船岸协同的内河智能船舶远程驾驶控制系统架构OA

The traditional ship control system architecture can hardly meet the practical demands for Ship-Shore Co-ordination upgrading and Remote Control function deployment,and the lack of a unified framework directly re-stricts the efficiency of ship-shore collaborative operations.To ensure the adaptability and consistency of the ship re-mote control system in this scenario,this paper proposes Modes of Remote Navigation and a Remote Control Archi-tecture suitable for inland waterway Autonomous Ships.Based on literature review and comparative analysis of rele-vant specifications,four basic remote navigation modes are proposed:remote teleoperation(directly executing rud-der and propulsion commands),Remote Control Mode Ⅰ(remote command safety judgment),Remote Control Mode Ⅱ(autonomous navigation decision-making and Human-Machine Interaction command fusion),and Supervi-sory Remote Control Mode Ⅲ(fully autonomous navigation supervision).A'Ship-Shore-Cloud'collaborative ar-chitecture for inland waterway scenarios is constructed,clarifying system functional division and information flow.Six remote navigation information services and five human-machine interaction modes are designed,with the imple-mentation path of integrating shore-based/cloud data links into the ship control system defined.Finally,simulation experiments compare control performance under different ship-shore communication delays.Results show that Re-mote Control Mode Ⅱ enhances robustness in high-delay environments,Mode Ⅰ performs optimally in medi-um-delay conditions,and remote teleoperation achieves satisfactory effects in low-delay scenarios.The proposed modes and architecture provide core technical support for the engineering application of inland autonomous ship re-mote navigation,while the interaction design and delay adaptation suggestions offer important references for opti-mizing ship-shore coordination efficiency.