CN111047911A - Marine accident early warning navigation method based on electronic chart - Google Patents
Marine accident early warning navigation method based on electronic chart Download PDFInfo
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Abstract
The invention belongs to the technical field of marine navigation, and particularly relates to a marine accident early warning navigation method based on an electronic chart. The method comprises the following steps: acquiring electronic chart information from the current position of a current ship to a preset target port sea area, and displaying a current route and current navigation information on the electronic chart; acquiring historical marine accident information of a sea area in a preset range of a current airline; judging whether the current route passes through a historical marine accident area; if the current route passes through the historical marine accident area, displaying a first part of routes in the historical marine accident area by using a first warning color, and displaying the first part of routes in an electronic chart; and judging whether the distance between the current position of the current ship and the first part of the air route is smaller than a first threshold value or not, if so, carrying out first early warning prompt and displaying accident information. The method reduces manual operation, improves decision-making efficiency, provides a safe navigation route and ensures safe navigation of the ship.
Description
Technical Field
The invention belongs to the technical field of marine navigation, and particularly relates to a marine accident early warning navigation method based on an electronic chart.
Background
The shipping industry has now taken a paramount role in the world transportation field. The marine navigation is carried out in order to guarantee the safety of ship navigation and improve the economic benefit of shipping, and simultaneously, the marine transportation is more reasonable.
In recent years, with the increasing number of marine transport ships, dense and complex traffic situations are formed, and with the development of logistics supply chains, higher requirements on the cost and efficiency of marine transportation are provided, and with the addition of complex and variable marine conditions, the marine transportation is contradicted with each other in terms of safety, efficiency and energy conservation, so that marine traffic accidents are still caused.
Aiming at the problems, the marine accident early warning navigation is carried out at the same time. However, the existing marine accident early warning navigation is too dependent on manpower, sometimes the frequent region of the marine accident cannot be avoided in advance or in time, and the navigation safety of the ship cannot be ensured.
Disclosure of Invention
Technical problem to be solved
Aiming at the problems in the prior art, the invention provides a marine accident early warning navigation method based on an electronic chart, which reduces manual operation, improves decision-making efficiency, provides a safe navigation route and ensures safe navigation of a ship.
(II) technical scheme
A marine accident early warning navigation method based on an electronic chart comprises the following steps:
101. acquiring electronic chart information from the current position of a current ship to a preset target port sea area, and displaying a current route and current navigation information on the electronic chart;
102. acquiring historical marine accident information of a sea area in a preset range of a current airline; the historical marine accident information comprises historical marine accident regions, accident occurrence time and accident occurrence reasons;
103. judging whether the current route passes through a historical marine accident area;
104. if the current route passes through the historical marine accident area, displaying a first part of routes in the historical marine accident area by using a first warning color, labeling the historical marine accident area, and displaying the marked historical marine accident area in an electronic chart;
105. and judging whether the distance between the current position of the current ship and the first part of the air route is smaller than a first threshold value or not, if so, carrying out first early warning prompt and displaying accident occurrence information.
Further, still include:
106. acquiring navigation warning information broadcasted by a port supervisor in real time, wherein the navigation warning information comprises an accident occurring area or a temporary navigation forbidden area;
107. judging whether the current route passes through an accident occurring area or a temporary navigation forbidden area;
108. if the current airline passes through the accident occurring area or the temporary no-navigation area, displaying a second part of airlines in the accident occurring area or the temporary no-navigation area by using a second warning color, marking the accident occurring area or the temporary no-navigation area, and displaying the marked part in an electronic chart;
109. and judging whether the distance between the current position of the current ship and the second part of air route is smaller than a second threshold value, if so, carrying out second early warning prompt, and combining the navigation information of the current ship acquired in real time to obtain a first effective bypassing scheme.
Further, still include:
110. receiving data acquired by ship sensing equipment, fusing the data to obtain fused data, and analyzing by using a clustering algorithm to obtain a channel crowded area based on the fused data;
111. judging whether the current route passes through a channel crowded area;
112. if the current airline passes through the crowded area of the channel, displaying a third part of airlines in the crowded area of the channel by using a third warning color, marking the crowded area of the channel, and displaying the marked area in an electronic chart;
113. and judging whether the distance between the current position of the current ship and the third part of the route is smaller than a third threshold value, if so, carrying out third early warning prompt, and planning by combining the navigation information of the current ship acquired in real time to obtain a second effective bypassing scheme.
Further, still include:
114. if the current route is changed, the changed route is used as a new current route, and the step 102 is returned.
Further, in step 104, if the current route does not pass through the historical marine accident area, directly go to step 106;
in step 108, if the current route does not pass through the area where the accident is happening or the temporary no-navigation area, directly going to step 110;
in step 112, if the current route does not pass through the congested area of the route, go directly to step 114.
Further, in step 105, if the distance between the current position of the current ship and the first part of the route is greater than or equal to a first threshold value, directly going to step 106;
in step 109, if the distance between the current position of the current ship and the second part of the route is greater than or equal to a second threshold value, directly turning to step 110;
in step 113, if the distance between the current position of the current ship and the second partial route is greater than or equal to the third threshold, the process directly goes to step 114.
Further, the first early warning prompt, the second early warning prompt and the third early warning prompt respectively comprise voice alarm information and display alarm information.
Further, the first effective detour scheme and the second effective detour scheme respectively comprise three alternative schemes, namely a shortest distance route, a shortest time route and other routes.
Further, the historical marine accident area, the accident occurring area or the temporary navigation forbidden area and the channel crowded area are displayed in the electronic chart in the form of different colors or shapes.
Further, the fusion data comprises information of other ships, water depth and fishing net distribution information, and fishing net density is obtained based on the fishing net distribution information;
the information of other ships comprises marine mobile communication service identification, navigational speed, longitude, latitude, heading, ship length and ship width; the fishing net distribution information comprises the distance between the fishing net and the current ship and the position of the fishing net relative to the current ship;
obtaining the traffic flow speed of the ship cluster and the channel traffic flow speed based on the information of other ships;
the judgment criteria of the crowded area of the channel are as follows: the speed of the traffic flow of the ship cluster is less than or equal to the speed of the traffic flow of the channel, and/or,
the water depth is less than or equal to a preset minimum safe water depth threshold value, and/or,
the fishing net density is more than or equal to a preset fishing net density early warning threshold value.
Further, the navigation information of the current ship includes: ship motion information, environmental information, and obstacle information.
Further, the ship sensing equipment comprises an anemorumbometer, a radar, a sonar, an AIS, a GPS, a depth finder, a compass and a camera.
(III) advantageous effects
(1) According to the marine accident early warning navigation method based on the electronic chart, the historical information, the navigation warning information, the perception information and the electronic chart are displayed in a superposition mode to serve as a safe navigation basis, early warning prompting is conducted on a ship passing through a historical accident occurrence area, a marine accident occurring area, a temporary navigation forbidden area and a traffic jam area, and an effective detour avoidance scheme is given out when the ship passes through the marine accident occurring area, the temporary navigation forbidden area and the traffic jam area.
(2) The effective detour avoidance scheme is given when the ship passes through an area where marine accidents are happening, a temporary navigation prohibition area and a traffic congestion area, based on an original planned route, avoidance planning is only carried out locally without global planning again, and energy consumption and resource waste caused by the fact that the ship deviates far from an original route and is subjected to global planning again are prevented.
(3) Historical marine accident information is obtained, and historical marine accident areas are automatically plotted on an electronic chart to be used as a course planning basis and early warning, so that the problem that navigation personnel is unfamiliar with the sea area and can not make a correct decision is solved; acquiring navigation warning information in real time, and automatically plotting an accident area or a temporary navigation prohibition area on the sea for early warning and generating a detour avoidance scheme; analyzing a traffic congestion area by using a clustering algorithm according to fusion data of ship sensing equipment, and automatically plotting the traffic congestion area on an electronic chart for early warning and generating a detour avoidance scheme; the information is automatically plotted in the electronic chart, so that the working difficulty of navigation personnel is reduced.
(4) The navigation warning information is fused with the electronic chart, so that decision hysteresis caused by the respective analysis of the chart and the navigation warning information is avoided, and the working efficiency and the safety of ship navigation are improved.
(5) An avoidance scheme is made according to the analysis of the traffic congestion area, so that the ship is prevented from entering a congested navigation area, the navigation progress is delayed, and the operation cost is increased.
(6) The early warning prompt combining voice warning and display warning is adopted to attract the attention of navigation personnel, and the situation that the navigation personnel are busy in other work and do not find out danger in time is prevented.
(7) The navigation system has the function of planning alternative routes, provides more navigation route schemes for navigation personnel on the premise of ensuring navigation, and solves the problem that the navigation personnel can not plan effective routes for unfamiliar sea areas.
Drawings
Fig. 1 is a flowchart of a marine accident early warning navigation method based on an electronic chart according to the present invention.
Detailed Description
For the purpose of better explaining the present invention and to facilitate understanding, the present invention will be described in detail by way of specific embodiments with reference to the accompanying drawings.
Example 1
The embodiment provides a marine accident early warning navigation method based on an electronic chart, wherein an execution main body in the method is a control center of a current ship, and the method comprises the following steps:
101. and acquiring the electronic chart information from the current position of the current ship to a preset target port sea area, and displaying the current route and the current navigation information on the electronic chart.
The electronic chart information can be electronic chart information stored by the current ship according to historical information, and can also be electronic chart information acquired by information interaction between the current ship and a shore-based control center.
102. Acquiring historical marine accident information of a sea area in a preset range of a current airline; the historical marine accident information comprises historical marine accident regions and accident occurrence time.
The historical marine accident information can be historical marine accident information stored by the current ship according to the historical information, and can also be historical marine accident information acquired by information interaction between the current ship and a shore-based control center.
103. And judging whether the current route passes through the historical marine accident area.
104. And if the current route passes through the historical marine accident area, displaying a first part of routes in the historical marine accident area by using a first warning color, marking the historical marine accident area, and displaying the marked historical marine accident area in an electronic chart.
105. And judging whether the distance between the current position of the current ship and the first part of the air route is smaller than a first threshold value or not, if so, carrying out first early warning prompt and displaying accident occurrence information.
106. And acquiring navigation warning information broadcasted by a port supervisor in real time, wherein the navigation warning information comprises an accident occurring area or a temporary navigation forbidden area.
107. And judging whether the current air route passes through an accident occurring area or a temporary navigation forbidden area.
108. And if the current airline passes through the accident occurring area or the temporary no-navigation area, displaying a second part of airlines in the accident occurring area or the temporary no-navigation area by using a second warning color, marking the accident occurring area or the temporary no-navigation area, and displaying the marked part in the electronic chart.
109. And judging whether the distance between the current position of the current ship and the second part of air route is smaller than a second threshold value, if so, carrying out second early warning prompt, and combining the navigation information of the current ship acquired in real time to obtain a first effective bypassing scheme.
Specifically, the current ship's voyage information includes: ship motion information, environmental information, and obstacle information.
110. And receiving data acquired by the ship sensing equipment, fusing the data to obtain fused data, and analyzing by using a clustering algorithm to obtain a channel crowded area based on the fused data.
The fusion data is used for obtaining more sufficient information than a single sensing device through a plurality of sensing devices, and can correct errors to a certain extent and improve the quality of data.
Specifically, the fusion data comprises information of other ships, water depth and fishing net distribution information, and fishing net density is obtained based on the fishing net distribution information;
the information of other ships comprises marine mobile communication service identification, navigational speed, longitude, latitude, heading, ship length and ship width; the fishing net distribution information comprises the distance between the fishing net and the current ship and the position of the fishing net relative to the current ship;
obtaining the traffic flow speed of the ship cluster and the channel traffic flow speed based on the information of other ships;
the judgment criteria of the crowded area of the channel are as follows: the speed of the traffic flow of the ship cluster is less than or equal to the speed of the traffic flow of the channel, and/or,
the water depth is less than or equal to a preset minimum safe water depth threshold value, and/or,
the fishing net density is more than or equal to a preset fishing net density early warning threshold value.
The ship sensing equipment comprises an anemorumbometer, a radar, a sonar, an AIS, a GPS, a depth finder, a compass and a camera.
111. And judging whether the current route passes through a channel crowded area.
112. And if the current airline passes through the crowded area of the channel, displaying a third part of airlines in the crowded area of the channel by using a third warning color, marking the crowded area of the channel, and displaying the marked area in the electronic chart.
113. And judging whether the distance between the current position of the current ship and the third part of the route is smaller than a third threshold value, if so, carrying out third early warning prompt, and planning by combining the navigation information of the current ship acquired in real time to obtain a second effective bypassing scheme.
114. If the current route is changed, the changed route is used as a new current route, and the step 102 is returned.
Further, in step 104, if the current route does not pass through the historical marine accident area, directly go to step 106;
in step 108, if the current route does not pass through the area where the accident is happening or the temporary no-navigation area, directly going to step 110;
in step 112, if the current route does not pass through the congested area of the route, go directly to step 114.
Further, in step 105, if the distance between the current position of the current ship and the first part of the route is greater than or equal to a first threshold value, directly going to step 106;
in step 109, if the distance between the current position of the current ship and the second part of the route is greater than or equal to a second threshold value, directly turning to step 110;
in step 113, if the distance between the current position of the current ship and the second partial route is greater than or equal to the third threshold, the process directly goes to step 114.
Further, in the above steps, the first warning prompt, the second warning prompt and the third warning prompt all include voice alarm information and display alarm information; the first effective detour scheme and the second effective detour scheme respectively comprise three alternative schemes, namely a shortest distance route, a shortest time route and other routes; and displaying the historical marine accident area, the accident occurring area or the temporary no-navigation area and the channel crowded area in the form of different colors or shapes in an electronic chart.
Example 2
The marine accident early warning navigation method based on the electronic chart comprises the following steps:
and A1, acquiring the electronic chart information from the current position of the current ship to a preset target port sea area, and plotting the current course information on the electronic chart.
The plotting is done autonomously by the program, without human involvement.
Step A2, obtaining historical marine accident information of the sea area where the current airline is within the preset range from the database. The historical marine accident information comprises historical marine accident regions, accident occurrence time and the like.
And A3, judging whether the current route passes through the historical sea accident area, if so, continuing the step A4, and otherwise, turning to the step A7.
Step A4, displaying a first part of the routes in the historical sea accident area by using a first warning color and displaying the first part of the routes in the electronic chart. And simultaneously, marking the historical marine accident area by colors or symbols, and displaying the marked area in an electronic chart.
Further, to prevent the surface information from blocking the dot information, the surface information should be displayed first, and then the dot information should be displayed, and the layer loading order is from surface to dot.
And step A5, judging whether the distance between the current position of the current ship and the first partial route is smaller than a first threshold value, if so, continuing the step A6, otherwise, turning to the step A7.
And A6, carrying out first early warning prompt and displaying accident occurrence information.
And step A7, acquiring navigation warning information broadcast by a harbor prison through a harbor radio station in real time. The navigation warning information includes an accident occurring area or a temporary no-navigation area.
And step A8, judging whether the current air route passes through the area where the accident is happening or the temporary navigation forbidden area, if so, continuing the step A9, otherwise, turning to the step A12.
And step A9, displaying a second part of the airline in the accident occurring area or the temporary no-navigation area by using a second warning color, and displaying the second part of the airline in the electronic chart. And simultaneously, marking the area where the accident is happening or the temporary navigation forbidden area by colors or symbols, and displaying the area in the electronic chart.
And step A10, judging whether the distance between the current position of the current ship and the second partial route is smaller than a second threshold value, if so, continuing the step A11, otherwise, turning to the step A12.
And A11, carrying out second early warning prompt, and planning by combining the current navigation information of the ship acquired in real time to obtain a first effective bypassing scheme.
Specifically, the navigation information includes ship motion information, environment information, and obstacle information.
Further, the ship motion information includes: ship position, speed and course, etc.;
the environment information includes: wind speed, direction, wave height, water depth, etc.;
the obstacle information includes: the sea and the seabed impairement relative to the azimuth and the distance of the current ship and the static and dynamic information of other ships. Wherein the static information of the other vessel includes: the length, width, type, port, etc. of the vessel, and the dynamic information of other vessels includes: position, speed, heading, etc.
And A12, receiving the data acquired by the ship sensing equipment, fusing to obtain fused data, and analyzing by using a clustering algorithm to obtain a crowded area of the channel based on the fused data.
Specifically, the fusion data comprises information of other ships, water depth and fishing net distribution information, and fishing net density is obtained based on the fishing net distribution information;
the information of other ships comprises marine mobile communication service identification, navigational speed, longitude, latitude, heading, ship length and ship width; the fishing net distribution information comprises the distance between the fishing net and the current ship and the position of the fishing net relative to the current ship;
obtaining the traffic flow speed of the ship cluster and the channel traffic flow speed based on the information of other ships;
the judgment criteria of the crowded area of the channel are as follows: the speed of the traffic flow of the ship cluster is less than or equal to the speed of the traffic flow of the channel, and/or,
the water depth is less than or equal to a preset minimum safe water depth threshold value, and/or,
the fishing net density is more than or equal to a preset fishing net density early warning threshold value.
The ship sensing equipment comprises an anemorumbometer, a radar, a sonar, an AIS, a GPS, a depth finder, a compass and a camera.
And step A13, judging whether the current airline passes through the channel congestion area, if so, continuing the step A14, and otherwise, turning to the step A17.
And step A14, displaying a third part of routes in the crowded area of the channel by using a third warning color and displaying the third part of routes in the electronic chart. And simultaneously, marking the crowded area of the channel with colors or symbols, and displaying the crowded area in the electronic chart.
And step A15, judging whether the distance between the current position of the current ship and the third part of the air route is smaller than a third threshold value, if so, continuing the step A16, otherwise, turning to the step A17.
And A16, carrying out third early warning prompt, and planning by combining the current navigation information of the ship acquired in real time to obtain a second effective bypassing scheme.
And A17, judging whether the current ship reaches a preset target port, if so, ending navigation, otherwise, turning to A18.
And step A18, if the current route is changed, taking the changed route as a new current route, returning to step A2, otherwise, acquiring navigation information of the current ship, and returning to step A5.
The first and second effective detour schemes in the steps comprise three alternative schemes, namely a shortest distance route, a shortest time route and other routes.
The first, second and third early warning prompts in the steps comprise voice warning information and display warning information. The voice alarm information can broadcast the warning information of the accident area or the jammed airline, and the display alarm information can mark the accident area or the jammed airline red on the electronic chart and flicker continuously with the warning symbol.
Preferably, the chart in the above steps is displayed based on the default display effect, that is, the geographical spatial positions of the sea area and the congested channel where the accident is happening or frequently happening are displayed in a mathematical graph mode, so that the position relationship between the geographical spatial positions can be clearly understood.
Preferably, a symbol library can be established, symbolized filling display of the chart is added, and different types of areas are distinguished by using symbols.
The technical principles of the present invention have been described above in connection with specific embodiments, which are intended to explain the principles of the present invention and should not be construed as limiting the scope of the present invention in any way. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without inventive efforts, which shall fall within the scope of the present invention.
Claims (10)
1. A marine accident early warning navigation method based on an electronic chart is characterized by comprising the following steps:
101. acquiring electronic chart information from the current position of a current ship to a preset target port sea area, and displaying a current route and current navigation information on the electronic chart;
102. acquiring historical marine accident information of a sea area in a preset range of a current airline; the historical marine accident information comprises historical marine accident regions, accident occurrence time and accident occurrence reasons;
103. judging whether the current route passes through a historical marine accident area;
104. if the current route passes through the historical marine accident area, displaying a first part of routes in the historical marine accident area by using a first warning color, labeling the historical marine accident area, and displaying the marked historical marine accident area in an electronic chart;
105. and judging whether the distance between the current position of the current ship and the first part of the air route is smaller than a first threshold value or not, if so, carrying out first early warning prompt and displaying accident information.
2. The electronic chart-based marine accident pre-warning navigation method according to claim 1, further comprising:
106. acquiring navigation warning information broadcasted by a port supervisor in real time, wherein the navigation warning information comprises an accident occurring area or a temporary navigation forbidden area;
107. judging whether the current route passes through an accident occurring area or a temporary navigation forbidden area;
108. if the current airline passes through the accident occurring area or the temporary no-navigation area, displaying a second part of airlines in the accident occurring area or the temporary no-navigation area by using a second warning color, marking the accident occurring area or the temporary no-navigation area, and displaying the marked part in an electronic chart;
109. and judging whether the distance between the current position of the current ship and the second part of air route is smaller than a second threshold value, if so, carrying out second early warning prompt, and combining the navigation information of the current ship acquired in real time to obtain a first effective bypassing scheme.
3. The electronic chart-based marine accident pre-warning navigation method according to claim 2, further comprising:
110. receiving data acquired by ship sensing equipment, fusing the data to obtain fused data, and analyzing by using a clustering algorithm to obtain a channel crowded area based on the fused data;
111. judging whether the current route passes through a channel crowded area;
112. if the current airline passes through the crowded area of the channel, displaying a third part of airlines in the crowded area of the channel by using a third warning color, marking the crowded area of the channel, and displaying the marked area in an electronic chart;
113. and judging whether the distance between the current position of the current ship and the third part of the route is smaller than a third threshold value, if so, carrying out third early warning prompt, and planning by combining the navigation information of the current ship acquired in real time to obtain a second effective bypassing scheme.
4. The electronic chart-based marine accident pre-warning navigation method according to claim 3, further comprising:
114. if the current route is changed, the changed route is used as a new current route, and the step 102 is returned.
5. The electronic chart-based marine accident early warning navigation method according to claim 4, wherein in step 104, if the current route does not pass through the historical marine accident area, directly going to step 106;
in step 108, if the current route does not pass through the area where the accident is happening or the temporary no-navigation area, directly going to step 110;
in step 112, if the current route does not pass through the congested area of the route, go directly to step 114.
6. The electronic chart-based marine accident early warning navigation method according to claim 5, wherein in step 105, if the distance between the current position of the current ship and the first part of the route is greater than or equal to a first threshold value, directly going to step 106;
in step 109, if the distance between the current position of the current ship and the second part of the route is greater than or equal to a second threshold value, directly turning to step 110;
in step 113, if the distance between the current position of the current ship and the second partial route is greater than or equal to the third threshold, the process directly goes to step 114.
7. The marine accident early warning navigation method based on the electronic chart as claimed in claim 3, wherein the first early warning prompt, the second early warning prompt and the third early warning prompt comprise voice alarm information and display alarm information;
the first effective detour scheme and the second effective detour scheme respectively comprise three alternative schemes, namely a shortest distance route, a shortest time route and other routes.
8. The electronic chart-based marine accident pre-warning navigation method according to claim 3, wherein the historical marine accident area, the accident occurring area or the temporary no-navigation area, and the channel crowded area are displayed in the electronic chart in different colors or shapes.
9. The marine accident early warning navigation method based on the electronic chart according to claim 3, wherein the fusion data comprises information of other ships, water depth and fishing net distribution information, and fishing net density is obtained based on the fishing net distribution information;
the information of other ships comprises marine mobile communication service identification, navigational speed, longitude, latitude, heading, ship length and ship width; the fishing net distribution information comprises the distance between the fishing net and the current ship and the position of the fishing net relative to the current ship;
obtaining the traffic flow speed of the ship cluster and the channel traffic flow speed based on the information of other ships;
the judgment criteria of the crowded area of the channel are as follows: the speed of the traffic flow of the ship cluster is less than or equal to the speed of the traffic flow of the channel, and/or,
the water depth is less than or equal to a preset minimum safe water depth threshold value, and/or,
the fishing net density is more than or equal to a preset fishing net density early warning threshold value.
10. The electronic chart-based marine accident pre-warning navigation method according to claim 3, wherein the current ship's voyage information includes: ship motion information, environmental information, and obstacle information;
the ship sensing equipment comprises an anemorumbometer, a radar, a sonar, an AIS, a GPS, a depth finder, a compass and a camera.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112133131A (en) * | 2020-09-15 | 2020-12-25 | 广州海事科技有限公司 | Ship yaw early warning method and system, computer equipment and storage medium |
| CN113722521A (en) * | 2021-11-01 | 2021-11-30 | 交通运输部水运科学研究所 | Water traffic accident information expression system and method |
| CN114034302A (en) * | 2021-10-28 | 2022-02-11 | 广州海宁海务技术咨询有限公司 | Sea chart selection method and device based on planned route |
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