CN-224216097-U - Ship collision avoidance navigation system with dynamic obstacle recognition function

Abstract

The utility model relates to the technical field of navigation, in particular to a ship collision avoidance navigation system with a dynamic obstacle recognition function, which comprises a solid-state laser radar, a millimeter wave radar, a vision sensor, an AIS receiver, a GNSS receiver, an inertial measurement unit and a central processing unit. According to the utility model, by integrating a plurality of advanced sensors and control modules on a hardware level, an intelligent collision avoidance system integrating high-precision, all-weather and full-time sensing and decision-making capabilities is constructed.

Inventors

• CHEN WEI
• SHEN YILIN
• ZHOU MINGJIE
• JIANG BO
• GONG JIANYUN
• GU XIUTAO
• ZHOU ZIHAN

Assignees

• 南京渝力科技有限公司

Dates

Publication Date

20260508

Application Date

20250617

Claims (6)

1. 1. A ship collision avoidance navigation system with a dynamic obstacle recognition function is characterized by comprising a solid-state laser radar, a millimeter wave radar, a vision sensor, an AIS receiver, a GNSS receiver, an inertial measurement unit and a central processing unit, wherein the solid-state laser radar transmits the shape, outline, size and distance information of an obstacle in a range of hundreds of meters, which are accurately detected, to the central processing unit, the millimeter wave radar transmits the position and distance of the obstacle in a range of a few kilometers to the central processing unit, the vision sensor provides obstacle image information under good illumination and low illumination conditions and transmits the obstacle image information to the central processing unit, the AIS receiver receives ship broadcast information with AIS equipment nearby and transmits the information to the central processing unit, the GNSS receiver provides the absolute geographic position, SOG/COG of the ship and provides accurate time stamps and transmits the information to the central processing unit, and the inertial measurement unit provides the acceleration and angular velocity information of the ship and helps calculate the speed and direction change of the ship when GPS signals are poor.
2. 2. The marine collision avoidance navigation system with dynamic obstacle recognition functionality of claim 1, wherein the central processing unit comprises an STM32F103 controller.
3. 3. The marine vessel collision avoidance navigation system with dynamic obstacle recognition according to claim 2, wherein the vision sensor comprises a visible light camera and a thermal infrared camera.
4. 4. A ship collision avoidance navigation system with dynamic obstacle recognition function according to claim 3, wherein the inertial measurement unit comprises a 6-axis MEMS motion sensor, a 9 th pin of the 6-axis MEMS motion sensor is connected with a 34 th pin of the STM32F103 controller, a 25 th pin of the 6-axis MEMS motion sensor is connected with a 33 th pin of the STM32F103 controller, and a 26 th pin of the 6-axis MEMS motion sensor is connected with a 32 th pin of the STM32F103 controller.
5. 5. The marine collision avoidance navigation system with dynamic obstacle recognition according to claim 4, wherein the GNSS receiver is a Beidou GNSS receiver.
6. 6. The ship collision avoidance navigation system with dynamic obstacle recognition according to claim 5, further comprising multi-beam sounding sonar for recognizing underwater obstacles and semi-submerged objects approaching the water surface.

Description

Ship collision avoidance navigation system with dynamic obstacle recognition function Technical Field The utility model relates to the technical field of navigation, in particular to a ship collision avoidance navigation system with a dynamic obstacle recognition function. Background Currently, obstacle recognition and obstacle avoidance in ship navigation are mainly dependent on a single radar device. Although radar performs well in detection ranges and severe weather conditions, it has some inherent limitations, particularly as follows: 1) Ships rely on a single type of radar (e.g., X-band or S-band) for ambient environmental monitoring. However, such single mode radars do not provide high resolution target images, especially in close range complex environments, with limited detection capability for small size targets or low reflectivity objects. In addition, it is difficult for the radar to accurately discern the specific shape, contour and motion state of the target, which presents challenges for accurate obstacle avoidance. 2) The advantages of other sensors are ignored by using radar only as the sole sensing means. These sensors can provide complementary information under different conditions, such as lidar can provide highly accurate distance and shape information, while visual sensors are good at identifying and classifying obstacles. The advantages of multiple sensors are not fully utilized, limiting the overall performance of the system. 3) The existing visual recognition system is easily affected by illumination conditions and weather conditions, and the performance of the system is obviously reduced in low illumination or severe weather (such as fog, rain, snow and the like), so that the stable obstacle recognition capability cannot be ensured, and the navigation safety is affected. 4) Under the condition that GNSS signals are lost or interfered (such as under-bridge, canyon and the like), the traditional inertial navigation system is difficult to maintain high-precision attitude estimation for a long time, so that dead reckoning errors are accumulated, and the reliability of the collision avoidance system is affected. Disclosure of utility model The utility model provides a ship collision avoidance navigation system with a dynamic obstacle recognition function, which is characterized in that an intelligent collision avoidance system integrating high-precision, all-weather and full-time sensing and decision-making capabilities is built by integrating a plurality of advanced sensors and control modules on a hardware level. The technical scheme includes that the ship collision avoidance navigation system with the dynamic obstacle recognition function comprises a solid-state laser radar, a millimeter wave radar, a vision sensor, an AIS receiver, a GNSS receiver, an inertial measurement unit and a central processing unit, wherein the solid-state laser radar transmits the shape, outline, size and distance information of an obstacle in hundreds of meters which are accurately detected to the central processing unit, the millimeter wave radar transmits the position and distance of the obstacle in the range of a few kilometers to the central processing unit, the vision sensor provides obstacle image information under good illumination and low illumination conditions and transmits the obstacle image information to the central processing unit, the AIS receiver receives ship broadcasting information with AIS equipment nearby and transmits the ship broadcasting information to the central processing unit, the GNSS receiver provides absolute geographic position, SOG/COG of the ship and provides accurate time stamps to the central processing unit, and the inertial measurement unit provides acceleration and angular velocity information of the ship and helps calculate speed and direction change of the ship when GPS signals are poor. As an optimization scheme of the utility model, the central processing unit comprises an STM32F103 controller. As an optimization scheme of the utility model, the visual sensor comprises a visible light camera and a thermal infrared camera. As an optimization scheme of the utility model, the inertial measurement unit comprises a 6-axis MEMS motion sensor, a 9 th pin of the 6-axis MEMS motion sensor is connected with a 34 th pin of the STM32F103 controller, a 25 th pin of the 6-axis MEMS motion sensor is connected with a 33 th pin of the STM32F103 controller, and a 26 th pin of the 6-axis MEMS motion sensor is connected with a 32 nd pin of the STM32F103 controller. As an optimization scheme of the utility model, the GNSS receiver is a Beidou GNSS receiver. As an optimization scheme, the ship collision avoidance navigation system with the dynamic obstacle recognition function further comprises multi-beam sounding sonar, wherein the multi-beam sounding sonar is used for recognizing underwater obstacles and semi-submerged objects approaching the water surface. The system has the advantage