CN104554652A - Method for avoiding ship accidents - Google Patents
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Abstract
The invention relates to a method for avoiding ship accidents. The method includes providing a maximum allowable ship navigation speed setting device including a GPS positioner, a wireless communication interface, a scattering type visibility viewer, a weight input device and a control device, wherein the control device is connected with the GPS positioner, the wireless communication interface and the scattering type visibility viewer respectively so as to receive water channel width value of a current water channel of the current air route of a ship, air route traffic density of the current air route and visibility of the current position of the ship, the weight input device is used for setting three weight factors corresponding to the water channel width value, the visibility and the air route traffic density used for ship speed control, the control device is connected with the weight input device; the control device is connected with the weight input device, and determines the maximum allowable navigation speed of the current position of the ship according to the three weight factors, namely the water channel width value, the visibility and the air route traffic density. Under the condition of complicated and changeable water surface, different safety speeds suitable for ship navigation are flexibly arranged, and the ship accidents are effectively avoided.
Description
The divisional application of the patent of " a kind of method avoiding the generation of marine incident " that the present invention is application number is 2014103671224, the applying date, to be July 29, denomination of invention in 2014 be.
Technical field
The present invention relates to ship speed control field, particularly relate to a kind of method avoiding the generation of marine incident.
Background technology
Compare transport by road, the situation of water surface transport is more complicated.The stenosis of water channel, the vessel traffic density in current waters and undersurface landforms situation residing for the air visibility of current location, current location, etc., be all the key element affecting ship speed on the water surface.Therefore, can not as transport by road, the fixing maximum permission speed that one does not change, travels road condition change is in time defined simply for a certain bar super expressway, but each staple affecting ship speed on the water surface will be considered, formulate a maximum speed that can change, ensure the safety traffic of the boats and ships of current location.
The determination scheme of some boats and ships restriction speed of a ship or plane is there is in prior art, the key element that current location is had the greatest impact is selected in each staple affecting ship speed on the water surface, carry out the setting of the maximum permission speed of a ship or plane of boats and ships of current location, these technical schemes are to guaranteeing that certain positive role is played in the safety traffic of boats and ships, but shortcoming is also apparent.They only use single key element to carry out the restriction of the maximum permission speed of a ship or plane, cause speed-limiting proposal too single, and not accurately, the effect of speed limit is general, not comprehensively, even in certain extreme cases, still keeps away the generation of unavoidable course line fault.
Therefore, need a kind of comprehensively boats and ships maximum permission speed of a ship or plane setting scheme, overcome the technical matters that spot ship speed of a ship or plane control device relies on single key element, speed limit effect poor, by detecting the water channel width value of boats and ships current location, visibility and airline traffic density in real time, the weight factor of above three factors is formulated according to user experience or historical data, the maximum permission speed of a ship or plane of the boats and ships of current location is calculated, farthest calculate the restriction speed of a ship or plane meeting safety traffic requirement, the accuracy that the speed limit improving water surface transport calculates.
Summary of the invention
In order to solve the problem, the invention provides a kind of method avoiding the generation of marine incident, comprise and a kind of boats and ships maximum permission speed of a ship or plane setting device is provided, by introducing the water channel width value of place, the current course line water channel of positioning equipment determination boats and ships, introduce the airline traffic density that wireless communication interface determines current course line, introduce the visibility of diffuse transmission type visibility visualizer determination boats and ships current location, and use weight input equipment to set the water channel width value controlled for speed of the ship in metres per second, three weight factors of visibility and airline traffic density difference correspondence, the maximum permission speed of a ship or plane of COMPREHENSIVE CALCULATING boats and ships current location, for ship running provides important referential data.
According to an aspect of the present invention, provide a kind of method avoiding the generation of marine incident, comprise and a kind of boats and ships maximum permission speed of a ship or plane setting device is provided, described setting device comprises GPS locator, wireless communication interface, diffuse transmission type visibility visualizer, weight input equipment and opertaing device, described GPS locator exports the water channel width value of place, the current course line water channel of boats and ships, described wireless communication interface receives the airline traffic density in current course line from ship-handling center, described diffuse transmission type visibility visualizer obtains the visibility of boats and ships current location, described weight input equipment setting is used for the water channel width value that speed of the ship in metres per second controls, three weight factors of visibility and airline traffic density difference correspondence, described opertaing device respectively with described GPS locator, described wireless communication interface, described diffuse transmission type visibility visualizer is connected with described weight input equipment, according to described water channel width value, described airline traffic density, described visibility and described three weight factors, determine the maximum permission speed of a ship or plane of boats and ships current location.
More specifically, in described boats and ships maximum permission speed of a ship or plane setting device, comprise further: GPS locator, comprise built-in user's setup unit and GPS positioning unit, described user's setup unit is for receiving the setting operation of user, described GPS positioning unit is used for the setting operation according to user, provides the current location of boats and ships and current course line, and provides the water channel width value of place, the current course line water channel of boats and ships, wireless communication interface, connect described GPS locator to receive described current location and described current course line, described current location and described current course line are sent to ship-handling center by wireless data communication network, and from the airline traffic density in the current course line of ship-handling receive centre, diffuse transmission type visibility visualizer, comprise support, transmitter unit, receiving element and control module, described support is fixed on Ship body top, described transmitter unit, described receiving element and described control module are fixed on the bracket, described control module comprises micro-CPU and communication interface, described transmitter unit and described receiving element staggered relatively, described transmitter unit adopts GaAs infrared LED to launch scattered light as light source, described receiving element adopts PIN type photosensitive tube receiving scattered light, described control module connects described transmitter unit and described receiving element respectively, described micro-CPU calculates visibility according to the light intensity of the light intensity and receiving scattered light of launching scattered light, described communication interface connects described micro-CPU to export the visibility of boats and ships current location, weight input equipment, for the input according to user, sets the first weight factor, the second weight factor and the 3rd weight factor to carrying out the water channel width value of speed of the ship in metres per second control, visibility and airline traffic density respectively, ship's speed measuring equipment, for measuring in real time and exporting the current driving speed of boats and ships, opertaing device, respectively with described GPS locator, described wireless communication interface is connected with described diffuse transmission type visibility visualizer to receive described water channel width value, described visibility and described airline traffic density, connect described weight input equipment to receive described first weight factor, described second weight factor and described 3rd weight factor, based on described water channel width value, described first weight factor, described visibility, described second weight factor, the maximum permission speed of a ship or plane of described airline traffic density and described 3rd weight factor Ship ' current location, be connected to receive described current driving speed with described ship's speed measuring equipment, and when described current driving speed is more than or equal to the described maximum permission speed of a ship or plane, send the speed of a ship or plane to transfinite signal, when described current driving speed is less than the described maximum permission speed of a ship or plane, send speed of a ship or plane normal signal, display device, connects described opertaing device, for receive the described speed of a ship or plane transfinite signal time, showing described current driving speed with high brightness, when receiving described speed of a ship or plane normal signal, showing described current driving speed with low-light level, wherein, described airline traffic density is every ships quantity in the sea on course line, at described opertaing device based on described water channel width value, described first weight factor, described visibility, described second weight factor, during the maximum permission speed of a ship or plane of described airline traffic density and described 3rd weight factor Ship ' current location, in the use of described visibility, the calculating that visibility scale scope at described visibility carries out the maximum permission speed of a ship or plane of boats and ships current location, described visibility scale scope comprises less than 100 meters, 100 meters to 1 kilometer, 1 kilometer to 2 kilometers, 2 kilometers to 5 kilometers, 5 kilometers to more than 100 kilometers and 100 kilometers multiple visibility scale scopes, wherein, described GPS locator, described wireless communication interface and described diffuse transmission type visibility visualizer are all positioned at the hull front end of boats and ships, and described weight input equipment, described ship's speed measuring equipment, described opertaing device and described display device are positioned at the panel board in ship control cabin, wherein, described wireless communication interface receive the described speed of a ship or plane transfinite signal time, the maximum permission speed of a ship or plane of the current location of boats and ships and boats and ships current location is sent to ship-handling center by wireless data communication network.
More specifically, in described boats and ships maximum permission speed of a ship or plane setting device, comprise memory device further, connect described opertaing device, for the maximum permission speed of a ship or plane of water channel width value, described first weight factor, described visibility, described second weight factor, described airline traffic density, described 3rd weight factor and described boats and ships current location described in real-time storage.
More specifically, in described boats and ships maximum permission speed of a ship or plane setting device, described memory device is positioned at the panel board in ship control cabin.
More specifically, in described boats and ships maximum permission speed of a ship or plane setting device, described weight input equipment is keyboard or touch-screen.
More specifically, in described boats and ships maximum permission speed of a ship or plane setting device, described opertaing device is connected with described wireless communication interface by RS232 universal serial bus.
More specifically, in described boats and ships maximum permission speed of a ship or plane setting device, comprise voice playing equipment further, connect described opertaing device, for receive the described speed of a ship or plane transfinite signal time, play audio alert file.
More specifically, in described boats and ships maximum permission speed of a ship or plane setting device, described voice playing equipment is positioned at the panel board in ship control cabin.
More specifically, in described boats and ships maximum permission speed of a ship or plane setting device, described voice playing equipment is loudspeaker.
Accompanying drawing explanation
Below with reference to accompanying drawing, embodiment of the present invention are described, wherein:
Fig. 1 is the block diagram of the boats and ships maximum permission speed of a ship or plane setting device illustrated according to an embodiment of the present invention.
Fig. 2 is the block diagram of the GPS locator of the boats and ships maximum permission speed of a ship or plane setting device illustrated according to an embodiment of the present invention.
Embodiment
Below with reference to accompanying drawings the embodiment of boats and ships of the present invention maximum permission speed of a ship or plane setting device is described in detail.
In the driving process of boats and ships on the water surface, residing for the air visibility of current location, current location, the stenosis of water channel and the vessel traffic density in current waters are three key factors affecting safety of ship travel speed.Such as when poor visibility (such as mist boat), require in ship collision prevention rule to use " safety speed "; Through narrow channel, the place that such as navigation channel such as canal, straits is narrower, because these many navigation channels of local ship are narrow, easily causes danger, so sailing directions and traffic control department waterborne also can require to adopt suitable speed; In addition, in harbour, on the one hand because ship is many in harbour, on the other hand, very large wave can be evoked, for the ship of alongside on bank during shipping high speed navigation, particularly canoe, hull and water front collision can be caused to cause " swell damage ", and the canoe for other navigation may cause shipwreck accident, so harbour is also restricted for the speed of the ship in metres per second navigated by water in the district of port because of the wave is high.
In order to avoid boats and ships have an accident on the water surface, the safety traffic strategy of current boats and ships is, according to affecting safe topmost factor in current driving location, the maximum permission headway of current driving location is set, when exceeding this maximum permission headway, carrying out speed of a ship or plane warning, when being less than this maximum permission headway, not carrying out any alarm operation.This safety traffic strategy is simple, economical and have certain alarming effect; but for the water surface situation of complexity; because influent factor is on the high side; this safety traffic strategy is comprehensive not; the computational accuracy of maximum permission headway is not high; warning effect is poor; when only considering a factor; often have ignored other factors; the crisis affecting safety traffic still cannot be eliminated, and even can cause the generation of marine incident in extreme circumstances, and boats and ships one has an accident; repair difficulty and cost all very high, bring high economic loss to the operator of boats and ships.
The boats and ships maximum permission speed of a ship or plane setting device that the present invention proposes, three general datas of water speed can be affected by Real-time Obtaining, the i.e. stenosis of water channel residing for visibility, current location and the vessel traffic density in current waters, the weight factor of data and Scientific Establishment is obtained in real time according to these, determine the maximum permission speed of a ship or plane of current location in time, the safety traffic of full-scope safeguards boats and ships.
Fig. 1 is the block diagram of the boats and ships maximum permission speed of a ship or plane setting device illustrated according to an embodiment of the present invention.As shown in Figure 1, described setting device comprises GPS locator 1, wireless communication interface 2, diffuse transmission type visibility visualizer 3, weight input equipment 4, opertaing device 5, ship's speed measuring equipment 6, display device 7, memory device 8 and voice playing equipment 9, opertaing device 5 is connected with GPS locator 1, wireless communication interface 2, diffuse transmission type visibility visualizer 3, weight input equipment 4, ship's speed measuring equipment 6, display device 7, memory device 8 and voice playing equipment 9 respectively, and GPS locator 1 is connected with wireless communication interface 2.The structure more specifically of described setting device is as described below.
As shown in Figure 2, GPS locator 1 comprises built-in user's setup unit 11 and GPS positioning unit 12, described user's setup unit 11 is for receiving the setting operation of user, described GPS positioning unit 12 is for the setting operation according to user, provide the current location of boats and ships and current course line, and provide the water channel width value of place, the current course line water channel of boats and ships.
Wireless communication interface 2, connect described GPS locator 1 to receive described current location and described current course line, described current location and described current course line are sent to ship-handling center by wireless data communication network, and from the airline traffic density in the current course line of ship-handling receive centre.
Diffuse transmission type visibility visualizer 3, comprise support, transmitter unit, receiving element and control module, described support is fixed on Ship body top, described transmitter unit, described receiving element and described control module are fixed on the bracket, described control module comprises micro-CPU and communication interface, described transmitter unit and described receiving element staggered relatively, described transmitter unit adopts GaAs infrared LED to launch scattered light as light source, described receiving element adopts PIN type photosensitive tube receiving scattered light, described control module connects described transmitter unit and described receiving element respectively, described micro-CPU calculates visibility according to the light intensity of the light intensity and receiving scattered light of launching scattered light, described communication interface connects described micro-CPU to export the visibility of boats and ships current location.
Weight input equipment 4, for the input according to user, set the first weight factor, the second weight factor and the 3rd weight factor to carrying out the water channel width value of speed of the ship in metres per second control, visibility and airline traffic density respectively, described weight input equipment 4 is chosen as keyboard or touch-screen.
Ship's speed measuring equipment 6, for measuring in real time and exporting the current driving speed of boats and ships.
Opertaing device 5, respectively with described GPS locator 1, described wireless communication interface 2 is connected with described diffuse transmission type visibility visualizer 3 to receive described water channel width value, described visibility and described airline traffic density, connect described weight input equipment 4 to receive described first weight factor, described second weight factor and described 3rd weight factor, based on described water channel width value, described first weight factor, described visibility, described second weight factor, the maximum permission speed of a ship or plane of described airline traffic density and described 3rd weight factor Ship ' current location, be connected to receive described current driving speed with described ship's speed measuring equipment 6, and when described current driving speed is more than or equal to the described maximum permission speed of a ship or plane, send the speed of a ship or plane to transfinite signal, when described current driving speed is less than the described maximum permission speed of a ship or plane, send speed of a ship or plane normal signal, opertaing device 5 is connected with described wireless communication interface 2 by RS232 universal serial bus.
Display device 7, for receive the described speed of a ship or plane transfinite signal time, showing described current driving speed with high brightness, when receiving described speed of a ship or plane normal signal, showing described current driving speed with low-light level.
Memory device 8, for the maximum permission speed of a ship or plane of water channel width value, described first weight factor, described visibility, described second weight factor, described airline traffic density, described 3rd weight factor and described boats and ships current location described in real-time storage.
Voice playing equipment 9, for receive the described speed of a ship or plane transfinite signal time, play audio alert file, voice playing equipment 9 is chosen as loudspeaker or other play device.
Wherein, described airline traffic density is every ships quantity in the sea on course line, at described opertaing device 5 based on described water channel width value, described first weight factor, described visibility, described second weight factor, during the maximum permission speed of a ship or plane of described airline traffic density and described 3rd weight factor Ship ' current location, in the use of described visibility, the calculating that visibility scale scope at described visibility carries out the maximum permission speed of a ship or plane of boats and ships current location, described visibility scale scope comprises less than 100 meters, 100 meters to 1 kilometer, 1 kilometer to 2 kilometers, 2 kilometers to 5 kilometers, 5 kilometers to more than 100 kilometers and 100 kilometers multiple visibility scale scopes, described GPS locator 1, described wireless communication interface 2 and described diffuse transmission type visibility visualizer 3 are all positioned at the hull front end of boats and ships, and described weight input equipment 4, described ship's speed measuring equipment 6, described opertaing device 5 and described display device 7, described memory device 8 and described voice playing equipment 9 are positioned at the panel board in ship control cabin, described wireless communication interface 2 receive the described speed of a ship or plane transfinite signal time, the maximum permission speed of a ship or plane of the current location of boats and ships and boats and ships current location is sent to ship-handling center by wireless data communication network.
In addition, in order to the description quantized to the traffic conditions in navigation channel, people refer to this parameter of vessel traffic density.So-called vessel traffic density, refers to the ship quantity in certain navigation waters, generally using every nautical mile of ship quantity as criterion.Such as, specify in the competent authority of some country, front and back two ship spacing 1 nautical mile (or interval 6 minutes), namely vessel traffic density the best is 2 to 3 ships (in the sea every).
In addition, GPS is the abbreviation of English Global Positioning System (GPS).GPS originates in a project of US military in 1958, within 1964, comes into operation.20 century 70s, land, sea, and air of U.S. joint research and developments Global Positioning System of new generation.Fundamental purpose is for large field, land, sea and air three provides real-time, round-the-clock and global navigation Service, and for some military purposes such as information gathering, Nuclear detonation monitoring and emergency communications, through the research experiment in more than 20 years, cost 30,000,000,000 dollars, by 1994, Global coverage rate up to 98% 24 gps satellite constellations oneself laid.GPS navigation system is based on 24 positioning satellite in the whole world, provides a kind of radio-navigation positioning system of the information such as three-dimensional position, three-dimensional velocity to all parts of the world round-the-clockly.He is made up of three parts, and one is ground control segment, is made up of master station, ground-plane antenna, monitoring station and communication backup system.Two is space segments, is made up of 24 satellites, is distributed in 6 orbit planes.Three is user's set parts, is made up of GPS and satellite antenna.Civilian positioning precision can reach in 10 meters.The ultimate principle of GPS navigation system is the distance between the satellite of measuring known location to receiver user, and then the data of comprehensive multi-satellite just can know the particular location of receiver.Reach this purpose, the time that the position of satellite can be recorded according to spaceborne clock finds in satellite ephemeris.User then propagates into by record satellite-signal the time that user experiences to the distance of satellite, being multiplied by the light velocity again obtains (due to the ionospheric interference of atmospheric envelope, this distance is not the actual distance between user and satellite, but pseudorange).When gps satellite normally works, constantly navigation message can be launched by the pseudo-random code (abbreviation pseudo-code) of 1 and 0 binary element composition.When user receives navigation message, extract satellite time and the clock of itself and oneself is carried out contrasting the distance just can learning satellite and user, present position when satellite almanac data in recycling navigation message extrapolates satellite launch text, the information such as the position and speed of user in WGS-84 earth coordinates just can be learnt.
Boats and ships of the present invention maximum permission speed of a ship or plane setting device, when formulating the maximum permission speed of a ship or plane of boats and ships current location, consider the key element of each major effect speed of a ship or plane comprehensively, the i.e. water channel width value of place, current course line water channel, the airline traffic density in current course line and the visibility of boats and ships current location, and the weighing factor factor of each key element is formulated according to historical data or driver experience, formulate the maximum permission speed of a ship or plane of correct current location, when boats and ships exceed the speed limit, report to the police in time, marine incident is avoided to occur, ensure that water surface traffic is unobstructed, maintain the economic interests of shipping transport business.
Be understandable that, although the present invention with preferred embodiment disclose as above, but above-described embodiment and be not used to limit the present invention.For any those of ordinary skill in the art, do not departing under technical solution of the present invention ambit, the technology contents of above-mentioned announcement all can be utilized to make many possible variations and modification to technical solution of the present invention, or be revised as the Equivalent embodiments of equivalent variations.Therefore, every content not departing from technical solution of the present invention, according to technical spirit of the present invention to any simple modification made for any of the above embodiments, equivalent variations and modification, all still belongs in the scope of technical solution of the present invention protection.
Claims (2)
1. avoid the method for the generation of marine incident for one kind, the method comprises provides boats and ships maximum permission speed of a ship or plane setting device, described setting device comprises GPS locator, wireless communication interface, diffuse transmission type visibility visualizer, weight input equipment and opertaing device, described GPS locator exports the water channel width value of place, the current course line water channel of boats and ships, described wireless communication interface receives the airline traffic density in current course line from ship-handling center, described diffuse transmission type visibility visualizer obtains the visibility of boats and ships current location, described weight input equipment setting is used for the water channel width value that speed of the ship in metres per second controls, three weight factors of visibility and airline traffic density difference correspondence, described opertaing device respectively with described GPS locator, described wireless communication interface, described diffuse transmission type visibility visualizer is connected with described weight input equipment, according to described water channel width value, described airline traffic density, described visibility and described three weight factors, determine the maximum permission speed of a ship or plane of boats and ships current location.
2. avoid the method for the generation of marine incident as claimed in claim 1, it is characterized in that, described setting device also comprises:
GPS locator, comprise built-in user's setup unit and GPS positioning unit, described user's setup unit is for receiving the setting operation of user, described GPS positioning unit is used for the setting operation according to user, provide the current location of boats and ships and current course line, and provide the water channel width value of place, the current course line water channel of boats and ships;
Wireless communication interface, connect described GPS locator to receive described current location and described current course line, described current location and described current course line are sent to ship-handling center by wireless data communication network, and from the airline traffic density in the current course line of ship-handling receive centre;
Diffuse transmission type visibility visualizer, comprise support, transmitter unit, receiving element and control module, described support is fixed on Ship body top, described transmitter unit, described receiving element and described control module are fixed on the bracket, described control module comprises micro-CPU and communication interface, described transmitter unit and described receiving element staggered relatively, described transmitter unit adopts GaAs infrared LED to launch scattered light as light source, described receiving element adopts PIN type photosensitive tube receiving scattered light, described control module connects described transmitter unit and described receiving element respectively, described micro-CPU calculates visibility according to the light intensity of the light intensity and receiving scattered light of launching scattered light, described communication interface connects described micro-CPU to export the visibility of boats and ships current location,
Weight input equipment, for the input according to user, sets the first weight factor, the second weight factor and the 3rd weight factor to carrying out the water channel width value of speed of the ship in metres per second control, visibility and airline traffic density respectively;
Ship's speed measuring equipment, for measuring in real time and exporting the current driving speed of boats and ships;
Opertaing device, respectively with described GPS locator, described wireless communication interface is connected with described diffuse transmission type visibility visualizer to receive described water channel width value, described visibility and described airline traffic density, connect described weight input equipment to receive described first weight factor, described second weight factor and described 3rd weight factor, based on described water channel width value, described first weight factor, described visibility, described second weight factor, the maximum permission speed of a ship or plane of described airline traffic density and described 3rd weight factor Ship ' current location, be connected to receive described current driving speed with described ship's speed measuring equipment, and when described current driving speed is more than or equal to the described maximum permission speed of a ship or plane, send the speed of a ship or plane to transfinite signal, when described current driving speed is less than the described maximum permission speed of a ship or plane, send speed of a ship or plane normal signal,
Display device, connects described opertaing device, for receive the described speed of a ship or plane transfinite signal time, showing described current driving speed with high brightness, when receiving described speed of a ship or plane normal signal, showing described current driving speed with low-light level;
Wherein, described airline traffic density is every ships quantity in the sea on course line, at described opertaing device based on described water channel width value, described first weight factor, described visibility, described second weight factor, during the maximum permission speed of a ship or plane of described airline traffic density and described 3rd weight factor Ship ' current location, in the use of described visibility, the calculating that visibility scale scope at described visibility carries out the maximum permission speed of a ship or plane of boats and ships current location, described visibility scale scope comprises less than 100 meters, 100 meters to 1 kilometer, 1 kilometer to 2 kilometers, 2 kilometers to 5 kilometers, 5 kilometers to more than 100 kilometers and 100 kilometers multiple visibility scale scopes,
Wherein, described GPS locator, described wireless communication interface and described diffuse transmission type visibility visualizer are all positioned at the hull front end of boats and ships, and described weight input equipment, described ship's speed measuring equipment, described opertaing device and described display device are positioned at the panel board in ship control cabin;
Wherein, described wireless communication interface receive the described speed of a ship or plane transfinite signal time, the maximum permission speed of a ship or plane of the current location of boats and ships and boats and ships current location is sent to ship-handling center by wireless data communication network;
Described navigation control system also comprises:
Memory device, connect described opertaing device, for the maximum permission speed of a ship or plane of water channel width value, described first weight factor, described visibility, described second weight factor, described airline traffic density, described 3rd weight factor and described boats and ships current location described in real-time storage.
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- 2014-07-29 CN CN201410835858.XA patent/CN104554652B/en active Active
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| US20020138200A1 (en) * | 2001-03-26 | 2002-09-26 | William Gutierrez | System and method for aircraft and watercraft control and collision prevention |
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| CN203358361U (en) * | 2013-07-02 | 2013-12-25 | 上海理工大学 | Automatic vehicle speed limitation system based on GPS positioning |
| CN203698621U (en) * | 2014-01-02 | 2014-07-09 | 河海大学 | Crash-proof system used for ship and ship equipped therewith |
| CN104139838A (en) * | 2014-07-29 | 2014-11-12 | 无锡北斗星通信息科技有限公司 | Method for avoiding ship accidents |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104139838B (en) | 2015-05-20 |
| CN104554652B (en) | 2015-11-18 |
| CN104139838A (en) | 2014-11-12 |
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