CN111951610B - Ship-bridge collision avoidance active anti-collision intelligent early warning system and method - Google Patents
Ship-bridge collision avoidance active anti-collision intelligent early warning system and method Download PDFInfo
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Abstract
The invention provides a ship-bridge collision avoidance active anti-collision intelligent early warning system, which comprises: the ship navigation information acquisition module is used for acquiring and broadcasting dynamic and static information of a ship; the ship-bridge collision risk measurement module is used for calculating ship-bridge collision risks in the water area of the bridge area according to the dynamic information of the ship and the ship-bridge collision risk judgment model; the intelligent collision risk early warning module is used for carrying out anti-collision early warning on ships in a navigation prohibition area of a bridge area water area according to the ship-bridge collision risk in the bridge area water area and carrying out anti-collision early warning on the ships with high collision risk of a pier; and the chart information generating module is used for generating an electronic chart according to the dynamic information and the static information of the ship and the pre-collected geographical information of the water area of the bridge area, and displaying the dynamic information and the static information of the water area, the ship and the early warning level of the ship in the bridge area. The invention also provides an active anti-collision intelligent early warning method for ship-bridge collision avoidance.
Description
Technical Field
The invention relates to the technical field of ship navigation active collision avoidance, in particular to an intelligent early warning system and method for ship-bridge collision avoidance active collision avoidance.
Background
In recent years, with the rapid development of economy in China, a large number of river-crossing and sea-crossing bridges are built on a channel, the density of the bridges is continuously increased, the channel grade is gradually improved, the traffic flow of ships is rapidly increased, and the accidents of ship collision sometimes occur. International research on the problem of bridge collisions began at the end of the 60's 20 th century, and in 1980, the incidence of the sun bridge being collapsed in the united states caused a high level of attention in the international engineering community. In 1995, international specialized research on ship-bridge collision problems was first organized in the shipping industry-PIANC established that the 19 th working group specializes in the research of ship-bridge collision accidents and classified the causes of ship-bridge collision accidents into three categories: misoperation, mechanical failure and natural environment of drivers and pilots.
In the prior art, the anti-collision research of a ship and a bridge comprises a real ship test method, a pool model test method, a passive anti-collision test method, an active anti-collision test method and the like. At present, in the research of bridge ship collision prevention safety monitoring in China, passive collision avoidance measure research and active collision avoidance measure research are taken as main research directions. The passive anti-collision is to arrange a plurality of anti-collision devices on the bridge to prevent the ship impact force from exceeding the bearing capacity of the pier, so as to protect the structural safety of the bridge. The passive ship collision prevention mainly protects the safety of bridges without considering the protection of ships. In addition, after the passive ship collision prevention device is installed, the navigation area and the navigation route of a water area are influenced to a certain extent.
The active collision avoidance is to avoid the occurrence of a ship bridge collision accident through the navigation management and the navigation track intervention of the ship, and is an active preventive measure. The active anti-collision measures commonly adopted at present mainly comprise video detection, infrared detection, navigation mark setting, ship alignment system implementation, crew training enhancement, ship traffic management system (VTS) setting, bridge anti-collision interception measures, navigation mark local encryption optimization technology and the like.
Disclosure of Invention
The invention aims to provide a ship-bridge collision avoidance active anti-collision intelligent early warning system and a method, which are used for calculating the position relation (the nearest meeting distance and the minimum meeting time) between a ship and a bridge pier by acquiring the dynamic and static information of a navigation ship in the water area of a bridge area; meanwhile, a bridge area water area is pre-divided into a plurality of navigation forbidden areas according to the actual characteristics of the bridge area navigation environment, and the ship intrusion risk in each navigation forbidden area and the ship collision risk of each bridge pier are calculated and obtained on the basis of a ship bridge collision risk judgment model; and early warning information is broadcasted to ships rushing into the navigation-forbidden water area and ships bringing high collision risk of the bridge piers through Very High Frequency (VHF) communication, so that anti-collision safety monitoring and intelligent early warning of the bridge piers in the bridge area are realized.
In order to achieve the above object, the present invention provides an active anti-collision intelligent early warning system for ship-bridge collision avoidance, comprising:
the ship navigation information acquisition module is used for acquiring and broadcasting dynamic information and static information of ships in a water area of a bridge area in real time; the ship-bridge collision risk measurement module is in communication connection with the ship navigation information acquisition module, calculates ship-bridge minimum meeting time and ship-bridge minimum meeting distance of a ship according to dynamic information of the ship, and calculates ship-bridge collision risk in a bridge area water area based on a ship-bridge collision risk judgment model; the ship bridge collision risk judgment model comprises a navigation-forbidden area intrusion risk judgment model and a ship bridge collision pier risk judgment model;
the intelligent collision risk early warning module is in communication connection with the ship-bridge collision risk measurement module and the ship navigation information acquisition module, and performs anti-collision early warning on ships in a no-navigation area of a bridge area water area according to the ship-bridge collision risk in the bridge area water area, and performs anti-collision early warning on the ships with high collision risk of piers;
and the chart information generating module is in communication connection with the ship navigation information acquisition module, the ship-bridge collision risk measurement module and the collision risk intelligent early warning module, generates an electronic chart according to dynamic information and static information of the ship and pre-acquired bridge area water area geographic information, and displays early warning levels of navigation forbidden water areas and the ship in the bridge area on the electronic chart.
Preferably, the static information includes a ship call number, a ship name and a ship type; the dynamic information comprises ship course, ship speed and ship position.
Preferably, the ship navigation information acquisition module includes an AIS system provided on a ship, and the AIS system includes:
the GPS receiver is used for acquiring the ship course and the ship speed and receiving the UTC time signal for time synchronization;
the electric compass is used for acquiring the position of the ship;
and the radio transponder is used for broadcasting the ship static information, the ship course and the navigational speed acquired by the GPS receiver and the ship position acquired by the electronic compass according to the set time interval and receiving the course, the navigational speed and the ship position transmitted by other ships.
Preferably, the ship navigation information acquisition module further comprises a radar which is arranged along the shore of the bridge area, acquires the course, the speed and the position of the ship in the water area of the bridge area through radar echo and sends the course, the speed and the position to the ship-bridge collision risk measurement module. The radar may be a lidar or a marine radar.
The determination model for the risk of intrusion into the navigation forbidden area comprises the following steps:
wherein,
pt for the risk of intrusion of the ith navigation inhibition area defined manually for the navigation inhibition water area of the bridge area relative to the monitored jth shipj(lat, lon) is the longitude and latitude coordinate of the jth ship, AreaiThe range of the ith navigation prohibition area is defined; if the jth ship appears in the no navigation area i, then
Is1, otherwise is 0;
risk of vessel intrusion in No. i No. navigation area
And (3) adding the risks of all ships breaking into the ith navigation prohibition area:
the ship collision pier risk evaluation model is as follows:
wherein:
the risk that the ith pier is collided by the jth ship is 0 or 1; vjThe speed of the jth ship; dis (disease)l,jThe distance between the first pier and the jth ship in the water area of the bridge area, DiswarningAn early warning threshold value of the distance between the bridge pier and the ship; TCPAl,jThe ship-bridge minimum meeting time, TCPA, of the first bridge pier and the jth ship in the water area of the bridge areawarningEarly warning threshold value for the minimum meeting time of the bridge pier and the ship; DCPAl,jIndicating the ship-bridge closest meeting distance between the first pier and the jth ship in the water area of the bridge area, namely DCPAwarningA ship-bridge closest meeting distance early warning threshold value between the bridge pier and the ship;
risk of ship collision of the first pier
The sum of the risks of collision of all ships on the first pier is as follows:
the ship-bridge collision risk RBridgeNo navigation water area ship intrusion risk R for bridge areaAreaRisk of collision with pier-ship RPierSumming; rAreaSum of the risk of vessel intrusion in all areas where navigation is forbidden, RPierThe sum of the ship collision risks of all piers:
when in use
And when the number of the collision risks is not 0, the intelligent collision risk early warning module judges that the ith no-go zone is a high-risk water area, marks the ship in the high-risk water area as an early warning ship, generates first voice early warning information and broadcasts the first voice early warning information to the early warning ship.
When in use
When the collision risk is not 0, the collision risk intelligent early warning module judges that the first pier is high in collision risk by the ship, marks the early warning ship of the jth ship for bringing the high collision risk of the first pier, wherein
And generating second voice early warning information to be broadcast to the early warning ship.
Preferably, the ship-bridge collision avoidance active anti-collision intelligent early warning system further comprises an early warning information remote transmission module, wherein the early warning information remote transmission module is arranged between the collision risk intelligent early warning module and a ship radio station in a communication connection mode and used for broadcasting the first voice early warning information and the second voice early warning information to the ship radio station of the early warning ship through a very high frequency.
The invention also provides an intelligent early warning method for ship-bridge collision avoidance active collision avoidance, which is realized by adopting the intelligent early warning system for ship-bridge collision avoidance active collision avoidance of the invention and comprises the following steps:
s1, acquiring dynamic and static information of the ship in real time through the AIS system of the ship and the radar arranged along the shore of the bridge area, and broadcasting the dynamic and static information of the ship to AIS systems and ship-bridge collision risk measurement modules of other ships;
s2, calculating the minimum meeting time and the minimum meeting distance of the ship and the bridge according to the dynamic information of the ship by a ship-bridge collision risk measurement module;
s3, calculating by a ship-bridge collision risk measurement module according to the ship-bridge minimum meeting time and the ship-bridge minimum meeting distance based on a ship-bridge collision risk judgment model to obtain a ship break-in risk and a pier-ship collision risk of a water area in which navigation is forbidden in a bridge area, and further obtaining a ship-bridge collision risk;
s4, judging an early warning ship by the intelligent early warning module of collision risk according to the ship intrusion risk of the navigation-forbidden water area in the bridge area and the collision risk of the bridge pier and the ship, and performing anti-collision early warning on the early warning ship;
s5, the sea chart information generating module generates an electronic sea chart according to dynamic information and static information of the ship and pre-collected geographical information of the water area of the bridge area, and displays the water area of the bridge area where navigation is forbidden and the ship is early warned on the electronic sea chart.
Step S4 specifically includes:
s41, when the risk of intrusion of a ship into the ith no-go area of the water area of the bridge area is not 0, the intelligent collision risk early warning module judges that the ith no-go area of the water area of the bridge area is a high-risk water area, marks the ship in the high-risk water area as an early warning ship, and generates corresponding first voice early warning information to broadcast to a ship radio station of the early warning ship;
s42, when the ship collision risk of the first pier in the water area of the bridge area is not 0, the collision risk intelligent early warning module judges that the first pier is a high-risk pier; and generating corresponding second voice early warning information to broadcast the ship radio station of the early warning ship bringing the high collision risk of the first pier.
Compared with the prior art, the invention has the beneficial effects that:
1) according to the invention, dynamic information and static information of the ship are acquired and displayed by the ship-borne AIS system and the radar arranged along the shore of the bridge area, so that redundant acquisition of the dynamic information of the ship is ensured, and the real-time performance of acquisition of the dynamic information of the ship is ensured;
2) the navigation environment and the navigation state of the ship in the bridge area are visually displayed and acquired from multiple information sources and multiple angles through a chart information generating module;
3) according to the method, the bridge area water area is divided into a plurality of navigation forbidden water areas according to the environmental information of the bridge area water area, the ship intrusion risk of the navigation forbidden water area of the bridge area water area is calculated based on the ship bridge collision risk judgment model, and corresponding anti-collision early warning is carried out on the ships in the navigation forbidden area, so that accurate early warning of ship-bridge collision avoidance is realized.
4) According to the invention, according to the mechanism characteristics of the bridge, the collision risk of the ship at the bridge pier is calculated and obtained based on the ship collision risk judgment model, and the corresponding collision-prevention early warning is carried out on the ship with high risk of collision of the ship at the bridge pier, so that the accurate early warning of the ship-bridge collision prevention is realized.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings used in the description will be briefly introduced, and it is obvious that the drawings in the following description are an embodiment of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts according to the drawings:
fig. 1 and fig. 2 are schematic diagrams of the ship-bridge collision avoidance active anti-collision intelligent early warning system of the invention;
FIG. 3 is a flow chart of the active anti-collision intelligent warning method for ship-bridge collision avoidance of the present invention;
FIG. 4 is an electronic chart in an embodiment of the invention;
FIG. 5 is a schematic view of a radar mounting position in an embodiment of the present invention;
in the figure: 1. a ship navigation information acquisition module; 11. an AIS system; 12. a radar; 2. a ship-bridge collision risk measurement module; 3. a collision risk intelligent early warning module; 4. a chart information generation module; 5. the early warning information remote transmission module; 6. a data storage module; 7. a marine radio station.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 and 2, the present invention provides an active anti-collision intelligent early warning system for ship-bridge collision avoidance, comprising: the system comprises a ship navigation information acquisition module 1, a ship-bridge collision risk measurement module 2, a collision risk intelligent early warning module 3, a chart information generation module 4, an early warning information remote transmission module 5 and a data storage module 6.
The ship navigation information acquisition module 1 is used for acquiring and broadcasting dynamic information and static information of ships in a water area of a bridge area in real time. The static information comprises a ship call number, a ship name and a ship type; the dynamic information comprises ship course, ship speed and ship position. In the embodiment of the invention, the bridge area water area of the Shanghai Zhujiajiajiajiajiajiajia bridge is monitored and early warned.
The ship navigation information acquisition module 1 includes an AIS System 11(Automatic Identification System) provided on a ship and a radar 12 provided along a water area of a bridge area.
The AIS system 11 includes: GPS receiver, electronic compass, radio transponder. The AIS system 11 is a system for establishing navigation data exchange between the ship and other ships and coastal stations by a broadcast communication method.
The GPS receiver is used for acquiring the ship course and the ship speed and receiving the UTC time signal for time synchronization;
the electric compass is used for acquiring the position of a ship;
the radio transponder is used for broadcasting ship static information, ship course and navigational speed acquired by the GPS receiver and ship positions acquired by the electronic compass according to a set time interval, and receiving course, navigational speed and ship positions transmitted by other ships. In the embodiment of the invention, the content of the ship AIS transmission information is shown in table 1, and the time interval of the ship dynamic information updating transmission is shown in table 2.
TABLE 1
TABLE 2
The radar 12 is a marine radar and a laser radar, and in the embodiment of the present invention, the installation position of the radar in the shore area near the zhujiajiajia bridge is as shown in fig. 5. And collecting the course, the navigational speed and the ship position of the ship in the water area of the bridge area through radar echo and sending the course, the navigational speed and the ship position to the ship-bridge collision risk measurement module 2. The radar 12 is particularly suitable for guiding ships to enter and exit a bay, navigate through narrow water channels and along the sea at night and in foggy days, and mainly plays a role in collision avoidance during navigation. Catch bridge water territory water area navigation boats and ships worker platform (be the boats and ships cockpit) through 12 all-round all weather, radar 12 can form the advantage complementary with on-board AIS system 11, and when on-board AIS system 11 can not normally work, in time provide real-time update's boats and ships dynamic information for the system through radar 12, has guaranteed boats and ships dynamic information's redundant collection.
The ship-bridge collision risk measurement module 2 is in communication connection with the ship navigation information acquisition module 1, calculates ship-bridge minimum meeting Time (TCPA) and ship-bridge minimum meeting Distance (DCPA) of a ship according to dynamic information of the ship, calculates ship collision risk of a pier and a ship intrusion risk in an area where communication is forbidden based on a ship collision risk judgment model, and further obtains the ship-bridge collision risk.
The ship and pier collision risk influencing factors mainly comprise DCPA, TCPA, the distance between a pier and a target ship, the relative speed between the pier and the target ship, the azimuth of the target ship, the bulwark angle of the target ship and the like. The DCPA and the TCPA are the most main factors for associating the ship collision risk, can reflect the distance, the relative speed, the direction, the change rate of the direction and the like of two ships, and the smaller the DCPA and TCPA values are, the larger the collision risk is. The calculation process of DCPA/TCPA is specifically as follows:
let λ0、
The longitude and the latitude (unit is degree) of the bridge pier are respectively; lambda [ alpha ]t、
Longitude and latitude (in degrees), D, of the target ship (ship to be detected in water in bridge area)λ、DtAre respectively bridge piersThe difference in longitude and the difference in latitude (in cents) from the position of the vessel.
The true orientation B of the target vessel relative to the piersT(°) is:
BT＝arctan(Dλ/DM)+τ； (2)
wherein DTDistance (n mile) between bridge pier and ship, DMThe difference of the gradual length of the latitude between the target ship and the bridge pier is shown, tau is a circumferential direction adjusting parameter (degree), DT、DMAnd tau is represented by the following formulas (3), (4) and (5):
in the formula (4)
The altitude is the growth rate of the altitude,
let V0、Vt、C0、CtThe navigation speed (kn) and the course (°) of the bridge pier and the target ship are respectively. V0x、Vtx、V0y、VtyRepresenting the components of the pier and the target vessel in the x and y axes, respectively, we can obtain:
in formula (7) - (10): vRIs the relative velocity of motion (kn) of the target vessel; cRIs the relative motion heading (°); beta is a circumferential course adjustment parameter (°).
α＝|CR-BT+180| (11)
DCPA＝DTsin(α) (12)
Formula (11) to formula (13): alpha is the angle (°) between the relative motion line and the other ship azimuth lines. When DCPA > 0 represents that the target ship passes through the bow of the bridge pier, DCPA < 0 represents that the target ship passes through the stern of the bridge pier. TCPA ≧ 0 indicates that other ships are approaching the pier, and TCPA < 0 indicates that other ships have passed the meeting point nearest to the pier.
The DCPA value is larger than 0 and only represents the minimum meeting distance value between the bridge pier and the ship, and the TCPA value distinguishes positive and negative values to reflect whether the target ship passes through the nearest meeting point with the bridge pier, so that the alpha value calculated by the formula (11) is processed:
the ship bridge collision risk judgment model comprises a navigation-forbidden area intrusion risk judgment model and a ship bridge collision pier risk judgment model:
the determination model for the risk of intrusion into the navigation forbidden area comprises the following steps:
wherein,
pt for the risk of intrusion of the ith navigation inhibition area defined manually for the navigation inhibition water area of the bridge area relative to the monitored jth shipj(lat, lon) is the longitude and latitude coordinate of the jth ship, AreaiThe range of the ith navigation prohibition area is defined; if the jth ship appears in the no navigation area i, then
Is1, otherwise is 0;
risk of vessel intrusion in No. i No. navigation area
And (3) adding the risks of all ships breaking into the ith navigation prohibition area:
the ship collision pier risk evaluation model is as follows:
wherein:
the risk that the ith pier is collided by the jth ship is 0 or 1; vjThe speed of the jth ship; dis (disease)l,jIs the first pier of the bridge area water area anddistance between jth ships, namely warning threshold value of distance between the bridge pier and the ship; TCPAl,jThe ship-bridge minimum meeting time, TCPA, of the first bridge pier and the jth ship in the water area of the bridge areawarningEarly warning threshold value for the minimum meeting time of the bridge pier and the ship; DCPAl,jIndicating the ship-bridge closest meeting distance between the first pier and the jth ship in the water area of the bridge area, namely DCPAwarningA ship-bridge closest meeting distance early warning threshold value between the bridge pier and the ship;
risk of ship collision of the first pier
The sum of the risks of collision of all ships on the first pier is as follows:
the ship-bridge collision risk RBridgeNo navigation water area ship intrusion risk R for bridge areaAreaRisk of collision with pier-ship RPierSumming; rAreaSum of the risk of vessel intrusion in all areas where navigation is forbidden, RPierThe sum of the ship collision risks of all piers:
the intelligent collision risk early warning module 3 is in communication connection with the ship-bridge collision risk measurement module 2 and the ship navigation information acquisition module 1, generates a corresponding early warning grade for a ship in a water area of the bridge area according to the ship-bridge collision risk in the water area of the bridge area, and performs anti-collision early warning for the ship in the water area of the bridge area according to the early warning grade; and the intelligent collision risk early warning module 3 also carries out early warning on ships in the water areas where navigation is forbidden. Preferably, the ship-bridge collision risk measurement module 2 and the collision risk intelligent early warning module 3 are both arranged in a central processor of the control center.
In particular, when
And when the number of the collision risks is not 0, the intelligent collision risk early warning module judges that the ith no-go zone is a high-risk water area, marks the ship in the high-risk water area as an early warning ship, and generates first voice early warning information to broadcast to the early warning ship.
When in use
When the number is not 0, the collision risk intelligent early warning module judges that the l bridge pier has high risk of being collided by the ship and marks the jth ship position
In order to cause a high risk of collision between piers and early warning ships,
and generating second voice early warning information to be broadcast to the early warning ship.
Early warning information teletransmission module 5 communication connection sets up between collision risk intelligence early warning module 3 and boats and ships radio station 7 for through very high frequency on water to the boats and ships radio station 7 broadcast of early warning boats and ships first pronunciation early warning information. In the embodiment of the present invention, the warning information remote transmission module 5 is a VHF station.
The water Very High Frequency (VHF) radio communication refers to the radio communication between ships, ships and shore or between the ships and users which are switched with land communication telephone channels through a shore station by adopting a VHF water special frequency band. VHF radio waves propagate mainly by space waves, with the range of propagation being the line-of-sight range. The communication distance on the ground is related to the height of the VHF antenna and the transmitting power, the normal propagation range of the ship-borne VHF telephone station is about 25 nautical miles, for example, the ship-borne antenna is 30 meters higher, the shore-borne antenna is 90 meters higher, and the theoretical maximum distance of ship-borne communication is 33.3 nautical miles. The VHF propagation range is suitable for establishing a short-distance cellular communication network centered around the VHF station, and therefore, coastal, offshore and inland water areas are covered by radio waves from the VHF station, which is the most advantageous and effective area for communication between ships and the shore using VHF.
The VHF communication system as an important technical means of water borne mobile communication is designed in the same way with the land VHF mobile communication system in many basic aspects. Its design has certain special features, since it is also subject to the general requirements of the marine communication (information) network in which it is incorporated. According to the regulations of the water radio communication regulation (2004 edition) of the ministry of traffic, the VHF frequency band radio communication frequency range of the water mobile service is 156-174 MHz, 26 single frequency channels and 33 double frequency channels are divided at the interval of 25KHz, and 59 channels are totally used for the communication of water ship-shore or ship actions; 156.650MHz (VHF CH13) is assigned as a communication channel for safety of navigation between ships; 156.800MHz (VHF CH16) is dedicated to secure radiotelephone communications and calls in distress; 156.525MHz (VHF CH70) is dedicated to DSC distress, security and communications; 161.975 and 162.025MHz (AIS1 and AIS2 channels) are used for the operating frequency of the automatic identification and monitoring system of marine service vessels. The ministry of communications "very high frequency coast radio station engineering design Specification" (JTJ/T345-99) requires that the very high frequency coast radio station should have the function of daily wireless telephone communication and non-telephone service communication with the ship radio station 7 in the sea area covered by the very high frequency coast radio station, the rated power of the configured very high frequency transceiving equipment is not more than 50W, the shore station for DSC distress and safety communication service must be provided with CH70 and CH16 channels, and a centralized control mode is preferably adopted. Therefore, the channel CH16 can be used as the first warning information broadcasting channel in the bridge area water area of the invention, and the fixed channel broadcasting can also be set by the user.
The chart information generating module 4 is in communication connection with the ship navigation information collecting module 1, the ship-bridge collision risk measuring module 2 and the collision risk intelligent early warning module 3, generates an electronic chart according to dynamic information and static information of ships and pre-collected geographical information of water areas in bridge areas, and displays the water areas in the bridge areas where navigation is forbidden and early warning ships are early warned. In an embodiment of the present invention, the chart information generating module 4 is an Electronic Chart Display and Information System (ECDIS) conforming to international standards. In the embodiment of the invention, an electronic chart generated according to the water area in the bridge area of the Shanghai Zhujiajiajiajiajiajiajiajia bridge is shown in FIG. 4.
The data storage module 6 is used for storing the dynamic information and the static information of the ship, the early warning level, the ship intrusion risk of each navigation prohibition area and the collision risk of the bridge pier ship.
The invention also provides an intelligent early warning method for ship-bridge collision avoidance active collision avoidance, which is realized by adopting the intelligent early warning system for ship-bridge collision avoidance active collision avoidance of the invention, as shown in figure 3, and comprises the following steps:
s1, acquiring dynamic information of the ship in real time through the AIS system 11 of the ship, and broadcasting the dynamic and static information of the ship to the AIS systems 11 and the ship-bridge collision risk measurement module 2 of other ships;
s2, calculating the ship-bridge minimum meeting time and the ship-bridge minimum meeting distance of the ship according to the dynamic information of the ship by the ship-bridge collision risk measurement module 2;
s3, calculating by a ship-bridge collision risk measurement module 2 according to the ship-bridge minimum meeting time and the ship-bridge minimum meeting distance based on a ship-bridge collision risk judgment model to obtain a ship break-in risk and a pier ship collision risk of a navigation-forbidden area of the bridge area;
s4, the collision risk intelligent early warning module 3 performs anti-collision early warning on the ship in the navigation prohibition area of the bridge area water area according to the ship-bridge collision risk in the bridge area water area, and performs anti-collision early warning on the ship with high collision risk of the bridge piers;
s5, the chart information generating module 4 generates an electronic chart according to the dynamic information and the static information of the ship and the pre-collected geographical information of the water area of the bridge area, and displays the early warning level of the water area and the ship which are forbidden to navigate in the bridge area on the electronic chart.
Preferably, step S1 further includes: the course, the navigational speed and the ship position of the ship in the water area of the bridge area are collected by a radar 12 arranged along the shore of the bridge area and are sent to a ship-bridge collision risk measurement module 2.
Preferably, step S4 specifically includes:
s41, when the risk of intrusion of a ship into the ith navigation prohibition area of the water area of the bridge area is not 0, the intelligent collision risk early warning module judges that the ith navigation prohibition area of the water area of the bridge area is a high risk water area, marks the ship in the high risk water area as an early warning ship, and generates corresponding first voice early warning information to broadcast the ship radio station of the early warning ship;
s42, when the ship collision risk of the first pier in the water area of the bridge area is not 0, the intelligent collision risk early warning module judges that the first pier is a high-risk pier and generates corresponding second voice early warning information to broadcast a ship radio station of an early warning ship bringing the high collision risk of the first pier.
And S43, storing the dynamic information and the static information of the ship, the ship intrusion risk, the pier ship collision risk and the early warning ship information in each navigation forbidden area of the bridge area water area through the data storage module 6.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (7)
1. The utility model provides a ship-bridge collision avoidance initiative anticollision intelligent early warning system which characterized in that contains:
the ship navigation information acquisition module is used for acquiring and broadcasting dynamic information and static information of ships in a water area of a bridge area in real time;
the ship-bridge collision risk measurement module is in communication connection with the ship navigation information acquisition module, calculates ship-bridge minimum meeting time and ship-bridge minimum meeting distance of a ship according to dynamic information of the ship, and calculates ship-bridge collision risk in a bridge area water area based on a ship-bridge collision risk judgment model; the ship bridge collision risk judgment model comprises a navigation-forbidden area intrusion risk judgment model and a ship bridge collision pier risk judgment model;
the determination model for the risk of intrusion into the navigation forbidden area comprises the following steps:
wherein,
pt for the risk of intrusion of the ith navigation inhibition area defined manually for the navigation inhibition water area of the bridge area relative to the monitored jth shipj(lat, lon) is the longitude and latitude coordinate of the jth ship, AreaiThe range of the ith navigation prohibition area is defined; if the jth ship appears in the no navigation area i, then
Is1, otherwise is 0;
risk of vessel intrusion in No. i No. navigation area
And (3) adding the risks of all ships breaking into the ith navigation prohibition area:
when in use
When the number of the non-navigation areas is not 0, the intelligent collision risk early warning module judges that the ith no-navigation area is a high risk water area, marks a ship in the high risk water area as an early warning ship, generates first voice early warning information and broadcasts the first voice early warning information to the early warning ship;
the ship collision pier risk evaluation model is as follows:
wherein:
the risk that the ith pier is collided by the jth ship is 0 or 1;Vjthe speed of the jth ship; dis (disease)l,jThe distance between the first pier and the jth ship in the water area of the bridge area, DiswarningAn early warning threshold value of the distance between the bridge pier and the ship; TCPAl,jThe ship-bridge minimum meeting time, TCPA, of the first bridge pier and the jth ship in the water area of the bridge areawarningEarly warning threshold value for the minimum meeting time of the bridge pier and the ship; DCPAl,jIndicating the ship-bridge closest meeting distance between the first pier and the jth ship in the water area of the bridge area, namely DCPAwarningA ship-bridge closest meeting distance early warning threshold value between the bridge pier and the ship;
risk of ship collision of the first pier
The sum of the risks of collision of all ships on the first pier is as follows:
when in use
When the number of the first bridge piers is not 0, the collision risk intelligent early warning module judges that the risk of collision of the first bridge piers by ships is high, marks the jth ship as an early warning ship bringing high collision risk of the first bridge piers, generates second voice early warning information and broadcasts the second voice early warning information to the early warning ship; wherein
The ship-bridge collision risk RBridgeNo navigation water area ship intrusion risk R for bridge areaAreaRisk of collision with pier-ship RPierSumming; rAreaSum of the risk of vessel intrusion in all areas where navigation is forbidden, RPierThe sum of the ship collision risks of all piers:
the intelligent collision risk early warning module is in communication connection with the ship-bridge collision risk measurement module and the ship navigation information acquisition module, and performs anti-collision early warning on ships in a no-navigation area of a bridge area water area according to the ship-bridge collision risk in the bridge area water area, and performs anti-collision early warning on the ships with high collision risk of piers;
and the chart information generating module is in communication connection with the ship navigation information acquisition module, the ship-bridge collision risk measurement module and the collision risk intelligent early warning module, generates an electronic chart according to dynamic information and static information of the ship and pre-acquired bridge area water area geographic information, and displays early warning levels of navigation forbidden water areas and the ship in the bridge area on the electronic chart.
2. The active anti-collision intelligent warning system for ship-bridge collision avoidance according to claim 1, wherein the static information comprises a ship call number, a ship name, and a ship type; the dynamic information comprises ship course, ship speed and ship position.
3. The active anti-collision intelligent early warning system for ship-bridge collision avoidance according to claim 2, wherein the ship navigation information acquisition module comprises an AIS system disposed on a ship, the AIS system comprising:
the GPS receiver is used for acquiring the ship course and the ship speed and receiving the UTC time signal for time synchronization;
the electric compass is used for acquiring the position of the ship;
and the radio transponder is used for broadcasting the ship static information, the ship course and the navigational speed acquired by the GPS receiver and the ship position acquired by the electronic compass according to the set time interval and receiving the course, the navigational speed and the ship position transmitted by other ships.
4. The active anti-collision intelligent early warning system for ship-bridge collision avoidance according to claim 1, wherein the ship navigation information acquisition module further comprises a radar, which is arranged along the shore of the bridge area, and acquires the course, the speed and the position of the ship in the water area of the bridge area through radar echo and sends the course, the speed and the position to the ship-bridge collision risk measurement module.
5. The active anti-collision intelligent early warning system for ship-bridge collision avoidance according to claim 1, further comprising an early warning information remote transmission module, which is communicatively connected between the intelligent early warning module for collision risk and a ship radio station, and is configured to broadcast the first voice early warning information and the second voice early warning information to the ship radio station of the early warning ship through a very high frequency.
6. An intelligent early warning method for ship-bridge collision avoidance active collision avoidance, which is realized by adopting the intelligent early warning system for ship-bridge collision avoidance active collision avoidance according to any one of claims 1 to 5, and is characterized by comprising the following steps:
s1, acquiring dynamic and static information of the ship in real time through the AIS system of the ship and the radar arranged along the shore of the bridge area, and broadcasting the dynamic and static information of the ship to AIS systems and ship-bridge collision risk measurement modules of other ships;
s2, calculating the minimum meeting time and the minimum meeting distance of the ship and the bridge according to the dynamic information of the ship by a ship-bridge collision risk measurement module;
s3, calculating by a ship-bridge collision risk measurement module according to the ship-bridge minimum meeting time and the ship-bridge minimum meeting distance based on a ship-bridge collision risk judgment model to obtain a ship break-in risk and a pier-ship collision risk of a water area in which navigation is forbidden in a bridge area, and further obtaining a ship-bridge collision risk;
s4, judging an early warning ship by the intelligent early warning module of collision risk according to the ship intrusion risk of the navigation-forbidden water area in the bridge area and the collision risk of the bridge pier and the ship, and performing anti-collision early warning on the early warning ship;
s5, the sea chart information generating module generates an electronic sea chart according to dynamic information and static information of the ship and pre-collected geographical information of the water area of the bridge area, and displays the water area of the bridge area where navigation is forbidden and the ship is early warned on the electronic sea chart.
7. The ship-bridge collision avoidance active anti-collision intelligent early warning method according to claim 6, wherein the step S4 specifically comprises the steps of:
s41, when the risk of intrusion of a ship into the ith no-go area of the water area of the bridge area is not 0, the intelligent collision risk early warning module judges that the ith no-go area of the water area of the bridge area is a high-risk water area, marks the ship in the high-risk water area as an early warning ship, and generates corresponding first voice early warning information to broadcast to a ship radio station of the early warning ship;
s42, when the ship collision risk of the first pier in the water area of the bridge area is not 0, the collision risk intelligent early warning module judges that the first pier is a high-risk pier; and generating corresponding second voice early warning information to broadcast the ship radio station of the early warning ship bringing the high collision risk of the first pier.
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