Comprehensive driving management and auxiliary navigation system

Abstract

The invention discloses a comprehensive driving management and auxiliary navigation system, and relates to the technical field of ship navigation, the comprehensive driving management and auxiliary navigation system comprises a comprehensive driving control module, an auxiliary navigation module, a ship-shore communication module, a shore-based cooperation module, a data center and a shipborne device, the driving control module, the auxiliary navigation module, the ship-shore communication module and the shore-based cooperation module are electrically connected with the data center; the data center is electrically connected with the shipborne equipment, the comprehensive driving control module is used for comprehensive driving control of a ship, the auxiliary navigation module is used for providing auxiliary navigation decisions, the ship-shore communication module is used for realizing ship-shore information interaction, and the shore-based cooperation module is used for carrying out shore-based support on navigation of the ship. The data center is used for storing and processing navigation data, the shipborne equipment is used for collecting and executing various instructions, the comprehensive driving control module comprises a ship comprehensive information display module and a comprehensive alarm module, and the system has the advantage of integrating navigation, decision making and cooperation.

Description

Technical Field

[0001] The present invention relates to the field of ship navigation technology, and in particular to a comprehensive driving management and auxiliary navigation system. Background Art

[0002] The ship's integrated driving management and auxiliary navigation system is one of the core equipment of modern ships. It integrates various navigation instruments, sensors and information processing equipment to provide comprehensive information support and auxiliary decision-making functions for ship navigation, ensuring the safe and efficient navigation of ships.

[0003] In the existing technology, there are many types of ship equipment, which are independent of each other and have scattered displays, which increases the burden on ship operators, is not conducive to quick decision-making, has a low degree of navigation intelligence, is difficult to fully utilize effective information, has no effective early warning means, is difficult to focus on safety and efficiency at the same time, and has poor data transmission, resulting in information islands and a lack of remote and ship-shore collaboration. Therefore, it is necessary to design a comprehensive driving management and auxiliary navigation system that integrates navigation, decision-making and collaboration. Summary of the invention

[0004] The purpose of the present invention is to provide a comprehensive driving management and auxiliary navigation system to solve the problems raised in the above-mentioned background technology.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions: an integrated driving management and assisted navigation system, including an integrated driving control module, an assisted navigation module, a ship-shore communication module, a shore-based coordination module, a data center, and shipborne equipment. The driving control module, the assisted navigation module, the ship-shore communication module, and the shore-based coordination module are all electrically connected to the data center, and the data center is electrically connected to the shipborne equipment. The integrated driving control module is used for comprehensive driving and control of the ship, the assisted navigation module is used to provide navigation auxiliary decision-making, the ship-shore communication module is used to realize ship-shore information exchange, the shore-based coordination module is used to provide shore-based support for the ship's navigation, the data center is used to store and process navigation data, and the shipborne equipment is used to collect and execute various instructions.

[0006] According to the above technical solution, the integrated driving control module includes a ship integrated information display module and a integrated alarm module. The ship integrated information display module is used to centrally display various navigation information, and the integrated alarm module is used to uniformly alarm abnormal situations.

[0007] The auxiliary navigation module includes a Beidou positioning module, a collision avoidance auxiliary warning module, and an auxiliary mooring module. The collision avoidance auxiliary warning module is electrically connected to the comprehensive alarm module. The Beidou positioning module is used to provide accurate real-time position information of the ship. The collision avoidance auxiliary warning module is used to monitor the surrounding environment of the ship and warn of potential collision risks. The auxiliary mooring module is used to provide mooring auxiliary information and operation guidance to help the crew complete the mooring operation safely and efficiently;

[0008] The ship-shore communication module includes an ultra-short wave communication module, a Beidou communication terminal, and a communication intelligent switching module. The ultra-short wave communication module is electrically connected to the Beidou communication terminal, and the Beidou communication terminal is electrically connected to the communication intelligent switching module. The ultra-short wave communication module is used to realize voice and data communication between the ship and a close target by using ultra-short waves. The Beidou communication terminal is used to realize remote communication between the ship and the shore or other ships through the Beidou satellite system. The communication intelligent switching module is used to automatically switch between different communication modes according to signal quality and communication requirements;

[0009] The shore-based collaborative module includes a shore-based collaborative collision avoidance warning module, which is used to use shore-based information and data analysis to provide ships with a wider range and more comprehensive collision avoidance warning information;

[0010] The data center includes a data interface, a security module, a storage module, a data network module, and a redundant backup module. The data interface is responsible for receiving and sending data from each module to realize data exchange within the system. The security module is used to ensure the network security and data security of the data center to prevent unauthorized access and data leakage. The storage module is used to store important information such as navigation data, ship information, system logs, etc., to provide data support for system operation. The data network module is used to build a network environment inside the data center to realize efficient data transmission between modules. The redundant backup module is used to back up key data and equipment to ensure that the system can be quickly restored in the event of a failure, thereby ensuring data security and system stability.

[0011] According to the above technical solution, the shipborne equipment includes a main engine, a hydraulic steering gear, a power station management equipment, a fire alarm system, a radar, an AIS system, a depth sounder, a speedometer, a gyrocompass, a dual-mode positioning device, a weather station, a Beidou Tiantong system, a VSAT system, and a public network communication system.

[0012] According to the above technical scheme, including three-layer network and four-layer information processing technology, the three-layer network includes wireless communication, Ethernet communication, and field bus, and the four-layer information includes information detection layer, control execution layer, information processing layer, and comprehensive decision-making layer. This architecture effectively divides the ship network and data processing architecture, improves the efficiency of data processing and transmission, and greatly improves the portability and scalability of the system.

[0013] According to the above technical solution, the information displayed by the ship comprehensive information display module includes route management information, navigation parameter information, radar AIS fusion information, water depth data information, main engine information, and early warning information. It uses one screen to display as much status, environment and target data as possible during the ship's navigation process, and adds functions such as data analysis and statistics on this basis, so that crew members can more easily obtain effective information in complex usage scenarios and reduce the pressure of ship operation.

[0014] According to the above technical scheme, the collision avoidance auxiliary warning module adopts an intelligent collision avoidance algorithm to work. The algorithm collects the ship's speed, ship position, ship's heading, target ship's heading, target ship's speed, ship distance and related parameter information, and uses the key algorithm for evaluating the collision risk to calculate the future closest distance DCPA between the two ships and the time TCPA to reach the distance to determine whether there is a possibility of collision between the two ships. According to the values ​​of DCPA and TCPA, it is determined whether collision avoidance measures need to be taken and what kind of collision avoidance measures to take. The ship collision objective function and optimization algorithm are used to obtain the optimal solution, and finally the optimal avoidance angle is calculated. The electronic nautical chart is rasterized and managed, and the artificial potential field algorithm is improved by integrating AIS, navigation radar, vision and other data. With reference to the "International Regulations for Preventing Collisions at Sea", multi-mode route optimization is achieved, with timely and effective safety collision avoidance warning and auxiliary berthing functions, which greatly improves navigation safety and reduces the false alarm rate.

[0015] According to the above technical scheme, the collision avoidance auxiliary warning module obtains the ship position, heading, speed dynamic information of AIS and the redundant information of ship distance and azimuth data measured by ARPA based on the target length, type, draft, destination and estimated arrival time data, combined with the radar system through the radar target echo to reflect the size and shape of the target, the traffic image of the panoramic water area, including all moving targets and stationary and fixed targets, and other environmental information. It innovatively adopts time-space synchronization and situation prediction algorithms, integrates AIS, radar and vision data and performs comprehensive processing to improve the accuracy and time-space coverage of collision avoidance warnings, reduce false alarm rates, adopts automatic calibration video stitching technology, combines visual recognition and high-precision near-field radar three-dimensional mapping technology, has a built-in high-precision mathematical model of ships, and performs comprehensive processing and analysis of data to realize auxiliary voice reminders and warning functions when ships are berthing, making up for the effects of visual blind spots and human negligence.

[0016] According to the above technical solution, the shipborne equipment is electrically connected to an intelligent link switching module. The intelligent link switching module switches between four communication modes, namely, public network communication, ultra-short wave radio, VSAT satellite, and Beidou Tiantong, and is electrically connected to the shore-based service system to manage and monitor multiple links that constitute ship-shore collaborative communication, thereby realizing the integration and switching of links of different communication modes, namely, short-distance public network, medium-distance ultra-short wave, long-distance satellite, and different communication modes, to meet the needs of ship-shore collaborative communication in different application scenarios and improve communication reliability.

[0017] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: the present invention integrates the equipment, monitoring equipment, navigation equipment and navigation aid equipment from the perspective of information processing and human-computer interaction, and constructs an intelligent ship-shore coordinated integrated control and auxiliary navigation system integrating navigation, decision-making and coordination;

[0018] Based on a three-layer network and four-layer information processing system, the self-developed ship engine and rudder joint control device is adopted to achieve deep integration of navigation, pilotage, control and monitoring equipment, and build an integrated control platform for ship-shore integrated information fusion and processing, improve the utilization and processing capabilities of effective information, and reduce the workload of ship operators. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0020] Figure 1 It is a schematic diagram of the overall module structure of the present invention;

[0021] Figure 2 It is a schematic diagram of the communication mode link switching principle of the present invention. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] See also Figure 1 and Figure 2The present invention provides a technical solution: an integrated driving management and auxiliary navigation system, including an integrated driving control module, an auxiliary navigation module, a ship-shore communication module, a shore-based coordination module, a data center, and ship-borne equipment. The driving control module, the auxiliary navigation module, the ship-shore communication module, and the shore-based coordination module are all electrically connected to the data center, and the data center is electrically connected to the ship-borne equipment. The integrated driving control module is used for integrated driving control of the ship, the auxiliary navigation module is used for providing auxiliary navigation decision-making, the ship-shore communication module is used for realizing ship-shore information interaction, the shore-based coordination module is used for shore-based support for the navigation of the ship, the data center is used for storing and processing navigation data, and the ship-borne equipment is used for collecting and executing various instructions;

[0024] The integrated driving control module includes a ship integrated information display module and an integrated alarm module. The ship integrated information display module is used to centrally display various navigation information, and the integrated alarm module is used to uniformly alarm abnormal situations.

[0025] The auxiliary navigation module includes a Beidou positioning module, a collision avoidance auxiliary warning module, and an auxiliary mooring module. The collision avoidance auxiliary warning module is electrically connected to the comprehensive alarm module. The Beidou positioning module is used to provide accurate real-time position information of the ship. The collision avoidance auxiliary warning module is used to monitor the surrounding environment of the ship and warn of potential collision risks. The auxiliary mooring module is used to provide mooring auxiliary information and operation guidance to help the crew complete the mooring operation safely and efficiently.

[0026] The ship-shore communication module includes an ultra-short wave communication module, a Beidou communication terminal, and a communication intelligent switching module. The ultra-short wave communication module is electrically connected to the Beidou communication terminal, and the Beidou communication terminal is electrically connected to the communication intelligent switching module. The ultra-short wave communication module is used to realize voice and data communication between the ship and a close-range target by using ultra-short waves. The Beidou communication terminal is used to realize remote communication between the ship and the shore or other ships through the Beidou satellite system. The communication intelligent switching module is used to automatically switch between different communication modes according to signal quality and communication requirements;

[0027] The shore-based collaborative module includes a shore-based collaborative collision avoidance warning module, which is used to provide ships with a wider range and more comprehensive collision avoidance warning information by using shore-based information and data analysis;

[0028] The data center includes data interface, security module, storage module, data network module, and redundant backup module. The data interface is responsible for receiving and sending data from each module to realize data exchange within the system. The security module is used to ensure the network security and data security of the data center to prevent unauthorized access and data leakage. The storage module is used to store important information such as navigation data, ship information, system logs, etc., and provide data support for system operation. The data network module is used to build the network environment inside the data center to realize efficient data transmission between modules. The redundant backup module is used to back up key data and equipment to ensure that the system can be quickly restored in the event of a failure, ensuring data security and system stability.

[0029] The shipboard equipment includes main engine, hydraulic steering gear, power station management equipment, fire alarm system, radar, AIS system, depth sounder, speedometer, gyrocompass, dual-mode positioning device, weather station, Beidou Tiantong system, VSAT system, and public network communication system;

[0030] It includes three-layer network and four-layer information processing technology. The three-layer network includes wireless communication, Ethernet communication, and field bus. The four-layer information includes information detection layer, control execution layer, information processing layer, and comprehensive decision-making layer. This architecture effectively divides the ship network and data processing architecture, improves the efficiency of data processing and transmission, and greatly improves the portability and scalability of the system.

[0031] The ship comprehensive information display module displays information including route management information, navigation parameter information, radar AIS fusion information, water depth data information, main engine information, and warning information. It uses one screen to display as much necessary status, environment, and target data as possible during the ship's navigation process, and adds data analysis and statistics functions on this basis, so that the crew can more easily obtain effective information in complex usage scenarios and reduce the pressure of ship operation;

[0032] The collision avoidance auxiliary warning module uses an intelligent collision avoidance algorithm to work. The algorithm collects the ship's speed, ship position, ship's heading, target ship's heading, target ship's speed, ship distance and related parameter information. Through the key algorithm used to evaluate the collision risk, by calculating the closest distance DCPA between the two ships in the future and the time TCPA to reach the distance, it is judged whether the two ships have the possibility of collision. According to the values ​​of DCPA and TCPA, it is judged whether collision avoidance measures need to be taken and what kind of collision avoidance measures should be taken. The ship collision objective function and optimization algorithm are used to obtain the optimal solution. Finally, the optimal avoidance angle is calculated, the electronic chart is rasterized, and the artificial potential field algorithm is improved by integrating AIS, navigation radar, vision and other data. With reference to the International Regulations for Preventing Collisions at Sea, multi-mode route optimization is realized. It has timely and effective safety collision avoidance warning and auxiliary berthing functions, which greatly improves navigation safety and reduces the false alarm rate.

[0033] The collision avoidance auxiliary warning module obtains the ship position, heading, speed dynamic information of AIS and the redundant information of ship distance and azimuth data measured by ARPA based on the target length, type, draft, destination and estimated arrival time data, combined with the radar system through the radar target echo to reflect the size and shape of the target, the panoramic traffic image of the water area, including all moving targets and stationary and fixed targets, and other environmental information. It innovatively adopts time-space synchronization and situation prediction algorithms, integrates AIS, radar and vision data and performs comprehensive processing to improve the accuracy and time-space coverage of collision avoidance warnings, reduce false alarm rates, adopts automatic calibration video stitching technology, combines visual recognition and high-precision near-field radar three-dimensional mapping technology, and has a built-in high-precision mathematical model of ships. It comprehensively processes and analyzes the data to realize auxiliary voice reminders and warning functions when the ship is berthing, making up for the impact of visual blind spots and human negligence;

[0034] The shipborne equipment is electrically connected with an intelligent link switching module. The intelligent link switching module switches between four communication modes, namely public network communication, ultra-short wave radio, VSAT satellite, and Beidou Tiantong, and is electrically connected to the shore-based service system. It manages and monitors the multiple links that make up the ship-shore collaborative communication, and realizes the integration and switching of links of different communication modes, namely short-range public network, medium-range ultra-short wave, long-range satellite, etc., to meet the needs of ship-shore collaborative communication in different application scenarios and improve communication reliability.

[0035] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0036] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. Integrated driving management and assisted navigation system, characterized by: It includes an integrated driving and control module, an auxiliary navigation module, a ship-shore communication module, a shore-based coordination module, a data center, and ship-borne equipment. The driving and control module, the auxiliary navigation module, the ship-shore communication module, and the shore-based coordination module are all electrically connected to the data center, and the data center is electrically connected to the ship-borne equipment. The integrated driving and control module is used for integrated driving and control of the ship, the auxiliary navigation module is used to provide auxiliary navigation decisions, the ship-shore communication module is used to realize ship-shore information exchange, the shore-based coordination module is used to provide shore-based support for the ship's navigation, the data center is used to store and process navigation data, and the ship-borne equipment is used to collect and execute various instructions.

2. The integrated driving management and assisted navigation system according to claim 1, characterized in that: The integrated driving control module includes a ship integrated information display module and an integrated alarm module. The ship integrated information display module is used to centrally display various navigation information, and the integrated alarm module is used to uniformly alarm abnormal situations. The auxiliary navigation module includes a Beidou positioning module, a collision avoidance auxiliary warning module, and an auxiliary mooring module. The collision avoidance auxiliary warning module is electrically connected to the comprehensive alarm module. The Beidou positioning module is used to provide accurate real-time position information of the ship. The collision avoidance auxiliary warning module is used to monitor the surrounding environment of the ship and warn of potential collision risks. The auxiliary mooring module is used to provide mooring auxiliary information and operation guidance to help the crew complete the mooring operation safely and efficiently; The ship-shore communication module includes an ultra-short wave communication module, a Beidou communication terminal, and a communication intelligent switching module. The ultra-short wave communication module is electrically connected to the Beidou communication terminal, and the Beidou communication terminal is electrically connected to the communication intelligent switching module. The ultra-short wave communication module is used to realize voice and data communication between the ship and a close target by using ultra-short waves. The Beidou communication terminal is used to realize remote communication between the ship and the shore or other ships through the Beidou satellite system. The communication intelligent switching module is used to automatically switch between different communication modes according to signal quality and communication requirements; The shore-based collaborative module includes a shore-based collaborative collision avoidance warning module, which is used to use shore-based information and data analysis to provide ships with a wider range and more comprehensive collision avoidance warning information; The data center includes a data interface, a security module, a storage module, a data network module, and a redundant backup module. The data interface is responsible for receiving and sending data from each module to realize data exchange within the system. The security module is used to ensure the network security and data security of the data center to prevent unauthorized access and data leakage. The storage module is used to store important information such as navigation data, ship information, system logs, etc., to provide data support for system operation. The data network module is used to build a network environment inside the data center to realize efficient data transmission between modules. The redundant backup module is used to back up key data and equipment to ensure that the system can be quickly restored in the event of a failure, thereby ensuring data security and system stability.

3. The integrated driving management and assisted navigation system according to claim 2, characterized in that: The shipborne equipment includes main engine, hydraulic steering gear, power station management equipment, fire alarm system, radar, AIS system, depth sounder, speedometer, gyrocompass, dual-mode positioning device, weather station, Beidou Tiantong system, VSAT system, and public network communication system.

4. The integrated driving management and assisted navigation system according to claim 3, characterized in that: It includes three-layer network and four-layer information processing technology. The three-layer network includes wireless communication, Ethernet communication, and field bus. The four-layer information includes information detection layer, control execution layer, information processing layer, and comprehensive decision-making layer.

5. The integrated driving management and assisted navigation system according to claim 4, characterized in that: The information displayed by the ship comprehensive information display module includes route management information, navigation parameter information, radar AIS fusion information, water depth data information, host information, and warning information.

6. The integrated driving management and assisted navigation system according to claim 5, characterized in that: The collision avoidance auxiliary warning module adopts an intelligent collision avoidance algorithm to work. The algorithm collects the ship's speed, ship position, ship's heading, target ship's heading, target ship's speed, ship distance and related parameter information, and uses a key algorithm for evaluating collision risk to calculate the future closest distance DCPA between the two ships and the time TCPA to reach the distance to determine whether the two ships have the possibility of collision. According to the values ​​of DCPA and TCPA, it is determined whether collision avoidance measures need to be taken and what collision avoidance measures to take. The ship collision objective function and optimization algorithm are used to obtain the optimal solution, and finally the optimal avoidance angle is obtained.

7. The integrated driving management and assisted navigation system according to claim 6, characterized in that: The collision avoidance auxiliary warning module obtains the ship position, heading, speed dynamic information of AIS and the redundant information of ship distance and azimuth data measured by ARPA based on the target length, type, draft, destination and estimated arrival time data, combined with the radar system reflecting the size and shape of the target through the radar target echo, the panoramic traffic image of the water area, including all moving targets and stationary and fixed targets, and other environmental information.

8. The integrated driving management and assisted navigation system according to claim 7, characterized in that: The shipborne equipment is electrically connected to an intelligent link switching module, which switches between four communication modes: public network communication, ultra-short wave radio, VSAT satellite, and Beidou Tiantong, and is electrically connected to a shore-based service system.

Images