Water surface vehicle sailing safety verification system and operating method thereof

Abstract

The present invention discloses a water surface vehicle sailing safety verification system and operating method thereof. Specifically, the water surface vehicle sailing safety verification system and operating method thereof has a calculating unit, a storage unit and an output unit. The calculating unit uses data from the storage unit to generate obstacle information, and the output unit transmits the obstacle information to a sailing control module which is on a real water surface vehicle. The sailing control module controls the sailing of the real water surface vehicle for obstacle collision avoidance test via hardware-in-the-loop.

Description

TECHNICAL FIELD

[0001] The present invention relates to a water vehicle sailing safety verification system and operating method, especially for water vehicle sailing safety verification system. The water vehicle sailing safety verification system enables a real water surface vehicle which is on the real sea area to use Hardware-in-the-loop (HIL) technology, and the testing method of the water vehicle sailing safety verification system to verify obstacle collision avoidance for virtual obstacle objects.BACKGROUND OF RELATED ARTS

[0002] With the accelerated development of shipping industry, the sailing safety of vessels on the sea has become increasingly important. When the vessels are sailing on the sea, the vessels will face complex maritime environments, such as topographic changes of sea, current speed, weather conditions, wind direction, wind speed, floating objects on the sea surface and the other sailing vessels on the sea, etc. These are all things that vessels need to notice while the vessels are sailing on the sea.

[0003] When the vessels are sailing on the sea, the vessels face complex maritime environments. Captains make judgments and adjust the navigation of vessel via their relevant experience. A traditional simulation system collects relevant parameters of specific sea area environment, and the captains input test conditions to the simulated vessel of the simulation system. The simulated vessel is allowed to sail under the test conditions, and the simulation system keeps providing information for the vessel therefore to make safer decisions when the vessel is facing similar conditions during navigation. The traditional simulation system is limited to the simulation of virtual vessels, simulating path planning or tracking of virtual vessels sailing on the sea.SUMMARY

[0004] Therefore, the purpose of the present invention is to provide the water vehicle sailing safety verification system and operating method.

[0005] The present invention provides the water vehicle sailing safety verification system, including a calculating unit, a storage unit and an output unit.

[0006] The calculating unit connects to the storage unit. The storage unit includes an encounter situation calculating module, a sensing noise calculating module, a vessel motion calculating module, a vessel motion parameter model and a wind-wave current parameter model therein.

[0007] The encounter situation calculating module includes a first input unit and a second input unit.

[0008] The calculating unit uses the vessel motion calculating module to calculate a real-time motion information via a test situation and a test parameter which are input by user. The calculating unit uses the vessel motion parameter model, the wind-wave current parameter model and the sensing noise calculating module to generate obstacle information based on the real-time motion information.

[0009] The output unit connects to the calculating unit.

[0010] Further, an operating method of the water vehicle sailing safety verification system of the present invention includes the following steps. First, the step (A) is providing the water surface vehicle sailing safety verification system. The step (B) is the user inputting the test situation and the test parameter via the first input unit. The step (C) is the user inputting the information of the real water surface vehicle on the real sea area via the second input unit.

[0011] Moreover, the step (D) is the calculating unit using the storage unit to generate the obstacle information. The step (E) is the output unit sending the obstacle information to a sailing control module of the real water surface vehicle.

[0012] Finally, the step (F) is the sailing control module controlling a heading and a ship speed of the real water surface vehicle via the obstacle information to carry out an obstacle collision avoidance test.

[0013] Further, an operating method of the water vehicle sailing safety verification system of the present invention includes the following steps. First, the step (S1) is providing the water surface vehicle sailing safety verification system. The step (S2) is the user inputting the test situation and the test parameter via the first input unit. The step (S3) is the user inputting the information of the real water surface vehicle on the real sea area via the second input unit.

[0014] Furthermore, the step (S4) is the calculating unit using the storage unit to generate the obstacle information. The step (S5) is the output unit sending the obstacle information to a sensor unit of the real water surface vehicle, and the sensor unit filtering noise of the obstacle information to generate a filtered obstacle information. The step (S6) is the sensor unit sending the filtered obstacle information to a sailing control module of the real water surface vehicle.

[0015] Finally, the step (S7) is the sailing control module controlling the heading and the ship speed via the filtered obstacle information to carry out the obstacle collision avoidance test.

[0016] Embodiments of the invention are illustrated by way of example, and not by way of limitation, in the figures of the accompanying drawings in which like reference numerals refer to similar elements.BRIEF DESCRIPTION OF THE DRAWINGS

[0017] FIG. 1 shows a framework diagram of the water surface vehicle sailing safety verification system of the embodiment of the present invention.

[0018] FIG. 2 illustrates a flow chart of the water surface vehicle sailing safety verification system and operating method of the embodiment of the present invention.

[0019] FIG. 3 shows an initial state of the obstacle collision avoidance test of the real water surface vehicle on the open sea of the water surface vehicle sailing safety verification system and operating method of the embodiment of the present invention.

[0020] FIG. 4 shows dodging obstacle water surface vehicle of the obstacle collision avoidance test of the real water surface vehicle on the open sea of the water surface vehicle sailing safety verification system and operating method of the embodiment of the present invention.

[0021] FIG. 5 shows completing obstacle collision avoidance of the obstacle collision avoidance test of the real water surface vehicle on the open sea of the water surface vehicle sailing safety verification system and operating method of the embodiment of the present invention.

[0022] FIG. 6 shows the sailing control module of the obstacle collision avoidance test of the real water surface vehicle on the open sea of the water surface vehicle sailing safety verification system and operating method of the embodiment of the present invention.

[0023] FIG. 7 illustrates a flow chart of operating method the water surface vehicle sailing safety verification system of the embodiment of the present invention.

[0024] FIG. 8 shows the sensor unit and the sailing control module of the obstacle collision avoidance test of the real water surface vehicle before entering a port of the water surface vehicle sailing safety verification system and operating method of the embodiment of the present invention.

[0025] FIG. 9 shows an obstacle of the obstacle collision avoidance test of the real water surface vehicle before entering a port of the water surface vehicle sailing safety verification system and operating method of the embodiment of the present invention.

[0026] FIG. 10 shows the sensor unit confirming a sensing signal of the obstacle collision avoidance test of the real water surface vehicle before entering a port of the water surface vehicle sailing safety verification system and operating method of the embodiment of the present invention.

[0027] FIG. 11 shows filtering obstacle information of the obstacle collision avoidance test of the real water surface vehicle before entering a port of the water surface vehicle sailing safety verification system and operating method of the embodiment of the present invention.DETAILED DESCRIPTION OF THE INVENTION

[0028] In order to understand the technical features and practical efficacy of the present invention and to implement the technical features and practical efficacy in accordance with the contents of the specification, hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0029] The “connection” mentioned in this embodiment does not actually have absolute limitation in space and location. Specifically, the term “connection” should reasonably be understood as any physical connection that can realize the function. The physical connection includes mechanical connection, electrical connection, wired connection or wireless connection, and the invention is not limited to these.

[0030] Please refer to FIG. 1, FIG. 1 is a framework diagram of the water surface vehicle sailing safety verification system 100 of the embodiment of the present invention. As shown in FIG. 1, the water surface vehicle sailing safety verification system 100 of the present embodiment includes a calculating unit 10, a storage unit 20 and an output unit 30.

[0031] The calculating unit 10 of the present embodiment is Central Processing Unit (CPU), Graphics Processing Unit (GPU) or the combination thereof. The storage unit 20 connects to the calculating unit 10, and the storage unit 20 includes an encounter situation calculating module 21, a sensing noise calculating module 22, a vessel motion calculating module 23, a vessel motion parameter model 24 and a wind-wave current parameter model 25.

[0032] Further, the encounter situation calculating module 21 includes a first input unit 211 and a second input unit 212. A user inputs a test situation and a test parameter into the first input unit 211.

[0033] Please refer to FIG. 1 and FIG. 4. FIG. 4 is a dodging obstacle water surface vehicle of the obstacle collision avoidance test of the real water surface vehicle V on the open sea of the water surface vehicle sailing safety verification system 100 and operating method of the embodiment of the present invention. Describing in detail, the aforementioned test situation is head-on situation, crossing situation, overtaking or the combination therebetween a real water surface vehicle V and at least one obstacle water surface vehicle. Further, the first input unit 211 has combinations of more than ten default types of obstacle water surface sailing modes. Specifically, the at least one obstacle water surface vehicle is defined as any type of vessel with power on sea. In this embodiment, the user inputs the test parameters under the test situation for the at least one obstacle water surface vehicle, and the test parameters are collision time, relative ship speed and relative heading angle between the real water surface vehicle V and the at least one obstacle water surface vehicle. The number of the at least one obstacle water surface vehicle is between one and fifteen.

[0034] Specifically, the at least one obstacle water surface vehicle of the present embodiment is Vessel, Wing In Grnd (airfoil), Hydrofoil, Patrol Vessel, Local vessel, Fishing, Tug, Ferry, Dredger, Cruise ship, Naval ship, Container ship, Sailing vessel, Bulk carrier, Pleasure Craft, Tanker, Hovercraft, Submarine, Search and rescue vessel, Port Tender, Pollution control vessel, Hospital ship, Special vessel, Pilot vessel or combinations thereof. The at least one obstacle water surface vehicle is able to move on water surface and the at least one obstacle water surface vehicle is seen as an obstacle to the navigation of the real water surface vehicle V is included within the scope of the present invention.

[0035] Further, the user inputs information of the real water surface vehicle V via the second input unit 212. The real water surface vehicle V of the present embodiment is a real ship or boat which is on the water surface, and the invention is not limited to thereto. On the other hand, the real sea area is river, harbor or open sea. Specifically, the real water surface vehicle V is a smart vessel with autonomous navigation function such as Autonomous Ship or Maritime Autonomous Surface Ship (MASS), which all should be reasonably possible and included under the concept of the present invention.

[0036] The information source of the real water surface vehicle V of the present embodiment is obtained from global positioning system (GPS). The global positioning system detects the real water surface vehicle V to obtain the information of the real water surface vehicle V. The global positioning system transmits the information of the real water surface vehicle V to the second input unit 212 through a wireless fidelity. The information of the real water surface vehicle V is a position, a ship speed and a heading of the real water surface vehicle V.

[0037] Specifically, a database of the sensing noise calculating module 22 of the storage unit 20 which is pre-established by measuring signal distribution conditions of maritime environment, sea surface obstacles, and climate information via automatic identification system, radar or the combination thereof on the real sea area. The database has at least 10,000 records.

[0038] The calculating unit 10 uses the vessel motion calculating module 23 to calculate real-time motion information via the test situation and the test parameters. Specifically, the real-time motion information is the position, the ship speed and the heading of the real water surface vehicle V and the at least one obstacle water surface vehicle at real-time.

[0039] The calculating unit 10 uses the vessel motion parameter model 24, the wind-wave current parameter model 25 and the sensing noise calculating module 22 to generate obstacle information via the real-time motion information. The obstacle information is the calculating unit 10 generating the position, the ship speed and the heading of the real water surface vehicle V and the at least one obstacle water surface vehicle via the test parameters at real-time.

[0040] Further, the output unit 30 connects to the calculating unit 10. The calculating unit 10 transmits the obstacle information to the output unit 30. The output unit 30 is wireless fidelity or cable network, the output unit 30 of the present embodiment transmits the obstacle information via wireless fidelity.

[0041] Please refer to FIG. 1 to FIG. 6. FIG. 2 illustrates a flow chart of the water surface vehicle sailing safety verification system 100 and operating method of the embodiment of the present invention. FIG. 3 shows an initial state of the obstacle collision avoidance test of the real water surface vehicle V on the open sea of the water surface vehicle sailing safety verification system 100 and operating method of the embodiment of the present invention. FIG. 4 shows dodging obstacle water surface vehicle of the obstacle collision avoidance test of the real water surface vehicle V on the open sea of the water surface vehicle sailing safety verification system 100 and operating method of the embodiment of the present invention. FIG. 5 shows completing obstacle collision avoidance of the obstacle collision avoidance test of the real water surface vehicle V on the open sea of the water surface vehicle sailing safety verification system 100 and operating method of the embodiment of the present invention. FIG. 6 shows a sailing control module 50 of the obstacle collision avoidance test of the real water surface vehicle V on the open sea of the water surface vehicle sailing safety verification system 100 and operating method of the embodiment of the present invention.

[0042] Please refer to FIG. 1, FIG. 2 and FIG. 3. The present embodiment is the obstacle collision avoidance test of the real water surface vehicle V on the open sea. The step (A) is providing the water surface vehicle sailing safety verification system 100. The step (B) is the user inputting the test situation and the test parameter via the first input unit 211. The test situation of the present embodiment is head-on situation, a sailing direction of first obstacle water surface vehicle X1 is facing the real water surface vehicle V. Further, the test parameter is collision time, relative ship speed and relative heading angle between the real water surface vehicle V and the first obstacle water surface vehicle X1. The step (C) is the user inputting the information of the real water surface vehicle V on the real sea area via the second input unit 212. The information of the real water surface vehicle V is the position, the ship speed and the heading of the real water surface vehicle V.

[0043] The step (D) is the calculating unit 10 using the storage unit 20 to generate the obstacle information. The step (D) further includes the step (D1) and the step (D2), the step (D1) is the calculating unit 10 using the vessel motion calculating module 23 to calculate a real-time motion information via the user inputting the test situation and the test parameter. Further, the real-time motion information is the position, the ship speed and the heading of the real water surface vehicle V and the first obstacle water surface vehicle X1 at real-time. The step (D2) is the calculating unit 10 using the vessel motion parameter model 24, the wind-wave current parameter model 25 and the sensing noise calculating module 22 to calculate obstacle information via the real-time motion information. In this embodiment, the obstacle information is formed by the calculating unit 10 generating the position, the ship speed, the heading and collision risk of the real water surface vehicle V and the first obstacle water surface vehicle X1 via the test parameters at real-time.

[0044] The step (E) is the output unit 30 sending the obstacle information to a sailing control module 50 of the real water surface vehicle V. Please refer to FIG. 6, the real water surface vehicle V of the present embodiment includes the sailing control module 50. Therefore, the output unit 30 of the present embodiment transmits the obstacle information to the sailing control module 50 of the real water surface vehicle V, the output unit 30 transmits the obstacle information via cable network or wireless fidelity.

[0045] The step (F) is the sailing control module 50 controlling the heading and the ship speed of the real water surface vehicle V via the obstacle information to carry out an obstacle collision avoidance test. In this embodiment, the sailing control module 50 includes a direction control unit and a speed adjustment unit, and the invention does not limit thereto. When the sailing control module 50 receives the obstacle information from the output unit 30, the sailing control module 50 uses the obstacle information to adjust the heading and the ship speed of the real water surface vehicle V based on Hardware-in-the-loop (HIL) to achieve a scenario test of dodging obstacle objects. Please refer to FIG. 4 and FIG. 5, in this embodiment, the step (F) further includes the step (F1) and the step (F2), the step (F1) is the real water surface vehicle V continuing to sail to first obstacle water surface vehicle X1 on a sailing lane Z1. When the real water surface vehicle V is getting closer and closer to the first obstacle water surface vehicle X1 and collision risk is less than a threshold, a collision avoidance mode is turned on. The threshold is one kilometer. The step (F2) is the sailing control module 50 controlling the real water surface vehicle V to sail in first direction, the real water surface vehicle V is dodging the first obstacle water surface vehicle X1. The first direction is right. The step (F3) is that when the distance between the real water surface vehicle V and the first obstacle water surface vehicle X1 is greater than the threshold, the collision avoidance mode is turned off. The sailing control module 50 controls the real water surface vehicle V to sail in second direction, allowing the real water surface vehicle V to return to the sailing lane Z1. The second direction is left.

[0046] Further, in this embodiment, the direction control unit of the sailing control module 50 connects to rudder and electric power steering system to control the heading of the real water surface vehicle V. The speed adjustment unit of the sailing control module50 connects to generator, engine, propulsor, throttle, motor or the combination thereof to control the ship speed of the real water surface vehicle V.

[0047] The another embodiment of the present invention, please refer to FIG. 1 and FIG. 7 to FIG. 11. FIG. 7 illustrates a flow chart of operating method of the water surface vehicle sailing safety verification system 100 of the embodiment of the present invention. FIG. 8 shows the sensor unit 40 and the sailing control module 50 of the obstacle collision avoidance test of the real water surface vehicle V before entering a port of the water surface vehicle sailing safety verification system 100 and operating method of the embodiment of the present invention. FIG. 9 shows an obstacle of the obstacle collision avoidance test of the real water surface vehicle V before entering a port of the water surface vehicle sailing safety verification system 100 and operating method of the embodiment of the present invention. FIG. 10 shows the sensor unit 40 confirming a sensing signal of the obstacle collision avoidance test of the real water surface vehicle V before entering a port of the water surface vehicle sailing safety verification system 100 and operating method of the embodiment of the present invention. FIG. 11 shows filtering obstacle information of the obstacle collision avoidance test of the real water surface vehicle V before entering a port of the water surface vehicle sailing safety verification system 100 and operating method of the embodiment of the present invention.

[0048] Please refer to FIG. 1 and FIG. 7, the present embodiment is that the obstacle collision avoidance test of the real water surface vehicle V before entering a port. The step (S1) is providing the water surface vehicle sailing safety verification system 100.

[0049] The step (S2) is the user inputting the test situation and the test parameter via the first input unit 211. The test situation of this embodiment is that the real water surface vehicle V and second obstacle water surface vehicle X2 are in crossing situation, and the real water surface vehicle V and third obstacle water surface vehicle X3 are in head-on situation. Further, first test parameters are a collision time, relative ship speed and relative heading angle between the real water surface vehicle V and the second obstacle water surface vehicle X2. Second test parameters are a collision time, relative ship speed and relative heading angle between the real water surface vehicle V and the third obstacle water surface vehicle X3.

[0050] Please refer to FIG. 9, the step (S3) is the user inputting the information of the real water surface vehicle V on the real sea area via the second input unit 212. The information of the real water surface vehicle V is the position, the ship speed and the heading of the real water surface vehicle V.

[0051] Please refer to FIG. 10. The step (S4) is the calculating unit 10 using the storage unit 20 to generate the obstacle information. The step (S4) further includes the step (S41) and the step (S42). The step (S41) is the calculating unit 10 using the vessel motion calculating module 23 to calculate a real-time motion information via the test situation and the test parameter. In this embodiment, the real-time motion information is the position, the ship speed and the heading of the real water surface vehicle V, the second obstacle water surface vehicle X2 and the third obstacle water surface vehicle X3 at real-time. The step (S42) is the calculating unit 10 using the vessel motion parameter model 24, the wind-wave current parameter model 25 and the sensing noise calculating module 22 to generate obstacle information via the real-time motion information. In this embodiment, the obstacle information is the calculating unit 10 generating the position, the ship speed and heading of the real water surface vehicle V, the second obstacle water surface vehicle X2 and the third obstacle water surface vehicle X3 via the test parameters at real-time.

[0052] The step (S5) is the output unit 30 sending the obstacle information to a sensor unit 40 of the real water surface vehicle V, and the sensor unit 40 filtering noise of the obstacle information to generate filtered obstacle information. Please refer to FIG. 8. The step (S5) further includes the step (S51), the step (S52) and the step (S53). The step (S51) is the output unit 30 sending the obstacle information to the sensor unit 40 of the real water surface vehicle V. Please refer to FIG. 10 and FIG. 11. The step (S52) is the calculating unit 10 using the sensing noise calculating module 22 to generate a sensing signal, and the calculating unit 10 sending the sensing signal to the output unit 30, the output unit 30 sending sensing signal to the sensor unit 40. In this embodiment, the calculating unit 10 uses the sensing noise calculating module 22 to generate four sensing signals, four sensing signals are first sensing signal Y1, second sensing signal Y2, third sensing signal Y3 and fourth sensing signal Y4. The above-mentioned first to fourth sensing signals are noise. The calculating unit 10 sends the first to fourth sensing signals to the output unit 30, and the output unit 30 sends the first to fourth sensing signal to the sensor unit 40. The step (S53) is the sensor unit 40 filtering noise of the obstacle information to generate the filtered obstacle information. In this embodiment, the sensor unit 40 filters the sensing signal, and the sensor unit 40 filters the first sensing signal Y1, the second sensing signal Y2 and the third sensing signal Y3 of the second obstacle water surface vehicle X2. The sensor unit 40 filters the fourth sensing signal Y4 of the third obstacle water surface vehicle X3. The sensor unit 40 filters noise of the obstacle information to generate a filtered obstacle information. Specifically, the sensor unit 40 is Central Processing Unit (CPU), Graphic Processing Unit (GPU) or the combination thereof. In this embodiment, the sensor unit 40 is Central Processing Unit (CPU) which executes a filtered noise algorithm. The sensor unit 40 uses the filtered noise algorithm to filter the sensing signal.

[0053] The step (S6) is the sensor unit 40 sending the filtered obstacle information to a sailing control module 50 of the real water surface vehicle V. Please refer to FIG. 8.

[0054] The step (S7) is the sailing control module 50 controlling the heading and the ship speed via the filtered obstacle information to carry out the obstacle collision avoidance test.

[0055] As is understood by a person skilled in the art, the foregoing preferred embodiments of the present invention are illustrated of the present invention rather than limiting of the present invention. It is intended to cover various modifications and similar arrangements included within the spirit and scope of the appended claims, the scope of which should be accorded the broadest interpretation so as to encompass all such modifications and similar structure. While the preferred embodiment of the invention has been illustrated and described, it will be appreciated that various changes can be made therein without departing from the spirit and scope of the invention.

Examples

Embodiment Construction

[0028]In order to understand the technical features and practical efficacy of the present invention and to implement the technical features and practical efficacy in accordance with the contents of the specification, hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0029]The “connection” mentioned in this embodiment does not actually have absolute limitation in space and location. Specifically, the term “connection” should reasonably be understood as any physical connection that can realize the function. The physical connection includes mechanical connection, electrical connection, wired connection or wireless connection, and the invention is not limited to these.

[0030]Please refer to FIG. 1, FIG. 1 is a framework diagram of the water surface vehicle sailing safety verification system 100 of the embodiment of the present invention. As shown in FIG. 1, the water surface vehicle sailing safety verificat...

TECHNICAL FIELD

[0001] The present invention relates to a water vehicle sailing safety verification system and operating method, especially for water vehicle sailing safety verification system. The water vehicle sailing safety verification system enables a real water surface vehicle which is on the real sea area to use Hardware-in-the-loop (HIL) technology, and the testing method of the water vehicle sailing safety verification system to verify obstacle collision avoidance for virtual obstacle objects.BACKGROUND OF RELATED ARTS

[0002] With the accelerated development of shipping industry, the sailing safety of vessels on the sea has become increasingly important. When the vessels are sailing on the sea, the vessels will face complex maritime environments, such as topographic changes of sea, current speed, weather conditions, wind direction, wind speed, floating objects on the sea surface and the other sailing vessels on the sea, etc. These are all things that vessels need to notice while the vessels are sailing on the sea.

[0003] When the vessels are sailing on the sea, the vessels face complex maritime environments. Captains make judgments and adjust the navigation of vessel via their relevant experience. A traditional simulation system collects relevant parameters of specific sea area environment, and the captains input test conditions to the simulated vessel of the simulation system. The simulated vessel is allowed to sail under the test conditions, and the simulation system keeps providing information for the vessel therefore to make safer decisions when the vessel is facing similar conditions during navigation. The traditional simulation system is limited to the simulation of virtual vessels, simulating path planning or tracking of virtual vessels sailing on the sea.SUMMARY

[0004] Therefore, the purpose of the present invention is to provide the water vehicle sailing safety verification system and operating method.

[0005] The present invention provides the water vehicle sailing safety verification system, including a calculating unit, a storage unit and an output unit.

[0006] The calculating unit connects to the storage unit. The storage unit includes an encounter situation calculating module, a sensing noise calculating module, a vessel motion calculating module, a vessel motion parameter model and a wind-wave current parameter model therein.

[0007] The encounter situation calculating module includes a first input unit and a second input unit.

[0008] The calculating unit uses the vessel motion calculating module to calculate a real-time motion information via a test situation and a test parameter which are input by user. The calculating unit uses the vessel motion parameter model, the wind-wave current parameter model and the sensing noise calculating module to generate obstacle information based on the real-time motion information.

[0009] The output unit connects to the calculating unit.

[0010] Further, an operating method of the water vehicle sailing safety verification system of the present invention includes the following steps. First, the step (A) is providing the water surface vehicle sailing safety verification system. The step (B) is the user inputting the test situation and the test parameter via the first input unit. The step (C) is the user inputting the information of the real water surface vehicle on the real sea area via the second input unit.

[0011] Moreover, the step (D) is the calculating unit using the storage unit to generate the obstacle information. The step (E) is the output unit sending the obstacle information to a sailing control module of the real water surface vehicle.

[0012] Finally, the step (F) is the sailing control module controlling a heading and a ship speed of the real water surface vehicle via the obstacle information to carry out an obstacle collision avoidance test.

[0013] Further, an operating method of the water vehicle sailing safety verification system of the present invention includes the following steps. First, the step (S1) is providing the water surface vehicle sailing safety verification system. The step (S2) is the user inputting the test situation and the test parameter via the first input unit. The step (S3) is the user inputting the information of the real water surface vehicle on the real sea area via the second input unit.

[0014] Furthermore, the step (S4) is the calculating unit using the storage unit to generate the obstacle information. The step (S5) is the output unit sending the obstacle information to a sensor unit of the real water surface vehicle, and the sensor unit filtering noise of the obstacle information to generate a filtered obstacle information. The step (S6) is the sensor unit sending the filtered obstacle information to a sailing control module of the real water surface vehicle.

[0015] Finally, the step (S7) is the sailing control module controlling the heading and the ship speed via the filtered obstacle information to carry out the obstacle collision avoidance test.

[0016] Embodiments of the invention are illustrated by way of example, and not by way of limitation, in the figures of the accompanying drawings in which like reference numerals refer to similar elements.BRIEF DESCRIPTION OF THE DRAWINGS

[0017] FIG. 1 shows a framework diagram of the water surface vehicle sailing safety verification system of the embodiment of the present invention.

[0018] FIG. 2 illustrates a flow chart of the water surface vehicle sailing safety verification system and operating method of the embodiment of the present invention.

[0019] FIG. 3 shows an initial state of the obstacle collision avoidance test of the real water surface vehicle on the open sea of the water surface vehicle sailing safety verification system and operating method of the embodiment of the present invention.

[0020] FIG. 4 shows dodging obstacle water surface vehicle of the obstacle collision avoidance test of the real water surface vehicle on the open sea of the water surface vehicle sailing safety verification system and operating method of the embodiment of the present invention.

[0021] FIG. 5 shows completing obstacle collision avoidance of the obstacle collision avoidance test of the real water surface vehicle on the open sea of the water surface vehicle sailing safety verification system and operating method of the embodiment of the present invention.

[0022] FIG. 6 shows the sailing control module of the obstacle collision avoidance test of the real water surface vehicle on the open sea of the water surface vehicle sailing safety verification system and operating method of the embodiment of the present invention.

[0023] FIG. 7 illustrates a flow chart of operating method the water surface vehicle sailing safety verification system of the embodiment of the present invention.

[0024] FIG. 8 shows the sensor unit and the sailing control module of the obstacle collision avoidance test of the real water surface vehicle before entering a port of the water surface vehicle sailing safety verification system and operating method of the embodiment of the present invention.

[0025] FIG. 9 shows an obstacle of the obstacle collision avoidance test of the real water surface vehicle before entering a port of the water surface vehicle sailing safety verification system and operating method of the embodiment of the present invention.

[0026] FIG. 10 shows the sensor unit confirming a sensing signal of the obstacle collision avoidance test of the real water surface vehicle before entering a port of the water surface vehicle sailing safety verification system and operating method of the embodiment of the present invention.

[0027] FIG. 11 shows filtering obstacle information of the obstacle collision avoidance test of the real water surface vehicle before entering a port of the water surface vehicle sailing safety verification system and operating method of the embodiment of the present invention.DETAILED DESCRIPTION OF THE INVENTION

[0028] In order to understand the technical features and practical efficacy of the present invention and to implement the technical features and practical efficacy in accordance with the contents of the specification, hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0029] The “connection” mentioned in this embodiment does not actually have absolute limitation in space and location. Specifically, the term “connection” should reasonably be understood as any physical connection that can realize the function. The physical connection includes mechanical connection, electrical connection, wired connection or wireless connection, and the invention is not limited to these.

[0030] Please refer to FIG. 1, FIG. 1 is a framework diagram of the water surface vehicle sailing safety verification system 100 of the embodiment of the present invention. As shown in FIG. 1, the water surface vehicle sailing safety verification system 100 of the present embodiment includes a calculating unit 10, a storage unit 20 and an output unit 30.

[0031] The calculating unit 10 of the present embodiment is Central Processing Unit (CPU), Graphics Processing Unit (GPU) or the combination thereof. The storage unit 20 connects to the calculating unit 10, and the storage unit 20 includes an encounter situation calculating module 21, a sensing noise calculating module 22, a vessel motion calculating module 23, a vessel motion parameter model 24 and a wind-wave current parameter model 25.

[0032] Further, the encounter situation calculating module 21 includes a first input unit 211 and a second input unit 212. A user inputs a test situation and a test parameter into the first input unit 211.

[0033] Please refer to FIG. 1 and FIG. 4. FIG. 4 is a dodging obstacle water surface vehicle of the obstacle collision avoidance test of the real water surface vehicle V on the open sea of the water surface vehicle sailing safety verification system 100 and operating method of the embodiment of the present invention. Describing in detail, the aforementioned test situation is head-on situation, crossing situation, overtaking or the combination therebetween a real water surface vehicle V and at least one obstacle water surface vehicle. Further, the first input unit 211 has combinations of more than ten default types of obstacle water surface sailing modes. Specifically, the at least one obstacle water surface vehicle is defined as any type of vessel with power on sea. In this embodiment, the user inputs the test parameters under the test situation for the at least one obstacle water surface vehicle, and the test parameters are collision time, relative ship speed and relative heading angle between the real water surface vehicle V and the at least one obstacle water surface vehicle. The number of the at least one obstacle water surface vehicle is between one and fifteen.

[0034] Specifically, the at least one obstacle water surface vehicle of the present embodiment is Vessel, Wing In Grnd (airfoil), Hydrofoil, Patrol Vessel, Local vessel, Fishing, Tug, Ferry, Dredger, Cruise ship, Naval ship, Container ship, Sailing vessel, Bulk carrier, Pleasure Craft, Tanker, Hovercraft, Submarine, Search and rescue vessel, Port Tender, Pollution control vessel, Hospital ship, Special vessel, Pilot vessel or combinations thereof. The at least one obstacle water surface vehicle is able to move on water surface and the at least one obstacle water surface vehicle is seen as an obstacle to the navigation of the real water surface vehicle V is included within the scope of the present invention.

[0035] Further, the user inputs information of the real water surface vehicle V via the second input unit 212. The real water surface vehicle V of the present embodiment is a real ship or boat which is on the water surface, and the invention is not limited to thereto. On the other hand, the real sea area is river, harbor or open sea. Specifically, the real water surface vehicle V is a smart vessel with autonomous navigation function such as Autonomous Ship or Maritime Autonomous Surface Ship (MASS), which all should be reasonably possible and included under the concept of the present invention.

[0036] The information source of the real water surface vehicle V of the present embodiment is obtained from global positioning system (GPS). The global positioning system detects the real water surface vehicle V to obtain the information of the real water surface vehicle V. The global positioning system transmits the information of the real water surface vehicle V to the second input unit 212 through a wireless fidelity. The information of the real water surface vehicle V is a position, a ship speed and a heading of the real water surface vehicle V.

[0037] Specifically, a database of the sensing noise calculating module 22 of the storage unit 20 which is pre-established by measuring signal distribution conditions of maritime environment, sea surface obstacles, and climate information via automatic identification system, radar or the combination thereof on the real sea area. The database has at least 10,000 records.

[0038] The calculating unit 10 uses the vessel motion calculating module 23 to calculate real-time motion information via the test situation and the test parameters. Specifically, the real-time motion information is the position, the ship speed and the heading of the real water surface vehicle V and the at least one obstacle water surface vehicle at real-time.

[0039] The calculating unit 10 uses the vessel motion parameter model 24, the wind-wave current parameter model 25 and the sensing noise calculating module 22 to generate obstacle information via the real-time motion information. The obstacle information is the calculating unit 10 generating the position, the ship speed and the heading of the real water surface vehicle V and the at least one obstacle water surface vehicle via the test parameters at real-time.

[0040] Further, the output unit 30 connects to the calculating unit 10. The calculating unit 10 transmits the obstacle information to the output unit 30. The output unit 30 is wireless fidelity or cable network, the output unit 30 of the present embodiment transmits the obstacle information via wireless fidelity.

[0041] Please refer to FIG. 1 to FIG. 6. FIG. 2 illustrates a flow chart of the water surface vehicle sailing safety verification system 100 and operating method of the embodiment of the present invention. FIG. 3 shows an initial state of the obstacle collision avoidance test of the real water surface vehicle V on the open sea of the water surface vehicle sailing safety verification system 100 and operating method of the embodiment of the present invention. FIG. 4 shows dodging obstacle water surface vehicle of the obstacle collision avoidance test of the real water surface vehicle V on the open sea of the water surface vehicle sailing safety verification system 100 and operating method of the embodiment of the present invention. FIG. 5 shows completing obstacle collision avoidance of the obstacle collision avoidance test of the real water surface vehicle V on the open sea of the water surface vehicle sailing safety verification system 100 and operating method of the embodiment of the present invention. FIG. 6 shows a sailing control module 50 of the obstacle collision avoidance test of the real water surface vehicle V on the open sea of the water surface vehicle sailing safety verification system 100 and operating method of the embodiment of the present invention.

[0042] Please refer to FIG. 1, FIG. 2 and FIG. 3. The present embodiment is the obstacle collision avoidance test of the real water surface vehicle V on the open sea. The step (A) is providing the water surface vehicle sailing safety verification system 100. The step (B) is the user inputting the test situation and the test parameter via the first input unit 211. The test situation of the present embodiment is head-on situation, a sailing direction of first obstacle water surface vehicle X1 is facing the real water surface vehicle V. Further, the test parameter is collision time, relative ship speed and relative heading angle between the real water surface vehicle V and the first obstacle water surface vehicle X1. The step (C) is the user inputting the information of the real water surface vehicle V on the real sea area via the second input unit 212. The information of the real water surface vehicle V is the position, the ship speed and the heading of the real water surface vehicle V.

[0043] The step (D) is the calculating unit 10 using the storage unit 20 to generate the obstacle information. The step (D) further includes the step (D1) and the step (D2), the step (D1) is the calculating unit 10 using the vessel motion calculating module 23 to calculate a real-time motion information via the user inputting the test situation and the test parameter. Further, the real-time motion information is the position, the ship speed and the heading of the real water surface vehicle V and the first obstacle water surface vehicle X1 at real-time. The step (D2) is the calculating unit 10 using the vessel motion parameter model 24, the wind-wave current parameter model 25 and the sensing noise calculating module 22 to calculate obstacle information via the real-time motion information. In this embodiment, the obstacle information is formed by the calculating unit 10 generating the position, the ship speed, the heading and collision risk of the real water surface vehicle V and the first obstacle water surface vehicle X1 via the test parameters at real-time.

[0044] The step (E) is the output unit 30 sending the obstacle information to a sailing control module 50 of the real water surface vehicle V. Please refer to FIG. 6, the real water surface vehicle V of the present embodiment includes the sailing control module 50. Therefore, the output unit 30 of the present embodiment transmits the obstacle information to the sailing control module 50 of the real water surface vehicle V, the output unit 30 transmits the obstacle information via cable network or wireless fidelity.

[0045] The step (F) is the sailing control module 50 controlling the heading and the ship speed of the real water surface vehicle V via the obstacle information to carry out an obstacle collision avoidance test. In this embodiment, the sailing control module 50 includes a direction control unit and a speed adjustment unit, and the invention does not limit thereto. When the sailing control module 50 receives the obstacle information from the output unit 30, the sailing control module 50 uses the obstacle information to adjust the heading and the ship speed of the real water surface vehicle V based on Hardware-in-the-loop (HIL) to achieve a scenario test of dodging obstacle objects. Please refer to FIG. 4 and FIG. 5, in this embodiment, the step (F) further includes the step (F1) and the step (F2), the step (F1) is the real water surface vehicle V continuing to sail to first obstacle water surface vehicle X1 on a sailing lane Z1. When the real water surface vehicle V is getting closer and closer to the first obstacle water surface vehicle X1 and collision risk is less than a threshold, a collision avoidance mode is turned on. The threshold is one kilometer. The step (F2) is the sailing control module 50 controlling the real water surface vehicle V to sail in first direction, the real water surface vehicle V is dodging the first obstacle water surface vehicle X1. The first direction is right. The step (F3) is that when the distance between the real water surface vehicle V and the first obstacle water surface vehicle X1 is greater than the threshold, the collision avoidance mode is turned off. The sailing control module 50 controls the real water surface vehicle V to sail in second direction, allowing the real water surface vehicle V to return to the sailing lane Z1. The second direction is left.

[0046] Further, in this embodiment, the direction control unit of the sailing control module 50 connects to rudder and electric power steering system to control the heading of the real water surface vehicle V. The speed adjustment unit of the sailing control module50 connects to generator, engine, propulsor, throttle, motor or the combination thereof to control the ship speed of the real water surface vehicle V.

[0047] The another embodiment of the present invention, please refer to FIG. 1 and FIG. 7 to FIG. 11. FIG. 7 illustrates a flow chart of operating method of the water surface vehicle sailing safety verification system 100 of the embodiment of the present invention. FIG. 8 shows the sensor unit 40 and the sailing control module 50 of the obstacle collision avoidance test of the real water surface vehicle V before entering a port of the water surface vehicle sailing safety verification system 100 and operating method of the embodiment of the present invention. FIG. 9 shows an obstacle of the obstacle collision avoidance test of the real water surface vehicle V before entering a port of the water surface vehicle sailing safety verification system 100 and operating method of the embodiment of the present invention. FIG. 10 shows the sensor unit 40 confirming a sensing signal of the obstacle collision avoidance test of the real water surface vehicle V before entering a port of the water surface vehicle sailing safety verification system 100 and operating method of the embodiment of the present invention. FIG. 11 shows filtering obstacle information of the obstacle collision avoidance test of the real water surface vehicle V before entering a port of the water surface vehicle sailing safety verification system 100 and operating method of the embodiment of the present invention.

[0048] Please refer to FIG. 1 and FIG. 7, the present embodiment is that the obstacle collision avoidance test of the real water surface vehicle V before entering a port. The step (S1) is providing the water surface vehicle sailing safety verification system 100.

[0049] The step (S2) is the user inputting the test situation and the test parameter via the first input unit 211. The test situation of this embodiment is that the real water surface vehicle V and second obstacle water surface vehicle X2 are in crossing situation, and the real water surface vehicle V and third obstacle water surface vehicle X3 are in head-on situation. Further, first test parameters are a collision time, relative ship speed and relative heading angle between the real water surface vehicle V and the second obstacle water surface vehicle X2. Second test parameters are a collision time, relative ship speed and relative heading angle between the real water surface vehicle V and the third obstacle water surface vehicle X3.

[0050] Please refer to FIG. 9, the step (S3) is the user inputting the information of the real water surface vehicle V on the real sea area via the second input unit 212. The information of the real water surface vehicle V is the position, the ship speed and the heading of the real water surface vehicle V.

[0051] Please refer to FIG. 10. The step (S4) is the calculating unit 10 using the storage unit 20 to generate the obstacle information. The step (S4) further includes the step (S41) and the step (S42). The step (S41) is the calculating unit 10 using the vessel motion calculating module 23 to calculate a real-time motion information via the test situation and the test parameter. In this embodiment, the real-time motion information is the position, the ship speed and the heading of the real water surface vehicle V, the second obstacle water surface vehicle X2 and the third obstacle water surface vehicle X3 at real-time. The step (S42) is the calculating unit 10 using the vessel motion parameter model 24, the wind-wave current parameter model 25 and the sensing noise calculating module 22 to generate obstacle information via the real-time motion information. In this embodiment, the obstacle information is the calculating unit 10 generating the position, the ship speed and heading of the real water surface vehicle V, the second obstacle water surface vehicle X2 and the third obstacle water surface vehicle X3 via the test parameters at real-time.

[0052] The step (S5) is the output unit 30 sending the obstacle information to a sensor unit 40 of the real water surface vehicle V, and the sensor unit 40 filtering noise of the obstacle information to generate filtered obstacle information. Please refer to FIG. 8. The step (S5) further includes the step (S51), the step (S52) and the step (S53). The step (S51) is the output unit 30 sending the obstacle information to the sensor unit 40 of the real water surface vehicle V. Please refer to FIG. 10 and FIG. 11. The step (S52) is the calculating unit 10 using the sensing noise calculating module 22 to generate a sensing signal, and the calculating unit 10 sending the sensing signal to the output unit 30, the output unit 30 sending sensing signal to the sensor unit 40. In this embodiment, the calculating unit 10 uses the sensing noise calculating module 22 to generate four sensing signals, four sensing signals are first sensing signal Y1, second sensing signal Y2, third sensing signal Y3 and fourth sensing signal Y4. The above-mentioned first to fourth sensing signals are noise. The calculating unit 10 sends the first to fourth sensing signals to the output unit 30, and the output unit 30 sends the first to fourth sensing signal to the sensor unit 40. The step (S53) is the sensor unit 40 filtering noise of the obstacle information to generate the filtered obstacle information. In this embodiment, the sensor unit 40 filters the sensing signal, and the sensor unit 40 filters the first sensing signal Y1, the second sensing signal Y2 and the third sensing signal Y3 of the second obstacle water surface vehicle X2. The sensor unit 40 filters the fourth sensing signal Y4 of the third obstacle water surface vehicle X3. The sensor unit 40 filters noise of the obstacle information to generate a filtered obstacle information. Specifically, the sensor unit 40 is Central Processing Unit (CPU), Graphic Processing Unit (GPU) or the combination thereof. In this embodiment, the sensor unit 40 is Central Processing Unit (CPU) which executes a filtered noise algorithm. The sensor unit 40 uses the filtered noise algorithm to filter the sensing signal.

[0053] The step (S6) is the sensor unit 40 sending the filtered obstacle information to a sailing control module 50 of the real water surface vehicle V. Please refer to FIG. 8.

[0054] The step (S7) is the sailing control module 50 controlling the heading and the ship speed via the filtered obstacle information to carry out the obstacle collision avoidance test.

[0055] As is understood by a person skilled in the art, the foregoing preferred embodiments of the present invention are illustrated of the present invention rather than limiting of the present invention. It is intended to cover various modifications and similar arrangements included within the spirit and scope of the appended claims, the scope of which should be accorded the broadest interpretation so as to encompass all such modifications and similar structure. While the preferred embodiment of the invention has been illustrated and described, it will be appreciated that various changes can be made therein without departing from the spirit and scope of the invention.

Examples

Embodiment Construction

[0028]In order to understand the technical features and practical efficacy of the present invention and to implement the technical features and practical efficacy in accordance with the contents of the specification, hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0029]The “connection” mentioned in this embodiment does not actually have absolute limitation in space and location. Specifically, the term “connection” should reasonably be understood as any physical connection that can realize the function. The physical connection includes mechanical connection, electrical connection, wired connection or wireless connection, and the invention is not limited to these.

[0030]Please refer to FIG. 1, FIG. 1 is a framework diagram of the water surface vehicle sailing safety verification system 100 of the embodiment of the present invention. As shown in FIG. 1, the water surface vehicle sailing safety verificat...

Claims

1. A water surface vehicle sailing safety verification system, comprising:a calculating unit;a storage unit, connected with the calculating unit;wherein the storage unit comprises an encounter situation calculating module, a sensing noise calculating module, a vessel motion calculating module, a vessel motion parameter model and a wind-wave current parameter model;wherein the encounter situation calculating module comprises:a first input unit, providing a user to input a test situation and a test parameter;a second input unit, providing the user to load an information of a real water surface vehicle located on a real sea area;wherein the calculating unit uses the vessel motion calculating module to calculate a real-time motion information via the test situation and the user inputs the test parameter;wherein the calculating unit uses the vessel motion parameter model, the wind-wave current parameter model and the sensing noise calculating module uses the real-time motion information to generate obstacle information;an output unit, connected with the calculating unit.

2. The water surface vehicle sailing safety verification system as claimed in claim 1, wherein the calculating unit is Central Processing Unit (CPU), Graphics Processing Unit (GPU) or the combination thereof.

3. The water surface vehicle sailing safety verification system as claimed in claim 1, wherein the storage unit is Solid State Disk (SSD), Hard Disk Drive (HDD) or Random Access Memory (RAM).

4. The water surface vehicle sailing safety verification system as claimed in claim 1, wherein the first input unit is keyboard, mouse, touch panel or the combination thereof.

5. The water surface vehicle sailing safety verification system as claimed in claim 1, wherein the second input unit is network socket, serial port, wireless fidelity or the combination thereof.

6. The water surface vehicle sailing safety verification system as claimed in claim 1, wherein the real water surface vehicle is a vessel.

7. The water surface vehicle sailing safety verification system as claimed in claim 1, wherein the test situation is head-on situation, crossing situation, overtaking or the combination thereof.

8. The water surface vehicle sailing safety verification system as claimed in claim 1, wherein the test parameter is a collision time, relative ship speed and relative heading angle between the real water surface vehicle and at least one obstacle water surface vehicle.

9. The water surface vehicle sailing safety verification system as claimed in claim 1, wherein the information of the real water surface vehicle is a position, a ship speed and a heading of the real water surface vehicle on the real sea area.

10. The water surface vehicle sailing safety verification system as claimed in claim 1, wherein the output unit is wireless fidelity or cable network.

11. An operating method of a water surface vehicle sailing safety verification system, comprising the following steps:(A) providing the water surface vehicle sailing safety verification system as claimed in claim 1;(B) the user inputting the test situation and the test parameter via the first input unit;(C) the user inputting the information of the real water surface vehicle on the real sea area via the second input unit;(D) the calculating unit using the storage unit to generate the obstacle information;(E) the output unit sending the obstacle information to a sailing control module of the real water surface vehicle; and(F) the sailing control module controlling a heading and a ship speed of the real water surface vehicle via the obstacle information to carry out an obstacle collision avoidance test.

12. The operating method of the water surface vehicle sailing safety verification system as claimed in claim 11, wherein the step (D) further comprises:(D1) the calculating unit using the vessel motion calculating module to calculate a real-time motion information via the user inputting the test situation and the test parameter; and(D2) the calculating unit using the vessel motion parameter model, the wind-wave current parameter model and the sensing noise calculating module to calculate the obstacle information via the real-time motion information.

13. The operating method of the water surface vehicle sailing safety verification system as claimed in claim 11, wherein the step (F) further comprises:(F1) the real water surface vehicle continuing to sail to a first obstacle water surface vehicle on a sailing lane, when the real water surface vehicle is getting closer and closer to the first obstacle water surface vehicle and a collision risk is less than a threshold, a collision avoidance mode is turned on;(F2) the sailing control module controlling the real water surface vehicle to sail in a first direction, the real water surface vehicle dodging the first obstacle water surface vehicle; and(F3) when the collision risk being greater than the threshold, the sail control module controlling the real water surface vehicle to sail in a second direction, the real water surface vehicle returning to the sailing lane.

14. An operating method of a water surface vehicle sailing safety verification system, comprising the following steps:(S1) providing the water surface vehicle sailing safety verification system as claimed in claim 1;(S2) the user inputting the test situation and the test parameter via the first input unit;(S3) the user inputting the information of the real water surface vehicle on the real sea area via the second input unit;(S4) the calculating unit using the storage unit to generate the obstacle information;(S5) the output unit sending the obstacle information to a sensor unit of the real water surface vehicle, the sensor unit filtering noise of the obstacle information to generate a filtered obstacle information;(S6) the sensor unit sending the filtered obstacle information to a sailing control module of the real water surface vehicle; and(S7) the sailing control module controlling a heading and a ship speed via the filtered obstacle information to carry out the obstacle collision avoidance test.

15. The operating method of the water surface vehicle sailing safety verification system as claimed in claim 14, wherein the step (S5) further comprises:(S51) the output unit sending the obstacle information to the sensor unit of the real water surface vehicle;(S52) the calculating unit using the sensing noise calculating module to generate a sensing signal, and the calculating unit sending the sensing signal to the output unit, the output unit sending sensing signal to the sensor unit; and(S53) the sensor unit filtering noise of the obstacle information to generate the filtered obstacle information.

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