Unmanned ship intelligent navigation control safety early warning and emergency braking integrated system and method

Abstract

The invention relates to an unmanned ship intelligent navigation control safety early warning and emergency braking integrated system which is characterized by comprising a shore-based navigation control system, a ship-borne navigation control system and a wireless communication system. By integrating the ship-mounted intelligent control module and the sensor module, navigation data can be collected and analyzed in real time in the navigation process of the unmanned ship, and potential safety risks are effectively recognized. When a shore-based navigation control system detects a navigation risk, operation and control of the unmanned ship can be intervened and adjusted in time, and damage caused by collision, stranding or power system faults and the like is avoided. Besides, navigation situation data exchange among a plurality of unmanned ships is realized, so that the ship-borne navigation control system can quickly respond, and the shore-based navigation control system can synchronously perform data analysis and judgment in case of high risk, and the overall judgment efficiency and response speed are remarkably improved.

Description

Technical Field

[0001] The present invention relates to the field of unmanned boats, and specifically to an integrated system and method for intelligent navigation control, safety warning and emergency braking of unmanned boats. Background Art

[0002] With the rapid development of unmanned technology, unmanned boats have shown great application potential in multiple fields such as ocean exploration, environmental monitoring, and water rescue. They can execute various tasks in complex water environments by integrating advanced sensors, navigation systems, and communication technologies.

[0003] Existing unmanned boat control systems usually include an onshore navigation control system and an on-board navigation control system. Among them, the onshore system is responsible for remote monitoring and issuing mission instructions, while the on-board system is responsible for specific navigation control and mission execution. These systems use real-time data transmission and processing technologies to ensure that unmanned boats can navigate autonomously according to preset mission plans and perform manual intervention when necessary.

[0004] However, unmanned boats face many safety risks during autonomous navigation, such as collisions, groundings, power system failures, etc. These risks may not only cause damage to unmanned boats, but also pose threats to the water environment and other vessels.

[0005] Current unmanned boat control systems often lack an efficient safety risk assessment mechanism, are unable to identify potential safety hazards in a timely manner and take corresponding preventive measures. At the same time, the emergency braking and emergency response mechanisms are not perfect, making it difficult to quickly respond to sudden situations to avoid accidents. Therefore, developing an unmanned boat safety control system integrating advanced intelligent control modules, real-time data transmission and processing technologies, and an efficient safety risk assessment and emergency braking mechanism is crucial for ensuring the navigation safety of unmanned boats. Summary of the Invention

[0006] To solve the above problems, the present invention provides the following technical solutions:

[0007] An integrated system for intelligent navigation control, safety warning and emergency braking of unmanned boats, comprising an onshore navigation control system, an on-board navigation control system, and a wireless communication system;

[0008] The onshore navigation control system includes:

[0009] A navigation control data analysis module, which can receive the unmanned boat navigation situation data from the on-board navigation control system, and analyze and calculate the error of the unmanned boat navigation situation data;

[0010] A navigation rule management module, which is used to formulate unmanned boat navigation rules, and can judge whether the unmanned boat conforms to the navigation rules according to the data analysis results of the data analysis module;

[0011] A base station remote control module, which is used to send navigation control instructions to the on-board navigation control system to remotely control the throttle and rudder angle of the unmanned boat;

[0012] An autonomous control module, which can issue control instructions to the unmanned boat control module according to the navigation task instructions and navigation rules;

[0013] A display module, which is used to show the operator the status of the unmanned boat and the operation interface;

[0014] The on-board navigation control system includes:

[0015] An unmanned boat control module, which is used to control the throttle and navigation angle of the unmanned boat;

[0016] A sensor module, which can collect real-time data on the navigation situation of the unmanned boat and send the data to the navigation control data analysis module;

[0017] An on-board risk assessment module, which can combine the preset navigation rules and real-time data from the sensor module to judge the risks of collision, grounding and unmanned boat power failure;

[0018] A navigation control algorithm module, which is used to analyze the navigation control instructions and send them to the unmanned boat control module;

[0019] An emergency braking module, which is connected to the autonomous control module and can directly cut off the power to make the unmanned boat enter the standby state;

[0020] The on-board navigation control systems of unmanned boats sailing simultaneously can exchange data with each other, and analyze the navigation risks based on this.

[0021] Based on the above technical solutions, the present invention can also be improved as follows.

[0022] Further, the wireless communication system includes line-of-sight communication, beyond-line-of-sight communication and emergency communication channels. The wireless communication system supports dynamic channel switching, can select the optimal communication mode according to the link state, and preferentially enables the emergency communication channel to transmit emergency braking instructions.

[0023] Further, the shore-based navigation control system includes a formation relationship management module for the coordinated navigation control and task allocation of multiple unmanned boats.

[0024] Further, the navigation rule management module can formulate at least one of the unmanned boat navigation rules including the safety zone boundary and the route task.

[0025] Further, the unmanned boats simultaneously performing navigation tasks within the safety zone can exchange with each other the navigation situation data detected by the sensor module through the wireless communication system, and the on-board risk assessment module can analyze the navigation risks based on the navigation situation data of other unmanned boats.

[0026] The integrated method of intelligent navigation control safety warning and emergency braking of unmanned boats adopts the integrated system of intelligent navigation control safety warning and emergency braking of unmanned boats, including the following steps:

[0027] S1. The operator sets the navigation safety zone and mission route through the navigation rule management module;

[0028] S2. The operator selects the operating mode and activates the set safety zone and mission route;

[0029] S3: The unmanned boat navigates along the route within the safety zone. The sensor module collects the unmanned boat's navigation status data in real time and transmits the data to the onboard risk assessment module and the flight control data analysis module.

[0030] S4. The rule management module activates the emergency response mechanism based on the analysis results of the flight control data analysis module and sends a control instruction to the flight control algorithm module;

[0031] S5. The flight control algorithm module analyzes the control instructions and sends control data to the unmanned boat control module, and the unmanned boat performs emergency response operations;

[0032] S6. The unmanned boat resumes normal navigation;

[0033] S7. The unmanned boat completes the mission route and waits for a new navigation mission.

[0034] Furthermore, in said S5, the emergency response mechanism of the rule management module is a three-level response mechanism;

[0035] Among them, the first-level response is to generate an alarm prompt on the display module. The response condition is that the sensor module detects that the unmanned boat is located in the safety zone and deviates from the mission route for more than the first-level preset time;

[0036] The second-level response is that the autonomous control module actively intervenes in the control of the unmanned boat. The active control module combines the flight control data analysis module and the navigation rules to control the unmanned boat control module to actively reduce the engine power and correct the course. The response condition is that the sensor module detects that the distance between the unmanned boat and the edge of the safety zone is less than or equal to the first-level preset distance or / and the unmanned boat deviates from the mission route for more than the second-level preset time;

[0037] The third-level response is that the onboard risk assessment module controls the emergency braking module to directly cut off the unmanned boat power system and enter the standby state. The response condition is that the sensor module detects that the unmanned boat touches the edge of the safety zone.

[0038] Furthermore, the emergency braking module can respond to the override control instruction of the onboard risk assessment module.

[0039] Further, in step S3, the on-board risk assessment module can receive the navigation situation data of nearby unmanned boats and analyze the navigation risks based on this.

[0040] Further, in S2, the operation modes include the base station control mode and the autonomous control mode. The base station control mode allows the base station remote control module to control the unmanned boat control module, and the autonomous control mode allows the autonomous control module to control the unmanned boat control module.

[0041] Beneficial effects

[0042] Compared with the prior art, the present invention can collect and analyze navigation data in real time during the navigation of the unmanned boat by integrating the on-board intelligent control module and the sensor module, and effectively identify potential safety risks. When the shore-based navigation control system detects navigation risks, it can intervene in a timely manner and adjust the control of the unmanned boat to avoid damages caused by problems such as collisions, groundings, or power system failures. In addition, the present invention also realizes the exchange of navigation situation data between multiple unmanned boats, so that in the event of high-risk situations, not only can the on-board navigation control system quickly respond, but the shore-based navigation control system can also synchronously perform data analysis and judgment, significantly improving the overall judgment efficiency and response speed.

[0043] At the same time, even in the case where the shore-based navigation control system fails to collect signals in a timely manner or there are signal interferences and communication delays, the unmanned boat can still rely on its own intelligent control system to make a quick response, ensuring that the unmanned boat has self-protection capabilities. Through this dual protection mechanism, not only the safety of the unmanned boat in complex water environments is improved, but also the dependence on manual intervention is greatly reduced, providing solid technical support for the wide application of unmanned boats. Brief description of the drawings

[0044] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for describing the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention, and those of ordinary skill in the art can obtain other drawings without creative efforts based on these drawings.

[0045] Figure 1 It is a system block diagram of the invention;

[0046] Figure 2 It is a schematic diagram of the working process of the invention; Detailed implementation manners

[0047] To facilitate the understanding of the present invention, the present invention will be described more comprehensively below with reference to the relevant drawings. Several embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided to make the disclosure of the present invention more thorough and comprehensive.

[0048] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0049] It should be noted that: similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0050] Please refer to Figure 1-2 , an integrated system for intelligent navigation control, safety warning and emergency braking of an unmanned boat, which is characterized in that it includes a shore-based navigation control system, a boat-mounted navigation control system and a wireless communication system;

[0051] Among them, the shore-based navigation control system includes:

[0052] A navigation control data analysis module, which can receive the unmanned boat navigation situation data from the boat-mounted navigation control system and analyze and calculate the error of the unmanned boat navigation situation data;

[0053] A navigation rule management module, which is used to formulate unmanned boat navigation rules and can judge whether the unmanned boat conforms to the navigation rules according to the data analysis results of the data analysis module;

[0054] A base station remote control module, which is used to send navigation control instructions to the boat-mounted navigation control system to remotely control the throttle and rudder angle of the unmanned boat;

[0055] An autonomous control module, which can issue control instructions to the unmanned boat control module according to the navigation task instructions and navigation rules;

[0056] A display module, which is used to display the unmanned boat status and operation interface to the operator;

[0057] The boat-mounted navigation control system includes:

[0058] An unmanned boat control module, which is used to control the throttle and navigation angle of the unmanned boat;

[0059] A sensor module, which can collect the unmanned boat navigation situation data in real time and send the data to the navigation control data analysis module;

[0060] On - board risk assessment module, which can combine preset navigation rules and real - time data from the sensor module to judge the risks of collision, grounding and power failure of the unmanned boat;

[0061] Navigation control algorithm module, which is used to analyze navigation control instructions and send them to the unmanned boat control module;

[0062] Emergency braking module, which is connected to the autonomous control module and can directly cut off the power to make the unmanned boat enter the standby state;

[0063] Data can be exchanged between the on - board navigation control systems of unmanned boats sailing simultaneously, and the navigation risks are analyzed based on this.

[0064] Among them, the on - board navigation control system and the shore - based navigation control system can use edge models for data analysis. The application of edge models allows the on - board navigation control system to quickly process sensor data locally, make decisions in a timely manner and execute necessary control operations, such as correcting the course or adjusting the engine power, without relying on remote communication. At the same time, when cooperation with the shore - based navigation control system is required, the optimized wireless communication system ensures efficient data exchange, further enhancing the overall system's response ability and safety. In this way, the unmanned boat can quickly respond in the face of emergencies, effectively avoid risks and ensure navigation safety.

[0065] Embodiment 1:

[0066] The wireless communication system includes line - of - sight communication, beyond - line - of - sight communication and emergency communication channels. The wireless communication system supports dynamic channel switching, can select the optimal communication mode according to the link state, and preferentially enables the emergency communication channel to transmit emergency braking instructions, ensuring that in a complex water area environment, regardless of how the distance and environmental conditions change, the system can maintain a stable and efficient communication connection. In particular, when an emergency braking instruction needs to be transmitted, the system will preferentially enable the emergency communication channel to ensure that key instructions can be quickly and reliably conveyed to the unmanned boat, thereby effectively avoiding potential safety risks, ensuring navigation safety and improving the overall response ability and reliability of the system. This design not only enhances the unmanned boat's ability to respond to emergencies, but also significantly improves its safety and stability under various operating conditions.

[0067] Embodiment 2:

[0068] Different from Embodiment 1, the shore - based navigation control system includes a formation relationship management module for the cooperative navigation control and task assignment of multiple unmanned boats.

[0069] The navigation rule management module can formulate at least one of the unmanned boat navigation rules including the safety zone boundary and the route task. At the same time, unmanned boats performing navigation tasks within the safety zone can exchange the navigation situation data detected by the sensor module with each other through a wireless communication system. The on-board risk assessment module can analyze the navigation risk based on the navigation situation data of other unmanned boats. Unmanned boats performing tasks within the safety zone can exchange the navigation situation data detected by the sensors in real time through a wireless communication system, so that the on-board risk assessment module of each unmanned boat can perform a more comprehensive risk analysis based on these shared data, thereby timely identifying and avoiding potential safety hazards. This cooperation mechanism not only enhances the overall safety of the unmanned boat formation, but also improves its ability to cope with complex water environments and emergencies, providing a reliable technical guarantee for the large-scale application of unmanned boats.

[0070] To illustrate the above system in more detail, a method for integrating intelligent navigation control, safety warning and emergency braking of an unmanned boat, and an integrated system for intelligent navigation control, safety warning and emergency braking of an unmanned boat are disclosed, including the following steps:

[0071] S1. The operator formulates the safety zone and task route for navigation through the navigation rule management module;

[0072] S2. The operator selects the operation mode and enables the set safety zone and task route;

[0073] S3. The unmanned boat sails along the route within the safety zone, and the sensor module collects the navigation situation data of the unmanned boat in real time and transmits the data to the on-board risk assessment module and the navigation control data analysis module;

[0074] S4. The rule management module starts the emergency response mechanism according to the analysis result of the navigation control data analysis module and sends a control instruction to the navigation control algorithm module;

[0075] S5. The navigation control algorithm module analyzes the control instruction, sends control data to the unmanned boat control module, and the unmanned boat performs an emergency response operation;

[0076] S6. The unmanned boat resumes normal navigation;

[0077] S7. The unmanned boat completes the task route and waits for a new navigation task.

[0078] In the above S5, the emergency response mechanism of the rule management module is a three-level response mechanism;

[0079] Among them, the first-level response is to generate an alarm prompt on the display module. The response condition is that the sensor module detects that the unmanned boat is within the safety zone and deviates from the task route for more than the first-level preset time, which can timely remind the operator of potential risks and ensure early warning and intervention;

[0080] The second-level response is that the autonomous control module actively intervenes in the control of the unmanned boat. The active control module combines the flight control data analysis module and the navigation rules to control the unmanned boat control module to actively reduce the engine power and correct the course. The response condition is that the sensor module detects that the distance between the unmanned boat and the edge of the safety zone is less than or equal to the first-level preset distance or / and the unmanned boat deviates from the mission route for more than the second-level preset time;

[0081] The third-level response is that the onboard risk assessment module controls the emergency braking module to directly cut off the unmanned boat power system and enter the standby state. The response condition is that the sensor module detects that the unmanned boat touches the edge of the safety zone.

[0082] By adopting a three-level response mechanism through the rule management module, the safety and emergency response capabilities of unmanned boats in complex water environments can be effectively improved.

[0083] The emergency braking module can respond to the override control instruction of the onboard risk assessment module.

[0084] In step S3, the onboard risk assessment module can receive navigation status data of nearby unmanned boats and use it to analyze navigation risks.

[0085] In S2, the operation mode includes a base station control mode and an autonomous control mode. The base station control mode allows the base station remote control module to control the unmanned boat control module, and the autonomous control mode allows the autonomous control module to control the unmanned boat control module.

[0086] In the description of this technology, it should also be noted that, unless otherwise specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood broadly. For example, they can refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of these terms in this technology based on the specific circumstances.

[0087] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. An integrated system for intelligent navigation control, safety warning and emergency braking of an unmanned boat, characterized in that It includes a shore-based navigation control system, a boatborne navigation control system, and a wireless communication system; The shore-based navigation control system includes: A navigation control data analysis module, which can receive the unmanned boat navigation situation data from the boatborne navigation control system, and analyze and calculate the error of the unmanned boat navigation situation data; A navigation rule management module, which is used to formulate unmanned boat navigation rules, and can judge whether the unmanned boat complies with the navigation rules according to the data analysis result of the data analysis module; A base station remote control module, which is used to send navigation control instructions to the boatborne navigation control system to remotely control the throttle and rudder angle of the unmanned boat; An autonomous control module, which can issue control instructions to the unmanned boat control module according to the navigation task instructions and navigation rules; A display module, which is used to show the unmanned boat status and operation interface to the operator; The boatborne navigation control system includes: An unmanned boat control module, which is used to control the throttle and navigation angle of the unmanned boat; A sensor module, which can collect the unmanned boat navigation situation data in real time and send the data to the navigation control data analysis module; A boatborne risk assessment module, which can judge the risks of collision, grounding, and unmanned boat power failure by combining the preset navigation rules and the real-time data from the sensor module; A navigation control algorithm module, which is used to analyze the navigation control instructions and send them to the unmanned boat control module; An emergency braking module, which is connected to the autonomous control module and can directly cut off the power to make the unmanned boat enter the standby state; The boatborne navigation control systems of the unmanned boats sailing at the same time can exchange data with each other, and analyze the navigation risks based on this.

2. The integrated system for intelligent navigation control, safety warning and emergency braking of an unmanned boat according to claim 1, characterized in that: The wireless communication system includes line-of-sight communication, beyond-line-of-sight communication, and emergency communication channels. The wireless communication system supports dynamic channel switching, can select the optimal communication mode according to the link state, and preferentially enables the emergency communication channel to transmit emergency braking instructions.

3. The intelligent navigation control, safety warning and emergency braking integrated system for unmanned boats according to claim 1, characterized in that: The shore-based navigation control system includes a formation relationship management module for the cooperative navigation control and task assignment of multiple unmanned boats.

4. The integrated system for intelligent navigation control, safety warning and emergency braking of an unmanned boat according to claim 1, characterized in that: The unmanned boat navigation rules that the navigation rule management module can formulate include at least one of the two rules of the safety zone boundary and the route task.

5. The intelligent navigation control, safety warning and emergency braking integrated system for unmanned boats according to claim 1, characterized in that: The unmanned boats performing navigation tasks in the safety zone at the same time can exchange the navigation situation data detected by the sensor module with each other through the wireless communication system, and the boatborne risk assessment module can analyze the navigation risks based on the navigation situation data of other unmanned boats.

6. The integrated method for intelligent navigation control safety warning and emergency braking of an unmanned boat, which uses the integrated system for intelligent navigation control safety warning and emergency braking of an unmanned boat described in any one of claims 1 to 5, is characterized in that: It includes the following steps: S1. The operator formulates the safety zone and task route for navigation through the navigation rule management module; S2. The operator selects the operation mode and enables the set safety zone and task route; S3. The unmanned boat sails according to the route in the safety zone, and the sensor module collects the unmanned boat navigation situation data in real time and transmits the data to the boatborne risk assessment module and the navigation control data analysis module; S4. The rule management module starts the emergency response mechanism according to the analysis result of the navigation control data analysis module and sends control instructions to the navigation control algorithm module; S5. The navigation control algorithm module analyzes the control instructions, sends control data to the unmanned boat control module, and the unmanned boat executes the emergency response operation; S6. The unmanned boat resumes normal navigation; S7. The unmanned boat completes the task route and waits for a new navigation task.

7. The integrated method for intelligent navigation control, safety warning and emergency braking of an unmanned boat according to claim 1, characterized in that: In said S5, the emergency response mechanism of the rule management module is a three-level response mechanism; Among them, the first-level response is to generate an alarm prompt on the display module. The response condition is that the sensor module detects that the unmanned boat is located in the safety zone and deviates from the mission route for more than the first-level preset time; The second-level response is that the autonomous control module actively intervenes in the control of the unmanned boat. The active control module combines the flight control data analysis module and the navigation rules to control the unmanned boat control module to actively reduce the engine power and correct the course. The response condition is that the sensor module detects that the distance between the unmanned boat and the edge of the safety zone is less than or equal to the first-level preset distance or / and the unmanned boat deviates from the mission route for more than the second-level preset time; The third-level response is that the onboard risk assessment module controls the emergency braking module to directly cut off the unmanned boat power system and enter the standby state. The response condition is that the sensor module detects that the unmanned boat touches the edge of the safety zone.

8. The integrated method for intelligent navigation control, safety warning and emergency braking of an unmanned boat according to claim 1, characterized in that: The emergency braking module can respond to the override control instruction of the onboard risk assessment module.

9. The integrated method for intelligent navigation control, safety warning and emergency braking of an unmanned boat according to claim 1, wherein: In step S3, the onboard risk assessment module can receive navigation status data of nearby unmanned boats and use it to analyze navigation risks.

10. The integrated method for intelligent navigation control, safety warning and emergency braking of an unmanned boat according to claim 1, characterized in that: In S2, the operation mode includes a base station control mode and an autonomous control mode. The base station control mode allows the base station remote control module to control the unmanned boat control module, and the autonomous control mode allows the autonomous control module to control the unmanned boat control module.

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