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Multi-ship encounter collision prevention method for dynamic searching intelligent ship

A dynamic search and ship technology, applied in the direction of non-electric variable control, two-dimensional position/channel control, instruments, etc., can solve the problems of poor practicability and achieve the effect of ensuring safety

Active Publication Date: 2019-07-05
智慧航海(青岛)科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to solve the technical problem that the existing technology only considers two factors of DCPA and TCPA and only considers pairwise collision avoidance, it is not suitable for intelligent ship multi-ship avoidance and has poor practicability, the present invention provides a dynamic search intelligent ship multi-ship collision avoidance method

Method used

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  • Multi-ship encounter collision prevention method for dynamic searching intelligent ship
  • Multi-ship encounter collision prevention method for dynamic searching intelligent ship
  • Multi-ship encounter collision prevention method for dynamic searching intelligent ship

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Embodiment

[0063] Such as figure 1 As shown, the present embodiment provides a dynamic search intelligent ship multi-vessel collision avoidance method:

[0064] S1. Obtain the current position information, rotational angular velocity, ship speed and captain of the own ship and multiple incoming ships respectively, determine the ship dynamic circle according to the captains of the own ship and multiple incoming ships, and obtain the ship motion conflict radius R according to the ship dynamic circle ;

[0065] Specifically, for example, smart ships are equipped with sensors such as GPS, AIS, and radar. With the help of sensors loaded on smart ships, the current position information, rotational angular velocity, ship speed and captain of the ship and the incoming ship are obtained. It needs to be calculated, and the conflict radius of the ship motion is actually the distance between the two ships when the ship motion boundary of the own ship and the incoming ship is tangent; in this embodi...

Embodiment 2

[0109] On the basis of Embodiment 1, it also includes between steps S2 and S3:

[0110] Determine the encounter situation between the own ship and all the incoming ships, calculate the collision risk between the own ship and all the incoming ships, and obtain key avoiding ships according to the collision risk.

[0111] Correspondingly, in step S6 also includes:

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Abstract

The invention relates to a multi-ship encounter collision prevention method for a dynamic searching intelligent ship. The multi-ship encounter collision prevention method comprises the steps of: S1, acquiring current position information, revolution angular speeds, ship speeds, ship lengths and ship motion conflict radii of the present ship and a plurality of coming ships; S2 acquiring a positionset of the coming ships as well as navigational speed and revolution angular speed ranges of the present ship at a next moment; S3, acquiring a predicted navigational point set through combining the navigational speed and the revolution angular speeds; S4, acquiring a distance evaluation function value of a predicted navigational point and the coming ships; S5, determining whether a brake distanceof the present ship is less than the distance evaluation function value, if so, recording the predicted navigational point, otherwise, activating emergent brake of the present ship; S6, and calculating an overall evaluation function value of the recorded predicted navigational points, acquiring the optimal navigational speed and the optimal revolution angular speed, and returning to the step S1 until reaching a target point. The multi-ship encounter collision prevention method combines with a ship moving boundary, can stop the ship for treatment in an urgent situation, effectively guaranteesthe safety of the intelligent ship, selecting collision prevention and navigation resume according to the evaluation function, and is high in reliability.

Description

technical field [0001] The invention relates to the field of intelligent ship navigation control, in particular to a dynamic search method for avoiding collisions between multiple ships of an intelligent ship. Background technique [0002] Smart ships refer to the use of technical means such as sensors, communications, the Internet of Things and the Internet to automatically perceive and obtain multi-party information and data such as the ship itself, the marine environment, logistics, ports, etc., and based on computer technology, automatic control technology and big data processing and analysis technology , A ship that realizes unmanned and intelligent operation in terms of ship navigation, management, maintenance, and cargo transportation. The problem of collision avoidance of ships at sea has always been a key research field of marine science and technology. Due to the influence of factors such as navigation waters, sea conditions, meteorological conditions, dense traffi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 王晓原夏媛媛姜雨函刘亚奇董晓斐伯佳更朱慎超
Owner 智慧航海(青岛)科技有限公司
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