Automatic avoiding system for ship

Abstract

The utility model discloses an automatic avoiding system for a ship, and belongs to the field of ship safety. The system comprises a first sensing device, a second sensing device, a controller, an early warning device and a ship movement device, wherein the first sensing device and the second sensing device are respectively connected with the controller; the controller is connected with the early warning device and the ship movement device. The second sensing device comprises an inertial navigation system and a global satellite navigation system; and the inertial navigation system and the global satellite navigation system are respectively connected with the controller. According to the utility model, the multi-sensor technology is fused, and the inertial navigation system and the satellite navigation system are additionally arranged, so that the system has accurate ship position, course and speed information, and the automatic avoidance of the ship is safely realized.

Description

Technical Field

[0001] The utility model belongs to the field of ship safety, and specifically relates to an automatic ship avoidance system. Background Art

[0002] Ship automatic avoidance technology is usually based on the combination and evolution of multiple existing technologies. The following are some of the main technologies and concepts:

[0003] 1. Autonomous driving technology: Similar to the autonomous driving technology of automobiles, the ship automatic avoidance system also draws on some ideas and methods of autonomous driving technology, such as environmental perception, path planning and control algorithms.

[0004] 2. Sensor technology: The ship automatic avoidance system uses a variety of sensor technologies, including radar, camera, GPS and inertial navigation system, etc. These sensors can provide perception information of the ship's surrounding environment to support automatic avoidance decisions.

[0005] 3. Computer vision technology: The camera and computer vision technology in the ship automatic avoidance system are used to identify ships, buoys and other obstacles. Through image processing and pattern recognition algorithms, real-time monitoring and analysis of the ship's surroundings can be achieved.

[0006] 4. Control algorithm: The ship automatic avoidance system uses advanced control algorithms, such as model predictive control (MPC) or reinforcement learning, etc. These algorithms can generate optimal ship control instructions based on environmental perception information and ship dynamics models to achieve automatic avoidance.

[0007] 5. Artificial intelligence technology: Some decision-making algorithms in the ship automatic avoidance system may utilize artificial intelligence technologies, such as machine learning and deep learning. These technologies can enable the system to continuously optimize decision-making strategies based on the accumulated experience data and improve the performance and adaptability of the system.

[0008] 6. Automatic Identification System (AIS): AIS is an automatic ship identification system that transmits information such as the ship's position, course, speed, etc. through satellites and land base stations. Ships can use AIS to detect the position and direction of surrounding ships and make corresponding avoidance actions.

[0009] 7. Radar system: The radar system can be used to detect ships and obstacles in the surrounding sea area and provide real-time ship position and movement information. Ships can monitor the surrounding environment through radar, detect potential collision hazards in time and take measures to avoid them.

[0010] 8. Electronic charts and navigation software: Modern ships are often equipped with electronic charts and navigation software. These systems can provide detailed chart information and navigation guidance, help ships plan safe sailing routes, and provide avoidance advice when encountering other ships.

[0011] 9. Communication equipment: Ships are often equipped with various communication equipment, including VHF radio, satellite communications, etc. These devices can be used to communicate with other ships and coordinate avoidance actions between ships.

[0012] The prior art generally involves manually reaching a consensus avoidance agreement with the target ship through a communication system, or capturing the driving equipment through sensor technology for navigation analysis, and finally issuing instructions to the steering gear and power equipment. Currently, it is mostly used in small boats below 30 meters, and the sensing unit is too single. As shown in the prior art (CN117706557A), it discloses a ship collision avoidance warning system based on navigation radar, but it only uses a radar detection module for environmental perception, and the sensing unit is too single, which may result in the ship being unable to avoid collision in time due to insufficient data accuracy, causing safety hazards. Utility Model Content

[0013] The utility model aims to overcome the shortcomings of the prior art and proposes an automatic ship avoidance system to achieve the following purposes: through the fusion of multi-sensor technology and the addition of an inertial navigation system and a satellite navigation system, the system is ensured to have accurate information on the ship's position, heading and speed, so as to safely achieve automatic ship avoidance.

[0014] In order to achieve the above-mentioned purpose, the technical solution adopted by the utility model is: a ship automatic avoidance system, the system includes a first sensing device, a second sensing device, a controller, an early warning device, and a ship motion device, wherein: the first sensing device and the second sensing device are respectively connected to the controller; the controller is respectively connected to the early warning device and the ship motion device; the second sensing device includes an inertial navigation system and a global satellite navigation system, and the inertial navigation system and the global satellite navigation system are respectively connected to the controller.

[0015] Preferably, the first sensing device is used to detect the surrounding environment information of the ship and send it to the controller; the second sensing device including the inertial navigation system and the global satellite navigation system is used to detect the ship's route and speed data, and send it to the controller; the controller is used to analyze and process the data detected by the first sensing device and the second sensing device, and send corresponding control signals to the early warning device and the ship motion device; the early warning device is used to issue a ship collision warning according to the control signal; and the ship motion device is used to perform a ship avoidance operation according to the control signal.

[0016] Preferably, the first sensing device includes an automatic ship identification system AIS, and the automatic ship identification system AIS is connected to the controller, and the automatic ship identification system AIS is used to detect the position and movement information of surrounding ships and send it to the controller.

[0017] Preferably, the first sensing device includes an S-band radar, an X-band radar, and a camera, and the S-band radar, X-band radar, and camera are respectively connected to the controller for detecting information about the surrounding environment of the ship and sending it to the controller.

[0018] Preferably, the first sensing device includes a laser radar, which is connected to the controller and is used for distance measurement and environmental perception, and sends the measurement and perception information to the controller.

[0019] Preferably, the controller includes a main controller and a slave controller, the main controller is connected to the first sensing device, the second sensing device and the slave controller, respectively, and is used to receive and process the detection information uploaded by the first sensing device and the second sensing device, and send system decision information to the slave controller; the slave controller is connected to the early warning device and the ship motion device, respectively, and is used to send corresponding control signals to the early warning device and the ship motion device according to the system decision information to perform ship collision warning and automatic avoidance.

[0020] Preferably, the warning device includes an audible and visual alarm device and a voice alarm device, and the audible and visual alarm device and the voice alarm device are respectively connected to the controller for providing early warning to the crew when the system detects the risk of collision.

[0021] Preferably, the ship motion device includes a ship motor, a ship electric propeller, a ship steering gear, and a ship propeller, and the ship motor, ship electric propeller, ship steering gear, and ship propeller are respectively connected to the controller for performing avoidance actions when the system detects a collision risk.

[0022] Preferably, the controller is a central processing unit CPU.

[0023] The technical effects of the utility model are:

[0024] (1) Add inertial navigation system and satellite navigation system to provide ship route and speed data to ensure that the system has accurate ship position, heading and speed information to support the decision-making of the automatic avoidance system.

[0025] (2) The use of multi-sensor fusion technology, including S-band radar, X-band radar, camera, lidar, etc., ensures the richness of data to help the system make more comprehensive and accurate collision risk judgments.

[0026] (3) The master-slave controller structure is adopted to optimize the analysis and processing speed of the controller, improve the analysis accuracy and speed, and thus ensure timely warning and avoidance of ships. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 The figure is a schematic diagram of the structure of the automatic ship avoidance system according to an embodiment of the utility model. DETAILED DESCRIPTION

[0028] The following is a further detailed description of the specific implementation of the utility model through the description of the embodiments with reference to the accompanying drawings, with the purpose of helping those skilled in the art to have a more complete, accurate and in-depth understanding of the utility model concept and technical solution of the utility model and to facilitate its implementation. In order to make the technical solution of the utility model clearer, the utility model is explained through the following embodiments:

[0029] An automatic ship avoidance system, such as Figure 1 As shown, the system includes a first sensing device, a second sensing device, a controller, an early warning device, and a ship motion device, wherein: the first sensing device and the second sensing device are respectively connected to the controller; the controller is respectively connected to the early warning device and the ship motion device; the second sensing device includes an inertial navigation system and a global satellite navigation system, and the inertial navigation system and the global satellite navigation system are respectively connected to the controller.

[0030] Preferably, the first sensing device is used to detect the surrounding environment information of the ship and send it to the controller; the second sensing device including the inertial navigation system and the global satellite navigation system is used to detect the ship's route and speed data, and send it to the controller; the controller is used to analyze and process the data detected by the first sensing device and the second sensing device, and send corresponding control signals to the early warning device and the ship motion device; the early warning device is used to issue a ship collision warning according to the control signal; the ship motion device is used to perform ship avoidance operations according to the control signal.

[0031] Specifically, the first sensing device of this embodiment includes an automatic identification system AIS, which is connected to the controller. The automatic identification system AIS is used to detect the position and movement information of surrounding ships and send it to the controller. AIS is an automatic identification system between ships, which helps ships avoid collisions by exchanging information such as the position, heading, and speed of ships. In this embodiment, the controller usually uses AIS data to identify potential collision risks.

[0032] Furthermore, the sensing device of this embodiment also includes an S-band radar, an X-band radar, and a camera, wherein the S-band radar, the X-band radar, and the camera are respectively connected to the controller to detect the information of the surrounding environment of the ship and send it to the controller. Sensors such as the S-band radar, the X-band radar, and the camera can effectively identify and detect the surrounding environment of the ship, including obstacles such as other ships, buoys, and reefs. Based on these data, the controller can accurately identify and track obstacles and preliminarily determine whether the ship has a collision risk.

[0033] In this embodiment, the first sensing device further includes a laser radar, which is connected to the controller for distance measurement and environmental perception, and sends the measurement and perception information to the controller. The laser radar can provide more accurate distance measurement and environmental perception, especially the distance between the ship and obstacles. The use of the laser radar helps to identify and track surrounding objects, thereby helping the controller to better plan the navigation path.

[0034] In this embodiment, different from the prior art, the utility model adds an inertial navigation system (INS) and a global satellite navigation system (GNSS) to provide ship route and speed data, ensuring that the system has accurate ship position, heading and speed information, thereby supporting the controller to make avoidance decisions. In specific implementation, the global satellite navigation system can help the controller to macroscopically perceive the possible obstacles around the ship on the channel of its own ship, and then combine the data of multiple sensors of the first sensing device to realize the positioning and tracking of the obstacle targets; the inertial navigation system can obtain the speed, deflection angle and other information of the own ship at this time, which can help the controller predict whether there is a risk of collision between the own ship and the obstacle. In this embodiment, the first sensing device and the second sensing device adopt the technology of multi-sensor data fusion, which can provide accurate and rich data support for the analysis and decision-making of the controller, thereby providing the accuracy of the controller's judgment and decision-making, and then ensuring the safety and reliability of the ship avoidance system.

[0035] Based on the above-mentioned first sensing device and second sensing device, the controller of this embodiment can perform preliminary detection and identification of the surrounding environment through radar, camera, and satellite navigation system, and drive the early warning device to issue an early warning reminder after the conditions for possible collision are met; in addition, when performing ship avoidance decision analysis, the controller can use the ship's own dynamic data, such as position, heading, speed, etc., and combine the ship's surrounding environment information to calculate the minimum avoidance distance. Before the minimum avoidance distance is reached, the decision instruction is sent to the ship's motion device in time, thereby mobilizing the propeller's reverse rotation mechanism and changing the angle of the servo to avoid, so as to ensure safe avoidance of potential collision objects.

[0036] While multi-sensor technology brings data richness, it is also a test of the controller's data analysis capabilities. In order to improve the speed and accuracy of the controller's data analysis, in this embodiment, the controller includes a master controller and a slave controller. The master controller is connected to the first sensing device, the second sensing device, and the slave controller, respectively, for receiving and processing the detection information uploaded by the first sensing device and the second sensing device, and sending system decision information to the slave controller; the slave controller is connected to the early warning device and the ship motion device, respectively, for sending corresponding control signals to the early warning device and the ship motion device according to the system decision information for ship collision warning and automatic avoidance. The setting of the master-slave controller allows the master controller to only be responsible for the analysis of multiple sensor data and issue decision commands, and the specific control analysis of the ship's actuator is delegated to the slave controller, that is, the slave controller shares the data processing task of the master controller, thereby effectively improving the speed and accuracy of the controller's data analysis.

[0037] Preferably, the early warning device of this embodiment includes an audible and visual alarm device and a voice alarm device, wherein the audible and visual alarm device and the voice alarm device are respectively connected to the controller, and are used to give early warning prompts to the crew when the system detects the risk of collision. This embodiment provides an alarm service for the crew from the perspective of vision and hearing, so that the crew can respond in time and take countermeasures in advance.

[0038] Preferably, the ship motion device of this embodiment includes a ship motor, a ship electric propulsion device, a ship steering gear, and a ship propeller, wherein the ship motor, the ship electric propulsion device, the ship steering gear, and the ship propeller are respectively connected to the controller, and are used to perform an evasive action when the system detects a collision risk. When the ship performs an evasive action, this embodiment comprehensively considers multiple power structures of the ship, thereby ensuring that the ship can perform the evasive action accurately and timely.

[0039] Preferably, the controller of this embodiment is a central processing unit (CPU). The master and slave controllers can also be CPUs. As a commonly used data processing unit, the CPU has efficient data processing capabilities and can ensure the timely and accurate analysis of collision risk warning and avoidance decision in this embodiment.

[0040] The above is an exemplary description of the utility model in conjunction with the accompanying drawings. Obviously, the specific implementation of the utility model is not limited to the above-mentioned method. As long as various non-substantial improvements are made using the method concept and technical solution of the utility model; or the above concept and technical solution of the utility model are directly applied to other occasions without improvement, they are all within the protection scope of the utility model.

Claims

1. A ship automatic avoidance system, characterized in that: The system includes a first sensing device, a second sensing device, a controller, an early warning device, and a ship motion device, wherein: the first sensing device and the second sensing device are respectively connected to the controller; the controller is respectively connected to the early warning device and the ship motion device; the second sensing device includes an inertial navigation system and a global satellite navigation system, and the inertial navigation system and the global satellite navigation system are respectively connected to the controller.

2. The automatic ship avoidance system according to claim 1, characterized in that: The first sensing device is used to detect the surrounding environment information of the ship and send it to the controller; the second sensing device including the inertial navigation system and the global satellite navigation system is used to detect the ship's route and speed data and send it to the controller; the controller is used to analyze and process the data detected by the first sensing device and the second sensing device, and send corresponding control signals to the early warning device and the ship motion device; the early warning device is used to issue a ship collision early warning according to the control signal; The ship motion device is used to perform a ship avoidance operation according to the control signal.

3. The automatic ship avoidance system according to claim 1 or 2, characterized in that: The first sensing device includes an automatic ship identification system AIS, which is connected to the controller and is used to detect the position and movement information of surrounding ships and send it to the controller.

4. The automatic ship avoidance system according to claim 1 or 2, characterized in that: The first sensing device includes an S-band radar, an X-band radar, and a camera. The S-band radar, the X-band radar, and the camera are respectively connected to the controller to detect the surrounding environment information of the ship and send it to the controller.

5. The automatic ship avoidance system according to claim 1 or 2, characterized in that: The first sensing device includes a laser radar, which is connected to the controller and is used for distance measurement and environmental perception, and sends measurement and perception information to the controller.

6. The automatic ship avoidance system according to claim 1 or 2, characterized in that: The controller includes a main controller and a slave controller. The main controller is connected to the first sensing device, the second sensing device and the slave controller respectively, and is used to receive and process the detection information uploaded by the first sensing device and the second sensing device, and send system decision information to the slave controller; the slave controller is connected to the early warning device and the ship motion device respectively, and is used to send corresponding control signals to the early warning device and the ship motion device according to the system decision information to perform ship collision warning and automatic avoidance.

7. The automatic ship avoidance system according to claim 1 or 2, characterized in that: The early warning device includes an audible and visual alarm device and a voice alarm device, and the audible and visual alarm device and the voice alarm device are respectively connected to the controller and are used to give early warning prompts to the crew when the system detects the existence of a collision risk.

8. The automatic ship avoidance system according to claim 1 or 2, characterized in that: The ship motion device includes a ship motor, a ship electric propeller, a ship steering gear, and a ship propeller. The ship motor, the ship electric propeller, the ship steering gear, and the ship propeller are respectively connected to the controller and are used to perform avoidance actions when the system detects a collision risk.

9. The automatic ship avoidance system according to claim 1 or 2, characterized in that: The controller is a central processing unit CPU.

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