CN110660272A - Method suitable for early warning and detection of collision of waterborne ships in inland river - Google Patents
Method suitable for early warning and detection of collision of waterborne ships in inland river Download PDFInfo
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Abstract
The invention provides a collision early warning detection method suitable for inland water ships, which comprises the following steps: step 1, receiving AIS information of a ship, and acquiring a ship position, an AIS equipment installation position and ship size data, wherein the ship size comprises length and width; step 2, obtaining a rectangle for ship collision detection; step 3, projecting collision detection rectangular coordinates of the two ships onto a separation shaft by using a separation shaft theory; step 4, calculating whether the two ship collision detection rectangles are overlapped; and 5, further judging whether the ship has collision hidden danger or not by combining the navigation course of the ship. The method is different from the detection method for early warning of ship collision in the traditional VTS, but adopts a mode of collision detection based on the real outline of the ship, so that the collision situation of the ship on water can be accurately predicted, and the accuracy of the ship collision early warning in inland river maritime supervision is improved.
Description
Technical Field
The invention relates to a collision early warning detection method suitable for inland water ships.
Background
A Vessel Traffic management System (VTS), which is a System for performing Traffic control on vessels and providing advisory services by a competent organization in order to ensure Vessel Traffic safety, improve Vessel Traffic efficiency and protect water area environment. With the continuous development of the water transportation industry, the position and the function of inland river transportation are gradually improved, and statistics show that inland river transportation in China accounts for 48% of waterway transportation in China, coastal transportation is inferior, and ocean transportation is the last one. The study on monitoring and controlling the water traffic safety of the inland river is strengthened, and the monitoring and controlling of the water traffic safety of the inland river is promoted to be imperative. At present, most of inland river water traffic accidents are collision accidents, particularly, various ships and small ships are numerous, and meanwhile, ferrys frequently coming and going on at both sides of an inland river cause the possibility of ship collision, so that collision detection and early warning of inland river water ships are important in marine safety supervision work.
At present, most of VTS systems are mainly suitable for supervision of port areas, because coastal ports have wide water areas, ships enter and leave ports to sail according to an entrance and exit port channel defined by a maritime department, the width of the channel is very wide, the sailing distance between the ships is long, collision detection of the ships is mainly based on the position, the course and the speed of the ships, and early warning of ship collision is carried out by calculating CPA (closest intersection distance) and TCPA (closest intersection time). However, in inland river waters, due to the characteristics of navigation environment, a wide channel cannot be divided, so that the navigation range of a ship is limited, the distance between ships in a narrow channel is short, if a CPA/TCPA collision detection method is still adopted, two phenomena can occur, firstly, when a set collision threshold value is too large, a large number of false alarms can be generated due to the fact that the distance between the ships is short, and thus false alarms can occur; secondly, when the set collision threshold is too small, part of ships are in a collision danger situation due to the fact that the size of the ships is not considered, but the system does not give an alarm, and therefore false alarm occurs. Therefore, CPA/TCPA-based collision detection cannot provide auxiliary support for maritime users to supervise the safety of inland water vessels.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to solve the technical problem of providing a collision early warning detection method suitable for inland river water vessels aiming at the defects of the prior art.
The invention adopts a collision detection method based on the ship outline, utilizes the received AIS (Automatic Identification System) information, calculates the real-time motion outline of the ship by extracting the position data of the ship, the AIS equipment installation position and the ship size data, forms a collision detection rectangle by adding a collision threshold value on the basis of the ship outline, detects the collision among polygons, judges whether real collision hidden danger exists or not through the cross existence of course among the ships after the collision is detected, and finally generates collision early warning.
The invention comprises the following steps:
step 2, obtaining a rectangle for ship collision detection;
step 3, projecting collision detection rectangular coordinates of the two ships onto a separation shaft by using a separation shaft theory;
step 4, calculating whether the two ship collision detection rectangles are overlapped;
and 5, further judging whether the ship has collision hidden danger or not by combining the navigation course of the ship.
The step 2 comprises the following steps:
step 2-1, converting longitude and latitude coordinates of the ship position into rectangular coordinates;
and 2-2, calculating the real outline of the ship according to the obtained AIS equipment installation position and the ship size, setting the point F as the AIS equipment installation position in the step 2-2, wherein A, B, C, D are the relative distances between the AIS equipment installation position and the upper, lower, left and right sides of the ship outline respectively, and since the longitude and latitude coordinate of the ship position is the point F and is converted into F' (x, y) through the rectangular coordinates, the left upper rectangular coordinate LeftTop of the ship outline is (x-C, y-A), the right lower rectangular coordinate rightDown is (x + D, y + B), and the real outline of the ship is obtained.
And 2-3, increasing a collision detection threshold value on the basis of the real ship outline, wherein the value of the threshold value can be set according to the current navigation environment and the size of the ship, for example, one half of the ship length, namely, an amplitude is expanded outwards on the basis of the real ship outline to form a ship collision detection rectangle.
The step 3 comprises the following steps:
step 3-1, selecting a straight line parallel to one side of the collision detection rectangle of the ship as a separation axis;
step 3-2, projecting a coordinate point of a collision detection rectangle of a ship onto a separation axis, and calculating a maximum coordinate and a minimum coordinate on the separation axis;
and 3-3, projecting the coordinate point of the collision detection rectangle of the other ship onto the separation axis, and calculating the maximum coordinate and the minimum coordinate on the separation axis.
In step 3-1, one side of the ship A is set to be A1A2, and a straight line L1L2 parallel to A1A2 is selected as a separation axis.
In step 3-2, four coordinate points on the ship a are projected onto the L1L2 straight line through a point-to-straight line projection calculation formula (see high algebraic numbers), as shown in fig. 5, since the L1L2 straight line is parallel to A1a2, only two points A1 and a2 need to be projected onto the straight line L1L2, and the maximum coordinates and the minimum coordinates of the two points A1 and a2 projected onto the L1L2 are LA1 and LA2 points, respectively.
In step 3-3, four coordinate points on the ship B are projected onto the L1L2 straight line through matrix transformation, and two maximum and minimum projection coordinates are selected from the four projected points and are respectively marked as LB1 and LB 2.
The step 4 comprises the following steps:
step 4-1, if the projection coordinates of the collision detection rectangles of the two ships A and B on the separation axis have an intersection, reselecting one separation axis from straight lines L3L4, L5L6 and L7L8, and returning to the step 3, wherein the straight line L3L4 is parallel to A2A3, the straight line L5L6 is parallel to B2B3, the straight line L7L8 is parallel to B3B4, and B1, B2, B3 and B4 are the four vertexes of the collision detection rectangle of the ship B respectively;
if the projection coordinates of the collision detection rectangles of the two ships A and B on the separation axis do not have an intersection, stopping calculation, and indicating that the two ships do not have collision;
and 4-2, if the collision detection rectangles of the two ships A and B have intersection through projection calculation of four separation axes (namely L1L2, L3L4, L5L6 and L7L8), judging that the collision detection rectangles of the two ships A and B have overlapping.
In step 4-1, the projected coordinates of ship a and ship B on the separation axis, i.e. straight line L1L2, are LA1, LA2 and LB1, LB2, respectively, if there is intersection between LA1LA2 and LB1LB2, then reselecting one separation axis, setting the four vertices of the ship a collision detection rectangle as a1, A2, A3 and a4, reselecting a straight line L3L4 parallel to A2A3 as a separation axis, returning to step 3, calculating the projected coordinates of ship a and ship B on the straight line L3L4, obtaining the four points LA1, LA2 and LB1, LB2, respectively, if there is no intersection between LA1LA2 and LB1LB2, stopping the subsequent calculation, indicating that there is no overlap between the collision detection rectangles of ship a and ship B, i.e. there is no possibility, otherwise reselecting L5L6 as no intersection between the two collision detection rectangles, judging that there is intersection between ship a collision detection rectangles on ship a and ship B, and calculating if there is a collision detection intersection between two collision detection rectangles, if there is stopped, and (4) indicating that the collision detection rectangles of the ship A and the ship B do not overlap, namely the two ships do not have collision possibility, otherwise, reselecting the L7L8 as a separation axis, judging that the projection coordinates of the collision detection rectangles of the two ships A and B on the separation axis have intersection, if not, stopping subsequent calculation, indicating that the collision detection rectangles of the ship A and the ship B do not overlap, namely the two ships do not have collision possibility, and otherwise, executing the step 4-2.
The step 5 comprises the following steps:
if the collision detection rectangles of the two ships A and B are overlapped and the course directions of the two ships A and B are crossed through the calculation in the step 4, giving a collision early warning prompt;
if the course of the two ships is not crossed at the moment, the two ships are shown to sail in parallel at the moment, and no collision early warning prompt is given.
Has the advantages that: the method is different from the detection method for early warning of ship collision in the traditional VTS, but adopts a mode of collision detection based on the real outline of the ship, so that the collision situation of the ship on water can be accurately predicted, and the accuracy of the ship collision early warning in inland river maritime supervision is improved. Due to the fact that the size of the ship is considered, the false alarm rate of ship collision detection in a narrow inland river water area can be greatly reduced, the accuracy of the ship collision detection is improved, and meanwhile the detection method can be suitable for ships of different sizes and different types.
Drawings
The foregoing and/or other advantages of the invention will become further apparent from the following detailed description of the invention when taken in conjunction with the accompanying drawings.
Fig. 1 is a schematic diagram of a ship collision detection early warning process.
Fig. 2 is a schematic diagram of the vessel location points and dimensional data in the AIS information.
Fig. 3 is a schematic view of a ship collision detection rectangle.
Fig. 4 shows a straight line as the axis of separation.
Fig. 5 shows the intersection of projections on separate axes.
Fig. 6 shows the projection on the separating axis without intersection.
Fig. 7 is a case where collision detection rectangles of ship a and ship B overlap.
Fig. 8 is a case of parallel sailing of ship a and ship B.
Detailed Description
As shown in fig. 1, the key steps of the collision detection method based on the ship profile are as follows:
After receiving the real-time AIS information of the ship, analyzing the AIS data according to the ITU-R M.1371-4 standard, and extracting navigation position information, AIS installation position information and size information of the ship.
And 2, acquiring a rectangle for ship collision detection.
Step 2-1, converting longitude and latitude coordinates of the ship position into rectangular coordinates;
and 2-2, calculating the real outline of the ship according to the obtained AIS equipment installation position and the ship size.
As shown in fig. 2, point F is the position information of the ship, i.e. the installation position of the AIS equipment, since the position information is not the geometric center of the ship, the sailing position of the ship is converted into the geometric center of the ship through translation transformation, A, B, C, D is the relative distance between the installation position of the AIS equipment and the upper, lower, left and right four sides of the ship profile, respectively, the real profile of the ship is calculated through A, B, C, D and other data, if no A, B, C, D data is given in the AIS information, the calculation can also be performed through the length and width of the ship in the AIS information, and finally the real profile of the ship is the filling part in fig. 2.
And 2-3, increasing a collision detection threshold value on the basis of the real contour of the ship to form a ship collision detection rectangle.
Because the ship collision is to be warned, a warning threshold value must be added, that is, an amplitude is expanded outwards on the basis of the real outline of the ship, the amplitude can be dynamically set according to the actual use requirement, and a ship collision detection rectangle is formed after the threshold value is added, such as a part enclosed by a dotted line in fig. 3.
And 3, projecting the collision detection rectangular coordinates of the two ships onto the separation axis by using the separation axis theory.
Step 3-1, selecting one side of a collision detection rectangle parallel to the ship as a separation axis;
according to the split axis theory, in detecting a rectangular collision, eight split axes need to be selected, and since the two sides of the rectangle are parallel, only four split axes need to be selected here, assuming that a straight line L1L2 parallel to one side A1a2 of the ship a is selected as a split axis, as shown in fig. 4.
Step 3-2, projecting the selected rectangular coordinate point to the separation axis, and calculating the maximum and minimum coordinates on the separation axis;
four coordinate points on the ship a are projected on a straight line of L1L2 by matrix transformation, and since a straight line of L1L2 is parallel to A1a2, only two points of A1 and a2 need to be projected on a straight line L1L2, here denoted as points LA1 and LA2, as shown in fig. 5.
Step 3-3, projecting the coordinate point of the collision detection rectangle of another ship onto the separation axis, and calculating the maximum and minimum coordinates on the separation axis.
Similarly, four coordinate points on the ship B are projected onto the L1L2 straight line by matrix transformation, and of the projected four points, two maximum and minimum projection coordinates LB1 and LB2 are selected, as shown in fig. 5.
And 4, calculating whether the two ship collision detection rectangles are overlapped.
And 4-1, if the projection coordinates of the collision rectangles of the two ships on the separation axis have an intersection, reselecting one separation axis, and starting from the step 3 again.
And if the projection coordinates of the collision rectangles of the two ships on the separation axis do not have an intersection, stopping the calculation, and indicating that the two ships do not have collision.
In step 4-1, the projection coordinates of ship a and ship B on the separation axis, i.e. straight line L1L2, are LA1, LA2 and LB1, LB2, respectively, and if there is an intersection between LA1LA2 and LB1LB2, as shown in fig. 5 and 4, one separation axis is reselected from straight lines L3L4, L5L6, and L7L8, and the calculation is started from step 3. Wherein the straight line L3L4 is parallel to A2A3, the straight line L5L6 is parallel to B2B3, the straight line L7L8 is parallel to B3B4, and B1, B2, B3, and B4 are respectively four vertices of the collision detection rectangle of the ship B;
in step 4-1, the projected coordinates of ship a and ship B on the separation axes, i.e. straight line L1L2, are LA1, LA2 and LB1, LB2, respectively, if there is intersection between LA1LA2 and LB1LB2, then reselecting one separation axis, setting the four vertices of the collision detection rectangle of ship a as a1, A2, A3 and a4, reselecting a straight line L3L4 parallel to A2A3 as a separation axis, returning to step 3, calculating the projected coordinates of ship a and ship B on the straight line L3L4, obtaining the four points of LA1, LA2 and LB1, LB2, respectively, if there is no intersection between LA1LA2 and LB1LB2, as shown in fig. 6, stopping the subsequent calculation, indicating that the collision detection rectangles of ship a and ship B overlap, i.e. there is no possibility of collision between the two ships, otherwise reselecting L5L6 as a separation axis, judging that there is no collision detection coordinates of two ships a and B on the intersection between them exist, and calculating if there is stopped the subsequent collision detection rectangles on the two ships a collision detection rectangles on, and (4) indicating that the collision detection rectangles of the ship A and the ship B do not overlap, namely the two ships do not have collision possibility, otherwise, reselecting the L7L8 as a separation axis, judging that the projection coordinates of the collision detection rectangles of the two ships A and B on the separation axis have intersection, if not, stopping subsequent calculation, indicating that the collision detection rectangles of the ship A and the ship B do not overlap, namely the two ships do not have collision possibility, and otherwise, executing the step 4-2.
And 4-2, if the collision detection rectangles of the two ships have intersection through projection calculation of four separation axes (namely L1L2, L3L4, L5L6 and L7L8), judging that the collision detection rectangles of the two ships have overlapping.
If the projections of the four points of the collision detection rectangles of the ship a and the ship B on the four separation axes are intersected, it can be determined that the collision detection rectangles of the ship a and the ship B move in an overlapping manner, as shown in fig. 7.
And 5, further judging whether the ship has collision hidden danger or not by combining the navigation course of the ship.
And 5-1, if the collision detection rectangles of the two ships are calculated to be overlapped through the step 4, and the courses of the two ships are crossed at the moment, giving a collision early warning prompt.
Through the calculation of the step 4, if the collision detection of the two ships is detected to have handover, but whether the collision hidden danger exists in the two ships cannot be determined, whether the sailing directions of the two ships are crossed needs to be further judged, the judgment can be carried out through the sailing direction lines of the ships, and if the course is crossed, the collision early warning of the two ships is given.
And 5-2, if the course of the two ships is not crossed at the moment, indicating that the two ships sail in parallel at the moment, and giving no collision early warning prompt.
If the ships a and B are in a parallel-sailing condition, even if the collision detection rectangles of the ships a and B are detected to overlap in step 4, as long as the collision detection rectangles of the ships a and B overlap within a given safety threshold, as shown in fig. 8, the collision detection rectangles of the ships a and B do not actually have the possibility of collision, and then the system does not give a collision warning.
With the continuous development of water traffic transportation in China, particularly in the aspect of water transportation of inland rivers, inland river water transportation systems represented by Yangtze river main lines, Xijiang river shipping main lines, Jinghang canal and the like are continuously improved, the traffic flow of inland river water ships is increased year by year, higher requirements are put forward on water safety supervision of inland rivers, and at present, maritime institutions in China are developing the construction of channel type VTS systems, so that new requirements are put forward on early warning of dangerous situations on water, particularly on collision of ships, which can be found out in time by the systems. In a traditional port type VTS system, early warning of ship collision mainly depends on CPA/TCPA (nearest intersection distance/nearest intersection time) for detection, and the method is based on point collision detection and predicts a possible collision situation through the position, course and speed of ship navigation. The invention adopts a surface-based method, incorporates the contour dimension of the ship, gives early warning to the collision situation which may occur between the ships through a given safety range and by combining the sailing direction of the ship based on the real contour of the ship. By using the method, the false alarm and false alarm missing conditions caused by difficulty in threshold selection in the inland river of the traditional CPA/TCPA collision early warning detection are greatly reduced, and the accuracy of the detection of the ship collision dangerous case in inland river maritime affair supervision can be improved.
The invention adopts a collision detection method based on the ship contour, carries out collision detection based on the position and the course of the ship and the size of the ship, adds a collision detection threshold value on the basis of the ship contour to form a collision detection bounding box, calculates whether each ship bounding box is intersected with the bounding boxes of other ships in real time, and judges whether the ship has the possibility of collision according to the current sailing direction of the ship. By using the method, the false alarm rate of ship collision detection in a narrow inland river water area can be greatly reduced due to the consideration of the size of the ship, the accuracy of the ship collision detection is improved, and meanwhile, the detection method can be suitable for ships with different sizes and different types.
The invention provides a collision detection and early warning method based on a ship profile aiming at the characteristics of navigation environment of inland river water areas and the false alarm and false alarm leakage situations occurring in inland river use of collision detection based on CPA/TCPA in a traditional harbor type VTS system.
The invention provides a method suitable for collision early warning detection of inland river water vessels, and a plurality of methods and ways for implementing the technical scheme, the above description is only a preferred embodiment of the invention, and it should be noted that, for those skilled in the art, without departing from the principle of the invention, a plurality of improvements and decorations can be made, and these improvements and decorations should also be regarded as the protection scope of the invention. All the components not specified in the present embodiment can be realized by the prior art.
Claims (10)
1. The method for early warning and detecting collision of water ships in inland river is characterized by comprising the following steps:
step 1, receiving AIS information of a ship, and acquiring a ship position, an AIS equipment installation position and ship size data, wherein the ship size comprises length and width;
step 2, obtaining a rectangle for ship collision detection;
step 3, projecting collision detection rectangular coordinates of the two ships onto a separation shaft by using a separation shaft theory;
step 4, calculating whether the two ship collision detection rectangles are overlapped;
and 5, further judging whether the ship has collision hidden danger or not by combining the navigation course of the ship.
2. The method of claim 1, wherein step 2 comprises the steps of:
step 2-1, converting longitude and latitude coordinates of the ship position into rectangular coordinates;
2-2, calculating the real outline of the ship according to the obtained AIS equipment installation position and the ship size;
and 2-3, increasing a collision detection threshold value on the basis of the real ship outline, namely expanding an amplitude outwards on the basis of the real ship outline to form a ship collision detection rectangle.
3. The method of claim 2, wherein in step 2-2, point F is set as the mounting position of the AIS equipment, and A, B, C, D are the relative distances between the mounting position of the AIS equipment and the upper, lower, left and right sides of the ship profile, respectively, and since the longitude and latitude coordinates of the ship position are point F and after the ship position is transformed into F' (x, y), the left upper rectangular coordinate LeftTop of the ship profile is (x-C, y-a), and the right lower rectangular coordinate RightDown is (x + D, y + B), so as to obtain the real profile of the ship.
4. A method according to claim 3, characterized in that step 3 comprises the steps of:
step 3-1, selecting a straight line parallel to one side of the collision detection rectangle of the ship as a separation axis;
step 3-2, projecting a coordinate point of a collision detection rectangle of a ship onto a separation axis, and calculating a maximum coordinate and a minimum coordinate on the separation axis;
and 3-3, projecting the coordinate point of the collision detection rectangle of the other ship onto the separation axis, and calculating the maximum coordinate and the minimum coordinate on the separation axis.
5. The method according to claim 4, characterized in that in step 3-1, a side of the ship A is set to A1A2, and a straight line L1L2 parallel to A1A2 is selected as the separation axis.
6. The method of claim 5, wherein in step 3-2, four coordinate points on the ship A are projected onto the line L1L2 through a point-to-line projection calculation formula, and since the line L1L2 is parallel to the line A1A2, only two points A1 and A2 need to be projected onto the line L1L2, and the maximum coordinates and the minimum coordinates of the two points A1 and A2 projected onto the line L1L2 are respectively the points LA1 and LA 2.
7. The method according to claim 6, wherein in step 3-3, four coordinate points on the ship B are projected onto the L1L2 straight line through matrix transformation, and the maximum and minimum two projection coordinates are selected from the four projected points, which are respectively denoted as LB1 and LB 2.
8. The method of claim 7, wherein step 4 comprises the steps of:
step 4-1, if the projection coordinates of the collision detection rectangles of the two ships A and B on the separation axis have an intersection, reselecting one separation axis from straight lines L3L4, L5L6 and L7L8, and returning to the step 3, wherein the straight line L3L4 is parallel to A2A3, the straight line L5L6 is parallel to B2B3, the straight line L7L8 is parallel to B3B4, and B1, B2, B3 and B4 are the four vertexes of the collision detection rectangle of the ship B respectively;
if the projection coordinates of the collision detection rectangles of the two ships A and B on the separation axis do not have an intersection, stopping calculation, and indicating that the two ships do not have collision;
and 4-2, if the collision detection rectangles of the two ships A and B have intersection through projection calculation of the four separation axes L1L2, L3L4, L5L6 and L7L8, judging that the collision detection rectangles of the two ships A and B have overlapping.
9. The method according to claim 8, characterized in that in step 4-1, the projected coordinates of ship A and ship B on the separation axes, i.e. straight line L1L2, are LA1, LA2 and LB1, LB2, respectively, if there is an intersection between LA1LA2 and LB1LB2, then one separation axis is reselected, the four vertices of ship A collision detection rectangle are set as A1, A2, A3 and A4, a straight line L3L4 parallel to A2A3 is reselected as a separation axis, returning to step 3, the projected coordinates of ship A and ship B on the straight line L3L4 are calculated, and the four points of LA1, LA2 and LB1, LB2 are obtained, respectively, if there is no intersection between LA1LA2 and LB1LB2, the subsequent calculation is stopped, indicating that there is no collision detection of ship A and ship B, i.e. there is no possibility for these two ships, otherwise, L5L6 is reselected as the intersection between the projected coordinates of separation axes of ship A and LB2, and the overlapping two collision detection axes are judged, if not, the subsequent calculation is stopped, the collision detection rectangles of the ship A and the ship B are not overlapped, namely the two ships are not possible to collide, otherwise, the L7L8 is reselected as the separation axis, the projection coordinates of the collision detection rectangles of the two ships A and B on the separation axis are judged to be intersected, if not, the subsequent calculation is stopped, the collision detection rectangles of the ship A and the ship B are not overlapped, namely the two ships are not possible to collide, otherwise, the step 4-2 is executed.
10. The method of claim 9, wherein step 5 comprises:
if the collision detection rectangles of the two ships A and B are overlapped and the course directions of the two ships A and B are crossed through the calculation in the step 4, giving a collision early warning prompt;
if the course of the two ships is not crossed at the moment, the two ships are shown to sail in parallel at the moment, and no collision early warning prompt is given.
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| PCT/CN2020/091127 WO2021057049A1 (en) | 2019-09-27 | 2020-05-20 | Method suitable for early warning and detection of vessel collision on inland waters |
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| WO2021057049A1 (en) * | 2019-09-27 | 2021-04-01 | 南京莱斯网信技术研究院有限公司 | Method suitable for early warning and detection of vessel collision on inland waters |
| CN113759889A (en) * | 2020-06-12 | 2021-12-07 | 北京京东乾石科技有限公司 | Method and device for processing transportation path and storage medium |
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