Collision avoidance method of narrow channel ship based on path planning and tracking control

A path planning and tracking control technology, applied in vehicle position/route/height control, non-electric variable control, control/adjustment system, etc., can solve problems affecting shooting effects, collision accidents, planning, etc., and achieve flexible shooting angles change effect

Inactive Publication Date: 2019-03-19
JIANGSU MARITIME INST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] With the development of international trade in full swing, the scale and speed of ships are constantly developing, and the ships in narrow waterways are dense and frequent. The route is narrower and congested in the face of faster large ships and super large ships, and it is difficult to maneuver ships. If the magnitude increases, the collision risk of ships will increase greatly when they meet, and collision accidents will occur from time to time; the existing methods of route planning for ship collision avoidance have certain disadvantages in use. The collection of data from the surrounding environment is not conducive to the subsequent planning of the route, and the acquisition of information during the ship's navigation is not comprehensive enough. Secondly, it does not have the function of recording the ship's collision avoidance process, and cannot provide feedback on the collision avoidance process. It is not conducive to improving the entire collision avoidance method in time. In addition, the angle adjustment of the camera device used by the ship is not flexible enough. Finally, the cleaning of the camera is inconvenient and affects the shooting effect. Therefore, we propose a narrow tracking control based on path planning. Waterway ship collision avoidance method

Method used

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  • Collision avoidance method of narrow channel ship based on path planning and tracking control
  • Collision avoidance method of narrow channel ship based on path planning and tracking control
  • Collision avoidance method of narrow channel ship based on path planning and tracking control

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Experimental program
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Effect test

Embodiment 1

[0037] Such as figure 1 As shown, the method for ship collision avoidance in narrow waterways of the path planning tracking control of the present invention includes obtaining ship navigation information—obtaining ship navigation narrow waterway status information—path planning for collision avoidance hazards or hulls—ship collision avoidance process records—ship avoidance The method and steps of the touch process feedback, the specific steps are as follows:

[0038](1) Obtain ship navigation information: Cooperate with AIS system, obtain ship's actual position, ship speed, course, draft and ship scale and other information through GPS module, obtain ship's acceleration through acceleration sensor, and transmit the information to the main control module;

[0039] (2) Obtain information on the condition of the narrow waterway where the ship sails: Obtain the environmental conditions around the ship through the GIS module and transmit it to the cloud server. The main control mod...

Embodiment 2

[0047] Such as figure 2 As shown, the AIS system includes a main control module 1 , a GPS module 2 , an acceleration sensor 3 , a storage module 4 , a display module 5 , a cloud server 7 and a GIS module 8 to obtain information required for ship navigation.

[0048] Further, the signal output port of the GPS module 2 and the output port of the acceleration sensor 3 are respectively connected to the signal input port of the main control module 1, and the signal input port of the storage module 4 is connected to the signal output port of the main control module 1 are connected to ensure that the information of the main control module 1 can be stored.

[0049] Further, the signal output port of the GPRS module 6 is connected with the signal input port of the main control module 1, the signal output port of the cloud server 7 is connected with the signal input port of the GPRS module 6, and the GIS module 8 The signal output port is connected with the signal input port of the cl...

Embodiment 3

[0056] Such as Image 6 As shown, the upper end of the motor 12 is provided with a driving gear 13, and the outer surface of the rotating column 14 is provided with a driven gear 15, which is movably connected between the driving gear 13 and the driven gear 15, and the rotating column 14 is fixedly connected to the body 16, the input port of the motor 12 is electrically connected to the output port of the body 16, and the driven gear 15 and the driving gear 13 can drive the rotating column 14 to rotate.

[0057] The working principle of the carburizing box in this mold processing technology: when in use, cooperate with the AIS system to obtain the actual position, speed, course, draft and ship size of the ship through the GPS module, and obtain the acceleration of the ship through the acceleration sensor, and The information is transmitted to the main control module to obtain the ship's navigation information, and then obtain the surrounding environmental conditions of the shi...

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Abstract

The invention discloses a collision avoidance method of a narrow channel ship based on path planning and tracking control, which comprises the steps of: obtaining ship navigation information-acquiringship navigation of narrow channel condition information-avoiding dangerous objects or planning ship hull path-recording ship collision avoidance process-feeding back ship collision avoidance process,with the cooperation of an acceleration sensor, GPS module and GIS module, the environment information of the narrow channel near the ship can be collected, and the path planning in the follow-up link can be more comprehensive, through the cooperation of the first camera, second camera and main control module, the navigation process of ship collision avoidance can be recorded, so that a user cananalyze and feedback the whole collision avoidance process in the later stage, and adjustment or improvement can be timely made. The shooting angles of the first camera and second camera are flexibleand changeable. The camera is convenient to clean through the coordination of a gas nozzle and the cylinder.

Description

technical field [0001] The invention relates to the technical field of ship collision avoidance technology, in particular to a method for ship collision avoidance in narrow waterways based on path planning tracking control. Background technique [0002] With the development of international trade in full swing, the scale and speed of ships are constantly developing, and the ships in narrow waterways are dense and frequent. The route is narrower and congested in the face of faster large ships and super large ships, and it is difficult to maneuver ships. If the magnitude increases, the collision risk of ships will increase greatly when they meet, and collision accidents will occur from time to time; the existing methods of route planning for ship collision avoidance have certain disadvantages in use. The collection of data from the surrounding environment is not conducive to the subsequent planning of the route, and the acquisition of information during the ship's navigation i...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 王仁强孙建明赵越邓华杜加宝
Owner JIANGSU MARITIME INST
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