CN117666572A

CN117666572A - Collision monitoring method and device in ship navigation process and collision monitoring equipment

Info

Publication number: CN117666572A
Application number: CN202311617456.8A
Authority: CN
Inventors: 姜明佐; 王加夏; 刘倩; 俞同强
Original assignee: Jiangsu University of Science and Technology
Current assignee: Jiangsu University of Science and Technology
Priority date: 2023-11-29
Filing date: 2023-11-29
Publication date: 2024-03-08

Abstract

The invention discloses a collision monitoring method, a device and collision monitoring equipment in the ship navigation process, wherein the method collects position data of an object existing in an area where the ship advancing direction is located; analyzing the position data of the object to obtain the current position of the object; judging whether the object is positioned in the current channel of the ship or not according to the current position of the object, and if so, acquiring the current navigation direction, the current navigation speed and the current position of the ship; and generating forward control parameters of the ship according to the current position of the object and the current navigation information of the ship, and controlling the ship to advance. Therefore, according to the embodiment of the invention, when the object such as reef and ship is judged to be positioned on the current channel of the ship, the automatic adjustment and the advance are automatically carried out based on the position of the object and the current navigation speed, direction and other information of the ship, so that the monitoring accuracy of the ship collision can be improved, the situation of the ship collision is reduced, and the occurrence of personal safety and property loss is further reduced.

Description

Collision monitoring method and device in ship navigation process and collision monitoring equipment

Technical Field

The invention relates to the technical field of shipping monitoring, in particular to a collision monitoring method and collision monitoring equipment in the ship navigation process.

Background

With the rapid development of science, technology and social economy, the offshore traffic and capacity rise very rapidly, which in turn promotes the development of society and technology. However, due to the fact that many factors influencing ship navigation exist in the marine environment, such as reef contact and collision to other ships, the ship is severely swayed when the ship is light, and personal safety and property loss are caused when the ship is heavy. Therefore, it is necessary to monitor the sailing of the vessel, both for safety reasons and for regulatory and development requirements, to reduce the occurrence of collision situations.

At present, a collision monitoring method in the ship navigation process generally monitors objects around a ship by ship staff through a telescope or naked eyes, or monitors the azimuth of the objects through a radar, and when the objects are monitored, the azimuth of the ship is manually adjusted so as to reduce the ship collision. However, it has been found in practice that the existing method requires adjustment of the ginseng and azimuth even though the ship collision can be monitored by means of telescope or radar, and the person has experience and fatigue, so that the monitoring accuracy is reduced, and the ship collision still occurs. Therefore, how to propose a new intelligent monitoring technical scheme for reducing the occurrence of the ship collision so as to improve the accuracy of ship collision monitoring is important.

Disclosure of Invention

Aiming at the defects in the prior art, the invention provides a collision monitoring method and device and collision monitoring equipment in the ship navigation process, and the monitoring accuracy of the target ship environment is improved.

In order to solve the technical problem, a first aspect of the present invention discloses a collision monitoring method in a ship navigation process, the method comprising:

when detecting that an object exists in the area where the advancing direction of the target ship is located, acquiring position data of the object based on an anti-collision device of the target ship;

analyzing the position data of the object to obtain the current position of the object;

determining a current channel of the target ship, judging whether the object is positioned in the current channel according to the current position of the object, and acquiring current navigation information of the target ship when the judgment result is yes, wherein the current navigation information comprises a current navigation direction, a current navigation speed and a current position;

generating a forward control parameter of the target ship according to the current position of the object and the current navigation information of the target ship, and controlling the target ship to advance according to the forward control parameter of the target ship.

As an optional implementation manner, in the first aspect of the present invention, before the generating the forward control parameter of the target ship according to the current position of the object and the current navigation information of the target ship, the method further includes:

determining the type of the object based on the anti-collision device when the object is judged to be positioned in the current channel;

and when the type of the object is used for indicating that the object is a fixed-position object, executing the operation of generating the forward control parameter of the target ship according to the current position of the object and the current navigation information of the target ship.

As an alternative embodiment, in the first aspect of the present invention, the method further includes:

when the type of the object is used for representing that the object is a fixed-position object, judging whether the object is an underwater object or not, and determining a first distance between the topmost end of the object, which is close to the water surface, and the water surface;

monitoring a second distance between the bottom of the target ship and the current water surface and a first buoyancy force born by the target ship, and acquiring a water flow condition of an area between the current position of the target ship and the current position of the object, wherein the water flow condition comprises a water flow speed and the water flow direction;

Estimating a third distance between the bottom of the target ship and the water surface corresponding to the current position of the object when the target ship reaches the current position of the object according to the current weight of the target ship, the second distance, the first buoyancy and the water flow condition;

and calculating a distance difference value between the first distance and the third distance, judging whether the distance difference value is larger than or equal to a preset distance value, and executing the operation of generating the forward control parameter of the target ship according to the current position of the object and the current navigation information of the target ship when the judgment result is yes.

when the distance difference value is smaller than the preset distance value, judging whether the target ship can adjust the current channel according to the water area size and the water depth of the current position of the object, the width of the target ship and the current weight;

when the current channel cannot be adjusted, estimating second buoyancy born by the target ship when the target ship reaches the current position of the object according to the current weight of the target ship, the current navigation speed of the target ship, the water area size and the water depth of the current position of the object;

Calculating the sailing speed of the target ship and the adjustment position of the target ship when the speed of the target ship needs to be adjusted to the sailing speed according to the estimated second buoyancy, the current weight of the target ship, the current sailing speed of the target ship, the water area size and the water depth of the current position of the object, wherein the sailing speed is the speed of the target ship in the water area where the current position of the object can safely pass through, and the adjustment position is between the current sailing position of the target ship and the current position of the object;

generating the forward control parameter of the target ship according to the current position of the object and the current navigation information of the target ship, including:

and generating the forward control parameters of the target ship according to the navigation speed, the adjustment position, the current position of the object and the current navigation information of the target ship.

when the current channel can be adjusted, analyzing target information required to be adjusted by the target ship according to the current position of the object, the distance difference value, the current navigation information of the target ship and the water flow condition, wherein the target information comprises a target angle, a target direction and a target speed;

generating a first channel and a forward working parameter of the target ship according to the target information, the current position of the object and the current navigation information of the target ship, and generating a forward control parameter of the target ship according to the first channel and the forward working parameter of the target ship.

when the type of the object is used for representing that the object is an object with an unfixed position, monitoring movement data of the object based on the anti-collision device, wherein the movement data of the object comprise the movement direction and the movement speed of the object;

acquiring the water flow condition of the area between the position of the target ship and the current position of the object, wherein the water flow condition comprises the water flow speed and the water flow direction;

analyzing the probability of collision between the target ship and the object according to the monitored movement data of the object, the acquired water flow condition, the current position of the object and the current navigation information of the target ship;

Judging whether the probability is larger than or equal to a preset collision probability, and executing the operation of generating the forward control parameters of the target ship according to the current position of the object and the current navigation information of the target ship when judging that the probability is smaller than the preset collision probability.

when the probability is judged to be greater than or equal to the preset collision probability, determining a collision probability level to which the probability belongs, wherein the greater the collision probability level is, the greater the possibility of collision is;

according to the current position of the object and the water flow condition, estimating the target movement condition of the object when the target ship reaches a target area corresponding to the current position of the object, wherein the target movement condition comprises a target movement direction, a target movement position and a target movement speed;

determining a second channel to be adjusted by the target ship based on the collision probability level, the target movement condition, the current navigation information of the target ship and the current channel of the target ship;

the generating the forward control parameter of the target ship according to the current position of the object and the current navigation information of the target ship includes:

And generating forward control parameters of the target ship according to the second navigation channel, the target movement condition, the current position of the object and the current navigation information of the target ship.

The second aspect of the invention discloses a collision monitoring device in the sailing process of a ship, which comprises:

the acquisition module is used for acquiring position data of an object based on an anti-collision device of the target ship when the object exists in the area where the advancing direction of the target ship is detected;

the analysis module is used for analyzing the position data of the object to obtain the current position of the object;

a determining module for determining a current channel of the target ship;

the judging module is used for judging whether the object is positioned in the current channel according to the current position of the object;

the acquisition module is used for acquiring current navigation information of the target ship when the judgment result is yes, wherein the current navigation information comprises a current navigation direction, a current navigation speed and a current position;

the generation module is used for generating forward control parameters of the target ship according to the current position of the object and the current navigation information of the target ship;

And the control module is used for controlling the target ship to advance according to the advancing control parameters of the target ship.

As an optional implementation manner, in the second aspect of the present invention, the determining module is further configured to determine, before the generating module generates the forward control parameter of the target ship according to the current position of the object and the current navigation information of the target ship, when it is determined that the object is located in the current channel, based on the anti-collision device, a type of the object; when the type of the object is used for indicating that the object is a fixed-position object, triggering the generation module to execute the operation of generating the forward control parameter of the target ship according to the current position of the object and the current navigation information of the target ship.

As an optional implementation manner, in the second aspect of the present invention, the determining module is further configured to determine, when the type of the object is used to indicate that the object is a fixed-position object, whether the object is an underwater object, and determine a first distance between a topmost end of the object near the water surface and the water surface;

the apparatus further comprises:

The first monitoring module is used for monitoring a second distance between the bottom of the target ship and the current water surface and a first buoyancy force born by the target ship;

the acquisition module is further used for acquiring the water flow condition of the area between the current position of the target ship and the current position of the object, wherein the water flow condition comprises the water flow speed and the water flow direction;

the first estimating module is used for estimating a third distance between the bottom of the target ship and the water surface corresponding to the current position of the object when the target ship reaches the current position of the object according to the current weight of the target ship, the second distance, the first buoyancy and the water flow condition;

a calculation module for calculating a distance difference between the first distance and the third distance;

the judging module is further configured to judge whether the distance difference is greater than or equal to a preset distance value, and when the distance difference is determined to be greater than or equal to the preset distance value, trigger the generating module to execute the operation of generating the forward control parameter of the target ship according to the current position of the object and the current navigation information of the target ship.

In a second aspect of the present invention, the determining module is further configured to determine whether the target ship is capable of adjusting the current channel according to a water area size and a water depth where the current position of the object is located, a width of the target ship, and a current weight when it is determined that the distance difference is smaller than the preset distance value;

The first estimating module is further configured to estimate, when it is determined that the current channel cannot be adjusted, a second buoyancy force received by the target ship when the target ship reaches the current position of the object according to a current weight of the target ship, a current sailing speed of the target ship, a water area size and a water depth of the current position of the object;

the calculation module is further configured to calculate, according to the estimated second buoyancy, the current weight of the target ship, the current sailing speed of the target ship, the water area size where the current position of the object is located, and the water depth, an adjustment position where the sailing speed of the target ship and the speed of the target ship need to be adjusted to be the sailing speed, where the sailing speed is the speed of the target ship in the water area where the current position of the object can safely pass, where the adjustment position is located between the current sailing position of the target ship and the current position of the object;

the generating module generates the forward control parameter of the target ship according to the current position of the object and the current navigation information of the target ship specifically includes:

As an optional implementation manner, in the second aspect of the present invention, the analysis module is further configured to, when it is determined that the current channel can be adjusted, analyze target information required to be adjusted by the target ship according to the current position of the object, the distance difference value, current navigation information of the target ship, and the water flow condition, where the target information includes a target angle, a target direction, and a target speed;

the specific mode of generating the forward control parameter of the target ship by the generation module according to the current position of the object and the current navigation information of the target ship comprises the following steps:

As an alternative embodiment, in the second aspect of the present invention, the apparatus further includes:

The second monitoring module is used for monitoring movement data of the object based on the anti-collision device when the type of the object is used for indicating that the object is an object with a non-fixed position, and the movement data of the object comprise the movement direction and the movement speed of the object;

the acquisition module is further used for acquiring the water flow condition of the area between the position of the target ship and the current position of the object, wherein the water flow condition comprises the water flow speed and the water flow direction;

the analysis module is further used for analyzing the probability of collision between the target ship and the object according to the monitored movement data of the object, the acquired water flow condition, the current position of the object and the current navigation information of the target ship;

the judging module is further configured to judge whether the probability is greater than or equal to a preset collision probability, and trigger the generating module to execute the operation of generating the forward control parameter of the target ship according to the current position of the object and the current navigation information of the target ship when the probability is judged to be less than the preset collision probability.

As an optional implementation manner, in the second aspect of the present invention, the determining module is further configured to determine, when it is determined that the probability is greater than or equal to the preset collision probability, a collision probability level to which the probability belongs, where the greater the collision probability level, the greater the possibility of collision;

The apparatus further comprises:

the second estimating module is used for estimating the target movement condition of the object when the target ship reaches a target area corresponding to the current position of the object according to the current position of the object and the water flow condition, wherein the target movement condition comprises a target movement direction, a target movement position and a target movement speed;

the determining module is further configured to determine a second channel that needs to be adjusted by the target ship based on the collision probability level, the target movement condition, current navigation information of the target ship, and a current channel of the target ship;

the specific mode of generating the forward control parameter of the target ship according to the current position of the object and the current navigation information of the target ship by the generation module comprises the following steps:

A third aspect of the present invention discloses a collision monitoring apparatus for performing part or all of the steps of any one of the collision monitoring methods during sailing of a ship disclosed in the first aspect of the present invention.

In a fourth aspect, the invention discloses another collision monitoring device during sailing of a ship, the device comprising:

a memory storing executable program code;

a processor coupled to the memory;

the processor invokes the executable program code stored in the memory to perform part or all of the steps of any of the collision monitoring methods disclosed in the first aspect of the present invention during sailing of a vessel.

A fifth aspect of the invention discloses a computer storage medium storing computer instructions which, when invoked, are adapted to perform part or all of the steps of any of the collision monitoring methods disclosed in the first aspect of the invention during sailing of a vessel.

Compared with the prior art, the embodiment of the invention has the following beneficial effects:

in the embodiment of the invention, when an object exists in the area where the advancing direction of the target ship is detected, the position data of the object is acquired based on the anti-collision device of the target ship; analyzing the position data of the object to obtain the current position of the object; determining a current channel of a target ship, judging whether the object is positioned in the current channel according to the current position of the object, and acquiring current navigation information of the target ship when the judgment result is yes, wherein the current navigation information comprises a current navigation direction, a current navigation speed and the current position; generating forward control parameters of the target ship according to the current position of the object and the current navigation information of the target ship, and controlling the target ship to advance according to the forward control parameters of the target ship. Therefore, according to the embodiment of the invention, when the object such as reef and ship is judged to be positioned on the current channel of the target ship, the object is automatically adjusted and advanced based on the position of the object and the current navigation speed, direction and other information of the target ship, so that the monitoring accuracy of the collision of the target ship can be improved, the collision situation of the target ship is reduced, and the occurrence of personal safety and property loss threat is further reduced.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic flow chart of a collision monitoring method during sailing of a ship according to an embodiment of the present invention;

FIG. 2 is a schematic flow diagram of a collision monitoring apparatus during sailing of a ship according to an embodiment of the present invention;

FIG. 3 is a schematic view of a collision monitoring apparatus during sailing of another ship according to an embodiment of the present invention;

FIG. 4 is a schematic view of a collision monitoring apparatus during sailing of a ship according to another embodiment of the present invention;

fig. 5 is a schematic structural view of a collision monitoring apparatus according to an embodiment of the present invention.

Detailed Description

In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

The terms first, second and the like in the description and in the claims and in the above-described figures are used for distinguishing between different objects and not necessarily for describing a sequential or chronological order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, apparatus, article, or article that comprises a list of steps or elements is not limited to only those listed but may optionally include other steps or elements not listed or inherent to such process, method, article, or article.

Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the invention. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the described embodiments of the invention may be combined with other embodiments.

Example 1

Referring to fig. 1, fig. 1 is a schematic flow chart of a collision monitoring method in a ship navigation process according to an embodiment of the present invention. The method described in fig. 1 may be applied to a collision monitoring device in a ship navigation process, where the collision monitoring device in the ship navigation process may include one of a ship monitoring device, a ship monitoring server (such as a local server and a cloud server), and a ship monitoring platform, which are capable of monitoring a ship collision. As shown in fig. 1, the collision monitoring method during the navigation of the ship may include the operations of:

101. And when detecting that the object exists in the area where the advancing direction of the target ship is located, acquiring position data of the object based on the anti-collision device of the target ship.

In the embodiment of the invention, the target ship is any ship needing collision monitoring. The object includes one or more of other vessels, reefs, objects of larger size (such as whales, planks, etc.), and the like that collide with the target vessel.

In the embodiment of the present invention, the anti-collision device is any device capable of acquiring position data of an object, such as: position sensors, etc. Further, a plurality of anti-collision devices are mounted on the target ship and are disposed at different positions of the target ship. Still further, the type of anti-collision device mounted on the target vessel includes a fixed position type and/or a movable position type.

102. And analyzing the position data of the object to obtain the current position of the object.

In an embodiment of the present invention, optionally, the collected position data of the object includes position data collected by a plurality of anti-collision devices, where the position data includes position data itself and intensity of the received position data, where the stronger the intensity is, the closer the anti-collision device is to a current position of the object. Specifically, for any anti-collision device, determining the preliminary position of the object according to the position of the anti-collision device on the target ship and the position data of the object collected by the anti-collision device, and determining the current position of the object according to the preliminary position corresponding to each anti-collision device. Each anti-collision device has a corresponding sequence number, and each sequence number is a sequence number which is sequentially increased or a sequence number which is sequentially decreased, and the current position of the object is determined according to the corresponding initial position of each anti-collision device, specifically: and sequentially connecting coordinate points corresponding to the initial positions of the anti-collision devices according to the sequential sizes of the serial numbers corresponding to the anti-collision devices to obtain multiple sections of first position distances, taking first midpoints of each section of first position distances, connecting each first midpoint according to the sequential sizes of the serial numbers corresponding to the anti-collision devices to obtain multiple second position distances, taking second midpoints of each section of second position distances, updating the second position distances to the first position distances, updating the second midpoints to the first midpoints, re-executing the sequential sizes of the serial numbers corresponding to the anti-collision devices, connecting coordinate points corresponding to the position data corresponding to the anti-collision devices to obtain multiple sections of first position distances, connecting each first midpoint according to the sequential sizes of the serial numbers corresponding to the anti-collision devices to obtain multiple second position distances, taking the second midpoints of each section of second position distances until the final midpoint is obtained, and determining the current position of the object. The current position of the object is analyzed through the position data acquired by the plurality of anti-collision devices, namely, the position midpoint is circularly calculated to determine the current position of the object, the analysis accuracy of the current position of the object can be improved, so that the judgment accuracy of whether the object is in the current channel of the target ship is improved, the monitoring accuracy of the target ship is improved, and the possibility of collision of the target ship is reduced.

103. And determining the current channel of the target ship, and judging whether the object is positioned in the current channel according to the current position of the object.

In the embodiment of the invention, the server of the target ship records other navigation information including the current navigation channel and the like.

104. And when the result is yes, acquiring the current navigation information of the target ship, wherein the current navigation information comprises the current navigation direction, the current navigation speed and the current position.

105. Generating forward control parameters of the target ship according to the current position of the object and the current navigation information of the target ship, and controlling the target ship to advance according to the forward control parameters of the target ship.

In the embodiment of the present invention, the forward control parameter includes a forward control direction and/or a forward control speed.

Therefore, when the collision monitoring method in the ship navigation process described in fig. 1 is implemented, the object, such as reef, ship, etc., is determined to be located on the current channel of the target ship, the collision monitoring method automatically adjusts and advances based on the position of the object and the current navigation speed, direction, etc. of the target ship, so that the monitoring accuracy of the collision of the target ship can be improved, the collision situation of the target ship can be reduced, and the occurrence of threat to personal safety and property loss can be further reduced.

In an alternative embodiment, before generating the forward control parameter of the target vessel according to the current position of the object and the current navigation information of the target vessel, the method may further include the steps of:

when the object is judged to be positioned in the current channel, the type of the object is determined based on the anti-collision device, and the method is specific: the type of the object can be determined by collecting images through an image collecting device on the anti-collision device; the feedback data received by the anti-collision device when the transmitted data meet the object and are reflected by collision can be compared with the pre-stored data of different types of objects to obtain a comparison result, and the comparison result is determined as the type of the object;

when the type of the object is used for representing that the object is a fixed-position object, such as buoy equipment, reefs, trees penetrating into the water bottom and the like which are fixed on the sea, the operation of generating the forward control parameters of the target ship according to the current position of the object and the current navigation information of the target ship is executed.

Therefore, in this optional embodiment, when it is determined that the object is located in the current channel of the target ship, if it is further determined that the position of the object is fixed, corresponding forward control parameters are generated according to the current position of the object and the current navigation speed and direction of the target ship, so that the accuracy of generating the forward control parameters can be improved, and the situation that the ship collides is further reduced.

In another alternative embodiment, the method may further comprise the steps of:

when the type of the object is used for representing that the object is a fixed-position object, judging whether the object is an underwater object, and when the judgment result is yes, determining a first distance between the topmost end of the object, which is close to the water surface, and the water surface;

monitoring a second distance (also called draft) between the bottom of the target ship and the current water surface and a first buoyancy force received by the target ship, and acquiring a water flow condition of a region from the current position of the target ship to the current position of the object, wherein the water flow condition comprises a water flow speed and a water flow direction;

estimating a third distance between the bottom of the target ship and the water surface corresponding to the current position of the object when the target ship reaches the current position of the object according to the current weight, the second distance, the first buoyancy and the water flow condition of the target ship;

and calculating a distance difference value between the first distance and the third distance, judging whether the distance difference value is larger than or equal to a preset distance value, and executing the operation of generating the forward control parameters of the target ship according to the current position of the object and the current navigation information of the target ship when the judgment result is yes.

As can be seen, in this optional embodiment, after determining that the position of the object is fixed and is an underwater object, when determining that the estimated distance between the bottom of the target ship and the water surface is smaller than the distance between the topmost end of the object and the water surface after the target ship reaches the position of the object, the square generates a corresponding forward control parameter according to the current position of the object and the current navigation speed and direction of the target ship, so that the target ship can continue to move forward along the current channel even if the object is located in the current channel of the target ship, without changing the channel, so as to facilitate statistical arrangement of navigation data of the target ship; and estimating the distance between the bottom and the water surface when the target ship reaches the position of the object based on the current weight of the target ship, the distance between the bottom and the water surface, the received buoyancy, the water flow speed and the water flow direction between the bottom and the current position of the object, so that the accuracy of estimating the distance can be improved, the accuracy of generating forward control parameters is improved, and the situation of collision of the ship is further reduced.

In yet another alternative embodiment, the method may further comprise the steps of:

when the distance difference value is smaller than the preset distance value, judging whether the target ship can adjust the current channel according to the size and the water depth of the water area where the current position of the object is located, the width and the current weight of the target ship;

When the current channel cannot be adjusted, estimating second buoyancy born by the target ship when the target ship reaches the current position of the object according to the current weight of the target ship, the current navigation speed of the target ship, the size of the water area where the current position of the object is positioned and the water depth;

calculating the sailing speed of the target ship and the adjustment position of the target ship when the speed of the target ship needs to be adjusted to the sailing speed according to the estimated second buoyancy, the current weight of the target ship, the current sailing speed of the target ship, the water area size of the current position of the object and the water depth, wherein the sailing speed is the speed of the target ship in the water area where the current position of the object can safely pass through, and the adjustment position is between the current sailing position of the target ship and the current position of the object;

generating the forward control parameter of the target ship according to the current position of the object and the current navigation information of the target ship, wherein the forward control parameter comprises the following steps:

and generating forward control parameters of the target ship according to the navigation speed, the adjustment position, the current position of the object and the current navigation information of the target ship.

In this optional embodiment, optionally, determining whether the target ship can adjust the current channel according to the size and the depth of the water area where the current position of the object is located, the width and the current weight of the target ship includes:

Dividing the water area into a left water area and a right water area according to the size of the water area where the current position of the object is located, and respectively measuring the vertical distance between the current position of the object and the shore for any water area to obtain a first vertical distance and a second vertical distance, wherein the first vertical distance corresponds to the left water area, the second vertical distance corresponds to the right water area, and the first vertical distance and the second vertical distance are respectively provided with a plurality of sub-vertical distances;

for any water area:

screening a plurality of target sub-vertical distances from all sub-vertical distances of the water area, wherein the plurality of target sub-vertical distances are the part with smaller distance in all sub-vertical distances, and the rest sub-vertical distances are larger than all screened target sub-vertical distances;

calculating a length difference value between the minimum target sub-vertical distance and the width of the target ship, judging whether the length difference value is larger than or equal to a preset length value, when the judgment result is yes, predicting whether buoyancy generated by the water area can support the target ship according to the water depth of the water area and the current weight of the target ship, and when the judgment result is yes, determining that the target ship can adjust the current channel;

it should be noted that, whether it is a left water area or a right water area, it is indicated that the target ship can adjust the current channel as long as it satisfies the two above-mentioned judging conditions; and when the two conditions are not met, determining that the target ship cannot adjust the current channel.

Therefore, in the optional embodiment, when the estimated distance between the bottom of the target ship and the water surface is larger than the distance between the top of the target and the water surface after the target ship reaches the position of the target and the current channel cannot be adjusted, the buoyancy of the target ship at the position of the target is automatically estimated, the current weight of the target ship, the current sailing speed and the water area size and the water depth of the position of the target are combined, the sailing speed required by the target ship when passing through the position of the target and the initial adjustment position of the sailing speed are automatically calculated, the sailing speed and the initial adjustment position are further combined with the current position of the target and the current sailing information of the target ship, and the forward control parameters are generated, so that the target cannot be collided under the condition that the channel cannot be adjusted, and the target can be safely passed; and comparing the vertical distance of the water area at the current position of the object with the width of the target ship and comparing the buoyancy with the weight by dividing the water area into a left water area and a right water area, so as to judge whether the target ship can adjust the current channel, and improve the judgment accuracy, thereby improving the execution accuracy of the subsequent operation.

When judging that the current channel can be adjusted, analyzing target information required to be adjusted by the target ship according to the current position and the distance difference of the object, the current navigation information and the water flow condition of the target ship, wherein the target information comprises a target angle, a target direction and a target speed;

generating a first channel and forward working parameters of the target ship according to the target information, the current position of the object and the current navigation information of the target ship, and generating forward control parameters of the target ship according to the first channel and the forward working parameters of the target ship.

Therefore, when the optional embodiment judges that the current channel can be adjusted, the forward control parameters of the target ship are generated according to the current position of the object, the calculated distance between the bottom and the water surface when the target ship reaches the position of the object, the current navigation information, the water flow direction and the speed, so that the target ship can accurately and safely navigate, collision to the object is avoided, and personal safety and property safety are protected.

When the type of the object is used for representing that the object is an object with an unfixed position, monitoring the movement data of the object based on the anti-collision device, wherein the movement data of the object comprises the movement direction and the movement speed of the object; acquiring the water flow condition of the area between the position of the target ship and the current position of the object, wherein the water flow condition comprises the water flow speed and the water flow direction;

judging whether the probability is larger than or equal to the preset collision probability, and executing the operation of generating the forward control parameters of the target ship according to the current position of the object and the current navigation information of the target ship when the probability is smaller than the preset collision probability.

Therefore, in the optional embodiment, when the object is judged to be movable, the moving direction and the speed of the object are monitored, and when the probability of collision between the target ship and the object is analyzed to be smaller, corresponding forward control parameters are generated according to the current position of the object and the current navigation speed and direction of the target ship, so that the object can continue to move along the current channel under the condition that the possibility of collision to the object is reduced even if the object is positioned in the current channel of the target ship and the object can move, the channel is not required to be replaced, and the monitoring of the target ship is facilitated.

when judging that the probability is greater than or equal to the preset collision probability, determining the collision probability level to which the probability belongs, wherein the greater the collision probability level is, the greater the possibility of collision is;

according to the current position and the water flow condition of the object, estimating the target movement condition of the object when the target ship reaches a target area corresponding to the current position of the object, wherein the target movement condition comprises a target movement direction, a target movement position and a target movement speed;

determining a second channel which is required to be adjusted by the target ship based on the collision probability level, the target movement condition, the current navigation information of the target ship and the current channel of the target ship;

and generating forward control parameters of the target ship according to the second channel, the target movement condition, the current position of the object and the current navigation information of the target ship.

Therefore, when the probability of collision between the target ship and the object is relatively high, the alternative embodiment predicts the position, the direction and the speed of the object moving when the target ship approaches the object, and determines the channel required to be adjusted by the target ship by the information such as the calculated collision level and the like, so that the determination accuracy of the channel required to be adjusted by the target ship can be improved, and then the accurately determined channel, the position, the direction, the speed and the like of the object moving are used for generating the forward control parameters of the target ship, so that the target ship can accurately forward, and the occurrence of collision to the object is further reduced.

Example two

Referring to fig. 2, fig. 2 is a schematic structural diagram of a collision monitoring device during a ship sailing process according to an embodiment of the present invention. The apparatus described in fig. 2 may include one of a ship monitoring device, a ship monitoring server (such as a local server, a cloud server) and a ship monitoring platform, which are capable of monitoring a ship collision, and as shown in fig. 2, the apparatus includes:

an acquisition module 201, configured to acquire, when an object is detected to exist in an area where a target ship is located in a forward direction, position data of the object based on an anti-collision device of the target ship;

an analysis module 202, configured to analyze the position data of the object to obtain a current position of the object;

a determining module 203, configured to determine a current channel of the target ship;

a judging module 204, configured to judge whether the object is located in the current channel according to the current position of the object;

an obtaining module 205, configured to obtain current navigation information of the target ship when the judging module 204 judges that the result is yes, where the current navigation information includes a current navigation direction, a current navigation speed, and a current location;

a generating module 206, configured to generate a forward control parameter of the target ship according to the current position of the object and the current navigation information of the target ship;

The control module 207 is configured to control the target ship to advance according to the advancing control parameter of the target ship.

Therefore, the collision monitoring device in the ship navigation process described in fig. 2 is implemented to automatically adjust and advance based on the position of the object and the current navigation speed, direction and other information of the target ship when the object such as reef and ship is located on the current navigation channel of the target ship, so that the monitoring accuracy of the collision of the target ship can be improved, the collision situation of the target ship is reduced, and the occurrence of threat to personal safety and property loss is further reduced.

In an alternative embodiment, as shown in fig. 2, the determining module 203 is further configured to determine, before the generating module 206 generates the forward control parameter of the target ship according to the current position of the object and the current navigation information of the target ship, when it is determined that the object is located in the current channel, determine the type of the object based on the anti-collision device; when the type of the object is used to represent that the object is a fixed-position object, such as buoy equipment, reefs, trees penetrating into the water, etc., the trigger generation module 206 performs the operation of generating the forward control parameters of the target ship according to the current position of the object and the current navigation information of the target ship.

Therefore, when the collision monitoring device in the ship navigation process described in fig. 3 is implemented, if the object is further determined to be located in the current channel of the target ship, the corresponding forward control parameter is generated according to the current position of the object and the current navigation speed and direction of the target ship, so that the generation accuracy of the forward control parameter can be improved, and the situation that the ship collides is further reduced.

In another optional embodiment, the determining module 203 is further configured to determine whether the object is an underwater object when the type of the object is used to indicate that the object is a fixed-position object, and determine a first distance between a top end of the object near the water surface and the water surface;

as shown in fig. 3, the apparatus further includes:

a first monitoring module 208 for monitoring a second distance (also referred to as draft) between the bottom of the target vessel and the current surface of the water and a first buoyancy experienced by the target vessel;

the obtaining module 205 is further configured to obtain a water flow condition of an area between a current location of the target ship and a current location of the object, where the water flow condition includes a water flow speed and a water flow direction;

a first estimating module 209, configured to estimate a third distance between the bottom of the target vessel and the water surface corresponding to the current position of the object when the target vessel reaches the current position of the object according to the current weight, the second distance, the first buoyancy, and the water flow of the target vessel;

A calculating module 210, configured to calculate a distance difference between the first distance and the third distance;

the determining module 204 is further configured to determine whether the distance difference is greater than or equal to a preset distance value, and when the determination result is yes, trigger the generating module 206 to execute the above-mentioned operation of generating the forward control parameter of the target ship according to the current position of the object and the current navigation information of the target ship.

As can be seen, after the implementation of the collision monitoring device in the ship navigation process described in fig. 3 can determine that the position of the object is fixed and is an underwater object, when it is further determined that the distance between the bottom of the target ship and the water surface is smaller than the distance between the topmost end of the object and the water surface after the estimated target ship reaches the position of the object, a corresponding forward control parameter is generated according to the current position of the object and the current navigation speed and direction of the target ship, so that the target ship can continue to move forward along the current navigation channel without changing the navigation channel even if the target ship is located in the current navigation channel of the target ship, so that the statistics and the arrangement of the navigation data of the target ship are facilitated; and estimating the distance between the bottom and the water surface when the target ship reaches the position of the object based on the current weight of the target ship, the distance between the bottom and the water surface, the received buoyancy, the water flow speed and the water flow direction between the bottom and the current position of the object, so that the accuracy of estimating the distance can be improved, the accuracy of generating forward control parameters is improved, and the situation of collision of the ship is further reduced.

In yet another alternative embodiment, as shown in fig. 3, the determining module 204 is further configured to determine whether the target ship is capable of adjusting the current channel according to the water area size and the water depth where the current position of the object is located, the width and the current weight of the target ship when the distance difference is determined to be smaller than the preset distance value;

the first estimating module 209 is further configured to estimate, when it is determined that the current channel cannot be adjusted, a second buoyancy force received by the target ship when the target ship reaches the current position of the target according to the current weight of the target ship, the current navigation speed of the target ship, the size of the water area where the current position of the target is located, and the water depth;

the calculating module 210 is further configured to calculate, according to the estimated second buoyancy, the current weight of the target ship, the current sailing speed of the target ship, the water area size where the current position of the object is located, and the water depth, an adjustment position where the sailing speed of the target ship and the speed of the target ship are required to be adjusted to be the sailing speed, where the sailing speed is the speed at which the target ship can safely pass through the water area where the current position of the object is located, where the adjustment position is located between the current sailing position of the target ship and the current position of the object;

The generating module 206 specifically generates the forward control parameters of the target ship according to the current position of the object and the current navigation information of the target ship, where the method specifically includes:

for any water area:

As can be seen, the collision monitoring device in the ship navigation process described in fig. 3 can also automatically estimate the buoyancy force received by the target ship when the estimated distance between the bottom of the target ship and the water surface is greater than the distance between the top of the target and the water surface after the target ship reaches the position of the target and the current channel cannot be adjusted, automatically calculate the navigation speed and the initial adjustment position of the navigation speed required by the target ship when the target ship passes through the position of the target by combining the current weight of the target ship, the current navigation speed and the water area size and the water depth of the position of the target, and further generate the forward control parameters according to the navigation speed and the initial adjustment position, the current position of the target and the current navigation information of the target ship, so that the target ship cannot collide under the condition that the channel cannot be adjusted, and the target ship can pass safely; and comparing the vertical distance of the water area at the current position of the object with the width of the target ship and comparing the buoyancy with the weight by dividing the water area into a left water area and a right water area, so as to judge whether the target ship can adjust the current channel, and improve the judgment accuracy, thereby improving the execution accuracy of the subsequent operation.

In yet another alternative embodiment, as shown in fig. 3, the analysis module 202 is further configured to, when it is determined that the current channel can be adjusted, analyze target information required to be adjusted by the target ship according to the current position of the object, the distance difference, current navigation information of the target ship, and water flow conditions, where the target information includes a target angle, a target direction, and a target speed;

the specific way of generating the forward control parameters of the target ship by the generating module 206 according to the current position of the object and the current navigation information of the target ship includes generating the forward working parameters of the first channel and the target ship according to the target information, the current position of the object and the current navigation information of the target ship, and generating the forward control parameters of the target ship according to the forward working parameters of the first channel and the target ship.

Therefore, the collision monitoring device in the ship navigation process described in fig. 3 can also determine that when the current navigation channel can be adjusted, the forward control parameters of the target ship are generated according to the current position of the object, the calculated distance between the bottom and the water surface when the target ship reaches the position of the object, the current navigation information, the water flow direction and the speed, so that the target ship can accurately and safely navigate, collision to the object is avoided, and personal safety and property safety are protected.

In yet another alternative embodiment, as shown in fig. 3, the apparatus may further include:

a second monitoring module 211, configured to monitor movement data of the object based on the anti-collision device when the type of the object is used to indicate that the object is an object whose position is not fixed, where the movement data of the object includes a movement direction and a movement speed of the object;

the obtaining module 205 is further configured to obtain a water flow condition of an area between the position of the target ship and the current position of the object, where the water flow condition includes a water flow speed and a water flow direction;

the analysis module 202 is further configured to analyze probability of collision between the target ship and the object according to the monitored movement data of the object, the acquired water flow condition, the current position of the object, and the current navigation information of the target ship;

the judging module 204 is further configured to judge whether the probability is greater than or equal to a preset collision probability, and when the probability is determined to be less than the preset collision probability, trigger the generating module 206 to execute the above operation of generating the forward control parameter of the target ship according to the current position of the object and the current navigation information of the target ship.

Therefore, the collision monitoring device in the navigation process of the ship described in fig. 3 can also monitor the moving direction and speed of the object when judging that the object can move, and generate corresponding forward control parameters according to the current position of the object and the current navigation speed and direction of the target ship when analyzing that the probability of collision between the target ship and the object is smaller, so that the object can continue to move along the current navigation channel without changing the navigation channel even if the object is positioned in the current navigation channel of the target ship and the object can move, and the monitoring of the target ship is facilitated.

In yet another alternative embodiment, as shown in fig. 3, the determining module 203 is further configured to determine, when the probability is determined to be greater than or equal to the preset collision probability, a collision probability level to which the probability belongs, where the greater the collision probability level, the greater the possibility of collision;

as shown in fig. 3, the apparatus further includes:

the second estimating module 212 is configured to estimate, according to a current position of the object and a water flow condition, a target movement condition of the object when the target ship reaches a target area corresponding to the current position of the object, where the target movement condition includes a target movement direction, a target movement position, and a target movement speed;

the determining module 203 is further configured to determine a second channel that needs to be adjusted by the target ship based on the collision probability level, the target movement condition, the current navigation information of the target ship, and the current channel of the target ship;

the specific manner of generating the forward control parameter of the target ship by the generating module 206 according to the current position of the object and the current navigation information of the target ship includes:

Therefore, when the collision monitoring device in the ship navigation process described in fig. 3 is further capable of estimating the position, direction and speed of the target ship when the target ship is close to the target when the probability of collision between the target ship and the target is relatively high, determining the channel required to be adjusted by the target ship by using the information such as the calculated collision level, and the like, determining the accuracy of the channel required to be adjusted by the target ship can be improved, and then generating the forward control parameters of the target ship by using the accurately determined channel, the position, direction and speed of the target, and the like, so that the target ship can be conveniently and accurately advanced, and the occurrence of collision to the target is further reduced.

Example III

Referring to fig. 4, fig. 4 is a schematic structural diagram of a collision monitoring apparatus during sailing of a ship according to another embodiment of the present invention. The device can comprise one of ship monitoring equipment, a ship monitoring server (such as a local server and a cloud server) and a ship monitoring platform, wherein the ship monitoring equipment can monitor ship collision; and the apparatus depicted in fig. 4 may comprise:

a memory 301 storing executable program code;

a processor 302 coupled with the memory 301;

Further, an input interface 303 and an output interface 304 coupled to the processor 302 may also be included;

the processor 302 invokes executable program codes stored in the memory 301 to execute some or all steps in the collision monitoring method in the ship navigation process according to the embodiment of the present invention.

Example IV

Referring to fig. 5, fig. 5 is a schematic structural diagram of a collision monitoring apparatus according to an embodiment of the present invention. As shown in fig. 5, the collision monitoring apparatus may include a collision monitoring device during the navigation of the ship, and be configured to perform some or all of the steps of the collision monitoring method during the navigation of the ship described in the first embodiment. Alternatively, the collision monitoring device during the ship navigation may be the collision monitoring device during the ship navigation described in any one of fig. 2 to fig. 3, which is not limited by the embodiment of the present invention.

Example five

The embodiment of the invention discloses a computer storage medium which stores computer instructions for executing part or all of the steps in the collision monitoring method in the ship navigation process disclosed in the embodiment of the invention when the computer instructions are called.

The apparatus embodiments described above are merely illustrative, wherein the modules illustrated as separate components may or may not be physically separate, and the components shown as modules may or may not be physical, i.e., may be located in one place, or may be distributed over a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.

From the above detailed description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course by means of hardware. Based on such understanding, the foregoing technical solutions may be embodied essentially or in part in the form of a software product that may be stored in a computer-readable storage medium including Read-Only Memory (ROM), random-access Memory (Random Access Memory, RAM), programmable Read-Only Memory (Programmable Read-Only Memory, PROM), erasable programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), one-time programmable Read-Only Memory (OTPROM), electrically erasable programmable Read-Only Memory (EEPROM), compact disc Read-Only Memory (Compact Disc Read-Only Memory, CD-ROM) or other optical disc Memory, magnetic disc Memory, tape Memory, or any other medium that can be used for computer-readable carrying or storing data.

Finally, it should be noted that: the embodiment of the invention discloses a collision monitoring method and device in the ship navigation process and collision monitoring equipment, which are disclosed as preferred embodiments of the invention, and are only used for illustrating the technical scheme of the invention, but not limiting the technical scheme; although the invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that; the technical scheme recorded in the various embodiments can be modified or part of technical features in the technical scheme can be replaced equivalently; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.

Claims

1. A method of collision monitoring during sailing of a ship, the method comprising:

2. The method for collision monitoring during navigation of a vessel according to claim 1, wherein before generating the forward control parameter of the target vessel according to the current position of the object and the current navigation information of the target vessel, the method further comprises:

3. The method of collision monitoring during voyage of a ship according to claim 2, further comprising:

4. A method of collision monitoring during voyage of a vessel according to claim 3, the method further comprising:

5. The method of collision monitoring during voyage of a ship according to claim 4, further comprising:

6. A method of collision monitoring during voyage of a vessel according to any of claims 2 to 5, in which the method further comprises:

when the type of the object is used for representing that the object is an object with an unfixed position, based on the anti-collision device, monitoring the movement data of the object, acquiring the water flow condition from the position of the target ship to the area between the current positions of the object, wherein the movement data of the object comprise the movement direction and the movement speed of the object, and the water flow condition comprises the water flow speed and the water flow direction;

7. The method of collision monitoring during voyage of a ship according to claim 6, further comprising:

generating a forward control parameter of the target ship according to the current position of the object and the current navigation information of the target ship, wherein the forward control parameter comprises the following steps:

8. A collision monitoring device during navigation of a vessel, the device comprising:

a determining module for determining a current channel of the target ship;

9. A collision monitoring device during navigation of a vessel, the device comprising:

a memory storing executable program code;

a processor coupled to the memory;

the processor invokes the executable program code stored in the memory to perform the collision monitoring method during voyage of a vessel as claimed in any of claims 1-7.

10. A collision monitoring apparatus for performing the collision monitoring method during sailing of a ship as claimed in any one of claims 1-7.