-Take the maritime patrol boat as an example.

catalogue

Abstract 3

I. Overview of the development trend of intelligent ships 4

1. Reasons for developing intelligent ships 4

2. What is an intelligent ship?

3. Intelligent Ship Function Module 4

4. Key technologies of intelligent ship 4

5. Current technologies and difficulties

6. Advanced international achievements 6

7. General comment 7

Two. Introduction of maritime patrol boat 7

Three. Intelligence of maritime patrol boat

1. Communication and identification 1 0

2. Safety and automatic navigation 1 1

3. Ship power 1 3

abstract

As an important means of marine transportation, the intelligentization of ships has become the focus of attention of all countries in the world. This paper summarizes the characteristics of intelligent ships, summarizes the achievements, and points out the existing problems and possible improvement measures and ideas. Based on China's vast sea area and existing technical foundation, this paper explores possible measures and methods for maritime patrol boats in communication and identification, safety and automatic navigation, and power.

Key words: intelligent ship, maritime patrol boat, intelligent electronic navigation.

I. Overview of Intelligent Ships

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1. Reasons for developing intelligent ships

In recent years, due to the rise of the concept of intelligent ship and the increasing development of intelligent ship technology, ship intelligence has become the general trend of global shipping. In order to reduce the difficulty of ship control and management, reduce human misoperation, improve the safety of equipment and ship operation, optimize ship navigation, control fuel consumption, reduce costs and improve profits, the research on intelligent ships has been carried out worldwide. []

2. What is an intelligent ship?

20 15 12 1 and China Classification Society (CCS) published the Specification for Intelligent Ships, which defined: "Intelligent ships mean to automatically perceive information and data by means of sensors, communications, the Internet, and realize intelligent operation through automatic control technology and big data processing and analysis technology." Based on "big data", intelligent ships use advanced information technologies such as real-time data transmission and collection, large-capacity calculation, digital modeling and remote control to realize intelligent perception, judgment and analysis, decision-making and control of ships, thus better ensuring the navigation safety and operational efficiency of ships. Intelligent ship is also a clear key development field in Made in China 2025, which represents the future development direction of the ship and is related to the transformation and upgrading of the shipping industry. []

3. Intelligent ship function module

The Code for Intelligent Ships issued by China Classification Society divides intelligent ships into six functional modules: intelligent navigation, intelligent hull, intelligent engine room, intelligent energy efficiency management, intelligent cargo management and intelligent integrated platform.

4. Key technologies in intelligent ships?

(1) information perception technology

Ship information perception refers to a technical means by which a ship can obtain all kinds of information about itself and its surrounding environment based on various sensing devices, sensing networks and information processing equipment, so that the ship can sail more safely and reliably.

(2) Communication and navigation technology

Communication technology is used to realize the information interaction between the system and equipment on board, between the ship and the shore station, and between the ship and the navigation mark. Commonly used communication methods mainly include VHF (Very High Frequency), maritime private network, maritime satellite, mobile communication network (mobile phone network) and so on. Navigation technology is used to guide the ship to move from one point to another on the specified route, which usually includes positioning, destination selection, path calculation and path guidance. The navigation technologies commonly used in ships include early radio navigation and satellite navigation, which are widely used now. Beidou satellite navigation system provides new development opportunities for China's ship navigation field.

(3) Energy efficiency control technology

In 2007, the CO2 emitted by ships in the world shipping reached 65.438+0.4 billion tons, of which 870 million tons were emitted by international shipping, accounting for 3.3% and 2.7% of the global CO2 emissions respectively. In order to improve the ship's energy efficiency and reduce the greenhouse gas emissions (energy saving and emission reduction), the International Maritime Organization (IMO) put forward evaluation standards such as EEDI (Energy Efficiency Index for New Shipbuilding Design) and EEOI (Energy Efficiency Index for Ship Operation). The development of intelligent ships should conform to the development trend of "green ships", and analyze the internal relationship between navigation environment, loading capacity, draught, main engine power (rotational speed) and EEOI. Under the premise of ensuring the safety and operational efficiency of the ship, the EEOI index can be reduced to the maximum extent by optimizing the control of the ship's speed, loading capacity, draft and route.

(4) Route planning technology

Route planning refers to the intelligent and real-time selection of the ship's position and navigation channel according to the traffic flow control information, the ship density in the front channel, the company's ship timetable information, the channel water flow distribution information and the navigation difficulty information, so as to optimize the route and achieve the purpose of safety, efficiency and environmental protection. At present, the commonly used path planning methods include linear programming, mixed integer programming model, genetic algorithm, simulated annealing, particle swarm optimization algorithm and other intelligent algorithms.

(5) Condition monitoring and fault diagnosis technology

Condition monitoring technology is a technology to predict the running state of equipment by monitoring the development trend of equipment vibration. By knowing the health status of the equipment, we can judge whether the equipment is in a stable state or a deteriorating state. In the future, ship fault diagnosis can be based on big data, and multi-scale analysis method can be used to build equipment condition monitoring system. Fault diagnosis technology is to master the running state of marine machinery and equipment, analyze and process the useful information obtained from the test of the diagnosed object, judge whether the state of the diagnosed object is abnormal or faulty, judge the parts with deteriorated state, determine the cause of failure and predict the development trend of state deterioration.

(6) distress warning and rescue technology

Water traffic accidents happen from time to time, especially collision and grounding accidents, which often cause serious economic losses and casualties. Whether at sea or in inland waters, ship collision is the most common type of water traffic accidents, accounting for a large proportion of all water traffic accidents. Ship distress warning and search and rescue technology can effectively reduce the accident rate and reduce accident losses.

(7) Autonomous navigation technology

According to the definition in "Intelligent Ship Code", intelligent navigation refers to the analysis and processing of perceived and obtained information by using computer technology and control technology, and the design and optimization of ship route and speed; When feasible, with the help of shore-based support center, ships can automatically avoid collisions in open waters, narrow waterways and complex environmental conditions, and realize autonomous navigation. []

5. Achievements and difficulties of current technological development

Although GPS, AIS, electronic chart, VHF and other radio equipment and navigation equipment are widely used in modern ships, as well as automatic systems such as integrated bridge building system, integrated control system and engine room monitoring and alarm system based on various automatic equipment, the technology is mature, but there is still a big gap between the above-mentioned intelligent ships and their requirements for intelligence. Whether it is ship-shore large-capacity communication technology, big data analysis technology, intelligent decision-making technology, integration and transformation of existing data, or related standards that must be planned and sorted out, it is an arduous task for shipbuilders.

It is suggested that on the basis of existing technology and infrastructure, combined with electronic navigation and electronic inland river planning, the research on key technologies should be accelerated and the intelligent functions of existing equipment should be expanded.

6. Current international advanced achievements

In 20 12, the "MUNIN" project (unmanned ocean voyage based on intelligent network) [28], which was co-operated by eight research institutions including Fraunhofer CML, MARINTEK and chalmers University of Technology in Sweden, carried out the research on large unmanned bulk carriers for the first time.

DNV has been doing research on hull structure monitoring, ship performance management and integrated hull management. A digital hull model is established and corresponding tools are developed, which can provide shipping companies all over the world with technical services such as system monitoring and reporting, high-quality and comprehensive visual information, life cycle information and clear communication through 3D structural model.

As one of the largest suppliers of ship equipment in the world, rolls royce Company of England has put forward the concepts of autonomous ship, robot ship, unmanned ship and ship intelligence in recent years. In 20 13, rolls royce company carried out the research on the robot cargo ship project, which can realize all operations from the holographic control room and sail all over the world. Rolls royce believes that the next development of intelligent ships should focus on remote control and unmanned driving. In 20 14, the company began to develop a shore-based remote control system named "Future Operator Experience Concept". 2065438+In March 2006, the company formed a partnership with Finnish National Technology Research Center (VTT), Aalto University and Tampere University Human-Computer Interaction Research Center, and planned to launch molded products before 2020. Through technical cooperation with VTT, rolls royce Company can effectively evaluate the design scheme of remote-controlled automatic ship. []

7. General remarks

Generally speaking, some related technical theories of intelligent ship are relatively mature (environmental awareness technology, communication and navigation technology, condition monitoring and fault diagnosis technology, etc.). ) and has been applied in practice, but some technical theories lack verification in real environment (energy efficiency control technology, route planning technology, safety early warning technology, autonomous navigation technology, etc.). ). Therefore, intelligent ships are still in the stage of rapid development and not yet fully mature. With the development of ship technology and information technology, and the intelligent application of "big data", the emergence of intelligent ships is accelerating. The development of ship intelligence will be an important factor to determine the future development direction of ship industry; In addition to key technologies such as information perception, communication and navigation, and energy efficiency management, automatic parking, offshore, automatic maintenance, automatic cleaning, automatic replacement of equipment parts, and self-protection will also tend to be intelligent; With the continuous development of ship intelligence related technologies, intelligent system equipment can be gradually transformed into intelligent ships with thinking ability, thus promoting the safe and efficient navigation of ships. Bring new development opportunities for China shipping.

Second, introduce maritime patrol boats.

China is a big maritime and shipping country and a Class A member of the International Maritime Organization, which plays an important role in the peaceful development and utilization of marine resources and the implementation of international conventions. However, due to historical reasons, China's water traffic safety supervision and management ability can not meet the needs of economic development, which is extremely disproportionate to China's status as a maritime power and a shipping power. The Outline of China Maritime Development in 2000 1 year put forward that by 2005, China Maritime will bring international routes and offshore facilities within 1000 nautical miles into the scope of supervision, and the emergency arrival time of important trunk routes and important ports within 50 nautical miles will not exceed 3 hours. There are many requirements to achieve this goal, one of which is a modern maritime patrol boat with long-range capability.

Maritime patrol boats play a key role in many aspects such as maritime cruise law enforcement, and their tasks mainly include: 1, maritime patrol, supervision, vigilance, escort and traffic guidance; 2. Law enforcement and evidence collection; 3. Emergency search and rescue: undertake maritime search and rescue organization and maritime emergency duty work, and coordinate and guide related work.

The photoelectric tracking and evidence collection system that should be equipped on the maritime patrol boat can well realize maritime evidence collection and effectively carry out activities such as investigation and handling of maritime traffic accidents, search and water pollution detection. Unlike land forensics, maritime forensics will change or even disappear with time, current and wind direction. Timely and accurate evidence collection at sea is extremely important. Therefore, the system can be applied to maritime patrol boats.

The maritime patrol boat also has a special cabin-multi-function hall. This hall is similar to a conference room, but the difference is that it has a giant screen monitor and a console for installing computers and various electronic equipment. This hall is not only used to hold emergency meetings, but also can communicate with fishery administration and customs ships through Ethernet system with special frequency points or even high-frequency wireless calls. You can also access the national maritime network and even the International Maritime Organization through the maritime satellite system on board.

Maritime patrol boats can ensure the security of China's territorial waters and help China achieve the grand goal of maritime transparency. And its intelligence is the development trend of maritime patrol boats, and it is also the direction we should strive for.

Third, the intelligence of maritime patrol boats.

Zazie Hoko

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Based on the characteristics of maritime patrol boats and the existing technical foundation, it is necessary and feasible to realize the limited intelligence of maritime patrol boats. The task and function of maritime patrol boats have their particularity, which is different from other types of boats. Its main task types include patrol and escort, supervision and law enforcement, search and rescue command, pollution prevention and control business and safeguarding national security interests. [5] According to the regulatory objectives set by the National Layout Specification for Water Traffic Safety and Rescue System, patrol boats should be able to operate in 12? H any waters within 200 nautical miles offshore, key waters within 50 nautical miles offshore, and arrive within 90 minutes. The mission requires obvious ship speed, but considering fuel saving and low-speed cruise, the ship will only speed up quickly when necessary, so it is required that the ship should have low fuel consumption rate at both low speed and high speed. At the same time, considering that most major shipwrecks occur in bad sea conditions, ships are required to have excellent maneuverability and seaworthiness, great endurance and structural strength, and advanced communication command and rescue equipment. Table 1 summarizes the correlation between the main tasks of maritime performance and the main performance of ships, in which the survivability of ships mainly refers to the stability and sinking resistance of ships [6].

In view of the above specifications and requirements for maritime patrol boats, this paper will discuss the possible measures and ideas for maritime patrol boats in solving communication and identification, safety and automatic navigation and power.

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1. Communication and identification

? ? The communication between ships is mainly through satellite communication and ground communication. Regarding the communication between maritime patrol fleets, mobile ad hoc network technology can be considered. Ad hoc network refers to a multi-hop temporary autonomous system composed of a group of mobile nodes with wireless receiving equipment. It is mainly used in the environment without the support of network infrastructure, or when the existing network cannot meet the requirements of mobility and maneuverability. Ad hoc networks generally adopt on-demand routing strategy. On-demand routing thinks that in the dynamic ad hoc network environment, there is no need to maintain the route to other nodes, and only when there is no land trip to this node can the route be found on demand, and the topology structure and routing table content can be established on demand. Through the above deployment, real-time data exchange between formations can be realized.

With regard to ship identification, in the late 1990s, the United States, Japan and Western European countries developed Intelligent Transportation System (ITS), which has matured and pointed out the direction for the development of this field. Ship Traffic Service System (VTS) was first established in Europe, initially applied to inland waters, and widely used in coastal countries.

For maritime patrol boats, the main law enforcement targets include both large ships with compulsory AIS system and small ships in relevant waters. Based on the relevant situation, this paper mainly puts forward two identification methods based on VTS+AIS mode (automatic ship identification system of ship traffic management system) and GPS+GIS+GPRS/CDMA system.

VTS is an electronic system that displays the information of ship's position, speed and direction on the display through front-end radar and back-end integrated information processing system, and realizes traffic flow organization and navigation aid service. The advantages of this combination

It is to give full play to the complementary role of radar and radar, and basically achieve full coverage for large ships that require terminal equipment. However, the cost of ship-borne equipment is relatively high, so the installation cost is too high, and small ships such as gravel carriers are non-ships, so there is no requirement for compulsory terminal installation. Therefore, this scheme is not easy to be popularized and implemented on small ships.

The positioning accuracy of GPS+GIS+GPRS/CDMA system is relatively high, the resolution can reach 15m, and the speed measurement accuracy can reach 0. 1msec. It can grasp the surrounding information more accurately, mark the position information of the ship on the chart through the map, and realize the monitoring and management of the ship. It is more conducive to providing navigation aid services for the safe navigation of ships in coastal areas, inland rivers and other areas with high coverage of mobile and Unicom networks. It is more conducive to real-time communication. Within the coverage of mobile and Unicom networks, the network transmission speed is faster and the transmission accuracy is higher, which also achieves the purpose of networking communication. Economical, practical and cost-effective, which is the biggest advantage compared with other ship monitoring methods. Some small construction ships, forcing them to install expensive equipment, will bring great economic pressure to these ships. The scheme based on can make full use of the public communication service network, and the network communication cost is lower, and the ship-borne terminal cost is lower, which will not increase the economic burden of the ship like equipment and is more conducive to popularization.

Because the data formats of GPS information and AIS information can be converted by technical means, the ship data information can be displayed in the system in an integrated way.

2. Safe automatic navigation

The navigation of intelligent ships puts forward high requirements for the safety of communication and the reliability of equipment. Generally speaking, a complete security model should consist of the following five parts: security management, intrusion detection, security protection, security recovery and security response. The evaluation of a network security degree should follow the "Cannikin Law", that is, the lowest network security degree is the basis of judgment. Therefore, a safe and leak-free system should strengthen network security from all aspects and build a multi-layer security protection network. In the realization of positioning function and data transmission, the GPS positioning system and GPRS network system with stable signal and low cost are selected, which highlights the concept of saving money. In the application of ship monitoring system in management, through the study of the new system, the method of integrating the ship AIS target into the target is found, which caters to the trend of system integration. In the aspect of network architecture, the VTS security network is carefully analyzed and studied, and a four-layer security framework is proposed.

The structure embodies the concept of network security.

The automatic navigation of intelligent ships needs a series of software and hardware support. The existing single-person bridge-building and unmanned engine room technology is unstable and usually cannot play its due role in practice. In the algorithm design of intelligent ship, the system should adopt variable universe fuzzy control, and realize the accurate control of ship course by controlling the rudder angle output in real time. At present, the fourth generation automatic driving system is based on expert system, fuzzy control and neural network control algorithm. At present, the common ship course control system is mainly composed of upper computer, course controller and steering gear servo system. The upper computer is the sending end of data parameters, which mainly realizes the setting of course control value and the input of current ship disturbance. Based on the relevant data, the heading controller controls the output of rudder angle value through intelligent algorithm operation; Finally, the rudder servo system realizes rudder control and current rudder angle feedback, so as to realize intelligent control of ship course.

The collision avoidance function of intelligent ships is also an important issue to be considered in the process of ship navigation. Different ship types have different turning radii and angular velocities at different speeds. In order to realize the ARPA function of ship collision avoidance, the mathematical model of each ship type is different. If it is a transport ship, its characteristics vary with the load. In other words, ARPA software for ship collision avoidance should also have the ability of "continuous learning" to meet the needs of maritime patrol boat patrol law enforcement. Compared with the traditional "ARPA function", the new navigation radar should have an interface with the "ship energy efficiency management system" to realize the input and real-time correction of its own ship type characteristic data.

Compared with the traditional "observation", the new navigation radar should have an interface with meteorological equipment such as "ship meteorological instrument" to realize automatic input and real-time correction of meteorological characteristic data such as weather and waves. Depending on the size of the target, the range needs to be changed or the gain needs to be adjusted. The new navigation radar itself can realize automatic adjustment. In addition, with the help of shore-based support center, automatic adjustment can be realized by remote control.

Modern navigation radar display can be integrated with electronic chart display and information system (ECDIS) and automatic ship identification system (AIS). Such radar map is the real-time scene of intelligent ship. Compared with the traditional "fusion observation", the new navigation radar can connect with the external communication system or intelligence system, and can transmit the "real-time scene" to the shore-based support center, so as to realize the shore-based interaction, better safeguard China's interests and realize the scheduled functions of maritime patrol boats.

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[If! Support list ]3. ? [endif] ship power

Maritime patrol boats have clear requirements on speed, and they are required to reach the accident area within a specified time, and they are also required to cruise for a long time. This requires performance, especially the speed and reliability of the marine patrol boat power plant. At present, the marine power system can be divided into two types: diesel engine power system and gas turbine power system. The former has the advantages of safety, reliability, economy, fast start-up, good performance and considerable efficiency under most loads in the power range, and its technology is mature, but at present more than half of the ships on the market adopt this system; The latter has the advantages of light weight, high power, small volume and environmental protection, but it also has the disadvantages of high fuel consumption and high fuel demand. At present, the development trend of domestic marine power system is: conventional intelligent diesel engine power system with dual fuel and single cylinder and high output power, electric power system (adopting AC frequency conversion technology, easy to arrange, save energy, low noise and easy to realize automatic control), and hybrid power system (high reliability, often used in military ships and large ocean-going merchant ships).

The PID controller is often used in the speed regulation of marine steam turbines, mainly because the PID algorithm has the characteristics of simple structure and easy implementation, which is conducive to the intelligent control of power system. The conventional PID algorithm needs manual trial and error, which is not conducive to the realization of ship intelligence. In order to realize intelligent transformation, a fuzzy PID controller based on fuzzy neural network is adopted.

References:

[1]. Overview of intelligent ship development at home and abroad. .2017-07-1/2017-12-06.

[2]. Introduction of Intelligent Ship Specification J. Ship Engineering, 2016-09-15: 01-02.

[3] Li Choi Wha. Present situation and development trend of intelligent ship OL. Internet. 20 16- 12- 14/20 17- 12-06.

[4]. Liang, Xie, Wu Hongcheng's paper J.2017-07-012017-12-06 "Research on the Development of Intelligent Ships".

[5]. Yang Libo, Wang Wang and Deng Aimin. Research on maritime patrol boat and its performance index. J. Ship-to-Ocean Engineering 20 13(2)

[6]. Zhao, Xie Xinlian,. Mathematical modeling of maritime patrol boat optimization J. China Navigation 20 16( 1).