Ship intelligent operation system and method based on distributed architecture

Abstract

The invention discloses an intelligent ship operation system and method based on a distributed architecture, and relates to the technical field of ship sailing, and the system comprises a first control system located at a ship end, a second control system located at a shore end, a collection system located at the ship end, and at least one data pool. The acquisition system is used for storing the processed navigation data in a data pool based on a publishing and subscribing mode; the first control system and the second control system are used for determining a navigation control mode, a navigation control system and a navigation control main body of the ship; determining a target data pool corresponding to the determined navigation control system; and based on the publishing and subscribing mode, the target navigation data and the determined navigation control mode, carrying out navigation control operation on the ship. The ship operation system is used for solving the problems that in the prior art, a ship operation system is single in control mode and poor in expandability, and the function diversity of the ship operation system is improved.

Description

Technical Field

[0001] The present application relates to the field of ship navigation technology, and in particular to a ship intelligent operating system and method based on a distributed architecture. Background Art

[0002] In order to promote the development of shipping and breakthroughs in navigation technology, my country has made strategic arrangements to build a strong maritime nation, a strong scientific and technological nation, and a strong transportation nation. While supporting the national strategy, shipping-related departments are also actively promoting the development of smart shipping and smart ship technology.

[0003] In order to realize intelligent control of ships, the existing technology determines the scene of ship navigation, and adopts the communication architecture, data standards and related intelligent technologies that match the ship to meet the actual use needs. The ship operating system obtained by this method is fixed, and the software and hardware functions therein are also irreplaceable. The existing ship operating system has problems such as single control method and poor scalability. Summary of the invention

[0004] In response to the above-mentioned problems and technical needs, the applicant has proposed a ship intelligent operating system and method based on a distributed architecture to solve the problems of single control mode and poor scalability of ship operating systems in the prior art, and to improve the functional diversity of ship operating systems.

[0005] The embodiment of the present application provides a ship intelligent operating system based on a distributed architecture, comprising: a first control system located at the ship end, a second control system located at the shore end, a collection system located at the ship end, and at least one data pool;

[0006] The collection system comprises: at least one computing unit and at least one collection unit, wherein the computing unit corresponds to one or more data pools, each computing unit corresponds to at least one collection unit, and the data pools distinguish and store data by different topics;

[0007] The collection unit is used to collect navigation data corresponding to the ship and send the navigation data to the corresponding calculation unit;

[0008] The computing unit is used to receive the navigation data sent by the corresponding acquisition unit, process the navigation data based on a preset data processing logic, and store the processed navigation data in a data pool based on a publish-subscribe mode;

[0009] The first control system is used to determine the navigation control mode, navigation control system and navigation control subject of the ship; when the navigation control subject is determined to be the first control system, determine the target data pool corresponding to the determined navigation control system; receive the target navigation data published by the target data pool based on the publish-subscribe mode, and perform the navigation control operation of the ship based on the target navigation data and the determined navigation control mode;

[0010] The second control system is used to determine the target data pool corresponding to the determined navigation control system when it is determined that the navigation control subject is the second control system; receive the target navigation data published by the target data pool based on the publish-subscribe mode, and perform navigation control operations of the ship based on the target navigation data and the determined navigation control method.

[0011] According to a distributed architecture-based ship intelligent operating system according to an embodiment of the present application, the first control system includes multiple navigation control systems, different navigation control systems correspond to different data pools, and one data pool serves multiple navigation control systems.

[0012] According to a ship intelligent operating system based on a distributed architecture according to an embodiment of the present application, the first control system includes: a control switching module, a system switching module and a mode switching module;

[0013] The control switching module comprises: a first switching component for instructing to switch the ship control mode; the control switching module is used to respond to a first switching instruction for switching the ship control mode triggered by the first switching component to determine the navigation control mode;

[0014] The system switching module comprises: a second switching component for instructing to switch the navigation control system; the system switching module is used to respond to a second switching instruction for switching the navigation control system triggered by the second switching component to determine the navigation control system;

[0015] The mode switching module includes: a third switching component for instructing switching of a ship control mode; and the mode switching module is used to respond to a third switching instruction for switching the ship control mode triggered by the third switching component to determine the navigation control subject.

[0016] According to a ship intelligent operating system based on a distributed architecture according to one embodiment of the present application, the first priority corresponding to the control switching module is greater than the second priority corresponding to the system switching module, and the second priority corresponding to the system switching module is greater than the third priority corresponding to the mode switching module.

[0017] According to a ship intelligent operating system based on a distributed architecture according to an embodiment of the present application, the first control system and the second control system are communicatively connected;

[0018] The second control system is further used to send the navigation node corresponding to the current navigation to the first control system;

[0019] The first control system is further used to receive the navigation node sent by the second control system; and generate a navigation route based on the starting point and the end point in the navigation node;

[0020] The first control system is used to optimize the navigation route based on environmental data to obtain a target navigation route; perform navigation control operations of the ship in the target navigation route based on a determined navigation control method, wherein the target navigation data includes: environmental data corresponding to the ship.

[0021] According to a distributed architecture-based ship intelligent operating system according to an embodiment of the present application, the second control system is further used to obtain a navigation node corresponding to the current navigation;

[0022] The second control system is further used to perform navigation control operations of the ship based on the automatic control mode and the navigation node when it is determined that the navigation control mode is the automatic control mode.

[0023] According to a ship intelligent operating system based on a distributed architecture according to an embodiment of the present application, the first control system is also used to determine the hydrodynamic performance of the ship, the operation status of the engine room and the operation status of the ship equipment based on the operating status data, wherein the target navigation data includes: the operating status data corresponding to the ship.

[0024] According to a distributed architecture-based ship intelligent operating system according to an embodiment of the present application, the ship intelligent operating system adopts a redundant network architecture, and each network node is connected by optical fiber.

[0025] According to a distributed architecture-based ship intelligent operating system according to an embodiment of the present application, the ship intelligent operating system adopts an asynchronous communication method to enable each navigation control system to access the data pool data.

[0026] The embodiment of the present application further provides a ship intelligent operation method, which is applied to the ship intelligent operation system based on the distributed architecture described in any of the above embodiments, and the method includes:

[0027] Collect navigation data corresponding to the ship;

[0028] Processing the navigation data based on a preset data processing logic;

[0029] Determine the navigation control method, navigation control system and navigation control subject of the ship;

[0030] Determine a target data pool corresponding to the determined navigation control system; receive target navigation data published by the target data pool based on a publish-subscribe mode, and perform navigation control operations of the ship using a determined navigation control subject based on the target navigation data and the determined navigation control method.

[0031] The embodiment of the present application provides a ship intelligent operating system and method based on a distributed architecture, the system comprising: a first control system located at the ship end, a second control system located at the shore end, a collection system located at the ship end and at least one data pool; a collection unit, used to collect navigation data corresponding to the ship, and send the navigation data to a corresponding computing unit; a computing unit, used to receive the navigation data sent by the corresponding collection unit, process the navigation data based on a preset data processing logic, and store the processed navigation data in a data pool based on a publish-subscribe mode. The present application utilizes the publish-subscribe mode to classify the navigation data and stores it in a data pool of the corresponding topic, providing an effective data basis for subsequent navigation control of the ship, and the system can be expanded by only adding collection units, computing units and data pools, without any impact on the existing units, thereby improving the scalability of the system.

[0032] Furthermore, a first control system is used to determine the navigation control mode, navigation control system and navigation control subject of the ship; when it is determined that the navigation control subject is the first control system, a target data pool corresponding to the determined navigation control system is determined; target navigation data published by the target data pool is received based on a publish-subscribe mode, and navigation control operations of the ship are performed based on the target navigation data and the determined navigation control mode; a second control system is used to determine the target data pool corresponding to the determined navigation control system when it is determined that the navigation control subject is the second control system; target navigation data published by the target data pool is received based on a publish-subscribe mode, and navigation control operations of the ship are performed based on the target navigation data and the determined navigation control mode; it can be seen that the present application includes two navigation control subjects, the ship end and the shore end, and users can choose according to their actual needs, and the present application has various control modes, and users can choose according to their actual needs, thereby achieving the purpose of functional diversity of the ship operating system. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0034] Figure 1 It is a structural diagram of a ship intelligent operating system based on a distributed architecture provided in an embodiment of the present application;

[0035] Figure 2 It is a schematic diagram of the hardware composition of the ship intelligent operating system provided in the embodiment of the present application;

[0036] Figure 3 is a schematic diagram of the structure of the intelligent navigation system provided in an embodiment of the present application;

[0037] Figure 4 It is a flow chart of the ship intelligent operation method provided in the embodiment of the present application. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] The present application embodiment provides a ship intelligent operating system based on a distributed architecture, such as Figure 1 The system shown includes: a first control system 101 located at the ship end, a second control system 102 located at the shore end, a collection system 103 located at the ship end, and at least one data pool 104.

[0040] The collection system 103 includes: at least one computing unit 1031 and at least one collection unit 1032. The collection unit 1032 is used to collect navigation data corresponding to the ship and send the navigation data to the corresponding computing unit 1031. The computing unit 1031 is used to receive the navigation data sent by the corresponding collection unit 1032, process the navigation data based on the preset data processing logic, and store the processed navigation data in the data pool 104 based on the publish-subscribe mode.

[0041] Each computing unit 1031 corresponds to one or more data pools 104 , each computing unit 1031 corresponds to at least one acquisition unit 1032 , different data pools 104 store data of different subjects, and the data pools 104 distinguish the stored data by different subjects.

[0042] The first control system 101 is used to determine the navigation control method, navigation control system and navigation control subject of the ship; when the navigation control subject is determined to be the first control system 101, determine the target data pool corresponding to the determined navigation control system; receive the target navigation data published by the target data pool based on the publish-subscribe mode, and perform the navigation control operation of the ship based on the target navigation data and the determined navigation control method.

[0043] The second control system 102 is used to determine the target data pool corresponding to the determined navigation control system when it is determined that the navigation control subject is the second control system 102; receive the target navigation data published by the target data pool based on the publish-subscribe mode, and perform navigation control operations of the ship based on the target navigation data and the determined navigation control method.

[0044] Among them, Figure 1 A data pool 104, a computing unit 1031 and a collection unit 1032 are used as examples for illustration, which is only an example and is not used to limit the protection scope of the present application.

[0045] The data processing logic is to determine the subject corresponding to the navigation data, process the navigation data based on the determined subject and the data requirements corresponding to the subject, and then store the processed navigation data in the data pool corresponding to the subject.

[0046] The ship intelligent operating system based on distributed architecture provided in the embodiment of the present application includes: a first control system located at the ship end, a second control system located at the shore end, a collection system located at the ship end and at least one data pool; a collection unit, used to collect navigation data corresponding to the ship, and send the navigation data to the corresponding computing unit; a computing unit, used to receive the navigation data sent by the corresponding collection unit, process the navigation data based on a preset data processing logic, and store the processed navigation data in the data pool based on a publish-subscribe mode. The present application utilizes the publish-subscribe mode to classify the navigation data and stores it in the data pool of the corresponding topic, providing an effective data basis for subsequent navigation control of the ship, and the system can be expanded by only adding collection units, computing units and data pools, without any impact on the existing units, thereby improving the scalability of the system.

[0047] Furthermore, a first control system is used to determine the navigation control mode, navigation control system and navigation control subject of the ship; when it is determined that the navigation control subject is the first control system, a target data pool corresponding to the determined navigation control system is determined; target navigation data published by the target data pool is received based on a publish-subscribe mode, and navigation control operations of the ship are performed based on the target navigation data and the determined navigation control mode; a second control system is used to determine the target data pool corresponding to the determined navigation control system when it is determined that the navigation control subject is the second control system; target navigation data published by the target data pool is received based on a publish-subscribe mode, and navigation control operations of the ship are performed based on the target navigation data and the determined navigation control mode; it can be seen that the present application includes two navigation control subjects, the ship end and the shore end, and users can choose according to their actual needs, and the present application has various control modes, and users can choose according to their actual needs, thereby achieving the purpose of functional diversity of the ship operating system.

[0048] In a specific embodiment, the ship intelligent operating system uses asynchronous communication to enable each navigation control system to access the data pool data.

[0049] Among them, each data pool is independent and unrelated to each other, and multi-node access to each data pool is achieved through asynchronous communication at different frequencies.

[0050] Specifically, a programmable logic controller (PLC), a communication board and a signal conversion module are used to realize the conversion of analog quantity into digital quantity, and the converted digital signal is stored in a data pool through a publish-subscribe mode.

[0051] At the same time, each computing unit consumes data in the data pool through the subject name to realize the communication of control signals and monitoring data. In addition, for multiple navigation control systems, the implementation path corresponding to each navigation control system is determined, and data is released to the corresponding navigation control system based on the implementation path. The data is a digital signal, which is obtained through the analog quantity of PLC, communication board and signal conversion module.

[0052] In a specific embodiment, the ship intelligent operating system adopts a redundant network architecture, and each network node is connected by optical fiber.

[0053] Specifically, the network architecture includes: aggregation switches, core switches, firewalls and computing servers, etc., which adopts a dual-redundant network architecture.

[0054] Among them, optical fiber is used to connect two network nodes. When a problem is found in a certain network node, the communication path is switched without delay. For the main engine, steering gear, deck equipment, auxiliary equipment and flow meter and other sensors of the ship system, only one set is needed. Therefore, it is only necessary to convert data and instructions through the data acquisition gateway or command control gateway, and then use two redundant ways to access the aggregation switch.

[0055] Furthermore, by deploying the next-generation firewall to prevent illegal users and abnormal traffic from entering and exiting the system, a 10G firewall is deployed between the ship subnet and the core network to isolate the security of the two networks and achieve secure access to the system.

[0056] In addition, the hardware composition of the ship intelligent operating system of the present application includes: hardware layer, data layer, application layer, and communication layer. The hardware layer includes: engine and piping equipment, electrical equipment, communication and navigation equipment, and sensors and collectors corresponding to each device to realize data collection (operation status data) of each device at the bottom of the ship. The data layer includes: a gateway, through which the data collected by the hardware layer is uniformly collected and transmitted (corresponding to the computing unit). The communication layer publishes the data of the data layer to the application layer on the ship side and the data center on the shore side (the second control system includes a data center). The application layer mainly includes application software for situational awareness, autonomous navigation, remote control, health management, decision support and performance testing, as well as corresponding database software applications. Among them, the ship side and the shore side can communicate through base stations, satellites, etc., and all data (operation status data and environmental data) can be integrated through the ship side and then sent to the shore side. Among them, the ship side also includes a data center for operations such as data collection, storage, real-time monitoring and analysis and processing.

[0057] Below through Figure 2 The hardware composition of the ship intelligent operating system of this application is specifically described as follows:

[0058] The data collected by the hardware layer is uniformly collected and transmitted through the gateway, as shown below:

[0059] It includes: engine room computing unit, engine room monitoring computing unit, cabin computing unit, bow computing unit, deck computing unit and communication computing unit, etc.

[0060] Among them, the cabin computing unit includes: a cabin acquisition unit, an automatic steering instrument and a propulsion motor control unit, and the cabin acquisition unit includes: a shaft torque meter (torque sensor), a fuel flow meter and a stern acceleration sensor.

[0061] Among them, the cabin monitoring and calculation unit includes: a management system (PMS), a generator set monitoring unit, a rudder monitoring unit and a propulsion motor monitoring unit.

[0062] Among them, the cabin computing unit includes: a cabin equipment control unit and a cabin equipment monitoring unit, and the cabin acquisition unit includes: an accelerometer sensor in the ship.

[0063] The bow calculation unit includes: a thrust monitoring unit and a thrust control unit, and the bow acquisition unit includes: a bow acceleration sensor.

[0064] Among them, the deck computing unit includes: a deck equipment monitoring unit and a deck equipment control unit.

[0065] Among them, the communication and computing unit includes: inertial navigation system, electronic nautical chart, anemometer, global positioning system (GPS), automatic ship identification system (AIS), compass, odometer and detector.

[0066] Among them, the engine room calculation unit corresponds to the engine room data pool, the engine room monitoring calculation unit corresponds to the engine room monitoring data pool, the cabin calculation unit corresponds to the cabin data pool, the bow calculation unit corresponds to the bow data pool, the deck calculation unit corresponds to the deck data pool, the communication calculation unit corresponds to the communication data pool, etc.

[0067] Specifically, based on the universal data interface of each computing unit 1031, the present application uses Ethernet or fiber optic network as a carrier and establishes a data pool that adapts to multiple navigation control systems based on a publish-subscribe mode communication protocol (such as ROS / ROS2, MQTT, etc.) to support the data requirements of different navigation control systems.

[0068] exist Figure 2 The following takes two core switches as an example.

[0069] In addition, it is also necessary to obtain environmental information in real time during navigation, as shown below:

[0070] Including: laser radar, photoelectric sensing unit, sensing computing unit, navigation control unit, central integrated cabinet, etc. Each of these devices can be multiple or one. Figure 2 An example is used to illustrate.

[0071] In addition, the ship and backend data are isolated by firewalls.

[0072] Among them, Figure 2 The dotted line in the figure indicates data exchange via Ethernet, and the solid line indicates data exchange via RS422. Figure 2 The two thick lines in the figure are used to illustrate the core switches and have no other physical meaning.

[0073] In a specific embodiment, the first control system 101 includes multiple navigation control systems, different navigation control systems correspond to different data pools 104, and one data pool 104 serves multiple navigation control systems.

[0074] Specifically, there may be multiple navigation control systems on the ship side, and the user selects a corresponding navigation control system according to actual conditions.

[0075] For example, different companies correspond to different navigation control systems. Company A needs to choose navigation control system A when testing or sailing, and company B needs to choose navigation control system B when testing or sailing, and so on.

[0076] In a specific embodiment, the first control system 101 includes: a control switching module, a system switching module and a mode switching module.

[0077] The control switching module includes: a first switching component for instructing to switch the ship control mode; and a control switching module for responding to a first switching instruction for switching the ship control mode triggered by the first switching component to determine the navigation control mode.

[0078] The system switching module includes: a second switching component for instructing to switch the navigation control system; and a system switching module for responding to a second switching instruction for switching the navigation control system triggered by the second switching component to determine the navigation control system.

[0079] The mode switching module includes: a third switching component for instructing to switch the ship control mode; and a mode switching module for responding to a third switching instruction for switching the ship control mode triggered by the third switching component to determine the navigation control subject.

[0080] Specifically, the switching between manual control and automatic control of the ship is achieved through the first switching component; the switching of the navigation control system is achieved through the second switching component; the switching of the navigation control subject is achieved through the third switching component, and based on the result after the switching, it is determined whether it is a human-computer interaction digital control mode or an autonomous navigation automatic control mode.

[0081] Wherein, the first switching component includes: a first multi-contact button, a plurality of first single-contact buttons, a first switching button displayed on the numerical control display screen, and a first manual control structure, etc.

[0082] Among them, the first manual control structure is: a manually switchable control channel added to the main engine motor (or propulsion motor), propulsion motor control unit, cabin equipment control unit, thrust control unit, deck equipment control unit and each pump and valve control unit of the ship.

[0083] Wherein, the second switching component includes: a second multi-contact button, a plurality of second single-contact buttons and a second switching button displayed on the numerical control display screen.

[0084] Among them, the signal forwarding module and signal format of each navigation control system are consistent with the equipment control interface.

[0085] The third switching component includes a third multi-contact button, a plurality of third single-contact buttons and a third switching button displayed on the numerical control display screen.

[0086] In a specific embodiment, the first priority corresponding to the control switching module is greater than the second priority corresponding to the system switching module, and the second priority corresponding to the system switching module is greater than the third priority corresponding to the mode switching module.

[0087] Among them, the first priority authority is the highest, the second priority authority is in the middle, and the third priority authority is the lowest.

[0088] Specifically, the switching between manual control and automatic control of the ship is realized through the first switching component to obtain a first switching result; if there is no other switching operation within a preset time period, the navigation control of the ship is performed based on the first switching result and the initialized navigation control system.

[0089] Specifically, the switching between manual control and automatic control of the ship is achieved through the first switching component to obtain a first switching result; the switching of the navigation control system is achieved through the second switching component to obtain a second switching result; if there is no other switching operation within a preset time period, the navigation control operation of the ship is performed based on the navigation control system corresponding to the first switching result and the second switching result.

[0090] Specifically, the switching between manual control and automatic control of the ship is achieved through the first switching component to obtain a first switching result; the switching of the navigation control system is achieved through the second switching component to obtain a second switching result; when it is determined that the first switching result is automatic control of the ship, the switching of the navigation control subject is achieved based on the third switching component, and on this basis, it is determined whether it is a human-computer interaction digital control mode or an autonomous navigation automatic control mode.

[0091] The navigation control subject includes: a first control system 101 on the ship side and a second control system 102 on the shore side. That is, when the navigation control subject is the first control system 101 and the first switching result is manual control, the navigation control of the ship can only be performed by manually operating the ship, so the ship control subject cannot be switched to the second control system 102 on the shore side at this time. When the navigation control subject is the first control system 101 and the first switching result is automatic control, the ship control subject can be switched to the second control system 102. Controlling the ship through the second control system 102 on the shore side is remote control, so it is necessary to determine whether it is a human-computer interactive digital control mode or an autonomous navigation automatic control mode at this time.

[0092] In a specific embodiment, the first control system 101 and the second control system 102 are in communication connection.

[0093] The second control system 102 is further used to send the navigation node corresponding to the current navigation to the first control system 101. The first control system 101 is further used to receive the navigation node sent by the second control system 102; generate a navigation route based on the starting point and the end point in the navigation node. The first control system 101 is used to optimize the navigation route based on the environmental data to obtain the target navigation route; and perform navigation control operations of the ship in the target navigation route based on the determined navigation control method.

[0094] The target navigation data includes: environmental data corresponding to the ship.

[0095] Specifically, the second control system 102 issues a navigation task to the first control system 101. The navigation task includes a navigation node, and the navigation node includes a starting point and an end point. The first control system 101 travels based on the generated navigation route, obtains environmental data (such as environmental information and weather information around the ship) in real time during the navigation process, and obtains the target navigation route based on the obtained environmental information.

[0096] Specifically, when the first switching result is manual control of the ship, the navigation control operation of the ship is performed manually based on the initialized navigation control system or the navigation control system corresponding to the second switching result in the target navigation route. When the first switching result is automatic control of the ship, the navigation control operation of the ship is automatically performed in the target navigation route based on the initialized navigation control system or the navigation control system corresponding to the second switching result. When the first switching result is automatic control of the ship, the human-computer interactive digital control mode or the autonomous navigation automatic control mode is used to control the ship to navigate in the target navigation route based on the initialized navigation control system or the navigation control system corresponding to the second switching result.

[0097] In a specific embodiment, the second control system 102 is further used to obtain the navigation node corresponding to the current navigation. The second control system 102 is further used to perform the navigation control operation of the ship based on the automatic control mode and the navigation node when the navigation control mode is determined to be the automatic control mode.

[0098] Specifically, when the navigation control subject is the second control system 102 on the shore, based on the initialized navigation control system or the navigation control system corresponding to the second switching result, a human-computer interaction digital control mode or an autonomous navigation automatic control mode is adopted to perform navigation control of the ship according to the navigation nodes.

[0099] Specifically, the second control system 102 can also generate a navigation route based on the starting point and the end point in the navigation node; optimize the navigation route based on the environmental data to obtain the target navigation route; based on the initialized navigation control system or the navigation control system corresponding to the second switching result, adopt a human-computer interaction digital control mode or an autonomous navigation automatic control mode to control the navigation of the ship according to the target navigation route.

[0100] Specifically, whether the first control system 101 controls the navigation of the ship or the second control system 102 controls the navigation of the ship, in the case of non-manual control, both belong to intelligent control, which can be specifically divided into autonomous control and remote control. The navigation control system can be called an intelligent navigation system.

[0101] The software and hardware interfaces of the intelligent navigation system are all standardized, and sufficient space and interfaces are reserved to meet the adjustment of each intelligent device (such as addition, interface position adjustment and deletion, etc.). Specifically, space can be prefabricated in the cab and compass deck to provide redundant equipment and standard data interfaces, providing an online data test platform for the new navigation control system.

[0102] The intelligent navigation system can realize functions such as intelligent operation of ships, automatic berthing and unberthing, autonomous anchoring, remote control, and autonomous navigation.

[0103] The initial purpose of the intelligent navigation system is to implement navigation assistance strategies, use computer technology and control technology to analyze and process environmental information, nautical charts and target information, and optimize navigation routes and speeds to make the entire navigation process safer, more economical and more efficient.

[0104] In order to realize intelligent navigation, it is necessary to obtain effective perception of the surrounding situation and environmental information (environmental data) of the ship in real time, and make analysis and decisions for autonomous navigation and ship control based on environmental information. According to the needs of navigation route, berthing, anchoring, intelligent navigation, etc., the thrusters, steering gears, anchoring equipment, dynamic positioning equipment, etc. are controlled to realize autonomous navigation.

[0105] Specifically, the architecture of the intelligent navigation system includes: perception subsystem, information fusion and navigation decision subsystem, ship-shore communication subsystem and navigation subsystem. Figure 3 .

[0106] The perception system is based on sensor measurement equipment and channel equipment, combined with the sensor equipment required for self-propelled navigation (for example, sonar, lidar, etc.) to perceive environmental data, detect surface navigation obstacles, and use computing units to detect the ship's own operating status data.

[0107] The information fusion and navigation decision subsystem is used to calculate and process environmental data to complete the fusion of information detected by radar, GPS, AIS, cameras and other equipment, and generate a route based on the starting point and the end point. The generated route meets the navigation safety rules of the ship. At the same time, based on the fused information, functions such as autonomous collision avoidance and autonomous departure from the shore are realized.

[0108] The ship-shore communication subsystem is used for data exchange between the ship and the shore, and realizes remote command and control and remote monitoring functions of the ship through satellite communications and other means.

[0109] The navigation subsystem is used to control the ship's propulsion device, thruster, steering gear and important auxiliary equipment, and supports functions such as ship tracking, autonomous berthing and ship control.

[0110] In a specific embodiment, the first control system 101 is also used to determine the hydrodynamic performance of the ship, the operation status of the engine room and the operation status of the ship equipment based on the operation status data.

[0111] The target navigation data includes: the operation status data corresponding to the ship.

[0112] Specifically, during the navigation of the ship, it is also necessary to analyze the health status of the ship, which can be achieved through a health monitoring system.

[0113] The health monitoring system includes: health management function, decision support function and performance test function, etc. It is a software and hardware platform for ship data collection, communication and analysis established by real-time monitoring of the operating status data of ship performance, propulsion motors, generator sets, PMS, thrusters and other ship equipment.

[0114] The monitoring function is realized through a distributed collection system, which collects real-time operating status data of ship equipment such as ship performance, propulsion motors, generator sets, PMS, and thrusters, providing an effective data basis for functions such as ship equipment, ship performance, intelligent equipment, and autonomous navigation.

[0115] Specifically, the hydrodynamic performance of the ship is obtained by analyzing the speed, seakeeping and maneuverability of the ship through the environmental data and operating status data of the ship.

[0116] The engine room operation status is obtained through the engine room monitoring and alarm system, which includes: fuel flow meter, shaft power meter, thrust meter, acceleration sensor and other equipment. The above equipment is used to monitor or collect the operation status data of the propulsion motor, generator, rudder, power system and control system, etc., to form the ship engine room time history data, and determine the engine room operation status based on the ship engine room time history data.

[0117] The operating status data of deck equipment, engine room equipment thrusters and other equipment are monitored through the collection units corresponding to the ship equipment to determine the operating conditions of the ship equipment based on the collected data.

[0118] This application realizes the coexistence of multiple navigation control systems and realizes the free expansion of the system within the hardware tolerance range. Multiple modes and permissions are used to switch the system, control method and control subject.

[0119] The ship intelligent navigation of this application is a digital device, which realizes standardized access to ship engine room monitoring alarm, communication equipment monitoring, navigation equipment monitoring, steering gear monitoring, and thruster monitoring through an intelligent gateway. Through multiple intelligent grids, a data pool is established using the publish-subscribe model. The host computer software subscribes to the required data according to demand, and the host computer software and the underlying communication are separated to achieve data separation, which greatly improves the compatibility and standardization of the system. And expands its scalability, and each algorithm and software are deployed in the form of nodes, which is more flexible.

[0120] The embodiment of the present application also provides a ship intelligent operation method, which is applied to the ship intelligent operation system based on the distributed architecture described in any of the above embodiments, and the repetitive parts will not be described again, such as Figure 4 As shown, the method includes:

[0121] Step 401, collecting navigation data corresponding to the ship.

[0122] Step 402, processing the navigation data based on a preset data processing logic.

[0123] Step 403, determining the navigation control mode, navigation control system and navigation control subject of the ship.

[0124] Step 404, determine the target data pool corresponding to the determined navigation control system; receive the target navigation data published by the target data pool based on the publish-subscribe mode, and perform the navigation control operation of the ship using the determined navigation control subject based on the target navigation data and the determined navigation control method.

[0125] Finally, it should be noted that the above are only preferred embodiments of the present application, and the present application is not limited to the above embodiments. It is understood that other improvements and changes directly derived or associated by those skilled in the art without departing from the spirit and concept of the present application should be considered to be included in the scope of protection of the present application.

Claims

1. A ship intelligent operating system based on distributed architecture, characterized in that: The system comprises: a first control system located at the ship end, a second control system located at the shore end, a collection system located at the ship end and at least one data pool; The collection system comprises: at least one computing unit and at least one collection unit, wherein the computing unit corresponds to one or more data pools, each computing unit corresponds to at least one collection unit, and the data pools distinguish and store data by different topics; The collection unit is used to collect navigation data corresponding to the ship and send the navigation data to the corresponding calculation unit; The computing unit is used to receive the navigation data sent by the corresponding acquisition unit, process the navigation data based on a preset data processing logic, and store the processed navigation data in a data pool based on a publish-subscribe mode; The first control system is used to determine the navigation control mode, navigation control system and navigation control subject of the ship; when the navigation control subject is determined to be the first control system, determine the target data pool corresponding to the determined navigation control system; receive the target navigation data published by the target data pool based on the publish-subscribe mode, and perform the navigation control operation of the ship based on the target navigation data and the determined navigation control mode; The second control system is used to determine the target data pool corresponding to the determined navigation control system when it is determined that the navigation control subject is the second control system; receive the target navigation data published by the target data pool based on the publish-subscribe mode, and perform navigation control operations of the ship based on the target navigation data and the determined navigation control method.

2. The ship intelligent operating system based on distributed architecture according to claim 1 is characterized in that: The first control system includes a plurality of navigation control systems, different navigation control systems correspond to different data pools, and one data pool serves a plurality of navigation control systems.

3. The ship intelligent operating system based on distributed architecture according to claim 1 is characterized in that: The first control system includes: a control switching module, a system switching module and a mode switching module; The control switching module comprises: a first switching component for instructing to switch the ship control mode; the control switching module is used to respond to a first switching instruction for switching the ship control mode triggered by the first switching component to determine the navigation control mode; The system switching module comprises: a second switching component for instructing to switch the navigation control system; the system switching module is used to determine the navigation control system in response to a second switching instruction for switching the navigation control system triggered by the second switching component; The mode switching module includes: a third switching component for instructing switching of a ship control mode; and the mode switching module is used to respond to a third switching instruction for switching the ship control mode triggered by the third switching component to determine the navigation control subject.

4. The ship intelligent operating system based on distributed architecture according to claim 3 is characterized in that: The first priority corresponding to the control switching module is greater than the second priority corresponding to the system switching module, and the second priority corresponding to the system switching module is greater than the third priority corresponding to the mode switching module.

5. The ship intelligent operating system based on distributed architecture according to any one of claims 1 to 4, characterized in that: The first control system is communicatively connected with the second control system; The second control system is further used to send the navigation node corresponding to the current navigation to the first control system; The first control system is further used to receive the navigation node sent by the second control system; and generate a navigation route based on the starting point and the end point in the navigation node; The first control system is used to optimize the navigation route based on the environmental data to obtain a target navigation route; The navigation control operation of the ship is performed in the target navigation route based on the determined navigation control mode, wherein the target navigation data includes: environmental data corresponding to the ship.

6. The ship intelligent operating system based on distributed architecture according to any one of claims 1 to 4, characterized in that: The second control system is further used to obtain the navigation node corresponding to the current navigation; The second control system is further used to perform navigation control operations of the ship based on the automatic control mode and the navigation node when it is determined that the navigation control mode is the automatic control mode.

7. The ship intelligent operating system based on distributed architecture according to any one of claims 1 to 4, characterized in that: The first control system is also used to determine the hydrodynamic performance of the ship, the operation status of the engine room and the operation status of the ship equipment based on the operation status data, wherein the target navigation data includes: the operation status data corresponding to the ship.

8. The ship intelligent operating system based on distributed architecture according to any one of claims 1 to 4, characterized in that: The ship's intelligent operating system adopts a redundant network architecture, and each network node is connected by optical fiber.

9. The ship intelligent operating system based on distributed architecture according to claim 2, characterized in that: The ship's intelligent operating system uses asynchronous communication to enable each navigation control system to access data from the data pool.

10. A ship intelligent operation method, characterized in that: Applied to the ship intelligent operating system based on distributed architecture according to any one of claims 1 to 9, the method comprising: Collect navigation data corresponding to the ship; Processing the navigation data based on a preset data processing logic; Determine the navigation control method, navigation control system and navigation control subject of the ship; Determine a target data pool corresponding to the determined navigation control system; receive target navigation data published by the target data pool based on a publish-subscribe mode, and perform navigation control operations of the ship using a determined navigation control subject based on the target navigation data and the determined navigation control method.

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