate positioning of two points of the ship is realized through the RTK technology;
2. the system displays the gesture and the size of the ship on the terminal equipment through the received accurate positioning information of the ship so as to more intuitively and accurately display the position relationship among the ship position, berth and topography;
3. the auxiliary ship enters the pre-stopping area and keeps a relatively static state, the server observes real-time conditions by opening external equipment to plan a stopping route, the tugboat pushes the stopping ship into a berth along the stopping route from the pre-stopping area, and then subsequent stopping work can be completed, so that the device is convenient to use.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. Berthing auxiliary system based on difference big dipper information and vision combine, its characterized in that: comprising the following steps:
and (3) a server: for the purpose of:
a. establishing a communication network including ships, wharfs and reference stations;
b. editing and storing wharf sea chart;
c. calculating the accurate position of the berthing ship through an RTK technology, and planning a berthing route through the received environmental parameters and observation information;
and (3) satellite: for transmitting signals to the reference station and the receiver to determine the coordinates of the receiver;
terminal equipment: the information interaction device is used for carrying out information interaction with the server and displaying information content;
monitoring equipment: external equipment which is arranged at the ship and the wharf and is used for acquiring real-time satellite positioning information and drawing three-dimensional point cloud images;
reference station: and the receivers are arranged at one or more places in the wharf and are used for receiving satellite signals.
2. The berthing auxiliary system based on combination of differential Beidou information and vision according to claim 1, wherein: the monitoring device comprises a receiver mounted at the bow and stern of a ship, the ship comprises a berthing ship and a tug, and the monitoring device further comprises a camera and a laser radar mounted at the side strings of the berthing ship.
3. The berthing auxiliary system based on combination of differential Beidou information and vision according to claim 2, wherein: the monitoring device also comprises a wind power monitoring device and a water flow monitoring device which are arranged at one place of the berthing ship, the tug and the wharf.
4. A berthing assistance system based on a combination of differential beidou information and vision as claimed in claim 3, wherein: the wind power monitoring equipment, the water flow monitoring equipment, the reference station and the terminal equipment are all connected into a communication network constructed by a server.
5. A berthing auxiliary method based on combination of differential Beidou information and vision is characterized in that: the method comprises the following steps:
s1, a berthing ship sends berthing requests to a server, the server displays berthing docks on terminal equipment of berthing ships in a near-to-far sequence through satellite positioning of the berthing ship, after the berthing ship selects a dock needing to be berthed on the terminal equipment, the server sends berthing requests to the dock and ship size information input in advance by the berthing ship, the dock selects a specific berthing position, thus the creation of berthing tasks is completed, and the server displays a seachart of the dock on the berthing ship and the terminal equipment of the dock;
s2, the server calculates and plans a pre-stopping area for stopping the ship according to the berth determined by the wharf;
s3, the server combines the reference stations with determined accurate coordinates through positioning information of the bow and stern receivers of the ship, and achieves real-time accurate positioning of the bow and the stern through an RTK technology;
s4, the server automatically generates a plane model of the ship on the wharf chart according to the ship size information input in advance by the ship and combining with real-time accurate positioning of the bow and the stern;
s5, after the berthing ship enters the pre-stopping area, the server monitors that the plane model of the berthing ship is in the pre-stopping area, if the berthing ship is in countercurrent, the berthing ship is informed to slow down to keep the berthing ship stationary relative to the wharf, if the ship is in concurrent flow, the berthing ship is informed to flameout, and meanwhile, the wharf drives the tug ship to drag the berthing ship behind the wharf so as to keep the berthing ship stationary relative to the wharf;
s6, after the berthing ship is kept relatively static in the pre-berthing area, the server opens a camera and a laser radar to carry out real-time shooting and three-dimensional point cloud image acquisition, and then an unobstructed berthing route is planned and displayed on the terminal equipment;
s7, the wharf side starts the tug to push the berthing ship to berth according to the planned berthing route, and the information of the referenced wind speed and flow speed in the pushing process is provided by wind power monitoring equipment and water flow monitoring equipment of the wharf;
s8, after the tug pushes the berthing ship to berth, the berthing ship is anchored and moored, and berthing is completed.
6. The berthing assisting method based on combination of differential Beidou information and vision according to claim 5, wherein the berthing assisting method is characterized by comprising the following steps of: the bow and stern of the tug are also provided with receivers and a plane model is generated in the wharf chart according to the method of the steps S3 and S4.
7. The berthing auxiliary system based on combination of differential Beidou information and vision according to claim 6, wherein: in the step S6, the server determines whether there is an obstacle in the planned route according to whether there is an object protruding out of the water in the area of the planned route.
8. The berthing assistance system based on combination of differential Beidou information and vision of claim 7, wherein: in step S1, the dock sea chart is mapped and edited in advance, and the dock sea chart further includes a near-water topography map drawn by using a sonar device and a water level monitoring device in combination, for collision avoidance when planning a berthing path.
9. The berthing assistance system based on combination of differential Beidou information and vision of claim 8, wherein: the information of the reference station, the wind power monitoring equipment and the water flow monitoring equipment form a data set of the wharf and are bundled with the wharf chart, and when the berthing ship is selected to berth on the wharf, the server displays the wharf chart and the data set on the terminal equipment of the berthing ship.
10. The berthing assistance system based on combination of differential Beidou information and vision of claim 9, wherein: the terminal device includes: PC, mobile device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310822126.6A CN117073676A (en) | 2023-07-06 | 2023-07-06 | Berthing auxiliary system based on combination of difference Beidou information and vision |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310822126.6A CN117073676A (en) | 2023-07-06 | 2023-07-06 | Berthing auxiliary system based on combination of difference Beidou information and vision |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117928567A (en) * | 2024-03-21 | 2024-04-26 | 湖南睿图智能科技有限公司 | Ship auxiliary driving enhancing method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117928567A (en) * | 2024-03-21 | 2024-04-26 | 湖南睿图智能科技有限公司 | Ship auxiliary driving enhancing method |
| CN117928567B (en) * | 2024-03-21 | 2024-06-04 | 湖南睿图智能科技有限公司 | Ship auxiliary driving enhancing method |
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