CN115966104A - Safe navigation system and method for container ship - Google Patents
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Abstract
The invention discloses a safe navigation system and a navigation method for a container ship, wherein the method comprises the steps of inputting ship line information, a navigation area and ship parameter information of the container ship through a ship line input module, and acquiring the draft depth of the container ship in real time by a ship information acquisition module; the electronic chart module displays an overwater channel route map according to the course information, displays a ship position coordinate and a heading of the container ship on the overwater channel route map in real time, and further displays an obstacle in a first preset area range in front of the current ship position coordinate, a corresponding obstacle position coordinate and obstacle information on the overwater channel route map according to the current heading; once the barrier is displayed, the control module carries out corresponding early warning according to the barrier information; the safe navigation system and the navigation method of the container ship can correct the navigation path in time when a certain distance exists between the container ship and the barrier, avoid colliding the barrier and avoid the barrier in time when the current air route navigates.
Description
Technical Field
The invention relates to the technical field of container ship navigation, in particular to a safe navigation system and a safe navigation method for a container ship.
Background
With the increasing deepening of globalization, the development among regions and countries around the world is unbalanced, the trade is rapidly increased, the quantity of goods transportation is greatly increased, and the container sea transportation and the container river transportation are also vigorously developed as more economic and safer large-scale transportation modes.
The existing container ship is in the process of going on a ship, due to the fact that the cargo capacity is different, the global air temperature rises, the river seawater rises and falls and the like to cause draft and water level change, the ship can touch underwater obstacles such as reefs and the like and underwater obstacles such as top bridges and the like due to the draft and the water level change even on a channel which frequently runs, meanwhile, when the ship body passes through the obstacles, the existing ship body anti-collision system is only provided with a collision buffer layer on the ship body, the direction of the ship body cannot be corrected in time, and therefore the container ship is greatly threatened in safe navigation.
Disclosure of Invention
The invention aims to overcome the defects and provides a safe navigation system and a safe navigation method for a container ship, which can be used for early warning the channel barrier in time.
The invention provides a safe navigation method of a container ship, which comprises the following steps: step one, inputting ship route information, a navigation area and ship parameter information of a container ship through a ship route input module, and acquiring draft of the container ship in real time by a ship information acquisition module; step two, the electronic chart module displays an overwater channel route map according to the route information, displays a ship position coordinate and a heading of the container ship on the overwater channel route map in real time, and further displays an obstacle in a first preset area range in front of the current ship position coordinate, a corresponding obstacle position coordinate and obstacle information on the overwater channel route map according to the current heading, wherein the obstacle comprises a side obstacle and a top obstacle, the obstacle information corresponding to the side obstacle comprises an underwater estimated height, and the underwater estimated height is an estimated distance between the side obstacle and the water surface; the barrier information corresponding to the top barrier comprises an overwater estimated height, and the overwater estimated height is an estimated distance between the bottom surface of the top barrier and the water surface; thirdly, once the side barrier is displayed, the control module calculates the difference value between the underwater estimated height and the current draught as the underwater estimated difference value, judges that the underwater estimated difference value is smaller than a first preset value, and when the underwater estimated difference value is smaller than the first preset value, the control module takes the side barrier as a dangerous side barrier, controls the electronic chart module to display the side early warning of the barrier and highlights the display information of the dangerous side barrier; once the top barrier is displayed, the control module calculates the distance between the bottom surface of the top barrier and the top surface of the container ship as a water estimated difference value according to the ship parameter information, the draught and the water estimated height, judges whether the water estimated difference value is smaller than a second preset value or not, and when the judgment result is yes, the control module takes the top barrier as a dangerous top barrier, controls the electronic chart module to display the top early warning of the barrier and carries out highlight processing on the display information of the dangerous top barrier.
And further, in the third step, the control module controls the electronic chart module to perform highlighting processing, whether the ship can only pass through the current path is judged according to the current ship parameter information, the channel information, the obstacle position coordinates and the obstacle information, and when the judgment result is no, the control module controls the electronic chart module to display that the early warning cannot be passed and prompt a recommended route.
Further, the method also comprises the following steps: detecting whether an actual barrier exists in a second preset area range in the current detection area of the ship information acquisition module and acquiring corresponding real-time barrier information by the ship information acquisition module, wherein the actual barrier comprises an actual side barrier and an actual top barrier, the real-time barrier information corresponding to the actual barrier on the side comprises the barrier width, the actual side distance and the underwater height, and the underwater height is the actual distance between the actual barrier on the side and the water surface; the obstacle information corresponding to the actual top obstacle comprises obstacle width, actual side distance and water height, wherein the water height is the actual distance between the bottom surface of the actual top obstacle and the water surface, and the actual side distance is the horizontal distance between the actual obstacle and the container ship in the direction vertical to the heading; step five, once the ship information acquisition module acquires the actual lateral obstacle, the control module calculates the difference value between the underwater height and the current draft as the actual underwater difference value, judges whether the actual underwater difference value is smaller than a third preset value, further judges whether the actual lateral distance is smaller than a fourth preset value when the actual underwater difference value is judged to be smaller than the third preset value, and takes the actual lateral obstacle as the actual dangerous lateral obstacle and controls the anti-collision module to drive the ship to be far away from the actual dangerous lateral obstacle when the actual lateral distance is judged to be smaller than the fourth preset value; once the ship information acquisition module acquires the actual top barrier, the control module calculates the distance between the bottom surface of the actual top barrier and the current top surface of the container ship as the actual overwater distance, judges whether the actual overwater distance is smaller than a fifth preset value or not, further judges whether the actual side distance is smaller than a fourth preset value or not when the actual distance is judged to be the fifth preset value, and takes the actual top barrier as the actual dangerous top barrier and controls the anti-collision module to drive the ship to be far away from the actual dangerous top barrier when the actual distance is judged to be the fourth preset value.
Further, in the fifth step, the control module takes the side actual barrier as an actual dangerous side barrier, and further judges whether the ship can only pass through the current path according to the current ship parameter information, the channel information and the barrier real-time information, when the judgment is yes, the control module controls the anti-collision module to drive the ship to be far away from the actual dangerous side barrier, and when the judgment is no, the control module controls the electronic chart module to display that the alarm cannot pass and prompt a recommended route; the control module takes the top actual barrier as an actual dangerous top barrier, whether the ship can only pass through the current path is further judged according to the current ship parameter information, the channel information and the barrier real-time information, when the judgment is yes, the anti-collision module is controlled to drive the ship to be far away from the actual dangerous top barrier, and when the judgment is no, the control module controls the electronic chart module to display that the alarm cannot pass and prompt a recommended route.
Further, the collision avoidance module includes an auxiliary biasing mechanism that includes a side thrust device.
Further, the method also comprises the following steps: and step six, the information acquisition module detects the distance between the actual dangerous side barrier and the actual dangerous top barrier in the bow direction and the top of the container ship in real time, and when the distance is smaller than a sixth preset distance, the control module controls the ship to stop in an emergency mode.
According to another aspect of the present invention, there is also provided a container ship safe navigation system, which includes a course input module for inputting course information, ship parameter information of a navigation area and a container ship, an electronic chart module for acquiring draft of the container ship, a ship information acquisition module for acquiring draft of the container ship, and a control module; the electronic chart module is used for displaying an above-water channel route map according to course information, displaying a ship position coordinate and a heading of a container ship on the above-water channel route map in real time, and further displaying an obstacle in a first preset area range in front of the current ship position coordinate, a corresponding obstacle position coordinate and obstacle information on the above-water channel route map according to the current heading, wherein the obstacle comprises a side obstacle and a top obstacle, the obstacle information corresponding to the side obstacle comprises an underwater estimated height, and the underwater estimated height is an estimated distance between the side obstacle and the water surface; the obstacle information corresponding to the top obstacle comprises an overwater estimated height, and the overwater estimated height is the estimated distance between the bottom surface of the top obstacle and the water surface;
the control module calculates a difference value between the underwater estimated height and the current draught as an underwater estimated difference value, judges whether the underwater estimated difference value is within a first preset numerical range, and controls the electronic chart module to display the side early warning of the obstacle and highlight the display information of the dangerous side obstacle when the underwater estimated difference value is judged to be within the first preset numerical range; once the top barrier is displayed, the control module calculates the distance between the bottom surface of the top barrier and the top surface of the container ship as a water estimated difference value according to the ship parameter information, the draft and the water estimated height, judges whether the water estimated difference value is within a second preset numerical range, and when the judgment is yes, the control module takes the top barrier as a dangerous top barrier, controls the electronic chart module to display the top early warning of the barrier and carries out highlight processing on the display information of the dangerous top barrier.
The invention has the beneficial effects that: the safe navigation system and the navigation method for the container ship can correct the navigation path in time when a certain distance exists between the container ship and the barrier, avoid collision with the barrier and avoid the barrier in time when the current air route navigates.
Drawings
FIG. 1 is a schematic block diagram of a safe navigation system of a container ship according to an embodiment of the present invention;
in the figure, 1 is a course input module, 2 is an electronic chart module, 3 is a ship information acquisition module, and 4 is an anti-collision module.
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.
Fig. 1 is a schematic block diagram showing the construction of a safe navigation system for a container ship according to an embodiment of the present invention.
As shown in fig. 1, a safe navigation system for a container ship in the present embodiment includes: the ship navigation system comprises a route recording module 1, an electronic chart module 2, a ship information acquisition module 3, an anti-collision module 4 and a control module 5.
The airline recording module 1 is used for recording airline information, navigation areas and ship parameter information of container ships.
The ship information acquisition module 3 is used for acquiring the draft of the container ship.
The electronic chart module 2 is used for displaying an overwater channel route map according to course information, displaying a ship position coordinate and a heading of a container ship on the overwater channel route map in real time, and further displaying an obstacle in a first preset area range in front of the current ship position coordinate, a corresponding obstacle position coordinate and obstacle information on the overwater channel route map according to the current heading, wherein the obstacle comprises a side obstacle and a top obstacle. The obstacle information corresponding to the side obstacle comprises an underwater estimated height, and the underwater estimated height is an estimated distance between the side obstacle and the water surface; the obstacle information corresponding to the top obstacle comprises an overwater estimated height, and the overwater estimated height is the estimated distance between the bottom surface of the top obstacle and the water surface.
The crash module 4 comprises an auxiliary deflection mechanism comprising a lateral thrust device. Specifically, the side thrust device is a side thruster.
The control module 5 is in communication connection with the air route input module 1, the electronic chart module 2, the ship information acquisition module 3 and the anti-collision module 4.
The safe navigation method of the container ship based on the safe navigation system of the container ship comprises the following steps:
step one, inputting route information, a navigation area and ship parameter information of a container ship through a route input module 1, and acquiring the current draft of the container ship in real time by a ship information acquisition module 3;
and step two, the electronic chart module 2 displays an overwater channel route map according to the route information, displays the ship position coordinates and heading of the container ship on the overwater channel route map in real time, and further displays the obstacles in a first preset area range in front of the current ship position coordinates, the corresponding obstacle position coordinates and obstacle information on the overwater channel route map according to the current heading.
The first predetermined area range is an artificially set area and can be determined according to the speed and the channel path of the container ship. The channel paths are respectively composed of different sub-channels, for example, when the navigation system runs on the river and sequentially passes through the river channels a, b, c and e, whether the river channel a has obstacles can be detected before running, and whether the river channel b has obstacles can be detected when the navigation system runs on the river channel b. The obstacles include side obstacles and top obstacles. The side barriers are in three conditions, one is the barrier with the lower end on the water surface and the upper end under water, and at the moment, the estimated height under water is the distance between the upper end surface of the barrier and the water surface; one is an obstacle with the lower end on the water surface and the upper end on the water surface, and at the moment, the estimated underwater height is 0; one is an obstacle with its upper end at the water surface, at which time the estimated underwater height is 0.
The obstacle information corresponding to the side obstacle comprises an underwater estimated height, and the underwater estimated height is an estimated distance between the side obstacle and the water surface. The barrier information corresponding to the top barrier comprises an overwater estimated height, and the overwater estimated height is an estimated distance between the bottom surface of the top barrier and the water surface;
thirdly, once the side barrier is displayed, the control module 5 calculates a difference value between the underwater estimated height and the current draught as an underwater estimated difference value, and judges that the underwater estimated difference value is smaller than a first preset value, when the underwater estimated difference value is smaller than the first preset value, the control module 5 takes the side barrier as a dangerous side barrier, controls the electronic chart module 2 to display the early warning of the side part of the barrier, and carries out highlighting processing (for example, changing the display information into a red font) on the dangerous side barrier; once the top barrier is displayed, the control module 5 calculates the distance between the bottom surface of the top barrier and the top surface of the container ship as a water estimated difference value according to the ship parameter information, the draft and the water estimated height, and judges whether the water estimated difference value is smaller than a second preset value or not, when the judgment is yes, the control module 5 takes the top barrier as a dangerous top barrier, controls the electronic chart module 2 to display the top early warning of the barrier, and carries out highlight processing on the display information of the dangerous top barrier.
The control module 5 controls the electronic chart module 2 to carry out highlight processing, whether the ship can only pass through the current path is judged according to the current ship parameter information, the channel information, the position coordinates of the obstacle and the obstacle information, and when the judgment result is no, the control module 5 controls the electronic chart module 2 to display that the ship cannot pass through early warning and prompt a recommended route. Namely, whether the width of the passage after avoiding the dangerous barrier on the current path is larger than the width of the ship or not is calculated. For example, only one dangerous barrier exists in a row, and whether one side of the barrier exists on two sides of the barrier or not is judged to enable a ship to pass through the barrier; or, two dangerous barriers exist in a row, and whether a ship can pass between the two dangerous barriers or not and on the back side of each dangerous barrier is judged.
The first preset value and the second preset value are artificially set values.
Step four, the ship information acquisition module 3 detects whether an actual barrier exists in a second preset area range in the current detection area of the ship information acquisition module and acquires corresponding real-time barrier information, wherein the actual barrier comprises an actual side barrier and an actual top barrier, the real-time barrier information corresponding to the actual barrier on the side comprises the barrier width, the actual side distance and the underwater height, and the underwater height is the actual distance between the actual barrier on the side and the water surface; the obstacle information corresponding to the actual top obstacle comprises obstacle width, actual side distance and water height, the water height is the actual distance between the bottom surface of the actual top obstacle and the water surface, and the actual side distance is the horizontal distance between the actual obstacle and the container ship in the direction perpendicular to the heading.
The second predetermined area range is a section of artificially set area which is positioned in the front side of the container in the current sub-route.
And step five, once the ship information acquisition module 3 acquires the actual barriers on the side part, the control module 5 calculates the difference value between the underwater height and the current draft as the actual underwater difference value, judges whether the actual underwater difference value is smaller than a third preset value or not, and can continue normal operation when the actual underwater difference value is judged not to be smaller than the third preset value. And when the judgment result is yes, further judging whether the actual side distance is smaller than a fourth preset range, when the judgment result is yes, the control module 5 takes the actual side obstacle as an actual dangerous side obstacle, further judging whether the ship can only pass through the current path according to the current ship parameter information, the channel information and the real-time obstacle information, when the judgment result is yes, controlling the anti-collision module 4 to drive the ship to be far away from the actual dangerous side obstacle, and when the judgment result is no, controlling the electronic chart module 2 to display an alarm which cannot pass through and prompt a recommended route.
Once the ship information acquisition module 3 acquires the actual top obstacle, the control module 5 calculates the distance between the bottom surface of the actual top obstacle and the current top surface of the container ship as the actual water distance, and determines whether the actual water distance is smaller than a fifth predetermined range, and if not, the normal operation can be continued. When the judgment is yes, further judging whether the actual side distance is smaller than a fourth preset range, when the judgment is yes, using the top actual barrier as an actual dangerous top barrier by the control module 5, further judging whether the ship can only pass through the current path according to the current ship parameter information, the channel information and the barrier real-time information, and when the judgment is yes, controlling the anti-collision module 4 to drive the ship to be far away from the actual dangerous top barrier; when the judgment result is no, the control module 5 controls the electronic chart module 2 to display the failure of passing the alarm and prompt the recommended route.
Wherein the recommended route is prompted to be transported from area a to area B, for example, on the river, and sequentially pass through river channels a, B, c and e on the currently selected path. And the river channels a, B, f and e can be selected from the area A to the area B. Currently, it is detected that the b has an actual dangerous top barrier, and the container ship can not pass through the c river channel, so that the container ship can walk from the f river channel. The definition principle of the side and top actual barriers is the same as that of the side and top barriers, and is not described herein again. The third preset numerical value, the fourth preset numerical value and the fifth preset numerical value are artificially set numerical values.
And step six, the information acquisition module detects the distance between the actual dangerous side barrier and the actual dangerous top barrier in the heading direction and the top of the container ship in real time, and when the distance is smaller than a sixth preset distance, the control module 5 controls the ship to stop in an emergency.
In summary, the specific application examples of the present invention do not limit the scope of the present invention, and all technical solutions adopting equivalent substitutions fall within the scope of the present invention.
Claims (7)
1. A safe sailing method of a container ship is characterized by comprising the following steps:
step one, inputting ship route information, a navigation area and ship parameter information of a container ship through a ship route input module, and acquiring draft of the container ship in real time by a ship information acquisition module;
step two, the electronic chart module displays an overwater channel route map according to the course information, displays a ship position coordinate and a heading of the container ship on the overwater channel route map in real time, and further displays an obstacle in a first preset area range in front of the current ship position coordinate, a corresponding obstacle position coordinate and obstacle information on the overwater channel route map according to the current heading, wherein the obstacle comprises a side obstacle and a top obstacle, the obstacle information corresponding to the side obstacle comprises an underwater estimated height, and the underwater estimated height is an estimated distance between the side obstacle and the water surface; the barrier information corresponding to the top barrier comprises an overwater estimated height, and the overwater estimated height is an estimated distance between the bottom surface of the top barrier and the water surface;
thirdly, once the side barrier is displayed, the control module calculates a difference value between the underwater estimated height and the current draught as an underwater estimated difference value, judges whether the underwater estimated difference value is within a first preset range, and when the underwater estimated difference value is within the first preset range, the control module takes the side barrier as a dangerous side barrier, controls the electronic chart module to display early warning of the side of the barrier and highlights display information of the dangerous side barrier; once the top barrier is displayed, the control module calculates the distance between the bottom surface of the top barrier and the top surface of the container ship as a water estimated difference value according to the ship parameter information, the draft and the water estimated height, judges whether the water estimated difference value is within a second preset range, and when the judgment is yes, the control module takes the top barrier as a dangerous top barrier, controls the electronic chart module to display the top early warning of the barrier and highlights the display information of the dangerous top barrier.
2. The safe navigation method for the container ship according to claim 1, wherein in the third step, the control module controls the electronic chart module to perform highlighting processing, and judges whether the ship can only pass through the current path according to current ship parameter information, channel information, obstacle position coordinates and obstacle information, and when the judgment is negative, the control module controls the electronic chart module to display that early warning cannot be passed and to prompt a recommended route.
3. A method for safe navigation of a container ship according to claim 2, further comprising the steps of:
step four, the ship information acquisition module detects whether an actual barrier exists in a second preset area range in the current detection area of the ship information acquisition module and acquires real-time information of the corresponding barrier, wherein the actual barrier comprises an actual side barrier and an actual top barrier, the real-time information of the barrier corresponding to the actual barrier on the side comprises the width of the barrier, an actual side distance and an underwater height, and the underwater height is the actual distance between the actual barrier on the side and the water surface; the obstacle information corresponding to the actual top obstacle comprises obstacle width, actual side distance and water height, wherein the water height is the actual distance between the bottom surface of the actual top obstacle and the water surface, and the actual side distance is the horizontal distance between the actual obstacle and the container ship in the direction perpendicular to the heading;
step five, once the ship information acquisition module acquires the actual lateral obstacle, the control module calculates a difference value between the underwater height and the current draft as an actual underwater difference value, judges whether the actual underwater difference value is within a third preset range, further judges whether the actual lateral distance is within a fourth preset range if the actual underwater difference value is within the third preset range, and takes the actual lateral obstacle as the actual dangerous lateral obstacle and controls the anti-collision module to drive the ship to be far away from the actual dangerous lateral obstacle if the actual lateral distance is within the fourth preset range; once the ship information acquisition module acquires the actual top barrier, the control module calculates the distance between the bottom surface of the actual top barrier and the current top surface of the container ship as the actual overwater distance, judges whether the actual overwater distance is within a fifth preset range, further judges whether the actual lateral distance is within the fourth preset range when the actual lateral distance is within the fifth preset range, and takes the actual top barrier as the actual dangerous top barrier when the actual lateral distance is within the fourth preset range, and controls the collision avoidance module to drive the ship to be far away from the actual dangerous top barrier.
4. The safe navigation method for the container ship according to claim 3, wherein in the fifth step, the control module takes the side actual barrier as an actual dangerous side barrier, further judges whether the ship can only pass through the current path according to current ship parameter information, channel information and the real-time barrier information, controls the anti-collision module to drive the ship to be far away from the actual dangerous side barrier when the judgment is yes, and controls the electronic chart module to display an alarm which cannot pass through and prompt a recommended route when the judgment is no.
5. A method for safe navigation of a container ship according to claim 3, characterized in that the collision avoidance module comprises an auxiliary biasing mechanism, which comprises a side thruster.
6. A method for safe navigation of a container ship according to claim 3 or 4, further comprising the steps of:
and sixthly, the information acquisition module detects the distance between the actual dangerous side barrier and the actual dangerous top barrier in the heading direction and the top of the container ship in real time, and when the distance is smaller than a sixth preset distance, the control module controls the ship to stop in an emergency mode.
7. The safe navigation system of the container ship is characterized by comprising a course input module, an electronic chart module, a ship information acquisition module and a control module, wherein the course input module is used for inputting course information, navigation areas and ship parameter information of the container ship, and the ship information acquisition module is used for acquiring the draft of the container ship; the electronic chart module is used for displaying an above-water channel route map according to the flight line information, displaying a ship position coordinate and a heading of a container ship on the above-water channel route map in real time, and further displaying an obstacle in a first preset area range in front of the current ship position coordinate, a corresponding obstacle position coordinate and obstacle information on the above-water channel route map according to the current heading, wherein the obstacle comprises a side obstacle and a top obstacle, the obstacle information corresponding to the side obstacle comprises an underwater estimated height, and the underwater estimated height is an estimated distance between the side obstacle and the water surface; the barrier information corresponding to the top barrier comprises an overwater estimated height, and the overwater estimated height is an estimated distance between the bottom surface of the top barrier and the water surface;
the control module calculates a difference value between the underwater estimated height and the current draught as an underwater estimated difference value, judges whether the underwater estimated difference value is within a first preset range, and controls the electronic chart module to display the side part of the obstacle to perform early warning and highlight the display information of the dangerous side obstacle when the underwater estimated difference value is judged to be within the first preset range; once the top barrier is displayed, the control module calculates the distance between the bottom surface of the top barrier and the top surface of the container ship as a water estimated difference value according to the ship parameter information, the draft and the water estimated height, judges whether the water estimated difference value is within a second preset range, and when the judgment is yes, the control module takes the top barrier as a dangerous top barrier, controls the electronic chart module to display the top early warning of the barrier and highlights the display information of the dangerous top barrier.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211342231.1A CN115966104A (en) | 2022-10-31 | 2022-10-31 | Safe navigation system and method for container ship |
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| CN202211342231.1A CN115966104A (en) | 2022-10-31 | 2022-10-31 | Safe navigation system and method for container ship |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116088541A (en) * | 2023-04-10 | 2023-05-09 | 武汉理工大学 | Man-machine interaction system and method for assisting remote ship driving |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116088541A (en) * | 2023-04-10 | 2023-05-09 | 武汉理工大学 | Man-machine interaction system and method for assisting remote ship driving |
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