Water surface vehicle sailing safety verification system and operating method thereof

Abstract

The present invention discloses a water surface vehicle sailing safety verification system and operating method thereof. Specifically, the water surface vehicle sailing safety verification system and operating method thereof has a calculating unit, a storage unit and an output unit. The calculating unit uses data from the storage unit to generate obstacle information, and the output unit transmits the obstacle information to a sailing control module which is on a real water surface vehicle. The sailing control module controls the sailing of the real water surface vehicle for obstacle collision avoidance test via hardware-in-the-loop.

What is claimed is: 
     
         1 . A water surface vehicle sailing safety verification system, comprising:
 a calculating unit;   a storage unit, connected with the calculating unit;   wherein the storage unit comprises an encounter situation calculating module, a sensing noise calculating module, a vessel motion calculating module, a vessel motion parameter model and a wind-wave current parameter model;   wherein the encounter situation calculating module comprises:
 a first input unit, providing a user to input a test situation and a test parameter; 
 a second input unit, providing the user to load an information of a real water surface vehicle located on a real sea area; 
   wherein the calculating unit uses the vessel motion calculating module to calculate a real-time motion information via the test situation and the user inputs the test parameter;   wherein the calculating unit uses the vessel motion parameter model, the wind-wave current parameter model and the sensing noise calculating module uses the real-time motion information to generate obstacle information;   an output unit, connected with the calculating unit.   
     
     
         2 . The water surface vehicle sailing safety verification system as claimed in  claim 1 , wherein the calculating unit is Central Processing Unit (CPU), Graphics Processing Unit (GPU) or the combination thereof. 
     
     
         3 . The water surface vehicle sailing safety verification system as claimed in  claim 1 , wherein the storage unit is Solid State Disk (SSD), Hard Disk Drive (HDD) or Random Access Memory (RAM). 
     
     
         4 . The water surface vehicle sailing safety verification system as claimed in  claim 1 , wherein the first input unit is keyboard, mouse, touch panel or the combination thereof. 
     
     
         5 . The water surface vehicle sailing safety verification system as claimed in  claim 1 , wherein the second input unit is network socket, serial port, wireless fidelity or the combination thereof. 
     
     
         6 . The water surface vehicle sailing safety verification system as claimed in  claim 1 , wherein the real water surface vehicle is a vessel. 
     
     
         7 . The water surface vehicle sailing safety verification system as claimed in  claim 1 , wherein the test situation is head-on situation, crossing situation, overtaking or the combination thereof. 
     
     
         8 . The water surface vehicle sailing safety verification system as claimed in  claim 1 , wherein the test parameter is a collision time, relative ship speed and relative heading angle between the real water surface vehicle and at least one obstacle water surface vehicle. 
     
     
         9 . The water surface vehicle sailing safety verification system as claimed in  claim 1 , wherein the information of the real water surface vehicle is a position, a ship speed and a heading of the real water surface vehicle on the real sea area. 
     
     
         10 . The water surface vehicle sailing safety verification system as claimed in  claim 1 , wherein the output unit is wireless fidelity or cable network. 
     
     
         11 . An operating method of a water surface vehicle sailing safety verification system, comprising the following steps:
 (A) providing the water surface vehicle sailing safety verification system as claimed in  claim 1 ;   (B) the user inputting the test situation and the test parameter via the first input unit;   (C) the user inputting the information of the real water surface vehicle on the real sea area via the second input unit;   (D) the calculating unit using the storage unit to generate the obstacle information;   (E) the output unit sending the obstacle information to a sailing control module of the real water surface vehicle; and   (F) the sailing control module controlling a heading and a ship speed of the real water surface vehicle via the obstacle information to carry out an obstacle collision avoidance test.   
     
     
         12 . The operating method of the water surface vehicle sailing safety verification system as claimed in  claim 11 , wherein the step (D) further comprises:
 (D1) the calculating unit using the vessel motion calculating module to calculate a real-time motion information via the user inputting the test situation and the test parameter; and   (D2) the calculating unit using the vessel motion parameter model, the wind-wave current parameter model and the sensing noise calculating module to calculate the obstacle information via the real-time motion information.   
     
     
         13 . The operating method of the water surface vehicle sailing safety verification system as claimed in  claim 11 , wherein the step (F) further comprises:
 (F1) the real water surface vehicle continuing to sail to a first obstacle water surface vehicle on a sailing lane, when the real water surface vehicle is getting closer and closer to the first obstacle water surface vehicle and a collision risk is less than a threshold, a collision avoidance mode is turned on;   (F2) the sailing control module controlling the real water surface vehicle to sail in a first direction, the real water surface vehicle dodging the first obstacle water surface vehicle; and   (F3) when the collision risk being greater than the threshold, the sail control module controlling the real water surface vehicle to sail in a second direction, the real water surface vehicle returning to the sailing lane.   
     
     
         14 . An operating method of a water surface vehicle sailing safety verification system, comprising the following steps:
 (S1) providing the water surface vehicle sailing safety verification system as claimed in  claim 1 ;   (S2) the user inputting the test situation and the test parameter via the first input unit;   (S3) the user inputting the information of the real water surface vehicle on the real sea area via the second input unit;   (S4) the calculating unit using the storage unit to generate the obstacle information;   (S5) the output unit sending the obstacle information to a sensor unit of the real water surface vehicle, the sensor unit filtering noise of the obstacle information to generate a filtered obstacle information;   (S6) the sensor unit sending the filtered obstacle information to a sailing control module of the real water surface vehicle; and   (S7) the sailing control module controlling a heading and a ship speed via the filtered obstacle information to carry out the obstacle collision avoidance test.   
     
     
         15 . The operating method of the water surface vehicle sailing safety verification system as claimed in  claim 14 , wherein the step (S5) further comprises:
 (S51) the output unit sending the obstacle information to the sensor unit of the real water surface vehicle;   (S52) the calculating unit using the sensing noise calculating module to generate a sensing signal, and the calculating unit sending the sensing signal to the output unit, the output unit sending sensing signal to the sensor unit; and   (S53) the sensor unit filtering noise of the obstacle information to generate the filtered obstacle information.