Active safety intelligent prevention and control system for berthing and unberthing in ship-end sailing

Abstract

The invention discloses a ship-end sailing berthing and departing active safety intelligent prevention and control system, which comprises a ship visual perception module, navigation equipment, a video storage module, a visual computing server, a terminal host, a network switch, a serial port server and a wireless module, and is characterized in that the ship visual perception module comprises a berthing visual perception module and a sailing visual perception module; the acquisition module is used for acquiring berthing environment video data and navigation video data of a ship; the wireless module is used for transmitting the berthing environment video data and the navigation video data to the management platform in real time; the system can provide the functions of situation awareness, sailing collision prevention and bridge collision prevention early warning in the sailing process, provide ship side images, berthing and leaving data and early warning information for a driver in the ship berthing process, reduce the berthing blind area of the driver, provide berthing safety guarantee and reduce the collision risk of the ship in the berthing and leaving period to the maximum extent.

Description

Technical Field

[0001] This invention relates to the field of ship safety, and in particular to an active safety intelligent control system for navigation, berthing and unberthing at the ship's bow, applicable to sightseeing boats navigating inland waterways. Background Technology

[0002] As vital vehicles for inland waterway tourism and transportation, the safety of ships during navigation and berthing / departure is directly related to the safety of life and property. Prior to this invention, berthing / departure and collision avoidance relied primarily on the experience of the helmsman. However, this traditional method has numerous drawbacks and safety hazards: firstly, helmsmen have blind spots during berthing, making it impossible to fully and accurately grasp the surrounding environment; secondly, the lack of effective collision avoidance and warning functions means that in the event of an emergency, the helmsman cannot react quickly, easily leading to collisions and other safety accidents, severely impacting the safety of navigation and berthing / departure.

[0003] To address the aforementioned issues, there is an urgent need in this field for an intelligent prevention and control system that can assist navigators in navigation and berthing operations, reduce human error, and provide comprehensive environmental perception and early warning functions to improve the level of safe ship operation. Summary of the Invention

[0004] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention proposes an active safety intelligent control system for shipboard navigation, berthing, and unberthing.

[0005] One embodiment of the present invention provides a technical solution to solve its technical problem: a ship-end navigation, berthing, and unberthing active safety intelligent control system, comprising: The ship visual perception module includes a berthing visual perception module and a navigation visual perception module, which are used to collect video data of the ship's berthing environment and navigation video data. Navigation devices are used to provide navigation data; The video storage module is used to store berthing environment video data and navigation video data; A visualization computing server is used to receive and process berthing environment video data, navigation video data, and navigation data; The terminal host is used to process and visualize the received berthing environment video data, navigation video data and navigation data, and also provides a human-machine interface; Network switches are used to provide data transmission between the ship's visual perception module and the visualization computing server and terminal host. A serial port server is used to provide data transmission between navigation devices and visualization computing servers and terminal hosts. The wireless module is used to transmit berthing environment video data and navigation video data to the management platform in real time.

[0006] As one of the preferred embodiments of the present invention, the berthing visual perception module includes a first bow visual monitor, a port forward visual monitor, a port aft visual monitor, a starboard forward visual monitor, a starboard aft visual monitor, and a stern visual monitor.

[0007] As one of the preferred embodiments of the present invention, the navigation visual perception module includes a second bow visual monitor.

[0008] As one of the preferred embodiments of the present invention, a ship-end navigation, berthing and unberthing active safety intelligent prevention and control system also includes an alarm module for providing audible and visual alarms.

[0009] As one of the preferred embodiments of the present invention, a ship-end navigation berthing and unberthing active safety intelligent control system also includes a UPS power supply for supplying power to the system.

[0010] As one of the preferred embodiments of the present invention, the navigation equipment includes at least a Beidou satellite compass, a depth sounder, a radar, and a ship's AIS.

[0011] As one of the preferred embodiments of the present invention, the management platform includes a shipowner integrated management platform and / or a maritime management platform.

[0012] The beneficial effects of this invention are as follows: A ship-side navigation, berthing, and unberthing active safety intelligent control system includes a ship visual perception module, comprising a berthing visual perception module and a navigation visual perception module, used to collect berthing environment video data and navigation video data; a navigation device, used to provide navigation data; a video storage module, used to store berthing environment video data and navigation video data; a visualization computing server, used to receive and process berthing environment video data, navigation video data, and navigation data; and a terminal host, used to process and visualize the received berthing environment video data, navigation video data, and navigation data, while providing human-machine interaction. Interactive interface; network switch, used to provide data transmission between the ship's visual perception module and the visualization computing server and terminal host; serial port server, used to provide data transmission between the navigation equipment and the visualization computing server and terminal host; wireless module, used to transmit berthing environment video data and navigation video data to the management platform in real time; capable of providing situational awareness, navigation collision avoidance, and bridge collision warning functions during navigation, providing the helmsman with side views of the ship, berthing and departure data and warning information during ship berthing, reducing the helmsman's blind spots, providing berthing safety, and minimizing the risk of collision during berthing and departure. Attached Figure Description

[0013] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a system block diagram of an active safety and intelligent control system for shipboard navigation, berthing, and unberthing. Detailed Implementation

[0014] This section will describe in detail specific embodiments of the present invention. Preferred embodiments of the present invention are shown in the accompanying drawings. The purpose of the drawings is to supplement the textual description with graphics, so that people can intuitively and vividly understand each technical feature and overall technical solution of the present invention, but they should not be construed as limiting the scope of protection of the present invention.

[0015] In the description of this invention, "multiple" means two or more; "greater than," "less than," and "exceeding" are understood to exclude the stated number; "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0016] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0017] In this invention, unless otherwise explicitly defined, the terms "setting," "installing," and "connecting" should be interpreted broadly. For example, they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to a fixed connection, a detachable connection, or an integrally formed connection; they can refer to a mechanical connection; they can refer to the internal connection of two components or the interaction between two components. Those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0018] Reference Figure 1 A ship-end navigation, berthing, and unberthing active safety intelligent control system, comprising: The ship visual perception module 100 includes a berthing visual perception module 110 and a navigation visual perception module 120, which are used to collect video data of the ship's berthing environment and navigation video data. Navigation device 200, used to provide navigation data; Video storage module 300 is used to store berthing environment video data and navigation video data; The visualization computing server 400 is used to receive and process berthing environment video data, navigation video data, and navigation data. The terminal host 500 is used to process and visualize the received berthing environment video data, navigation video data and navigation data, and also provides a human-machine interface. Network switch 600 is used to provide data transmission between ship vision perception module 100, visualization computing server 400, and terminal host 500; The serial port server 700 is used to provide data transmission between the navigation device 200, the visualization computing server 400, and the terminal host 500; The wireless module 800 is used to transmit berthing environment video data and navigation video data to the management platform in real time.

[0019] Reference Figure 1 In the ship's active safety intelligent control system for navigation, berthing, and departure: The ship visual perception module 100, as the core of the system's visual data acquisition, includes a berthing visual perception module 110 and a navigation visual perception module 120. The berthing visual perception module 110 consists of a first bow visual monitor 111, a port-side forward visual monitor 112, a port-side aft visual monitor 113, a starboard-side forward visual monitor 114, a starboard-side aft visual monitor 115, and a stern visual monitor 116. Each monitor uses a high-definition camera, evenly distributed around the ship's deck and fixed by brackets, enabling 360-degree video acquisition of the berthing environment without blind spots. The navigation visual perception module 120 includes a second bow visual monitor 121, installed at the bow of the ship, with an adjustable lens focal length, used to acquire high-definition video data from a long distance ahead, capturing information about obstacles such as ships, bridges, and reefs. All monitors in the ship visual perception module 100 establish a data connection with a network switch 600 via gigabit network cables, transmitting the acquired video data to the network switch 600 in real time.

[0020] Navigation equipment 200: Used to provide various navigation data required for ship navigation, including at least a Beidou satellite compass 210, a depth sounder 220, a radar 230, and a ship's AIS 240. The Beidou satellite compass 210 provides high-precision real-time heading data and low-error position coordinate data by receiving Beidou satellite signals; the depth sounder 220 is installed on the bottom of the ship and collects water depth data below the ship in real time through ultrasonic detection technology; the radar 230 is installed on the top of the bow mast and can identify the position, distance, and speed of surrounding ships and obstacles; the ship's AIS 240 receives the identity information, speed, heading, and other data of surrounding ships, realizing information exchange between ships; all navigation equipment establishes a data connection with the serial port server 700 through serial cables, transmitting various navigation data to the serial port server 700.

[0021] Video storage module 300: It adopts a large-capacity hard disk array, supports 24-hour uninterrupted data storage, and also supports data loop overwrite function; the video storage module 300 establishes a data transmission connection with the network switch 600, receives and stores berthing environment video data, navigation video data and related navigation data (such as early warning information, ship status data, etc.) forwarded from the network switch 600, which facilitates subsequent data query, traceability and analysis.

[0022] Visualization computing server 400: Adopting a high-performance industrial-grade server, it possesses powerful data processing and parallel computing capabilities. The visualization computing server 400 establishes a bidirectional data connection with the network switch 600. On the one hand, it receives berthing environment video data, navigation video data, and navigation data converted by the serial port server 700 forwarded by the network switch 600. On the other hand, it transmits the processed structured data and analysis results to the terminal host 500 and the network switch 600. Simultaneously, the visualization computing server 400 establishes a signal transmission connection with the terminal host 500 via an HDMI data cable to achieve real-time data synchronization.

[0023] Terminal host 500: Composed of host 510 and display 520, host 510 adopts an embedded industrial host, equipped with a touch screen, and pre-installed with panoramic vision navigation safety warning and berthing assistance software, which is the core of the system's human-machine interaction; terminal host 500 is connected to display 520 via video signal cable to display processed visualization data (such as panoramic images, warning information, navigation data, etc.) to the driver; it is connected to network switch 600 to realize data interaction with other modules; it is connected to warning module 910 via audio cable to control the audible and visual alarm function of warning module 910; the driver can perform parameter settings, function switching and other operations through the touch screen, such as setting the minimum safe encounter distance and adjusting the distance of auxiliary line markings.

[0024] Network Switch 600: Adopting a gigabit Ethernet switch, supporting full-duplex communication, it connects to the ship vision perception module 100, video storage module 300, visualization computing server 400, terminal host 500, serial server 700, and wireless module 800 via gigabit network cables, and is responsible for data forwarding and interaction between the modules, ensuring the real-time performance and stability of data transmission.

[0025] Serial port server 700: It can convert the serial port data output by navigation device 200 into network data, and then establish a data connection with network switch 600 through network cable, so as to realize the transmission of navigation data to visualization computing server 400 and terminal host 500, and solve the problem of heterogeneous data interaction between different navigation devices.

[0026] Wireless Module 800: Adopting a 4G / 5G dual-mode module, supporting full network compatibility, and possessing high-speed data transmission capabilities and wide coverage. Wireless Module 800 establishes a data connection with Network Switch 600 via network cable, receiving berthing environment video data, navigation video data, and related early warning data forwarded by Network Switch 600. It then establishes a remote communication connection with Shipowner's Integrated Management Platform 11 and / or Maritime Management Platform 12 via wireless communication link to achieve real-time data upload. At the same time, Wireless Module 800 improves data transmission security and prevents data theft or tampering by setting data encryption, firewalls, and other measures.

[0027] Warning module 910: Includes a power amplifier and a buzzer. The buzzer is installed in the driver's cab and can emit alarm sounds of different frequencies according to the warning level. Warning module 910 is connected to terminal host 500 via an audio cable. When terminal host 500 detects abnormal situations such as collision risk or deviation from the driving lane, it will control the buzzer to emit an alarm sound and cooperate with the flashing red pattern on display 520 to realize sound and light coordinated alarm and promptly remind the driver to take corresponding measures.

[0028] UPS power supply 920: It adopts an online UPS with an emergency power supply time of not less than 0.5 hours. The UPS power supply 920 establishes power supply connections with the ship's visual perception module 100, video storage module 300, visualization computing server 400, terminal host 500, network switch 600, serial server 700, wireless module 800, warning module 910, and display 520 through power cables. When the ship's main power is interrupted, the UPS power supply 920 can quickly switch power supply to ensure the normal operation of each component of the system and ensure the real-time continuous transmission of navigation monitoring data.

[0029] This system is based on panoramic visual perception technology, electronic chart technology, and high-precision positioning technology. Through the collaborative work of its various modules, it achieves functions such as situational awareness, navigation collision avoidance, berthing and unberthing assistance, bridge collision avoidance, and remote monitoring. The specific workflow is as follows: S1. Data Acquisition Phase: The berthing visual perception module 110 and navigation visual perception module 120 of the ship visual perception module 100 collect real-time video data of the berthing environment and navigation video data around the ship. The Beidou satellite compass 210, depth sounder 220, radar 230 and ship AIS 240 of the navigation equipment 200 simultaneously collect navigation data such as the ship's heading, position, water depth, surrounding target detection data and ship identity information.

[0030] S2. Data Transmission and Conversion Stage: Video data collected by the ship's visual perception module 100 is transmitted to the network switch 600 via a network cable; navigation data collected by the navigation device 200 is transmitted to the serial server 700 via a serial cable, and after being converted into network data by the serial server 700, it is transmitted to the network switch 600; the network switch 600 forwards the received video data and navigation data to the video storage module 300, the visualization computing server 400, and the terminal host 500, respectively, and the video storage module 300 stores the data in real time.

[0031] S3. Data Processing and Analysis Stage: The panoramic visual navigation safety warning and berthing / unberthing assistance software built into the visualization computing server 400 and terminal host 500 comprehensively processes the received video and navigation data. S4. The video data is stitched and corrected to generate a 360-degree panoramic image of the ship. S5. By combining electronic nautical chart data with navigation data and video images, the target location, distance and other information can be visualized and annotated. S6. Employ a target recognition algorithm to identify targets such as ships, bridges, reefs, and docks in video images, and extract the target's motion parameters (such as speed, heading, and rate of change of distance). S7. Based on the ship dynamics model and collision risk assessment algorithm, combined with preset safety parameters (such as minimum safe encounter distance, minimum safe berthing distance, etc.), conduct risk analysis on the ship's navigation status and berthing and unberthing process.

[0032] Based on the data processing results, the system implements the following core functions: ① Situational awareness function: The display 520 of the terminal host 500 displays a 360-degree visual monitoring image of dynamic and static targets around the ship in real time. The software automatically identifies and tracks ships with collision risks based on the minimum safe encounter distance and time, and issues warnings through flashing red patterns and buzzer alarms. At the same time, combined with electronic charts and real-time ship position data, it automatically determines whether the ship has deviated from the navigation zone. When the deviation exceeds the preset threshold, it provides warning information in the form of text and icons.

[0033] ② Collision Avoidance Function: Based on the motion parameters of surrounding targets and the ship's own navigation data, the software analyzes the current collision risk of the ship and distinguishes the risk level with different colored icons on the 520 display, such as green for no risk, yellow for low risk, orange for medium risk, and red for high risk. At the same time, it realizes real-time monitoring of the surrounding water conditions, including large ships, small ships, reefs and other maneuvering or non-maneuvering water obstacles, and provides collision avoidance decision suggestions (such as turning angle, deceleration, etc.), dynamic planning of collision avoidance trajectory (displayed in the form of animation on the electronic chart) and active alarm function.

[0034] ③ Berthing and Unberthing Assistance Function: The software stitches together multiple video data collected by the berthing visual perception module 110 into a 360-degree real-time panoramic image of the ship berthing. It outputs a 2D bird's-eye view and a 3D surround view on the monitor 520, and allows the driver to flexibly adjust the visual angle through touch operation. It can also zoom in on images of the port side, starboard side, bow, and stern. At the same time, it dynamically displays the distance of the ship from the shore and marks auxiliary lines of 15 meters, 10 meters, and 5 meters on the bow, stern, and both sides of the ship (the marking distance and density can be set according to the ship type or customer needs). It automatically alarms when other ships approach within the preset safe distance. Based on the ship's motion attitude data, it predicts the berthing and unberthing process and displays the predicted trajectory (the trajectory length can be set, for example, 10-100 meters). It analyzes the berthing and unberthing risks and provides early warnings and alerts. It can also display short-term meteorological and hydrological forecast information such as wind speed, wind direction, visibility, current direction, and current velocity, as well as typhoon and cold wave warnings, providing comprehensive assistance for berthing and unberthing operations.

[0035] ④ Bridge collision avoidance function: The software uses data fusion from radar 230 and navigation vision perception module 120 to quickly and accurately acquire obstacles such as bridge facilities and ships within the ship's detection range; it automatically detects bridge piers and navigation bridge openings, and when a cruise ship approaches the bridge, it uses information such as tide, water depth, and draft to determine whether the clearance height of the navigation bridge opening meets the navigation conditions of the cruise ship; when the clearance height does not meet the requirements or the ship is too close to the bridge, it reminds the driver to take evasive measures through text prompts, sound and light alarms, etc.

[0036] ⑤ The wireless module 800 transmits in real time video data of the ship's berthing environment, navigation video data, early warning information, and ship status data to the shipowner's integrated management platform 11 and / or the maritime management platform 12. Platform users can view relevant data through terminals such as computers and mobile phones, monitor the ship's safe navigation status in real time, and realize remote monitoring and management.

[0037] The advantages of this invention are: the system can provide situational awareness, navigation collision avoidance, and bridge collision warning functions during navigation; during the berthing process, it provides the navigator with side views of the ship's hull, berthing and unberthing data, and warning information, reducing the navigator's blind spots during berthing, providing berthing safety assurance, and minimizing the risk of collisions during berthing and unberthing.

[0038] Of course, the present invention is not limited to the above-described embodiments. Those skilled in the art can make equivalent modifications or substitutions without departing from the spirit of the present invention. All such equivalent modifications and substitutions are included within the scope defined by the claims of this application.

Claims

1. A ship-end navigation, berthing, and unberthing active safety intelligent control system, characterized in that, include: The ship visual perception module (100) includes a berthing visual perception module (110) and a navigation visual perception module (120), which are used to collect berthing environment video data and navigation video data of the ship; Navigation device (200), used to provide navigation data; The video storage module (300) is used to store berthing environment video data and navigation video data; A visualization computing server (400) is used to receive and process berthing environment video data, navigation video data and navigation data; The terminal host (500) is used to process and visualize the received berthing environment video data, navigation video data and navigation data, and also provides a human-machine interface; A network switch (600) is used to provide data transmission between the ship vision perception module (100) and the visualization computing server (400) and the terminal host (500); A serial port server (700) is used to provide data transmission between the navigation device (200) and the visualization computing server (400) and the terminal host (500); The wireless module (800) is used to transmit berthing environment video data and navigation video data to the management platform in real time.

2. The ship-end navigation, berthing, and unberthing active safety intelligent control system according to claim 1, characterized in that: The berthing visual perception module (110) includes a first bow visual monitor (111), a port forward visual monitor (112), a port aft visual monitor (113), a starboard forward visual monitor (114), a starboard aft visual monitor (115), and a stern visual monitor (116).

3. The ship-end navigation, berthing, and unberthing active safety intelligent control system according to claim 1, characterized in that: The navigation vision perception module (120) includes a second bow vision monitor (121).

4. The ship-end navigation, berthing, and unberthing active safety intelligent control system according to claim 1, characterized in that: It also includes an alarm module (910) for providing audible and visual alarms.

5. The ship's end navigation, berthing, and unberthing active safety intelligent control system according to claim 1, characterized in that: It also includes a UPS power supply (920) to power the system.

6. The ship's end navigation, berthing, and unberthing active safety intelligent control system according to claim 1, characterized in that: The navigation equipment (200) includes at least a Beidou satellite compass (210), a depth sounder (220), a radar (230), and a ship AIS (240).

7. The ship's end navigation, berthing, and unberthing active safety intelligent control system according to claim 1, characterized in that: The management platform includes a shipowner integrated management platform and / or a maritime management platform.

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