CN112729303B - Maritime route planning method, system, equipment and storage medium - Google Patents
Maritime route planning method, system, equipment and storage medium Download PDFInfo
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- CN112729303B CN112729303B CN202011512397.4A CN202011512397A CN112729303B CN 112729303 B CN112729303 B CN 112729303B CN 202011512397 A CN202011512397 A CN 202011512397A CN 112729303 B CN112729303 B CN 112729303B
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Abstract
The application relates to a marine route planning method, a system, equipment and a storage medium. The method comprises the steps that a boat is arranged in a preset distance right in front of a ship body, and the boat is a model with the equal proportion reduced; acquiring first detection data in real time, wherein the first detection data is used for describing the stable state of the boat when the boat is in front of a preset distance; acquiring a corresponding relation according to the first detection data, the mass of the ship body and the volume of the ship body; according to the corresponding relation, predicting a first stable state of the ship body when the ship body is in front of a preset distance, wherein the first stable state is used for describing the stable state of the ship body in front of the preset distance; if the first stable state indicates that the stable state of the ship body is unstable, the preset distance right in front is judged to be not feasible. The sea route planning method has the effects of reasonably planning the sea route according to sea conditions, improving the transportation stability of dangerous goods and reducing the probability of dangerous goods.
Description
Technical Field
The present application relates to the field of route planning, and in particular, to a marine route planning method, system, device and storage medium.
Background
Waterway transportation is a transportation mode using ships as main transportation means, using ports or harbor stations as transportation bases, and using waters including oceans, rivers and lakes as transportation activities, wherein sea transportation has been one of the important transportation modes in many countries of the world so far. Marine transport has many characteristics, among which large carrying capacity, low cost and investment saving are major advantages.
Sea transportation is a common mode of dangerous goods transportation, wherein in the transportation process, the dangerous goods are usually driven according to a relatively close route, and the dangerous goods are transported from a dock for transporting the dangerous goods to a dock for unloading the dangerous goods; however, in the offshore running process, the sea transport is uncontrollable, so that the ship body jolts in the running process, the ship body jolts in the light and the heavy accidents happen according to weather, fish shoals, reefs, sea waves and the like.
When the ship body is used for carrying dangerous goods, particularly inflammable dangerous goods such as coal, the ship body often shakes and jolts due to sea waves, so that the dangerous goods shake simultaneously, and if the coal is made to topple, collide, rub and the like, the dangerous goods are easy to burn, and great harm is caused to life and property.
Disclosure of Invention
In order to reasonably plan a maritime route according to sea conditions so as to improve the transportation stability of dangerous goods and reduce the probability of dangerous goods, the application provides a maritime route planning method, a maritime route planning system, maritime route planning equipment and a maritime route storage medium.
In a first aspect, the present application provides a marine route planning method, which adopts the following technical scheme:
a marine route planning method, comprising:
a small boat is arranged in a preset distance right in front of a boat body, and the small boat is a model with the equal proportion reduced of the boat body;
acquiring first detection data in real time, wherein the first detection data is used for describing the stable state of the boat when the boat is at a preset distance in front;
acquiring a corresponding relation according to the first detection data, the mass of the ship body and the volume of the ship body;
predicting a first stable state of the hull when the hull is in front of a preset distance according to the corresponding relation, wherein the first stable state is used for describing the stable state of the hull in front of the preset distance;
and if the first stable state indicates that the stable state of the ship body is unstable, judging that the preset distance right in front is not feasible.
Through adopting above-mentioned technical scheme, the boat is the model after the equal proportion of hull reduces, and weight is also equal proportion reduces, acquire the steady state of boat at the place ahead preset distance through the sensor, namely angle sensor judges the condition of rocking of boat, first detection data still includes the quality and the volume of boat, according to the condition of rocking of boat, the quality of hull, the volume, obtain corresponding relation, thereby predict the steady state of hull when the place ahead preset distance, first steady state, if first steady state is stable, then can travel to the preset distance in along the place ahead, if unstable, then need change the direction, avoid the hull to rock too big, the dangerous goods transportation stability that leads to the hull is low, reduce the probability of taking place danger.
The present invention may be further configured in a preferred example to: if the first stable state indicates that the stable state of the hull is unstable, the method further includes:
acquiring the sea wave direction and judging whether the sea wave direction faces the ship body or not;
if so, acquiring the wind speed of the preset distance right in front of the ship body, and acquiring contact time according to the wind speed and the advancing speed of the ship body, wherein the contact time is used for describing the time of the sea wave reaching the ship body;
and in the contact time, changing the advancing direction of the ship body so as to ensure that the ship body avoids the front surface contacting the sea waves.
Through adopting above-mentioned technical scheme, obtain the wave direction that the boat received this moment, if the wave is towards the hull, then according to the wind speed at this moment, the forward speed of hull, carry out preliminary judgement to the time of wave arrival hull, contact time promptly, in contact time, need change the forward direction of hull, avoid the wave to bump to the hull in front, make the hull shake too greatly, reduce the probability that takes place danger.
The present invention may be further configured in a preferred example to: the boat is respectively arranged in a left front preset distance and a right front preset distance of the boat body;
Acquiring second detection data in real time, wherein the second detection data is used for describing the stable state of the boat when the boat is at the left front preset distance;
acquiring a second stable state according to the second detection data and the corresponding relation, wherein the second stable state is used for describing the stable state of the ship body within a preset distance in the left front;
acquiring third detection data in real time, wherein the third detection data is used for describing the stable state of the boat at a preset distance in the right front;
acquiring a third stable state according to the third detection data and the corresponding relation, wherein the third stable state is used for describing the stable state of the ship body within a preset distance in the right front;
and comparing the first stable state, the second stable state and the third stable state, judging the most stable direction of the ship body when the ship body is respectively in the right front, the left front and the right front, and adjusting the ship body to run along the direction.
By adopting the technical scheme, the small boats are respectively arranged at the left front and the right front, so that the stable state of the boat body when the boat body runs to the left front or the right front is predicted according to the states of the small boats at the left front and the right front, and the direction of the boat body running in the most stable direction is judged by comparing the stable states of the boat body when the boat body runs to the left front, the right front and the right front, so that the advancing direction of the boat body is adjusted.
The present invention may be further configured in a preferred example to: the preset distance is at least greater than or equal to a signal range which can be received by the ship body, and the method further comprises:
and controlling the boat to reciprocate within the preset distance and the signal range.
By adopting the technical scheme, the detection range of the boat is wider, and the first detection data detected by the boat is ensured to be sent to the boat body within the signal range, so that the direction of the boat body is adjusted for a longer time when the boat body is about to encounter larger sea waves.
The present invention may be further configured in a preferred example to: and a plurality of small boats are respectively arranged right in front, left in front and right in front, and are controlled to reciprocate according to preset interval time.
Through adopting above-mentioned technical scheme, make a plurality of boats interval survey, make the boat when returning the in-process, when being close to hull signal scope, other boats can survey to make the boat in the in-process that returns, also have other boats to detect the first detection data of preset distance, reduce detection error.
The present invention may be further configured in a preferred example to: monitoring the battery electric quantity of the boat in real time;
When the small ship moves within the signal range, the battery electric quantity is sent to the ship body;
and if the electric quantity of the battery is smaller than a preset value, controlling the boat to move to the boat body so as to enable staff on the boat body to charge the boat.
Through adopting above-mentioned technical scheme, because the boat leaves the signal scope after, then need the battery control boat to advance, then the battery surplus of real-time supervision boat, when the boat removes to the signal scope in, send the battery surplus value to the hull to the drive boat is close to the hull, charges the boat, avoids the boat to appear the condition of electric quantity deficiency at sea.
The present invention may be further configured in a preferred example to: detecting sea conditions directly in front of the boat, the sea conditions being used to describe whether there is an obstacle on the sea;
if the sea condition is that there is an obstacle, the sea condition is sent to the hull when the boat comes within the signal range.
Through adopting above-mentioned technical scheme, the boat is at the in-process of going ahead, judges whether there is the barrier in the hull direction of going ahead, if there is the barrier, the boat sends the signal to the hull, makes the hull reroute, avoids striking the barrier to cause the hull to rock, cause dangerous goods to take place.
In a second aspect, the present application provides a hazardous article maritime route planning system, which adopts the following technical scheme:
a hazardous materials marine route planning system, comprising:
the detection device is used for arranging a boat in a preset distance right in front of the boat body, wherein the boat is a model with the equal proportion reduced;
the device comprises an acquisition device, a detection device and a control device, wherein the acquisition device is used for acquiring first detection data in real time, and the first detection data are used for describing the stable state of the boat when the boat is in front of a preset distance;
the computing device is used for acquiring a corresponding relation according to the first detection data, the mass of the ship body and the volume of the ship body;
the predicting device is used for predicting a first stable state of the ship body when the ship body is in front of a preset distance according to the corresponding relation, and the first stable state is used for describing the stable state of the ship body in front of the preset distance;
the judging device is used for judging that the preset distance right in front is not feasible if the first stable state indicates that the stable state of the ship body is unstable;
the changing device is used for acquiring the sea wave direction and judging whether the sea wave direction faces the ship body or not;
If so, acquiring the wind speed of the preset distance right in front of the ship body, and acquiring contact time according to the wind speed and the advancing speed of the ship body, wherein the contact time is used for describing the time of the sea wave reaching the ship body;
changing the advancing direction of the ship body in the contact time so as to ensure that the ship body avoids the front surface from contacting the sea waves;
the adjusting device is used for respectively setting the boat within a preset distance in front of the left side and a preset distance in front of the right side of the boat body;
acquiring second detection data in real time, wherein the second detection data is used for describing the stable state of the boat when the boat is at the left front preset distance;
acquiring a second stable state according to the second detection data and the corresponding relation, wherein the second stable state is used for describing the stable state of the ship body within a preset distance in the left front;
acquiring third detection data in real time, wherein the third detection data is used for describing the stable state of the boat at a preset distance in the right front;
acquiring a third stable state according to the third detection data and the corresponding relation, wherein the third stable state is used for describing the stable state of the ship body within a preset distance in the right front;
Comparing the first stable state, the second stable state and the third stable state, judging the most stable direction of the ship body when the ship body is respectively in the right front, the left front and the right front, and adjusting the ship body to run along the direction;
the reciprocating device is used for controlling the boat to reciprocate within the preset distance and the signal range;
the monitoring device is used for monitoring the battery electric quantity of the boat in real time;
when the small ship moves within the signal range, the battery electric quantity is sent to the ship body;
if the electric quantity of the battery is smaller than a preset value, controlling the boat to move to the boat body so as to enable staff on the boat body to charge the boat;
the detection device is used for detecting sea surface conditions right in front of the boat, and the sea surface conditions are used for describing whether obstacles exist on the sea surface or not;
if the sea condition is that there is an obstacle, the sea condition is sent to the hull when the boat comes within the signal range.
Through adopting above-mentioned technical scheme, the boat is the model after the equal proportion of hull reduces, and weight is also equal proportion reduces, acquire the steady state of boat at the place ahead preset distance through the sensor, namely angle sensor judges the condition of rocking of boat, first detection data still includes the quality and the volume of boat, according to the condition of rocking of boat, the quality of hull, the volume, obtain corresponding relation, thereby predict the steady state of hull when the place ahead preset distance, first steady state, if first steady state is stable, then can travel to the preset distance in along the place ahead, if unstable, then need change the direction, avoid the hull to rock too big, the dangerous goods transportation stability that leads to the hull is low, reduce the probability of taking place danger.
In a third aspect, the present application provides a dangerous cargo maritime route planning device, which adopts the following technical scheme:
a hazardous article marine route planning device, comprising:
the detection module is used for arranging a boat in a preset distance right in front of the boat body, wherein the boat is a model with the equal proportion reduced;
the acquisition module is used for acquiring first detection data in real time, wherein the first detection data are used for describing the stable state of the boat when the boat is at a preset distance in front;
the calculation module is used for acquiring a corresponding relation according to the first detection data, the mass of the ship body and the volume of the ship body;
the prediction module is used for predicting a first stable state of the ship body when the ship body is in front of a preset distance according to the corresponding relation, and the first stable state is used for describing the stable state of the ship body in front of the preset distance;
the judging module is used for judging that the preset distance right in front is not feasible if the first stable state indicates that the stable state of the ship body is unstable;
the changing module is used for acquiring the sea wave direction and judging whether the sea wave direction faces the ship body or not;
If so, acquiring the wind speed of the preset distance right in front of the ship body, and acquiring contact time according to the wind speed and the advancing speed of the ship body, wherein the contact time is used for describing the time of the sea wave reaching the ship body;
changing the advancing direction of the ship body in the contact time so as to ensure that the ship body avoids the front surface from contacting the sea waves;
the adjusting module is used for respectively setting the boat within a preset distance in front of the left side and a preset distance in front of the right side of the boat body;
acquiring second detection data in real time, wherein the second detection data is used for describing the stable state of the boat when the boat is at the left front preset distance;
acquiring a second stable state according to the second detection data and the corresponding relation, wherein the second stable state is used for describing the stable state of the ship body within a preset distance in the left front;
acquiring third detection data in real time, wherein the third detection data is used for describing the stable state of the boat at a preset distance in the right front;
acquiring a third stable state according to the third detection data and the corresponding relation, wherein the third stable state is used for describing the stable state of the ship body within a preset distance in the right front;
Comparing the first stable state, the second stable state and the third stable state, judging the most stable direction of the ship body when the ship body is respectively in the right front, the left front and the right front, and adjusting the ship body to run along the direction;
the round trip module is used for controlling the boat to reciprocate within the preset distance and the signal range;
the monitoring module is used for monitoring the battery electric quantity of the boat in real time;
when the small ship moves within the signal range, the battery electric quantity is sent to the ship body;
if the electric quantity of the battery is smaller than a preset value, controlling the boat to move to the boat body so as to enable staff on the boat body to charge the boat;
the detection module is used for detecting sea surface conditions right in front of the boat, and the sea surface conditions are used for describing whether obstacles exist on the sea surface or not;
if the sea condition is that there is an obstacle, the sea condition is sent to the hull when the boat comes within the signal range.
Through adopting above-mentioned technical scheme, the boat is the model after the equal proportion of hull reduces, and weight is also equal proportion reduces, acquire the steady state of boat at the place ahead preset distance through the sensor, namely angle sensor judges the condition of rocking of boat, first detection data still includes the quality and the volume of boat, according to the condition of rocking of boat, the quality of hull, the volume, obtain corresponding relation, thereby predict the steady state of hull when the place ahead preset distance, first steady state, if first steady state is stable, then can travel to the preset distance in along the place ahead, if unstable, then need change the direction, avoid the hull to rock too big, the dangerous goods transportation stability that leads to the hull is low, reduce the probability of taking place danger.
In a fourth aspect, the present application provides a computer readable storage medium storing a computer program capable of being loaded by a processor and executing any one of the above marine route planning methods.
By adopting the technical scheme, the using method of the dangerous goods maritime route planning can be stored in the readable storage medium, so that the computer program of the dangerous goods maritime route planning stored in the readable storage medium can be executed by the processor, and the effect of improving the stability of the processing system is achieved.
In summary, the present application includes at least one of the following beneficial technical effects:
1. in the scheme, the boat body is arranged in the preset distance right in front, and the weight and the volume of the boat body are combined according to the stable state of the boat body, so that the stable state of the boat body when the boat body moves to the preset distance is predicted, the advancing direction of the boat body can be changed in advance, and the probability of dangers of dangerous articles caused by shaking of the boat body is reduced;
2. in the scheme, the small boats are respectively arranged at the left front and the right front, and the stable states of the small boats at the left front and the right front are detected, so that the most stable forward directions of the left front, the right front and the right front of the boat body are judged, and the forward route of the boat body is timely adjusted, so that the boat body is more stable in running;
3. In this scheme, through monitoring the boat electric quantity, make the boat when the electric quantity reaches the default, in time return the hull, make the staff charge to the boat, avoid the boat to have not had the electricity at sea, lead to the data loss that the boat detected.
Drawings
Fig. 1 is a schematic flow chart of steps 101 to 106 in the first embodiment of the present application.
FIG. 2 is a flow chart of steps 107 to 110 in the first embodiment of the present application
Fig. 3 is a schematic diagram of a system in a second embodiment of the present application.
Fig. 4 is a block diagram of a third embodiment of the present application.
Reference numerals illustrate: 201. a detection device; 202. an acquisition device; 203. a computing device; 204. a prediction device; 205. a judging device; 206. a modifying means; 207. an adjusting device; 208. a shuttle device; 209. a monitoring device; 310. a detection device; 301. a detection module; 302. an acquisition module; 303. a computing module; 304. a prediction module; 305. a judging module; 306. changing the module; 307. an adjustment module; 308. a round trip module; 309. a monitoring module; 310. and a detection module.
Detailed Description
The present application is described in further detail below in conjunction with figures 1-4.
The present embodiment is only for explanation of the present invention and is not to be construed as limiting the present invention, and modifications to the present embodiment, which may not creatively contribute to the present invention as required by those skilled in the art after reading the present specification, are all protected by patent laws within the scope of claims of the present invention.
Embodiment one:
a marine route planning method, referring to fig. 1 and 2, comprising:
101. and arranging a boat in a preset distance right in front of the boat body, wherein the boat is a model with the boat body scaled down in equal proportion.
Specifically, a boat model is manufactured according to a boat body model, the boat model is manufactured by reducing the weight of the boat body according to the structural proportion, and an engine, a control system and a battery assembly are arranged on the boat, so that the boat can move forward on the sea by means of the engine, the battery assembly supplies power to the boat, and the boat is controlled by a server on the boat body within the signal range of the boat body. The ship is characterized in that the volume and the mass of the ship are reduced according to the equal proportion of the ship body, wherein weights with reduced proportions are arranged in the ship according to the actual manned weight and the cargo weight before the ship body starts, so that the detection accuracy is improved.
102. And acquiring first detection data in real time, wherein the first detection data is used for describing the stable state of the boat when the boat is in front of a preset distance.
Specifically, an angle sensor is arranged on the boat to monitor the shaking angle of the boat in the horizontal direction, and if the shaking angle of the boat in the horizontal direction is greater than or equal to 45 degrees, the boat is unstable, namely, the first detection data is specifically expressed as the shaking angle of the boat in the horizontal direction.
It is worth mentioning that, because the weight and the volume of the hull are larger than those of the boat, the stability of the hull running on the sea surface is higher, namely, the boat has a certain influence on the hull when the degree of shaking of the boat is larger.
103. And acquiring a corresponding relation according to the first detection data, the mass of the ship body and the volume of the ship body.
Specifically, the first detection data further includes the weight and the volume of the boat, which may specifically be:
first detection data (sway angle) = (first coefficient×small ship volume+second coefficient×small ship weight) ×sea wave parameter;
the wave parameters are impact force of waves and moving speed of the waves, and can be obtained through a wave sensor;
after the first detection data are obtained, the corresponding relation is obtained according to the proportion of the boat body to the boat body, and the method specifically comprises the following steps:
ship sway angle= (first coefficient x ship volume + second coefficient x ship weight) x sea wave parameter;
Sea wave parameter=first detection data ≡ (first coefficient×small ship volume+second coefficient×small ship weight) =hull sway angle ≡ (first coefficient×hull volume+second coefficient×hull weight);
relation formula: first detection data ∈ (first coefficient×small ship volume+second coefficient×small ship weight) =hull sway angle ∈ (first coefficient×hull volume+second coefficient×hull weight).
104. And predicting a first stable state of the hull when the hull is in front of a preset distance according to the corresponding relation, wherein the first stable state is used for describing the stable state of the hull in front of the preset distance.
Specifically, the hull shaking angle in the relation in step 103 is specifically used to indicate the first stable state, that is, the hull shaking angle is greater than 15 °, and the first stable state is unstable;
replacing the hull sway angle in the relationship with the first stable state yields:
hull sway angle = first detection data x (first coefficient x hull volume + second coefficient x hull weight)/(first coefficient x small vessel volume + second coefficient x small vessel weight);
and calculating to obtain first detection data according to the obtained volume and weight of the ship body, wherein the first detection data represents the shaking angle of the ship body when the ship body is at a preset distance in front.
105. And if the first stable state indicates that the stable state of the ship body is unstable, judging that the preset distance right in front is not feasible.
Specifically, the first stable state is a shaking angle when the ship body runs to the preset distance right in front, if the shaking angle is more than or equal to 15 degrees, the stable state of the ship body is unstable, dangerous goods on the ship body are easy to collide at the moment, particularly dangerous goods such as coal are easy to displace or collide, the risk of spontaneous combustion is easy to be caused, and the preset distance right in front at the moment is not feasible.
106. If the first stable state indicates that the stable state of the ship body is unstable, acquiring the sea wave direction, and judging whether the sea wave direction faces the ship body or not;
if so, acquiring the wind speed of the preset distance right in front of the ship body, and acquiring contact time according to the wind speed and the advancing speed of the ship body, wherein the contact time is used for describing the time of the sea wave reaching the ship body;
and in the contact time, changing the advancing direction of the ship body so as to ensure that the ship body avoids the front surface contacting the sea waves.
Specifically, at least angle sensors are respectively arranged around the boat, the sensors around the boat are respectively named, and the named forms correspond to the southeast and northwest directions. When the four sensors acquire the angle offset, acquiring the direction with the largest angle offset, namely the direction of the sea waves, and according to the corresponding naming form of the sensors, acquiring whether the sea wave direction faces the ship body, namely whether the angle offset of the sensor is the largest in the forward direction of the boat, if so, judging that the sea wave faces the ship body;
The wind speed of the area where the boat is located is obtained through a wind speed sensor, the wind speed sensor is an ultrasonic wind speed sensor, namely, the wind speed is measured by utilizing an ultrasonic time difference method, and the propagation speed of sound in the air can be overlapped with the airflow speed in the wind direction. If the propagation direction of the ultrasonic wave is the same as the wind direction, the speed thereof is increased; conversely, if the direction of propagation of the ultrasonic wave is opposite to the direction of the wind, its velocity will be slowed down. Therefore, under fixed detection conditions, the speed of ultrasonic wave propagation in the air may correspond to the wind speed function. The accurate wind speed and wind direction can be obtained through calculation;
primarily judging the advancing speed of sea waves according to the wind speed:
ocean wave speed = wind speed x third coefficient;
after knowing the sea wave speed, calculating the contact time according to the preset distance between the ship body and the boat and the forward speed of the ship body:
preset distance= (hull speed x contact time) + (sea wave speed x contact time);
contact time = preset distance +.f (hull speed + sea wave speed);
the ship body needs to change the forward direction in the contact time, so that the ship body is prevented from being impacted by the front surface of the sea wave, and dangers are caused by overlarge shaking of the ship body.
107. The boat is respectively arranged in a left front preset distance and a right front preset distance of the boat body;
acquiring second detection data in real time, wherein the second detection data is used for describing the stable state of the boat when the boat is at the left front preset distance;
acquiring a second stable state according to the second detection data and the corresponding relation, wherein the second stable state is used for describing the stable state of the ship body within a preset distance in the left front;
acquiring third detection data in real time, wherein the third detection data is used for describing the stable state of the boat at a preset distance in the right front;
acquiring a third stable state according to the third detection data and the corresponding relation, wherein the third stable state is used for describing the stable state of the ship body within a preset distance in the right front;
and comparing the first stable state, the second stable state and the third stable state, judging the most stable direction of the ship body when the ship body is respectively in the right front, the left front and the right front, and adjusting the ship body to run along the direction.
Specifically, according to the modes from step 101 to step 105, respectively setting a boat in front of the left and right sides of the boat body, so that the boat obtains detection data of the front left and right sides, namely second detection data and third detection data, and the corresponding second stable state and third stable state of the boat body when the boat body is at a preset distance in front left and a preset distance in front right;
The first stable state, the second stable state and the third stable state respectively correspond to shaking angles of the ship body in the horizontal direction, the larger shaking angle direction is the unstable shaking direction according to the comparison of the shaking angles, the direction in which the shaking angle is minimum is selected, the ship body is adjusted to run in the direction, and if the direction in which the shaking angle is minimum is right in front, the running direction of the ship body is not required to be adjusted.
108. And controlling the boat to reciprocate within the preset distance and the signal range.
Specifically, the preset distance is at least greater than or equal to the signal range which can be received by the ship body, the ship body server can receive detection data sent by the ship body in the signal range of the ship body, and the ship body can enable the ship body to be controlled by staff of the ship body in the signal range by sending control signals;
the processor of the boat is internally provided with a round trip instruction, so that after the boat leaves the signal range, the round trip instruction is implemented, specifically, the boat moves forward to a preset distance from the boat body, namely, the boat moves forward faster than the boat body; when the boat runs to the front of the boat body for a preset distance, the boat starts to return to the signal range, and the detection data are sent to the boat body server, so that the server makes judgment according to the first detection data.
The boat is enabled to detect the detection data of longer distance, so that the boat body has more time to make judgment, and the forward direction is changed.
Furthermore, a plurality of small boats are respectively arranged right in front, left in front and right in front, and the small boats are controlled to reciprocate according to preset interval time.
Specifically, a plurality of boats are respectively arranged right in front of, left in front of and right in front of, and the back and forth routes of the plurality of boats in each direction are consistent, and the intervals among the boats are consistent, so that the plurality of boats continuously do back and forth movements in sequence.
By matching a plurality of boats, the condition that the sea wave condition with the preset distance cannot be detected when one boat returns to the signal range is avoided.
109. Monitoring the battery electric quantity of the boat in real time;
when the small ship moves within the signal range, the battery electric quantity is sent to the ship body;
and if the electric quantity of the battery is smaller than a preset value, controlling the boat to move to the boat body so as to enable staff on the boat body to charge the boat.
Specifically, an ammeter is connected to a circuit of the boat to measure the battery power, and when the boat moves within a signal range, the battery power at the moment is recorded and sent to the boat body;
Comparing the electric quantity of the battery with a preset value, and if the electric quantity of the battery is smaller than the preset value, controlling the boat to move to the vicinity of the boat body when the boat returns to the signal range, so that staff on the boat body charges the boat;
the preset value is the electric quantity of the battery at least for the small ship to move to the ship body, so that the small ship is prevented from being powered off on the sea surface, and the connection between the small ship and the ship body is lost.
110. Detecting sea conditions directly in front of the boat, the sea conditions being used to describe whether there is an obstacle on the sea;
if the sea condition is that there is an obstacle, the sea condition is sent to the hull when the boat comes within the signal range.
Specifically, a sonar is installed on the boat and is composed of a transmitter, a transducer, a receiver, a display, a timer, a controller and other main components. The transmitter produces an electrical signal which is transmitted into the water through a transducer (typically a piezoelectric crystal) to become an acoustic signal. When the acoustic signal is transmitted in water, if the target such as submarine, mine, fish shoal is met, the reflected acoustic wave is reflected back, the reflected acoustic wave is received by the transducer and becomes an electric signal, and the electric signal is amplified and displayed on a fluorescent screen or becomes sound in an earphone. The distance of the target can be determined according to the round trip time of the signal, and the property of the target can be judged according to the tone and other conditions;
When the sonar detects that the obstacle exists in front, when the boat returns to a preset range, information of the obstacle is sent to the boat body, so that the boat body can judge whether the boat body needs to bypass according to the information of the obstacle, the boat body is prevented from touching the obstacle, the boat body is prevented from shaking after collision, and the probability of dangerous goods is further reduced.
The implementation principle of the embodiment of the application is as follows: the ship is a model with the ship body scaled down in equal proportion, the weight is scaled down in equal proportion, detection data of preset distances of the ship body in the right front, the left front and the right front are obtained through the sensor, the stable state of the ship body is judged through the detection data, the weight of the ship body, the volume of the ship body, the weight of the ship body and the volume of the ship body, so that the shaking condition of the ship body is judged, and according to the shaking condition of the ship body, the ship body in the right front, the ship body in the left front or the right front is judged to be more stable, namely, the shaking angle of the ship body is the smallest, and the ship body can be driven in the direction most stably;
the ship is characterized in that a plurality of boats are respectively arranged right in front of, left in front of and right in front of, so that the boats reciprocate within a preset distance and a signal range, and when the boats reciprocate, other boats constantly detect sea wave conditions within the preset distance, so that the route of the ship body is further ensured to be more stable, the ship body is prevented from shaking too much, the transportation stability of dangerous goods of the ship body is low, and the probability of danger is reduced.
Embodiment two:
a hazardous materials marine route planning system, referring to fig. 3, comprising:
the detection device 201 is configured to set a boat within a preset distance right in front of a hull, where the boat is a model with the hull scaled down equally.
And the acquisition device 202 is used for acquiring first detection data in real time, wherein the first detection data is used for describing the stable state of the boat when the boat is in front of the boat by a preset distance.
And the computing device 203 is configured to obtain a corresponding relationship according to the first detection data, the mass of the hull, and the volume of the hull.
And the predicting device 204 is configured to predict, according to the correspondence, a first stable state of the hull when the hull is at a preset distance in front of the hull, where the first stable state is used to describe a stable state of the hull within the preset distance in front of the hull.
And the judging device 205 is configured to judge that the preset distance in front is not feasible if the first stable state indicates that the stable state of the hull is unstable.
A modifying device 206, configured to obtain a sea wave direction, and determine whether the sea wave direction faces the hull;
if so, acquiring the wind speed of the preset distance right in front of the ship body, and acquiring contact time according to the wind speed and the advancing speed of the ship body, wherein the contact time is used for describing the time of the sea wave reaching the ship body;
And in the contact time, changing the advancing direction of the ship body so as to ensure that the ship body avoids the front surface contacting the sea waves.
An adjusting device 207 for setting the boat within a left front preset distance and a right front preset distance of the boat body, respectively;
acquiring second detection data in real time, wherein the second detection data is used for describing the stable state of the boat when the boat is at the left front preset distance;
acquiring a second stable state according to the second detection data and the corresponding relation, wherein the second stable state is used for describing the stable state of the ship body within a preset distance in the left front;
acquiring third detection data in real time, wherein the third detection data is used for describing the stable state of the boat at a preset distance in the right front;
acquiring a third stable state according to the third detection data and the corresponding relation, wherein the third stable state is used for describing the stable state of the ship body within a preset distance in the right front;
and comparing the first stable state, the second stable state and the third stable state, judging the most stable direction of the ship body when the ship body is respectively in the right front, the left front and the right front, and adjusting the ship body to run along the direction.
And a shuttle 208 for controlling the shuttle of the boat within the preset distance and the signal range.
Furthermore, a plurality of small boats are respectively arranged right in front, left in front and right in front, and the small boats are controlled to reciprocate according to preset interval time.
A monitoring device 209, configured to monitor the battery power of the boat in real time;
when the small ship moves within the signal range, the battery electric quantity is sent to the ship body;
and if the electric quantity of the battery is smaller than a preset value, controlling the boat to move to the boat body so as to enable staff on the boat body to charge the boat.
A detection device 210 for detecting sea conditions immediately in front of the boat, the sea conditions describing whether there is an obstacle on the sea surface;
if the sea condition is that there is an obstacle, the sea condition is sent to the hull when the boat comes within the signal range.
Embodiment III:
a hazardous articles marine route planning device, referring to fig. 4, comprising:
the detection module 301 is configured to set a boat within a preset distance right in front of a hull, where the boat is a model with the hull scaled down equally.
The acquiring module 302 is configured to acquire first detection data in real time, where the first detection data is used to describe a stable state of the boat when the boat is in front of the boat by a preset distance.
And the calculating module 303 is configured to obtain a corresponding relationship according to the first detection data, the mass of the hull, and the volume of the hull.
And the prediction module 304 is configured to predict, according to the correspondence, a first stable state of the hull when the hull is at a preset distance in front of the hull, where the first stable state is used to describe a stable state of the hull within the preset distance in front of the hull.
And the judging module 305 is configured to judge that the preset distance in front is not feasible if the first stable state indicates that the stable state of the hull is unstable.
A modifying module 306, configured to obtain a sea wave direction, and determine whether the sea wave direction faces the hull;
if so, acquiring the wind speed of the preset distance right in front of the ship body, and acquiring contact time according to the wind speed and the advancing speed of the ship body, wherein the contact time is used for describing the time of the sea wave reaching the ship body;
and in the contact time, changing the advancing direction of the ship body so as to ensure that the ship body avoids the front surface contacting the sea waves.
An adjustment module 307 for setting the boat respectively within a left front preset distance and a right front preset distance of the hull;
acquiring second detection data in real time, wherein the second detection data is used for describing the stable state of the boat when the boat is at the left front preset distance;
acquiring a second stable state according to the second detection data and the corresponding relation, wherein the second stable state is used for describing the stable state of the ship body within a preset distance in the left front;
acquiring third detection data in real time, wherein the third detection data is used for describing the stable state of the boat at a preset distance in the right front;
acquiring a third stable state according to the third detection data and the corresponding relation, wherein the third stable state is used for describing the stable state of the ship body within a preset distance in the right front;
and comparing the first stable state, the second stable state and the third stable state, judging the most stable direction of the ship body when the ship body is respectively in the right front, the left front and the right front, and adjusting the ship body to run along the direction.
A round trip module 308 for controlling the round trip movement of the boat within the preset distance and the signal range.
Furthermore, a plurality of small boats are respectively arranged right in front, left in front and right in front, and the small boats are controlled to reciprocate according to preset interval time.
A monitoring module 309, configured to monitor the battery power of the boat in real time;
when the small ship moves within the signal range, the battery electric quantity is sent to the ship body;
and if the electric quantity of the battery is smaller than a preset value, controlling the boat to move to the boat body so as to enable staff on the boat body to charge the boat.
A detection module 310 for detecting sea conditions immediately in front of the boat, the sea conditions describing whether there is an obstacle on the sea;
if the sea condition is that there is an obstacle, the sea condition is sent to the hull when the boat comes within the signal range.
It should be noted that: the dangerous goods maritime route planning device and system provided in the above embodiments are only exemplified by the division of the above functional modules when executing the dangerous goods maritime route planning method, in practical application, the above functional allocation may be completed by different functional modules according to needs, that is, the internal structure of the equipment and the equipment is divided into different functional modules, so as to complete all or part of the functions described above. In addition, the embodiments of the method, the system and the device for planning the maritime route of the dangerous goods provided in the foregoing embodiments belong to the same concept, and detailed implementation processes of the embodiments are shown in the method embodiments, which are not repeated herein.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program for instructing relevant hardware, where the program may be stored in a computer readable storage medium, and the storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The foregoing description of the preferred embodiments of the present application is not intended to limit the invention to the particular embodiments of the present application, but to limit the scope of the invention to the particular embodiments of the present application.
Claims (9)
1. A method of marine route planning comprising:
a plurality of boats are arranged in a preset distance right in front of a boat body, the boats are models of the boat body after the equal proportion is reduced, and an engine, a control system and a battery assembly are arranged on the boats;
acquiring first detection data in real time, wherein the first detection data is used for describing the stable state of the boat when the boat is at a preset distance in front;
acquiring a corresponding relation according to the first detection data, the mass of the ship body and the volume of the ship body, wherein the first detection data comprises the weight and the volume of the ship;
Predicting a first stable state of the hull when the hull is in front of a preset distance according to the corresponding relation, wherein the first stable state is used for describing the stable state of the hull in front of the preset distance, the preset distance is at least greater than a signal range which can be received by the hull, and a critical value of the first stable state representing stability is smaller than a critical value of the first detection data representing stability;
controlling a plurality of small boats to reciprocate within a preset distance and a signal range according to preset interval time, wherein the small boats are provided with processors, the processors of the small boats are internally provided with reciprocating instructions, and after the small boats leave the signal range, the reciprocating instructions are executed to advance to a preset distance from a boat body;
and if the first stable state indicates that the stable state of the ship body is unstable, judging that the preset distance right in front is not feasible.
2. The method of claim 1, wherein if the first steady state indicates that the steady state of the hull is unstable, the method further comprises:
acquiring the sea wave direction and judging whether the sea wave direction faces the ship body or not;
If so, acquiring the wind speed of the preset distance right in front of the ship body, and acquiring contact time according to the wind speed and the advancing speed of the ship body, wherein the contact time is used for describing the time of the sea wave reaching the ship body;
and in the contact time, changing the advancing direction of the ship body so as to ensure that the ship body avoids the front surface contacting the sea waves.
3. The method according to claim 1 or 2, comprising:
the boat is respectively arranged in a left front preset distance and a right front preset distance of the boat body;
acquiring second detection data in real time, wherein the second detection data is used for describing the stable state of the boat when the boat is at the left front preset distance;
acquiring a second stable state according to the second detection data and the corresponding relation, wherein the second stable state is used for describing the stable state of the ship body within a preset distance in the left front;
acquiring third detection data in real time, wherein the third detection data is used for describing the stable state of the boat at a preset distance in the right front;
acquiring a third stable state according to the third detection data and the corresponding relation, wherein the third stable state is used for describing the stable state of the ship body within a preset distance in the right front;
And comparing the first stable state, the second stable state and the third stable state, judging the most stable direction of the ship body when the ship body is respectively in the right front, the left front and the right front, and adjusting the ship body to run along the direction.
4. A method according to claim 3, comprising:
and a plurality of small boats are respectively arranged at the left front and the right front, and are controlled to reciprocate within a preset distance and a signal range according to preset interval time, wherein the small boats are provided with processors, round trip instructions are arranged in the processors of the small boats, and after the small boats leave the signal range, the round trip instructions are executed to move forward to a preset distance from the boat body.
5. A method according to claim 3, comprising:
monitoring the battery electric quantity of the boat in real time;
when the small ship moves within the signal range, the battery electric quantity is sent to the ship body;
and if the electric quantity of the battery is smaller than a preset value, controlling the boat to move to the boat body so as to enable staff on the boat body to charge the boat.
6. A method according to claim 3, comprising:
Detecting sea conditions directly in front of the boat, the sea conditions being used to describe whether there is an obstacle on the sea;
if the sea condition is that there is an obstacle, the sea condition is sent to the hull when the boat comes within the signal range.
7. A hazardous materials marine route planning system, comprising:
the detection device (201) is used for arranging a plurality of small boats in a preset distance right in front of the boat body, wherein the small boats are models of the boat body which are scaled down in equal proportion, and an engine, a control system and a battery assembly are arranged on the small boats;
an acquisition device (202) for acquiring first detection data in real time, the first detection data being used for describing a steady state of the boat when a preset distance is right in front;
a computing device (203) configured to obtain a correspondence according to the first detection data, the mass of the hull, and the volume of the hull, wherein the first detection data includes a boat weight and a boat volume;
a predicting device (204) configured to predict, according to the correspondence, a first stable state of the hull when the hull is a preset distance in front of the hull, where the first stable state is used to describe a stable state of the hull within the preset distance in front of the hull, where the preset distance is at least greater than a signal range that the hull can receive, and a critical value of the first stable state representing stability is less than a critical value of the first detection data representing stability;
A determining device (205) configured to determine that the preset distance in front is not feasible if the first stable state indicates that the stable state of the hull is unstable;
modifying means (206) for obtaining the direction of the sea wave, determining if the direction of the sea wave is towards the hull;
if so, acquiring the wind speed of the preset distance right in front of the ship body, and acquiring contact time according to the wind speed and the advancing speed of the ship body, wherein the contact time is used for describing the time of the sea wave reaching the ship body;
changing the advancing direction of the ship body in the contact time so as to ensure that the ship body avoids the front surface from contacting the sea waves;
an adjusting device (207) for setting a plurality of the boats respectively within a left front preset distance and a right front preset distance of the hull;
acquiring second detection data in real time, wherein the second detection data is used for describing the stable state of the boat when the boat is at the left front preset distance;
acquiring a second stable state according to the second detection data and the corresponding relation, wherein the second stable state is used for describing the stable state of the ship body within a preset distance in the left front;
acquiring third detection data in real time, wherein the third detection data is used for describing the stable state of the boat at a preset distance in the right front;
Acquiring a third stable state according to the third detection data and the corresponding relation, wherein the third stable state is used for describing the stable state of the ship body within a preset distance in the right front;
comparing the first stable state, the second stable state and the third stable state, judging the most stable direction of the ship body when the ship body is respectively in the right front, the left front and the right front, and adjusting the ship body to run along the direction;
the reciprocating device (208) is used for controlling the boat to reciprocate within the preset distance and the signal range, wherein the boat is provided with a processor, a reciprocating instruction is arranged in the processor of the boat, and after the boat leaves the signal range, the reciprocating instruction is executed to advance to the preset distance from the boat body;
monitoring means (209) for monitoring the battery level of the boat in real time;
when the small ship moves within the signal range, the battery electric quantity is sent to the ship body;
if the electric quantity of the battery is smaller than a preset value, controlling the boat to move to the boat body so as to enable staff on the boat body to charge the boat;
-detection means (210) for detecting sea conditions immediately in front of the boat, the sea conditions being descriptive of the presence of an obstacle on the sea surface;
If the sea condition is that there is an obstacle, the sea condition is sent to the hull when the boat comes within the signal range.
8. Dangerous goods maritime route planning device, characterized by, include:
the detection module (301) is used for arranging a plurality of small boats in a preset distance right in front of the boat body, wherein the small boats are models of the boat body which are scaled down in equal proportion, and an engine, a control system and a battery assembly are arranged on the small boats;
the acquisition module (302) is used for acquiring first detection data in real time, wherein the first detection data is used for describing the stable state of the boat when the boat is in front of a preset distance;
a calculation module (303) configured to obtain a corresponding relationship according to the first detection data, the mass of the hull, and the volume of the hull, where the first detection data includes a boat weight and a boat volume;
the prediction module (304) is configured to predict, according to the correspondence, a first stable state of the hull when the hull is at a preset distance in front of the hull, where the first stable state is used to describe a stable state of the hull within the preset distance in front of the hull, the preset distance is at least greater than a signal range that the hull can receive, and a critical value of the first stable state representing stability is less than a critical value of the first detection data representing stability;
A judging module (305) configured to judge that the preset distance in front is not feasible if the first stable state indicates that the stable state of the hull is unstable;
a modifying module (306) for obtaining a wave direction and determining whether the wave direction is towards the hull;
if so, acquiring the wind speed of the preset distance right in front of the ship body, and acquiring contact time according to the wind speed and the advancing speed of the ship body, wherein the contact time is used for describing the time of the sea wave reaching the ship body;
changing the advancing direction of the ship body in the contact time so as to ensure that the ship body avoids the front surface from contacting the sea waves;
an adjusting module (307) for setting a plurality of boats respectively within a left front preset distance and a right front preset distance of the hull;
acquiring second detection data in real time, wherein the second detection data is used for describing the stable state of the boat when the boat is at the left front preset distance;
acquiring a second stable state according to the second detection data and the corresponding relation, wherein the second stable state is used for describing the stable state of the ship body within a preset distance in the left front;
acquiring third detection data in real time, wherein the third detection data is used for describing the stable state of the boat at a preset distance in the right front;
Acquiring a third stable state according to the third detection data and the corresponding relation, wherein the third stable state is used for describing the stable state of the ship body within a preset distance in the right front;
comparing the first stable state, the second stable state and the third stable state, judging the most stable direction of the ship body when the ship body is respectively in the right front, the left front and the right front, and adjusting the ship body to run along the direction;
the reciprocating module (308) is used for controlling the boat to reciprocate within the preset distance and the signal range, wherein the boat is provided with a processor, a reciprocating instruction is arranged in the processor of the boat, and the boat executes the reciprocating instruction after leaving the signal range so as to advance to the preset distance from the boat body;
a monitoring module (309) for monitoring the battery level of the boat in real time;
when the small ship moves within the signal range, the battery electric quantity is sent to the ship body;
if the electric quantity of the battery is smaller than a preset value, controlling the boat to move to the boat body so as to enable staff on the boat body to charge the boat;
a detection module (310) for detecting sea conditions immediately in front of the boat, the sea conditions being descriptive of the presence of an obstacle at the sea surface;
If the sea condition is that there is an obstacle, the sea condition is sent to the hull when the boat comes within the signal range.
9. A computer readable storage medium, characterized in that a computer program is stored which can be loaded by a processor and which performs the method according to any of claims 1 to 6.
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