CN216351954U - Intelligent control system for small ship - Google Patents
Intelligent control system for small ship Download PDFInfo
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- CN216351954U CN216351954U CN202122567815.6U CN202122567815U CN216351954U CN 216351954 U CN216351954 U CN 216351954U CN 202122567815 U CN202122567815 U CN 202122567815U CN 216351954 U CN216351954 U CN 216351954U
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Abstract
The utility model provides an intelligent control system for a small ship, which belongs to the technical field of ship manufacturing and comprises navigation radar equipment, an automatic parking auxiliary radar, photoelectric and infrared equipment, automatic parking auxiliary photoelectric equipment, sonar equipment, passive alarm equipment, AIS (automatic identification system) equipment, a small vertical take-off and landing verification unmanned aerial vehicle, broadband communication equipment and integrated display and control equipment, wherein the integrated display and control equipment is respectively connected with the equipment, realizes data exchange and fusion through an optical fiber intranet, and is integrated with the display and control equipment and provides a man-machine interaction interface. The communication navigation technology is a comprehensive technology which is used for realizing information interaction between systems and equipment on a ship, between the ship and a shore station, between the ship and a navigation mark, and determining parameters such as dynamic state, position and the like of a carrier through dead reckoning, radio signals, inertia resolving, map matching, satellite positioning and multi-mode combination, and can be subdivided into a ship communication technology and a ship navigation technology.
Description
Technical Field
The utility model belongs to the technical field of ship manufacturing, and particularly relates to an intelligent control system for a small ship.
Background
In recent years, with the interweaving and promotion of a new technological revolution, an industrial revolution and a new military revolution, a group of emerging cross frontier directions and fields emerge from the ocean science and technology all over the world, and are deeply fused with technologies such as artificial intelligence, bionic materials, quantum science, unconventional energy, cross-medium communication and the like, so that a wide stage is provided for the development of subversive technologies.
From the perspective of constructing ocean strong countries, all the factors are the ocean competitive strength of a country, and the core of the strength is the ocean cognitive ability and the ocean adaptive ability. With the power of artificial intelligence, the future ocean will present a new scene:
taking the development of the automobile industry as an example, the large-scale use of the automatic transmission greatly reduces the threshold of automobile driving, so that more users can master the key of automobile driving in a shorter time and reach the level of self-driving traveling. With the rapid automatic driving technology in recent years, the automobile users can realize the driving on the road through the automatic driving technology on the premise of not receiving driving training in the future, and the use threshold of the automobile is further reduced to almost zero.
In the ship industry, a certain distance is reserved from the life of the ordinary people at present, but for the people who can realize the consumption of the ship products, the biggest bottleneck or using obstacle is still the problem of the driving and the berthing of the ship.
The driving control problem of ships and boats is more complex compared with that of automobiles, the influence of marine environment and meteorological conditions is great, the berthing process is also very complex, and the driving requirement of automobiles is far exceeded. Therefore, in order to promote the market development of small-sized hulls, the reduction of the driving control difficulty of ships is a core problem to be solved. As the peripheral targets are far less than those of the automobiles in the navigation of the boat, the problems of water surface obstacles, emergency situations, navigation speed and the like are simpler than those of automatic driving of the automobiles. Therefore, the research conditions for developing the intelligent driving and control boat platform are completely met, and the intelligent driving and control boat platform can be put into practical boat equipment in recent years.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problems, the utility model aims to provide an intelligent control system for a small ship. The utility model solves the following problems: 1. automatic route planning: setting a starting place, a destination and a starting time, automatically recommending airway nodes and the speed and the course of each section according to forecasted marine environment data, historical data and an airway, and forecasting the airway time, the fuel consumption and the spare part replacement requirement of the marine equipment. 2. Automatic driving: and automatically operating and driving according to the route setting. 3. Automatic berthing wharf: automatically receiving the berth data and automatically operating the berth distributed by berthing of the ship.
In order to achieve the purpose, the utility model adopts the following technical scheme: the utility model provides an intelligent control system for a small ship, which comprises a navigation radar device, an automatic parking auxiliary radar, a photoelectric and infrared device, an automatic parking auxiliary photoelectric device, a sonar device, a passive warning device, an AIS device, a small vertical take-off and landing verification unmanned aerial vehicle, a broadband communication device and an integrated display and control device, wherein the integrated display and control device is respectively responsible for interfacing with the navigation radar device, the automatic parking auxiliary radar, the photoelectric and infrared device, the automatic parking auxiliary photoelectric device, the sonar device, the passive warning device, the AIS device, the small vertical take-off and landing verification unmanned aerial vehicle and the broadband communication device and realizing data fusion, and the integrated display and control device provides a human-computer interaction interface.
Preferably, the navigation radar equipment is an X-band continuous wave system radar and is erected at the highest position of a yacht mast. The navigation radar equipment is responsible for searching and tracking sea surface targets within a visual range (more than 20 kilometers) and roughly detecting coastlines.
Preferably, the automatic berthing auxiliary radar is installed around the side of the ship, and consists of a plurality of miniature millimeter wave phased array radars and is used for accurately detecting the shape and the position of the ship wharf within 200 meters.
Preferably, the photoelectric and infrared device is arranged on the top of a yacht mast, and comprises a shipborne photoelectric camera device and a shipborne infrared detection device which are used as supplementary detection means of a navigation radar and used for searching for a small target at a short distance and providing a target recognition image under the guidance of the navigation radar.
Preferably, the automatic mooring auxiliary photoelectric equipment consists of a plurality of photoelectric cameras arranged on the side of the ship and used for splicing panoramic images of the periphery of the yacht and assisting the yacht to be moored to a ship position.
Preferably, the passive warning device is used for intercepting communication and radar signals radiated by other offshore targets and providing target azimuth indication. When the marine target is a military stealth (radar stealth and infrared stealth) target, such as targets of a stealth unmanned ship and the like, navigation radar or infrared is difficult to find in time, passive warning equipment can timely warn the direction of the stealth target, and an unmanned aerial vehicle is dispatched to come out and approach to find and confirm the target;
preferably, the AIS equipment provides the antenna and erects at the ship top, and large-scale civil ship positional information in the AIS equipment can fuse with the information that navigation radar and photoelectric equipment provided, screens out the not known target that needs discernment, reduces target identification volume and unmanned aerial vehicle and goes out to patrol the number of times of navigating.
Preferably, the broadband communication device integrates two communication modes, is interconnected with a shore-based mobile communication base station when approaching shore, is connected to the internet through the base station, downloads marine environment forecast information and ship route and ship live information, and uploads a target identification request and data and marine environment information remotely sensed by a ship. When sailing in the middle and high seas, the Ka wave low-orbit return communication satellite accesses the Internet.
Preferably, the broadband communication device further comprises a data transmission device for controlling the flight of the unmanned aerial vehicle.
Preferably, the drone verification device: the system can automatically take off and land to fly to a target position of radar or photoelectric tracking, and performs close-range target identification as a supplementary means of target identification.
Preferably, the sonar equipment consists of a transducer, a transmitting module, a receiving module and a signal processing module and is integrated in the underwater front air guide sleeve of the yacht. The sonar equipment is used for detecting targets beyond 1000 meters underwater and shallow sea bottom and providing anti-collision warning in time.
Preferably, the integrated display and control device: human-computer interaction: setting the working mode of each sensor, controlling each sensor to work, monitoring the equipment state of each sensor, and visualizing the target environment; data fusion: target discovery, tracking and identification; and (3) data support: and controlling the communication equipment to exchange data with the shore-based background to obtain the internet/cloud data support. And (3) data recording: and recording and storing the marine target and environment data.
Preferably, the shipborne various types of equipment exchange data through an optical fiber intranet, the optical fiber intranet comprises two parts, one part is a control state network, the exchanged data is a control instruction sent by the integrated display control equipment and state data of the various types of equipment, the integrated line control equipment controls the working mode of the shipborne various types of equipment through the control instruction, receives the state of the various types of equipment, determines the working state of the various types of equipment and monitors the health state of the various types of equipment; the other part is a data exchange network which is used for exchanging real-time sea surface data detected by various types of equipment and forming a complete situation on the integrated display and control equipment. Photoelectric and infrared data of the unmanned airborne equipment are connected to the internet through airborne communication equipment (the data pass through a base station near shore and pass through a low-orbit communication satellite in the middle and far seas), and the integrated display and control equipment accesses and downloads the data through shipborne communication equipment.
1. The navigation radar has another derivative function of environmental perception, low-altitude rain area detection and sea surface wave flow inversion, and can provide environmental data of the sea area where the navigation radar is located for the shore base besides autonomous environment guarantee.
2. The sonar equipment consists of a transducer, a transmitting module, a receiving module and a signal processing module and is integrated in the underwater front air guide sleeve of the yacht. And the output of the signal processing is sent to the integrated display and control equipment for distinguishing the target from the seabed and outputting the distance information of the target or the seabed.
3. The receiving antenna of the passive warning device adopts a horizontally-distributed double-broadband antenna (covering X \ C \ S wave band), the radiation source positioning is carried out by utilizing the phase difference, the double-antenna is parasitic at two ends of the navigation radar antenna, the direction synchronization with the navigation radar antenna is kept, on one hand, the double-antenna is used for identifying a target, on the other hand, the target detection prior information is provided for the navigation radar, so that more resources are distributed in the radiation source direction by a signal processing and data processing algorithm, and the target detection tracking performance of the navigation radar is improved. And meanwhile, the integrated display and control equipment is informed that the navigation radar does not detect the target position.
4. The berthing radar can be derived to realize high-resolution inversion of waves and ocean currents around the yacht. The mooring radar can output a detected sea wave three-dimensional point cloud image, the dynamic spectrum characteristics of the mooring radar can be extracted, sea wave period, amplitude, flow direction and flow speed data are formed, the safety navigation of the ship can be automatically guaranteed, and the sea wave period, amplitude, flow direction and flow speed data can also be uploaded to an internet marine environment forecasting center to support regional sea condition forecasting.
The utility model has the following beneficial effects:
the utility model relates to a small-sized ship intelligent control system.A communication navigation technology is a comprehensive technology which is used for realizing information interaction between systems and equipment on a ship and between the ship and a shore station and between the ship and a navigation mark by using various technical means so as to determine parameters such as dynamic state, position and the like of a carrier through dead reckoning, radio signals, inertia resolving, map matching, satellite positioning and multi-mode combination. In the intelligent navigation module, the communication navigation technology realizes the connection among ships, banks and ships and assists the ships to automatically avoid collision in open water areas, narrow water channels and complex environmental conditions. In the intelligent energy efficiency management module, the communication navigation technology can summarize and transmit multi-dimensional multi-channel information such as energy consumption, navigational speed, pitch angle and the like to the control decision center.
Drawings
For a clearer explanation of the embodiments or technical solutions in the prior art of the present invention, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
Fig. 1 is a schematic diagram of an intelligent control system for a small vessel according to the present invention.
Fig. 2 is a diagram of the passive alarm device of the present invention.
Fig. 3 is a block diagram of the sonar equipment of the present invention.
Fig. 4 is a block diagram of the navigation radar apparatus of the present invention.
Fig. 5 is a broadband communication device of the present invention.
Detailed Description
In order to make those skilled in the art better understand the technical solutions in the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without making creative efforts based on the embodiments of the present invention, shall fall within the protection scope of the present invention.
The present invention is described in further detail below by way of examples.
In an embodiment, as shown in fig. 1 to 5, an intelligent control system for a small ship comprises a navigation radar device, an automatic parking auxiliary radar, a photoelectric device and an infrared device, an automatic parking auxiliary photoelectric device, a sonar device, a passive alarm device, an AIS device, a small vertical take-off and landing verification unmanned aerial vehicle, a broadband communication device and an integrated display and control device, wherein the integrated display and control device is respectively responsible for interfacing with the navigation radar device, the automatic parking auxiliary radar, the photoelectric device and the infrared device, the automatic parking auxiliary photoelectric device, the sonar device, the passive alarm device, the AIS device, the small vertical take-off and landing verification unmanned aerial vehicle and the broadband communication device and realizing data fusion, and the integrated display and control device provides a human-computer interaction interface.
In this embodiment, the navigation radar device is an X-band continuous wave system radar, and is erected at the highest position of a yacht mast. The navigation radar equipment is responsible for searching and tracking sea surface targets within a visual range (more than 20 kilometers) and roughly detecting coastlines.
In this embodiment, the automatic berthing auxiliary radar is installed around the side of a ship, and the automatic berthing auxiliary radar is composed of a plurality of micro millimeter wave phased array radars and accurately detects the shape and position of a ship wharf within 200 meters.
In this embodiment, the photoelectric and infrared device is arranged on the top of the yacht mast, and includes a shipborne photoelectric camera device and a shipborne infrared detection device, which are used as supplementary detection means of the navigation radar, and are used for searching for a small target in a short distance and providing a target identification image under the guidance of the navigation radar.
In this embodiment, the automatic mooring auxiliary photoelectric device is composed of a plurality of photoelectric cameras installed on the side of the ship, and is used for splicing panoramic images around the yacht to assist the yacht to moor to a ship position.
In this embodiment, the passive warning device is used to intercept communication and radar signals radiated by other marine targets, and provide target azimuth indication. When the marine target is a military stealth (radar stealth and infrared stealth) target, such as targets of a stealth unmanned ship and the like, navigation radar or infrared is difficult to find in time, passive warning equipment can timely warn the direction of the stealth target, and an unmanned aerial vehicle is dispatched to come out and approach to find and confirm the target;
in this embodiment, the AIS equipment provides the antenna frame and establishes at the ship top, and large-scale civil ship positional information in the AIS equipment can fuse with the information that navigation radar and photoelectric equipment provided, screens out the unclear target that needs discernment, reduces target identification volume and unmanned aerial vehicle and goes out to patrol the number of times of navigating.
In this embodiment, the broadband communication device integrates two communication modes, interconnects with a shore-based mobile communication base station when approaching shore, and connects to the internet through the base station, downloads marine environment forecast information and ship route and ship live information, and uploads a destination identification request and data, and marine environment information remotely sensed by the ship. When sailing in the middle and high seas, the Ka wave low-orbit return communication satellite accesses the Internet.
In this embodiment, still include the data transmission equipment among the broadband communications facilities for control unmanned aerial vehicle flies.
In this embodiment, unmanned aerial vehicle check out equipment: the system can automatically take off and land to fly to a target position of radar or photoelectric tracking, and performs close-range target identification as a supplementary means of target identification.
In this embodiment, the sonar equipment is composed of a transducer, a transmitting module, a receiving module and a signal processing module, and is integrated in the underwater front dome of the yacht. The sonar equipment is used for detecting targets beyond 1000 meters underwater and shallow sea bottom and providing anti-collision warning in time.
In this embodiment, the integrated display and control device: human-computer interaction: setting the working mode of each sensor, controlling each sensor to work, monitoring the equipment state of each sensor, and visualizing the target environment; data fusion: target discovery, tracking and identification; and (3) data support: and controlling the communication equipment to exchange data with the shore-based background to obtain the internet/cloud data support. And (3) data recording: and recording and storing the marine target and environment data.
In this embodiment, the shipborne various types of devices exchange data through an optical fiber intranet, the optical fiber intranet includes two parts, one part is a control state network, the exchanged data is a control instruction sent by the integrated display and control device and state data of the various types of devices, the integrated line control device controls the working mode of the shipborne various types of devices through the control instruction, receives the state of the various types of devices, determines the working state of the various types of devices, and monitors the health state of the various types of devices; the other part is a data exchange network which is used for exchanging real-time sea surface data detected by various types of equipment and forming a complete situation on the integrated display and control equipment. Photoelectric and infrared data of the unmanned airborne equipment are connected to the internet through airborne communication equipment (the data pass through a base station near shore and pass through a low-orbit communication satellite in the middle and far seas), and the integrated display and control equipment accesses and downloads the data through shipborne communication equipment.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (10)
1. The utility model provides a small-size boats and ships intelligence control system which characterized in that: the system comprises navigation radar equipment, an automatic parking auxiliary radar, photoelectric and infrared equipment, automatic parking auxiliary photoelectric equipment, sonar equipment, passive alarm equipment, AIS equipment, a small-sized vertical take-off and landing verification unmanned aerial vehicle, broadband communication equipment and integrated display and control equipment, wherein the integrated display and control equipment is respectively responsible for being connected with the navigation radar equipment, the automatic parking auxiliary radar, the photoelectric and infrared equipment, the automatic parking auxiliary photoelectric equipment, the sonar equipment, the passive alarm equipment, the AIS equipment, the small-sized vertical take-off and landing verification unmanned aerial vehicle and the broadband communication equipment and realizing data exchange and fusion through an optical fiber intranet, and the integrated display and control equipment provides a human-computer interaction interface.
2. The intelligent control system for small ships according to claim 1, characterized in that: the navigation radar equipment is an X-waveband continuous wave system radar and is erected at the highest position of a yacht mast.
3. The intelligent control system for small ships according to claim 1, characterized in that: the automatic berthing auxiliary radar is arranged on the periphery of a ship board and consists of a plurality of miniature millimeter wave phased array radars.
4. The intelligent control system for small ships according to claim 1, characterized in that: the photoelectric and infrared equipment is arranged at the top of the yacht mast, comprises shipborne photoelectric camera equipment and shipborne infrared detection equipment, is used as a supplementary detection means of a navigation radar, and is used for searching short-distance small targets and providing target identification images under the guidance of the navigation radar.
5. The intelligent control system for small ships according to claim 1, characterized in that: the automatic berthing auxiliary photoelectric equipment consists of a plurality of photoelectric cameras arranged on the side of the ship and is used for splicing panoramic images around the yacht and assisting the yacht to berth.
6. The intelligent control system for small ships according to claim 1, characterized in that: the passive warning device is used for intercepting communication and radar signals radiated by other marine targets and providing target azimuth indication.
7. The intelligent control system for small ships according to claim 1, characterized in that: AIS equipment provides the antenna and erects at the ship top, and large-scale civil ship positional information in the AIS equipment can fuse with the information that navigation radar and photoelectric equipment provided, screens out the unclear target that needs discernment, reduces target identification volume and unmanned aerial vehicle and goes out to patrol the number of times of navigating before.
8. The intelligent control system for small ships according to claim 1, characterized in that: the broadband communication equipment integrates two communication modes, is interconnected with a shore-based mobile communication base station when in near shore, and is accessed to the Internet through a ka-wave low-orbit return communication satellite when in far sea; still include the data transmission equipment among the broadband communications facilities for control unmanned aerial vehicle flies.
9. The intelligent control system for small ships according to claim 1, characterized in that: unmanned aerial vehicle check-out equipment: the system can automatically take off and land to fly to a target position of radar or photoelectric tracking, and performs close-range target identification as a supplementary means of target identification.
10. The intelligent control system for small ships according to claim 1, characterized in that: the sonar equipment consists of a transducer, a transmitting module, a receiving module and a signal processing module and is integrated in the underwater front air guide sleeve of the yacht.
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| CN202122567815.6U CN216351954U (en) | 2021-10-25 | 2021-10-25 | Intelligent control system for small ship |
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| CN202122567815.6U CN216351954U (en) | 2021-10-25 | 2021-10-25 | Intelligent control system for small ship |
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| CN216351954U true CN216351954U (en) | 2022-04-19 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116338675A (en) * | 2023-05-19 | 2023-06-27 | 中国人民解放军海军工程大学 | System and method for measuring off-target quantity of shooting by naval cannon on basis of radar and photoelectricity |
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2021
- 2021-10-25 CN CN202122567815.6U patent/CN216351954U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116338675A (en) * | 2023-05-19 | 2023-06-27 | 中国人民解放军海军工程大学 | System and method for measuring off-target quantity of shooting by naval cannon on basis of radar and photoelectricity |
| CN116338675B (en) * | 2023-05-19 | 2023-09-05 | 中国人民解放军海军工程大学 | System and method for measuring off-target quantity of shooting by naval cannon on basis of radar and photoelectricity |
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