CN108873799B - Shipborne intelligent driving auxiliary terminal - Google Patents
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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- B—PERFORMING OPERATIONS; TRANSPORTING
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Abstract
The invention discloses a shipborne intelligent driving auxiliary terminal which comprises an information sensing system, a data transmission system and a display terminal, wherein the information sensing system, the data transmission system and the display terminal are respectively connected with an intelligent ship electric control host; automatically controlled host computer of intelligent boats and ships: the system comprises a rendering host, a data processing host and a switch which are assembled in a cabinet; the information perception system comprises an environment perception system and a ship body self perception system, the environment perception system comprises a radar, an AIS and a high-precision camera, and the ship body self perception system comprises a differential GPS, an inertial navigation system and a cabin data PLC acquisition system; after the intelligent ship electric control host machine carries out fusion processing on the obtained ship navigation information, the ship navigation information is displayed on a display terminal in a three-dimensional mode through analysis of a built-in artificial intelligence system; the data transmission system comprises data concentration inside the ship body and ship-shore double-end information interconnection.
Description
Technical Field
The invention belongs to the technical field of navigation driving, and particularly relates to an artificial intelligent driving auxiliary terminal for ferry navigation safe driving.
Background
The international ship industry invests heavy money for ship informatization at present, and combines industrial 4.0 and intelligent manufacturing, the development of the whole related industry is promoted, secondly, in the development of software, the consideration for manual interaction is less, after data is acquired, the analysis of a background is not in place, and most of the data can be acquired only by front-end data. The operating software on the data monitoring platform is simple, basically stays in simple data acquisition, and then is equipped with a storage system. Therefore, the improvement and performance expansion of a front-end data analysis system and software interaction may need to be solved at present, which is also the basis of intelligent informatization of ships.
The intelligent technology of ships in China just starts, and in recent years, the development of intelligent systems of ships is accelerated continuously; strategic requirements set forth in china manufacturing 2025 have also begun top-level design and research efforts on ship intelligence. Therefore, China begins to increase the investment and research and development force in the field of manufacturing of intelligent systems of ships so as to occupy the large market.
At present, the current technical scheme of safe driving on water in China is far behind the actual requirement, the current automobile ferry navigation driving also needs a large amount of manual work and human eye observation, and ferry cannot ensure navigation safety and only needs to stop running under bad weather conditions with insufficient visibility, such as night, heavy fog, heavy rain and the like; and the state of the passing ship can be sensed accurately in real time, the collision or overturning risk can not be judged and warned effectively in advance, and the occurrence of accidents is avoided.
Disclosure of Invention
Aiming at the technical problems, the invention provides a shipborne intelligent driving auxiliary terminal which can be used for realizing real-time, comprehensive and high-precision acquisition of navigation data.
In order to achieve the purpose, the invention adopts the technical scheme that: the shipborne intelligent driving auxiliary terminal comprises an information sensing system, a data transmission system and a display terminal which are respectively connected with an intelligent ship electric control host.
Automatically controlled host computer of intelligent boats and ships: the system comprises a rendering host, a data processing host and a switch which are assembled in a cabinet.
The information perception system comprises an environment perception system and a ship body self perception system, the environment perception system comprises a radar, an AIS and a high-precision camera, and information acquired by the environment perception system comprises the speed, distance and course information of a passing ship; the ship body self-sensing system comprises a differential GPS, an inertial navigation system and a cabin data PLC acquisition system; the real-time signal collection of the self-sensing system of the ship body comprises the following signals: the system comprises a main engine, a propeller, a rudder angle signal, an accelerator signal, the current position, the course and the track information of a ship, a main engine alarm signal, a generator alarm signal and the like. Each part realizes the real-time, comprehensive and high-precision acquisition of navigation data through a corresponding sensor, and the dangerous case can be found in time in a transient navigation environment through the high fusion of the information of the intelligent electric control host.
After the intelligent ship electric control host machine carries out fusion processing on the obtained ship navigation information, the ship navigation information is displayed on a display terminal in a three-dimensional mode through analysis of a built-in artificial intelligence system;
the data transmission system comprises data concentration inside the ship body and ship-shore double-end information interconnection.
The radar comprises a marine radar and a laser radar, and the environment sensing system further comprises a flow velocity sensor and/or a laser night vision device.
Sensing and automatically diagnosing the state of the ship: the intelligent ship electric control host can acquire information such as host rotating speed, propeller rotating speed, rudder angle signals, throttle signals and the like of a ship, and simultaneously acquire current position, course and track information of the ship in real time through the sensing system, and can acquire weather and hydrological information (flow speed and flow direction). Whether the operation of the ship is normal or not is judged according to the data information, and if a certain collected signal is abnormal, the problem is found and the purpose of diagnosis is achieved by comparing the internal information parameters of the equipment corresponding to the signal; and (3) information capture, which is obtained and analyzed through information processing and information fusion technologies such as a PLC in an artificial intelligence system. The intelligent ship electric control host machine identifies the faults of host machine stalling, steering failure and the like by analyzing the track, the course, the rotating speed, the steering angle signal and other information of the ship and judges whether the ship is in a safe and controllable state.
The data transmission system comprises data concentration inside the ship body and ship-shore double-end information interconnection, wherein the internal transmission of data is realized in a mode of combining wired transmission and local Wifi transmission, and the ship-shore section data transmission is mainly realized through wireless communication equipment. Communicating with the shore end through a ferry wireless network bridge; when the communication link is interrupted, the standby data transmission station is used for communication.
Anti-collision and short-distance acousto-optic early warning of ships: aiming at the characteristics of high collision risk and large accident loss of a steam-ferry ship, the terminal establishes a risk perception and cognition model by utilizing a risk analysis and evaluation method on the basis of omnibearing perception of the position, speed and course of the ship and the surrounding ships, and the model can quickly analyze the navigation situation, evaluate the current collision risk and realize the anti-collision and near acousto-optic early warning of the ship. And (3) early warning if the number of the ships coming upstream and downstream is too large: an alarm threshold value is set through radar sensing, and acousto-optic early warning is carried out after the number of other ships exceeds the threshold value; special ship early warning such as sea patrol boat, oil ship, seagoing vessel: appointing an early warning distance, and clearly informing a special ship of how far to start alarming; measuring the distance between the following sailing ships, and alarming when a threshold value is reached: and (5) specifying an alarm threshold value, wherein the effective distance is 100 meters. The radar function is limited within 100 meters, and the effect is not good; other vessels are too close to the vessel to generate early warnings: the effective distance of the laser radar is 150 meters, and an alarm is triggered when the laser radar reaches a specified distance.
Assisting and early warning when the ship passes through a channel: the most common and important working condition of a ferry ship is crossing a channel, and because the ferry needs to actively avoid a passing ship when crossing the channel and the ferry passes through a neutral position between two or more ships in a busy channel in most cases, the acquisition of the information of the position, the speed, the course and the distance between the passing ships is particularly important. The system can automatically acquire dynamic information of all ships around the underway ship in time, analyze and extract the passable 'neutral' and carry out risk early warning on the ship passing behavior through risk assessment.
The core problem of collision avoidance is to solve the problem that ships moving relatively are close to each other, and to keep a safe distance for the running ships as much as possible so as to avoid collision. If they deviate from each other, it becomes more and more secure. The core is to solve the avoidance measures when the two are close to each other. And navigation planning design is carried out to avoid danger.
Detecting the motion trend of other objects or ships to the ship for ships or objects around the ship;
regarding other ships which are far away from the ship in motion trend, the safety is improved, and the ships are not taken as the attention objects for collision avoidance;
for other ships keeping the distance from the ship unchanged, judging whether the ships travel or sail in parallel, if the ships travel in the advancing direction or in the following direction, if the distance between the two ships is kept within a reasonable safety range, no special attention is needed, and if the distance is small, a safety early warning is given; if the ship is in a parallel accompanying condition, testing the distance between the two ships, and defining whether the states of the two ships are safe or not according to the distance condition by combining the ship speed, the turning radius and the water area environment;
and (4) judging the danger of possible collision when other ships or a plurality of ships approach to the ship, and making a safety early warning.
The ship can sense the navigation situation of the peripheral ships and analyze and judge the motion trend:
the situation of the peripheral ship is obtained through radar scanning and AIS signal detection, and the existence and the state of the peripheral ship are sensed; through uninterrupted scanning of a radar, differential positioning of a GPS or a Beidou is fused, positions of peripheral ships and the ship are obtained, a motion track and a trend of each ship are obtained according to the positions, and the relative speed of each ship and the relative distance between each ship and the ship are obtained;
setting the advancing direction of the ship as the heading direction by taking the ship as the center, setting a distance measurement parameter value as the radius of radiation for distance measurement, and taking the ship as the center of a circle and other ships entering the range as observation objects; in the advancing direction of the ship, the sailing situation of other ships and the corresponding distance between the ships are captured in a semicircular radiation mode. When navigation for crossing the channel is needed, the distance between the neutral positions of the two ships is measured by taking the ship as the circle center and the included angle between the two ships and the ship, and the neutral position is judged to be safer for the ship to cross.
Supervision of bad driving behaviors: whether poor driving behaviors exist or not is analyzed and evaluated by recording the driving behaviors of the driver and actual conditions encountered during driving. When the distance is too close and dangerous crossing occurs in the driving process, or a ship faces the risk of inclining and overturning, the driving behavior at that time is what, and when the situation that danger is about to occur is met, the scheduling room can timely remind the driver of the captain, timely correct bad behaviors, or perform statistical analysis on the driving behavior in the early stage within a certain time. The bad driving behavior is warned and corrected.
Analyzing the stored problem: at the present stage, the data is stored through a server and also stored in the Ali cloud.
And (3) analysis: the system automatically records the driving modes such as steering behaviors of drivers, extracts the operation of the drivers in embarrassing situations after accumulating a large amount of data, and compares the driving modes intelligently decided and responded by the system; the behaviors of analyzing whether a driver has the problems of misoperation, frequent steering, overlarge steering angle and the like, or delaying steering and the like can be extracted, and good safety coping strategies and operation modes can be extracted.
Preferably, the terminal uses a three-dimensional scene real-time display technology for a driving scene of a ship, the Unity3D virtual reality technology adopted by the terminal is a simulation platform digital display of a game, and the technology is used for building the driving scene of the ship for the first time. On the basis of the electronic chart, the information of multiple sensors such as radar or AIS and the like is acquired through a PLC information acquisition module special for a ship in an intelligent ship electric control host, a ship driving electronic information database is generated, scene shooting preprocessing modeling is carried out on the spot, information processing and fusion are carried out through an information processing display module in a data processing host, a 3D modeling tool is used for carrying out digital simulation and rendering on the fused database, and a Unity3D parallel simulation picture is generated.
Preferably, the artificial intelligence system further comprises a customer information management module, and the module comprises alarming, monitoring, detecting, traffic commanding and the like according to the requirements of ferry.
Preferably, the display terminal is located on a driving cab of the ship, the intelligent ship electric control host is located in the driving cab, and the radar antenna and the high-precision camera are placed on the top of the ship.
The invention has the following beneficial effects: the method is based on real-time channel ship state data, takes a three-dimensional display interface as a carrier and takes a ferry risk model as a basis, and provides a new idea for improving the safety of the ferry; the problem of visibility not enough can't ensure navigation safety is solved, the real-time accurate perception of boats and ships state can effectively prejudge, the early warning to collision, the risk of toppling, for the driving of boats and ships provides more intelligent service, promotes the efficiency of driving safety nature and shipping management. Compared with the existing solution (harbor ferry) of the ferry safety auxiliary system, the invention has the obvious advantages that:
(1) the sensing capability of the ferry ship is enhanced. A perception system solution integrating the self and the environment is provided, and the defects of a driver and a supervisor in observing the navigation state are avoided;
(2) a transit risk calculation model is presented. The risk calculation model can assist a driver to prevent a ship from collision accidents, and lays a foundation for artificial intelligent decision making;
(3) a three-dimensional data display method is provided. The three-dimensional visual display avoids the separate display of each data, improves the readability and timeliness of the data, and reduces the labor intensity of a driver;
(4) the real-time anti-collision early warning function is realized. Based on the information perception system and the risk calculation model, the real-time anti-collision early warning function is designed, and the collision probability of the steam-ferry ship can be reduced.
Drawings
Fig. 1 is a signal flow distribution block diagram of a shipborne intelligent driving auxiliary terminal according to an embodiment of the present invention.
Fig. 2 is a structural diagram of a shipborne intelligent driving assistance terminal according to an embodiment of the present invention.
Fig. 3 is a schematic view of auxiliary crossing of a shipborne intelligent driving assistance terminal according to an embodiment of the present invention.
Fig. 4 is a schematic diagram of assistance and early warning for a shipborne intelligent driving assistance terminal to pass through a channel according to an embodiment of the present invention.
Detailed Description
In order to facilitate understanding of those skilled in the art, the present invention will be further described with reference to the following embodiments and accompanying drawings.
The problems related to the safety of the ship are complex, including the perception problem of the ship, the perception of the passing ship and the early warning of collision risks, and the problems of the ship passing through a channel in various climatic environments and the supervision of the driving behavior and the navigation environment of the ship. The problem of ferry safety is solved really, and the following problems need to be solved by the shipborne intelligent auxiliary terminal:
(1) sensing and automatically diagnosing the self state of the steam-ferry: information such as the position, rudder angle, track, host rotation speed and navigation environment of a ferry ship needs to be actively acquired in time, and the warning lamp for sensing and monitoring the navigation state of the ship, diagnosing the fault of the host and reminding large drift of the ship is realized.
(2) Acquiring speed and distance of a passing ship: the method comprises the steps of obtaining information such as speed, distance and course of a passing ship, and providing reference for a driver to avoid the passing ship and pass through a channel.
(3) The intelligent planning and anti-collision early warning of the steam crossing gear shift are as follows: according to the current navigation state and the perception of the surrounding navigation environment, the optimal 'gear-crossing' plan is automatically solved, the collision danger is early warned in advance, the deficiency of manual judgment is supplemented, and the collision is avoided.
(4) Supervision of bad driving behaviors: the driving behavior of the driver is obtained and recorded, and the monitoring department is assisted to find out bad driving behavior and correct in time, so that accidents are avoided.
The crossing of the channel is assisted: and acquiring information of the relevant meeting ship in the course of crossing the channel to assist a driver in making a crossing and avoidance decision.
The hardware part of the shipborne intelligent driving auxiliary terminal mainly comprises an intelligent ship electric control host, a radar antenna, a high-precision camera and two displays. Wherein two displays are located the driver's cabin of boats and ships, and intelligent boats and ships automatically controlled host computer is located the driver's cabin, and radar antenna and high accuracy camera are placed in the boats and ships top.
The processing core of the shipborne intelligent auxiliary terminal is an intelligent ship electric control host, and the host rotating speed, the propeller rotating speed, the rudder angle signal, the throttle signal, the host alarm signal and the generator alarm signal of the ship are acquired through an analog quantity and switching value acquisition module; acquiring external environment information of a sailing ship through a navigation system (AIS, GPS, compass and radar); communicating with the shore end through a ferry wireless network bridge; when the communication link is interrupted, the standby data transmission station is used for communication. And the intelligent ship electric control host performs fusion processing on the obtained ship navigation information, and then shows the ship navigation information at the ship end in a three-dimensional mode through analysis of a built-in artificial intelligence system. The algorithms involved in the analysis of the artificial intelligence system are: the method comprises the steps of marine information and bottom layer control PLC technology, radar video identification core algorithm, information fusion technologies such as radar and AIS, three-dimensional scene real-time display technology, customer management information technology and the like. Sensing and automatically diagnosing the state of the ship: the method comprises the steps of extracting relevant operation information by capturing operation signals of equipment of a ship, sensing operation parameters and technical states of the ship, and judging whether the operation of the ship is normal or not according to the data information. If the information transmitted by one equipment is abnormal, the problem is found and the purpose of diagnosis is achieved by comparing the intrinsic information parameters of the equipment and the system. The capture of the signal information is obtained and analyzed through information processing and information fusion technologies such as PLC and the like.
As shown in fig. 1, the sensing and diagnosis of the state of the ship: collecting the rotating speed and rudder angle information of a host; acquiring the current position, course and track information of a ship; and diagnosing faults such as main engine stall, steering failure and the like. The ship sailing track has an error range not exceeding 5 percent.
External environment perception of the ship: acquiring the ship speed and the course of a passing ship; acquiring the distance between each ship and the distance between the ships; and acquiring the current position water flow velocity and flow direction of the steam ferry.
The error range of the current visual angle and orientation information does not exceed 3 degrees;
the collision of ships and the near-distance acousto-optic early warning are provided with not less than 5 grades.
Judging the distance and the trend of the neutral position, wherein the error range is within 20 meters;
the intelligent ship electric control host can acquire information such as host rotating speed, propeller rotating speed, rudder angle signals, throttle signals and the like of a ship, and meanwhile, the terminal can acquire current position, course and track information of the ship in real time through the information perception system and can acquire weather and hydrological information (flow speed and flow direction). The driver can monitor the information in real time through the display, find potential safety hazards timely and prevent the potential safety hazards in the bud. The intelligent ship electric control host can analyze the faults of the host such as the stop, the steering failure and the like through analyzing the track, the course, the rotating speed, the steering angle signal and the like of the ship, and can also judge whether the ship is in a safe and controllable state.
The hardware of the terminal mainly comprises an information perception system, a data transmission system and a display terminal. The information perception system formed by organically combining various sensors is a main hardware composition unit and comprises an environment perception system consisting of a marine radar, an AIS (automatic identification system), a laser radar, a high-precision camera and a flow velocity sensor and a ship body self perception system consisting of a differential GPS (global positioning system), an inertial navigation system and a cabin data PLC (programmable logic controller) acquisition system. Each part realizes the real-time, comprehensive and high-precision acquisition of navigation data through a corresponding sensor, so that the dangerous case can be found in time in a transient navigation environment. The data transmission system comprises a data concentration part and a ship shore double-end information interconnection part inside the ship body, wherein the internal transmission of data is realized in a mode of combining wired transmission and local Wifi transmission, and the data transmission of the ship shore section is mainly realized through 4G wireless communication equipment. The navigation aid display terminal is composed of a plurality of high-definition touch display screens and is used for displaying the current ship navigation state in real time and interactively displaying the current collision risk and an assistant decision instruction and a driver. The laser range radar or the laser night vision device can provide visual enhancement assistance under poor visual conditions such as haze and night. The main hardware system architecture is shown in fig. 2.
Compared with the existing sensing system of the ferry ship, the sensing system enhances the sensing capability of the ship through an information fusion technology. Meanwhile, the terminal of the embodiment realizes the parallel simulation of the three-dimensional scene by the aid of a radar video recognition core algorithm, a bottom control PLC (programmable logic controller) technology, a radar, an AIS (automatic identification system) and other information fusion technologies. Compared with the traditional two-dimensional and separated data display mode, the system provides a parallel three-dimensional environment as a carrier for sensing information and assisting information display, realizes unified seamless display of various information, avoids non-unified information coordinate system, and lightens the working strength of ship drivers. In addition, the system provides a man-machine interaction function, and can realize a personalized data display mode through custom setting.
Anti-collision and short-distance acousto-optic early warning of ships: aiming at the characteristics of high collision risk and large accident loss of a steam-ferry ship, the system establishes a risk perception and cognition model by utilizing a risk analysis and evaluation method on the basis of omnibearing perception of the position, speed and course of the ship and the surrounding ships, and the model can quickly analyze the navigation situation, evaluate the current collision risk and realize the anti-collision and near acousto-optic early warning of the ship. Short-distance audible and visual alarm: and (3) early warning if the number of the ships coming upstream and downstream is too large: an alarm threshold value is set through radar sensing, and acousto-optic early warning is carried out after the number of other ships exceeds the threshold value; special ship early warning such as sea patrol boat, oil ship, seagoing vessel: appointing an early warning distance, and clearly informing a special ship of how far to start alarming; measuring the distance between the following sailing ships, and alarming when a threshold value is reached: and (5) specifying an alarm threshold value, wherein the effective distance is 100 meters. The radar function is limited within 100 meters, and the effect is not good; the other ships generate early warning when being too close to the ferry: the effective distance of the laser radar is 150 meters, and an alarm is triggered when the laser radar reaches a specified distance.
As shown in fig. 3, the ship passes through the channel to assist and warn: the most common and important working condition of a ferry ship is crossing a channel, and because the ferry needs to actively avoid a passing ship when crossing the channel and the ferry passes through a neutral position between two or more ships in a busy channel in most cases, the acquisition of the information of the position, the speed, the course and the distance between the passing ships is particularly important. The system can automatically acquire dynamic information of all ships around the underway ship in time, analyze and extract the passable 'neutral', and perform risk early warning on the crossing behavior of the ferry ship through risk assessment.
The core problem of collision avoidance is to solve the problem that ships moving relatively are close to each other, and to keep a safe distance for the running ships as much as possible so as to avoid collision. If they deviate from each other, it becomes more and more secure. The core is to solve the avoidance measures when the two are close to each other. And navigation planning design is carried out to avoid danger.
As shown in fig. 4, when the ship is sailing on water (including inland rivers or at sea), the model can be simplified, the plane can be taken, the underwater factors are not considered at all, the environment of the ship on water is mainly the water surface, other objects and other ships, and the ship can be divided into the following three situations according to the intersection condition of the ship with other objects or ships:
1. (ii) an impending relationship with other aquatic objects or vessels;
2. remote relationship to other aquatic objects or vessels;
3. in equidistant maintenance relationship with other aquatic objects or vessels.
According to the work detection of the shipborne radar, the motion trend of other objects or the ship to the ship can be detected for the ships or objects around the ship. The movement trend can preliminarily judge the danger of other ships or objects (hereinafter, collectively referred to as 'other ships') colliding with the ship.
For other ships which are far away from the ship, the possibility of collision is found to be smaller and smaller, and for the situation, the safety can be regarded as being improved and the ship is not regarded as an object of attention for collision avoidance.
For other ships keeping the distance from the ship unchanged, the ship needs to be treated respectively according to the condition that the ship is traveling or sailing in parallel, and fine judgment is made to avoid collision risks.
Judging whether the ship is traveling or sailing in parallel, displaying by a radar, checking the direction of the ship, if the ship is in the advancing direction or in the following direction, if the distance between the two ships is kept within a reasonable safety range, no special attention is needed, but if the distance is smaller, attention needs to be reminded or safety early warning and warning are needed; the reasonable and safe interval range needs to set different parameters according to the types of all ships and the conditions of the navigational speed; if the ship is in a parallel accompanying situation, the distance between the two ships needs to be tested through radars and other auxiliary equipment, and whether the two ships are safe or not is defined according to the distance situation by combining the ship speed and the external factors such as the turning radius, the water area environment (such as water flow and wind speed) and the like.
The third situation is that other ships or a plurality of ships approach the ship, namely, the distance is smaller and smaller, and under the situation, the other ships bring danger to the ship, and the ship is about to face embarrassing situations, namely, the ship is about to have a possibility of collision.
Through the analysis of the three situation conditions, the analysis and judgment of the situation perception and the movement trend of other ships around the ship are the key and the core for solving the collision avoidance problem.
How to solve the problem of the ship's perception of the navigation situation of the surrounding ships and the analysis and judgment of the movement tendency?
By radar scanning and AIS signal detection, the situation of the peripheral ship can be obtained, and the existence and the state of the peripheral ship can be sensed; through the uninterrupted scanning of radar, the differential positioning of GPS or Beidou is fused, the positions of peripheral ships and the ship can be obtained, the motion trail and trend of each ship are obtained according to the positions, and the relative speed of each ship and the relative distance between each ship and the ship are obtained through calculation.
By ranging, the change in distance can be seen: is there a distance, equidistance following, or is there an approach?
The ship is taken as the center, the advancing direction of the ship is set as the heading, a distance measurement parameter value is set as the radius of radiation for distance measurement, the ship is taken as the center of a circle, and the ship entering the range is taken as an observation object.
When the ship sails across a river channel, under complex working conditions, the ship can be seen to face an upper water ship and a lower water ship.
Through the plane setting of the concentric circles, the sailing situations of the water supply ship and the corresponding distances among the ships can be easily captured in a semicircular radiation mode in the advancing direction of the ships. When navigation for crossing a channel is required, the neutral position distance between the two ships can be measured by taking the ship as the circle center and the included angle between the two ships and the ship. By checking the gap distance, the neutral is more suitable for the ship to carry out crossing navigation, and the neutral is judged to be safer for the ship to cross.
When the ship passes through the channel, once the distance between the ship and the ship is less than the safe distance, the system is set to be in an early warning mode, and a corresponding grading warning mode is adopted to carry out acousto-optic warning so as to remind the captain or a driver. In this case, the captain or the driver can detour by deceleration, steering, or the like, or make S-shaped detours, thereby avoiding the risk of collision.
Supervision of bad driving behaviors: whether poor driving behaviors exist or not is analyzed and evaluated by recording the driving behaviors of the driver and actual conditions encountered during driving. When the distance is too close and dangerous crossing occurs in the driving process, or a ship faces the risk of inclining and overturning, the driving behavior at that time is what, and when the situation that danger is about to occur is met, the scheduling room can timely remind the driver of the captain, timely correct bad behaviors, or perform statistical analysis on the driving behavior in the early stage within a certain time. The bad driving behavior is warned and corrected.
The shipborne intelligent driving auxiliary terminal is a complete shipborne navigation safety intelligent auxiliary system combining software and hardware, the whole functions mainly comprise the steps of utilizing three sets of information sensing systems of geography, environment and self to comprehensively collect navigation information of a ship in real time, then utilizing an information fusion technology, dynamically analyzing the current risk situation and the operation environment of the ship through a navigation brain system, predicting accident risks, timely making dangerous case early warning and safe driving suggestions for a driver, and realizing the functional requirements of internal and external perception enhancement, dangerous case prediction, pre-judgment of ship behavior of the driver and advance decision making of the driver.
The navigation brain is collectively called as an intelligent ferry driving auxiliary system, and consists of a shore-based part and a shipborne part (a shipborne intelligent driving auxiliary terminal). The ship cab and the shore monitoring and dispatching room are mutually combined, shore-based all-weather three-dimensional dynamic real-time online supervision is carried out, dynamic sensing full coverage on sailing ships in a navigation area is achieved, driving of the ships is assisted, and the method is a ship-shore cooperation scheme.
Reference standard
1)IMO MSC.232(82)
2)IMO A.694(17)
3)IEC 61162-1 Ed.4
4)IEC 61162-2 Ed.1
5)IEC 61162-450 Ed.1
6)IEC 61174 Ed.4
7)IEC 62288 Ed.2
8)IMO MSC.191(79)
9) IEC 60945. since the present device cannot be classified into any existing ship navigation device, the on-board device manufacturing standard of the system requires IEC 60945 to be implemented with reference to the approval of the type of ship navigation device.
10) The China's republic of people ship industry standard CB/T4146-2011< basic standard for applicable environment of ship computer and peripheral ships,
the above embodiments are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical solution according to the technical idea of the present invention falls within the protection scope of the present invention.
Claims (9)
1. Shipborne intelligent driving auxiliary terminal, its characterized in that: the intelligent ship electronic control system comprises an information sensing system, a data transmission system and a display terminal which are respectively connected with an intelligent ship electronic control host;
automatically controlled host computer of intelligent boats and ships: the system comprises a rendering host, a data processing host and a switch which are assembled in a cabinet;
the information perception system comprises an environment perception system and a ship body self perception system, the environment perception system comprises a radar, an AIS and a high-precision camera, and the ship body self perception system comprises a differential GPS, an inertial navigation system and a cabin data PLC acquisition system;
after the intelligent ship electric control host machine carries out fusion processing on the obtained ship navigation information, the ship navigation information is displayed on a display terminal in a three-dimensional mode through analysis of a built-in artificial intelligence system;
the ship can sense the navigation situation of the peripheral ships and analyze and judge the motion trend:
the situation of the peripheral ship is obtained through radar scanning and AIS signal detection, and the existence and the state of the peripheral ship are sensed; through uninterrupted scanning of a radar, differential positioning of a GPS or a Beidou is fused, positions of peripheral ships and the ship are obtained, a motion track and a trend of each ship are obtained according to the positions, and the relative speed of each ship and the relative distance between each ship and the ship are obtained;
setting the advancing direction of the ship as the heading direction by taking the ship as the center, setting a distance measurement parameter value as the radius of radiation for distance measurement, and taking the ship as the center of a circle and other ships entering the range as observation objects; capturing the sailing situations of other ships and the corresponding distances among the ships in a semicircular radiation mode in the advancing direction of the ships; when navigation for crossing a channel is required, the distance between the neutral positions of the two ships is measured by taking the ship as the circle center and the included angle between the two ships and the ship, and the neutral position is judged to be safer for the ship to cross;
the data transmission system comprises data concentration inside the ship body and ship-shore double-end information interconnection.
2. The shipborne intelligent driving assistance terminal of claim 1, wherein: the information acquired by the environment perception system comprises the speed, distance and course information of the passing ship;
the real-time signal collection of the self-sensing system of the ship body comprises the following signals: the main engine rotating speed, the propeller rotating speed, the rudder angle signal, the throttle signal, the current position, the course and the track information of the ship, the main engine alarm signal and the generator alarm signal.
3. The onboard intelligent driving assistance terminal according to claim 1 or 2, wherein: the radar comprises a marine radar and a laser radar, and the environment sensing system further comprises a flow velocity sensor and/or a laser night vision device.
4. The shipborne intelligent driving assistance terminal of claim 1, wherein: capturing operation signals of equipment of the ship through a sensing system of the ship body, extracting operation information, sensing operation parameters and technical states of the ship, judging whether the operation of the ship is normal or not according to the data information, and if one acquired signal is abnormal, finding out the position of a problem and achieving the purpose of diagnosis through internal information parameter comparison of the equipment corresponding to the signal; and (3) information capture, which is obtained and analyzed through information processing and information fusion technologies such as a PLC in an artificial intelligence system.
5. The shipborne intelligent driving assistance terminal of claim 1, wherein: the inside data of hull uses wired transmission and local Wifi transmission mode that combines together in the data transmission system in a set of, and the bank section data transmission passes through wireless communication equipment transmission.
6. The shipborne intelligent driving assistance terminal of claim 5, wherein: the data transmission system comprises a standby data transmission station, and when a communication link is interrupted, the standby data transmission station is used for communication.
7. The shipborne intelligent driving assistance terminal of claim 1, wherein: still include boats and ships anticollision and closely reputation early warning, on the basis of information perception system data collection, establish the risk calculation model: if the number of other ships exceeds a set threshold value, performing acousto-optic early warning; if the distance of the special ship is smaller than the designated early warning distance, alarming is started; and if the following sailing ship reaches a specified threshold value, alarming is triggered.
8. The on-board intelligent driving assistance terminal of claim 7, wherein:
detecting the motion trend of other objects or ships to the ship for ships or objects around the ship;
regarding other ships which are far away from the ship in motion trend, the safety is improved, and the ships are not taken as the attention objects for collision avoidance;
for other ships keeping the distance from the ship unchanged, judging whether the ships travel or sail in parallel, if the ships travel in the advancing direction or in the following direction, if the distance between the two ships is kept within a reasonable safety range, no special attention is needed, and if the distance is small, a safety early warning is given; if the ship is in a parallel accompanying condition, testing the distance between the two ships, and defining whether the states of the two ships are safe or not according to the distance condition by combining the ship speed, the turning radius and the water area environment;
and (4) judging the danger of possible collision when other ships or a plurality of ships approach to the ship, and making a safety early warning.
9. The shipborne intelligent driving assistance terminal of claim 1, wherein: the display terminal is located on a driving cab of the ship, the intelligent ship electric control host is located in the driving cab, and the radar antenna and the high-precision camera are placed on the top of the ship.
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