CN113071626A

CN113071626A - Anti-collision method, device, equipment and system

Info

Publication number: CN113071626A
Application number: CN202110319329.4A
Authority: CN
Inventors: 肖华杰; 廖振松; 柳晶晶
Original assignee: China Mobile Communications Group Co Ltd; China Mobile Shanghai ICT Co Ltd; CM Intelligent Mobility Network Co Ltd
Current assignee: China Mobile Communications Group Co Ltd; China Mobile Shanghai ICT Co Ltd; CM Intelligent Mobility Network Co Ltd
Priority date: 2021-03-25
Filing date: 2021-03-25
Publication date: 2021-07-06

Abstract

The invention discloses an anti-collision method, an anti-collision device, anti-collision equipment and an anti-collision system, relates to the technical field of control, and aims to solve the problem that the existing anti-collision technology is poor in anti-collision effect. The first anti-collision device installed on the first object comprises a first main control unit, a first distance measurement unit, a first electromagnetic anti-collision unit and a first network unit, the first network unit is in communication connection with a second network unit in the second anti-collision device, the second anti-collision device is installed on the second object, and at least one object in the first object and the second object is a ship; the method comprises the following steps: acquiring first ranging information of a first ranging unit; receiving second ranging information sent by a second network unit; determining a target distance according to the first ranging information and the second ranging information; and under the condition that the target distance is less than the first safety distance, controlling the first electromagnetic anti-collision unit to generate a magnetic field with the same magnetic pole as that of the second electromagnetic anti-collision unit in the second anti-collision device. The embodiment of the invention reduces the loss of the ship collision accident and has lower maintenance cost.

Description

Anti-collision method, device, equipment and system

Technical Field

The invention relates to the technical field of control, in particular to an anti-collision method, device, equipment and system.

Background

With the increasing development of water freight traffic, people focus attention on how to reduce the occurrence of ship collision accidents and further reduce the loss caused by the ship collision accidents.

In the related technology, two main categories of active anti-collision measures and passive anti-collision measures are provided, wherein the active anti-collision measures are that a danger early warning is triggered through an early warning device and then manual intervention is performed; passive collision avoidance is to add a buffer device to disperse and eliminate destructive force after collision. Most buffer stop is at present mainly to passive buffer stop's improvement, carries out automatic upgrading transformation to it, can play certain crashproof effect, however, because it is contact anticollision, the impetus is little, and destructiveness is big, if surpass stress load, will cause great loss to the stress protection device to ship, bank all can cause certain loss, and the maintenance cost is higher.

It is thus clear that current freight anticollision technique on water has the relatively poor and higher problem of maintenance cost of anticollision effect.

Disclosure of Invention

The embodiment of the invention provides an anti-collision method, device, equipment and system, and aims to solve the problems of poor anti-collision effect and high maintenance cost in the existing over-water freight transportation anti-collision technology.

In a first aspect, an embodiment of the present invention provides an anti-collision method, which is applied to a first anti-collision device, where the first anti-collision device is installed on a first object, the first anti-collision device includes a first main control unit, a first distance measurement unit, a first electromagnetic anti-collision unit, and a first network unit, the first main control unit is connected to the first distance measurement unit, the first electromagnetic anti-collision unit, and the first network unit, the first network unit is in communication connection with a second network unit in a second anti-collision device, the second anti-collision device is an anti-collision device installed on a second object, and at least one of the first object and the second object is a ship; the method comprises the following steps:

acquiring first ranging information of the first ranging unit, wherein the first ranging information is distance information of the first object from the second object measured by the first ranging unit;

receiving second ranging information sent by the second network unit, wherein the second ranging information is distance information of the second object from the first object, which is measured by a second ranging unit in the second collision avoidance device;

determining a target distance according to the first ranging information and the second ranging information;

and under the condition that the target distance is less than a first safety distance, controlling the first electromagnetic anti-collision unit to generate a magnetic field with the same magnetic pole as that of a second electromagnetic anti-collision unit in the second anti-collision device so as to decelerate the ship under the action of the repulsive force.

Optionally, the determining a target distance according to the first ranging information and the second ranging information includes:

and determining a target distance with a minimum distance value from the first ranging information and the second ranging information.

Optionally, the first object is a shore base, the second object is a ship, the first collision avoidance device further includes a sea level ranging unit and a first lifting unit connected to the first main control unit, and the first electromagnetic collision avoidance unit is disposed on the first lifting unit;

before the controlling the first electromagnetic collision avoidance unit to generate a magnetic field having the same magnetic pole as that of the second electromagnetic collision avoidance unit in the second collision avoidance device, the method further includes:

obtaining sea level height information measured by the sea level distance measuring unit;

and controlling the first lifting unit to ascend or descend according to the sea level height information so as to enable the height of the first electromagnetic anti-collision unit to be matched with the height of the second electromagnetic anti-collision unit.

Optionally, the first object is a ship, the second object is a shore base, the first anti-collision device further includes a waterline ranging unit and a second lifting unit connected to the first main control unit, and the first electromagnetic anti-collision unit is disposed on the second lifting unit;

acquiring waterline information measured by the waterline ranging unit;

and controlling the second lifting unit to ascend or descend according to the waterline information so as to enable the height of the first electromagnetic anti-collision unit to be matched with the height of the second electromagnetic anti-collision unit.

Optionally, the first object is a ship, and the second object is a shore-based object;

after determining a target distance according to the first ranging information and the second ranging information, the method further includes:

and under the condition that the target distance is greater than the preset distance, controlling the first electromagnetic anti-collision unit to generate a magnetic field opposite to the magnetic pole of the second electromagnetic anti-collision unit, so that the first object approaches to the shore base under the action of magnetic attraction.

Optionally, the first anti-collision device further includes an alarm unit connected to the first main control unit;

and controlling the alarm unit to output early warning information under the condition that the target distance is smaller than the first safety distance.

Optionally, after the controlling the first electromagnetic collision avoidance unit to generate a magnetic field having the same magnetic pole as that of the second electromagnetic collision avoidance unit in the second collision avoidance device, the method further includes:

increasing the magnetic field strength of the first electromagnetic collision avoidance unit if it is detected that the distance of the first object from the second object is less than a second safe distance, wherein the second safe distance is less than the first safe distance.

Optionally, the number of the first electromagnetic collision avoidance units is multiple, and the multiple first electromagnetic collision avoidance units are arranged on the first object at intervals.

In a second aspect, an embodiment of the present invention further provides an anti-collision device, where the anti-collision device is a first anti-collision device and is installed on a first object, the first anti-collision device includes a first main control unit, a first distance measurement unit, a first electromagnetic anti-collision unit and a first network unit, the first main control unit is connected to the first distance measurement unit, the first electromagnetic anti-collision unit and the first network unit, respectively, the first network unit is in communication connection with a second network unit in a second anti-collision device, and the second anti-collision device is an anti-collision device installed on a second object;

the first ranging unit is used for measuring the distance between the first object and the second object to obtain first ranging information;

the first network unit is configured to receive second ranging information sent by the second network unit, where the second ranging information is distance information of the second object from the first object, which is measured by a second ranging unit in the second collision avoidance device;

the first master control unit is used for acquiring the first ranging information from the first ranging unit, acquiring the second ranging information from the first network unit, and determining a target distance according to the first ranging information and the second ranging information; and under the condition that the target distance is less than a first safety distance, controlling the first electromagnetic anti-collision unit to generate a magnetic field with the same magnetic pole as that of a second electromagnetic anti-collision unit in the second anti-collision device so as to enable the ship in the first object and the ship in the second object to decelerate under the action of the repulsive force.

Optionally, the first main control unit is configured to determine a target distance with a minimum distance value from the first ranging information and the second ranging information.

the sea level ranging unit is used for measuring sea level height information;

the first main control unit is further used for acquiring the sea level height information from the sea level distance measuring unit through the first distance measuring unit, and controlling the first lifting unit to ascend or descend according to the sea level height information, so that the height of the first electromagnetic anti-collision unit is matched with the height of the second electromagnetic anti-collision unit.

the waterline ranging unit is used for measuring waterline information;

the first main control unit is further used for acquiring the waterline information from the waterline ranging unit and controlling the second lifting unit to ascend or descend according to the waterline information, so that the height of the first electromagnetic anti-collision unit is matched with the height of the second electromagnetic anti-collision unit.

the first main control unit is further used for controlling the first electromagnetic anti-collision unit to generate a magnetic field opposite to the magnetic pole of the second electromagnetic anti-collision unit under the condition that the target distance is greater than the preset distance, so that the first object is close to the shore base under the action of magnetic attraction.

the first main control unit is further used for controlling the alarm unit to output early warning information under the condition that the target distance is smaller than the first safety distance.

Optionally, the first main control unit is further configured to increase the magnetic field strength of the first electromagnetic collision avoidance unit when detecting that the distance between the first object and the second object is smaller than a second safety distance, where the second safety distance is smaller than the first safety distance.

In a third aspect, an embodiment of the present invention further provides a collision avoidance system, including a first collision avoidance device and a second collision avoidance device respectively installed on a first object and a second object, where at least one of the first object and the second object is a ship;

the collision avoidance system is configured to acquire first ranging information of the first collision avoidance device and second ranging information of the second collision avoidance device, where the first ranging information is distance information of the first object from the second object measured by a first ranging unit in the first collision avoidance device, and the second ranging information is distance information of the second object from the first object measured by a second ranging unit in the second collision avoidance device; determining a target distance according to the first ranging information and the second ranging information; and under the condition that the target distance is less than a first safety distance, controlling a first electromagnetic collision avoidance unit in the first collision avoidance device and a second electromagnetic collision avoidance unit in the second collision avoidance device to generate magnetic fields with the same magnetic poles so as to decelerate the ship under the action of the repulsive force.

In a fourth aspect, an embodiment of the present invention further provides a collision avoidance apparatus, including: the collision avoidance system comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, the collision avoidance apparatus further comprises the first collision avoidance device, and the processor executes the computer program to realize the steps of the collision avoidance method.

In a fifth aspect, an embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program implements the steps in the foregoing collision avoidance method.

In the embodiment of the invention, the anti-collision devices are respectively arranged on the ship and other related objects, the distance information between the ship and the objects is respectively measured by the two sets of anti-collision devices to determine more accurate distance, and the ship is forced to decelerate by controlling the magnetic field of the electromagnetic anti-collision unit under the condition that the distance is less than the safe distance, so that the aim of preventing the ship from colliding with other objects is fulfilled.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive exercise.

Fig. 1 is a flowchart of a collision avoidance method according to an embodiment of the present invention;

FIG. 2 is a structural and functional block diagram of a bump guard according to an embodiment of the present invention;

fig. 3 is an information flow diagram of a collision avoidance apparatus according to an embodiment of the present invention;

FIG. 4 is a flow chart of the shore distance control provided by an embodiment of the present invention;

FIG. 5a is a schematic diagram of ship bank collision avoidance provided by an embodiment of the present invention;

FIG. 5b is a schematic illustration of collision avoidance during co-directional navigation according to an embodiment of the present invention;

FIG. 5c is a schematic illustration of collision avoidance during opposite direction navigation according to an embodiment of the present invention;

FIG. 5d is a schematic illustration of collision avoidance during lateral navigation according to an embodiment of the present invention;

fig. 6 is a structural diagram of a crash prevention apparatus according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1, fig. 1 is a flowchart of an anti-collision method provided in an embodiment of the present invention, and is applied to a first anti-collision device, where the first anti-collision device is installed on a first object, the first anti-collision device includes a first main control unit, a first distance measurement unit, a first electromagnetic anti-collision unit, and a first network unit, the first main control unit is respectively connected to the first distance measurement unit, the first electromagnetic anti-collision unit, and the first network unit, the first network unit is in communication connection with a second network unit in a second anti-collision device, the second anti-collision device is an anti-collision device installed on a second object, and at least one object in the first object and the second object is a ship; as shown in fig. 1, the method comprises the steps of:

step 101, obtaining first ranging information of the first ranging unit, where the first ranging information is distance information of the first object from the second object measured by the first ranging unit.

In an embodiment of the present invention, the first anti-collision device may be an anti-collision device installed on an object such as a ship, a shore base (e.g., a port), and the like, and the second anti-collision device may be an anti-collision device having the same or similar structure as the first anti-collision device, or may be an anti-collision device installed on a ship or a shore base, but at least one of the first anti-collision device and the second anti-collision device is installed on a ship, so that the anti-collision method may be applied to actual scenes such as ship-shore anti-collision, ship anti-collision, and the like.

As shown in fig. 2 and 3, the first anti-collision device 21 includes a first master control unit 211, a first ranging unit 212, a first electromagnetic anti-collision unit 213, and a first network unit (5G CPE)214, and the first master control unit 211 is connected to the first ranging unit 212, the first electromagnetic anti-collision unit 213, and the first network unit 214, respectively; the second anti-collision device 22 may also include a second master control unit 221, a second ranging unit 222, a second electromagnetic anti-collision unit 223, and a second network unit (5G CPE)224, where the second master control unit 221 is connected to the second ranging unit 222, the second electromagnetic anti-collision unit 223, and the second network unit 224, respectively, and the first network unit 214 establishes a communication connection with the second network unit 224, so that the first anti-collision device 21 may interact with the second anti-collision device 22. In addition, the first anti-collision device 21 may further include a first manual input component 216 for manually inputting a control command, such as a touch screen, a touch button, and the like, and the second anti-collision device 22 may also include a second manual input component 226 for manually inputting a control command.

The first ranging unit can be realized by selecting a millimeter wave radar, the millimeter wave radar is a radar with a working frequency band in a millimeter wave frequency band, the ranging principle is similar to that of a common radar, namely, radio waves (radar waves) are sent out, then echoes are received, and the position data of a target is measured according to the time difference between receiving and sending. The millimeter wave radar has the characteristics of stable detection performance, longer action distance, good environment applicability and the like, has the characteristics of small volume, light weight and high spatial resolution compared with the ultrasonic radar, has strong fog, smoke and dust penetrating capability compared with optical sensors such as infrared sensors, laser sensors, cameras and the like, and has the characteristics of all weather and all day time. The millimeter wave radar technology is relatively mature, and the millimeter wave radar is relatively low in unit price due to the relatively mature technology.

The first electromagnetic anti-collision unit can be an electromagnet, the electromagnet is a device for generating electromagnetism by electrifying, a conductive winding matched with the power of the electromagnet is wound outside the iron core, the coil which is electrified with current has magnetism like a magnet, and the electromagnet is called as an electromagnet, the electromagnet has magnetism when being electrified, the magnetism disappears after the power is cut off, the magnetic field can be controlled by using the current, and the magnetic poles can be controlled by adjusting the positive and negative poles of a power supply.

The first network unit may employ a Customer Premise Equipment (5G CPE), where the 5G CPE is a wireless gateway device that converts a mobile signal into a WIFI wireless signal, and has a low latency characteristic of a 5G network, and the number of terminals capable of supporting simultaneous internet access is also large.

In this embodiment, when the anti-collision function needs to be used, the first ranging unit may measure distance information of the first object from other nearby objects, that is, the second object, to obtain first ranging information, and then the first ranging unit transmits the first ranging information to the first main control unit.

And 102, receiving second ranging information sent by the second network unit, where the second ranging information is distance information of the second object from the first object, measured by a second ranging unit in the second collision avoidance device.

The second anti-collision device installed on the second object can also measure the distance information of the second object from the first object through the second distance measuring unit of the second anti-collision device to obtain second distance measuring information, the second distance measuring information can be sent to the first network unit of the first anti-collision device through the second network unit of the second anti-collision device, and the first network unit then sends the second distance measuring information to the first main control unit.

It should be noted that the ranging function of the first ranging unit or the second ranging unit may be turned on all day long, or may be turned on as needed, or may be turned on at a fixed time interval.

It should be further noted that a plurality of measuring points may be distributed on each of the first object and the second object to ensure accuracy of distance measurement, for example, distance measurement units may be uniformly distributed at the bow, the hull, the stern, and the like of a ship according to structural characteristics of the ship, and a plurality of distance measurement units may also be distributed at certain intervals on a shore base, so that the first anti-collision device may obtain distance measurement information measured by the plurality of distance measurement units, and may also receive distance measurement information measured by the plurality of distance measurement units of the second anti-collision device, that is, the first distance measurement information and the second distance measurement information may be a set of distance measurement information including a plurality of distance measurement values.

And 103, determining a target distance according to the first ranging information and the second ranging information.

After obtaining the two sets of ranging information, the first main control unit may compare and screen the first ranging information and the second ranging information, for example, exclude a distance value with a larger value, so as to select ranging information that can more accurately represent the distance between the first object and the second object from the first main control unit, and obtain a target distance.

Optionally, the step 103 includes:

In other words, in an embodiment, the ranging information with the smallest distance value may be directly selected from the first ranging information and the second ranging information, where the smallest distance value is the target distance, and specifically, when a plurality of ranging values are included in both the first ranging information and the second ranging information, the smallest distance value may be selected from the first ranging information and the second ranging information, and then the smallest distance value may be selected from the two smallest distance values as the target distance.

Thus, the minimum distance measurement value is used as the collision avoidance reference distance, so that the ship collision risk can be reduced to the maximum extent.

And 104, under the condition that the target distance is smaller than a first safety distance, controlling the first electromagnetic anti-collision unit to generate a magnetic field with the same magnetic pole as that of a second electromagnetic anti-collision unit in the second anti-collision device, so that the ship decelerates under the action of the repulsive force.

The first safe distance may be a preset safe collision-prevention distance, or a safe distance calculated according to the current speed of the ship.

In this step, by comparing the target distance with the first safe distance, it can be determined whether there is a ship collision risk at present, under the condition that the target distance is less than the first safety distance, it can be determined that a certain ship collision risk exists at present and an anti-collision early warning needs to be started, at this time, the first main control unit can send a corresponding instruction to the first electromagnetic anti-collision unit, so as to control the first electromagnetic collision avoidance unit to generate a magnetic field with the same magnetic pole as that of the second electromagnetic collision avoidance unit in the second collision avoidance device, specifically, the second main control unit in the first main control unit and the second anti-collision device can synchronously control the respective electromagnetic anti-collision units to generate the magnetic field of the target magnetic pole, the electromagnet can be a magnetic pole which controls the electromagnetic field generated by controlling the positive and negative poles of the voltage at the two ends of the electromagnet. Therefore, the first electromagnetic anti-collision unit and the second electromagnetic anti-collision unit generate the same-stage repulsive force to each other due to the fact that the magnetic poles of the generated magnetic fields are the same, and the ship can be forced to decelerate.

after the step 103, the method further comprises:

As shown in fig. 2, the first anti-collision device may further include an alarm unit 215 connected to the first main control unit 211, where the alarm unit 215 may be a voice alarm unit, a sound and light alarm unit, and the like, and may perform an early warning through the alarm unit when it is determined that the target distance is smaller than the first safety distance, that is, the first main control unit may send an early warning instruction to the alarm unit to control the alarm unit to output early warning information, and remind people on the ship and people on the shore to pay attention to safety through the early warning information.

It should be noted that, for the second anti-collision device, the alarm unit 225 may also be controlled to issue an early warning, so as to achieve a more comprehensive warning effect.

Therefore, by the implementation mode, the active anti-collision measures and the passive anti-collision measures can be combined, the crew can be actively reminded, the electromagnetic anti-collision unit can be passively started, and the mode of homopolar repulsion is adopted for buffering and anti-collision.

Optionally, after the step 104, the method further includes:

After the electromagnetic collision avoidance unit is turned on to force the ship to decelerate, the distance between the first object and the second object may be continuously detected, the distance measurement may be similar to the foregoing manner, or may be measured only by the first distance measurement unit, and in the case that the distance between the first object and the second object is detected to be smaller than the second safety distance, the magnetic field strength of the first electromagnetic collision avoidance unit may be further increased, specifically, the current of the first electromagnetic collision avoidance unit may be increased, so as to increase the repulsive force between the first electromagnetic collision avoidance unit and the second electromagnetic collision avoidance unit, so as to further decelerate the ship, so as to ensure a sufficient safety distance. The second safe distance may be smaller than the first safe distance, and the second safe distance may be a preset safe distance or a safe distance calculated according to the current speed.

Thus, by the embodiment, the running safety of the ship can be further ensured, and the ship collision risk is reduced.

The above embodiment is exemplified below by taking the first object as a ship and the second object as a shore base:

when a ship is about to enter a port, a millimeter wave radar arranged around the ship is started, the distance from a measuring point (a point where a ranging Unit is located) on a ship body to a shore base is measured in real time, and the millimeter wave radar ranging Unit sends distance information to a Micro Control Unit (MCU), namely a main control Unit. The on-shore collision avoidance device also monitors distance information in real time, the main control units in the two devices carry out distance measurement information interaction in real time through a 5G wireless network, and at the moment, the main control units of the two devices can simultaneously obtain two groups of distance measurement information of the on-ship collision avoidance device and the on-shore collision avoidance device. Then the main control unit can carry out integration processing on two groups of ranging information, reject gross error, select a minimum distance value, and judge the minimum distance value, when the minimum distance value is smaller than a set safe distance value, the main control units of the two anti-collision devices send instructions to the voice alarm unit to remind people on the ship and people on the shore of paying attention to safety, and simultaneously send instructions to the electromagnetic anti-collision units to start electromagnets on the ship and the shore, and the deceleration effect is achieved by adopting the principle that the same level repels each other, wherein the two anti-collision devices can synchronously judge and send control instructions thanks to the low-time-delay characteristic of the 5G network. In addition, if the distance between the ship and the shore is closer and closer, the main control unit can send an instruction, the strengthening mode is started, the current of the electromagnetic anti-collision unit is increased until the distance between the ship and the shore is detected to be larger than the safe distance, and then the electromagnetic anti-collision unit and the voice alarm unit are closed.

after the step 103, the method further comprises:

Considering that the repulsive force of the electromagnetic anti-collision unit can be changed into the magnetic attraction force at any time by switching the voltage positive and negative poles at the two ends of the electromagnetic anti-collision unit, the device can be used for accurately adjusting the ship berthing position at an accurate position, namely the anti-collision device in the embodiment of the invention can also be applied to a berthing scene, and the aim of accurately controlling the ship berthing distance when the ship is berthed is achieved by controlling the magnetic poles of the magnetic field generated by the electromagnetic anti-collision unit.

Specifically, the distance between the ship and the shore can be monitored in real time when the ship is prepared to berth on the shore, the first electromagnetic collision avoidance unit can be controlled to generate a magnetic field opposite to the magnetic poles of the second electromagnetic collision avoidance unit under the condition that the distance between the ship and the shore is larger than the preset distance, so that the magnetic field is pulled into the distance between the ship and the shore through magnetic attraction, the first electromagnetic collision avoidance unit can be controlled to generate a magnetic field the same as the magnetic poles of the second electromagnetic collision avoidance unit under the condition that the target distance is smaller than the preset distance, so that the distance between the ship and the shore is increased through the repulsive force, and the first electromagnetic collision avoidance unit can be closed when the target distance is equal to the preset distance or the distance difference between the preset distance and the shore is within a certain range. The preset distance can be a ship shore distance which needs to be kept when the ship is berthed in advance, namely the preset distance can be set according to the actual berthing requirement.

For example, as shown in fig. 4, when the ship is parked at a longer distance and is greater than a set distance value, the magnetic pole of the electromagnetic collision avoidance unit on the ship can be started to be an external S pole (the magnetic pole of the collision avoidance device on the shore is defaulted to be an N pole), and the ship can be pulled close to the shore by magnetic attraction force; when the distance is close and is smaller than the set distance value, the electromagnetic anti-collision unit starts an external N pole, the distance between the ship banks is increased by utilizing the repulsive force, the distance between the ship banks can be adjusted repeatedly until the distance between the ship banks is equal to the set value required, so that the distance between the ship banks can be controlled accurately, and the electromagnetic anti-collision unit can be closed after the distance is adjusted.

before the step 104, the method further includes:

In other words, in an embodiment, in order to reduce the interaction force generated between the first electromagnetic collision avoidance unit and the second electromagnetic collision avoidance unit due to the fact that the first electromagnetic collision avoidance unit and the second electromagnetic collision avoidance unit are not located at the same horizontal level and therefore the sea level is changed, the height of the electromagnetic collision avoidance unit can be adjusted according to the change of the sea level.

Specifically, for the shore-based anti-collision device, a sea level distance measuring unit and a first lifting unit which are connected with a main control unit of the shore-based anti-collision device can be arranged in the shore-based anti-collision device, and an electromagnetic anti-collision unit in the anti-collision device can be arranged on the first lifting unit.

Therefore, before anti-collision measures are taken, sea level height information measured by the sea level distance measuring unit can be obtained, the distance of the current sea level which is lifted or descended is determined according to the sea level height information, and then the first lifting unit is controlled to ascend or descend by the corresponding distance so as to drive the first electromagnetic anti-collision unit to ascend or descend by the corresponding distance, so that the height of the first electromagnetic anti-collision unit is matched with the height of the second electromagnetic anti-collision unit, for example, the heights are consistent, or the height error does not exceed a preset value.

Like this, through based on the sea level height that measures to utilize first lift unit to adjust the height of electromagnetism anticollision unit, can guarantee as far as possible that the anticollision unit on the ship bank is in same height, and then guarantee that buffer stop can exert the biggest anticollision effect when needing.

before the step 104, the method further includes:

acquiring waterline information measured by the waterline ranging unit;

In another embodiment, considering that the draft line of the ship body is greatly changed due to different loads of a large-sized ship, the ship and the shore-based electromagnetic collision prevention unit cannot be ensured to be in the same horizontal plane, and therefore the height of the electromagnetic collision prevention unit on the ship needs to be adjusted according to the information of the draft line.

Particularly, for the anti-collision device of the large-scale ship, a waterline ranging unit and a second lifting unit which are connected with a main control unit of the anti-collision device can be arranged in the anti-collision device, and an electromagnetic anti-collision unit in the anti-collision device can be arranged on the second lifting unit.

Therefore, before anti-collision measures are taken, the waterline information measured by the waterline ranging unit can be obtained firstly, the distance of the current ship ascending or descending is determined according to the waterline information, and then the corresponding distance of the second lifting unit ascending or descending is controlled to drive the first electromagnetic anti-collision unit to ascend or descend by the corresponding distance, so that the height of the first electromagnetic anti-collision unit is matched with that of the second electromagnetic anti-collision unit, if the height is consistent, or the height error is not more than a preset value.

Like this, through based on the waterline information that measures to utilize the second lift unit to adjust the height of electromagnetism anticollision unit, can guarantee as far as possible that the anticollision unit on the ship bank is in same height, and then guarantee that buffer stop can exert the biggest anticollision effect when needing.

For example, in an actual application scenario, a port is provided with an environment monitoring system, sea level data of the port can be acquired through a 5G network or a network port, and the main control unit controls the lifting unit to ascend or descend according to the acquired sea level information, so that the electromagnetic collision avoidance unit adapts to the change of the sea level height, and specifically, the sea level data can be acquired once every certain time, such as 30 minutes, and the position of the electromagnetic collision avoidance unit on the shore base can be adjusted once. Similarly, the waterline measuring device on the ship can also acquire the waterline information of the ship, and after the main control unit acquires the information, the main control unit sends a lifting instruction to the lifting unit on the ship and adjusts the position of the electromagnetic anti-collision unit by ascending or descending.

In order to achieve a better and omnibearing anti-collision effect, a plurality of electromagnetic anti-collision units can be arranged on a ship or a shore base at intervals according to actual conditions so as to avoid or reduce the collision event of the ship as much as possible.

Considering the fact that the characteristics of the electromagnets are that the magnetic field strength attenuates with the distance increasing to the third power and the interaction force between the magnets attenuates with the distance to the fourth power, for this crash-proof device, assuming that the repulsion force received over a distance of 5 meters is 1 newton, then the repulsion force received over a distance of 1 meter is 625 newtons, according to the published parameters of the existing electromagnetic crane, both are contact-type adsorption cranes, and over a distance of 20 meters, there is essentially no force, so for a crash-proof device on the shore base, a 20-meter interval layout can be selected (less than 20 meters, the electromagnets will interact with each other). The anti-collision devices on the ship can be arranged at the positions where the ship heads, the ship tails and other edges and corners protrude and where collision is easy to happen, and for larger ships, the anti-collision devices can be arranged one by one at intervals of 20 meters. Specifically, as shown in fig. 5a, a plurality of electromagnetic collision avoidance units 52 are uniformly distributed on the ship 50 and the shore base 51.

The following describes an anti-collision application scenario according to an embodiment of the present invention with reference to fig. 5a to 5 d:

1) a ship bank anti-collision scene; along with the increase of the tonnage of the ship, accidents frequently occur when the ship arrives at a port, and when a large ship arrives at the port, the ship is pulled to stop at the port in a multi-purpose mode, so that the cost is high, and certain requirements are provided for the matching of the pulled ship. The electromagnetic anti-collision device is respectively arranged on the steamship framework and the shore base by adopting an electromagnetic anti-collision method, so that the destructive power can be dispersed, the wound surface can be reduced, and the loss caused by ship collision can be effectively reduced. The specification of the electromagnetic anti-collision device can be adjusted according to the tonnage of the ship, and if the tonnage is larger, the electromagnetic force is larger; the electromagnetic anti-collision devices on the shore base can be arranged as many as possible, and all ships need to be covered as much as possible due to the tonnage of the ships; the anti-collision devices on the ship can be arranged at the bow and the stern of the ship and in other places with protruding edges, and for a larger ship, the electromagnetic anti-collision units can be additionally arranged on the ship body according to a certain distance. A schematic diagram of the ship's shore collision avoidance can be seen in fig. 5 a.

1) A ship collision avoidance scene; if the electromagnetic anti-collision device is installed on the ship, the electromagnetic anti-collision device can be opened to effectively prevent the ship from being collided or reduce the loss caused by the collision of the ship in an emergency when the ship is not in time to turn. The electromagnetic anti-collision device can have a certain anti-collision effect on ships sailing in the same direction, ships sailing in the opposite direction and ships sailing in the lateral direction, wherein the electromagnetic anti-collision device can force the ships to decelerate when colliding in the opposite direction or the same direction, and the electromagnetic anti-collision device can force the ships to turn and decelerate when colliding in the lateral direction. Schematic diagrams of collision avoidance during co-directional, opposite directional and lateral navigation are shown in fig. 5b, 5c and 5 d.

Compared with the prior art, the embodiment of the invention has the following advantages:

1) the application of electromagnetic collision avoidance in the field of ship collision is provided; at present, electromagnetic collision avoidance is not applied to water traffic, and the non-contact collision avoidance method in the embodiment of the invention can reduce the loss caused by ship collision to a greater extent;

2) the combination of active anti-collision measures and passive anti-collision measures is realized through the combination of the millimeter wave radar, the 5G CPE communication network and the electromagnetic anti-collision unit; the existing anti-collision device generally belongs to a passive anti-collision device, namely, a protection mechanism is adopted for a bank and a bridge, and equipment such as an air bag is used for absorbing impact force to achieve certain anti-collision. According to the embodiment of the invention, the probability of contact collision is reduced to the maximum extent by combining active collision avoidance and passive collision avoidance. In addition, the electromagnetic anti-collision device has low cost and mature technology, and can effectively disperse impact energy, reduce acting points and reduce destructive power by reasonably arranging the electromagnetic device.

3) The problem that a large ship stops at a port accurately is solved; the port is berthhed with the traction ship mostly to the berth of present large-scale boats and ships, and this kind of mode is not only with high costs relatively, has also proposed certain requirement to the cooperation between the traction ship, through millimeter wave radar and battery buffer stop's combination, utilizes the characteristic of electromagnet, can effectively solve this problem.

According to the anti-collision method provided by the embodiment of the invention, the anti-collision devices are respectively arranged on the ship and other related objects, the distance information between the ship and the objects is respectively measured through the two sets of anti-collision devices, so that a more accurate distance is determined, and the ship can be forced to decelerate by controlling the magnetic field of the electromagnetic anti-collision unit under the condition that the distance is less than a safe distance, so that the aim of preventing the ship from colliding with other objects is fulfilled.

Referring to fig. 2 and 3, an embodiment of the invention further provides a collision avoidance device. Because the principle of the anti-collision device for solving the problems is similar to that of the anti-collision method in the embodiment of the invention, the implementation of the anti-collision device can be referred to the implementation of the method, and repeated parts are not described again.

The first collision avoidance device is a first collision avoidance device, and is installed on a first object, as shown in fig. 2 and 3, the first collision avoidance device 21 includes: the system comprises a first main control unit 211, a first distance measuring unit 212, a first electromagnetic collision avoidance unit 213 and a first network unit 214, wherein the first main control unit 211 is respectively connected with the first distance measuring unit 212, the first electromagnetic collision avoidance unit 213 and the first network unit 214, the first network unit 214 is in communication connection with a second network unit 224 in a second collision avoidance device 22, the second collision avoidance device 22 is a collision avoidance device installed on a second object, and at least one of the first object and the second object is a ship;

the first ranging unit 212 is configured to measure a distance between the first object and the second object to obtain first ranging information;

the first network unit 214 is configured to receive second ranging information sent by the second network unit 224, where the second ranging information is distance information of the second object from the first object measured by the second ranging unit 222 in the second anti-collision device 22;

the first master control unit 211 is configured to obtain the first ranging information from the first ranging unit 212, obtain the second ranging information from the first network unit 214, and determine a target distance according to the first ranging information and the second ranging information; in case the target distance is smaller than the first safety distance, the first electromagnetic collision avoidance unit 213 is controlled to generate a magnetic field having the same magnetic pole as the second electromagnetic collision avoidance unit 223 in the second collision avoidance device 22, so that the ship in the first object and the second object is decelerated by the opposing force.

Optionally, the first master control unit 211 is configured to determine a target distance with a minimum distance value from the first ranging information and the second ranging information.

Optionally, the first object is a shore base, the second object is a ship, the first collision avoidance device 21 further includes a sea level distance measurement unit and a first lifting unit connected to the first main control unit 211, and the first electromagnetic collision avoidance unit 213 is disposed on the first lifting unit;

the sea level ranging unit is used for measuring sea level height information;

the first main control unit 211 is further configured to obtain the sea level height information from the sea level distance measuring unit, and control the first lifting unit to ascend or descend according to the sea level height information, so that the height of the first electromagnetic collision avoidance unit 213 is matched with the height of the second electromagnetic collision avoidance unit 223.

Optionally, the first object is a ship, the second object is a shore base, the first anti-collision device 21 further includes a waterline ranging unit and a second lifting unit connected to the first main control unit 211, and the first electromagnetic anti-collision unit 213 is disposed on the second lifting unit;

the waterline ranging unit is used for measuring waterline information;

first main control unit 211 is still used for following waterline ranging unit acquires waterline information, and according to waterline information, control the second lift unit rises or descends to make first electromagnetism anticollision unit 213 highly match with second electromagnetism anticollision unit 223 highly.

the first main control unit 211 is further configured to control the first electromagnetic collision avoidance unit 213 to generate a magnetic field with a magnetic pole opposite to that of the second electromagnetic collision avoidance unit 223 when the target distance is greater than the preset distance, so that the first object approaches the shore base under the action of the magnetic attraction force.

Optionally, the first anti-collision device 21 further includes an alarm unit 215 connected to the first main control unit 211;

the first main control unit 211 is further configured to control the alarm unit 215 to output the early warning information when the target distance is less than the first safe distance.

Optionally, the first main control unit 211 is further configured to increase the magnetic field strength of the first electromagnetic collision avoidance unit 213 when detecting that the distance between the first object and the second object is smaller than a second safety distance, where the second safety distance is smaller than the first safety distance.

Optionally, the number of the first electromagnetic collision avoidance units 213 is multiple, and the multiple first electromagnetic collision avoidance units 213 are arranged at intervals on the first object.

The anti-collision device provided by the embodiment of the invention can execute the method embodiment, the realization principle and the technical effect are similar, and the embodiment is not described again.

The anti-collision device 21 of the embodiment of the invention determines a more accurate distance by respectively obtaining the distance information measured by the distance measuring unit of the anti-collision device and the distance measuring unit of another object, and forces the ship to decelerate by controlling the magnetic field of the electromagnetic anti-collision unit under the condition that the distance is less than the safe distance so as to achieve the purpose of preventing the ship from colliding with other objects.

The embodiment of the invention also provides an anti-collision system, which comprises a first anti-collision device and a second anti-collision device which are respectively arranged on a first object and a second object, wherein at least one object in the first object and the second object is a ship;

The collision avoidance system provided in the embodiment of the present invention may execute the method embodiment, and since the principle of solving the problem of the collision avoidance system is similar to the collision avoidance method in the embodiment of the present invention, and the obtained technical effect is similar, the implementation of the collision avoidance system may refer to the implementation of the method, and details are not described here.

The embodiment of the invention also provides the anti-collision equipment. Because the principle of the anti-collision device for solving the problem is similar to that of the anti-collision method in the embodiment of the invention, the implementation of the anti-collision device can be referred to the implementation of the method, and repeated parts are not described again. The anti-collision equipment comprises the first anti-collision device. As shown in fig. 6, the anti-collision device according to the embodiment of the present invention further includes: the processor 600, which is used to read the program in the memory 620, executes the following processes:

acquiring first ranging information of a first ranging unit in the first anti-collision device, wherein the first ranging information is distance information of a first object from a second object measured by the first ranging unit, the first anti-collision device is installed on the first object, the first anti-collision device comprises a first main control unit, the first ranging unit, a first electromagnetic anti-collision unit and a first network unit, the first main control unit is respectively connected with the first ranging unit, the first electromagnetic anti-collision unit and the first network unit, the first network unit is in communication connection with a second network unit in a second anti-collision device, the second anti-collision device is an anti-collision device installed on the second object, and at least one of the first object and the second object is a ship;

receiving second ranging information sent by the second network unit, wherein the second ranging information is distance information of the second object from the first object, which is measured by the second ranging unit;

and under the condition that the target distance is less than a first safety distance, controlling a first electromagnetic collision avoidance unit in the first collision avoidance device to generate a magnetic field with the same magnetic pole as a second electromagnetic collision avoidance unit in the second collision avoidance device so as to decelerate the ship under the action of the repulsive force.

Where in fig. 6, the bus architecture may include any number of interconnected buses and bridges, with various circuits being linked together, particularly one or more processors represented by processor 600 and memory represented by memory 620. The bus architecture may also link together various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. The bus interface provides an interface. The processor 600 is responsible for managing the bus architecture and general processing, and the memory 620 may store data used by the processor 600 in performing operations.

Optionally, the processor 600 is further configured to read the program in the memory 620, and perform the following steps:

the processor 600 is also used to read the program in the memory 620 and execute the following steps:

acquiring waterline information measured by the waterline ranging unit;

The collision avoidance device provided by the embodiment of the present invention may implement the above method embodiments, and the implementation principle and technical effect are similar, which are not described herein again.

Furthermore, a computer-readable storage medium of an embodiment of the present invention stores a computer program executable by a processor to implement:

the method comprises the steps of obtaining first ranging information of a first ranging unit of a first anti-collision device, wherein the first ranging information is the distance information, measured by the first ranging unit, of a first object from a second object, the first anti-collision device is installed on the first object, the first anti-collision device comprises a first main control unit, a first ranging unit, a first electromagnetic anti-collision unit and a first network unit, the first main control unit is respectively connected with the first ranging unit, the first electromagnetic anti-collision unit and the first network unit, the first network unit is in communication connection with a second network unit in a second anti-collision device, the second anti-collision device is an anti-collision device installed on the second object, and at least one of the first object and the second object is a ship;

acquiring waterline information measured by the waterline ranging unit;

In the several embodiments provided in the present application, it should be understood that the disclosed method and apparatus may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be physically included alone, or two or more units may be integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.

The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) to execute some steps of the transceiving method according to various embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. A collision avoidance method is applied to a first collision avoidance device and is characterized in that the first collision avoidance device is installed on a first object and comprises a first main control unit, a first distance measurement unit, a first electromagnetic collision avoidance unit and a first network unit, the first main control unit is respectively connected with the first distance measurement unit, the first electromagnetic collision avoidance unit and the first network unit, the first network unit is in communication connection with a second network unit in a second collision avoidance device, the second collision avoidance device is a collision avoidance device installed on a second object, and at least one of the first object and the second object is a ship;

the method comprises the following steps:

2. The method of claim 1, wherein determining a target distance based on the first ranging information and the second ranging information comprises:

3. The method of claim 1, wherein the first object is a shore-based object, the second object is a ship, the first collision avoidance device further comprises a sea level ranging unit and a first lifting unit connected to the first master control unit, and the first electromagnetic collision avoidance unit is disposed on the first lifting unit;

4. The method of claim 1, wherein the first object is a ship, the second object is a shore-based, the first collision avoidance apparatus further comprises a waterline ranging unit and a second lifting unit connected to the first master control unit, and the first electromagnetic collision avoidance unit is disposed on the second lifting unit;

acquiring waterline information measured by the waterline ranging unit;

5. The method of claim 1, wherein the first object is a ship and the second object is shore-based;

6. The method of claim 1, wherein the first collision avoidance device further comprises an alarm unit connected to the first master control unit;

7. The method according to claim 1, characterized in that after controlling the first electromagnetic collision avoidance unit to generate a magnetic field having the same magnetic polarity as a second electromagnetic collision avoidance unit in the second collision avoidance device, the method further comprises:

8. The method according to claim 1, characterized in that the number of the first electromagnetic collision avoidance units is plural, and plural first electromagnetic collision avoidance units are provided at intervals on the first object.

9. A collision avoidance device is a first collision avoidance device and is installed on a first object, and is characterized in that the first collision avoidance device comprises a first main control unit, a first distance measurement unit, a first electromagnetic collision avoidance unit and a first network unit, the first main control unit is respectively connected with the first distance measurement unit, the first electromagnetic collision avoidance unit and the first network unit, the first network unit is in communication connection with a second network unit in a second collision avoidance device, the second collision avoidance device is a collision avoidance device installed on a second object, and at least one of the first object and the second object is a ship;

10. A collision avoidance system comprising first and second collision avoidance devices mounted on first and second objects respectively, at least one of the first and second objects being a ship;

11. A collision avoidance apparatus comprising: a memory, a processor, and a computer program stored on the memory and executable on the processor; characterized in that the collision avoidance apparatus further comprises a first collision avoidance device of claim 9, the processor being configured to read a program in the memory to implement the steps in the collision avoidance method of any one of claims 1 to 8.

12. A computer-readable storage medium for storing a computer program, wherein the computer program, when executed by a processor, implements the steps in the collision avoidance method of any one of claims 1 to 8.