阅读说明：本技术 船舶安全控制系统、控制方法和船舶 (Ship safety control system, control method and ship ) 是由 蔡笑驰 顾一清 罗蓉 李鑫 张亮亮 华先亮 陈立 于 2020-06-11 设计创作，主要内容包括：本发明提供了一种船舶安全控制系统、方法和船舶,涉及船舶控制领域,该系统包括依次连接的传感单元、决策单元、告警单元以及控制单元；传感单元用于采集船舶外部信息及船舶内部信息；决策单元用于根据船舶外部信息和船舶内部信息确定当前船舶的状态信息；告警单元用于在状态信息异常时生成告警信息；控制单元用于接收到告警信息时,向当前船舶的功能执行系统下发控制指令,以通过功能执行系统对当前船舶进行控制；其中,功能执行系统包括设置于当前船舶的能源动力系统、航行系统和姿态控制系统。本发明可以在无需人员介入的情况下针对船舶安全风险进行自主决策及应对,提升了船舶安全控制能力,进而为船舶的无人化及自主化奠定了基础。(The invention provides a ship safety control system, a ship safety control method and a ship, and relates to the field of ship control, wherein the system comprises a sensing unit, a decision unit, an alarm unit and a control unit which are sequentially connected; the sensing unit is used for acquiring ship external information and ship internal information; the decision unit is used for determining the current state information of the ship according to the external information and the internal information of the ship; the alarm unit is used for generating alarm information when the state information is abnormal; the control unit is used for issuing a control instruction to a function execution system of the current ship when receiving the alarm information so as to control the current ship through the function execution system; the function execution system comprises an energy power system, a navigation system and an attitude control system which are arranged on the current ship. The invention can make autonomous decision and response aiming at the ship safety risk without personnel intervention, improves the ship safety control capability, and further lays a foundation for the unmanned and autonomous ship.)

1. A ship safety control system is characterized by comprising a sensing unit, a decision unit, an alarm unit and a control unit which are connected in sequence;

the sensing unit is used for acquiring ship external information and ship internal information;

the decision unit is used for determining the state information of the current ship according to the ship external information and the ship internal information;

the alarm unit is used for generating alarm information when the state information is abnormal;

the control unit is used for issuing a control instruction to a function execution system of the current ship when receiving the alarm information so as to control the current ship through the function execution system; the function execution system comprises an energy power system, a navigation system and an attitude control system which are arranged on the current ship.

2. The system of claim 1, wherein the sensing unit comprises a plurality of first sensors disposed at different locations of the vessel; the first sensor is used for acquiring the external information of the ship;

the first sensor comprises at least one of: laser radar, millimeter wave radar, panoramic camera, infrared camera, visible light camera, microwave sensor;

the ship external information comprises information acquired aiming at the ship external environment and/or the ship external state; the external environment of the ship comprises marine environment information and weather information; the external state of the ship comprises a normal sailing state and an abnormal sailing state of the ship.

3. The system of claim 2, wherein the sensing unit further comprises a plurality of second sensors disposed at different locations of the vessel; the second sensor is used for acquiring the internal information of the ship;

the second sensor comprises at least one of: a temperature sensor, a liquid level sensor, a smoke sensor, an infrared camera, a visible light camera;

the ship internal information comprises information acquired aiming at the internal environment and/or the internal state of the ship; the internal environment of the ship comprises the temperature, the liquid level, the smoke and the personnel position of each cabin of the ship; the internal state of the ship includes the operating state of equipment and/or various systems mounted on the ship and the state of cargo mounted on the ship.

4. The system of claim 1, wherein the decision unit is further configured to determine the status information of the current ship when the acquisition results obtained by the sensors in the sensing unit for the same target are inconsistent.

5. The system of claim 1, wherein the alarm unit is configured to initiate an alarm when the status information includes collision status information, overturning status information, grounding status information, and pirate threat information.

6. The system of claim 1, wherein the alarm unit is further configured to initiate an alarm when the ship is detected to be in a disaster-stricken abnormal state; the disaster abnormal state comprises fire, water immersion, personnel invasion, network invasion and equipment system faults.

7. A ship safety control method, characterized in that the method is performed by a ship safety control system according to any one of claims 1 to 6; the method comprises the following steps:

acquiring the ship external information and the ship internal information according to the sensing unit;

determining state information of a current ship through the decision unit based on the ship external information and the ship internal information;

when the state information is abnormal, generating alarm information through the alarm unit;

and based on the alarm information, issuing a control instruction to a ship function execution system through the control unit so as to control the ship through the function execution system.

8. The method of claim 7, wherein the step of generating alarm information by the alarm unit when the status information is abnormal comprises:

when the state information contains collision state information, overturning state information, grounding state information and pirate threat information, generating first alarm information through the alarm unit and initiating an alarm;

alternatively, the first and second electrodes may be,

when the state information contains disaster-suffering abnormal state information, generating second alarm information through the alarm unit and initiating an alarm; the disaster abnormal state information comprises fire, water immersion, personnel intrusion, network intrusion and equipment system faults.

9. The method of claim 7, wherein the step of issuing a control instruction to a ship function execution system through the control unit based on the alarm information to control a ship through the function execution system comprises:

determining preset countermeasures according to the types of the alarm information corresponding to different state information;

and issuing a control instruction to a ship function execution system through the control unit based on the preset countermeasure so as to control the ship through the function execution system.

10. A ship, characterized in that the ship comprises the ship safety control system according to any one of claims 1 to 6, and further comprises the function execution system.

Technical Field

The invention relates to the field of ship control, in particular to a ship safety control system and method and a ship.

Background

The safety problems of ships during navigation are numerous, and at present, the problems of ship collision, grounding, overturning, personnel invasion and the like are usually observed in a people overlooking mode, and the posture of the ship is adjusted according to the observed conditions so as to avoid the problems. Aiming at partial disasters such as fire disasters, water immersion disasters, equipment faults and the like on ships, the disasters are monitored and alarmed by the sensors, and then personnel intervene to solve the disasters. However, the manner of personnel intervention greatly depends on the response speed and response experience of personnel, and when an emergency safety accident occurs on a ship, the processing efficiency may be low due to the confusion of personnel, so that the safety risk is further increased, and even a major safety accident is caused.

Disclosure of Invention

The invention aims to provide a ship safety control system, a ship safety control method and a ship, which can perform autonomous decision and response aiming at ship safety risks without personnel intervention, improve the ship safety control capability and further lay a foundation for unmanned and autonomous ships.

In a first aspect, an embodiment of the present invention provides a ship safety control system, where the system includes a sensing unit, a decision unit, an alarm unit, and a control unit, which are connected in sequence; the sensing unit is used for acquiring ship external information and ship internal information; the decision unit is used for determining the current state information of the ship according to the external information and the internal information of the ship; the alarm unit is used for generating alarm information when the state information is abnormal; the control unit is used for issuing a control instruction to a function execution system of the current ship when receiving the alarm information so as to control the current ship through the function execution system; the function execution system comprises an energy power system, a navigation system and an attitude control system which are arranged on the current ship.

In an alternative embodiment, the sensing unit comprises a plurality of first sensors disposed at different locations of the vessel; the first sensor is used for acquiring ship external information; the first sensor includes at least one of: laser radar, millimeter wave radar, panoramic camera, infrared camera, visible light camera, microwave sensor; the ship external information comprises information acquired aiming at the ship external environment and/or the ship external state; the external environment of the ship comprises marine environment information and weather information; the external state of the ship includes a normal sailing state and an abnormal sailing state of the ship.

In an alternative embodiment, the sensing unit further comprises a plurality of second sensors disposed at different locations of the vessel; the second sensor is used for acquiring internal information of the ship; the second sensor includes at least one of: a temperature sensor, a liquid level sensor, a smoke sensor, an infrared camera, a visible light camera; the ship internal information comprises information acquired aiming at the internal environment and/or the internal state of the ship; the internal environment of the ship comprises the temperature, the liquid level, the smoke and the personnel position of each cabin of the ship; the internal state of the ship includes the operating state of the equipment and/or each system mounted on the ship and the state of the cargo mounted on the ship.

In an optional embodiment, the decision unit is further configured to determine the state information of the current ship when the acquisition results obtained by the multiple sensors in the sensing unit for the same target are inconsistent.

In an optional embodiment, the alarm unit is configured to initiate an alarm when the status information includes collision status information, overturning status information, grounding status information, and pirate threat information.

In an optional embodiment, the warning unit is further configured to initiate a warning when detecting that the ship is in a disaster-stricken abnormal state; the disaster abnormal state comprises fire, water immersion, personnel invasion, network invasion and equipment system faults.

In a second aspect, an embodiment of the present invention provides a ship safety control method, which is executed by the ship safety control system of any one of the foregoing embodiments; the method comprises the following steps: acquiring ship external information and ship internal information according to the sensing unit; determining the current state information of the ship through a decision unit based on the external information and the internal information of the ship; when the state information is abnormal, generating alarm information through an alarm unit; and based on the alarm information, issuing a control instruction to the ship function execution system through the control unit so as to control the ship through the function execution system.

In an optional embodiment, when the state information is abnormal, the step of generating the warning information by the warning unit includes: when the state information comprises collision state information, overturning state information, grounding state information and pirate threat information, generating first alarm information through an alarm unit and initiating an alarm; or when the state information contains the disaster-suffering abnormal state information, generating second alarm information through an alarm unit and initiating an alarm; the disaster abnormal state information comprises fire, water immersion, personnel invasion, network invasion and equipment system faults.

In an optional embodiment, the step of issuing a control instruction to the ship function execution system through the control unit based on the alarm information to control the ship through the function execution system includes: determining preset countermeasures according to the types of the alarm information corresponding to different state information; and issuing a control instruction to the ship function execution system through the control unit based on a preset countermeasure so as to control the ship through the function execution system.

In a third aspect, an embodiment of the present invention provides a ship, where the ship includes the ship safety control system according to any one of the foregoing embodiments, and further includes a function execution system.

The invention provides a ship safety control system, a ship safety control method and a ship, wherein the ship safety control system comprises a sensing unit, a decision unit, an alarm unit and a control unit which are sequentially connected, the sensing unit is used for acquiring ship external information and ship internal information, the decision unit is used for determining current ship state information according to the ship external information and the ship internal information, the alarm unit is used for generating alarm information when the state information is abnormal, the control unit is used for issuing a control instruction to a function execution system of the current ship to control the current ship through the function execution system when receiving the alarm information, and the function execution system comprises an energy power system, a navigation system and an attitude control system which are arranged on the current ship. The ship safety control system acquires information through the sensing unit, and decides according to the decision unit so as to determine the current state information of the ship, and the alarm unit gives an alarm when the state information is abnormal, so that the control unit controls the corresponding performance. Autonomous acquisition, decision, alarm and control are carried out through the ship safety system, autonomous decision and response can be carried out on the ship safety risk under the condition of no need of personnel intervention, the ship safety control capability is improved, and a foundation is laid for unmanned and autonomous operation of ships.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic structural diagram of a ship safety control system according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of another ship safety control system provided in an embodiment of the present invention;

fig. 3 is a schematic flow chart of a ship safety control method according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a ship according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

In consideration of the fact that the existing ship safety control mode generally adopts personnel to observe and adopts a mode of personnel intervention solution when safety accidents/risks occur, however, the mode usually depends on the reaction speed and the handling experience of personnel to a great extent, the processing efficiency is low, and the safety risk is relatively high. Aiming at the problem, the embodiment of the invention provides a ship safety control system, a ship safety control method and a ship, which can perform autonomous decision and response aiming at the ship safety risk without personnel intervention, improve the ship safety control capability and further lay a foundation for the unmanned and autonomous operation of the ship.

For convenience of understanding, firstly, a ship safety control system provided by an embodiment of the present invention is described in detail, and referring to a schematic structural diagram of a ship safety control system shown in fig. 1, the system includes a sensing unit, a decision unit, an alarm unit, and a control unit, which are connected in sequence, wherein the sensing unit includes multiple sensors disposed at different positions of a ship and used for acquiring ship external information and ship internal information, and types of the sensors selected when the ship external information and the ship internal information are acquired are mostly different, but may also include the same type of sensors, such as a visible light camera, an infrared camera, and the like. It is understood that when the visible light camera is used for collecting information outside the ship, information such as sea surface environment information and navigation information of other ships on the sea surface can be collected; when the visible light camera is used for collecting the internal information of the ship, personnel information, equipment information and the like on the ship can be collected. The decision unit is configured to determine current ship state information according to the ship external information and the ship internal information, and in one embodiment, the warning unit is configured to generate warning information when the state information is abnormal, where the warning information may be in an audio playing mode or a mode of flashing a warning lamp and whistling, and in specific implementation, the decision unit may select the current ship state information according to a type of the abnormal state information, where the selection is not specifically limited. The control unit is used for issuing a control instruction to the function execution system of the current ship to control the current ship through the function execution system when receiving the warning information, for example, after the control unit receives the warning information generated by the warning unit, the control unit may issue a control instruction to the function execution system through a communication mode preset with the function execution system of the current ship and control the control authority of the function execution system to make the ship respond and adjust to the current abnormal state, wherein the function execution system may include an energy power system, a navigation system and an attitude control system arranged on the current ship.

According to the ship safety control system provided by the embodiment of the invention, the sensing unit is used for acquiring the external information and the internal information of the ship, the decision is made through the decision unit based on the external information and the internal information of the ship so as to determine the current state information of the ship, the alarm unit gives an alarm when the state information is abnormal, and the control unit is used for controlling the responsiveness. Autonomous acquisition, decision, alarm and control are carried out through the ship safety system, autonomous decision and response can be carried out on the ship safety risk under the condition of no need of personnel intervention, the ship safety control capability is improved, and a foundation is laid for unmanned and autonomous operation of ships.

In one embodiment, the plurality of sensors disposed at different positions of the ship and included in the sensing unit include a plurality of first sensors for collecting information external to the ship, such as at least one of: laser radar, millimeter wave radar, panoramic camera, infrared camera, visible light camera, microwave sensor when specifically using, can carry out the adaptability according to the information that boats and ships actual need gathered and select, are not limited to the type of the first sensor mentioned above. The external information of the ship comprises information acquired aiming at the external environment of the ship and/or the external state of the ship, the external environment of the ship comprises marine environment information and weather information, such as air temperature, humidity, seawater temperature, salinity, depth, intensity and direction of wind, wave and flow, visibility, weather and other environmental information, and the external state of the ship comprises a normal navigation state and an abnormal navigation state of the ship and can also be understood as position and motion information of other ships and obstacles. When the ship external information is collected, only the ship external environment or the ship external state can be collected, and the ship external environment and the ship external state can be collected at the same time, so that any kind of ship external information can be identified according to the first sensor.

In addition, the various sensors disposed at different locations of the vessel that the sensing unit further comprises a second sensor for collecting vessel internal information, such as at least one of the following sensors: the temperature sensor, the liquid level sensor, the smoke sensor, the infrared camera and the visible light camera can be adaptively selected according to the information acquired by the actual requirement of the ship in specific application, and are not limited to the type of the second sensor. The internal information of the ship comprises information acquired aiming at the internal environment of the ship and/or the internal state of the ship, the internal environment of the ship can comprise the temperature, the liquid level, the smoke and the personnel position of each cabin of the ship, the internal state of the ship comprises the running state of equipment carried by the ship and/or each system and the carried cargo state, the running state of each system can comprise the running state of an energy power system, a navigation system and an attitude control system, and the internal state of the ship can also comprise other running states arranged in the system of the ship.

Through the sensing unit formed by the first sensor and the second sensor, the ship safety control system provided by the embodiment of the invention can further refer to a structural schematic diagram of another ship safety control system shown in fig. 2, wherein the type of the sensor in the diagram is only schematic and is not specifically limited. The decision unit is further used for determining the state information of the current ship when the acquisition results of the sensors in the sensing unit for the same target are inconsistent. The situation that the acquisition results obtained for the same target are inconsistent can be understood as that, if the ship external information is acquired as an example, when a plurality of cameras simultaneously sense a certain object but the sensing results are different, or a part of sensors sense the situation that other sensors of a certain obstacle do not sense the obstacle, the actual situation of the current obstacle can be determined by a certain information fusion method, the information fusion mode is not the key point protected by the invention, and details are not repeated here.

In consideration of the fact that a ship may encounter various safety risks such as collision, overturning, stranding, pirate threat and the like when sailing, the alarm unit is used for initiating an alarm when the state information includes collision state information, overturning state information, stranding state information and pirate threat information, and can perform an alarm in a voice broadcast, a warning lamp, a whistle and other manners.

In addition, the alarm unit is further configured to initiate an alarm when detecting that the ship is in an abnormal disaster-stricken state, where the abnormal disaster-stricken state may include a fire, water immersion, personnel intrusion, network intrusion, equipment system failure, and the like, and when the ship is in the abnormal disaster-stricken state, the specific disaster, the disaster occurrence location, and the abnormal disaster-stricken state may be alarmed in a broadcast manner and the like. Through the mode, personnel on the ship can know the disaster condition of the ship, the alertness of the personnel is improved, and the control unit can also perform targeted control according to the alarm information, so that the ship can recover the safe driving state.

In conclusion, the ship safety control system provided by the embodiment can perform autonomous decision and response aiming at the ship safety risk under the condition of no need of personnel intervention, improves the ship safety control capability, and further lays a foundation for unmanned and autonomous operation of ships.

In view of the ship safety control system provided above, an embodiment of the present invention provides a ship safety control method, which is executed by the ship safety control system of any one of the foregoing embodiments, and for easy understanding, see a schematic flow chart of a ship safety control method shown in fig. 3, where the method mainly includes the following steps S302 to S308:

and step S302, acquiring ship external information and ship internal information according to the sensing unit.

The external information of the ship may include external environmental information such as air temperature, humidity, sea water temperature, salinity, depth, intensity and direction of wind, wave, flow, visibility, weather, and the like, and external state information such as position and movement information of other ships and obstacles. The ship internal information may include information such as the temperature, liquid level, smoke, and personnel position of each cabin of the ship, and the operation state of equipment and systems mounted on the ship and the state information of cargo mounted thereon.

And step S304, determining the state information of the current ship through a decision unit based on the ship external information and the ship internal information.

In one embodiment, the decision unit may calculate ship external information or ship internal information, and determine the current state information of the ship according to the calculated result, where the state information may include, for example, sailing state information of the ship, personnel state information, equipment state information, and the like.

And step S306, when the state information is abnormal, generating alarm information through an alarm unit.

In one embodiment, when the above state information is abnormal, such as collision, overturn, grounding and pirate threat, or is in a fire, water-soaked state, or the like, an alarm information is generated by the alarm unit, and the alarm information may be generated in the form of voice, warning light or whistle, which is not limited in particular here.

And step S308, based on the alarm information, issuing a control instruction to the ship function execution system through the control unit so as to control the ship through the function execution system.

In one embodiment, the function execution system may include an energy power system, a navigation system, and an attitude control system, and the system to be controlled is determined according to the type of the generated warning message, such as when in an emergency collision avoidance state, a deceleration measure may be taken by controlling the energy power system, when the heading and heading control functions fail, a deceleration or parking operation may be taken on the ship by controlling the navigation system, when the ship's navigation attitude deviates, an attitude adjustment may be performed by controlling the attitude control system, and the like.

According to the ship safety control method provided by the embodiment of the invention, the sensing unit is used for acquiring the external information and the internal information of the ship, the decision is made through the decision unit based on the external information and the internal information of the ship so as to determine the current state information of the ship, the alarm unit gives an alarm when the state information is abnormal, and the control unit is used for controlling the responsiveness. Autonomous acquisition, decision, alarm and control are carried out through the ship safety system, autonomous decision and response can be carried out on the ship safety risk under the condition of no need of personnel intervention, the ship safety control capability is improved, and a foundation is laid for unmanned and autonomous operation of ships.

Considering that a ship may be subjected to various safety risks during actual navigation, the above-mentioned generation of the warning information by the warning unit when the state information is abnormal may be further performed in two ways:

(1) when the state information comprises collision state information, overturning state information, grounding state information and pirate threat information, generating first alarm information through an alarm unit and initiating an alarm. The first warning information may include information such as voice broadcast, warning lights, and whistling, and in one embodiment, the above abnormal state may be further warned, for example, when the decision unit determines that the current ship collides, the warning unit may warn, and may also broadcast an actual collision position, a severity (an abnormal level may be preset), and the like.

(2) When the state information comprises disaster-suffering abnormal state information, generating second alarm information through an alarm unit and initiating an alarm; the disaster abnormal state information includes fire, water immersion, personnel intrusion, network intrusion and equipment system failure, and the second alarm information may be information for alarming specific disaster, disaster occurrence position and disaster situation through broadcasting.

In one embodiment, when a ship faces threats such as collision, grounding, overturning and the like, a ship safety control system (also called a whole-ship comprehensive safety management and control system) sends an alarm to remind people and require personnel to intervene to avoid the threats. When a fire disaster, water immersion, personnel invasion, network invasion, equipment system fault and other disasters happen to a ship, the comprehensive safety management and control system for the whole ship sends out an alarm to remind and require personnel to intervene to control the development of the disasters. When personnel do not respond to the alarm within a certain time or directly take control measures, the comprehensive ship safety management and control system takes corresponding management and control measures according to the actual situation of the disaster, avoids or limits the occurrence of the disaster and restrains the influence caused by the disaster.

The step of issuing a control instruction to the ship function execution system through the control unit based on the alarm information to control the ship through the function execution system may include the following steps 1 and 2:

step 1, determining preset countermeasures according to types of alarm information corresponding to different state information. The different state information may include, for example, collision, grounding, overturning, fire, flooding, personnel intrusion, network intrusion, equipment system failure, and the countermeasure determined for the different state information includes the following measures:

(1) collision: according to the actual ship condition, measures such as original speed navigation, original position positioning, speed reduction, emergency parking and the like are taken. The specific implementation mode is as follows: and according to the specific position and the movement information of the barrier and the marine collision avoidance rule, the system calculates and generates the track of the bypassing scheme and the movement state of each track point. And comprehensively considering the minimum distance from the obstacle, the collision avoidance time, the difference with the original track and the like, so as to select the most safe (namely, the distance from the obstacle is minimum) and efficient (namely, the collision avoidance time and the time of returning to the original navigation planned track) collision avoidance method.

(2) Stranding: according to the actual ship condition, measures such as in-situ positioning, speed reduction, emergency parking, reversing and the like are adopted.

(3) Overturning: and controlling an attitude control system, a ballast system or a cargo system, and adjusting the floating state of the ship. When the ship is exposed to a severe sea condition and faces the overturning risk, the following method is adopted for adjustment: 1) the stability of the ship is improved by adjusting the injection of ballast water into the ballast tank or the storm ballast tank; 2) distributing ballast water in the prepared ship; 3) using anti-roll devices such as anti-roll fins; 4) and for the liquid cargo ship, the distribution and the adjustment postures of the liquid cargo can be adjusted. Through the mode, the operation can be directly carried out through the ship safety control system, so that the overturning can be avoided, and the accuracy of attitude control can be further improved through calculation and automatic adjustment of the ship safety control system.

(4) And (3) fire hazard: and controlling a fire-fighting system, and judging the applicability of measures such as inert gas and water fire extinguishing according to the position of a person. Control of door and window opening and closing, air conditioning systems, ventilation systems, etc. may also be employed. The position of the cabin where the person is located is sensed in a mode of identifying the position of the person through images or wearing information receiving and transmitting devices such as a bracelet and the like. It may be arranged that the inert gas cannot be used to extinguish a fire when it is determined that a person is present at the premises. In unmanned places, the ventilation of the cabin can be closed, and the falling gas is filled for fire extinguishment.

(5) Soaking: and controlling the bilge system or the emergency pumping and draining device to drain water.

(6) Personnel invasion: the danger of the crew is avoided by guiding, and the safety of the crew and the main equipment system is protected by controlling the opening and closing of the door and the window.

(7) Network intrusion: and cutting off the automatic control authority, and requesting personnel to operate or issuing an operating instruction by the safety comprehensive control system according to a set program.

(8) Equipment system failure: and evaluating the failure state of the system, and taking a countermeasure according to the failure condition.

And 2, issuing a control instruction to the ship function execution system through the control unit based on a preset countermeasure so as to control the ship through the function execution system.

It should be noted that the above-mentioned countermeasures (1) to (8) are all preset in the ship safety control system, and the control unit of the ship safety control system issues a control instruction to the ship function execution system based on the preset countermeasures so as to control the ship through the function execution system. By the mode, the ship safety control capability can be improved by the aid of the response strategy when the ship autonomously decides to face the safety risk, and a foundation is laid for unmanned and autonomous operation of the ship.

In conclusion, the ship safety control method provided by the embodiment of the invention can perform autonomous decision and response on the ship safety risk without personnel intervention, thereby improving the ship safety control capability and further laying a foundation for the unmanned and autonomous ship.

An embodiment of the present invention provides a ship, referring to a schematic structural diagram of a ship shown in fig. 4, where the ship includes a ship safety control system as in any one of the foregoing embodiments, and further includes a function execution system, where the function execution system includes an energy power system, a navigation system, and an attitude control system, and the energy power system is configured to determine, when a system fails and a host needs to take a deceleration measure, whether the current ship is in an emergency collision avoidance state, and if the host needs to take a deceleration measure, the current ship does not decelerate, and if the host needs to take a normal navigation state, the current ship leaves a channel to decelerate. Sailing systems (heading and heading control) are used for ships to take deceleration or stop operations when the heading and heading control functions fail. The attitude control system (ballast control) is used for avoiding the threat of the wave to the ship stability when the attitude control system fails and the ship adopts operations such as deceleration parking and the like.

The ship provided by the embodiment can make an autonomous decision and deal with the safety risk of the ship under the condition of no need of personnel intervention by arranging the ship safety control system and the function execution system (the energy power system, the navigation system and the attitude control system) connected with the ship safety control system, thereby improving the safety control capability of the ship and laying a foundation for the unmanned and autonomous operation of the ship.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.