Intelligent ship operation mode switching method and device, electronic equipment and storage medium

Abstract

The invention provides an intelligent ship operation mode switching method and device, electronic equipment and a storage medium, and the method comprises the steps: switching a driving mode to a manual driving mode under the condition that a ship is detected to be in a berthing and unberthing stage; in the berthing and leaving process of the ship, first environment information around the ship is obtained in real time, and under the condition that the first environment information meets the first mode switching condition, the driving mode is switched to the auxiliary driving mode from the manual driving mode; under the condition that the ship is detected to be in the port entering and leaving stage, the driving mode is switched to a remote driving mode; and under the condition that the ship is detected to be in the marine sailing stage, the driving mode is switched to the autonomous sailing mode. Dynamic mode switching of the ship can be carried out according to different navigation environments and conditions, limitation of a traditional single operation mode is avoided, and adaptability and safety of the intelligent ship are improved.

Description

Technical Field

[0001] This application relates to the field of ship navigation technology, and in particular to a method, device, electronic device and storage medium for switching intelligent ship operation modes. Background Technology

[0002] The global shipping industry has an increasing demand for intelligent ships. Currently, most intelligent ships rely on a single operating mode and lack the ability to dynamically switch operating modes according to the environment, equipment status and navigation conditions. As a result, intelligent ships cannot ensure navigation safety in complex waters, bad weather or emergencies.

[0003] Therefore, a new intelligent ship operation mode switching method is urgently needed to solve the above problems. Summary of the Invention

[0004] In view of this, this application provides a method, device, electronic device and storage medium for switching intelligent ship operation modes, which can dynamically switch the ship's operation mode according to different navigation environments and conditions, avoiding the limitations of traditional single operation modes and improving the adaptability and safety of intelligent ships.

[0005] The first aspect of this application provides an intelligent ship operation mode switching method, applied to a ship with multiple driving modes. The driving modes, ranked from low to high intelligence level, include at least a manual driving mode, an assisted driving mode, a remote driving mode, and an autonomous navigation mode. In the remote driving mode, the ship's navigation is controlled by a remote operator through a remote control center. In the autonomous navigation mode, the ship's autonomous navigation is controlled by the ship's intelligent navigation system. The method includes: switching the driving mode to manual driving mode when the ship is detected to be in the berthing / unberthing phase; acquiring first environmental information surrounding the ship in real time during the berthing / unberthing process; switching the driving mode from manual driving mode to assisted driving mode when the first environmental information meets a first mode switching condition; switching the driving mode to remote driving mode when the ship is detected to be in the port entry / exit phase; and switching the driving mode to autonomous navigation mode when the ship is detected to be in the sea navigation phase.

[0006] In one possible implementation, the method further includes: acquiring second environmental information around the ship in real time during the ship's sea voyage; and switching the driving mode from autonomous navigation mode to remote driving mode when the second environmental information meets the second mode switching conditions.

[0007] In one possible implementation, the method further includes: during the ship's sea voyage, detecting whether a first warning message has been received, wherein the first warning message is sent when the ship is detected to be at a preset distance from the control area; and after receiving the first warning message, switching the driving mode from autonomous navigation mode to manual driving mode or remote driving mode.

[0008] In one possible implementation, the method further includes: when the vessel is in remote driving mode, detecting whether the communication link between the vessel and the remote control center meets preset communication requirements; if the preset communication requirements are not met, switching the driving mode from remote driving mode to assisted driving mode.

[0009] In one possible implementation, the method further includes: when the vessel is in autonomous navigation mode, detecting whether a target sensor has malfunctioned, wherein the target sensor includes at least an environmental perception sensor for collision avoidance and a positioning and orientation sensor for navigation; and if a malfunction of the target sensor is detected, switching the driving mode from autonomous navigation mode to assisted driving mode.

[0010] In one possible implementation, the method further includes: when the vessel is in assisted driving mode, detecting whether a second warning message indicating a malfunction of the intelligent navigation system is received; and if the second warning message is received, switching the driving mode from assisted driving mode to manual driving mode.

[0011] In one possible implementation, the remote driving mode includes an R1 level remote driving mode with an emergency crew member on the ship's side and an R2 level remote driving mode without an emergency crew member on the ship's side; the autonomous navigation mode includes an A1 level autonomous navigation mode from anchorage to anchorage, an A2 level autonomous navigation mode from anchorage to anchorage and remote control of entering and leaving the port, and an A3 level autonomous navigation mode from berth to berth with full autonomy.

[0012] Secondly, this application also provides an intelligent ship operation mode switching device, applied to ships with multiple driving modes. These driving modes, ranked from low to high intelligence level, include at least manual driving mode, assisted driving mode, remote driving mode, and autonomous navigation mode. In the remote driving mode, a remote operator controls the ship's navigation through a remote control center. In the autonomous navigation mode, the ship's intelligent navigation system controls the ship's autonomous navigation. The intelligent ship operation mode switching device includes a first switching module, an environment acquisition module, a second switching module, a third switching module, and a fourth switching module. The first switching module switches the driving mode to manual driving mode when the ship is detected to be in the berthing / unberthing phase. The environment acquisition module acquires first environmental information surrounding the ship in real time during berthing / unberthing. The second switching module switches the driving mode from manual driving mode to assisted driving mode when the first environmental information meets the first mode switching conditions. The third switching module switches the driving mode to remote driving mode when the ship is detected to be in the port entry / exit phase. The fourth switching module switches the driving mode to autonomous navigation mode when the ship is detected to be in the sea navigation phase.

[0013] Thirdly, embodiments of this application also provide an electronic device, which includes a processor and a memory. The memory is used to store instructions, and the processor is used to call the instructions in the memory to cause the electronic device to execute the intelligent ship operation mode switching method as described in the first aspect.

[0014] Fourthly, embodiments of this application also provide a computer-readable storage medium that stores computer instructions that, when executed on an electronic device, cause the electronic device to perform the intelligent ship operation mode switching method as described in the first aspect.

[0015] Compared with related technologies, the embodiments of this application have at least the following advantages: by setting the ship to have multiple driving modes, and the driving modes including at least manual driving mode, assisted driving mode, remote driving mode and autonomous navigation mode according to the intelligence level from low to high, the driving mode is switched to manual driving mode when the ship is detected to be in the berthing or unberthing stage; switched to remote driving mode when the ship is detected to be in the port entry or exit stage; and switched to autonomous navigation mode when the ship is detected to be in the sea navigation stage. This achieves a deep integration of the operation mode and the ship's operation stage. This strategy of dynamically matching the optimal mode avoids inefficient operation or high-risk operation in the traditional single mode, improves operating efficiency and rational use of energy, and enhances the ship's adaptability to complex environments. Furthermore, by acquiring real-time information about the surrounding environment during berthing and unberthing, and switching the driving mode from manual to assisted driving when the environmental information meets the conditions for switching to the first mode, the system can dynamically switch the ship's operating mode according to the complexity of the navigation environment. This ensures that the ship can quickly switch to the safest and most reliable operating mode in any emergency, greatly improving the ship's emergency response capabilities and navigation safety.

[0016] The technical effects achieved by the second, third, and fourth aspects mentioned above are similar to those achieved by the corresponding technical means in the first aspect, and will not be repeated here. Attached Figure Description

[0017] Figure 1 A flowchart illustrating the steps of a method for switching operating modes of an intelligent ship provided in an embodiment of this application; Figure 2 This is a schematic diagram of driving mode switching provided in an embodiment of this application; Figure 3 This is a functional block diagram of an intelligent ship operation mode switching device provided in an embodiment of this application; Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0018] To better understand the above-mentioned objectives, features, and advantages of this application, the application will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0019] The following description sets forth many specific details to provide a full understanding of this application. The described embodiments are only some, not all, of the embodiments of this application.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the specification of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application.

[0021] It should be further noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0022] In this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and drawings of this application are used to distinguish similar objects, not to describe a specific order or sequence.

[0023] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0024] For ease of understanding, some concepts related to the embodiments of this application are illustrated and explained by way of example for reference.

[0025] R1-level remote control mode: The ship is equipped with an emergency crew member at the bow, and the main functions are controlled by a remote control station. The crew member can take over in an emergency. It is suitable for fixed routes.

[0026] R2 level remote driving mode: No crew on board, fully controlled by a remote control station, equipped with redundant systems, suitable for closed / semi-closed waters with controllable traffic flow.

[0027] Please refer to Figure 1 , Figure 1This is a flowchart illustrating the steps of an embodiment of the intelligent ship operation mode switching method of this application. Depending on different requirements, the order of the steps in this flowchart can be changed, and some steps can be omitted.

[0028] It should be noted that the intelligent ship operation mode switching method of this application embodiment can be applied to ship navigation scenarios, and its execution subject can be a ship with multiple driving modes. For example, during ship navigation, the ship can dynamically switch operation modes. Of course, the intelligent ship operation mode switching method of this application embodiment can also be applied to other scenarios that require intelligent ship operation mode switching, and this application does not specifically limit it.

[0029] It should be noted that the driving modes, ranked from lowest to highest intelligence level, include at least manual driving mode, assisted driving mode, remote driving mode, and autonomous navigation mode; among them, the remote driving mode is controlled by a remote operator through a remote control center, and the autonomous navigation mode is controlled by the ship's intelligent navigation system to navigate autonomously.

[0030] Please refer to Figure 2 The diagram below illustrates the driving mode switching provided in this application embodiment. Manual driving mode (M): The crew on board implements motion control of the ship through the bridge system. The intelligent navigation system only provides data assistance and does not participate in navigation decision-making or control. This mode is suitable for situations where the intelligent navigation system malfunctions, complex maneuvering scenarios, or mandatory requirements of navigation rules.

[0031] Assisted Driving Mode (T): The intelligent navigation system provides navigational decision support to reduce the crew's operational burden, but only has auxiliary decision-making authority; key decisions still require crew confirmation. Suitable for general navigation in open waters.

[0032] Remote piloting mode (R): This includes R1 level remote piloting mode with an emergency crew member on board and R2 level remote piloting mode without an emergency crew member on board. The vessel is controlled remotely by a remote operator through a remote piloting center, and is suitable for fixed routes and waters with controllable traffic flow.

[0033] Autonomous navigation modes (A): These include A1 level autonomous navigation mode (anchorage-to-anchorage), A2 level autonomous navigation mode (anchorage-to-anchorage and remote-controlled entry and exit from port), and A3 level autonomous navigation mode (berth-to-berth with full autonomy). The intelligent navigation system controls the vessel's autonomous navigation, while personnel at a remote control station monitor the process.

[0034] The specific process of this embodiment is as follows: Figure 1 As shown, it includes the following steps: S101, when the vessel is detected to be in the berthing or unberthing phase, the driving mode is switched to manual driving mode.

[0035] S102: During the berthing and unberthing process of the ship, the first environmental information around the ship is acquired in real time. If the first environmental information meets the first mode switching conditions, the driving mode is switched from manual driving mode to assisted driving mode.

[0036] In some embodiments, the first environmental information is used to characterize the operational environment risks of berthing and unberthing. The first mode switching condition refers to the first environmental information indicating that the safety requirements for assisted driving are met (e.g., open channel, controllable interference from other vessels, good weather and sea conditions, and normal sensor functionality). When the first environmental information meets the first mode switching condition, the driving mode is switched from manual driving mode to assisted driving mode to reduce the operational burden on the crew. If, during assisted driving, the first environmental information no longer meets the switching condition (i.e., the environment becomes complex or sensors fail), the system should switch back to manual driving mode.

[0037] S103, when the vessel is detected to be in the process of entering or leaving port, the driving mode is switched to remote driving mode.

[0038] In some embodiments, the intelligent navigation system determines whether a vessel is entering complex scenarios such as "narrow waterways," "berthing and unberthing operations," or "entering and leaving port" primarily by real-time comparison between the vessel's positioning system and electronic chart data. The vessel's Positioning, Navigation, and Timing (PNT) system compares its position with data from an Electronic Chart and Display System (ECDIS) or an inland waterway chart system. These charts pre-define the precise geographical areas of "narrow waterways," "entering and leaving port," and "berthing and unberthing" areas. When the system detects that the vessel's real-time position or planned trajectory is about to enter these pre-defined complex areas, it triggers a scenario determination.

[0039] In some embodiments, the intelligent navigation system also uses advanced sensing devices for auxiliary confirmation, such as the "full-range autonomous navigation" (Nn) function mentioned in the specification, which explicitly requires that ships must have the ability to "sense the distance between the ship, stern, and shore" and be equipped with "near-range detection devices, such as lidar" for this purpose. When these sensors (such as radar, lidar, or vision systems) continuously detect that the distance between the ship and the dock, shoreline, or channel boundary (buoy) is below a safe threshold, it will also be determined that the ship has entered a berthing / unberthing, narrow waterway, or port entry / exit scenario.

[0040] S104: If the ship is detected to be in the sea navigation phase, switch the driving mode to autonomous navigation mode.

[0041] It should be noted that during the loading and unloading phase, the ship and port equipment automatically coordinate with each other, and the shore-based control center remotely monitors the cargo status, realizes intelligent loading optimization and automatic loading and unloading control.

[0042] In some embodiments, during the ship's navigation at sea, second environmental information around the ship is acquired in real time; when the second environmental information meets the second mode switching conditions, the driving mode is switched from autonomous navigation mode to remote driving mode.

[0043] Specifically, the second environmental information meets the conditions for switching to the second mode, including: the vessel entering complex waters, such as a narrow channel, abnormally busy vessel traffic (e.g., within a VTS control area), or an increase in obstructions; natural conditions, such as encountering severe weather, such as heavy fog, heavy rain, heavy snow, or strong winds and waves (these weather conditions can severely interfere with the performance of sensors, leading to unreliable environmental perception data); and sudden situations, such as the sudden appearance of obstacles in the channel, abnormal navigation trajectories of other vessels (e.g., violations of collision avoidance rules), or receiving regional emergency safety warnings, which may exceed the preset emergency response capabilities of the autonomous system.

[0044] If any of the above scenarios occur, causing the autonomous navigation mode to be determined to no longer (or soon to be no longer) the safest and most reliable operating mode, the system will initiate a switchover if the ship-to-shore communication link is in good condition, downgrading to remote driving mode and transferring control of the ship to a professional operator in the remote control center to deal with the current complex environment.

[0045] In some embodiments, during the ship's navigation at sea, it is detected whether a first warning message has been received, wherein the first warning message is sent when the ship is detected to be at a preset distance from the control area; after receiving the first warning message, the driving mode is switched from autonomous navigation mode to manual driving mode or remote driving mode.

[0046] Specifically, military control zones and similar areas are clearly marked on official electronic nautical charts (ENC). The ship's ECDIS system compares the ship's position with the chart data in real time and issues an audible and visual warning before the expected entry into the control zone (e.g., 30 minutes in advance), prompting the ship to switch modes. Furthermore, when a ship navigates to an area where regulations require it to be under remote monitoring, the ship switches its navigation mode from autonomous navigation to remote control mode.

[0047] In some embodiments, when the vessel is in remote driving mode, it is detected whether the communication link between the vessel and the remote control center meets the preset communication requirements; if the preset communication requirements are not met, the driving mode is switched from remote driving mode to assisted driving mode.

[0048] Specifically, when a vessel is in remote control mode, the remote control station monitors and controls it by receiving the vessel's status information. This mode relies on "effective voice and data communication" between the ship and shore. Regulations require that this communication link meet specific "bandwidth and rate requirements." The "threshold" refers to a pre-set maximum acceptable limit for safe, real-time operation where latency (or packet loss rate) exceeds this limit; at this point, communication is considered "unacceptably high latency." When latency exceeds this threshold or the link is interrupted, it means the remote control function has failed or is unreliable, requiring a downgrade to assisted driving mode.

[0049] In some embodiments, when the vessel is in autonomous navigation mode, a target sensor is detected to determine if it has malfunctioned. The target sensor includes at least an environmental perception sensor for collision avoidance and a positioning and orientation sensor for navigation. If a target sensor malfunction is detected, the driving mode is switched from autonomous navigation mode to assisted driving mode.

[0050] In some embodiments, when the vessel is in autonomous navigation mode or remote control mode, the system may also send a takeover request. This occurs when the system's (whether autonomous or remote control) self-diagnostic process (self-test) detects a critical fault that prevents it from continuing to perform its control duties safely and reliably. For example, for autonomous navigation mode, the specification stipulates that "when a fault in the sensing system or autonomous navigation system ultimately impairs the vessel's autonomous navigation capability, an alarm should be issued, and onboard personnel should intervene and take over the vessel's navigation operations." Similarly, for remote control mode, "when the remote control function is affected due to a fault in the vessel or remote control station system," or when the remote control system "cannot perform its intended function," the system will also issue an alarm and request onboard personnel to take over. Therefore, a takeover request is an automatic mandatory intervention instruction issued by the system to a human operator when critical components (such as sensors, controllers, and communication links) fail or degrade in performance, preventing the system from ensuring safe operation.

[0051] In some embodiments, when the ship is in assisted driving mode, it detects whether a second warning message indicating a malfunction of the intelligent navigation system is received; if the second warning message is received, the driving mode is switched from assisted driving mode to manual driving mode.

[0052] It is worth mentioning that this embodiment constructs a multi-layered, dynamically switchable operating mode system, thereby significantly improving the ship's adaptability, reliability, and navigation safety. This invention provides four basic modes: manual driving, assisted driving, remote driving (R1 and R2 levels), and autonomous navigation (A1, A2, and A3 levels), as well as multiple refined modes. Simultaneously, a mode switching control module is designed, capable of dynamically switching based on system fault states, navigation environment complexity, communication link status, and navigation rule requirements. By establishing a fault-switching mechanism—for example, switching to manual driving when the intelligent navigation system malfunctions, and switching from remote driving to manual driving when the communication link is interrupted—it ensures that the ship can quickly switch to the safest and most reliable operating mode in any emergency, greatly improving the ship's emergency response capabilities and navigation safety. This solves the fundamental problem of existing technologies failing to ensure navigation safety in complex waters or under sudden fault conditions.

[0053] It should also be noted that the remote navigation control center in this embodiment includes an airline remote navigation control center and a regional remote navigation control center. The airline remote navigation control center is responsible for port-to-port maritime navigation control, while the regional remote navigation control center is responsible for vessel navigation control in sensitive areas. The remote navigation control station includes a remote monitoring module, a remote intervention module, and a remote control module, used to achieve a one-stop monitoring and management mode for multiple vessels. Specifically, the remote navigation control center is used to exchange information with intelligent vessels through a wireless communication network to achieve remote supervision and control of intelligent vessels; the intelligent navigation system is used to provide navigation decision support in assisted driving mode, receive remote control commands in remote driving mode, and autonomously make navigation decisions and control in autonomous navigation mode. By setting up a monitoring and management mode that supports one-stop control of multiple vessels, with remote navigation control centers (airline level and regional level) and remote navigation control stations equipped with remote monitoring, intervention, and control modules, multi-vessel coordinated control and centralized navigation management become possible, simplifying the management of dispersed vessels, improving the efficiency and accuracy of shipping management, and also enhancing the stability and ease of control of the overall shipping system through unified management by the remote navigation control center.

[0054] Compared with related technologies, the embodiments of this application have at least the following advantages: by setting the ship to have multiple driving modes, and the driving modes including at least manual driving mode, assisted driving mode, remote driving mode and autonomous navigation mode according to the intelligence level from low to high, the driving mode is switched to assisted driving mode when the ship is detected to be in the berthing or unberthing stage; switched to remote driving mode when the ship is detected to be in the port entry or exit stage; and switched to autonomous navigation mode when the ship is detected to be in the sea navigation stage. This achieves a deep integration of the operation mode and the ship's operation stage. This strategy of dynamically matching the best mode avoids inefficient operation or high-risk operation in the traditional single mode, improves operating efficiency and rational use of energy, and enhances the ship's adaptability to complex environments. Furthermore, by acquiring real-time information about the surrounding environment during berthing and unberthing, and switching the driving mode from assisted driving mode to manual driving mode when the environmental information meets the conditions for switching the first mode, the system can dynamically switch the ship's operating mode according to the complexity of the navigation environment. This ensures that the ship can quickly switch to the safest and most reliable operating mode in any emergency, greatly improving the ship's emergency response capabilities and navigation safety.

[0055] Based on the same idea as the intelligent ship operation mode switching method in the above embodiments, this application also provides an intelligent ship operation mode switching device. This device is applied to ships with multiple driving modes, which, in order of increasing intelligence level, include at least manual driving mode, assisted driving mode, remote driving mode, and autonomous navigation mode. The intelligent ship operation mode switching device can be used to execute the aforementioned intelligent ship operation mode switching method. For ease of explanation, the structural schematic diagram of the intelligent ship operation mode switching device embodiment only shows the parts related to the embodiments of this application. Those skilled in the art will understand that the illustrated structure does not constitute a limitation on the device, and it may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0056] like Figure 3 As shown, the intelligent ship operation mode switching device 30 includes a first switching module 301, an environment acquisition module 302, a second switching module 303, a third switching module 304, and a fourth switching module 305. In some embodiments, the above modules can be programmable software instructions stored in memory and executable by a processor. It is understood that in other embodiments, the above modules can also be program instructions or firmware embedded in the processor.

[0057] The first switching module 301 is used to switch the driving mode to manual driving mode when the vessel is detected to be in the berthing or unberthing phase. The environment acquisition module 302 is used to acquire first environmental information around the ship in real time during the berthing and unberthing process of the ship; The second switching module 303 is used to switch the driving mode from manual driving mode to assisted driving mode when the first environmental information meets the first mode switching conditions. The third switching module 304 is used to switch the driving mode to remote driving mode when the vessel is detected to be in the port entry or exit phase. The fourth switching module 305 is used to switch the driving mode to autonomous navigation mode when the vessel is detected to be in the sea navigation phase.

[0058] The intelligent ship operation mode switching device 30 provided in the above embodiments can realize the technical solutions described in the above intelligent ship operation mode switching method embodiments. The specific implementation principles of each module or unit can be found in the corresponding content in the above intelligent ship operation mode switching method embodiments, which will not be repeated here.

[0059] Please refer to Figure 4 , Figure 4 This is a schematic diagram of an embodiment of the electronic device of this application. In this embodiment of the invention, the electronic device 400 includes a processor 401, a memory 402, and a display 403. Figure 4 Only some components of the electronic device 400 are shown, but it should be understood that it is not required to implement all the components shown, and more or fewer components may be implemented instead.

[0060] In some embodiments, processor 401 may be a central processing unit (CPU), microprocessor, or other data processing chip, used to run program code stored in memory 402 or process data, such as the intelligent ship operation mode switching method of the present invention.

[0061] In some embodiments, processor 401 may be a single server or a group of servers. The server group may be centralized or distributed. In some embodiments, processor 401 may be local or remote. In some embodiments, processor 401 may be implemented on a cloud platform. In one embodiment, the cloud platform may include a private cloud, public cloud, hybrid cloud, community cloud, distributed cloud, inter-cloud, multi-cloud, or any combination thereof.

[0062] In some embodiments, memory 402 may be an internal storage unit of electronic device 400, such as a hard disk or memory of electronic device 400. In other embodiments, memory 402 may also be an external storage device of electronic device 400, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc. equipped on electronic device 400.

[0063] Furthermore, the memory 402 may include both internal storage units of the electronic device 400 and external storage devices. The memory 402 is used to store application software and various types of data installed on the electronic device 400.

[0064] In some embodiments, display 403 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen. Display 403 is used to display information from electronic device 400 and to display visual user applications. Components 401-403 of electronic device 400 communicate with each other via a system bus.

[0065] In one embodiment, when the processor 401 executes the intelligent ship operation mode switching program in the memory 402, the following steps can be implemented: When the vessel is detected to be in the berthing or unberthing phase, the driving mode is switched to manual driving mode; during the berthing or unberthing process, the first environmental information around the vessel is acquired in real time, and when the first environmental information meets the first mode switching conditions, the driving mode is switched from manual driving mode to assisted driving mode. If the vessel is detected to be in the port entry / exit phase, the driving mode will be switched to remote driving mode; If the vessel is detected to be in a sea navigation phase, the driving mode will be switched to autonomous navigation mode.

[0066] It should be understood that when the processor 401 executes the intelligent ship operation mode switching program in the memory 402, in addition to the functions mentioned above, it can also perform other functions, as can be found in the description of the corresponding method embodiments above.

[0067] Furthermore, this embodiment of the invention does not specifically limit the type of electronic device 400 mentioned. Electronic device 400 can be a mobile phone, tablet computer, personal digital assistant (PDA), wearable device, laptop computer, or other portable electronic device. Exemplary embodiments of portable electronic devices include, but are not limited to, portable electronic devices running iOS, Android, Microsoft, or other operating systems. The aforementioned portable electronic device can also be other portable electronic devices, such as a laptop computer with a touch-sensitive surface (e.g., a touch panel). It should also be understood that in some other embodiments of the invention, electronic device 400 may not be a portable electronic device, but rather a desktop computer with a touch-sensitive surface (e.g., a touch panel).

[0068] Accordingly, this application also provides a computer-readable storage medium for storing computer-readable programs or instructions. When the programs or instructions are executed by a processor, they can implement the steps or functions of the intelligent ship operation mode switching methods provided in the above-described method embodiments.

[0069] Those skilled in the art will understand that all or part of the processes of the methods described in the above embodiments can be implemented by a computer program instructing related hardware (such as a processor, controller, etc.), and the computer program can be stored in a computer-readable storage medium. The computer-readable storage medium may be a disk, optical disk, read-only memory, or random access memory, etc.

[0070] The above provides a detailed description of the intelligent ship operation mode switching method, device, electronic equipment, and storage medium provided in this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A method for switching an intelligent ship operation mode, characterized by, The application is applied to a ship with multiple driving modes, which include at least manual driving mode, assisted driving mode, remote driving mode and autonomous navigation mode from low to high according to intelligent level; The remote driving mode is controlled by a remote operator through a remote control center, and the autonomous navigation mode is controlled by an intelligent navigation system of the ship. The method comprises: When the ship is in the berthing and unberthing stage, the driving mode is switched to the manual driving mode; during the berthing and unberthing process of the ship, the first environment information around the ship is acquired in real time, and when the first environment information meets the first mode switching condition, the driving mode is switched from the manual driving mode to the assisted driving mode; When the ship is in the entering and leaving port stage, the driving mode is switched to the remote driving mode; When the ship is in the sea navigation stage, the driving mode is switched to the autonomous navigation mode.

2. The intelligent ship operation mode switching method according to claim 1, characterized in that, The method further comprises: During the sea navigation of the ship, the second environment information around the ship is acquired in real time; When the second environment information meets the second mode switching condition, the driving mode is switched from the autonomous navigation mode to the remote driving mode.

3. The intelligent ship operation mode switching method according to claim 1, characterized in that, The method further comprises: During the sea navigation of the ship, it is detected whether the first early warning information is received, wherein the first early warning information is sent when it is detected that the ship is at a preset distance from the control area; After receiving the first early warning information, the driving mode is switched from the autonomous navigation mode to the manual driving mode or the remote driving mode.

4. The intelligent ship operating mode switching method according to any one of claims 1 to 3, characterized in that, The method further comprises: When the ship is in the remote driving mode, it is detected whether the communication link between the ship and the remote control center meets the preset communication requirement; When it is detected that the preset communication requirement is not met, the driving mode is switched from the remote driving mode to the assisted driving mode.

5. The intelligent ship operating mode switching method according to claim 1, characterized in that, The method further comprises: When the ship is in the autonomous navigation mode, it is detected whether the target sensor fails, wherein the target sensor at least includes an environment perception sensor for collision avoidance and a positioning and orientation sensor for navigation; When it is detected that the target sensor fails, the driving mode is switched from the autonomous navigation mode to the assisted driving mode.

6. The intelligent ship operating mode switching method according to claim 1, characterized by, The method further comprises: When the ship is in the assisted driving mode, it is detected whether the second early warning information representing that the intelligent navigation system fails is received; When the second early warning information is received, the driving mode is switched from the assisted driving mode to the manual driving mode.

7. The intelligent ship operating mode switching method according to claim 1, characterized by, The remote driving mode includes R1 level remote driving mode with emergency crew at the ship end and R2 level remote driving mode without emergency crew at the ship end; The autonomous navigation mode includes A1 level autonomous navigation mode from anchorage to anchorage, A2 level autonomous navigation mode from anchorage to anchorage and remote control entering and leaving port, and A3 level autonomous navigation mode from berth to berth.

8. An intelligent ship operation mode switching device, characterized by, The application is applied to a ship with multiple driving modes, and the driving modes include at least manual driving mode, auxiliary driving mode, remote driving mode and autonomous navigation mode from low to high according to intelligent level; The remote driving mode is controlled by a remote operator through a remote control center, and the autonomous navigation mode is controlled by an intelligent navigation system of the ship to autonomously navigate the ship; The intelligent ship operation mode switching device includes a first switching module, an environment acquisition module, a second switching module, a third switching module and a fourth switching module; The first switching module is used to switch the driving mode to the manual driving mode when it is detected that the ship is in the berthing and unberthing stage; The environment acquisition module is used to acquire first environment information around the ship in real time during the berthing and unberthing process of the ship; The second switching module is used to switch the driving mode from the manual driving mode to the auxiliary driving mode when the first environment information meets the first mode switching condition; The third switching module is used to switch the driving mode to the remote driving mode when it is detected that the ship is in the in-port and out-port stage; The fourth switching module is used to switch the driving mode to the autonomous navigation mode when it is detected that the ship is in the sea navigation stage. 9.An electronic device comprising a processor and a memory, wherein, The memory is used to store instructions, and the processor is used to call the instructions in the memory, so that the electronic device executes the intelligent ship operation mode switching method in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions, and when the computer instructions run on the electronic device, the electronic device executes the intelligent ship operation mode switching method in any one of claims 1 to 7.

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