CN110333726A - A kind of safety of ship DAS (Driver Assistant System) based on ship motion prediction - Google Patents
A kind of safety of ship DAS (Driver Assistant System) based on ship motion prediction Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
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Abstract
The present invention provides a kind of safety of ship DAS (Driver Assistant System) based on ship motion prediction, and ship exercise data acquisition system acquires this shipping in real time and moves attitude data；Environment sensing acquisition system acquires the navigation environment information of this ship；Ship motion prediction computing unit moves attitude data according to this shipping, calculates and predicts the motion profile in ship following a period of time in real time, generate ship motion prediction line；Ship motion profile navaid display system reconstructs the navigation environment information of environment sensing acquisition system acquisition, and ship motion prediction line is overlapped and is shown；Safety of ship aid decision-making system is made calculating with regard to safety of ship index parameter based on ambient enviroment and motion prediction and is estimated, provides safe early warning and suggestion for operation.The present invention is based on ship motion predictions and dynamic scene to capture, and the motion prediction line of ship is shown on the navaid display of driver's cabin, and auxiliary driver makes manipulation decision, improves ship's navigation and harbour is leaned on from the safety in pool.
Description
Technical field
The invention belongs to cruiseway ships to assist driving field, and in particular to a kind of ship based on ship motion prediction
Safety driving assist system.
Background technique
Cruiseway is compared to broad far-reaching saline waters, and with bend, the water surface is narrow, water flow variation is violent, ship
The features such as oceangoing ship spacing is small, increases the complexity that ship navigates by water in complex environment, and driver must have driving abundant to pass through
It tests, according to the different timely steerings of situation and the adjustment speed of a ship or plane.At ship entering and leaving port, due to ships quantity increase, waters it is narrow,
Restriction is more, requires the operation of driver higher.Due to the complexity of Ship Controling and navigation environment, lead to ship's navigation
There are huge navigation risks, easily cause huge society and economic loss.
Summary of the invention
The technical problem to be solved by the present invention is providing a kind of safety of ship auxiliary driving system based on ship motion prediction
System, improves ship's navigation and harbour is leaned on from the safety in pool.
A kind of technical solution taken by the invention to solve the above technical problem are as follows: ship based on ship motion prediction
Safety driving assist system, it is characterised in that: it includes ship exercise data acquisition system, environment sensing acquisition system, ship
Motion prediction computing unit, ship motion profile navaid display system and safety of ship aid decision-making system；Wherein,
The ship exercise data acquisition system moves attitude data for acquiring this shipping in real time, this shipping moves attitude data
Including position during navigation, the speed of a ship or plane, acceleration, azimuth, course angle, course angular speed, course angular acceleration, spiral
Paddle revolving speed and rudder angle；
The environment sensing acquisition system, for acquiring the navigation environment information of this ship, the navigation environment information of this ship includes
The hydrometeorological information of local environment and this ship water proximate environment and his ship are in boat situation；
The ship motion prediction computing unit calculates in real time for moving attitude data according to this shipping and predicts ship not
Carry out the state of motion in a period of time, generates ship motion prediction line；And it can be according to the bow needed for ship to the adjustment with speed
Amount, calculates required rudder angle and revolution speed of propeller；
The ship motion profile navaid display system, for reconstructing the navigation environment letter of environment sensing acquisition system acquisition
Breath, and ship motion prediction line is overlapped and is shown；
The safety of ship aid decision-making system, safety of ship index parameter is made by ambient enviroment and motion prediction based on
It calculates and estimates, safe early warning and suggestion for operation are provided.
According to the above scheme, the ship exercise data acquisition system includes inertia measuring module IMU, positioning device, turns
Fast sensor and angular transducer；The real-time velocity and acceleration of ship is measured by inertia measuring module IMU；It is filled by positioning
It sets progress ship and positions and measure in real time course angle；The revolving speed of propeller is measured by speed probe；Pass through angular transducer
Measure rudder angle.
According to the above scheme, the environment sensing acquisition system includes the weather station being mounted on ship compass deck, meter
The gift of money for a friend going on a journey, camera, solid-state radar, AIS and laser radar.
According to the above scheme, the ship motion prediction computing unit is especially by the relevant experience of application ship's manoeuverability
Regression formula and Fluid Mechanics Computation method, predict the motion profile of ship.
According to the above scheme, the safety of ship aid decision-making system provides surrounding water by the environment sensing acquisition system
Domain navigation environment information, this shipping provided using ship exercise data acquisition system move attitude data as in terms of ship motion prediction
It calculates unit and inputs the motion prediction line provided, time TCPA can be met based on ship minimum and least meeting distance DCPA is assessed in real time
This ship and surrounding ship collision risk provide collision prevention strategy and corresponding bow that ship should be taken to the adjustment amount with speed, and
As reversed input input ship motion prediction computing unit, the revolution speed of propeller and rudder angle that ship should execute are provided, to driving
Member provides reasonable suggest.
The invention has the benefit that the present invention is based on ship motion predictions and dynamic scene to capture, in helping for driver's cabin
The motion prediction line of ship is shown on boat display, auxiliary driver makes manipulation decision, improves ship's navigation and harbour is leaned on
From the safety in pool.
Detailed description of the invention
Fig. 1 is the work flow diagram of one embodiment of the invention.
Specific embodiment
Below with reference to specific example and attached drawing, the present invention will be further described.
The present invention provides a kind of safety of ship DAS (Driver Assistant System) based on ship motion prediction, as shown in Figure 1, it includes
Ship exercise data acquisition system, environment sensing acquisition system, ship motion prediction computing unit, ship motion profile navaid are aobvious
Show system and safety of ship aid decision-making system.
The ship exercise data acquisition system moves attitude data, this ship athletic posture for acquiring this shipping in real time
Data include position during navigation, the speed of a ship or plane, acceleration, azimuth, course angle, course angular speed, course angular acceleration,
Revolution speed of propeller and rudder angle.Ship exercise data acquisition system includes inertia measuring module IMU, positioning device, speed probe
And angular transducer；The real-time velocity and acceleration of ship is measured by inertia measuring module IMU；Ship is carried out by positioning device
Oceangoing ship positions and measures in real time course angle；The revolving speed of propeller is measured by speed probe；Rudder angle is measured by angular transducer.
Positioning device can be GPS or Beidou etc..
The environment sensing acquisition system, for acquiring the navigation environment information of this ship, the navigation environment information of this ship
Including the hydrometeorological information of local environment and this ship water proximate environment and his ship in boat situation.Environment sensing acquisition system
Including weather station, tachometer, camera, solid-state radar, AIS and the laser radar being mounted on ship compass deck, Ke Yigen
According to the horizontal and vertical rotation in specified angle is required, meets environment when navigation and capture requirement.
The ship motion prediction computing unit calculates in real time for moving attitude data according to this shipping and predicts ship
Athletic posture in oceangoing ship a period of time in future, including track, line (add) speed, angle (to add) speed, generate ship motion prediction line；
And the operation parameter such as required rudder angle and revolution speed of propeller is calculated to the adjustment amount with speed according to bow needed for ship.
The ship motion profile navaid display system, for reconstructing the navigation environment of environment sensing acquisition system acquisition
Information, and ship motion prediction line is overlapped and is shown.
The safety of ship aid decision-making system is done based on ambient enviroment and motion prediction with regard to safety of ship index parameter
It calculates and estimates out, safe early warning and suggestion for operation are provided.Specifically, safety of ship aid decision-making system is by the environment sensing
Acquisition system provides water proximate navigation environment information, moves attitude data with this shipping that ship exercise data acquisition system provides
The motion prediction line provided is inputted as ship motion prediction computing unit, and time TCPA and minimum meeting can be met based on ship minimum
Meet distance DCPA and assess this ship and surrounding ship collision risk in real time, provide collision prevention strategy that ship should be taken and corresponding bow to
The propeller that ship should execute is provided and as reversed input input ship motion prediction computing unit with the adjustment amount of speed
Revolving speed and rudder angle provide reasonable suggest to driver.
When ship's navigation or harbour are leaned in from pool process, driver can open the system, and ship exercise data is adopted
Collecting system just start acquire ship's navigation when position, the speed of a ship or plane, acceleration, azimuth, course angle, course angular speed, course angle
The navigational parameters such as acceleration, revolution speed of propeller, rudder angle.Meanwhile environment sensing acquisition system works, by the ship acquired in real time week
It encloses the meteorology in waters, the hydrology, navigation information and is transferred to ship motion profile navaid display system.Ship motion prediction calculates single
Member receives the data of ship exercise data acquisition system acquisition, carries out the prediction of ship motion profile, generates ship motion prediction
Line is transferred to ship motion profile navaid display system.On the one hand ship motion profile navaid display system adopts environment sensing
The ambient condition information of collecting system acquisition is reconstructed, and ship motion prediction line overlap is on the other hand shown field after reconstitution
Jing Zhong is referred to for driver.Safety of ship DAS (Driver Assistant System) is according to motion prediction in ship motion profile navaid display system
The positional relationship of line and other ships or barrier, makes security risk assessment based on index parameters such as TCPA, DCPA, in conjunction with
The ship's navigation data of ship exercise data acquisition system navigate by water proposal on adjustments to driver feedback.
Above embodiments are merely to illustrate design philosophy and feature of the invention, and its object is to make technology in the art
Personnel can understand the content of the present invention and implement it accordingly, and protection scope of the present invention is not limited to the above embodiments.So it is all according to
It is within the scope of the present invention according to equivalent variations made by disclosed principle, mentality of designing or modification.
Claims (5)
1. a kind of safety of ship DAS (Driver Assistant System) based on ship motion prediction, it is characterised in that: it includes ship movement number
According to acquisition system, environment sensing acquisition system, ship motion prediction computing unit, ship motion profile navaid display system and ship
The safe aid decision-making system of oceangoing ship；Wherein,
The ship exercise data acquisition system moves attitude data for acquiring this shipping in real time, this shipping moves attitude data
Including position during navigation, the speed of a ship or plane, acceleration, azimuth, course angle, course angular speed, course angular acceleration, spiral
Paddle revolving speed and rudder angle；
The environment sensing acquisition system, for acquiring the navigation environment information of this ship, the navigation environment information of this ship includes
The hydrometeorological information of local environment and this ship water proximate environment and his ship are in boat situation；
The ship motion prediction computing unit calculates in real time for moving attitude data according to this shipping and predicts ship not
Carry out the state of motion in a period of time, generates ship motion prediction line；And according to bow needed for ship to the adjustment amount with speed,
Rudder angle and revolution speed of propeller needed for calculating；
The ship motion profile navaid display system, for reconstructing the navigation environment letter of environment sensing acquisition system acquisition
Breath, and ship motion prediction line is overlapped and is shown；
The safety of ship aid decision-making system, safety of ship index parameter is made by ambient enviroment and motion prediction based on
It calculates and estimates, safe early warning and suggestion for operation are provided.
2. the safety of ship DAS (Driver Assistant System) according to claim 1 based on ship motion prediction, it is characterised in that: institute
The ship exercise data acquisition system stated includes inertia measuring module IMU, positioning device, speed probe and angular transducer；
The real-time velocity and acceleration of ship is measured by inertia measuring module IMU；By positioning device carry out ship position in real time with
Measure course angle；The revolving speed of propeller is measured by speed probe；Rudder angle is measured by angular transducer.
3. the safety of ship DAS (Driver Assistant System) according to claim 1 based on ship motion prediction, it is characterised in that: institute
The environment sensing acquisition system stated include the weather station being mounted on ship compass deck, tachometer, camera, solid-state radar,
AIS and laser radar.
4. the safety of ship DAS (Driver Assistant System) according to claim 1 based on ship motion prediction, it is characterised in that: institute
The ship motion prediction computing unit stated is especially by the relevant empirical regression formula of application ship's manoeuverability and calculates fluid force
Method predicts the motion profile of ship.
5. the safety of ship DAS (Driver Assistant System) according to claim 1 based on ship motion prediction, it is characterised in that: institute
The safety of ship aid decision-making system stated provides water proximate navigation environment information by the environment sensing acquisition system, with ship
This shipping that exercise data acquisition system provides moves attitude data and inputs the movement provided as ship motion prediction computing unit
The line of prediction can meet time TCPA and least meeting distance DCPA based on ship minimum and assess this ship and surrounding ship collision wind in real time
Danger provides collision prevention strategy and corresponding bow that ship should be taken and inputs ship to the adjustment amount with speed, and as reversed input
Motion prediction computing unit provides revolution speed of propeller and rudder angle that ship should execute, provides reasonable suggest to driver.
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| CN111272171A (en) * | 2020-04-07 | 2020-06-12 | 上海船舶研究设计院（中国船舶工业集团公司第六0四研究院） | Ship track prediction method and device |
| CN111337027A (en) * | 2019-12-27 | 2020-06-26 | 北京海兰信数据科技股份有限公司 | Ship follow-up operation auxiliary driving method and system |
| CN111736595A (en) * | 2020-05-20 | 2020-10-02 | 武汉理工大学 | Control method, system and device for ship running track and storage medium |
| CN111739345A (en) * | 2020-07-21 | 2020-10-02 | 范文峰 | AIS-based intelligent water monitoring and management method and system |
| CN112185171A (en) * | 2020-09-27 | 2021-01-05 | 武汉理工大学 | Ship path planning method fusing experience of ship driver |
| CN112445847A (en) * | 2021-01-29 | 2021-03-05 | 中科星图股份有限公司 | Ship track prediction method and device based on Beidou navigation time-frequency data |
| CN112634659A (en) * | 2020-12-18 | 2021-04-09 | 大连海事大学 | Embedded-based multi-ship positioning information acquisition and transmission system |
| CN112965484A (en) * | 2021-02-03 | 2021-06-15 | 武汉理工大学 | Control system and method for stabilizing ship |
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| CN114464015A (en) * | 2022-02-08 | 2022-05-10 | 北京百度网讯科技有限公司 | Data processing method, data processing device, electronic equipment and storage medium |
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| CN112634659A (en) * | 2020-12-18 | 2021-04-09 | 大连海事大学 | Embedded-based multi-ship positioning information acquisition and transmission system |
| CN112445847A (en) * | 2021-01-29 | 2021-03-05 | 中科星图股份有限公司 | Ship track prediction method and device based on Beidou navigation time-frequency data |
| CN112965484A (en) * | 2021-02-03 | 2021-06-15 | 武汉理工大学 | Control system and method for stabilizing ship |
| CN112965484B (en) * | 2021-02-03 | 2022-05-10 | 武汉理工大学 | Control system and method for stabilizing ship |
| CN113173232A (en) * | 2021-03-08 | 2021-07-27 | 武汉理工大学 | Intelligent ship auxiliary driving control system and method based on man-machine integration |
| CN113516874A (en) * | 2021-04-12 | 2021-10-19 | 武汉理工大学 | Waterway transportation system |
| CN113516874B (en) * | 2021-04-12 | 2023-01-17 | 武汉理工大学 | Waterway transportation system |
| CN114464015A (en) * | 2022-02-08 | 2022-05-10 | 北京百度网讯科技有限公司 | Data processing method, data processing device, electronic equipment and storage medium |
| CN115743467A (en) * | 2022-11-30 | 2023-03-07 | 深海技术科学太湖实验室 | Ship-side data acquisition system for dynamic testing and deployment method thereof |
| CN115743467B (en) * | 2022-11-30 | 2024-01-26 | 深海技术科学太湖实验室 | Ship end data acquisition system for dynamic test |
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