A ship intelligent active collision avoidance system and method

Abstract

This invention relates to the field of ship collision avoidance technology, and discloses an intelligent active collision avoidance system and method for ships. The system includes a sensing module, a control and decision-making module, and an execution module. The sensing module collects distance, outline, and micro-motion data of obstacles around the ship. The control and decision-making module identifies impending collision threats and predicts the timing of a collision based on the data, generating an airbag trigger response strategy that matches the timing of the collision. The modular airbag unit of the execution module is normally flat and close to the hull, and can rapidly inflate to a preset shape before a collision, forming a buffer protection structure adapted to the collision intensity. This invention achieves proactive, intelligent, and precise ship collision avoidance. The buffer performance can dynamically adapt to the collision intensity, and the modular design facilitates maintenance and expansion, significantly improving collision safety and navigation economy in scenarios such as berthing and unberthing.

Description

Technical Field

[0001] This invention belongs to the field of marine engineering technology, and more specifically, relates to a ship intelligent active collision avoidance system and method. Background Technology

[0002] In scenarios such as berthing, unberthing, and close encounters, ships face a high risk of collision. As a core safety protection device for ships, the fender system directly affects navigation safety and operational efficiency. Currently, the mainstream ship fender systems are traditional passive fender systems, mainly divided into three categories: fixed rubber / foam fenders, fixed inflatable fenders, and detachable inflatable fenders.

[0003] Fixed rubber / foam fenders are permanently fixed to the outside of the ship's hull and absorb collision energy by the deformation of the material itself. Fixed inflatable fenders are also permanent structures that provide a cushioning effect by inflating inside, but their inflation state is constant and they cannot be stored. Detachable inflatable fenders need to be manually inflated and suspended on the ship's hull before berthing or other situations where protection is required, and then deflated and stored after use.

[0004] However, the aforementioned traditional ship fender systems have many inherent defects and are unable to meet the intelligent and efficient protection requirements of modern ships: Navigation performance and aesthetics are affected: Fixed fenders, whether solid or inflatable, always protrude from the hull during normal navigation, disrupting the hull's streamlined design, significantly increasing navigation resistance, leading to increased fuel consumption, and the protruding fenders also affect the overall aesthetics of the hull. Fixed buffering performance and limited protective effect: All traditional fenders are passive buffering devices. Their buffering performance, such as deformation and energy absorption capacity, is fixed after installation. They cannot be dynamically adjusted when facing collisions of different speeds, angles, and energies. For high-speed, high-energy accidental collisions, the protective effect is greatly reduced. Inconvenient maintenance and operation, and high cost: When fixed fenders are partially worn or damaged, they often need to be replaced as a whole, which is not only costly to maintain, but also complicated, time-consuming and labor-intensive. Although detachable inflatable fenders can be stored, they rely on manual judgment of when to use them, and operations such as inflation, suspension and deflation are all done manually, which is cumbersome and inefficient. Lack of intelligent perception and prediction capabilities: Traditional fender systems are completely devoid of environmental perception and collision prediction capabilities. They cannot identify impending collision threats to the ship, let alone predict the timing of a collision and take protective measures in advance. They can only passively withstand the impact when a collision occurs, resulting in a serious lack of timeliness and accuracy in protection.

[0005] To address the shortcomings of the aforementioned traditional technologies, the development of a ship collision avoidance system and method that combines low navigation resistance, intelligent active protection, and the ability to accurately predict and respond to collisions has become an important direction for the development of ship collision avoidance technology. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings of the prior art and provide a ship intelligent active collision avoidance system and method, which solves the problems of high navigation resistance, passive protection, inconvenient maintenance, and lack of intelligent early warning and collision prediction capabilities of traditional fender systems, and realizes the initiative, intelligence and precision of ship collision avoidance.

[0007] To achieve the above objectives, in a first aspect, the present invention provides a ship intelligent active collision avoidance system. It includes a sensing module, a control decision module, and an execution module, wherein the sensing module and the execution module are electrically connected to the control decision module. The sensing module is used to collect distance, outline and micro-motion status data of obstacles around the ship, and transmit them to the control decision module in real time; The control decision module incorporates a data fusion algorithm and a collision threat assessment algorithm to process the distance, profile, and micro-motion state data, filter interference signals, identify impending collision threats to the ship, predict the timing of a collision, and generate an airbag triggering response strategy that matches the timing of the collision. The execution module includes multiple independent modular airbag units arranged along the ship's side. The modular airbag units are normally in an uninflated, flat state and are set close to the hull. They can be rapidly inflated to a preset shape before a collision occurs, according to the airbag trigger response strategy of the control decision module, to form a buffer protection structure adapted to the collision intensity.

[0008] Optionally, the timing of the collision predicted by the control decision module is a prediction window of 0.3-1 seconds before the collision.

[0009] Optionally, the modular airbag unit inflates and expands to a preset shape within 0.1 seconds within the 0.3-1 second prediction window.

[0010] Optionally, the execution module further includes a high-speed solenoid valve corresponding to each modular airbag unit, the high-speed solenoid valve being independently controlled by the control decision module; the modular airbag unit is connected to the air source through the corresponding high-speed solenoid valve.

[0011] Optionally, the modular airbag units are distributed along the entire circumference of the ship's side and are deployed in conjunction with the sensing modules.

[0012] Optionally, the execution module further includes a pressure sensor integrated inside the modular airbag unit. The pressure sensor is electrically connected to the control decision module and is used to collect collision pressure data and feed it back to the control decision module. The control decision module controls the modular airbag unit to deflate and reset based on the collision pressure data.

[0013] In a second aspect, the present invention provides a ship intelligent active collision avoidance method, applied to the ship intelligent active collision avoidance system described in the first aspect, comprising the following steps: S1. Sensing and Monitoring: The sensing module collects data on the distance, outline, and micro-motion status of obstacles around the ship and transmits it to the control decision module in real time. S2. Threat Assessment and Decision-Making: The control decision-making module processes the distance, contour, and micro-motion state data and filters interference signals through a data fusion algorithm. It identifies the impending collision threat to the ship and predicts the timing of the collision through a collision threat assessment algorithm. It generates an airbag triggering response strategy that matches the timing of the collision and determines the location and number of airbag units to be triggered. S3. Active collision avoidance execution: The control decision module sends an instruction to the target modular airbag unit according to the airbag trigger response strategy, so that it can quickly inflate to a preset shape before the collision occurs, forming a buffer protection structure that adapts to the collision intensity. S4. Data Feedback and Reset: After the collision, the modular airbag unit deflates and resets to an uninflated, flat state, adhering tightly to the hull.

[0014] Optionally, in step S2, the timing of the collision predicted by the control decision module is 0.3-1 seconds before the collision.

[0015] Optionally, in step S3, the modular airbag unit completes inflation and expands to a preset shape within 0.1 seconds.

[0016] Optionally, in step S2, the control decision module dynamically adjusts the inflation pressure or triggering number of the target modular airbag unit based on the predicted collision energy and the timing of the collision.

[0017] The beneficial effects of this invention are as follows: It provides a ship intelligent active collision avoidance system capable of achieving intelligent active collision avoidance. By predicting the timing of a collision and quickly triggering the protective structure, it significantly improves the timeliness and reliability of collision protection. The modular airbag unit remains flat and closely attached to the hull under normal conditions, effectively reducing navigation resistance and improving the ship's navigation economy and appearance. The system can automatically complete the entire process of environmental perception, threat assessment, and active protection without human intervention. Its overall structure is simple, its control logic is clear, its operation is stable, and its response is rapid, making it highly practical and economical.

[0018] Other features and advantages of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0019] The above and other objects, features and advantages of the present invention will become more apparent from the more detailed description of exemplary embodiments of the invention in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments of the invention.

[0020] Figure 1 A schematic structural diagram of a ship intelligent active collision avoidance system according to Embodiment 1 of the present invention is shown.

[0021] Figure 2 A schematic partial structural diagram of the execution module according to Embodiment 1 of the present invention is shown.

[0022] Figure 3 A flowchart of a ship intelligent active collision avoidance method according to Embodiment 2 of the present invention is shown.

[0023] Explanation of reference numerals in the attached figures: 1. Sensing module; 11. Modular airbag unit; 12. High-speed solenoid valve; 2. Control decision module; 3. Execution module; 4. Hull. Detailed Implementation

[0024] Preferred embodiments of the invention will now be described in more detail. While preferred embodiments of the invention are described below, it should be understood that the invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that the invention will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

[0025] Example 1

[0026] like Figure 1 and Figure 2 As shown, this embodiment provides a ship intelligent active collision avoidance system, including a sensing module 1, a control decision module 2, and an execution module 3. The sensing module 1 and the execution module 3 are electrically connected to the control decision module 2. The modules work together to complete the entire closed-loop operation from collision threat perception and collision timing prediction to active protection. The sensing module 1 is used to collect distance, outline, and micro-motion status data of obstacles around the ship and transmit them to the control decision module 2 in real time. The micro-motion status data includes dynamic characteristics such as minute relative displacements, subtle vibrations, and low-speed approach or offset trends between the obstacle and the ship hull 4. This data is used to identify the true collision trend, filter false interference signals from waves and currents, and avoid misjudging the timing of a collision. The sensing module 1 can be a combination of a ranging radar array and a high-precision short-range sensor array. The ranging radar array enables mid-to-long-range obstacle outline detection, while the high-precision short-range sensor array enables precise short-range ranging and micro-motion status perception. Together, they achieve full-range, high-precision monitoring of obstacles around the ship at near, medium, and long distances. The high-precision short-range sensor array can use millimeter-wave radar or ultrasonic sensors. The control decision module 2 incorporates a data fusion algorithm and a collision threat assessment algorithm to process distance, contour, and micro-motion status data, filter interference signals, identify impending collision threats to the ship, predict the timing of the collision, and generate an airbag triggering response strategy that matches the timing of the collision. This module first processes the distance, contour, and micro-motion status data transmitted by the sensing module 1, filtering interference signals generated by external environments such as waves and currents through the data fusion algorithm to extract effective sensing data. Then, the collision threat assessment algorithm analyzes and calculates the effective data, combining parameters such as the obstacle's speed, relative distance to the ship 4, and movement trend to identify impending collision threats and predict the timing of the collision. Finally, based on the predicted collision timing, it generates a matching airbag triggering response strategy, specifying the location, quantity, inflation pressure, and preset inflation shape of the modular airbag units 11 to be triggered, ensuring that the execution module 3 can complete inflation protection before the collision occurs.

[0027] The execution module 3 includes multiple independent modular airbag units 11 arranged along the ship's side. The modular airbag units 11 are normally in an uninflated, flat state and are set close to the hull 4, which hardly disrupts the streamlined design of the hull 4 and greatly reduces the ship's sailing resistance. According to the airbag trigger response strategy generated by the control decision module 2, the module can quickly inflate to a preset shape before a collision occurs, forming a buffer protection structure that fits the hull 4 and is adapted to the collision intensity, so as to achieve precise active protection against collision.

[0028] Preferably, by combining the actual sailing speed of the ship in scenarios such as berthing and unberthing, and close encounters, and matching the detection accuracy of the sensing module 1 and the inflation response speed of the execution module 3, the present invention preferably predicts the collision occurrence within a window period of 0.3-1 seconds before the collision.

[0029] Preferably, the modular airbag unit 11 completes inflation and expands to the preset shape within 0.1 seconds within a 0.3-1 second prediction window.

[0030] Preferably, the execution module 3 also includes a high-speed solenoid valve 12 corresponding to each modular airbag unit 11. The high-speed solenoid valve 12 is independently controlled by the control decision module 2. The modular airbag unit 11 is connected to the air source through the corresponding high-speed solenoid valve 12. The air source can be a centralized high-pressure air tank or a distributed micro air pump, both of which can provide high-pressure gas for airbag inflation.

[0031] Preferably, the modular airbag unit 11 is distributed along the entire circumference of the ship's side and is deployed in conjunction with the sensing module 1 to achieve full-circumference protection.

[0032] Preferably, the execution module 3 also includes a pressure sensor integrated inside the modular airbag unit 11. The pressure sensor is electrically connected to the control decision module 2 and is used to collect collision pressure data and feed it back to the control decision module 2. The control decision module 2 controls the modular airbag unit 11 to depress and reset according to the collision pressure data, forming a pressure feedback and automatic reset closed loop.

[0033] Example 2

[0034] like Figure 3 As shown, this embodiment provides a ship intelligent active collision avoidance method, applied to the ship intelligent active collision avoidance system of Embodiment 1. This method follows the core logic of "perception-prediction-decision-execution-feedback," ensuring that the timing of a collision matches the inflation response speed, thereby achieving ship intelligent active collision avoidance. Specifically, it includes the following steps: S1. Sensing and Monitoring: Sensing module 1 collects data on the distance, outline, and micro-motion status of obstacles around the ship and transmits it to control and decision module 2 in real time; S2. Threat Assessment and Decision-Making: The control decision-making module 2 processes distance, contour, and micro-motion status data and filters interference signals through a data fusion algorithm. It identifies the impending collision threat to the ship and predicts the timing of the collision through a collision threat assessment algorithm. It generates an airbag triggering response strategy that matches the timing of the collision and determines the location and number of airbag units to be triggered. Based on the predicted collision energy and timing of the collision, the control decision-making module 2 dynamically adjusts the inflation pressure or triggering number of the target modular airbag unit 11. In this step, the timing of the collision predicted by the control decision-making module 2 is 0.3-1 seconds before the collision. S3. Active Collision Avoidance Execution: According to the airbag trigger response strategy, the control decision module 2 sends a command to the high-speed solenoid valve 12 corresponding to the target modular airbag unit 11. After receiving the command, the high-speed solenoid valve 12 opens, and the high-pressure gas released by the gas source quickly fills the target modular airbag unit 11, so that it quickly inflates to the preset shape before the collision occurs, forming a buffer protection structure adapted to the collision intensity. In this step, the modular airbag unit 11 completes inflation and expands to the preset shape within 0.1 seconds. S4. Data Feedback and Reset: After the collision, the control decision module 2 issues a reset command, and the modular airbag unit 11 deflates and resets to an uninflated flat state, re-attaching tightly to the hull 4.

[0035] The various embodiments of the present invention have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. A ship intelligent active collision avoidance system, characterized in that, It includes a sensing module (1), a control decision module (2), and an execution module (3), wherein the sensing module (1) and the execution module (3) are electrically connected to the control decision module (2); The sensing module (1) is used to collect distance, outline and micro-motion status data of obstacles around the ship and transmit them to the control decision module (2) in real time. The control decision module (2) has a built-in data fusion algorithm and collision threat assessment algorithm, which are used to process the distance, contour and micro-motion state data, filter interference signals, identify the collision threat that the ship is about to have and predict the timing of the collision, and generate an airbag trigger response strategy that matches the timing of the collision. The execution module (3) includes multiple independent modular airbag units (11) arranged along the ship's side. The modular airbag unit (11) is normally in a flat, uninflated state and is set close to the hull (4). It can be rapidly inflated to a preset shape before a collision occurs according to the airbag trigger response strategy of the control decision module (2) to form a buffer protection structure adapted to the collision intensity.

2. The intelligent active collision avoidance system for ships according to claim 1, characterized in that, The control decision module (2) predicts the timing of the collision to be 0.3-1 seconds before the collision.

3. The intelligent active collision avoidance system for ships according to claim 2, characterized in that, The modular airbag unit (11) is inflated and expands to a preset shape within 0.1 seconds within the 0.3-1 second prediction window period.

4. The intelligent active collision avoidance system for ships according to claim 1, characterized in that, The execution module (3) also includes a high-speed solenoid valve (12) corresponding to each modular airbag unit (11), and the high-speed solenoid valve (12) is independently controlled by the control decision module (2); the modular airbag unit (11) is connected to the air source through the corresponding high-speed solenoid valve (12).

5. The intelligent active collision avoidance system for ships according to claim 1, characterized in that, The modular airbag unit (11) is distributed along the entire circumference of the ship's side and is deployed in conjunction with the sensing module (1).

6. The intelligent active collision avoidance system for ships according to claim 1, characterized in that, The execution module (3) also includes a pressure sensor integrated inside the modular airbag unit (11). The pressure sensor is electrically connected to the control decision module (2) and is used to collect collision pressure data and feed it back to the control decision module (2). The control decision module (2) controls the modular airbag unit (11) to exhaust and reset according to the collision pressure data.

7. A ship intelligent active collision avoidance method, applied to the ship intelligent active collision avoidance system according to any one of claims 1-6, characterized in that, Includes the following steps: S1. Perception and monitoring: The perception module (1) collects the distance, outline and micro-motion status data of obstacles around the ship and transmits them to the control decision module (2) in real time. S2, Threat Assessment and Decision: The control decision module (2) processes the distance, contour and micro-motion state data and filters interference signals through the data fusion algorithm, identifies the collision threat that the ship is about to have and predicts the timing of the collision through the collision threat assessment algorithm, generates an airbag trigger response strategy that matches the timing of the collision, and determines the location and number of airbag units to be triggered. S3, Active collision avoidance execution: The control decision module (2) sends an instruction to the target modular airbag unit (11) according to the airbag trigger response strategy, so that it can quickly inflate to a preset shape before the collision occurs, forming a buffer protection structure that adapts to the collision intensity. S4. Data feedback and reset: After the collision, the modular airbag unit (11) is deflated and reset to an uninflated flat state, close to the hull (4).

8. The intelligent active collision avoidance method for ships according to claim 7, characterized in that, In step S2, the control decision module (2) predicts that the collision will occur 0.3-1 seconds before the collision.

9. The intelligent active collision avoidance method for ships according to claim 8, characterized in that, In step S3, the modular airbag unit (11) is inflated and expanded to a preset shape within 0.1 seconds.

10. The intelligent active collision avoidance method for ships according to claim 7, characterized in that, In step S2, the control decision module (2) dynamically adjusts the inflation pressure or trigger number of the target modular airbag unit (11) based on the predicted collision energy and the timing of the collision.

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