Autonomous navigation control management system for large unmanned ship

A technology of autonomous navigation and control management, applied in the direction of control/regulation system, two-dimensional position/channel control, non-electric variable control, etc.

Active Publication Date: 2020-10-27
浙江北鲲智能科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The technical problem to be solved by the present invention is: to improve the above-mentioned unsatisfactory problems of the existing unmanned ship autonomous navigation control and management system, and to p...

Method used

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  • Autonomous navigation control management system for large unmanned ship

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Embodiment 1

[0017] Embodiment 1: as figure 1As shown, the autonomous navigation control management system of this large unmanned boat includes the whole ship information subsystem 1, the autonomous navigation control subsystem 2, the maneuvering motion simulation subsystem 3, the autonomous dynamic collision avoidance decision-making planning subsystem 4, and the ship-shore interactive visual display Subsystem 5, signal acquisition subsystem 6 and propulsion controller 7; wherein, the whole ship information subsystem 1 is used to fuse, process and store the signal data detected and collected by the signal acquisition subsystem 6 during navigation, and The stored signal data is transmitted to the maneuvering motion simulation subsystem 3, the autonomous dynamic collision avoidance decision-making planning subsystem 4 and the ship-shore interactive visual display subsystem 5; the autonomous navigation control subsystem 2 includes a multi-mode autonomous navigation adaptive The control modul...

Embodiment 2

[0018] Embodiment 2: The multi-modal autonomous navigation adaptive control module 21 and propeller thrust distribution cooperative control module 22 in the autonomous navigation control subsystem 2 both adopt multi-modal nonlinear robust control algorithms. Specifically, the autonomous navigation control subsystem adopts a multi-modal nonlinear robust control algorithm, cooperates with a multi-modal autonomous navigation nonlinear robust controller, and gives the expected output of the controller to perform stable and accurate control of the ship's autonomous navigation. Tracking control: According to the expected output, the thrust distribution control of the multi-propeller of the ship is carried out to realize the rapid control of the ship's autonomous navigation. The maneuvering motion simulation module 31, the propulsion system simulation module 32, and the motion model interface module 33 in the maneuvering motion simulation subsystem 3 all use hybrid programming to esta...

Embodiment 3

[0019] Embodiment 3: The signal acquisition subsystem 6 includes electronic charts, radars, sonars, photoelectric cameras, GPS / BDS positioning systems, AIS automatic identification systems, meteorological instruments, wind direction instruments, speed logs, and combination inertial measurement instrument. Specifically, the electronic chart is used to provide the geographical environment information of the sea area, the radar, sonar, and photoelectric camera are used to obtain the environmental information of the sailing sea area and the relative position information of other ships in the past, and the GPS / BDS positioning system and the combined inertial measurement instrument It is used to obtain accurate position and course information of the unmanned ship, the AIS automatic identification system is used to provide the movement state information of other ships in the past and the ship type, scale, and draft information, and the weather instrument is used to predict the weather...

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Abstract

The invention relates to an autonomous navigation control management system for a large unmanned ship. The autonomous navigation control management system comprises a whole ship information subsystem,an autonomous navigation control subsystem, an operation motion simulation subsystem, an autonomous dynamic collision avoidance decision planning subsystem, a ship-shore interaction visual display subsystem, a signal acquisition subsystem and a propulsion controller, wherein the signal acquisition subsystem acquires the ship and marine environment information and transmits the ship and marine environment information to the whole ship information subsystem for information fusion, the whole ship information subsystem transmits the fused information to the manipulation motion simulation subsystem, the autonomous dynamic collision avoidance decision planning subsystem and the ship-shore interaction visual display subsystem for calculation, and the ship-shore interaction visual display subsystem receives active planning and control of the shore base through network communication. The autonomous navigation control management system of the large unmanned ship realizes autonomous collision avoidance decision and real-time simulation verification in the control process, and perfects shore-based joint control and real-time monitoring.

Description

technical field [0001] The invention relates to the technical field of unmanned ship control, in particular to a large-scale unmanned ship autonomous navigation control management system. Background technique [0002] The main causes of ship accidents at sea come from improper judgment of the ship itself and environmental factors by the crew on board and mistakes in human decision-making and control. In addition, the personnel costs of ship sea operations are high, the demand for senior crew is large, and the living and working space of the crew accounts for a large proportion of the ship space. Reduced sea transportation efficiency. Unmanned ship navigation technology can effectively solve the above problems, and the navigation control management system with autonomous navigation and independent decision-making is a key link in unmanned ship control technology. Chinese patent CN108489492A discloses a path planning system for unmanned boats considering sea conditions. The p...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 母海方
Owner 浙江北鲲智能科技有限公司
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