CN111932946A - Hydrodynamic navigation safety early warning method, system, computer equipment and storage medium - Google Patents
Hydrodynamic navigation safety early warning method, system, computer equipment and storage medium Download PDFInfo
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Abstract
Description
技术领域technical field
本发明涉及船舶航行技术领域，更具体地说，它涉及水动力通航安全预警方法、系统、计算机设备及存储介质。The invention relates to the technical field of ship navigation, and more particularly, to a hydrodynamic navigation safety early warning method, system, computer equipment and storage medium.
背景技术Background technique
航运作为国家战略性基础产业，是综合运输体系的重要组成部分，也是实现经济社会可持续发展的重要战略资源。而航道数字化是航运信息化的重要组成部分与发展趋势，对内河航运的安全与高效管理有着举足轻重的作用。As a national strategic basic industry, shipping is an important part of the comprehensive transportation system and an important strategic resource for sustainable economic and social development. The digitalization of waterways is an important part and development trend of shipping informatization, and plays a pivotal role in the safe and efficient management of inland shipping.
天然河道是指能进行水上运输的天然河流，而内河水道是指天然河道、运河、湖泊、水库等的统称。在水道中，具有一定的深度、宽度、净空尺度、弯曲半径，并且可以给船舶提供一个安全航行环境的水域称之为航道。标准不同，航道的分类也不一样，根据航道的管理属性可划分为国家航道、地方航道与专用航道；根据航道形成原因可划分为天然航道、人工航道与渠化航道；根据航道所处地域可划分为内河航道与沿海航道；根据所处航段特点可划分为桥区航道、港区航道、坝区航道等。Natural rivers refer to natural rivers capable of water transportation, while inland waterways refer to the collective name of natural rivers, canals, lakes, and reservoirs. In a waterway, a waterway with a certain depth, width, clearance, and bending radius that can provide a safe navigation environment for ships is called a waterway. According to different standards, the classification of waterway is also different. According to the management attributes of the waterway, it can be divided into national waterway, local waterway and special waterway; according to the reasons for the formation of waterway, it can be divided into natural waterway, artificial waterway and channelized waterway; It is divided into inland waterway and coastal waterway; it can be divided into bridge area waterway, port area waterway, dam area waterway, etc. according to the characteristics of the navigation section.
而由于航道信息复杂，水深、流速、水面比降、回流度等难以直接观测到的水面情况对于船舶航运的影响尤为严重，而桥区、船闸对航道流态的影响，以及水温、含盐量、冰化程度等对航道流态的改变都对航道通航安全造成不同程度的影响，故研发一种能够直观了解航道的水流情况并对使船舶航运更加安全的系统已经成为本领域技术人员亟待解决的技术问题。Due to the complexity of channel information, the water surface conditions that are difficult to directly observe, such as water depth, flow velocity, water surface gradient, and backflow degree, have a particularly serious impact on shipping. Changes in the flow state of the channel, such as the degree of icing, etc., will have varying degrees of impact on the safety of channel navigation. Therefore, it has become an urgent need for those skilled in the art to develop a system that can intuitively understand the water flow in the channel and make shipping safer. technical issues.
发明内容SUMMARY OF THE INVENTION
针对现有技术存在的不足，本发明的目的在于提供水动力通航安全预警方法、系统、计算机设备及存储介质，具有保证船舶行驶时的稳定性和安全性的优点。In view of the deficiencies in the prior art, the purpose of the present invention is to provide a hydrodynamic navigation safety early warning method, system, computer equipment and storage medium, which have the advantages of ensuring the stability and safety of the ship when driving.
本发明的上述技术目的是通过以下技术方案得以实现的：水动力通航安全预警方法，其特征在于，包括：The above-mentioned technical purpose of the present invention is achieved through the following technical solutions: a hydrodynamic navigation safety early warning method, which is characterized in that, comprising:
收集船舶信息、预定水域的航道数据和预定水域的水流数据；Collect ship information, channel data in predetermined water areas and water flow data in predetermined water areas;
根据所述预定水域的航道数据和水流数据得到所述预定水域的水动力数据；Obtain the hydrodynamic data of the predetermined water area according to the channel data and the water flow data of the predetermined water area;
根据所述预定水域的航道数据和预定水域的水动力数据建立所述预定水域对应的水动力模型；Establish a hydrodynamic model corresponding to the predetermined water area according to the channel data of the predetermined water area and the hydrodynamic data of the predetermined water area;
根据所述船舶信息和所述水动力模型得到所述预定水域的适航区域，若船舶偏离适航区域，则发出通航安全警报。According to the ship information and the hydrodynamic model, the seaworthy area of the predetermined water area is obtained, and if the ship deviates from the seaworthy area, a navigation safety alarm is issued.
可选的，所述根据所述预定水域的航道数据和水流数据得到所述预定水域的水动力数据包括：Optionally, the obtaining the hydrodynamic data of the predetermined water area according to the channel data and the water flow data of the predetermined water area includes:
根据所述预定水域航道数据得到预定水域的通航数据，所述通航数据包括航道规划数据、航道等级数据、航道水深、航道宽度、航道曲率半径、净高值和净跨值；The navigation data of the predetermined water area is obtained according to the channel data of the predetermined water area, and the navigation data includes channel planning data, channel grade data, channel water depth, channel width, channel curvature radius, clear height value and clear span value;
根据所述水流数据和通航数据计算得到预定水域的水面比降、流速、流向和流态；Calculate the water surface gradient, flow velocity, flow direction and flow state of the predetermined water area according to the water flow data and the navigation data;
根据所述预定水域的水面比降、流速、流向和流态得到预定水域的水动力数据。The hydrodynamic data of the predetermined water area is obtained according to the water surface gradient, flow velocity, flow direction and flow state of the predetermined water area.
可选的，所述根据所述预定水域的航道数据和所述水动力数据建立所述预定水域对应的水动力模型，包括：Optionally, establishing a hydrodynamic model corresponding to the predetermined water area according to the channel data of the predetermined water area and the hydrodynamic data includes:
根据预定水域的航道数据建立预定水域的航道三维模型；Establish a three-dimensional model of the waterway of the predetermined water area according to the waterway data of the predetermined water area;
根据所述预定水域的水动力数据建立预定水域的水流模型；establishing a water flow model of the predetermined water area according to the hydrodynamic data of the predetermined water area;
将预定水域的水流模型与预定水域的航道三维模型叠加得到预定水域的水动力模型。The hydrodynamic model of the predetermined water area is obtained by superimposing the water flow model of the predetermined water area and the three-dimensional model of the waterway of the predetermined water area.
可选的，所述预定水域的水动力数据包括预定水域的水面比降、流速、流向和流态；Optionally, the hydrodynamic data of the predetermined water area includes water surface gradient, flow velocity, flow direction and flow state of the predetermined water area;
所述根据所述预定水域的水动力数据得到预定水域的水流模型，包括：The obtaining of the water flow model of the predetermined water area according to the hydrodynamic data of the predetermined water area includes:
根据所述预定水域的流向对矢量场进行运动变形得到扭曲网格；Twisted grid is obtained by moving and deforming the vector field according to the flow direction of the predetermined water area;
根据所述预定水域的流速对扭曲网格进行渲染得到流速渲染模型；Rendering the twisted grid according to the flow velocity of the predetermined water area to obtain a flow velocity rendering model;
根据所述预定水域的水面比降对流速渲染模型进行渲染得到水面比降渲染模型；Rendering the flow velocity rendering model according to the water surface gradient of the predetermined water area to obtain the water surface gradient rendering model;
根据所述预定水域的流态对水面比降渲染模型进行渲染得到预定水域的水流模型。The water surface gradient rendering model is rendered according to the flow state of the predetermined water area to obtain a water flow model of the predetermined water area.
可选的，所述根据所述船舶信息和所述水动力模型得到所述预定水域的适航区域，若船舶偏离所述适航区域，则发出通航安全警报，包括：Optionally, the seaworthy area of the predetermined water area is obtained according to the ship information and the hydrodynamic model, and if the ship deviates from the seaworthy area, a navigation safety alarm is issued, including:
根据所述水动力模型得到所述预定水域中的风险分布区；obtaining the risk distribution area in the predetermined water area according to the hydrodynamic model;
基于所述船舶信息在所述水动力模型筛选出满足船舶吃水量且避开所述风险分布区的适航区域；Based on the ship information, a seaworthy area that meets the draft of the ship and avoids the risk distribution area is screened in the hydrodynamic model;
在所述适航区域和所述风险分布区的边界处设置电子航标，若船舶从所述适航区域内驶入所述风险分布区，则所述电子航标发出通航安全警报。An electronic navigation aid is set at the boundary between the seaworthy area and the risk distribution area. If the ship enters the risk distribution area from the seaworthy area, the electronic navigation aid will issue a navigation safety alarm.
可选的，所述根据所述船舶信息和所述水动力模型得到所述预定水域的适航区域，若船舶偏离所述适航区域，则发出通航安全警报，还包括：Optionally, obtaining the seaworthy area of the predetermined water area according to the ship information and the hydrodynamic model, and issuing a navigation safety alarm if the ship deviates from the seaworthy area, further comprising:
根据所述预定水域的水动力数据设置水动力阈值；setting a hydrodynamic threshold according to the hydrodynamic data of the predetermined water area;
将所述预定水域的实时水动力数据与所述水动力阈值进行比对，若所述预定水域的实时水动力数据超过所述水动力阈值，则发出所述预定水域的水动力数据异常的水动力报警信息。Compare the real-time hydrodynamic data of the predetermined water area with the hydrodynamic threshold, and if the real-time hydrodynamic data of the predetermined water area exceeds the hydrodynamic threshold, send out water with abnormal hydrodynamic data of the predetermined water area. Power alert information.
可选的，所述根据所述船舶信息和所述水动力模型得到所述预定水域的适航区域，若船舶偏离所述适航区域，则发出通航安全警报，还包括：Optionally, obtaining the seaworthy area of the predetermined water area according to the ship information and the hydrodynamic model, and issuing a navigation safety alarm if the ship deviates from the seaworthy area, further comprising:
根据所述水动力模型设置若干分航通道；Set up several navigation channels according to the hydrodynamic model;
在若干所述分航通道的边界均设置有虚拟航标；Virtual navigation marks are arranged at the boundaries of several of the separation channels;
根据所述船舶信息对船舶规划对应的规划航道，若所述船舶偏离对应规划航道，则所述虚拟航标发出船舶偏航预警。According to the ship information, a corresponding planning channel is planned for the ship, and if the ship deviates from the corresponding planning channel, the virtual navigation mark will issue a ship deviation warning.
水动力通航安全预警系统，其特征在于，包括：The hydrodynamic navigation safety early warning system is characterized in that, it includes:
数据收集模块，用于收集船舶信息、预定水域的航道数据和预定水域的水流数据；The data collection module is used to collect ship information, waterway data in the predetermined water area and water flow data in the predetermined water area;
数据处理模块，用于根据所述预定水域的航道数据和水流数据得到所述预定水域的水动力数据；a data processing module, configured to obtain hydrodynamic data of the predetermined water area according to the channel data and water flow data of the predetermined water area;
数据建模模块，用于根据所述预定水域的航道数据和预定水域的水动力数据建立所述预定水域对应的水动力模型；a data modeling module, configured to establish a hydrodynamic model corresponding to the predetermined water area according to the channel data of the predetermined water area and the hydrodynamic data of the predetermined water area;
通航预警模块，用于根据所述船舶信息和水动力模型得到所述预定水域的适航区域，若船舶脱离所述适航区域，则发出通航安全警报。The navigation warning module is used to obtain the seaworthy area of the predetermined water area according to the ship information and the hydrodynamic model, and if the ship leaves the seaworthy area, a navigation safety alarm is issued.
一种计算机设备,包括存储器和处理器，所述存储器存储有计算机程序，所述处理器执行所述计算机程序时实现上述的方法的步骤。A computer device includes a memory and a processor, the memory stores a computer program, and the processor implements the steps of the above method when the processor executes the computer program.
一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现上述的方法的步骤。A computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, implements the steps of the above-mentioned method.
综上所述，本发明具有以下有益效果：通过建立对应水域的水动力模型，并结合船舶信息对船舶的航行轨迹进行规划，使船舶避开风险分布区，保证船舶行驶时的稳定性和安全性；并且在船舶偏离航线时及时发送安全预警，并在同时向航道管理系统发送该船舶的船舶编号，达到对船舶的监控，提高管理效率和管理能力。To sum up, the present invention has the following beneficial effects: by establishing a hydrodynamic model of the corresponding water area and planning the navigation trajectory of the ship in combination with the ship information, the ship can avoid the risk distribution area and ensure the stability and safety of the ship when driving. And when the ship deviates from the route, it sends a safety warning in time, and at the same time sends the ship's ship number to the channel management system to monitor the ship and improve management efficiency and management capabilities.
附图说明Description of drawings
图1为本发明提供的水动力通航安全预警方法的流程示意图；Fig. 1 is the schematic flow chart of the hydrodynamic navigation safety early warning method provided by the present invention;
图2为图1中步骤200的流程示意图；FIG. 2 is a schematic flowchart of
图3为图1中步骤300的流程示意图；FIG. 3 is a schematic flowchart of
图4为本发明提供的水动力通航安全预警系统的结构框图；Fig. 4 is the structural block diagram of the hydrodynamic navigation safety early warning system provided by the present invention;
图5为图4中数据处理模块的结构框图；Fig. 5 is the structural block diagram of the data processing module in Fig. 4;
图6为图4中数据建模模块的结构框图；Fig. 6 is the structural block diagram of the data modeling module in Fig. 4;
图7为本发明实施例中计算机设备的内部结构图；7 is an internal structural diagram of a computer device in an embodiment of the present invention;
图8为本发明水流模型的处理示意图；Fig. 8 is the processing schematic diagram of the water flow model of the present invention;
图9为本发明水动力模型的示意图；Fig. 9 is the schematic diagram of the hydrodynamic model of the present invention;
图10为本发明对船舶航迹线规划的示意图。Fig. 10 is a schematic diagram of the ship's route planning according to the present invention.
具体实施方式Detailed ways
下面结合附图和实施例，对本发明进行详细描述。The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
本发明提供了水动力通航安全预警方法,如图1所示，包括：The present invention provides a hydrodynamic navigation safety early warning method, as shown in Figure 1, including:
步骤100、收集船舶信息、预定水域的航道数据和预定水域的水流数据；
步骤200、根据所述预定水域的航道数据和水流数据得到所述预定水域的水动力数据；
步骤300、根据所述预定水域的航道数据和预定水域的水动力数据建立所述预定水域对应的水动力模型；
步骤400、根据所述船舶信息和所述水动力模型得到所述预定水域的适航区域，若船舶偏离适航区域，则发出通航安全警报。Step 400: Obtain the seaworthy area of the predetermined water area according to the ship information and the hydrodynamic model, and issue a navigation safety alarm if the ship deviates from the seaworthy area.
具体来说，船舶在航道上航行，影响其通航能力与航行安全的因素有许多，如航道等级、航道环境、气象条件、航行方式、人为因素等，通航水流判别标准在不同的国家，不同的河段与航段以及船舶技术发展的不同阶段都有与之相应的通航水流条件判别标准。由于航行条件是受水流流态、流速、波浪、水面比降等多种要素共同作用产生的综合效应，故需要根据当前水域的航道数据和水流数据对通航条件进行计算，得到水动力数据，再根据水动力数据建立当前水域的水动力模型，即可直观的观测当前水域中的通航水流条件，再根据船舶的吃水量和船舶的基本尺寸对通航条件进行判断，得出适合该船舶航行的适航区域，然后根据船舶的定位信息判断船舶是否位于适航区域内，若船舶偏离适航区域，则向船舶发送通航安全警报，即表明船舶已偏离适航区域，请及时返回适航区域，避免船舶遇险。Specifically, there are many factors that affect the navigation ability and navigation safety of ships when they sail on the channel, such as channel grade, channel environment, meteorological conditions, navigation methods, human factors, etc. There are corresponding criteria for judging navigable water flow conditions for river sections and voyage sections, as well as different stages of ship technology development. Since the navigation conditions are the combined effects of various factors such as water flow, flow rate, wave, and water surface gradient, it is necessary to calculate the navigation conditions according to the current water channel data and water flow data to obtain the hydrodynamic data, and then The hydrodynamic model of the current water area is established according to the hydrodynamic data, and the navigable water flow conditions in the current water area can be observed intuitively, and then the navigable conditions are judged according to the draft of the ship and the basic size of the ship, and the suitable navigation conditions for the ship can be obtained. If the ship deviates from the seaworthy area, it will send a navigation safety alert to the ship, which means that the ship has deviates from the seaworthy area. Please return to the seaworthy area in time to avoid Ship in distress.
进一步地，如图2所示，所述根据所述预定水域的航道数据和水流数据得到所述预定水域的水动力数据包括：Further, as shown in FIG. 2 , the obtaining of the hydrodynamic data of the predetermined water area according to the channel data and the water flow data of the predetermined water area includes:
步骤210、根据所述预定水域航道数据得到预定水域的通航数据，所述通航数据包括航道规划数据、航道等级数据、航道水深、航道宽度、航道曲率半径、净高值和净跨值；
步骤220、根据所述水流数据和通航数据计算得到预定水域的水面比降、流速、流向和流态；Step 220: Calculate the water surface gradient, flow velocity, flow direction and flow state of the predetermined water area according to the water flow data and the navigation data;
步骤230、根据所述预定水域的水面比降、流速、流向和流态得到预定水域的水动力数据。Step 230: Obtain hydrodynamic data of the predetermined water area according to the water surface gradient, flow rate, flow direction and flow state of the predetermined water area.
具体来说，在计算水动力数据时，先根据航道数据得到航道规划数据、航道等级数据、航道水深、航道宽度、航道曲率半径、净高值和净跨值，其中航道水深、航道宽度、航道曲率半径是航道的基本数据，航道水深是保障船舶安全航行的基本条件也是影响船舶通航能力的主要因素。所谓航道水深即指从航道水位线至河床底部的垂直距离，也是在设计最低通航水位条件下航道宽度范围内浅滩上的最小水深；航道宽度与内河航道运输经济效益息息相关，直接影响到内河航道的通航能力与船舶航行的安全，而航道宽度对船舶通航能力的影响有许多方面的因素如船舶在航行时自身需要一定的航迹带宽度并且受水流与风浪等的外力影响会产生一定的偏移，另外在航行的过程中还可能会发生岸吸与互吸等情况以及在弯曲航段曲率半径对航道宽度的影响，故对最小航道水深、最小航道宽度、最小航道曲率半径进行计算；而净高值和净跨值是对于跨河建筑物的测量和计算，用于判断船舶是否能够通过；然后根据航道的具体尺寸和水流数据能够得到预定水域的水面比降、流速、流向和流态；且由于水上建筑物和水上活动的环境数据对于水流数据具有较大的影响，故在需要结合桥墩、闸口、港口和水利设施等产生的雍水高度进行计算；即可得到水动力数据。Specifically, when calculating the hydrodynamic data, first obtain the channel planning data, channel grade data, channel water depth, channel width, channel curvature radius, clear height value and clear span value according to the channel data. The radius of curvature is the basic data of the channel, and the water depth of the channel is the basic condition to ensure the safe navigation of the ship and the main factor affecting the navigation ability of the ship. The so-called water depth of the channel refers to the vertical distance from the water level of the channel to the bottom of the river bed, and is also the minimum water depth on the shoal within the width of the channel under the design minimum navigable water level. Navigation ability and the safety of ship navigation, and the influence of channel width on the navigation ability of ships has many factors. For example, the ship needs a certain width of the track band when sailing, and it will have a certain offset due to external forces such as currents, wind and waves. , in addition, shore suction and mutual suction may also occur during the navigation process, as well as the influence of the curvature radius on the channel width in the curved section, so the minimum channel water depth, the minimum channel width, and the minimum channel curvature radius are calculated; The high value and the clear span value are measured and calculated for the buildings across the river to judge whether the ship can pass through; and then the water surface gradient, flow velocity, flow direction and flow state of the predetermined water area can be obtained according to the specific size of the channel and water flow data; And because the environmental data of water buildings and water activities have a great influence on the water flow data, it is necessary to calculate the water height generated by the bridge piers, gates, ports and water conservancy facilities, etc.; the hydrodynamic data can be obtained.
进一步的，如图3所示，所述根据所述预定水域的航道数据和所述水动力数据建立所述预定水域对应的水动力模型，包括：Further, as shown in FIG. 3 , the establishment of a hydrodynamic model corresponding to the predetermined water area according to the channel data of the predetermined water area and the hydrodynamic data includes:
步骤310、根据预定水域的航道数据建立预定水域的航道三维模型；
步骤320、根据所述预定水域的水动力数据建立预定水域的水流模型；
步骤330、将预定水域的水流模型与预定水域的航道三维模型叠加得到预定水域的水动力模型。
具体来说，首先根据航道的三维尺寸对航道进行三维建模，得到航道的三维模型，然后根据航道的三维建模和水动力数据建立水流模型，再将水流模型和航道三维模型进行叠加，即可得到预定水域的水动力模型(请参考图9)。Specifically, firstly, the 3D modeling of the channel is carried out according to the 3D size of the channel to obtain the 3D model of the channel, then the water flow model is established according to the 3D modeling of the channel and the hydrodynamic data, and then the water flow model and the 3D model of the channel are superimposed, namely A hydrodynamic model of the predetermined water area is available (please refer to Figure 9).
可选地，如图8所示，所述预定水域的水动力数据包括预定水域的水面比降、流速、流向和流态；Optionally, as shown in FIG. 8 , the hydrodynamic data of the predetermined water area includes water surface gradient, flow velocity, flow direction and flow state of the predetermined water area;
所述根据所述预定水域的水动力数据得到预定水域的水流模型，包括：The obtaining of the water flow model of the predetermined water area according to the hydrodynamic data of the predetermined water area includes:
根据所述预定水域的流向对矢量场进行运动变形得到扭曲网格；Twisted grid is obtained by moving and deforming the vector field according to the flow direction of the predetermined water area;
根据所述预定水域的流速对扭曲网格进行渲染得到流速渲染模型；Rendering the twisted grid according to the flow velocity of the predetermined water area to obtain a flow velocity rendering model;
根据所述预定水域的水面比降对流速渲染模型进行渲染得到水面比降渲染模型；Rendering the flow velocity rendering model according to the water surface gradient of the predetermined water area to obtain the water surface gradient rendering model;
根据所述预定水域的流态对水面比降渲染模型进行渲染得到预定水域的水流模型。The water surface gradient rendering model is rendered according to the flow state of the predetermined water area to obtain a water flow model of the predetermined water area.
具体来说，由于水动力数据包括水面比降、流速、流向和流态，故先对水动力数据进行二维建模，将矢量场沿水流方向拉伸扭曲变形，得到标示航道内水流的流域以及流向的扭曲网格图像，然后根据流速对扭曲网格进行渲染，流速越高渲染颜色越深，得到流速渲染模型；再根据水面比降对流速渲染模型进一步渲染，将流速渲染模型进行三维拉伸，显示出水面比降，得到水面比降渲染图；最后根据流态将不正常流态的区域渲染标出，得到水流模型。Specifically, since the hydrodynamic data includes water surface gradient, flow velocity, flow direction and flow pattern, the hydrodynamic data is firstly modeled in two dimensions, and the vector field is stretched and distorted along the water flow direction to obtain the watershed indicating the water flow in the channel. and the distorted mesh image of the flow direction, and then render the distorted mesh according to the flow velocity. The higher the flow velocity, the darker the rendering color, and the flow velocity rendering model is obtained; then the flow velocity rendering model is further rendered according to the water surface gradient, and the flow velocity rendering model is drawn three-dimensionally. Extend, show the water surface gradient, and get the water surface gradient rendering map; finally, according to the flow state, the area with abnormal flow state is rendered and marked, and the water flow model is obtained.
进一步地，所述根据所述船舶信息和所述水动力模型得到所述预定水域的适航区域，若船舶偏离所述适航区域，则发出通航安全警报，包括：Further, the seaworthy area of the predetermined water area is obtained according to the ship information and the hydrodynamic model, and if the ship deviates from the seaworthy area, a navigation safety alarm is issued, including:
根据所述水动力模型得到所述预定水域中的风险分布区；obtaining the risk distribution area in the predetermined water area according to the hydrodynamic model;
基于所述船舶信息在所述水动力模型筛选出满足船舶吃水量且避开所述风险分布区的适航区域；Based on the ship information, a seaworthy area that meets the draft of the ship and avoids the risk distribution area is screened in the hydrodynamic model;
在所述适航区域和所述风险分布区的边界处设置电子航标，若船舶从所述适航区域内驶入所述风险分布区，则所述电子航标发出通航安全警报。An electronic navigation aid is set at the boundary between the seaworthy area and the risk distribution area. If the ship enters the risk distribution area from the seaworthy area, the electronic navigation aid will issue a navigation safety alarm.
具体来说，首先将流态异常区域标出得到风险分布区，然后根据船舶的船高、船宽、吃水量对风险分布区以外的区域进行判断，并且需要满足船舶在航行时不受风险分布区的影响，得到适合该船舶航行的适航区域；其中，适航区域需要根据船舶信息和水动力模型结合分析船舶的摩擦阻力、边界层和波浪间的干扰、船舶与船舶之间以及潜体的尾流等产生的粘性因素，得到最适合该船舶航行的区域，即为适航区域；再在适航区域的边界以及风险分布区的边界设置电子航标，即形成电子围栏，当船舶从适航区域内驶出时，电子航标检测到船舶驶出，电子航标可向船舶及时发送船舶已驶出适航区域的通航安全警报；在实际应用中，电子围栏的设置不限于电子航标，亦可通过设置AIS基站设置AIS虚拟航标；当船舶驶入风险分布区时，风险分布区的电子航标、AIS基站或增设的VHF基站向船舶发送船舶已驶入风险分布区，请及时调整航向脱离的通航安全警报。Specifically, the abnormal flow area is first marked to obtain the risk distribution area, and then the areas outside the risk distribution area are judged according to the ship's height, width and draft, and the ship needs to be free from risk distribution when sailing. The seaworthy area suitable for the ship's navigation is obtained; the seaworthy area needs to analyze the frictional resistance of the ship, the interference between the boundary layer and the waves, the ship-to-ship and the submerged body according to the ship's information and the hydrodynamic model. The most suitable area for the ship's navigation is obtained due to the viscosity factors generated by the wake and other factors, which is the seaworthy area; and then electronic navigation marks are set on the boundary of the seaworthy area and the boundary of the risk distribution area, that is, an electronic fence is formed. When sailing out of the navigable area, the electronic navigation mark detects that the ship is leaving, and the electronic navigation mark can send the navigation safety alarm to the ship in time that the ship has sailed out of the navigable area; Set the AIS virtual beacon by setting the AIS base station; when the ship enters the risk distribution area, the electronic navigation mark in the risk distribution area, the AIS base station or the additional VHF base station will send the ship to the risk distribution area. Security alert.
在实际应用中，还需要考虑风速和水体质量对于水流流态的影响，其中水体质量包括含沙量、含盐量、水体温度和冰层体量，风速可改变水流流态，而水体中的含沙量、含盐量、水体温度和冰层体量对于船舶的阻力以及干扰会产生影响，故实际应用中，建立水动力模型时，亦需要对风速和水体质量进行分析，才可得到最优解。In practical applications, it is also necessary to consider the influence of wind speed and water quality on the water flow. The water quality includes sand content, salinity, water temperature and ice volume. The sand content, salt content, water temperature and ice volume will have an impact on the resistance and interference of ships. Therefore, in practical applications, when establishing a hydrodynamic model, it is also necessary to analyze the wind speed and water quality in order to obtain the best results. optimal solution.
进一步地，所述根据所述船舶信息和所述水动力模型得到所述预定水域的适航区域，若船舶偏离所述适航区域，则发出通航安全警报，还包括：Further, obtaining the seaworthy area of the predetermined water area according to the ship information and the hydrodynamic model, and issuing a navigation safety alarm if the ship deviates from the seaworthy area, further comprising:
根据所述预定水域的水动力数据设置水动力阈值；setting a hydrodynamic threshold according to the hydrodynamic data of the predetermined water area;
将所述预定水域的实时水动力数据与所述水动力阈值进行比对，若所述预定水域的实时水动力数据超过所述水动力阈值，则发出所述预定水域的水动力数据异常的水动力报警信息。Compare the real-time hydrodynamic data of the predetermined water area with the hydrodynamic threshold, and if the real-time hydrodynamic data of the predetermined water area exceeds the hydrodynamic threshold, send out water with abnormal hydrodynamic data of the predetermined water area. Power alarm information.
具体来说，对预定水域的水面比降、流速、流向和流态进行历史数据收集，得到水面比降、流速、流向和流态处于正常值时的水动力阈值，然后将实时的水面比降、流速、流向和流态与水动力阈值进行比对，若水面比降、流速、流向和流态有任一项超过水动力阈值，则向水上安全管理系统发送与预定水域的该项水动力数据处于异常状态的报警信息。水上安全管理部门和单位可根据接收到的报警信息对该航道做出封航或停航的处理，并向船舶发出封航或停航的公告。Specifically, historical data is collected on the water surface gradient, flow velocity, flow direction and flow state of the predetermined water area to obtain the hydrodynamic thresholds when the water surface gradient, flow speed, flow direction and flow state are at normal values, and then the real-time water surface gradient is obtained. , flow rate, flow direction and flow state are compared with the hydrodynamic threshold value. If any one of the water surface gradient, flow rate, flow direction and flow state exceeds the hydrodynamic threshold value, it will send to the water safety management system the hydrodynamic force of the predetermined water area. Alarm information that the data is in an abnormal state. The water safety management departments and units can make closure or suspension of navigation on the channel according to the received alarm information, and issue a notice of closure or suspension to the ship.
进一步地，所述根据所述船舶信息和所述水动力模型得到所述预定水域的适航区域，若船舶偏离所述适航区域，则发出通航安全警报，还包括：Further, obtaining the seaworthy area of the predetermined water area according to the ship information and the hydrodynamic model, and issuing a navigation safety alarm if the ship deviates from the seaworthy area, further comprising:
根据所述水动力模型设置若干分航通道；Set up several navigation channels according to the hydrodynamic model;
在若干所述分航通道的边界均设置有虚拟航标；Virtual navigation marks are arranged at the boundaries of several of the separation channels;
根据所述船舶信息对船舶规划对应的规划航道，若所述船舶偏离对应规划航道，则所述虚拟航标发出船舶偏航预警。According to the ship information, a corresponding planning channel is planned for the ship, and if the ship deviates from the corresponding planning channel, the virtual navigation mark will issue a ship deviation warning.
具体来说，根据水动力模型和船舶分级情况对航道进行划分，按照一等船舶、二等船舶、三等船舶、四等船舶和五等船舶将航道划分为一等分航通道、二等分航通道、三等分航通道、四等分航通道和五等分航通道，并对各个等级的船舶指引到对应的分航通道处，并在所有分航通道的边界均设置虚拟航标；虚拟航标是通过AIS基站设置的，若船舶偏离对应等级的分航通道，AIS基站或增设的VHF基站向船舶发送船舶偏航预警。Specifically, the waterway is divided according to the hydrodynamic model and the classification of ships, and the waterway is divided into first-class ships, second-class ships, third-class ships, fourth-class ships and fifth-class ships. Navigation channel, third navigation channel, quarter navigation channel and fifth navigation channel, and guide ships of each class to the corresponding navigation channel, and set virtual navigation marks on the boundaries of all navigation channels; The navigation mark is set by the AIS base station. If the ship deviates from the separation channel of the corresponding level, the AIS base station or the additional VHF base station will send the ship yaw warning to the ship.
在实际应用中，上述的水动力通航安全预警方法，通过建立对应水域的水动力模型，并结合船舶信息对船舶的航行轨迹进行规划，使船舶避开风险分布区，保证船舶行驶时的稳定性和安全性；并且在船舶偏离航线时及时发送安全预警，并在同时向航道管理系统发送该船舶的船舶编号，达到对船舶的监控，提高管理效率和管理能力。In practical applications, the above-mentioned hydrodynamic navigation safety early warning method uses the establishment of a hydrodynamic model of the corresponding water area and the planning of the ship's navigation trajectory in combination with the ship's information, so that the ship can avoid the risk distribution area and ensure the stability of the ship when driving. and safety; and timely send a safety warning when the ship deviates from the route, and at the same time send the ship's ship number to the channel management system to monitor the ship and improve management efficiency and management capabilities.
应该理解的是，虽然图1-3的流程图中的各个步骤按照箭头的指示依次显示，但是这些步骤并不是必然按照箭头指示的顺序依次执行。除非本文中有明确的说明，这些步骤的执行并没有严格的顺序限制，这些步骤可以以其它的顺序执行。而且，图1-3中的至少一部分步骤可以包括多个子步骤或者多个阶段，这些子步骤或者阶段并不必然是在同一时刻执行完成，而是可以在不同的时刻执行，这些子步骤或者阶段的执行顺序也不必然是依次进行，而是可以与其它步骤或者其它步骤的子步骤或者阶段的至少一部分轮流或者交替地执行。It should be understood that although the steps in the flowcharts of FIGS. 1-3 are shown in sequence according to the arrows, these steps are not necessarily executed in the sequence shown by the arrows. Unless explicitly stated herein, the execution of these steps is not strictly limited to the order, and the steps may be executed in other orders. Moreover, at least a part of the steps in FIGS. 1-3 may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed and completed at the same time, but may be executed at different times. These sub-steps or stages are not necessarily completed at the same time. The order of execution of the steps is not necessarily sequential, but may be performed alternately or alternately with other steps or at least a part of sub-steps or stages of other steps.
如图4所示，本发明还提供了水动力通航安全预警系统，包括：As shown in Figure 4, the present invention also provides a hydrodynamic navigation safety early warning system, including:
数据收集模块10，用于收集船舶信息、预定水域的航道数据和预定水域的水流数据；The
数据处理模块20，用于根据所述预定水域的航道数据和水流数据得到所述预定水域的水动力数据；a
数据建模模块30，用于根据所述预定水域的航道数据和预定水域的水动力数据建立所述预定水域对应的水动力模型；A data modeling module 30, configured to establish a hydrodynamic model corresponding to the predetermined water area according to the channel data of the predetermined water area and the hydrodynamic data of the predetermined water area;
通航预警模块40，用于根据所述船舶信息和水动力模型得到所述预定水域的适航区域，若船舶脱离所述适航区域，则发出通航安全警报。The
进一步的，如图5所示，所述数据处理模块20包括：Further, as shown in Figure 5, the
通航数据计算单元21，用于根据所述预定水域航道数据得到预定水域的通航数据，所述通航数据包括航道规划数据、航道等级数据、航道水深、航道宽度、航道曲率半径、净高值和净跨值；The navigation
水流数据计算单元22，用于根据所述水流数据和通航数据计算得到预定水域的水面比降、流速、流向和流态；The water flow
水动力数据计算单元23，用于根据所述预定水域的水面比降、流速、流向和流态得到预定水域的水动力数据。The hydrodynamic
进一步的，如图6所示，所述数据建模模块30包括：Further, as shown in Figure 6, the data modeling module 30 includes:
航道建模单元31，用于根据预定水域的航道数据建立预定水域的航道三维模型；The
水流建模单元32，用于根据所述预定水域的水动力数据建立预定水域的水流模型；a water
叠加处理单元33，用于将预定水域的水流模型与预定水域的航道三维模型叠加得到预定水域的水动力模型。The
可选地，所述预定水域的水动力数据包括预定水域的水面比降、流速、流向和流态，所述水流建模单元包括：Optionally, the hydrodynamic data of the predetermined water area includes water surface gradient, flow velocity, flow direction and flow state of the predetermined water area, and the water flow modeling unit includes:
流向网格单元，用于根据所述预定水域的流向对矢量场进行运动变形得到扭曲网格；a flow-direction grid unit, configured to perform motion deformation on the vector field according to the flow direction of the predetermined water area to obtain a distorted grid;
流速渲染单元，用于根据所述预定水域的流速对扭曲网格进行渲染得到流速渲染模型；a flow velocity rendering unit, configured to render the twisted mesh according to the flow velocity of the predetermined water area to obtain a flow velocity rendering model;
水面比降渲染单元，用于根据所述预定水域的水面比降对流速渲染模型进行渲染得到水面比降渲染模型；a water surface gradient rendering unit, configured to render the flow velocity rendering model according to the water surface gradient of the predetermined water area to obtain a water surface gradient rendering model;
流态渲染单元，用于根据所述预定水域的流态对水面比降渲染模型进行渲染得到预定水域的水流模型。The flow state rendering unit is configured to render the water surface gradient rendering model according to the flow state of the predetermined water area to obtain a water flow model of the predetermined water area.
进一步的，所述通航预警模块包括：Further, the navigation warning module includes:
风险区域划分单元，用于根据所述水动力模型得到所述预定水域中的风险分布区；a risk area dividing unit, configured to obtain a risk distribution area in the predetermined water area according to the hydrodynamic model;
适航区域划分单元，用于基于所述船舶信息在所述水动力模型筛选出满足船舶吃水量且避开所述风险分布区的适航区域；A seaworthy area dividing unit, configured to screen out a seaworthy area that satisfies the draft of the ship and avoids the risk distribution area in the hydrodynamic model based on the ship information;
通航警报单元，用于在所述适航区域和所述风险分布区的边界处设置电子航标，若船舶从所述适航区域内驶入所述风险分布区，则所述电子航标发出通航安全警报。The navigation alarm unit is used to set an electronic navigation mark at the boundary between the seaworthy area and the risk distribution area. If the ship enters the risk distribution area from the seaworthy area, the electronic navigation beacon will issue a navigation safety signal. alarm.
可选地，所述通航预警模块还包括：Optionally, the navigation warning module further includes:
阈值设置单元，用于根据所述预定水域的水动力数据设置水动力阈值；a threshold setting unit, configured to set a hydrodynamic threshold according to the hydrodynamic data of the predetermined water area;
水动力报警单元，用于将所述预定水域的实时水动力数据与所述水动力阈值进行比对，若所述预定水域的实时水动力数据超过所述水动力阈值，则发出所述预定水域的水动力数据异常的水动力报警信息。A hydrodynamic alarm unit, configured to compare the real-time hydrodynamic data of the predetermined water area with the hydrodynamic threshold value, and if the real-time hydrodynamic data of the predetermined water area exceeds the hydrodynamic threshold value, send out the predetermined water area The hydrodynamic alarm information of abnormal hydrodynamic data.
可选地，所述通航预警模块还包括：Optionally, the navigation warning module further includes:
分航通道设置单元，用于根据所述水动力模型设置若干分航通道；a navigation channel setting unit, used for setting several navigation channels according to the hydrodynamic model;
虚拟航标单元，用于在若干所述分航通道的边界均设置有虚拟航标；A virtual beacon unit, which is used for setting virtual beacons at the boundaries of several of the navigation channels;
偏航预警单元，用于根据所述船舶信息对船舶规划对应的规划航道，若所述船舶偏离对应规划航道，则所述虚拟航标发出船舶偏航预警。The yaw warning unit is used for planning the corresponding planned waterway for the ship according to the ship information. If the ship deviates from the corresponding planned waterway, the virtual navigation mark will issue a ship yawing early warning.
关于水动力通航安全预警系统的具体限定可以参见上文中对于水动力通航安全预警方法的限定，在此不再赘述。上述水动力通航安全预警系统中的各个模块可全部或部分通过软件、硬件及其组合来实现。上述各模块可以硬件形式内嵌于或独立于计算机设备中的处理器中，也可以以软件形式存储于计算机设备中的存储器中，以便于处理器调用执行以上各个模块对应的操作。For the specific limitations of the hydrodynamic navigation safety early warning system, please refer to the limitations on the hydrodynamic navigation safety early warning method above, which will not be repeated here. Each module in the above-mentioned hydrodynamic navigation safety early warning system can be realized in whole or in part by software, hardware and combinations thereof. The above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or stored in the memory in the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.
在一个实施例中，提供了一种计算机设备，该计算机设备可以是服务器，其内部结构图可以如图7所示。该计算机设备包括通过系统总线连接的处理器、存储器、网络接口和数据库。其中，该计算机设备的处理器用于提供计算和控制能力。该计算机设备的存储器包括非易失性存储介质、内存储器。该非易失性存储介质存储有操作系统、计算机程序和数据库。该内存储器为非易失性存储介质中的操作系统和计算机程序的运行提供环境。该计算机程序被处理器执行时以实现水动力通航安全预警方法。In one embodiment, a computer device is provided, and the computer device can be a server, and its internal structure diagram can be as shown in FIG. 7 . The computer device includes a processor, memory, a network interface, and a database connected by a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium, an internal memory. The nonvolatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the execution of the operating system and computer programs in the non-volatile storage medium. When the computer program is executed by the processor, a method for early warning of hydrodynamic navigation safety is realized.
本领域技术人员可以理解，图7中示出的结构，仅仅是与本申请方案相关的部分结构的框图，并不构成对本申请方案所应用于其上的计算机设备的限定，具体的计算机设备可以包括比图中所示更多或更少的部件，或者组合某些部件，或者具有不同的部件布置。Those skilled in the art can understand that the structure shown in FIG. 7 is only a block diagram of a partial structure related to the solution of the present application, and does not constitute a limitation on the computer equipment to which the solution of the present application is applied. Include more or fewer components than shown in the figures, or combine certain components, or have a different arrangement of components.
在一个实施例中，提供了一种计算机设备，包括存储器和处理器，存储器中存储有计算机程序，该处理器执行计算机程序时实现以下步骤：收集船舶信息、预定水域的航道数据和预定水域的水流数据；根据所述预定水域的航道数据和水流数据得到所述预定水域的水动力数据；根据所述预定水域的航道数据和预定水域的水动力数据建立所述预定水域对应的水动力模型；根据所述船舶信息和所述水动力模型得到所述预定水域的适航区域，若船舶偏离适航区域，则发出通航安全警报。In one embodiment, a computer device is provided, including a memory and a processor, where a computer program is stored in the memory, and when the processor executes the computer program, the processor implements the following steps: collecting ship information, waterway data in a predetermined water area, and information on a predetermined water area. water flow data; obtain the hydrodynamic data of the predetermined water area according to the waterway data and water flow data of the predetermined water area; establish a hydrodynamic model corresponding to the predetermined water area according to the waterway data of the predetermined water area and the hydrodynamic data of the predetermined water area; According to the ship information and the hydrodynamic model, the seaworthy area of the predetermined water area is obtained, and if the ship deviates from the seaworthy area, a navigation safety alarm is issued.
在一个实施例中，所述根据所述预定水域的航道数据和水流数据得到所述预定水域的水动力数据包括：根据所述预定水域航道数据得到预定水域的通航数据，所述通航数据包括航道规划数据、航道等级数据、航道水深、航道宽度、航道曲率半径、净高值和净跨值；根据所述水流数据和通航数据计算得到预定水域的水面比降、流速、流向和流态；根据所述预定水域的水面比降、流速、流向和流态得到预定水域的水动力数据。In one embodiment, the obtaining the hydrodynamic data of the predetermined water area according to the waterway data and the water flow data of the predetermined water area includes: obtaining the navigation data of the predetermined water area according to the waterway data of the predetermined water area, and the navigation data includes a waterway Planning data, channel grade data, channel water depth, channel width, channel curvature radius, clear height value and clear span value; according to the water flow data and navigation data, the water surface gradient, flow speed, flow direction and flow state of the predetermined water area are calculated; The water surface gradient, flow velocity, flow direction and flow state of the predetermined water area are used to obtain the hydrodynamic data of the predetermined water area.
在一个实施例中，所述根据所述预定水域的航道数据和所述水动力数据建立所述预定水域对应的水动力模型，包括：根据预定水域的航道数据建立预定水域的航道三维模型；根据所述预定水域的水动力数据建立预定水域的水流模型；将预定水域的水流模型与预定水域的航道三维模型叠加得到预定水域的水动力模型。In one embodiment, establishing a hydrodynamic model corresponding to the predetermined water area according to the waterway data of the predetermined water area and the hydrodynamic data includes: establishing a waterway three-dimensional model of the predetermined water area according to the waterway data of the predetermined water area; The water flow model of the predetermined water area is established by the hydrodynamic data of the predetermined water area; the hydrodynamic model of the predetermined water area is obtained by superimposing the water flow model of the predetermined water area and the three-dimensional model of the waterway of the predetermined water area.
在一个实施例中，所述预定水域的水动力数据包括预定水域的水面比降、流速、流向和流态；所述根据所述预定水域的水动力数据得到预定水域的水流模型，包括：根据所述预定水域的流向对矢量场进行运动变形得到扭曲网格；根据所述预定水域的流速对扭曲网格进行渲染得到流速渲染模型；根据所述预定水域的水面比降对流速渲染模型进行渲染得到水面比降渲染模型；根据所述预定水域的流态对水面比降渲染模型进行渲染得到预定水域的水流模型。In one embodiment, the hydrodynamic data of the predetermined water area includes water surface gradient, flow velocity, flow direction and flow state of the predetermined water area; and the obtaining a water flow model of the predetermined water area according to the hydrodynamic data of the predetermined water area includes: according to The flow direction of the predetermined water area performs motion deformation on the vector field to obtain a twisted grid; the twisted grid is rendered according to the flow velocity of the predetermined water area to obtain a flow velocity rendering model; the flow velocity rendering model is rendered according to the water surface gradient of the predetermined water area Obtaining a water surface gradient rendering model; rendering the water surface gradient rendering model according to the flow state of the predetermined water area to obtain a water flow model of the predetermined water area.
在一个实施例中，所述根据所述船舶信息和所述水动力模型得到所述预定水域的适航区域，若船舶偏离所述适航区域，则发出通航安全警报，包括：根据所述水动力模型得到所述预定水域中的风险分布区；基于所述船舶信息在所述水动力模型筛选出满足船舶吃水量且避开所述风险分布区的适航区域；在所述适航区域和所述风险分布区的边界处设置电子航标，若船舶从所述适航区域内驶入所述风险分布区，则所述电子航标发出通航安全警报。In an embodiment, obtaining the seaworthy area of the predetermined water area according to the ship information and the hydrodynamic model, and if the ship deviates from the seaworthy area, issuing a navigation safety alarm, including: according to the water obtain the risk distribution area in the predetermined water area by the dynamic model; screen out the seaworthy area that meets the draft of the ship and avoids the risk distribution area in the hydrodynamic model based on the ship information; An electronic beacon is set at the boundary of the risk distribution area. If the ship enters the risk distribution area from the seaworthy area, the electronic navigation aid will issue a navigation safety alarm.
在一个实施例中，所述根据所述船舶信息和所述水动力模型得到所述预定水域的适航区域，若船舶偏离所述适航区域，则发出通航安全警报，还包括：根据所述预定水域的水动力数据设置水动力阈值；将所述预定水域的实时水动力数据与所述水动力阈值进行比对，若所述预定水域的实时水动力数据超过所述水动力阈值，则发出所述预定水域的水动力数据异常的水动力报警信息。In an embodiment, the obtaining the seaworthy area of the predetermined water area according to the ship information and the hydrodynamic model, and if the ship deviates from the seaworthy area, issuing a navigation safety alarm, further comprising: according to the The hydrodynamic data of the predetermined water area is set to a hydrodynamic threshold value; the real-time hydrodynamic data of the predetermined water area is compared with the hydrodynamic threshold value, and if the real-time hydrodynamic data of the predetermined water area exceeds the hydrodynamic threshold value, a The hydrodynamic alarm information of the abnormal hydrodynamic data of the predetermined water area.
在一个实施例中，所述根据所述船舶信息和所述水动力模型得到所述预定水域的适航区域，若船舶偏离所述适航区域，则发出通航安全警报，还包括：根据所述水动力模型设置若干分航通道；在若干所述分航通道的边界均设置有虚拟航标；根据所述船舶信息对船舶规划对应的规划航道，若所述船舶偏离对应规划航道，则所述虚拟航标发出船舶偏航预警。In an embodiment, the obtaining the seaworthy area of the predetermined water area according to the ship information and the hydrodynamic model, and if the ship deviates from the seaworthy area, issuing a navigation safety alarm, further comprising: according to the The hydrodynamic model is provided with several sub-navigation channels; virtual navigation marks are set on the boundaries of several of the sub-navigation channels; according to the ship information, the corresponding planning channel is planned for the ship, if the ship deviates from the corresponding planning channel, the virtual navigation channel is set. The beacon issued a ship yaw warning.
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的计算机程序可存储于一非易失性计算机可读取存储介质中，该计算机程序在执行时，可包括如上述各方法的实施例的流程。其中，本申请所提供的各实施例中所使用的对存储器、存储、数据库或其它介质的任何引用，均可包括非易失性和/或易失性存储器。非易失性存储器可包括只读存储器(ROM)、可编程ROM(PROM)、电可编程ROM(EPROM)、电可擦除可编程ROM(EEPROM)或闪存。易失性存储器可包括随机存取存储器(RAM)或者外部高速缓冲存储器。作为说明而非局限，RAM以多种形式可得，诸如静态RAM(SRAM)、动态RAM(DRAM)、同步DRAM(SDRAM)、双数据率SDRAM(DDRSDRAM)、增强型SDRAM(ESDRAM)、同步链路(Synchlink)DRAM(SLDRAM)、存储器总线(Rambus)直接RAM(RDRAM)、直接存储器总线动态RAM(DRDRAM)、以及存储器总线动态RAM(RDRAM)等。Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented by instructing relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage In the medium, when the computer program is executed, it may include the processes of the above-mentioned method embodiments. Wherein, any reference to memory, storage, database or other medium used in the various embodiments provided in this application may include non-volatile and/or volatile memory. Nonvolatile memory may include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous chain Road (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.
以上实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。The technical features of the above embodiments can be combined arbitrarily. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features It is considered to be the range described in this specification.
以上所述仅是本发明的优选实施方式，本发明的保护范围并不仅局限于上述实施例，凡属于本发明思路下的技术方案均属于本发明的保护范围。应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理前提下的若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。The above are only the preferred embodiments of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions under the idea of the present invention belong to the protection scope of the present invention. It should be pointed out that for those skilled in the art, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.
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| CN117818851B (en) * | 2024-03-04 | 2024-05-24 | 成都锦城学院 | Ship monitoring system and method |
| CN118735311A (en) * | 2024-09-04 | 2024-10-01 | 浙江省水利河口研究院(浙江省海洋规划设计研究院) | Method and device for dynamic navigation decision-making of waterway, electronic equipment, and storage medium |
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