Intelligent navigation system of electric ship

Abstract

The invention discloses an intelligent navigation system of an electric ship. The intelligent navigation system comprises a control center, a ship data acquisition system and an environment data acquisition system, various required environments and data of the ship are monitored through sensing devices of the ship, and the effect of each influence factor on the power consumption rate is recorded and trained in the sailing process according to information such as the wind speed, the wind power, the river water flow speed and the wave motion state which can influence the sailing power consumption; the endurance mileage can be estimated more accurately in combination with the planned route and the environment information on the route, meanwhile, the system can further perform early warning on obstacles such as ships, piers and wharfs, and intelligent driving of the electric ship is achieved.

Description

Technical Field

[0001] The present invention relates to the field of shipbuilding, and in particular to an intelligent navigation system for electric ships. Background Art

[0002] The electric ship intelligent navigation system is a highly integrated system that combines advanced perception technology, sensor information fusion technology, computer technology, control technology, etc. to achieve autonomous navigation of ships in complex environments.

[0003] Application number: CN202311268416.7 proposes a method for estimating the cruising range of electric ships. The cruising range is estimated by analyzing the impact of various environments on the cruising range. However, the factors considered by this method are not comprehensive and specific enough. Summary of the invention

[0004] In order to better perform intelligent driving on pure electric ships, the present invention proposes an intelligent navigation system for electric ships, which includes: a control center, a ship data acquisition system, and an environmental data acquisition system; the control center includes: a data transceiver module, a calculation module, a display module, a control module, and a data storage module; the ship data acquisition system includes: Beidou navigation equipment, inertial navigation equipment, battery monitoring equipment, a cabin data acquisition system, and a wave motion detection device; the environmental data acquisition system includes: a draft depth detection device, a multifunctional monitoring device, a radar, a laser radar, and a sonar; the multifunctional monitoring device includes: a shooting device for shooting a four-way panoramic view, a wind direction and wind speed detection device, and a camera for shooting a four-way panoramic view. The data processed by the control center include: the ship's heading, ship's speed, propeller speed, rudder angle, wave motion state, battery remaining power, output current, wind direction, wind speed, and draft depth; the data storage module stores the propeller speed, speed, and power consumption rate of the ship when it is straight and turning under still water and no wind conditions. In actual sailing, the calculation module calculates the influence of various influencing factors on the power consumption rate of the ship during actual sailing through the data information transmitted by each sensor, so as to gradually train the influence of each influencing factor on the power consumption rate to be close to the real value; the influencing factors include: wind force, river flow rate, wave motion state, draft depth, and turning angle.

[0005] Preferably, the power consumption rate is a curve showing the change of the remaining power over time. f (t) to obtain f (t) The slope of each point on the graph is, so the power consumption rate is f'(x) .

[0006] Preferably, among the influencing factors, wind force is obtained by calculating the wind speed and wind direction information obtained by a wind direction and wind speed detector in the direction of the ship's navigation, and taking a wind speed of 1 km / h as a relative wind speed. f'(t) The interference element is recorded f'(t) interference effect.

[0007] Preferably, among the influencing factors, the river flow velocity is obtained by receiving public information released by shore-based monitoring equipment, or by the difference between the actual speed V2 and the speed V1 corresponding to the propeller speed of the ship when it is moving straight under calm water and no wind conditions stored in the data storage module. The river flow velocity is taken as 1 km / h as a relative f'(t) The interference element is recorded f’ (t) interference effect.

[0008] Preferably, in the influencing factors, each 5° deviation of each deviation condition of the wave motion state is taken as a factor. f'(t) The interference element is recorded f'(t) The interference effect; Among the influencing factors, the steering angle is taken as a steering angle of 5° f'(t) The interference element is recorded f'(t) interference effect.

[0009] Preferably, among the influencing factors, the draft is used as the first level, and the remaining influencing factors are independently trained under different draft conditions to form a data set.

[0010] Preferably, the multifunctional monitoring equipment comprises: a mounting base at a lower portion, a cover plate bolted to the mounting base at the front portion, the mating surfaces of the mounting base and the cover plate forming a T-shaped mounting groove after being assembled, a camera device being provided on the mounting base, the camera device having four cameras, which respectively shoot in four directions: front, rear, left and right, and a wind direction and speed detector being provided on the top of the camera device; data transmission lines and power supply lines of the camera device and the wind direction and speed detector are connected from the inside of the camera device to a circuit board installed in the mounting base, the circuit board being provided with a power supply module and a signal receiving and releasing module for power supply and information exchange, a six-pin socket being provided at the rear portion of the mounting base, and the six-pin socket being electrically connected to the circuit board.

[0011] Preferably, the wind direction and wind speed detector is an ultrasonic wind direction and wind speed detector.

[0012] Preferably, the radar and lidar are used to detect information about other ships, bridge piers, docks or other obstacles for collision avoidance alarms, and the sonar is used to detect water depth. The above information as well as the positioning, heading, speed or other data information obtained by the Beidou positioning device and the inertial navigation positioning device are displayed on the display module; the influencing factors, interference elements, power consumption rate and path planning calculated by the calculation module are also displayed on the display module.

[0013] Preferably, the path planning is based on the shortest time or the least power consumption, and the influence of each trained interference element on the power consumption efficiency is introduced in the planning process, and each influencing factor is obtained from the weather forecast or observation station or the ship's sensor.

[0014] Preferably, the training of the influence of each influencing factor on the power consumption rate includes the following steps: S1. Collect the influencing factor information at t1, t2, t3...tn at fixed intervals; S2. Analyze the proportion of each influencing factor in each evaluation dimension; S3. The data set composed of each influencing factor at that moment and the corresponding influence value on the power consumption rate are placed in the training library of the influencing factor with the highest proportion. For example, at the moment t1, the proportion of wind power in the wind power evaluation dimension is higher than the proportion of other influencing factors in their respective evaluation dimensions. Therefore, the data of wind power and other influencing factors at the moment t1, as well as the influence value on the power consumption rate, are placed in the training library of the wind power influencing factor. The data in this training library are gradually accumulated and trained to find out the influence on the power consumption rate when only wind power has an influence. In step S2, the dimensions of each impact factor are set to 100% evaluation: Wind speed: 20m / s; roll: 45° or 60°; pitch: 30° or 45°; river flow rate: 20km / h; turning angle: 45°. The above are the values ​​of each influencing factor that are considered to reach 100%. The monitored value is divided by the 100% value of each influencing factor to obtain the proportion in each evaluation dimension.

[0015] The present invention monitors the required various environments and data of the ship through the various sensor devices of the ship, and records and trains the effect of each influencing factor on the power consumption rate during sailing according to the information such as wind speed and force, river flow rate, wave motion state, etc. that can affect the navigation power consumption. The cruising range can be estimated more accurately in combination with the planned route and the environmental information on the route. At the same time, the system can also warn of obstacles such as ships, bridge piers, and docks. The present invention realizes the intelligent driving of electric ships. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a schematic diagram of the structure of the present invention.

[0018] Figure 2This is a three-dimensional diagram of a multifunctional monitoring device.

[0019] Figure 3 This is the rear view of the multi-function monitoring device.

[0020] Figure 4 This is a front view of the multifunctional monitoring device.

[0021] Figure 5 It is a side view of the multifunctional monitoring device.

[0022] In the figure: 1. Mounting base; 2. Cover plate; 3. Bolt; 4. Mounting slot; 5. Six-pin socket; 6. Camera; 7. Wind direction and speed detector. DETAILED DESCRIPTION

[0023] The various devices selected in this application (components whose specific structures are not described) are all universal standard parts or components known to those skilled in the art, and their structures and principles can be known to those skilled in the art through technical manuals or conventional experimental methods.

[0024] In the description of the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0025] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0026] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0027] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0028] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. Example 1

[0029] like Figure 1-Figure 5As shown, the structure of the electric boat intelligent navigation system of the present invention includes: a control center, a ship data acquisition system, and an environmental data acquisition system; the control center includes: a data transceiver module, a calculation module, a display module, a control module, and a data storage module, wherein the data transceiver module is used to realize data interaction with each sensor and a wireless network, the calculation module is used to calculate and train the influence of each monitoring data on the power consumption rate, and analyze the shooting scene, the display module is used to display various monitoring data and the data obtained by calculation to the operator, and the output form includes text, 2D image or 3D image, the control module is used to issue control instructions to each sensor and ship, and the data storage module is used to store monitoring data, river map information, environmental information, etc.; the ship data acquisition system includes: Beidou navigation equipment, inertial navigation equipment, battery monitoring equipment, cabin data acquisition system, wave motion detection equipment, among which the data collected by these equipment, the first two are used for ship positioning and heading, speed confirmation, and the data collected by the latter three are used for training influencing factors; the environmental data acquisition system includes: draft depth detection equipment, multi-function monitoring equipment, radar, laser radar, sonar, wherein the draft depth detection equipment The multifunctional monitoring equipment includes: a camera for taking a panoramic view in four directions, and a wind direction and speed detector, wherein the images taken by the camera are used to assist in identifying the type and distance information of obstacles, so as to facilitate collision avoidance and early warning, and the data obtained by the wind direction and speed detector are used to train the influencing factors; the data processed by the control center include: the ship's heading, the ship's speed, the propeller speed, the rudder angle, the wave motion state, the remaining battery power, the output current, the wind direction, the wind speed, and the draft depth; the data storage model The block stores the propeller speed, navigation speed, and power consumption rate of the ship when it is moving straight and turning under still water and no wind conditions. This is equivalent to establishing a basic motion model based on the ship's no-load conditions, and finding the corresponding relationship between its propeller speed, navigation speed, and power consumption rate. In actual sailing, the calculation module calculates the influence of various influencing factors on the power consumption rate of the ship during actual sailing through the data information transmitted by each sensor, so as to gradually train the influence of each influencing factor on the power consumption rate to be close to the real value; the influencing factors include: wind force, river flow velocity, wave motion state, draft depth, and turning angle.

[0030] Preferably, the power consumption rate is a curve showing the change of the remaining power over time. f (t) to obtain f (t) The slope of each point on the graph is, so the power consumption rate is f'(x) .

[0031] Preferably, among the influencing factors, wind force is obtained by calculating the wind speed and wind direction information obtained by a wind direction and wind speed detector in the direction of the ship's navigation, and taking a wind speed of 1 km / h as a relative wind speed. f'(t)The interference element is recorded f'(t) If the component is consistent with the ship's heading, the impact on the power consumption rate is positive, that is, it can reduce power consumption and increase cruising range. If the component is opposite to the ship's heading, the impact on the power consumption rate is negative, that is, it can increase power consumption.

[0032] Preferably, among the influencing factors, the river flow velocity is obtained by receiving public information released by shore-based monitoring equipment, or by the difference between the actual speed V2 and the speed V1 corresponding to the propeller speed of the ship when it is moving straight under calm water and no wind conditions stored in the data storage module. The river flow velocity is taken as 1 km / h as a relative f'(t) The interference element is recorded f’ (t) If the component of the river flow velocity in the direction of the ship is consistent with the ship's heading, the impact on the power consumption rate is positive, that is, it can reduce power consumption and increase the cruising range. If the component is opposite to the ship's heading, the impact on the power consumption rate is negative, that is, it can increase power consumption.

[0033] Preferably, in the influencing factors, each 5° deviation of each deviation condition of the wave motion state is taken as a factor. f'(t) The interference element is recorded f'(t) The interference effect; Among the influencing factors, the steering angle is taken as a steering angle of 5° f'(t) The interference element is recorded f'(t) The types of wave motion include rolling, pitching and bowing. The three states are judged to have positive or negative effects on the power consumption rate according to their influence on the course of the ship.

[0034] Preferably, among the influencing factors, the draft is used as the first level, and the remaining influencing factors are independently trained under different draft conditions to form a data set.

[0035] Preferably, the multifunctional monitoring device comprises: a mounting seat 1 at the bottom, a cover plate 2 is provided at the front of the mounting seat 1, the cover plate 2 forms a fixed relationship with the mounting seat through a plurality of bolts 8, the joint surfaces of the mounting seat 1 and the cover plate 2 form a T-shaped mounting groove 4 after jointing, the grooves belonging to the mounting seat 1 and the cover plate 2 are both semicircular grooves, and the mounting groove 4 with a circular cross section is formed after jointing, a camera device is provided on the mounting seat 1, the camera device has four cameras 6, and the four cameras 6 respectively shoot the front, rear, left and right directions, and a wind direction and wind speed detector is installed on the top of the camera device; the data transmission line and power supply line of the camera device and the wind direction and wind speed detector 7 are connected from the inside of the camera device to the circuit board installed in the mounting seat 1, the circuit board is provided with a power supply module and a signal receiving and releasing module for power supply and information exchange, and a six-pin socket 5 is provided at the rear of the mounting seat 1, and the six-pin socket 5 is electrically connected to the circuit board; the multifunctional monitoring device is installed at the T-shaped intersection of the railing of the observation tower, and the T-shaped intersection is wrapped by the mounting groove 4 to form a fixed relationship.

[0036] Preferably, the wind direction and wind speed detector 7 is an ultrasonic wind direction and wind speed detector.

[0037] Preferably, the radar and lidar are used to detect information about other ships, bridge piers, docks or other obstacles for collision avoidance alarms, and the sonar is used to detect water depth. The above information as well as the positioning, heading, speed or other data information obtained by the Beidou positioning device and the inertial navigation positioning device are displayed on the display module; the influencing factors, interference elements, power consumption rate and path planning calculated by the calculation module are also displayed on the display module.

[0038] Preferably, the path planning is based on the shortest time or the least power consumption, and the influence of each trained interference element on the power consumption efficiency is introduced in the planning process, and each influencing factor is obtained from the weather forecast or observation station or the ship's sensor.

[0039] Preferably, the training of the influence of each influencing factor on the power consumption rate includes the following steps: S1. Collect the influencing factor information at t1, t2, t3...tn at fixed intervals; S2. Analyze the proportion of each influencing factor in each evaluation dimension; S3. The data group composed of each influencing factor at that moment and the corresponding impact value on the power consumption rate are placed in the training library of the influencing factor with the highest proportion. For example, at moment t1, the proportion of wind power in the wind power evaluation dimension is higher than the proportion of other influencing factors in their respective evaluation dimensions. Therefore, the data of wind power and other influencing factors at moment t1, as well as the impact value on the power consumption rate, are placed in the training library of the wind power influencing factor, which is equivalent to highlighting the main influencing factors on the power consumption rate at that moment. The remaining influencing factors are defined as noise. By observing the data in the training library of wind power influencing factors, the data in this training library are gradually accumulated and trained to find out the impact on the power consumption rate when only wind power has an impact. In step S2, the dimensions of each impact factor are set to 100% evaluation: Wind speed: 20m / s; roll: 45°; pitch: 30°; river flow rate: 20km / h; steering angle: 45°. The above are the values ​​of each influencing factor that are considered to reach 100%. The monitored value is divided by the 100% value of each influencing factor to obtain the proportion in each evaluation dimension. For example, at time t1, the wind speed component monitored is 5m / s, and the direction is opposite to the heading. At time t1, the wind influence factor in its own evaluation dimension is 5m / s divided by 20m / s, which is equal to 25%. At time t1, when no other influencing factors account for more than 25% in their respective dimensions, the monitoring data group at time t1, including wind force, river flow rate, wave motion state, draft depth, steering angle, and power consumption rate, is put into the training library of wind influence factors, so that the influence of individual wind influence factors on power consumption rate can be trained through demodulation later. Example 2

[0040] When using this intelligent navigation system to actually sail a certain type of electric boat with a draft of 5m, the data in the training library of wind force influence factors show that at times t1 and t2, the wind force only differs by 0.5m / s in wind speed components, and its impact on the power consumption rate is 0.05. The trained wind speed interference element = 0.1. It should be noted that the training results at a draft of 5m are not applicable to the training results at other draft depths.

[0041] The present invention monitors the required various environments and data of the ship through the various sensor devices of the ship, and records and trains the effect of each influencing factor on the power consumption rate during sailing according to the information such as wind speed and force, river flow rate, wave motion state, etc. that can affect the navigation power consumption. The cruising range can be estimated more accurately in combination with the planned route and the environmental information on the route. At the same time, the system can also warn of obstacles such as ships, bridge piers, and docks. The present invention realizes the intelligent driving of electric ships.

[0042] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent navigation system for electric boats, characterized in that: include: Control center, ship data acquisition system, environmental data acquisition system; The control center includes: data transceiver module, calculation module, display module, control module, data storage module; the ship data acquisition system includes: Beidou navigation equipment, inertial navigation equipment, battery monitoring equipment, cabin data acquisition system, wave motion detection equipment; the environmental data acquisition system includes: draft depth detection equipment, multi-function monitoring equipment, radar, laser radar, sonar; the multi-function monitoring equipment includes: a shooting device for shooting a four-way panoramic view, a wind direction and speed detector; the data processed by the control center includes: the ship's heading, the ship's speed, the propeller speed, etc. speed, rudder angle, wave motion state, remaining battery power, output current, wind direction, wind speed, and draft depth; the data storage module stores the propeller speed, speed, and power consumption rate of the ship when it is straight and turning under calm water and no wind conditions. In actual sailing, the calculation module calculates the influence of various influencing factors on the power consumption rate of the ship during actual sailing through the data information transmitted by each sensor, so as to gradually train the influence of each influencing factor on the power consumption rate to be close to the real value; the influencing factors include: wind force, river flow velocity, wave motion state, draft depth, and turning angle.

2. The electric boat intelligent navigation system according to claim 1, characterized in that: The power consumption rate is a curve based on the change of remaining power over time. f(t) to obtain f (t) The slope of each point on the graph is, so the power consumption rate is f'(x) .

3. The electric boat intelligent navigation system according to claim 2 is characterized in that: Among the influencing factors, wind force is obtained by calculating the wind speed and direction information obtained by the wind direction and speed detector in the direction of the ship's navigation, and taking the wind speed of 1m / s as an example. f'(t) The interference element is recorded f'(t) interference effect.

4. The electric boat intelligent navigation system according to claim 3 is characterized by: Among the influencing factors, the river flow velocity is obtained by receiving public information released by shore-based monitoring equipment, or by the difference between the actual speed V2 and the speed V1 corresponding to the propeller speed of the ship when it is moving straight under calm water and no wind conditions stored in the data storage module. The river flow velocity is taken as 1 km / h as a relative f'(t) The interference element is recorded f'(t) interference effect.

5. The electric boat intelligent navigation system according to claim 4 is characterized in that: In the above mentioned influencing factors, each 5° deviation of each deviation condition of wave motion state is taken as a factor. f'(t) The interference element is recorded f'(t) The interference effect; Among the influencing factors, the steering angle is taken as a steering angle of 5° f'(t) The interference element is recorded f'(t) interference effect.

6. The electric boat intelligent navigation system according to claim 5, characterized in that: Among the influencing factors, the draft is used as the first level, and the remaining influencing factors are trained independently under different draft conditions to form a data set.

7. The electric boat intelligent navigation system according to claim 6, characterized in that: The multifunctional monitoring equipment comprises: a mounting base at the lower part, a cover plate bolted to the mounting base is provided at the front part, a T-shaped mounting groove is formed by the joint surfaces of the mounting base and the cover plate after being jointed, a camera device is provided on the mounting base, the camera device has four cameras, and the four cameras respectively shoot in four directions: front, back, left and right, and a wind direction and speed detector is installed on the top of the camera device; the data transmission lines and power supply lines of the camera device and the wind direction and speed detector are connected from the inside of the camera device to a circuit board installed in the mounting base, the circuit board is provided with a power supply module and a signal receiving and releasing module for power supply and information exchange, and a six-pin socket is provided at the rear part of the mounting base, and the six-pin socket is electrically connected to the circuit board.

8. The electric boat intelligent navigation system according to claim 7, characterized in that: The wind direction and wind speed detector is an ultrasonic wind direction and wind speed detector.

9. The electric boat intelligent navigation system according to claim 8, characterized in that: The radar and lidar are used to detect information about other ships, bridge piers, docks or other obstacles for collision avoidance alarms, and the sonar is used to detect water depth. The above information as well as the positioning, heading, speed or other data information obtained by the Beidou positioning device and the inertial navigation positioning device are displayed on the display module; the influencing factors, interference elements, power consumption rate, and path planning calculated by the calculation module are also displayed on the display module; the path planning is based on reaching the destination in the shortest time or with the least power consumption. The influence of each trained interference element on the power consumption efficiency is introduced in the planning process, and each influencing factor is obtained by a weather forecast or an observation station or the ship's sensor.

10. The electric boat intelligent navigation system according to claim 9, characterized in that: The training of the influence of each influencing factor on the power consumption rate includes the following steps: S1. Collect the influencing factor information at t1, t2, t3...tn at fixed intervals; S2. Analyze the proportion of each influencing factor in each evaluation dimension; S3. The data set composed of each influencing factor at that moment and the corresponding influence value on the power consumption rate are placed in the training library of the influencing factor with the highest proportion. For example, at the moment t1, the proportion of wind power in the wind power evaluation dimension is higher than the proportion of other influencing factors in their respective evaluation dimensions. Therefore, the data of wind power and other influencing factors at the moment t1, as well as the influence value on the power consumption rate, are placed in the training library of the wind power influencing factor. The data in this training library are gradually accumulated and trained to find out the influence on the power consumption rate when only wind power has an influence. In step S2, the dimensions of each impact factor are set to 100% evaluation: Wind speed: 20m / s; roll: 45° or 60°; pitch: 30° or 45°; river flow rate: 20km / h; turning angle: 45°. The above are the values ​​of each influencing factor that are considered to reach 100%. The monitored value is divided by the 100% value of each influencing factor to obtain the proportion in each evaluation dimension.

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