CN107340774B - Emergency control auxiliary system based on personnel fall into water on ship - Google Patents
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 78
- 238000000034 method Methods 0.000 claims abstract description 18
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- 230000009471 action Effects 0.000 claims description 9
- 230000009474 immediate action Effects 0.000 claims description 9
- 230000003111 delayed effect Effects 0.000 claims description 5
- 206010013647 Drowning Diseases 0.000 claims description 4
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- 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 invention discloses an emergency operation auxiliary system for personnel falling into water on a ship, which comprises: the sensor unit is used for detecting the position P, the course C, the position of a person falling into water and the navigational speed V data of a ship; the data processing unit analyzes and detects the data acquired by the sensor unit, and the display unit displays the prompt of the emergency operation method and the operation data information; after the personnel fall into the water, the system is started according to the instruction, and the system acquires the position, the course and the speed data of the ship through the sensor unit, processes the data and displays the prompt of the emergency control method and the control data information. The prompt information of the emergency control method of the vehicle rudder provided by the system is output to a comprehensive driving platform system IBS on a ship, so that the automatic emergency control of the ship with personnel falling into the water is realized. The system is an independent device or a functional module of main navigation equipment on a ship. The system can prompt the ship emergency control method after people fall into water so as to guide the ship to approach the people falling into water for rescue as soon as possible, the emergency control is convenient and accurate, and meanwhile, the workload of the crew is reduced.
Description
Technical Field
The invention relates to an emergency operation auxiliary system based on personnel falling into water on a ship, and belongs to the field of auxiliary emergency operation protection.
Background
The personnel falling into water happens on the ship at any time, how to reasonably and correctly operate the ship to help the personnel falling into water in an emergency way, strive for the rescue time, and improve the efficiency of the ship to help the personnel falling into water is the subject of the research of navigation scientific researchers. When an emergency situation that people fall into water occurs on the ship, the captain takes charge of the rescue master command and is responsible for issuing commands of rescue related affairs, such as organization of rescue personnel, preparation of lifesaving equipment, rescue of the people falling into the water and the like, and meanwhile, the captain is also responsible for emergency control of the ship. The ship operation when people fall into water is not a conventional operation, and generally, the captain is not particularly familiar with the operation flow and attention. Due to various adverse factors, the captain cannot properly maneuver the ship to the man-in-water position, thereby delaying the rescue opportunity. At present, a plurality of devices (such as GPS, ECDIS and radar) on a ship provide auxiliary functions when personnel fall into the water, but the main functions are basically limited to recording the positions of the ship when the personnel fall into the water, and the auxiliary functions of guiding the ship after the personnel fall into the water to carry out an emergency operation method cannot be provided, so that the workload of a captain cannot be effectively reduced, and the accuracy and the efficiency of the emergency operation can be improved. The invention can provide the auxiliary function of the prompt of the emergency control method of the ship aiming at the two conditions of the immediate action and the delay action after the personnel fall into the water in addition to the conventional function of recording the position of the ship when the personnel fall into the water when the ship falls into the water, and assists the captain to control the ship to be close to the personnel falling into the water so as to implement rescue. The system is connected to an IBS system of the ship, so that automatic emergency operation of the ship after people fall into water is realized.
The general method for controlling the person falling into the water is as follows: (1) the immediate action is: single-cycle rotation: immediately stopping, fully steering the rudder to one side of the person falling into the water, stopping the boat at proper time after the person falling into the water approaches, and putting the boat for rescue; double half-cycle: stopping immediately, fully steering the rudder to one side of a person who falls into water, accelerating after the person who falls into water drives the ship, fixing when the bow rotates by 180 degrees, sailing along the reverse heading, fully steering the ship when the person who falls into water is positioned 30 degrees behind the straight transverse, stopping the ship at proper time when the person who is close to fall into water drives the ship, and putting the ship for rescue; willamson gyrus: and (4) immediately operating one board of the ship falling into water to fill the rudder, operating the other board of the ship to fill the rudder after the ship head rotates by 60 degrees, and setting the reverse course when the difference between the ship head and the reverse course is 20 degrees. (2) And (3) delaying action: scharnow gyrus: and (4) operating the rudder to any one board, operating the other board to be full after the bow rotates by 240 degrees, and steering when the difference between the ship head and the reverse heading is 20 degrees, so as to fix the reverse heading.
Disclosure of Invention
The present invention has been made in view of the above problems, and relates to an emergency maneuvering assisting system based on overboard personnel, characterized by comprising:
providing at least comprising: a sensor unit for ship position P, course C and navigation speed V data; the data processing unit is used for analyzing the data acquired by the sensor unit and processing the data; a display unit for displaying the emergency operation method and the related prompt information;
after people fall into water, the system is started by selecting the display unit, and the system records the initial start time of the ship through the sensor unitPosition PIAnd an initial heading CI(ii) a The display unit displays two emergency operation modes of immediate action S1 for quickly reaching the position of people falling into water and delayed action S2 for searching missing people; the actual position P of the shipAAnd PIA distance D betweenAIAnd orientation BAIRespectively as follows:
wherein the content of the first and second substances,
for the current ship position point PALatitude coordinate of (a)AFor the current ship position point PAThe longitude coordinate of (a) is determined,
for the current ship position point PILatitude coordinate of (a)IFor the current ship position point PIA longitude coordinate of (a);
the cumulative time t of the emergency operation is as follows:
tA-TI；
wherein, TAFor the current system time, TIInitial time for starting the system;
the time T expected to arrive near the location of the man overboard is calculated as follows:
wherein, TAThe current system time is V, and the current ship navigation speed is V;
the immediate action S1 applies three methods, single-cycle, double-cycle, and Willamson cycle; the delay action S2 applies the Scharnow convolution method.
Further, when the single rotation is selected, the system displays that the selected falling-water position of the person falling into water is positioned on a port or a starboard according to the display unit, and correspondingly prompts that the left full rudder or the right full rudder is applied; when detecting the start of course C, the system prompts parking and calculates the position P of the ship when the sensor unit detects the starting momentIWith the current ship position PAA distance D betweenAIWhen the ship enters DAIWhen the distance is within the threshold distance range, prompting that the ship is positioned near a person falling into water and prompting to stop;
further, when the double half-turn is selected, the system displays the position of the selected person falling into water on the port/starboard according to the display unit, prompts the person falling into water to fill the rudder, and prompts the system to stop when the course is detected to start to change; initial position P of the vessel recorded at the moment of activation detected by said sensorIWith the current ship position PAOrientation B of the connecting lineAIAnd the actual course CAWhen the difference is 90 degrees, prompting the ship to enter the train; when the actual course C detected by the sensorAAnd course C recorded at starting timeIWhen the difference is 180 degrees, the system prompts to decide CIA heading of +180 degrees; when the current ship position P detected by the sensorAShip position P recorded with starting timeIOrientation B of the connecting lineAIAnd the actual course CAWhen the difference is 120 degrees, the system prompts that the rudder is fully applied to one side of the person falling into the water; based on the ship position P at the starting moment detected by the sensor unitIWith the current ship position PAA distance D betweenAIPrompting that the ship is positioned near a person falling into water;
further, when the Willamson turns back, the system displays the position of the selected person falling into water on the port or starboard according to the display unit, correspondingly prompts the person falling into water to apply a full rudder, and when the actual course C is detectedAAnd course C recorded at starting timeIWhen the difference is 60 degrees, the system prompts the ship to steer to the full rudder in the opposite direction; when the detected actual heading CAInitial course C recorded at starting timeIWhen the difference is 20 degrees from the sum of 180 degrees, the ship is prompted to steer and fixCIA heading of +180 degrees; based on the ship position P at the starting moment detected by the sensor unitIWith the current ship position PAA distance D betweenAIThe system prompts the vessel to be positioned near the man overboard.
Further, when Scharnow is selected to rotate back, the system prompts the rudder to be filled to either side, and when the actual heading C is detectedAAnd course C recorded at starting timeIWhen the difference is 240 degrees, the system prompts that the rudder is filled in the direction opposite to the ship steering direction, and when the detected actual course C isAAnd course C recorded at starting timeIWhen the difference is 20 degrees from the sum of 180 degrees, the ship is prompted to steer and the fixed C is setI+180 °; based on the ship position P at the starting moment detected by the sensor unitIWith the current ship position PAA distance D betweenAIPrompting the ship to be located near the man falling into the water.
Further, the display unit displays the current ship position P at set time intervalsAThe points are positioned on the display and are sequentially connected with each ship position point by adopting a solid line to form a ship track line; initial position P of ship at system starting timeIDisplaying a drowning person symbol; display ship and PIReal-time distance and orientation between; shows the predicted arrival PIThe time of the location; displaying the accumulated service time of the system; if the system detects that the ship is not operated according to the system prompt, related warning information is also displayed.
Furthermore, the emergency steering prompt information provided by the auxiliary system is output to a comprehensive driving platform system IBS on the ship, so that automatic emergency steering of the ship with personnel falling into the water is realized; the auxiliary system is an independent device or a functional module of the main navigation device on the ship.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic view of the overall structure of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the following describes the technical solutions of the embodiments of the present invention clearly and completely with reference to the accompanying drawings in the embodiments of the present invention:
as shown in fig. 1, the present invention relates to an emergency maneuvering assisting system based on overboard of people on a ship, comprising: providing at least comprising: a sensor unit for ship position P, course C, drowning person position and navigation speed V data; a data processing unit for analyzing and detecting the data acquired by the sensor unit, and a display unit for displaying the prompt of the emergency operation method and the operation data information. It will be appreciated that in other embodiments the sensor unit may provide any data other than vessel position P, heading C and speed data V for ensuring smooth operation of the system. In the embodiment, the emergency operation prompt provided by the system can be manually operated, and can also be output to a ship IBS system, and the corresponding helm order is finished by an autopilot.
In a preferred embodiment, the actual position P of the vesselAAnd PIA distance D betweenAIAnd orientation BAIRespectively as follows:
wherein the content of the first and second substances,
for the current ship position point PALatitude coordinate of (a)AFor the current ship position point PAThe longitude coordinate of (a) is determined,
for the current ship position point PILatitude coordinate of (a)IFor the current ship position point PILongitude coordinates of (a).
The cumulative time t of emergency operation is:
tA-TI；
wherein, TAFor the current system time, TIInitial time for starting the system; the time T expected to arrive near the location of the man overboard is calculated as follows:
wherein, TAThe current system time is V, and the current navigation speed is V; it is understood that the calculation method adopted in other embodiments can be selected according to actual conditions, and any calculation method capable of acquiring, calculating and displaying the required data can be satisfied.
In this embodiment, after the man falls into the water, the system is started by selecting the display unit, and the system records the initial position P of the ship at the starting time through the sensor unitIAnd an initial heading CIThe display unit displays two emergency operation modes, immediate action S1 to quickly reach the position of the person falling into the water and delayed action S2 to search for the missing person. It is understood that in other embodiments, the rescue mode for people falling into water can be selected according to actual conditions as long as the rescue mode can meet the requirements of people in different conditions.
In the present embodiment, the immediate action S1 employs three methods, i.e., single-cycle, double-cycle, and Willamson cycle, and the delayed action S2 employs the Scharnow cycle. It is to be understood that, in other embodiments,
the method for the specific application of the immediate action or the delayed action can be selected according to actual conditions, and only needs to provide an emergency operation prompt after people fall into water, so that the ship can quickly and timely drive to the vicinity of the people falling into water to implement rescue.
As a preferred embodiment, when the single-turn is selected, the system displays the position of the selected man falling into water on the port or starboard according to the display unit, prompts the driver to full-steer the port or full-steer the right, and prompts the driver to stop when the change of the heading C is detected. After stopping, based on the initial position P of the ship at the starting time detected by the sensor unitIWith the current ship position PAA distance D betweenAIAnd controlling the ship to be positioned near the person falling into the water. It will be appreciated that in other embodiments, the steering of the vessel to the vicinity of the man overboard may be achieved by data measured by other detection units.
As a preferred embodiment, when the double half-turn is selected, the system displays the position of the selected man falling into water on the port/starboard according to the display unit, prompts the man falling into water to fill the rudder, and prompts the system to stop when the heading is detected to start changing; initial position P of the vessel recorded at the moment of activation detected by said sensorIWith the current ship position PAOrientation B of the connecting lineAIAnd the actual course CAWhen the difference is 90 degrees, prompting the ship to enter the train; when the actual course C detected by the sensorAAnd course C recorded at starting timeIWhen the difference is 180 degrees, the system prompts to decide CIA heading of +180 degrees; when the current ship position P detected by the sensorAShip position P recorded with starting timeIOrientation B of the connecting lineAIAnd the actual course CAWhen the difference is 120 degrees, the system prompts that the rudder is fully applied to one side of the person falling into the water; based on the ship position P at the starting moment detected by the sensor unitIWith the current ship position PAA distance D betweenAIPrompting the ship to be located near the man falling into the water.
As a preferred embodiment, when the Willamson cycle is selected, the system displays the position of the selected man falling into water on the port or starboard according to the display unit, applies the rudder to one side of the man falling into water according to the prompt, and when the actual heading C is detectedAAnd course C recorded at starting timeIWhen the difference is 60 degrees, the system prompts the ship to steer to the full rudder in the opposite direction; when the detected actual heading CAInitial course C recorded at starting timeIWhen the difference is 20 degrees from the sum of 180 degrees, the ship is prompted to steer and the fixed C is setIA heading of +180 degrees; based on the ship position P at the starting moment detected by the sensor unitIWith the current ship position PAA distance D betweenAIThe system prompts the vessel to be positioned near the man overboard.
As a preferred embodiment, when the Scharnow swivel is selected, the system prompts either side to fill the rudder, when the actual heading C is detectedAAnd course C recorded at starting timeIWhen the difference is 240 degrees, the system prompts that the rudder is filled in the direction opposite to the ship steering direction, and when the detected actual course C isAAnd course C recorded at starting timeIWhen the difference between +180 degrees and 20 degrees is larger, the ship is prompted to steer and the fixed C is setI+180 °; based on the ship position P at the starting moment detected by the sensor unitIWith the current ship position PAA distance D betweenAIPrompting the ship to be located near the man falling into the water.
In a preferred embodiment, the display unit displays the current ship position P at set time intervalsAThe points are positioned on the display and are sequentially connected with each ship position point by adopting a solid line to form a ship track line; starting time ship initial position PIDisplay of symbol of man falling into water, display of ship and PIReal-time distance D betweenAIAnd orientation BAIShowing the predicted arrival PIThe time T of the position and the accumulated use time T of the display system. It will be appreciated that in other embodiments, the display unit may also display relevant warning information when the system detects that the vessel is not operating as prompted by the system.
As a preferred embodiment, the system is used as a stand-alone device, it being understood that in other embodiments, the system may also be used as a functional module of a main navigation device on board, such as ECDIS, GPS or radar, and the emergency operation method to be adopted is displayed by a simple man-machine interface in combination with the position, heading and speed data provided by external sensors. Any ship system capable of well determining the drowning position of the person and giving course guidance can be used as long as the requirement is met. Meanwhile, the system can also be accessed to a ship IBS system, so that automatic emergency operation of personnel falling into water is realized.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (5)
1. An emergency operation auxiliary system for personnel falling into water on a ship is characterized by comprising:
providing at least comprising: a sensor unit for ship position P, course C, drowning person position and navigation speed V data; the data processing unit analyzes and detects the data acquired by the sensor unit, and the display unit displays the prompt of the emergency operation method and the operation data information;
when the personnel fall into the water, starting the system according to the instruction, acquiring the position P, the course C and the speed V data of the ship by the system through the sensor unit, processing the data, and displaying an emergency control method and related prompt information;
the display unit: an immediate action S1 to quickly reach the position of the person falling into the water and a delayed action S2 to search for the missing person are emergency operation prompts in two emergency operation modes; actual position P of shipAAnd PIA distance D betweenAIAnd orientation BAIThe ship emergency control historical track, the estimated time T of the ship reaching the position of the person falling into the water and the accumulated emergency control time T;
initial position P of the vessel based on the starting time detected by the sensor unitIWith the current ship position PAA distance D betweenAIAnd guiding the ship to drive to the position near the person falling into the water in the azimuth;
the actual position P of the shipAAnd PIA distance D betweenAIAnd orientation BAIRespectively as follows:
wherein the content of the first and second substances,
for the current ship position point PALatitude coordinate of (a)AFor the current ship position point PAThe longitude coordinate of (a) is determined,
for the current ship position point PILatitude coordinate of (a)IFor the current ship position point PIA longitude coordinate of (a);
the cumulative time t of the emergency operation is as follows:
t＝TA-TI；
wherein, TAFor the current system time, TIInitial time for starting the system;
the time T expected to arrive near the location of the man overboard is calculated as follows:
wherein, TAThe current system time is V, and the current ship navigation speed is V;
the immediate action S1 applies three convolution methods, single convolution, double convolution, and Willamson; the delay action S2 applies the Scharnow convolution method.
2. The emergency manoeuvering assistance system for man overboard on a ship of claim 1, further characterized by:
when the single-turn is selected, the system displays that the water falling position of the selected water falling person is positioned on the port or the starboard according to the display unit, and correspondingly prompts that the left rudder is filled and the right rudder is filledRight full rudder; when detecting that the course C begins to change, the system prompts parking and calculates the position P of the ship when the sensor unit detects the starting momentIWith the current ship position PAA distance D betweenAIWhen the ship enters DAIWhen the distance is within the threshold distance range, prompting that the ship is positioned near a person falling into water and prompting to stop;
when double-half-turn is selected, the system displays the position of the selected person falling into water on the port/starboard according to the display unit, prompts the person falling into water to fill the rudder, and prompts the system to stop when the course is detected to start to change; initial position P of the vessel recorded at the moment of activation detected by said sensorIWith the current ship position PAOrientation B of the connecting lineAIAnd the actual course CAWhen the difference is 90 degrees, prompting the ship to enter the train; when the actual course C detected by the sensorAAnd course C recorded at starting timeIWhen the difference is 180 degrees, the system prompts to decide CIA heading of +180 degrees; when the current ship position P detected by the sensorAShip position P recorded with starting timeIOrientation B of the connecting lineAIAnd the actual course CAWhen the difference is 120 degrees, the system prompts that the rudder is fully applied to one side of the person falling into the water; based on the ship position P at the starting moment detected by the sensor unitIWith the current ship position PAA distance D betweenAIPrompting that the ship is positioned near a person falling into water;
when the Willamson turns around, the system displays that the selected person falling into water is positioned on the port/starboard according to the display unit, correspondingly prompts that the rudder is fully applied to one side of the person falling into water, and when the actual course C is detectedAAnd course C recorded at starting timeIWhen the difference is 60 degrees, the system prompts the ship to steer to the full rudder in the opposite direction; when the detected actual heading CAInitial course C recorded at starting timeIWhen the difference is 20 degrees from the sum of 180 degrees, the ship is prompted to steer and the fixed C is setIA heading of +180 degrees; based on the ship position P at the starting moment detected by the sensor unitIWith the current ship position PAA distance D betweenAIThe system prompts the ship to be positioned in the waterAnd (4) approaching.
3. The emergency manoeuvering assistance system for man overboard on a ship of claim 1, further characterized by:
when Scharnow is selected to rotate back, the system prompts the rudder to be filled to any side, and when the actual heading C is detectedAAnd course C recorded at starting timeIWhen the difference is 240 degrees, the system prompts that the rudder is filled in the direction opposite to the ship steering direction, and when the detected actual course C isAAnd course C recorded at starting timeIWhen the difference of +180 degrees is 20 degrees, the ship is prompted to steer and the fixed C is setI+180 °; based on the ship position P at the starting moment detected by the sensor unitIWith the current ship position PAA distance D betweenAIPrompting the ship to be located near the man falling into the water.
4. The emergency manoeuvering assistance system for man overboard on a ship of claim 1, further characterized by:
the display unit displays the current ship position P at set time intervalsAThe points are positioned on the display and are sequentially connected with each ship position point by adopting a solid line to form a ship track line;
initial position P of ship at system starting timeIThe symbol of person falling into water, ship and P are displayedIReal-time distance and orientation between, showing the predicted arrival PIAnd the time of the position and the accumulated use time of the system are displayed, and if the system detects that the ship is not operated according to the prompt of the system, related warning information is also displayed.
5. The emergency manoeuvering assistance system for man overboard on a ship of claim 1, further characterized by:
the auxiliary system outputs the car rudder emergency operation prompt information to a comprehensive driving platform system IBS on the ship, so that automatic emergency operation of the ship with personnel falling into the water is realized; the auxiliary system is an independent device or a functional module of the main navigation device on the ship.
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