CN215205287U - Real-time intelligent decision-making control device for safe navigation in large stormy waves of unmanned naval vessel - Google Patents
Real-time intelligent decision-making control device for safe navigation in large stormy waves of unmanned naval vessel Download PDFInfo
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- CN215205287U CN215205287U CN202120677084.8U CN202120677084U CN215205287U CN 215205287 U CN215205287 U CN 215205287U CN 202120677084 U CN202120677084 U CN 202120677084U CN 215205287 U CN215205287 U CN 215205287U
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Abstract
The utility model discloses a real-time intelligent decision-making controlling device of safe navigation in big stormy waves of unmanned ship, its characterized in that: the safe navigation real-time intelligent decision-making system is in communication control with the naval vessel control system, and the naval vessel control system comprises a control center, an engine and an autopilot.
Description
Technical Field
The utility model relates to a real-time intelligent decision-making controlling device of safe navigation in unmanned naval vessel big stormy waves, applicable navigation safety is evaluateed in advance and safe navigational speed course intelligence decision-making and automatic control in all kinds of unmanned naval vessel big stormy waves, is showing the motion amplitude and the risk of toppling that reduce in the big stormy waves, supplementary safe operation or back sailing belongs to unmanned naval vessel safe navigational speed course intelligence decision-making and controls technical field.
Background
When the unmanned naval vessel is far away from the coast to execute a task, the unmanned naval vessel inevitably encounters large wind waves, generates large-amplitude swinging motion, and even causes serious accidents such as overturning, incapability of returning to the air and the like. At present, no effective means and device capable of intelligently deciding the safe speed and heading of the unmanned naval vessel in high wind and waves and avoiding the risk of overturning are found, the risk is avoided mainly in a passive mode of greatly reducing the using sea state and the offshore distance, and the operation capacity of the unmanned naval vessel is greatly influenced. Therefore, it is urgently needed to provide a device for acquiring navigation information of an unmanned ship in high storms in real time, intelligently pre-evaluating navigation safety and providing a safe navigation control strategy, automatically driving a control program, driving an engine and an autopilot, and adjusting to a safe navigation speed course in real time, so as to reduce the motion amplitude and the overturning risk of the unmanned ship in the high storms.
The amplitude of the swinging motion of the unmanned ship in the heavy stormy waves is closely related to the displacement, the ship-shaped characteristics, the inherent period of the unmanned ship, the sea wave grade, the wave wavelength and the period of the encountered sea waves and the like. When the motion amplitude exceeds the safe navigation balance and is within a certain range, the unmanned naval vessel overturns. For the unmanned naval vessels with the same displacement and ship type characteristics and the sea waves with the same grade and wavelength, the more the encountered period is close to the inherent period of the unmanned naval vessels, the more violent the movement is, and the capsizing is easy to occur. The encounter period is determined by the wave period and the relative speed and heading of the unmanned naval vessel and the waves. Therefore, an intelligent decision-making system of the device needs to be based on a wave resistance theory, and has the functions of intelligently pre-evaluating the navigation safety and intelligently deciding the safe navigation speed and the safe navigation course in real time.
The real-time intelligent decision-making control device for safe navigation in the large stormy waves of the unmanned naval vessel has two main technical problems. Firstly, how to combine a navigation information acquisition system (comprising a draft sensor, a meteorological system and a navigation system), a safe navigation intelligent decision-making system and a naval vessel control system (comprising a control center, an engine and an autopilot), and the system has the functions of real-time information acquisition, intelligent safe navigation evaluation, safe navigation speed and course decision-making and automatic control driving. And secondly, in the safe navigation intelligent decision-making subsystem, how to evaluate the navigation safety of the unmanned ship in the strong storms in real time according to the acquired navigation information such as draught, wave height, wave direction, navigation speed, course and the like, and intelligently decide the safe navigation speed and course in real time. At present, no precedent exists for real-time intelligent decision-making applied to safe speed and course of unmanned ships.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is a technological problem of safe navigation real-time intelligent decision-making manipulation in the big stormy waves of unmanned ship.
In order to solve the technical problem, the technical scheme of the utility model a safe navigation real-time intelligent decision-making controlling device in unmanned ship's big stormy waves is provided, its characterized in that: the safe navigation real-time intelligent decision-making system is in communication control with the naval vessel control system, and the naval vessel control system comprises a control center, an engine and an autopilot.
The safety navigation real-time intelligent decision system presets a motion and navigation safety assessment database derived from a wave endurance theory, and comprises 8 lines of data, wherein the data are respectively as follows: the water displacement, wave height, navigation speed, relative course, rolling, pitching, heaving and navigation safety evaluation results; the navigation information acquisition system is used for acquiring draft, wave height, wave direction, navigation speed and course information, preprocessing the draft, wave height, navigation speed, relative wave direction and navigation safety evaluation results, and matching the latest displacement, wave height, navigation speed, relative wave direction and navigation safety evaluation results from the database, so that the navigation safety real-time pre-evaluation in the big stormy waves of the unmanned naval vessel is realized.
The utility model discloses the advantage lies in can realizing navigation safety in the big stormy waves of unmanned naval vessel aassessment in advance in real time, safe navigational speed course intelligence decision-making and automatic control drive, can show the motion amplitude and the risk of toppling that reduces unmanned naval vessel in big stormy waves, supplementary safe operation or return a voyage.
Drawings
FIG. 1 is a diagram of the components and communication data of a safe navigation real-time intelligent decision-making control device in an unmanned ship in heavy storms;
FIG. 2 is a flow chart of the intelligent decision-making for the safety assessment and safe speed and course of the navigation.
Detailed Description
In order to make the present invention more comprehensible, preferred embodiments are described in detail below with reference to the accompanying drawings.
Examples
The embodiment provides a safe navigation real-time intelligent decision-making device in the big stormy waves of an unmanned ship, which comprises three subsystems, namely a navigation information acquisition system (comprising a draft sensor, a meteorological system and a navigation system), a safe navigation real-time intelligent decision-making system and a ship control system (comprising a control center, an engine and an autopilot). The method comprises the steps of establishing communication connection by taking a safe navigation real-time intelligent decision-making system as a core, getting through communication with a navigation information acquisition system on the unmanned ship, acquiring navigation information such as draught, wave height, wave direction, speed, course and the like in real time, intelligently evaluating the navigation safety of the unmanned ship in the stormy waves, intelligently deciding the safe speed course in real time, automatically sending an operation strategy to an operation control program, driving an engine and an autopilot, and adjusting to a target speed course in real time, so that the swaying motion amplitude and the overturning risk of the unmanned ship in the stormy waves can be remarkably reduced.
The device composition and communication data are shown in fig. 1.
In order to solve the technical problems of how to intelligently pre-evaluate the navigation safety of the unmanned ship in high storms and intelligently decide the safe navigation speed and course in real time according to the acquired navigation information by the safe navigation real-time intelligent decision subsystem, the embodiment presets a motion and navigation safety evaluation database derived from a wave resistance theory in the safe navigation real-time intelligent decision subsystem, and the motion and navigation safety evaluation database comprises 8 rows of data, which are respectively: the water displacement, wave height, navigation speed, relative course, rolling, pitching, heaving and navigation safety evaluation results. And (3) preprocessing the draft, wave height, wave direction, navigational speed and course information acquired from the navigation information acquisition system, and then automatically matching the nearest water displacement, wave height, navigational speed, relative wave direction and navigation safety evaluation result from the database. If the evaluation result is 1, safe navigation is represented, and if the evaluation result is 0, safe navigation is not represented. If the evaluation result is unsafe, the safe speed course closest to the current speed and the target course is automatically screened out from the database, so that the technical problems that the navigation safety in the big stormy waves of the unmanned naval vessel is difficult to evaluate in real time and the safe speed course is difficult to make a decision in real time are solved.
The navigation safety evaluation and safe navigation speed and course intelligent decision flow is shown in the attached figure 2.
Advantageous effects
The utility model provides a safe navigation real-time intelligence decision-making controlling device in big stormy waves of unmanned ship, including navigation information acquisition system (including draft sensor, meteorological system, navigation), safe navigation real-time intelligence decision-making system and naval vessel control system (including control center, engine and autopilot) three subsystem, possess real-time information acquisition, intelligent security navigation aassessment, safe navigation speed course decision-making and automatic control driven function. The method is simple and convenient to realize, low in cost and capable of remarkably reducing the motion amplitude and the overturning risk of the unmanned naval vessel in the large stormy waves and assisting safe operation or return voyage.
The main contents of the utility model are:
(1) the safe navigation real-time intelligent decision-making device is characterized in that a safe navigation real-time intelligent decision-making system is taken as a core, a local area network is constructed, and a navigation information acquisition system (comprising a draft sensor, a meteorological system and a navigation system), the safe navigation real-time intelligent decision-making system and a naval vessel control system (comprising a control center, an engine and an autopilot) are combined together in a data communication mode to form the safe navigation real-time intelligent decision-making device in the storm of the unmanned naval vessel.
(2) A motion and navigation safety assessment database derived from a wave endurance theory is preset in a safety navigation real-time intelligent decision subsystem, and the motion and navigation safety assessment database comprises 8 lines of data which are respectively as follows: the water displacement, wave height, navigation speed, relative course, rolling, pitching, heaving and navigation safety evaluation results.
(3) The method has the advantages that the method can automatically match the nearest displacement, wave height, wave speed, relative wave direction and navigation safety evaluation results with the draft, wave height, wave direction, navigation speed and course information acquired from the navigation information acquisition system after preprocessing, has the functions of unmanned naval vessel navigation information real-time acquisition and safe navigation real-time evaluation, and solves the problem that the navigation safety in the storm of the unmanned naval vessel cannot be evaluated in real time.
(4) The safe speed course nearest to the current speed and the target course is automatically screened out from the database, the control strategy is automatically sent to the control program, the engine and the autopilot are driven, the safe speed course is adjusted to the safe speed course in real time, the functions of intelligent decision of the safe speed course, automatic control driving and safe return are achieved, and the problem that the safe speed course and the safe return are difficult to find in real time in the storm of the unmanned naval vessel is solved.
To sum up, the utility model provides a real-time intelligent decision-making controlling device of safe navigation in unmanned naval vessel big stormy waves, including navigation information acquisition system (including draft sensor, meteorological system, navigation), real-time intelligent decision-making system of safe navigation and naval vessel control system (including control center, engine and autopilot), possess unmanned naval vessel navigation information real-time acquisition, safe navigation is evaluateed in real time, safe speed of navigating is intelligent decision-making and the automatic function of controlling the drive, can show motion amplitude and the risk of toppling in the reduction unmanned naval vessel big stormy waves.
Claims (2)
1. The utility model provides a real-time intelligent decision-making controlling means of safe navigation in big stormy waves of unmanned ship which characterized in that: the safe navigation real-time intelligent decision-making system is in communication control with the naval vessel control system, and the naval vessel control system comprises a control center, an engine and an autopilot.
2. The unmanned ship vessel safe navigation real-time intelligent decision-making operation device in high stormy waves according to claim 1, characterized in that: the safety navigation real-time intelligent decision system presets a motion and navigation safety assessment database derived from a wave resistance theory, comprises 8 lines of data, and respectively comprises the following steps: the water displacement, wave height, navigation speed, relative course, rolling, pitching, heaving and navigation safety evaluation results; the navigation information acquisition system is used for acquiring draft, wave height, wave direction, navigation speed and course information, preprocessing the draft, wave height, navigation speed, relative wave direction and navigation safety evaluation results, and matching the latest displacement, wave height, navigation speed, relative wave direction and navigation safety evaluation results from the database, so that the navigation safety real-time pre-evaluation in the big stormy waves of the unmanned naval vessel is realized.
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| CN202120677084.8U CN215205287U (en) | 2021-04-01 | 2021-04-01 | Real-time intelligent decision-making control device for safe navigation in large stormy waves of unmanned naval vessel |
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| CN202120677084.8U CN215205287U (en) | 2021-04-01 | 2021-04-01 | Real-time intelligent decision-making control device for safe navigation in large stormy waves of unmanned naval vessel |
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| CN215205287U true CN215205287U (en) | 2021-12-17 |
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2021
- 2021-04-01 CN CN202120677084.8U patent/CN215205287U/en active Active
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