Research On Integrated Safety Monitoring Technology Of Berth-ship Cooperative Operation

With the development of waterway transportation,the freight volume of ports has been increasing.This has increased the density of ships and shore cranes in the channel.In addition,the increase in the size of ships and the rapid development of cranes have also greatly increased the risks of ship and crane operations.In order to ensure the safety of berthing and handing of the ship,and to avoid collision with the hydraulic structure of the dock,the stopped ship and the crane during its operation,resulting in irreparable economic and personnel losses.It is extremely important for the safety of port operations to grasp the space and posture of ships and cranes in time and assess their collision risks in real time.However,the existing berthing aid systems and crane anti-collision system operate independently for different monitoring objects,and it is difficult to exchange information.Considering that it is a process of coordinated operation of berth,ship,and crane,if it only depends on passive monitoring of either ship or crane,it is difficult to cope with the danger of collision that may occur at any time.The most comprehensive and reliable solution is to establish a unified monitoring system of berths,ships,and cranes to achieve real-time monitoring,instant communication,and timely early warning of berth-ship safety monitoring.In order to achieve this purpose,this paper conducts research on integrated safety monitoring technology for berth-ship cooperative operations,and completes the following:First of all,this paper analyzes the possible collisions between ship-shore,shipship,ship-crane and crane groups by studying the berth-ship operation methods and movement modes during the berth-ship operation.Determine the safe range of ship and crane operations.Identify the collision risk of berth-ship operations based on ship and crane related motion parameters.On this basis,according to the method of ship and crane manipulation,an analytic hierarchy process is used to establish an evaluation index system for berth-ship collision risk.The weight of each index was determined by constructing a judgment matrix,and its membership function was established.The fuzzy comprehensive evaluation method is used to carry out a unified quantitative analysis of the collision risks for the above four types of collision situations.Outside the safe range of motion parameters of ships and cranes,the collision risk of berth-ship is used as a supplementary judgment of the collision danger of berth-ship.Subsequently,based on the movement mode of the ship and crane and the collision risk evaluation index system of the berth-ship,a technical scheme for monitoring the ship and crane was proposed,as follows:(1)Use monocular vision to obtain the coordinate information of the ship’s thermal image key points,and use this as guidance data to drive the shore-based dual lasers to track and measure the berthing ship’s head and tail to obtain accurate position information;(2)Use continuous laser ranging to obtain crane distance information.The rotary encoder is used to obtain the rotation type information.Use Zig Bee to realize cluster networking.Therefore,a general measurement method of crane position and pose is proposed.Finally,based on the Unity 3D,a software system for visualizing collision hazards and monitoring data of berth-ship was developed.The function of synchronously displaying monitoring data,early warning and communication between different devices is realized.According to the site environment,complete the system prototype development and installation application.As a result,in terms of hardware design,collision hazard quantification,software applications,and berth-ship communications,integrated safety monitoring of berth-ship-crane collaborative operations has been achieved.This paper identifies the collision danger of ship and crane from the two aspects of the safe range and the danger of collision of shore ship operations.The ship position monitoring technology based on multi-technology integration solves the problems of poor positioning accuracy and incapability of tracking measurement of traditional berthing auxiliary devices.A general method suitable for the monitoring of the posture of the portal crane and the bridge crane is proposed.Develop a software platform suitable for different operating requirements of shore ships to realize the monitoring data and collision risk visualization.Benefit from the flexibility and diversity of the above-mentioned collision hazard identification methods,monitoring methods,and visualization software,this system has good adaptability and scalability,and can respond to safety monitoring of different terminals,ships of different sizes,and different handing methods.