CN111260962B - Ship marine collision avoidance early warning method and system and chart machine - Google Patents
Ship marine collision avoidance early warning method and system and chart machine Download PDFInfo
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Abstract
The invention provides a ship collision avoidance early warning method, a ship collision avoidance early warning system and a chart machine, wherein the method comprises the following steps: acquiring navigation information of the ship, and identifying temporary navigation obstacles to obtain an identification result; acquiring at least one early warning point in a current route of a ship, wherein the at least one early warning point comprises at least one of a navigation channel obstacle position point, a historical collision accident occurrence place and a temporary obstacle position point; judging whether the distance from the ship to the current early warning point is greater than the early warning distance according to the navigation information and the identification result to obtain a judgment result, wherein the current early warning point is the early warning point which is closest to the ship in at least one early warning point; if the judgment result is negative, generating early warning information, and carrying out marine collision avoidance analysis according to the current early warning point to obtain operation attention. The method and the system can perform early warning on known dangers and unknown potential collision dangers, can reduce the accident rate of ship collision and reduce collision risks, and do not increase the cost price on the aspect of hardware equipment.
Description
Technical Field
The invention relates to the technical field of ships, in particular to a ship marine collision avoidance early warning method and system and a chart machine.
Background
In recent years, as ships grow larger, the number of ships is rapidly increasing, and traffic accidents on water are also increasing, and particularly, a large loss is caused by the occurrence of collision accidents such as collision between a ship and a ship, between a ship and a pier, and between a ship and a sea-crossing cable.
At present, devices applied in the field of collision prevention between ships at home and abroad mainly include an Automatic Radar Plotting Aid (ARPA) and an Automatic Identification System (AIS). The measures taken at home and abroad aiming at the bridge collision accident of the ship are mainly concentrated on bridge collision prevention facilities (if fences are additionally arranged around the bridge piers), the collision prevention is a passive measure, no device for active collision prevention and avoidance of the ship is provided, the cost of the measure is extremely high, and the problem of collision between the ship and the bridge piers, cross beams and sea-crossing cables is not well solved. Therefore, it is urgent to develop a device which has high precision and low price and can actively avoid collision.
Based on the above, the prior art has the problems that most ship collision avoidance is passive collision avoidance, the precision of the passive collision avoidance is low, and the price cost is high.
The above drawbacks are expected to be overcome by those skilled in the art.
Disclosure of Invention
Technical problem to be solved
In order to solve the problems in the prior art, the invention provides a ship marine collision avoidance early warning method, a ship marine collision avoidance early warning system and a chart machine, and solves the problems of low precision and high price cost of passive collision avoidance of a ship in the prior art.
(II) technical scheme
In order to achieve the purpose, the invention adopts the main technical scheme that:
the invention provides a ship collision avoidance early warning method on the sea, which comprises the following steps:
acquiring navigation information of the ship, and identifying temporary navigation obstacles to obtain an identification result;
acquiring at least one early warning point in a current route of a ship, wherein the at least one early warning point comprises at least one of a navigation channel obstacle position point, a historical collision accident occurrence place and a temporary obstacle position point;
judging whether the distance from the ship to a current early warning point is greater than an early warning distance according to the navigation information and the identification result to obtain a judgment result, wherein the current early warning point is the early warning point which is closest to the ship in the at least one early warning point;
if the judgment result is negative, generating early warning information, and classifying the dynamic target and the static target according to the current early warning point to obtain a classification result; and carrying out marine collision avoidance analysis according to the classification result to obtain control attention.
In an exemplary embodiment of the present invention, the navigation information is obtained by acquiring, analyzing, and integrating multi-source data in a navigation process of the ship through a ship-side sensing device, and the navigation information includes: environmental information, this ship motion information, temporary obstacle information, wherein environmental information includes: wind speed, wind direction, wave height, depth of water, this ship motion information includes: the position of the ship, the speed of the ship and the course of the ship, wherein the temporary obstructive object information comprises: the direction and distance of marine and seabed obstructive objects relative to the ship and the static and dynamic information of other ships, wherein the static information of other ships comprises: the ship's length, width, ship type, target port, other ship's dynamic information includes: position, navigational speed and course, wherein the other ships are all ships except the ship in navigation.
In an exemplary embodiment of the invention, the identifying the temporary obstacle to obtain the identification result includes:
acquiring surrounding information of the ship in a sensing range through the ship-side sensing equipment;
and analyzing and identifying according to the surrounding information, and if a static target or a dynamic target around the ship is judged to exist in the forward direction of the ship in the sensing range, determining that a temporary barrier exists.
In an exemplary embodiment of the present invention, the determining, according to the navigation information and the identification result, whether the distance from the ship to the current warning point is greater than a warning distance includes:
judging whether the distance from the ship to the current early warning point is greater than the early warning distance according to the navigation information to obtain a first judgment result, and if so, judging whether the ship reaches the destination according to the current route and the navigation information to obtain a second judgment result;
if the second judgment result is yes, ending the navigation;
if the second judgment result is negative, judging whether the air route is changed or not to obtain a third judgment result;
if the third judgment result is yes, acquiring the new route as the current route;
and if the third judgment result is negative, identifying the temporary obstacle again according to the navigation information of the ship, wherein the early warning distance is greater than the minimum safe distance for the ship to run.
In an exemplary embodiment of the invention, the method further comprises:
if the first judgment result is negative, generating alarm information, carrying out early warning reminding on the alarm information in a voice broadcast mode, and displaying early warning information, wherein the early warning information is obtained by carrying out eye-catching processing on information of an early warning point;
judging whether the current early warning point is a historical collision accident occurrence point or not to obtain a fourth judgment result;
if the fourth judgment result is negative, performing collision avoidance analysis;
if the fourth judgment result is yes, acquiring the main reason of the historical collision accident;
judging whether the ship has an accident or not to obtain a fifth judgment result;
if the fifth judgment result is yes, using a one-key alarm function;
if the fifth judgment result is negative, the ship is judged whether to reach the destination, and a second judgment result is obtained.
In an exemplary embodiment of the present invention, the classifying the dynamic target and the static target according to the current early warning point, and obtaining a classification result includes:
if the current early warning point is a navigation obstacle and a historical collision accident place, directly regarding the current early warning point as a static target;
and if the current early warning point is a temporary obstructive object, analyzing the relative motion and the true motion of the target by using the information acquired for the current early warning point for multiple times, wherein if the true speed is not zero, the current early warning point is a dynamic target, and otherwise, the current early warning point is a static target.
In an exemplary embodiment of the present invention, the performing the marine collision avoidance analysis according to the classification knots to obtain the handling notice includes:
if the classification result is a static target, analyzing the information around the target to obtain control attention matters related to the density of the obstructive objects and the collision danger;
if the classification result is a dynamic target, predicting the motion trail of the target, dividing meeting situations, and obtaining control cautions related to the steering angle range, the yaw distance range and the standby operation.
The invention also provides a marine collision avoidance early warning system for a ship, which comprises:
the data storage module is used for storing a navigation channel obstacle position data set, a historical collision accident site data set and ship navigation record data;
the information cognition module is used for acquiring navigation information of the ship;
the early warning analysis module is connected with the data storage module and the information cognition module and is used for carrying out marine collision avoidance analysis according to the data stored in the data storage module and the navigation information provided by the information cognition module to obtain control cautions;
wherein the early warning analysis module comprises:
the navigation information submodule is used for acquiring navigation information of the ship and identifying temporary navigation obstacles to obtain an identification result;
the early warning data submodule is used for acquiring at least one early warning point in the current route of the ship, wherein the at least one early warning point comprises at least one of a navigation channel barrier position point, a historical collision accident occurrence point and a temporary barrier position point;
the safety judgment submodule is used for judging whether the distance from the ship to the current early warning point is greater than the early warning distance according to the navigation information and the identification result to obtain a judgment result, wherein the current early warning point is the early warning point which is the closest to the ship in the at least one early warning point;
the target classification submodule is used for generating early warning information if the judgment result is negative, and classifying the dynamic target and the static target according to the current early warning point to obtain a classification result;
and the operation reminding submodule is used for carrying out marine collision avoidance analysis according to the classification result to obtain operation attention.
In an exemplary embodiment of the invention, the system further comprises:
the display module is connected with the data storage module, the information cognition module and the early warning analysis module and is used for displaying the environmental information, the running ship motion information, the early warning information and the running state of the collision avoidance early warning system;
and the alarm module is connected with the information cognition module, has a one-key alarm function, and reports the environmental information, the motion information, the temporary obstacle information and the ship static data in the navigation information to a ship traffic service VTS maritime work center after the key is pressed.
The invention also provides a chart machine, comprising: the marine collision prevention early warning system for the ship and the terminal equipment for carrying the marine collision prevention early warning system for the ship are provided.
(III) advantageous effects
The invention has the beneficial effects that: according to the ship marine collision avoidance early warning method, the ship marine collision avoidance early warning system and the chart machine, the known collision danger is judged according to the navigation information of the channel obstacle position point, the historical collision accident site and the ship, the unknown potential collision danger is early warned by combining the temporary obstacle position point with the current navigation information, the ship collision accident rate can be reduced, the collision risk is reduced, the collision avoidance prediction precision is higher, and the cost price is not increased in the aspect of hardware equipment.
Drawings
Fig. 1 is a flowchart of a marine collision avoidance early warning method for a ship according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a marine collision avoidance early warning system for a ship according to another embodiment of the present invention;
fig. 3 is a schematic diagram of an early warning analysis module 330 according to another embodiment of the present invention;
fig. 4 is a flowchart illustrating operation of the marine collision avoidance early warning system applied to a marine chart machine according to another embodiment of 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.
All technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Fig. 1 is a flowchart of a marine collision avoidance early warning method for a ship according to an embodiment of the present invention, as shown in fig. 1, the method includes the following steps:
as shown in fig. 1, in step S110, acquiring navigation information of the ship, and identifying a temporary obstacle to obtain an identification result;
as shown in fig. 1, in step S120, at least one early warning point in a current route of a ship is obtained, where the at least one early warning point includes at least one of a navigation channel obstacle location point, a historical collision accident occurrence location, and a temporary obstacle location point;
as shown in fig. 1, in step S130, it is determined whether a distance from the ship to a current warning point is greater than a warning distance according to the navigation information and the identification result, so as to obtain a determination result, where the current warning point is a warning point closest to the ship from among the at least one warning point;
as shown in fig. 1, in step S140, if the determination result is negative, generating early warning information, and classifying a dynamic target and a static target according to the current early warning point to obtain a classification result;
as shown in fig. 1, in step S150, a marine collision avoidance analysis is performed according to the classification result, so as to obtain a handling notice.
Based on the method, the collision danger area is determined according to early warning points such as the navigation channel obstacle position point, the historical collision accident occurrence place or the temporary obstacle position point, the unknown potential collision danger is early warned by judging the distance between the navigation information of the ship and the early warning points, the ship collision accident rate can be reduced, the collision risk is reduced, the collision prevention prediction precision is higher, and the cost price is not increased in the aspect of hardware equipment.
The above method is described in detail below with reference to the flow of steps shown in fig. 1:
in step S110, the navigation information of the ship is acquired, and the temporary obstacle is identified to obtain an identification result.
In an exemplary embodiment of the present invention, the navigation information is obtained by acquiring, analyzing, and integrating multi-source data in the navigation process of the ship through a ship-side sensing device. Because the ship has information which changes at many moments in the navigation process, the navigation information environment information, the ship motion information and the temporary obstacle information of the ship are obtained, wherein the environment information comprises: wind speed, wind direction, wave height and depth of water, this ship motion information includes: the position of the ship, the speed of the ship and the course of the ship, wherein the temporary obstructive object information comprises: the direction and distance of marine and seabed obstructive objects relative to the ship and the static and dynamic information of other ships, wherein the static information of other ships comprises: the ship's length, width, ship type, target port, other ship's dynamic information includes: position, navigational speed and course, wherein the other ships are all ships except the ship in navigation.
In one exemplary embodiment of the present invention, the identifying of the temporary barrier in this step includes: firstly, acquiring surrounding information of the ship in a sensing range through the ship-end sensing equipment; secondly, analyzing and identifying according to the surrounding information, judging whether a static target or a dynamic target around the ship exists in the forward direction of the ship in the sensing range, and determining that a temporary air barrier exists in the identification result. Therefore, when the analysis is carried out through the information around the ship, both the dynamic target and the static target belong to temporary navigation obstacles, if the target is static, only the forward direction of the ship needs to be considered, but for the dynamic target, the targets in all the surrounding directions need to be considered.
In step S120, at least one early warning point in the current route of the ship is obtained.
In an embodiment of the invention, in this step, a data set is established to store a known collision danger area, and the at least one early warning point includes at least one of a channel obstacle position point, a historical collision accident occurrence point and a temporary obstacle position point, so that factors which may cause collision can be considered in time during the ship navigation, and thus, the corresponding position point is a point which needs to remind the ship to navigate and needs to pay attention, and such a point is an early warning point. If no early warning point exists on the current route, the early warning for collision avoidance has no reference value, and is not considered herein, and the situation that one or more early warning points may be included in a section of the route is mainly considered herein, so that the prompt of collision avoidance operation can be provided according to the early warning points or based on the early warning points and other factors.
In step S130, it is determined whether the distance from the ship to the current warning point is greater than the warning distance according to the navigation information, and a determination result is obtained.
In an embodiment of the present invention, in this step, when there are a plurality of early warning points in the current airline, the early warning points closest to the ship are selected one by one for analysis during analysis, and thus the current early warning point is the early warning point closest to the ship in the at least one early warning point.
In an exemplary embodiment of the present invention, the step of determining whether the distance from the ship to the current warning point is greater than a warning distance according to the navigation information and the identification result, and obtaining a determination result includes:
judging whether the distance from the ship to the current early warning point is greater than the early warning distance according to the navigation information to obtain a first judgment result, and if so, judging whether the ship reaches the destination according to the current route and the navigation information to obtain a second judgment result;
if the second judgment result is yes, ending the navigation;
if the second judgment result is negative, judging whether the air route is changed or not to obtain a third judgment result;
if the third judgment result is yes, acquiring the new route as the current route;
if the third judgment result is negative, identifying the temporary obstacle again according to the navigation information of the ship;
wherein the early warning distance is greater than the minimum safe distance for the ship to travel. It should be noted that the minimum safe distance is a limit for defining whether to start executing the automatic collision avoidance operation, and if the minimum safe distance is smaller than the limit, the ship does not start executing the collision avoidance operation yet, and the ship cannot avoid the current early warning point, considering that the equipment has delay. In this embodiment, the minimum safe distance is set to be 1.5 times of the minimum distance that the ship and the current warning point guarantee safety when collision avoidance operation is performed, so as to adapt to the situation that collision avoidance can be performed with delay. In this embodiment, the early warning distance from the ship to the current early warning point is used for defining a boundary between warning and non-warning, and a control decision is made after warning.
In addition, if the first determination result in the above steps is negative, generating alarm information, performing early warning prompt on the alarm information in a voice broadcast manner, and displaying early warning information, where the early warning information is to perform highlighting processing on information of an early warning point (highlighting may be font enlargement, font color turning red, or highlighting while a flashing early warning symbol, such as a constantly flashing exclamation mark); judging whether the current early warning point is a historical collision accident occurrence point or not to obtain a fourth judgment result; if the fourth judgment result is negative, performing collision avoidance analysis; if the fourth judgment result is yes, acquiring the main reason of the historical collision accident; judging whether the ship has an accident or not to obtain a fifth judgment result; if the fifth judgment result is yes, using a one-key alarm function; if the fifth judgment result is negative, the ship is judged whether to reach the destination, and a second judgment result is obtained.
In step S140, if the determination result is negative, generating early warning information, and classifying the dynamic target and the static target according to the current early warning point to obtain a classification result.
In an exemplary embodiment of the present invention, in the step, the classifying the current early warning point into a dynamic target and a static target, and obtaining a classification result includes:
if the current early warning point is a navigation obstacle and a historical collision accident place, directly regarding the current early warning point as a static target;
and if the current early warning point is a temporary obstructive object, analyzing the relative motion and the true motion of the target by using the information acquired for the current early warning point for multiple times, wherein if the true speed is not zero, the current early warning point is a dynamic target, and otherwise, the current early warning point is a static target.
In step S150, marine collision avoidance analysis is performed according to the classification result to obtain the operation attention.
In an exemplary embodiment of the present invention, the performing a marine collision avoidance analysis according to the classification result to obtain the handling notice includes:
if the classification result is a static target, analyzing the information around the target to obtain control attention matters related to the density of the obstructive objects and the collision danger; . For example, the ship is driven to a position far away from a target, low in the concentration of the obstructive objects and low in the deviation from a flight line.
If the classification result is a dynamic target, predicting the motion trail of the target, dividing meeting situations, and obtaining control cautions related to the steering angle range, the yaw distance range and the standby operation.
In summary, by adopting the marine collision avoidance early warning method for the ship provided by the embodiment of the invention, the known collision danger is judged according to the navigation information of the channel obstacle position point, the historical collision accident occurrence place and the ship, the unknown potential collision danger is early warned by combining the temporary obstacle position point with the current navigation information, and the corresponding collision avoidance longitudinal notice items are generated, so that the collision accident rate of the ship can be reduced, the collision risk can be reduced, and the collision avoidance prediction precision is higher. The method can be realized based on an internal system in the marine chart machine for the ship, the cost of external equipment is not required to be additionally increased, and the cost price is not increased in the aspect of hardware equipment. The occurrence reason of the historical collision accident can be manually corrected, and the accuracy of collision decision is improved.
In order to realize the method, the invention also provides a marine collision avoidance early warning system for the ship, which is mainly used for marine chart machines. Fig. 2 is a schematic diagram of a marine collision avoidance early warning system according to another embodiment of the present invention, as shown in fig. 2, the system 300 includes: the system comprises a data storage module 310, an information cognition module 320, an early warning analysis module 330, a display module 340 and an alarm module 350.
The data storage module 310 is used for storing a channel barrier position point data set, a historical collision accident site data set and ship navigation record data; the information cognition module 320 is used for acquiring navigation information of the ship; the early warning analysis module 330 is connected to the data storage module 310 and the information cognition module 320, and is configured to perform marine collision avoidance analysis according to the data stored in the data storage module in combination with the navigation information provided by the information cognition module to obtain a control notice; the display module 340 is connected to the data storage module 310, the information recognition module 320, and the early warning analysis module 330, and is configured to display the environmental information, the movement information of the traveling ship, the early warning information, and the operation state of the collision avoidance early warning system; the alarm module 350 is connected with the information cognition module 320, has a one-key alarm function, and reports the environmental information, the motion information, the temporary obstacle information and the ship static data in the navigation information to the ship traffic service VTS maritime work center after the key is pressed.
Wherein the information cognition module 320 can be used for cognition the ship navigation information based on the ship-side sensing device data, and the cognition comprises the following steps: acquiring, analyzing and fusing multi-source data; the early warning analysis module 330 is used for marine collision avoidance analysis and outputting collision avoidance control cautions; the alarm module 350 is used for realizing one-key alarm and realizing quick response.
In an exemplary embodiment of the invention, the ship-side sensing devices in the information awareness module 320 include, but are not limited to: anemoclinograph, radar, sonar, AIS, GPS, depth finder, etc.
Fig. 3 is a schematic diagram of an early warning analysis module 330 according to another embodiment of the present invention, as shown in fig. 3, the early warning analysis module 330 includes: an early warning data sub-module 331, a navigation information sub-module 332, a safety judgment sub-module 333, a target classification sub-module 334 and an operation reminding sub-module 335.
The early warning data sub-module 331 is configured to obtain at least one early warning point in a current route of the ship, where the at least one early warning point includes at least one of a channel obstacle position point, a historical collision accident occurrence point, and a temporary obstacle position point; the navigation information submodule 332 is configured to obtain navigation information of the ship, and identify a temporary obstacle to obtain an identification result; the safety judgment submodule 333 is configured to judge, according to the navigation information and the identification result, whether a distance from the ship to the current early warning point is greater than an early warning distance, and obtain a judgment result, where the current early warning point is an early warning point closest to the ship from among the at least one early warning point; the target classification submodule 334 is configured to generate early warning information if the determination result is negative, and classify the dynamic target and the static target according to the current early warning point to obtain a classification result; the operation reminding submodule 335 is used for performing marine collision avoidance analysis according to the classification result to obtain operation attention.
In an exemplary embodiment of the present invention, the alarm module 350 has a one-key alarm function, and when the key is pressed, the system automatically locates and reports the static data and the dynamic navigation data of the ship to a ship traffic service (VTS) maritime center in time. The key for one-key alarm may be an entity key, or may be a virtual key on a touch screen or in a VR or AR device, which is not specifically limited in this embodiment.
As the various functional sub-modules of the system of the exemplary embodiment of the present disclosure correspond to the steps of the above-described exemplary embodiment of the method shown in fig. 1, reference is made to the above-described method embodiment of the present disclosure for details not disclosed in the system embodiment of the present disclosure.
Fig. 4 is a flowchart illustrating an operation of the marine collision avoidance early warning system applied to a marine chart machine according to another embodiment of the present invention, which specifically includes the following steps:
s1, acquiring the current route of the driving ship;
s2, acquiring a navigation obstacle position point and a historical collision accident occurrence point of a sea area where the airline is located from the data storage module according to the current airline;
s3, the information cognition module is used for recognizing navigation information of the running ship and recognizing temporary obstacles;
s4, the display module displays environmental information, running ship movement information and system operation state;
s5, judging whether at least one early warning point exists in the current air route, if so, turning to S6, and if not, turning to S14;
s6, marking the position of an early warning point existing in the current air route in a display module, designating the early warning point closest to the current position of the driving ship as the current early warning point, and displaying the detailed information of the early warning point;
s7, judging whether the distance between the running ship and the current early warning point is larger than a preset early warning distance or not, if so, turning to S14, and if not, turning to S8;
s8, voice broadcasting and early warning, and a display module displays early warning information;
s9, judging whether the current early warning point is a historical accident occurrence point, if so, turning to S10, otherwise, turning to S11;
s10, acquiring the main reasons of the accident from the data storage module and displaying the main reasons in the display module;
s11, the early warning analysis module performs marine collision avoidance analysis and outputs control notice; during early warning analysis in the step, if the accident is a historical accident occurrence place, the main reason of the accident needs to be analyzed and judged, because the historical accident can only explain that the accident occurs at a certain place in the historical navigation record, but cannot explain that the place needs to be detoured, the main reason of the accident needs to be analyzed, and if the accident is a ship reason, only a certain explanation is given in the follow-up operation notice; if the reason is the reason of the sea area, necessary reminding needs to be given; if the weather is the cause and the accident cannot be caused by the sea area, the comprehensive judgment needs to be carried out by combining the current weather condition and the weather when the accident occurs.
S12, the display module displays the operation notice;
s13, judging whether the accident happens to the running ship, if so, turning to S16, and if not, turning to S14;
s14, judging whether the traveling ship arrives at the destination, if so, turning to S17, and if not, turning to S15;
s15, judging whether the air route is changed, if so, acquiring a new air route as the current air route, then returning to S2, and if not, returning to S3;
s16, clicking a one-key alarm button, and reporting the static data and the dynamic navigation data of the ship to a VTS maritime affair center in time;
and S17, ending the navigation.
In summary, by using the marine collision avoidance early warning system for the ship provided by the embodiment of the invention, a data set is established to store a known collision dangerous area by storing a data set of the airway obstacle and a data set of historical collision accidents; by accessing ship-side sensing data, the unknown potential danger is early warned; through analyzing the main reasons of historical collision accidents, manual correction operation is carried out, and accidents caused by improper operation of the manual correction operation are avoided; the emergency alarm after the distress is ensured by arranging the one-key alarm function; by adopting two modes of voice broadcast and data reminding to carry out early warning, the early warning alarm can be timely responded and solved. In addition, the system is directly arranged in the marine chart machine for the ship, and high-cost collision avoidance measures do not need to be additionally erected. Therefore, the system can be used for reducing the accident rate of ship collision and reducing the collision risk.
The invention also provides a chart machine, comprising: the marine collision prevention early warning system for the ship and the terminal equipment for carrying the marine collision prevention early warning system for the ship are provided.
By arranging the system in the marine chart machine, the functions of the marine chart machine are strengthened, and the cost of collision avoidance measures is reduced.
It should be noted that although in the above detailed description several modules or units of the device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functionality of two or more modules or units described above may be embodied in one module or unit, according to embodiments of the invention. Conversely, the features and functions of one module or unit described above may be further divided into embodiments by a plurality of modules or units.
Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution according to the embodiment of the present invention can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the method according to the embodiment of the present invention.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
It will be understood that the invention is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.
Claims (9)
1. A ship collision avoidance early warning method is characterized by comprising the following steps:
acquiring navigation information of the ship, and identifying temporary navigation obstacles to obtain an identification result;
acquiring at least one early warning point in a current route of a ship, wherein the at least one early warning point comprises at least one of a navigation channel obstacle position point, a historical collision accident occurrence place and a temporary obstacle position point;
judging whether the distance from the ship to a current early warning point is greater than an early warning distance according to the navigation information and the identification result to obtain a judgment result, wherein the current early warning point is the early warning point which is closest to the ship in the at least one early warning point;
and judging whether the distance from the ship to the current early warning point is greater than the early warning distance according to the navigation information and the identification result, wherein the judgment result comprises the following steps:
judging whether the distance from the ship to the current early warning point is greater than the early warning distance according to the navigation information to obtain a first judgment result, and if so, judging whether the ship reaches the destination according to the current route and the navigation information to obtain a second judgment result;
if the second judgment result is yes, ending the navigation;
if the second judgment result is negative, judging whether the air route is changed or not to obtain a third judgment result;
if the third judgment result is yes, acquiring the new route as the current route;
if the third judgment result is negative, identifying the temporary obstacle again according to the navigation information of the ship;
wherein the early warning distance is greater than the minimum safe distance for the ship to travel;
if the judgment result is negative, generating early warning information, and classifying the dynamic target and the static target according to the current early warning point to obtain a classification result;
and carrying out marine collision avoidance analysis according to the classification result to obtain control attention.
2. The marine collision avoidance early warning method for the ship according to claim 1, wherein the navigation information is obtained by acquiring, analyzing and integrating multi-source data in the navigation process of the ship through a ship-side sensing device, and the navigation information includes: environmental information, this ship motion information, temporary obstacle information, wherein environmental information includes: wind speed, wind direction, wave height, depth of water, this ship motion information includes: the position of the ship, the speed of the ship and the course of the ship, wherein the temporary obstructive object information comprises: the direction and distance of marine and seabed obstructive objects relative to the ship and the static and dynamic information of other ships, wherein the static information of other ships comprises: the ship's length, width, ship type, target port, other ship's dynamic information includes: position, navigational speed and course, wherein the other ships are all ships except the ship in navigation.
3. The marine collision avoidance early warning method for the ship according to claim 2, wherein the identifying the temporary air barrier to obtain the identification result comprises:
acquiring surrounding information of the ship in a sensing range through the ship-side sensing equipment;
and analyzing and identifying according to the surrounding information, and if a static target or a dynamic target around the ship is judged to exist in the forward direction of the ship in the sensing range, determining that a temporary barrier exists.
4. The marine collision avoidance early warning method of a ship according to claim 1, further comprising:
if the first judgment result is negative, generating alarm information, carrying out early warning reminding on the alarm information in a voice broadcast mode, and displaying early warning information, wherein the early warning information is obtained by carrying out eye-catching processing on information of an early warning point;
judging whether the current early warning point is a historical collision accident occurrence point or not to obtain a fourth judgment result;
if the fourth judgment result is negative, performing collision avoidance analysis;
if the fourth judgment result is yes, acquiring the main reason of the historical collision accident;
judging whether the ship has an accident or not to obtain a fifth judgment result;
if the fifth judgment result is yes, using a one-key alarm function;
if the fifth judgment result is negative, the ship is judged whether to reach the destination, and a second judgment result is obtained.
5. The marine collision avoidance early warning method for the ship according to claim 1, wherein the classifying the dynamic target and the static target according to the current early warning point to obtain the classification result comprises:
if the current early warning point is a navigation obstacle and a historical collision accident place, directly regarding the current early warning point as a static target;
and if the current early warning point is a temporary obstructive object, analyzing the relative motion and the true motion of the target by using the information acquired for the current early warning point for multiple times, wherein if the true speed is not zero, the current early warning point is a dynamic target, and otherwise, the current early warning point is a static target.
6. The marine collision avoidance early warning method for the ship according to claim 1, wherein the marine collision avoidance analysis according to the classification result to obtain the operation attention comprises:
if the classification result is a static target, analyzing the information around the target to obtain control attention matters related to the density of the obstructive objects and the collision danger;
if the classification result is a dynamic target, predicting the motion trail of the target, dividing meeting situations, and obtaining control cautions related to the steering angle range, the yaw distance range and the standby operation.
7. The utility model provides a boats and ships early warning system that keeps away colliding on sea which characterized in that includes:
the data storage module is used for storing a navigation channel obstacle position data set, a historical collision accident site data set and ship navigation record data;
the information cognition module is used for acquiring navigation information of the ship;
the early warning analysis module is connected with the data storage module and the information cognition module and is used for carrying out marine collision avoidance analysis according to the data stored in the data storage module and the navigation information provided by the information cognition module to obtain control cautions;
wherein the early warning analysis module comprises:
the navigation information submodule is used for acquiring navigation information of the ship and identifying temporary navigation obstacles to obtain an identification result;
the early warning data submodule is used for acquiring at least one early warning point in the current route of the ship, wherein the at least one early warning point comprises at least one of a navigation channel barrier position point, a historical collision accident occurrence point and a temporary barrier position point;
the safety judgment submodule is used for judging whether the distance from the ship to the current early warning point is greater than the early warning distance according to the navigation information and the identification result to obtain a judgment result, wherein the current early warning point is the early warning point which is the closest to the ship in the at least one early warning point;
and judging whether the distance from the ship to the current early warning point is greater than the early warning distance according to the navigation information and the identification result, wherein the judgment result comprises the following steps:
judging whether the distance from the ship to the current early warning point is greater than the early warning distance according to the navigation information to obtain a first judgment result, and if so, judging whether the ship reaches the destination according to the current route and the navigation information to obtain a second judgment result;
if the second judgment result is yes, ending the navigation;
if the second judgment result is negative, judging whether the air route is changed or not to obtain a third judgment result;
if the third judgment result is yes, acquiring the new route as the current route;
if the third judgment result is negative, identifying the temporary obstacle again according to the navigation information of the ship;
wherein the early warning distance is greater than the minimum safe distance for the ship to travel;
the target classification submodule is used for generating early warning information if the judgment result is negative, and classifying the dynamic target and the static target according to the current early warning point to obtain a classification result;
and the operation reminding submodule is used for carrying out marine collision avoidance analysis according to the classification result to obtain operation attention.
8. The marine collision avoidance early warning system of claim 7, wherein the system further comprises:
the alarm module is connected with the information cognition module and has a one-key alarm function, and when a key is pressed down, the environment information, the motion information, the temporary navigation obstacle information and the ship static data in the navigation information are reported to a ship traffic service VTS maritime work center;
and the display module is connected with the data storage module, the information cognition module and the early warning analysis module and is used for displaying the environmental information, the motion information, the early warning information and the running state of the collision avoidance early warning system.
9. A marine chart machine, characterized by comprising the marine collision avoidance early warning system for the ship of claim 7 or 8 and a terminal device for carrying the marine collision avoidance early warning system for the ship.
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