CN108910007A - A kind of large ship automatic emergency steering control system and its method - Google Patents
A kind of large ship automatic emergency steering control system and its method Download PDFInfo
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- CN108910007A CN108910007A CN201810687342.3A CN201810687342A CN108910007A CN 108910007 A CN108910007 A CN 108910007A CN 201810687342 A CN201810687342 A CN 201810687342A CN 108910007 A CN108910007 A CN 108910007A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
- B63H25/04—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring automatic, e.g. reacting to compass
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B45/00—Arrangements or adaptations of signalling or lighting devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B49/00—Arrangements of nautical instruments or navigational aids
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of large ship automatic emergency steering control system and its methods, including：Message processing module is connect with information acquisition module, is received the information that information acquisition module obtains and is carried out information fusion, identification needs the ship avoided collision；Alarm modules are connect with message processing module, are received the warning message that message processing module is sent, are sounded an alarm to ship panel；Decision-making module is connect with message processing module and alarm modules respectively；Decision-making module receives the filtering information that message processing module is sent, and the timing node of steering is calculated, and judges whether that issuing steering instructs and accordingly controlled；Steering module, connect with decision-making module, the steering instruction that decision-making module issues is received, to realize emergency steering.The present invention can quickly judge to grasp full-helm direction and execute automatically, realize emergency steering, be suitable for the biggish coastal region of ship flow, it is possible to prevente effectively from emergency circumstances ship collision caused by human error.
Description
Technical field
The present invention relates to a kind of ship automatic steering field, in particular to a kind of large ship automatic emergency steering control system and
Its method.
Background technique
Navigation environment is complicated, ship flow is big, drive it is lack of standardization etc. due to, coastal area is all ship all the time
The technological difficulties of driving and Frequent Accidents.Cause of accident include crewman carelessness or fault, can not rapidly solution of emergent event,
The technologies such as equal subjective factors and ship volume are big, deflecting is not flexible, inconvenient, driving difficulty is higher not in time are taken in measure
Factor.For especially ship in coastal navigation, since warning system is interfered by canoe (mostly fishing boat), alarm frequently, influences ship
Oceangoing ship normal driving, What is more can close alarm, increase the probability of accident generation.
With the development of science and technology, Global Maritime Distress and Safety System, electronic chart display system, ship are known automatically
The modern advanceds such as other system (Automatic Identification System, AIS) are applied to ship's navigation neck
Domain greatly improves the safety and reliability of ship's navigation.But these system only has the ability of discovery potential threat,
But it can not achieve automatic processing, need crewman's manual operation that could exclude to threaten.On the other hand, although automatic Collision Avoidance in recent years
Technology gradually attracts attention, still not yet comprehensively universal due to many factors such as technology, cost, reliability, complexity (algorithm)
And quality is irregular.
To avoid ship that the coastal navigation safety of marine accident, especially guarantee large ship occurs, it is a set of to be badly in need of design
Simple and effective automatic emergency steering control system.Full-helm is grasped as a kind of emergency measure, makes ship wink using the reaction force of rudder for ship
When deviate steering direction a distance, be commonly used to distance to closest point of approach (Distance to Closest Point of
Approach, DCPA) and time to closest point of approach (Time to ClosestPoint of Approach, TCPA) close to 0 when, keep away
Exempt from two fouls or direct collision, but steering opportunity often relies on crewman's experience and intuition.It is answered automatically using the design of this principle
Anxious steering control system, can reduce the complexity of automatic Collision Avoidance technology, improve operating reliability, at the same avoid in emergency circumstances due to
Collision Accidents of Ships caused by crewman's carelessness or judgement are inaccurate.
Summary of the invention
It is an object of the invention to provide a kind of large ship automatic emergency steering control system and its method, ship automatic emergency behaviour
Rudder system includes information acquisition module, message processing module, alarm modules, decision-making module and steering module, when in ship collision
Before (distance to closest point of approach DCPA or time to closest point of approach TCPA close to 0 when), it can quickly judge to grasp full-helm direction and hold automatically
Row is suitable for the biggish coastal region of ship flow, it is possible to prevente effectively from emergency circumstances ship collision caused by human error.
In order to achieve the above object, the present invention provides a kind of large ship automatic emergency steering control system, which includes：
Message processing module is connect with information acquisition module, is received the information that the information acquisition module obtains and is carried out
Information fusion, identification need the ship avoided collision；
Alarm modules are connect with the message processing module, receive the warning message that the message processing module is sent,
It is sounded an alarm to ship panel；
Decision-making module is connect with the message processing module and the alarm modules respectively；The decision-making module receives
The filtering information that the message processing module is sent, is calculated the timing node of steering, and judges whether to issue steering instruction
And it is accordingly controlled；
Steering module is connect with the decision-making module, is received the steering instruction that the decision-making module issues, is answered with realizing
Anxious steering.
Preferably, the information that the information acquisition module obtains includes ship information and environmental information；
The environmental information includes ARPA radar information, flow information of water, one kind of wind direction information and a variety of, is passed through respectively
ARPA radar, water flow sensory perceptual system, wind direction sensory perceptual system are acquired；
The ship information includes Ship Types, Ship's Dimension, vessel position, real-time course, the speed of a ship or plane, bow, captain, ship
Wide is one or more, is acquired by GPS device and AIS system.
Preferably, the alarm modules receive the warning message from the message processing module, by connecting with alarm
It connects, image alarm or audio alarm or indicator light alarm is issued to the ship panel, to remind crewman to pay attention to avoiding.
Preferably, the decision-making module includes：
Computing module is connect with the message processing module, is received the message processing module and is filtered the ship obtained
Information and environmental information, according to distance to closest point of approach and time to closest point of approach software for calculation, in conjunction with the phase of this ship and his two ship of ship
To position, course, the speed of a ship or plane, steerage, steering delay time and relevant context information, the timing node of steering is obtained；
Judgment module is connect with the computing module, is judged estimated when this ship and his two ship of ship reach crosspoint
Whether collision distance, estimated collision time meet pre-set parameter value and whether the alarm of alarm modules sending obtains
To timely feedbacking, to judge whether to issue steering instruction；
Control module connect with the steering module and the judgment module respectively, receives the behaviour of the judgment module
Rudder instruction, and emergency steering order is transmitted to the steering module.
Preferably, when the alarm that the alarm modules issue does not obtain timely feedbacking, when crewman does not take measures to keep clear,
The judgment module issues steering instruction to the control module；
When the alarm that the alarm modules issue is obtained feedback in time, crewman takes measures to keep clear, the judgement
Module cancels steering instruction.
Preferably, the ship information and environmental information and sheet that the message processing module obtains the information acquisition module
The motion information of ship is merged, and according to initial setup parameter, identification needs the ship and the ship information of collision prevention, is filtered small
Ship interference, and rolled and stored by the continuity of the ship information to acquisition, real-time judge is carried out to potential danger, while will deposit
It is transmitted to the computing module in the ship information of threat, and warning information is transmitted to the alarm modules.
Preferably, the steering module is arranged in ship steering cabin, and the steering engine of the steering module and ship connects.
The present invention also provides a kind of automatic emergencies based on large ship automatic emergency steering control system as described above
Steering method, this method include following procedure：
Information acquisition module acquires this ship, his ship and environmental information；
Message processing module merges the collected various information of the information acquisition module, and identification needs collision prevention
Ship and the ship information, identification need the ship avoided collision；
Alarm modules receive the warning message that the message processing module is sent, and sound an alarm to ship panel；
Decision-making module receives the filtering information that the message processing module is sent, and the timing node of steering is calculated, and
Judge whether that issuing steering instructs and accordingly controlled；
Control module is responsible for receiving steering instruction, and transmits emergency steering order to steering module, realizes emergency steering.
Compared with prior art, beneficial effects of the present invention are：Large ship automatic emergency steering control system packet of the invention
Containing information acquisition module, message processing module, alarm modules, decision-making module and steering module, when (nearest before ship collision
When meeting distance DCPA or time to closest point of approach TCPA is close to 0), it can quickly judge to grasp full-helm direction and execute automatically, Ke Yishi
Existing emergency steering, the present invention is suitable for the biggish coastal region of ship flow, it is possible to prevente effectively from emergency circumstances human error
Caused ship collision.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description simply to be introduced, it is clear that, the accompanying drawings in the following description is the present invention
Some embodiments for those of ordinary skill in the art without any creative labor, can be with root
Other attached drawings are obtained according to these attached drawings.
Large ship automatic emergency steering control system module composition schematic diagram Fig. 1 of the invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
It should be noted that, in this document, the terms "include", "comprise", " having " or its any other variant are intended to
Cover non-exclusive inclusion, so that including that process, method, article or the terminal device of a series of elements not only include
Those elements, but also including other elements that are not explicitly listed, or further include for this process, method, article or
The intrinsic element of person's terminal device.In the absence of more restrictions, being limited by sentence " including ... " or " including ... "
Fixed element, it is not excluded that there is also other to want in process, method, article or the terminal device for including the element
Element.
Technical solution of the present invention is described in detail with specifically embodiment below in conjunction with attached drawing.These have below
The embodiment of body can be combined with each other, and the same or similar concept or process may be repeated no more in some embodiments.
As shown in Figure 1, large ship automatic emergency steering control system of the invention includes information acquisition module, information processing mould
Block, alarm modules, decision-making module and steering module.
Information acquisition module passes through GPS device, ARPA radar, AIS system, water flow sensory perceptual system, wind direction sensory perceptual system etc.
To acquire this ship, his ship and environmental information, (information includes Ship Types, Ship's Dimension, GPS positioning, real-time course, the speed of a ship or plane, ship
Head, captain, the beam, water flow, wind direction etc.).Wherein, environmental information includes ARPA radar information, flow information of water and wind direction letter
Breath, is acquired by ARPA radar, water flow sensory perceptual system, wind direction sensory perceptual system respectively；Ship information includes Ship Types, ship
Oceangoing ship scale, vessel position, real-time course, the speed of a ship or plane, bow, captain and the beam, are acquired by GPS device and AIS system.
Message processing module is connected with information acquisition module, for believing the movement of collected various information and this ship
Breath is merged, and according to initial setup parameter, identification needs the ship and its relevant information of collision prevention, the i.e. interference of filtering canoe, and
Storage is rolled by the continuity to ship information collected, real-time judge is carried out to potential danger, while threat will be present
Related ship information be transmitted to the computing module in decision-making module, and warning information is transmitted to alarm modules.
Alarm modules are connected with alarm, and alarm modules receive the warning message from message processing module, are used for ship
Oceangoing ship bridge sounds an alarm, i.e. sending image alarm, audio alarm, indicator light alarm etc. reminds crewman to pay attention to avoiding.
Decision-making module is located in ship panel computer, and decision-making module is connected with message processing module.The decision model
Block includes computing module, judgment module and control module.
Wherein, computing module is obtained using DCPA and TCPA software for calculation as core for receiving message processing module filtering
Relevant information (i.e. ship information and environmental information), counted according to distance to closest point of approach (DCPA) and time to closest point of approach (TCPA)
Software is calculated, in conjunction with relative position, course, the speed of a ship or plane, steerage, steering delay time and the environmental information of this two ship of his ship and this ship,
The time that can be met and distance is calculated, to obtain the timing node of steering, i.e., when needs to make rudder.Wherein, meeting recently
Meeting both distance and time to closest point of approach is the judgment basis that determining ship whether there is risk of collision, is marked and drawed on radar,
When it is 0, this ship and his ship have and can meet possibility, if taking no action to collide.
Judgment module is connected with computing module, for judge this ship and his two ship of ship reach " collision " in crosspoint apart from and
It is expected that " collision " time whether meets pre-set parameter value and whether the alarm of alarm modules sending obtains in time instead
Feedback, to judge whether that issue steering instruction (timely feedbacks, crewman does not take when the alarm that alarm modules issue does not receive
When related measures to keep clear, judgment module then issues steering instruction to control module；If alarm is fed back in time, crewman is taken
Corresponding measures to keep clear, judgment module then cancel steering instruction).
Control module is connect with judgment module, which is responsible for receiving the steering instruction of judgment module, and to steering
Module transmits emergency steering order.
Steering module is located in ship steering cabin, is connected with control module, receives the emergency of control module sending
Steering order.Steering module is connected with the steering engine of ship simultaneously, carries out emergency steering, to avoid target, realizes emergency steering.
In conclusion large ship automatic emergency steering control system setting information acquisition module of the invention, information processing mould
Block, alarm modules, decision-making module and steering module, information acquisition module acquire this ship, his ship and environmental information, information processing mould
Block merges collected various information, and identification needs the ship and its relevant information of collision prevention；Alarm modules receive alarm
Information is sounded an alarm to ship panel；Decision-making module receives message processing module and filters the relevant information obtained, according to DCPA
It is obtained with TCPA software for calculation in conjunction with the relative position of two ships, course, the speed of a ship or plane, steerage, steering delay time and environmental information
The timing node of steering judges that two ships reach the collision distance in crosspoint and whether the time meets pre-set parameter value, with
And whether the alarm that alarm modules issue is timely feedbacked, to judge whether to issue steering instruction；Control module is responsible for connecing
Rudder of bringing drill to an end instruction, and emergency steering order is transmitted to steering module, realize emergency steering.When before ship collision (DCPA or
When TCPA is close to 0), it can quickly judge to grasp full-helm direction and execute automatically, be suitable for the biggish coastal region of ship flow, it can be with
Effectively avoid ship collision caused by emergency circumstances human error.
It is discussed in detail although the contents of the present invention have passed through above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read above content, for of the invention
A variety of modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (8)
1. a kind of large ship automatic emergency steering control system, which is characterized in that including：
Message processing module is connect with information acquisition module, is received the information that the information acquisition module obtains and is carried out information
Fusion, identification need the ship avoided collision；
Alarm modules are connect with the message processing module, receive the warning message that the message processing module is sent, Xiang Chuan
Oceangoing ship bridge sounds an alarm；
Decision-making module is connect with the message processing module and the alarm modules respectively；Described in the decision-making module receives
The filtering information that message processing module is sent, is calculated the timing node of steering, and judges whether that issuing steering instruction goes forward side by side
The corresponding control of row；
Steering module is connect with the decision-making module, receives the steering instruction that the decision-making module issues, to realize emergency behaviour
Rudder.
2. a kind of large ship automatic emergency steering control system as described in claim 1, which is characterized in that
The information that the information acquisition module obtains includes ship information and environmental information；
The environmental information includes ARPA radar information, flow information of water, one kind of wind direction information and a variety of, passes through ARPA thunder respectively
It reaches, water flow sensory perceptual system, wind direction sensory perceptual system are acquired；
The ship information includes Ship Types, Ship's Dimension, vessel position, real-time course, the speed of a ship or plane, bow, captain, the beam
It is one or more, it is acquired by GPS device and AIS system.
3. a kind of large ship automatic emergency steering control system as described in claim 1, which is characterized in that
The alarm modules receive the warning message from the message processing module, by connecting with alarm, to the ship
Oceangoing ship bridge issues image alarm or audio alarm or indicator light alarm, to remind crewman to pay attention to avoiding.
4. a kind of large ship automatic emergency steering control system as described in claim 1, which is characterized in that
The decision-making module includes：
Computing module is connect with the message processing module, is received the message processing module and is filtered the ship information obtained
And environmental information, according to distance to closest point of approach (DCPA) and time to closest point of approach (TCPA) software for calculation, in conjunction with this ship and his ship
Relative position, course, the speed of a ship or plane, steerage, steering delay time and relevant context information, obtain the timing node of steering；
Judgment module is connect with the computing module, judges the estimated collision when this ship and his two ship of ship reach crosspoint
The alarm that whether distance, estimated collision time meet pre-set parameter value and the alarm modules issue whether obtain and
When feed back, thus judge whether issue steering instruction；
Control module is connect with the steering module and the judgment module respectively, and the steering for receiving the judgment module refers to
It enables, and transmits emergency steering order to the steering module.
5. a kind of large ship automatic emergency steering control system as claimed in claim 4, which is characterized in that
When the alarm that the alarm modules issue does not obtain timely feedbacking, when crewman does not take measures to keep clear, the judgement mould
Block issues steering instruction to the control module；
When the alarm that the alarm modules issue is obtained feedback in time, crewman takes measures to keep clear, the judgment module
Cancel steering instruction.
6. a kind of large ship automatic emergency steering control system as claimed in claim 4, which is characterized in that
The movement of ship information and environmental information and this ship that the message processing module obtains the information acquisition module
Information is merged, and according to initial setup parameter, identification needs the ship and the ship information of collision prevention, and filtering canoe interferes, and
Storage is rolled by the continuity of the ship information to acquisition, real-time judge is carried out to potential danger, while threat will be present
Ship information is transmitted to the computing module, and warning information is transmitted to the alarm modules.
7. a kind of large ship automatic emergency steering control system as described in claim 1, which is characterized in that
The steering module is arranged in ship steering cabin, and the steering engine of the steering module and ship connects.
8. a kind of automatic emergency behaviour based on the large ship automatic emergency steering control system as described in claim 1-7 any one
Rudder method, which is characterized in that this method includes following procedure：
Information acquisition module acquires this ship, his ship and environmental information；
Message processing module merges the collected various information of the information acquisition module, and identification needs the ship of collision prevention
And the ship information, identification need the ship avoided collision；
Alarm modules receive the warning message that the message processing module is sent, and sound an alarm to ship panel；
Decision-making module receives the filtering information that the message processing module is sent, and the timing node of steering is calculated, and judge
Steering whether is issued to instruct and accordingly controlled；
Control module is responsible for receiving steering instruction, and transmits emergency steering order to steering module, realizes emergency steering.
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| CN201810687342.3A CN108910007B (en) | 2018-06-28 | 2018-06-28 | A kind of large ship automatic emergency steering control system and its method |
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| CN201810687342.3A CN108910007B (en) | 2018-06-28 | 2018-06-28 | A kind of large ship automatic emergency steering control system and its method |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109987211A (en) * | 2019-04-19 | 2019-07-09 | 上海宜通海洋科技股份有限公司 | A kind of equipment of intelligent avoidance collision system |
| CN111007852A (en) * | 2019-12-16 | 2020-04-14 | 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） | System architecture of ship and intelligent ship |
| CN111559488A (en) * | 2020-05-25 | 2020-08-21 | 智慧航海（青岛）科技有限公司 | Intelligent ship rudder equipment automatic control method and system |
| CN111562758A (en) * | 2020-06-09 | 2020-08-21 | 黄丹 | Intelligent Internet of things monitoring system for ship |
| CN111645821A (en) * | 2020-06-11 | 2020-09-11 | 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 safety control system, control method and ship |
| CN113345126A (en) * | 2021-04-30 | 2021-09-03 | 中船航海科技有限责任公司 | Ship navigation data recording device and method for recording navigation data by using steering instrument |
| CN113851019A (en) * | 2021-09-29 | 2021-12-28 | 北京中交通信科技有限公司 | Ship collision early warning method and device based on Beidou positioning |
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| CN109987211A (en) * | 2019-04-19 | 2019-07-09 | 上海宜通海洋科技股份有限公司 | A kind of equipment of intelligent avoidance collision system |
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| CN113345126A (en) * | 2021-04-30 | 2021-09-03 | 中船航海科技有限责任公司 | Ship navigation data recording device and method for recording navigation data by using steering instrument |
| CN113851019A (en) * | 2021-09-29 | 2021-12-28 | 北京中交通信科技有限公司 | Ship collision early warning method and device based on Beidou positioning |
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| Publication number | Publication date |
|---|---|
| CN108910007B (en) | 2019-05-28 |
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