RU202050U1 - BASIC PLATFORM FOR IMPLEMENTATION ON SHIPS OF AUTOMATIC AND REMOTE CONTROL MODES - Google Patents

Abstract

The basic platform in unmanned navigation mode provides automatic and remote control of the vessel's movement, including in areas of heavy navigation and various critical situations. The basic platform includes a hull with a power source, a coordinated vessel motion control system, an autonomous navigation system, a survey and search system, a navigation data integration unit, a target recognition unit, a technical diagnostics unit, a switching unit, an integrated hardware management system, a voyage data recorder and a unit video surveillance. The technical result consists in expanding the functionality, which together make it possible to implement the unmanned navigation mode of existing commercial vessels. 2 wp f-ly, 1 dwg

Description

The utility model relates to navigation and can be used in automatic and remote control of vessel traffic.

One of the conditions for the implementation of ship control in unmanned mode is the development of automatic systems that ensure the safety of navigation in various critical situations, including in areas of intensive navigation, where it is required to ensure a safe departure from the surrounding vessels in accordance with the requirements of the MPPSS-72.

From the prior art, a system of automatic pilotage of ships along a given trajectory is known according to patent RU 165915 (B63N 25/00, publ. 01.2006), which contains a speed meter, a course meter and an angular velocity of circulation, a satellite navigation system, an electronic cartographic navigation information system , means for determining the bearing to a landmark, a coordinated control system for the movement of a vessel, including a control unit and an autopilot, a coastal landmark and a meteorological locator.

The technical solution known from the patent RU 165915 is chosen as the closest analogue of this utility model. The disadvantages of the prototype are: impossibility to provide control of the ship in automatic mode without the presence of the crew on board, as well as in remote control mode from a coastal remote control post (RCS); lack of a channel for controlling the speed of the vessel.

The task to be solved by this utility model is to create a basic platform that ensures the implementation on ships of the commercial fleet of an automatic mode (without the presence of a crew on board) and a remote mode of vessel traffic control with a remote control unit, which uses standardized protocols for interfacing with navigation equipment. propulsion control system, technical means, radar station (radar), automatic identification system (AIS) and video surveillance cameras of a commercial vessel.

The technical result consists in expanding the functionality, which together make it possible to implement the unmanned navigation mode of existing commercial vessels.

The specified technical result is achieved by the fact that the base platform for the implementation of modes of automatic and remote control of the movement of the vessel, including the system of coordinated control of the movement of the vessel, additionally the platform includes a hull with a power source, an autonomous navigation system, a survey and search system, a navigation data integration unit , a target recognition unit, a technical diagnostics unit, a switching unit and an integrated technical means control system, and the inputs-outputs of the coordinated vessel motion control system are connected to the inputs-outputs of the autonomous navigation system, the technical diagnostics unit and the integrated technical means control system, the inputs-outputs of which connected to the inputs-outputs of the autonomous navigation system and the technical diagnostics unit, the inputs-outputs of which are connected to the inputs-outputs of the switching unit and the autonomous navigation system, the inputs-outputs of which are connected s with the inputs-outputs of the switching unit, the target recognition unit and the navigation data integration unit, the inputs-outputs of which are connected to the inputs-outputs of the switching unit and the target recognition unit, the inputs-outputs of which are connected to the inputs-outputs of the switching unit and the survey-search system, the output of which is connected to the input of the switching unit, and the survey and search system is configured to connect a set of video surveillance cameras in the visible and infrared ranges located outside the vessel, the target recognition unit is configured to connect a radar station and an automatic identification system, a coordinated vessel movement control system and the navigation data integration unit is made with the ability to receive data from meters of the ship's movement parameters, the autonomous navigation system, the switching unit and the integrated hardware control system are made with the ability to connect to the coastal post di station control by means of a complex of communication means, the system of coordinated control of the movement of the vessel is made with the possibility of connection with the propulsion and steering complex of the vessel, and the integrated control system of technical means is made with the possibility of connection with the technical means of the vessel.

The technical result is also achieved by the fact that the base platform additionally includes:

a flight data recorder, the inputs of which are connected to the outputs of the autonomous navigation system and the switching unit;

a video surveillance unit connected to the switching unit, configured to connect a set of video surveillance cameras located in the interior of the vessel and from the outside of the vessel with an overview of the cargo of the vessel.

The essence of the claimed base platform for the implementation of modes of automatic and remote control of the movement of the vessel is illustrated by an example of its implementation and Fig. 1, which shows a block diagram of the system. FIG. 1 the following designations are adopted:

1 - coordinated ship traffic control system (SCMS);

2 - autonomous navigation system (ANS);

3 - survey and search system (OPS);

4 - video surveillance unit;

5 - navigation data integration unit (BKND);

6 - target recognition unit (BRTs);

7 - block of technical diagnostics (BTC);

8 - switching unit;

9 - an integrated hardware management system (KSUTS);

10 - voyage data recorder (VDR);

11 - meters of parameters of vessel movement (gyrocompass (magnetic compass), satellite navigation system (GPS / GLONASS), echo sounder, log, weather station, roll and trim sensors);

12 - propulsion and steering complex of the vessel (propeller-rudders, propellers, rudders, thrusters, etc.);

13 - radar;

14 - AIS;

15 - technical means of the vessel (TSS);

16 - communications complex (KSS);

17 - BPDU;

18 - a set of video surveillance cameras in the visible and infrared ranges, located outside the vessel;

19 - a set of video surveillance cameras located in the interior of the vessel and from the outside of the vessel with an overview of the cargo of the vessel.

The basic platform for the implementation on ships of automatic and remote control includes (Fig. 1) a system 1 for coordinated control of the movement of a vessel, an autonomous navigation system 2, a surveillance and search system 3, a video surveillance unit 4, a navigation data integration unit 5, a target recognition unit 6, a unit 7 technical diagnostics, block 8 of switching, an integrated system 9 for managing technical means, a flight data recorder 10 and a case with a power source.

The system 1 of the coordinated control of the movement of the vessel is designed to control the propulsion and steering complex 12 of the vessel, providing stabilization of the set speed and the set course of the vessel according to the commands received from the ANS. The SKUD receives navigation data on the course, speed and coordinates of the vessel, as well as on the wind acting on the vessel from the gyrocompass (magnetic compass), log, satellite navigation system and weather station, respectively. The system 1 for coordinated control of the movement of the vessel can be implemented on the basis of the control device of an independent joystick control system from the dynamic positioning system.

Autonomous navigation system 2 is designed to receive data from the RCU on a given route of the vessel, generate commands for a given course and a given speed for the ACS when navigating a vessel along a route, analyze information about the environment for danger and generate data and commands for maneuvers in order to diverge from marine mobile objects (MPS) and other objects (obstacles) in the event of dangerous situations, as well as for the formation of light and sound signals to oncoming ships. Autonomous navigation system 2 can be implemented on the basis of an electronic cartographic navigation system with the additional possibility of correcting the route, taking into account the safe divergence from the surrounding vessels according to the MPPSS-72. Calculations for route correction are performed according to approved algorithms agreed with certification societies, the necessary navigation data and data on the target environment in ANS 2 come from the navigation data integration unit 5, OPS 3 and video surveillance unit 4. The specified route, worked out by ANS 2, can be corrected from BPDU 17 by means of KSS 16.

Survey search system 3 is designed for observation in the visible and infrared ranges, recognition, detection and tracking of IGOs, recognition of signal lights on IGOs, determination of distances and position angles to detected objects (obstacles) and is a software and hardware complex implemented using specialized software providing for stitching and processing of images coming from a set of 18 CCTV cameras, as well as further analysis of images in order to recognize objects and determine the range and bearing to them.

CCTV unit 4 is designed to provide alarm for events occurring in the interior of the vessel and on the external decks of the vessel in order to ensure control over the cargo located on the deck of the vessel or in the premises of the vessel based on data received from a set of 19 CCTV cameras, and is a software -Hardware complex, implemented with the use of specialized software, which provides analysis of the deviation of the current static image from the specified static image after securing the weights.

The navigation data integration unit 5 is intended for receiving, analyzing and integrating signals coming from the ship movement parameters 11 meters, and is a software and hardware complex that provides reception, analysis and fault-tolerant filtering of navigation data based on diagnostic [1] and fault-tolerant Kalman filters [12].

Block 6 target recognition is designed to receive data on the target situation from the radar, AIS and FSA 3, further analysis of the data obtained and the formation of a generalized target situation surrounding the ship, with the subsequent issuance of the target situation in ANS 2 and is a software and hardware complex that provides reception, analysis and comparison of target data received from OPS 3, radar 13 and AIS 14, with their subsequent combination into a single target environment and transferring it to ANS 2.

Block 7 of technical diagnostics is designed to diagnose the operation of blocks and systems of the base platform, identify a malfunction and issue recommendations to the operator of the BPDU 17 to eliminate the malfunction, keep a record of malfunctions and eliminate them, as well as transfer the malfunction report to the RDR 10 and is a software and hardware complex that provides reception, analysis and comparison of self-diagnostic data of blocks and systems of the base platform.

The switching unit 8 is intended for switching and interfacing data transmitted over channels using various protocols between the units and systems of the base platform, as well as the subsequent transfer of this data to the RDR 10.

Switching unit 8 can be implemented on the basis of industrial Ethernet interface switches, RS422 / 485 interface multipliers, analog / discrete signals converters to RS485 or Ethernet serial interface using Modbus RTU or Modbus TCP protocols, respectively.

The integrated system 9 for managing technical means is designed to collect data on the state of technical means on the ship, form an alarm and transmit data on the technical condition of the ship to the BPDU 17 and is a software and hardware complex that collects, diagnoses, and controls the technical means of the ship.

The voyage data recorder 10 is designed to collect and store data on the operation of all the technical means of the vessel, the surrounding navigational environment, the given and worked out commands for controlling the movement of the vessel and is a software and hardware complex that receives, sort, records and then stores data on solid-state drives located in a special protected box.

The case with a power supply is designed to accommodate and supply power to the components of the base platform; it is a server cabinet.

To implement automatic and remote control of the ship, the base platform is connected to (Fig. 1) meters 11 of the parameters of the ship's movement, the propulsion and steering complex 12, the radar station 13, the AIS 14, the technical means 15 of the ship, the complex 16 of communication means, the coastal post 17 of remote control and sets of 18, 19 CCTV cameras.

Meters of 11 parameters of the vessel's movement are designed to measure and transmit to SKUDS 1 and BKND 5 the current coordinates of the vessel, its course, roll, trim and speed, as well as the wind acting on the vessel. The minimum number of meters 11 includes a satellite navigation system GPS / GLONASS, gyrocompass or magnetic compass, echo sounder, roll and trim sensors, wind sensor.

The propulsion and steering complex 12 is designed to create forces and moments from the active controls and propellers of the vessel and includes a remote control system in conjunction with actuators, such as rudder propellers, main propellers with variable speed and / or variable pitch propellers , steering gear, thrusters and retractable rudder propellers. From SKUDS 1 to the propulsion and steering complex 12, command commands are sent to the actuators (specified revolutions, angle of rotation, etc.), and back - data on the current state of the actuators (current revolutions, angle of rotation, etc.).

The radar station 13 provides for the receipt and transmission of data to the BRC 6 about the coastline, surface MPS and other objects (obstacles), their location and movement parameters.

Automatic identification system 14 is designed to transmit in the VHF range of data on the parameters of the vessel and its movement, as well as to obtain the corresponding data on the surrounding vessels.

The technical means 15 of the ship include all the means and systems that control these means available on board the ship (tanks, pumps, sensors, generators, etc.). From KSUTS 9 to TCC 15, commands are sent to start actuators, such as pumps, generators, etc., and back - data on the state of all technical equipment (tanks, pumps, sensors, generators, etc.).

Communication complex 16 consists of equipment providing a VHF channel or satellite communication channel between the base platform and the BPDU 17.

The coastal post 17 of remote control is a hardware and software complex consisting of control sections, which include monitors, computers, control and management panels. An electronic cartographic navigation information system (ECDIS) is installed on one of the consoles, on the monitor of which the movement of the vessel and its surroundings are displayed. Remote control of the vessel with the BPDU 17 can be carried out by setting the trajectory on the ECDIS or using the joystick located on the control and monitoring panel from the coastal post. Data exchange between the base platform and the BPDU 17 is carried out by means of the KCC 16 equipment.

A set of 18 visible and infrared cameras located outside the vessel provide an all-round view of the vessel's perimeter with overlapping sectors between cameras.

A set of 19 visible cameras located in the interior of the ship and on the outer decks of the ship provides an overview of the ship's deck.

The basic platform works as follows. A command about the selected current operating mode of the base platform is sent to the ANS 2 system through the switching unit 8 by means of the KSS 16 from the BPDU 17, which then comes to the SCS 1, and the ANS 2 transmits data on the specified trajectory of the ship. Upon receipt of a signal about the transition to the autonomous or remote mode of operation, SKUD 1 sends request signals to the control systems of the propulsion and steering complex 12 about the transfer of control of these systems from the control signals of the SKUD 1. After confirming the transition to control of the systems of the propulsion and steering complex, SKUD 1 sends a command to ANS 2, which begins to determine and transmit to SKUDS 1 the data of a given course (angular velocity of circulation) and speed, which must be maintained while moving along a given trajectory. On the basis of this information and navigation data coming from the meters 11 of the parameters of the movement of the vessel, SKUDS 1 controls the propulsion and steering complex 12 so as to stabilize the given course (angular velocity of circulation) and the speed of the vessel at a given section of the trajectory. The autonomous navigation system 2 constantly monitors the navigation situation, receiving the necessary data about the surrounding targets from the BRTs 6 and the BKND 5. The target recognition unit 6 generates data of the generalized target situation surrounding the ship, based on data received from the OPS 3, radar 13 and AIS 14. In the event of a navigational hazard, BRTs 6 generates a divergence trajectory based on the rules of the COLREG-72 and transmits the given commands to the SKUDS 1. In the event of emergency situations during the transportation of cargo located on the deck, the video surveillance unit 4 according to the data received from the set of 19 cameras, recognizes the situation that has arisen and generates alarm signals, which are transmitted to the switching unit 8, with subsequent transmission to ANS 2 and BPDU 17 by means of KSS 16. If the vessel is in remote control mode from the BPDU 17, then the operator will know about the incident, after what he makes an adjustment of the route to follow or stops the ship. When the ship is in the autonomous mode ANS 2, according to the algorithms incorporated in it, either it reduces the speed and circulation speed when moving along the route, or stops the ship and issues the necessary commands to the KSUTS 9 to control the TSS 15 (for example, a command to change the signal-distinctive lights).

The technical diagnostics unit 7 processes the self-diagnostics data coming from the units and systems of the base platform, generates general information about its technical condition and transmits it to ANS 2 and BPDU 17 through the switching unit 8 and KCC 16 for making appropriate decisions by the operator of the BPDU 17 or ANS 2 in accordance with with the algorithms embedded in it.

During the voyage of the vessel, the following information is received in the RDR 10 for storage: navigation data, data on the operation of all technical means of the vessel, data on the surrounding navigation situation, given commands from ANS 2, worked out commands of SKUD 1 when controlling the movement of the vessel and received commands from BPDU 17 ...

Experimental operation has shown that the declared utility model allows for automatic (autonomous) and remote modes of operation with a remote control unit and the use of vessel equipment, thereby implementing a crewless vessel control mode. All these factors combine to reduce the cost of upgrading and operating commercial vessels.

The declared utility model has been implemented on an operating ground carrier of the HB900 project and a dry cargo vessel of the RSD49 project. In the future, it is planned to equip the tanker of the P-70046 project with the declared useful model.

Sources of information

1. V.M. Ambrosovsky, A.S. Korenev, Yu.A. Lukomsky, A.G. Shpektorov. Coordinated management of marine mobile objects / ed. Yu.A. Lukomsky. SPb .: Publishing house of ETU "LETI", 2016. - 128 p.

2. Korenev A.S. Fault-tolerant Kalman filter adaptive to external disturbances. Ambrosovsky, S.P. Khabarov, A.S. Korenev // Marine radio electronics. Ships and weapons as a single system - 2015. - №3. - S. 20-23.

Claims (3)

1. Basic platform for the implementation of modes of automatic and remote control of the movement of the vessel, containing a system of coordinated control of the movement of the vessel, characterized in that the platform includes a hull with a power source, an autonomous navigation system, a survey and search system, a navigation data integration unit, a recognition unit purposes, a block of technical diagnostics, a switching block and an integrated control system for technical means, moreover, the inputs-outputs of the coordinated control of the vessel's movement are connected to the inputs-outputs of an autonomous navigation system, a block of technical diagnostics and an integrated control system for technical means, the inputs-outputs of which are connected to the inputs - the outputs of the autonomous navigation system and the technical diagnostics unit, the inputs-outputs of which are connected to the inputs-outputs of the switching unit and the autonomous navigation system, the inputs-outputs of which are connected to the inputs-outputs of the switching unit, the unit target recognition and navigation data integration unit, the inputs-outputs of which are connected to the inputs-outputs of the switching unit and the target recognition unit, the inputs-outputs of which are connected to the inputs-outputs of the switching unit and the survey-search system, the output of which is connected to the input of the switching unit, and the survey and search system is configured to connect a set of video surveillance cameras in the visible and infrared ranges located outside the vessel, the target recognition unit is configured to connect a radar station and an automatic identification system, a coordinated vessel motion control system and a navigation data integration unit are configured to receive data from meters of vessel motion parameters, an autonomous navigation system, a switching unit and an integrated control system for technical means are made with the ability to connect to a coastal remote control post by means of a complex sa means of communication, the coordinated control system for the movement of the vessel is made with the possibility of connecting with the propulsion and steering complex of the vessel, and the integrated control system for technical means is made with the possibility of connecting with the technical means of the vessel. 2. The basic platform for the implementation of the modes of automatic and remote control of the movement of the vessel according to claim 1, characterized in that it includes a voyage data recorder, the inputs of which are connected to the outputs of the autonomous navigation system and the switching unit. 3. The basic platform for the implementation of the modes of automatic and remote control of the movement of the vessel according to claim 1, characterized in that it includes a video surveillance unit connected to the switching unit, configured to connect a set of video surveillance cameras located in the interior of the vessel and outside the vessel with an overview of the cargo ship.

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