35results about How to "Improve navigation safety" patented technology

The invention relates to the technical field of ship automatic control and intelligent traffic systems, solves the technical problem that trust evaluation is invalid or inaccurate due to the fact that a traditional trust evaluation method does not fully consider changes of a dynamic environment and a system state, and particularly relates to a shore-based driving and control inland river ship intelligent navigation man-machine interaction trust evaluation method. The objective of the invention is to improve the interaction safety and system stability between a ship and a shore-based control center through a dynamic trust calculation and risk assessment mechanism. The method specifically comprises four parts: trust index system construction, data acquisition and preprocessing, dynamic trust calculation and risk assessment and response. According to the method, the man-machine interaction trust in the intelligent navigation of the inland ship is dynamically evaluated and managed through a zero trust framework, so that the safety and stability of the ship in the navigation process are improved, and particularly, the trust degree of interaction between a shore base and the ship is evaluated in a complex and dynamic navigation environment; therefore, the safety and reliability of the system are ensured.

The invention relates to the technical field of communication data inspection, solves the technical problem of lack of safety in the data transmission and processing process in the traditional technology, and particularly relates to a data consistency inspection method and system for intelligent ship sailing credible decision of an inland ship. The method specifically comprises five parts: zero-trust identity verification and access control, data encryption and communication security, time synchronization and verification mechanism, redundancy check and fusion of multi-source data, and multi-ship trust degree dynamic evaluation based on a consistency check result. According to the invention, each data interaction between the ship and the shore base, between the ships and between the ship and the environment is subjected to identity verification and safety examination. And in combination with time synchronization, multi-source data fusion, redundancy check, anomaly detection and the like, the data consistency and credibility of the navigation decision are ensured, and the navigation safety of the inland ship and the anti-attack ability of the system are remarkably improved.

The invention discloses a scheduling method and system based on a ship traffic flow prediction model, belongs to the technical field of multi-step double-route ships, and is used for solving the problems that in the operation process of an existing multi-step double-line type ship lock, due to the fact that a ship arrangement plan is unreasonable, the utilization efficiency of lock chambers is low, and the cost is low. And the overall operation efficiency and the collaboration of the passing of the fleet are difficult to improve. The method comprises the following steps: carrying out passing analysis on a ship queue of a wait-to-pass water area under a time factor and a queue length factor, and determining a ship queue state; performing dynamic and static data statistics on all ships in the wait-to-pass water area to obtain dynamic attributes and static attributes of each ship; performing interval division of ship flow on the ship queue in the waiting passing area to obtain an initial ship interval; performing target optimization scheduling processing on the ship flow in the ship interval to obtain a final interval ship flow; and a ship flow scheduling planning scheme based on the multi-step double-linear ship lock is generated.

The invention discloses an unmanned ship path planning and collision avoidance decision-making method and system based on multi-factor fusion. Comprising the steps that S1, an unmanned ship multi-sensor fusion sensing network is constructed, environment data are collected in real time, mechanical parameters at the collision moment are captured on an unmanned ship, and the unmanned ship conducts sensing recognition on collision severity; s2, defining a path tracking excitation function, and adaptively adjusting dynamic parameters required in a path control process; s3, setting an excitation mechanism for collision avoidance of the static obstacle and the dynamic obstacle, and evaluating the threat degree of the static obstacle and the dynamic obstacle; and S4, integrating the path tracking response, the static obstacle collision avoidance excitation mechanism and the dynamic obstacle collision avoidance excitation mechanism, so that the unmanned ship balances the relationship among different task targets, and performs path planning and collision avoidance decision under multiple tasks. According to the technical scheme provided by the invention, the problems of path planning and obstacle avoidance decision making of the unmanned ship are effectively solved.

The invention discloses a ship track prediction method based on Attention-BiLSTM, and relates to the technical field of ship track prediction. The method comprises the following steps: acquiring ship AIS data, weather data and date attribute data; carrying out abnormal data detection and elimination on the ship track data, and filling missing data after elimination; establishing a ship track feature input candidate set, selecting a feature input variable influencing the ship track, determining a delay order between the ship track and the feature input variable, and constructing a feature vector; dividing the feature vector into a limited number of sub-model action ranges, and performing boundary division and boundary estimation; and establishing a ship track prediction model for each sub-model action range, and realizing rolling prediction of the ship track through the ship track prediction model. Accurate high-quality data and reasonable action range division are provided for ship track prediction, the ship track prediction precision is guaranteed, and the purposes of ship reasonable path planning, resource optimization scheduling and marine navigation safety improvement are achieved.

The invention discloses a belt sand ship safety dynamic management system, and the system comprises a ship information collection module which is used for collecting ship information, including position, speed and course information; the tide change trend prediction module is used for collecting tide information of the navigation area and obtaining the tide height and the tide change trend of the area where the ship is located in combination with the ship information; and the shallow water area depth change prediction module is used for collecting the sea chart data of the navigation area, and judging the depth change of the shallow water area during low tide by combining overlay analysis of the tide height data and the current sea chart water depth data. By integrating the tide change trend prediction module, the shallow water depth analysis module and the channel safety planning module, the system can monitor tide fluctuation and shallow water depth dynamic change in real time, and provide real-time data-based safety channel planning in combination with the ship draft.

The invention discloses an intelligent control system and method for the navigational speed and the navigational course of a surface ship, and relates to the technical field of ship navigation control, and the system comprises a data collection and mode construction unit, an integrated processing unit, a navigational speed and navigational course control mode selection unit and a real-time monitoring and optimization unit. The data collection and mode construction unit is used for collecting historical navigation data of a surface ship under different sea conditions, constructing a navigational speed and course control mode taking the sea condition data as parameters, and setting each threshold index in the navigational speed and course control mode; and the integrated processing unit is used for carrying out integrated processing on the set navigational speed and course control mode, the threshold value index and a naval vessel controller. By collecting and analyzing the historical navigation data, the navigation speed and course control mode taking the sea condition data as the parameters is constructed, so that the naval vessel can automatically select the optimal navigation mode and parameters according to the real-time sea condition and task requirements, intelligent navigation decision is realized, and the overall efficiency of the naval vessel is improved.

A navigation light adjustment method and system are disclosed, relating to the field of navigation light technology. The method involves acquiring vessel information and visibility for all vessels within a predetermined water area; determining the vessel density within the predetermined water area based on the vessel information; dividing the predetermined water area into multiple adjustment zones based on the vessel density; calculating the comprehensive navigation condition value for each vessel within each adjustment zone based on the visibility and vessel density; obtaining the navigation routes for each vessel within each adjustment zone; and adjusting the parameters of the navigation lights for each vessel within each adjustment zone based on the navigation routes and the comprehensive navigation condition value. Implementing the technical solution of this application allows for analysis of the surrounding navigation environment and timely adjustment of navigation lights, thereby reducing the probability of vessel collisions.

The invention provides a ship traffic situation awareness method and device, equipment and a storage medium, and the method comprises the steps: obtaining radar features and AIS features of a target ship, and determining an attention weight; according to the time change rate of the attention weight and a time sequence differential error of the radar feature and the AIS feature, constructing a time sequence differential consistency constraint, the time sequence differential consistency constraint being used for forcing the time change rate to be inversely proportional to the time sequence differential error; according to the constructed time sequence differential consistency constraint and the attention weight, generating a fusion feature; and according to the fusion features, ship trajectory prediction of the target ship is generated. According to the invention, by introducing the time sequence differential consistency constraint and delay perception attention module, accurate time alignment and anti-oscillation fusion are carried out on radar and AIS features, and stable fusion features are generated, so that accurate ship trajectory prediction is realized, and situation perception precision and navigation safety are effectively improved.

The invention provides an autonomous decision-making system and method for an unmanned ship, and relates to the field of intelligent control systems. The system comprises a decision-making machine module, a skill application module and a communication interaction module, wherein the decision-making machine module is used for receiving a navigation task instruction from a ground station, determining a corresponding navigation task type based on the navigation task instruction, generating a decision-making control instruction for uniformly scheduling navigation of the unmanned ship, and performing event generation, event judgment and interruption control based on navigation state information in the navigation process of the unmanned ship; the skill application module is used for executing corresponding navigation operation under the control of the decision control instruction, and monitoring and reporting navigation state information in the execution process; and the communication interaction module is used for realizing two-way communication among the modules. The method is used in the autonomous decision-making process of the unmanned ship, and solves the technical problem that when a navigation task is executed in a complex environment in the prior art, people cannot be flexibly simulated for decision-making control.

The present invention relates to the technical field of scene generation, and specifically discloses a scene generation method and system for a ship system, comprising: obtaining navigation data within a fixed time period; calculating and obtaining the navigation coefficient of the fixed time period; evaluating the risk of the ship in the fixed time period, and generating a risk assessment signal; establishing a ship navigation model based on a high-risk signal; predicting the waves to be encountered, and obtaining predicted waves and prediction data; calculating and obtaining the navigation prediction coefficient of the ship within the fixed time period; evaluating the subsequent navigation environment of the ship, and generating a risk prediction signal; based on the still high-risk signal, sending the wave height, wave direction and wave period of the predicted waves to the front end; the present invention provides timely and comprehensive risk assessment for ship navigation, helps to improve navigation safety and reduce potential risks; provides a more comprehensive and forward-looking risk assessment and early warning system for ship navigation, and effectively improves the scientificity and safety of navigation decision-making.

The present invention provides a ship remote real-time early warning system based on cloud computing, which relates to the technical field of data processing, and comprises: a data acquisition module, which is used for acquiring ship operation data, environmental status data and external interaction data; a data preprocessing module, which is used for generating standard processing data; a data grouping module, which is used for dividing into a priority data group and a common data group; a data transmission module, which is used for sending to a cloud analysis module; the cloud analysis module, which is used for performing multi-source data aggregation processing on the priority data group and the common data group respectively, performing real-time evaluation on the ship operation status, identifying abnormal behavior recognition and emergency event prediction, and generating corresponding final early warning instructions, including avoidance operation instructions and route adjustment suggestions; an early warning feedback module, which is used for sending the early warning instructions to a ship terminal; and a local response module, which is used for performing an immediate trigger operation on the instruction classification data. The present invention improves the autonomy and accuracy of the ship remote real-time early warning.

The sailing warning lamp comprises a guide rail seat, a quick-release handle, a flagpole, a light-emitting portion and a battery bin, the guide rail seat is fixed on a canoe through a screw, a guide rail is arranged in the middle of the guide rail seat in the length direction of the guide rail seat, the quick-release handle is fixed on the guide rail through a T-shaped screw, and the flagpole is fixed on the battery bin through the T-shaped screw. A flagpole is fixedly connected to the upper portion of the quick-release handle, a light-emitting part is arranged on the top of the flagpole, a battery bin is arranged in the light-emitting part, and the flag is arranged on the flagpole. The guide rail seat is matched with the quick-release handle, the sliding block is moved to the outlet along the guide rail and is lifted to finish the disassembly, the operation is simple and convenient, tools are not needed, the flagpole is convenient to store and store after being contracted, the warning effect is enhanced through the combined design of the flag and the light-emitting part, and particularly under the condition of insufficient light or severe weather, the flagpole can be conveniently disassembled. Daytime visibility can be improved through the visual mark of the flag, and night navigation safety can be guaranteed through light signals of the light-emitting part.

The invention discloses a ship traffic flow coordination method and system based on model prediction control, and the method comprises the following steps: building a state prediction model, obtaining the real-time navigation states of a ship and an opposite ship, and predicting the navigation states of the ship and the opposite ship in a plurality of time steps in the future according to the real-time navigation states; the meeting point and the meeting moment of the ship and the opposite ship are calculated according to the predicted sailing state, and an optimization function is established with the ship sailing time and fuel consumption minimization of the ship as the target; the constraint condition of the optimization function is set, so that the meeting point is located outside the dangerous water area, the meeting moment is located outside a dangerous time window, and the dangerous time window is the time period when the opposite ship travels in the dangerous water area; solving the optimization function to obtain the optimal control parameter of the ship, and updating the sailing state of the ship in the next time step according to the optimal control parameter; and repeating the steps until the ship arrives at the destination.

The utility model belongs to the technical field of shipping detection, and aims to provide an inland river shipping rudder hand-leaving detection system, which comprises a rudder pressure detection module, a linear voltage conversion module, a main control module and an alarm module, and is characterized in that the rudder pressure detection module is electrically connected with the main control module through the linear voltage conversion module; the alarm module is electrically connected with the main control module; wherein the rudder pressure detection module is arranged on a rudder and is used for detecting the pressure of the rudder and outputting a pressure detection signal to the linear voltage conversion module; the linear voltage conversion module is used for converting the pressure detection signal into a voltage signal and outputting the voltage signal to the main control module; the main control module is used for judging whether the rudder is in a hand-off state or not according to the voltage signal and outputting an alarm signal to the alarm module when judging that the rudder is in the hand-off state. According to the utility model, the operation state of the rudder can be monitored in the ship operation process, and an alarm system can be triggered in time when a sailor slips out of the hand, so that the sailing safety can be improved.

The invention provides a ship infrared target detection method in a low-visibility scene, and the method comprises the steps: collecting ship infrared target images and video data under multiple working conditions, and building a sample library containing environment metadata; gamma transformation and preprocessing are carried out on the collected ship infrared target image and video data so as to improve the separability of a low-contrast area; performing screening and labeling operation on the preprocessed ship infrared target image and video data; an improved AFPN-P345 neck network is adopted to carry out adaptive cross-layer feature fusion, and a redundant branch is skipped in combination with a lightweight dynamic routing mechanism; dW-RFAConv is used for replacing standard convolution, and the spatial local feature modeling capability is enhanced; partial overlap penalty, centroid distance penalty and shape difference penalty are introduced on the basis of IoU, and a PD-ShapeIoU positioning loss function is constructed for training a detection head; and outputting the category, the position and the confidence coefficient of the ship target through a multi-scale detection head, and completing real-time detection.

The invention discloses a high-efficiency generator set for an offshore platform, and belongs to the field of generators, and the high-efficiency generator set comprises a first standby generator assembly which comprises a first diesel engine, a first driving transmission part, a first generator and a first driven transmission part; the second standby generator assembly comprises a second diesel engine, a second driving transmission part, a second generator and a second driven transmission part; the transmission switching piece comprises a first transmission switching piece, a second transmission switching piece and a switching transmission piece, and the first driving transmission piece is selected to be in meshing transmission with the first driven transmission piece through the first transmission switching piece; and the second driving transmission part is selectively in meshing transmission with the second driven transmission part through the second transmission switching part. According to the invention, the automation degree is high, two sets of original standby generator sets can be reasonably configured into four sets of available standby generator sets, the reliability of the standby generator sets and the economical efficiency of the standby generator sets are remarkably improved, and the safety and the economical efficiency of ship navigation are remarkably improved.

The invention relates to a marine navigation radar signal processing method based on morphological characteristics. The method comprises the following steps: step 1, receiving a starting request of a radar image display function; 2, checking whether echo data of the antenna transceiver is received or not, and if so, entering the next step; step 3, checking whether the same target is split and discontinuous in the echo data, that is, a certain target point has a weak echo, and if yes, judging whether the two split echoes belong to the same target or not; 4, closed point detection and second filling are carried out, and if a small-area'vulnerability 'exists in a detected target, second filling is carried out on the detected target to form an image; and 5, outputting the image to a next processing algorithm. According to the processing method, online real-time processing can be carried out, false vulnerabilities and real holes can be distinguished, real navigation perception is provided for users, navigation safety is improved, and engineering implementation is easy.

The invention discloses a marine hybrid power integrated device with multiple planetary gear sets and axial flux motors and an energy management method, and the core innovation of the device system is that rotor output shafts of a plurality of high-power axial flux motors are coaxially, rigidly and directly connected with sun gear input shafts of corresponding planetary gear sets through flange plates; the energy management method is characterized in that a whole ship controller integrates the real-time storage amount of hydrogen ammonia fuel and the hydrogen production rate on the ship, and the energy management efficiency is improved. And the output of the high-power hydrogen fuel cell and the output of the high-power solid-state energy storage cell are subjected to prospective dynamic distribution, and the state of a fuel supply chain is brought into a power control closed loop, so that compact integration, stepless smooth speed regulation and global energy efficiency intelligent optimization of a large-wheel multi-source power system are realized; and the power system is particularly suitable for green zero-carbon technical transformation of an ultra-large ocean-going wheel power system with extremely high requirements on endurance and power.

The invention discloses an abnormal object processing method and device, equipment, a medium and a product. The method is applied to a target ship, and comprises the following steps: obtaining a to-be-processed image comprising a to-be-recognized object: processing the to-be-processed image based on an abnormal object recognition model to obtain an object recognition result corresponding to the to-be-recognized object; the object recognition result comprises a recognition category and bounding box information corresponding to the to-be-recognized object; determining a target processing device and a target device position corresponding to the abnormal object according to the identification category and bounding box information corresponding to the abnormal object under the condition that the to-be-processed image is determined to comprise the abnormal object based on the identification category; and setting a target processing device according to the target device position, and processing the corresponding abnormal object based on the set target processing device. According to the technical scheme, the effect of quickly recognizing the abnormal object associated with the ship based on the neural network model is achieved, and the recognition and processing efficiency of the abnormal object is improved.

This invention relates to the fields of marine meteorology and navigation, and discloses a method for predicting meteorological factors for ship navigation based on marine meteorological information. This method is used to predict meteorological factors for ship navigation, assess navigation risks, and plan alternative routes. The method includes processing meteorological data and ship data for a target sea area to obtain historical meteorological time series and ship motion response sequences; constructing state vector trajectories of meteorological factors using historical meteorological data, establishing a dynamic model library, and obtaining the ship motion response function to meteorology based on meteorological and motion response data; generating deterministic meteorological factor prediction sequences by embedding the current meteorological state into the dynamic model; and constructing stochastic differential equations to generate probabilistic prediction distributions of meteorological factors. This invention integrates data-driven and physical constraints, providing more comprehensive navigation decision support.

The utility model provides a kind of intelligent water surface garbage cleaning ship, belong to water surface garbage cleaning, resource recovery field.Motor is installed on hull, drive helical blade rotation, control system controls the direction and speed of hull operation, collection wheel is connected with the front part of hull by connecting piece, can rotate on water surface, collect water surface floating garbage;Conveying structure is installed in the front part of hull, cooperates collection wheel, and conveys collected garbage;Crushing mechanism is installed in the middle part of hull, receives the garbage transported by conveying structure and is crushed, one end of spiral conveying mechanism is connected with crushing mechanism, the other end is connected with storage mechanism, radar real-time monitoring environmental condition around hull, timely discovers obstacle and sends signal to control system, solar panel converts solar energy into electric energy, provides clean energy for each electric component in cleaning ship.The utility model can be used in lake, river and other water area, realizes efficient, autonomous garbage cleaning, reduces energy consumption and carbon emission, accords with environmental protection concept.

This invention relates to a control device for a wing sail of an unmanned surface vessel (USV), comprising a structural component, an adjustment component, and a rotational speed monitoring mechanism. The structural component includes a frame assembly and a wing sail. The wing sail is disposed on one side of the frame assembly, and the adjustment component is disposed inside the frame. The adjustment component is connected to the rotational speed monitoring mechanism and can adjust the orientation of the wing sail. The adjustment component includes a position control element, a clutch mechanism, and a locking mechanism. The position control element controls the states of the clutch mechanism and the locking mechanism. By utilizing external airflow as the driving force for wing sail steering, no additional power input is required. The adjustment and locking / unlocking control of the wing sail orientation are achieved only through low-power control components, thereby reducing the energy consumption of the USV and improving the convenience of steering control.

The invention discloses a dynamic obstacle avoidance planning system and method based on camera and laser radar fusion. The system comprises a sensor data acquisition module, a point cloud clustering and acceleration module, a coordinate system calibration and time synchronization module, a multi-sensor information fusion module, a vehicle dynamics modeling module, an improved TEB path planning module and a motion control execution module. According to the invention, through multi-sensor fusion of the camera and the laser radar, and in combination with European clustering and KD-tree acceleration technologies, accurate recognition and semantic classification of obstacles are realized, the sensing limitation of a single sensor is made up, and the accuracy and integrity of obstacle recognition in a complex park environment are improved; risk grading is carried out based on the semantic information of the obstacles, a stricter obstacle avoidance strategy is adopted for the high-risk obstacles, the safe driving behavior of a human driver is simulated, the accident occurrence probability in a high-risk scene is effectively reduced, and the navigation safety of the unmanned logistics vehicle is improved.

The application belongs to the field of underwater vehicle control, and relates to a physical information driven AUV near-surface stealth navigation control method and system. First, by constructing a dynamic extended state observer, the influence of near-surface fluid effects on the vehicle can be represented in the form of target heave disturbance force and target roll disturbance moment, wherein the calculation formula of the target roll disturbance moment can obtain preset parameters through computational fluid dynamics simulation and real ship test of the vehicle model, and then the dynamic safety boundary of the vehicle can be obtained to improve the safety of the vehicle. Secondly, by obtaining the expected pitch angle, the actual pitch angle speed, the deviation of the expected pitch angle speed, the target roll disturbance moment, the deviation of the actual pitch angle and the expected pitch angle, and the dynamic residual disturbance of the physical information measured or simulated, the target elevator deflection angle can be obtained, and the control accuracy and navigation stability of the vehicle in the complex flow field interference scene can be improved.

The invention discloses a sea surface target tracking method based on point cloud matching, and belongs to the technical field of intelligent navigation of ships, and the method comprises the steps: obtaining an original point cloud from a laser radar, and obtaining an object target instance in a scene through a three-dimensional target detection method; selecting a to-be-tracked target in the instance, and initializing a region-of-interest range, a target motion state and a template point cloud; inter-frame motion information is obtained by matching a single-frame target point cloud with a template point cloud, modeling is performed on target motion by using an extended Kalman filter, and filtered target motion state estimation is obtained; extracting a single-frame target point cloud used for constructing a template point cloud, and removing inter-frame distortion to complete updating of the template point cloud; and repeating the steps of estimating the motion state of the target and updating the template point cloud to finish continuous tracking of the target. According to the invention, the accuracy of sea surface high-dynamic target tracking in a short-distance range can be effectively improved.

The invention relates to the technical field of hybrid power ship control, in particular to a main and auxiliary power hybrid ship power motor control method and system and a storage medium. The main and auxiliary power hybrid ship power motor control method comprises the following steps: acquiring a target speed and an actual speed of a ship, and judging a ship motion state based on the target speed and the actual speed; based on different ship motion states, real-time host power under different ship motion states is obtained, and independent ship preset modes are divided. According to the main and auxiliary power hybrid ship power motor control method, the target speed and the actual speed of the ship are obtained in real time, the motion state of the ship is accurately judged, the real-time main engine power in different motion states is obtained accordingly, and independent ship preset modes are divided. According to the method, accurate prediction and dynamic response to the ship power demand are realized, and the operation efficiency and stability of a ship power system are effectively improved.

The application provides a ship traffic situation awareness method, device, equipment and storage medium, the method comprises: obtaining the radar feature and AIS feature of the target ship, and determining the attention weight; constructing a time differential consistency constraint according to the time variation rate of the attention weight and the time differential error of the radar feature and the AIS feature, the time differential consistency constraint is used to force the time variation rate to be inversely proportional to the time differential error; generating a fusion feature according to the constructed time differential consistency constraint and the attention weight; generating a ship trajectory prediction of the target ship according to the fusion feature. The application introduces a time differential consistency constraint and a delay perception attention module, accurately aligns and anti-oscillation fuses the radar and AIS features, generates stable fusion features, and then realizes accurate ship trajectory prediction, effectively improves the situation awareness accuracy and navigation safety.