CN117970854A - Ship navigation environment monitoring system - Google Patents
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The invention relates to the technical field of ship navigation monitoring systems, and discloses a ship navigation environment monitoring system which comprises a data collection module, a data analysis module and a data display module. The ship navigation environment monitoring system collects a navigation data set through a data collection module, and a data analysis module calculates navigation estimated time lengthRecommended speed of sailingAnd navigation monitoring coefficientAccurate navigation progress of mastering in advance inform the cooperation of harbour, moderate acceleration or deceleration in the navigation process avoids high loss, and systematic monitoring environment data is more comprehensive error little, and navigation security is high, and data analysis module judges that navigation environment is safe or dangerous after, and data display module calculates the current brake index of hullThe sound wave unit is controlled to drive fish shoals or the alarm unit is controlled to output obstacle avoidance warning, so that damage to marine organisms is reduced, and collision friction is avoided rapidly and effectively in early warning.
Description
Technical Field
The invention relates to the technical field of ship navigation monitoring systems, in particular to a ship navigation environment monitoring system.
Background
The ship navigation environment monitoring system is a device and a system for monitoring the surrounding environment of a ship in real time, and aims to ensure safe and efficient operation of the ship under various navigation conditions. The system helps the captain and crew to know the environment of the ship by collecting, analyzing and transmitting various information around the ship, so that a correct decision is made, and potential risks and risks are avoided. If the ship does not have an environment monitoring system, the supervision department cannot discover the illegal behavior of the ship in time while the navigation safety is seriously affected, excessive inspection sampling of the berthing ship can exist in the law enforcement process, the pollution discharge of the ship is difficult to meet the requirements of environmental regulations, and the problem of environmental pollution is aggravated. It is therefore highly necessary for modern vessels to be equipped with advanced environmental monitoring systems. The ship navigation environment monitoring system comprises a sensor, a computer, a display screen, an alarm, satellite communication and other large components, and assists a captain to control a ship according to a recommended navigational speed under the condition of real-time environmental weather. When a ship sails in the sea, the ship can often collide with marine organisms, so that animals such as fish, whale, sea turtle and the like are injured and even die. Not only threatens the survival of marine organisms, but can also have profound effects on the overall marine ecosystem.
At present, the traditional ship navigation environment monitoring system is used for detecting the surrounding environment of the ship body through the sensor and providing data in real time to enhance navigation safety, but in the actual use process, the function is single, when the surrounding fish shoal is nearby, the monitoring data has larger errors, so that the ship navigation is caused to have blind areas, and the navigation risk is greatly improved.
Disclosure of Invention
(One) solving the technical problems
Aiming at the defects of the prior art, the invention provides a ship navigation environment monitoring system which has the advantages of more comprehensive monitoring data, small error, high ship navigation safety and the like, and solves the problem of large monitoring error when a fish school surrounds the vicinity of a ship body.
(II) technical scheme
In order to achieve the above purpose, the present invention provides the following technical solutions: the ship navigation environment monitoring system comprises an information receiving unit, a meteorological sensing unit and a data acquisition unit, wherein the information receiving unit is connected with a data collection module through a network, the meteorological sensing unit is connected with the data collection module through the network, and the data acquisition unit is connected with the data collection module through the network;
The data analysis module is used for numbering the navigation data sets according to the characteristics of the navigation data sets, the navigation data sets are classified and composed of fixed-point obstacle avoidance information sets, meteorological data sets and environment monitoring data sets, and the data analysis module is used for numbering the fixed-point obstacle avoidance information sets Meteorological dataset number/>And environmental monitoring dataset numbering/>Calculating the estimated navigation duration/>Navigation recommended speed/>And navigation monitoring coefficient/>And storing the numerical value into a data display module, wherein the data analysis module is used for analyzing the navigation monitoring coefficient/>Judging the navigation environment and transmitting the navigation environment to a data display module through a network;
the data display module consists of an acoustic wave unit, a transmission unit and an alarm unit, and calculates the current brake index of the hull according to the navigation data set The transmission unit is connected with the sound wave unit and the alarm unit through a network, and the data display module is used for displaying the current brake index/> of the hullJudging the processing measures and controlling the sound wave unit and the alarm unit.
Preferably, the information receiving unit collects the fixed point obstacle avoidance information set in real time through the AIS receiver, the GPS receiver and the laser radar, and sends the collected fixed point obstacle avoidance data set to the data analysis module through a network, the weather sensing unit collects the weather data set through the weather sensor every 5 minutes, and sends the collected weather data set to the data analysis module through the network, and the data collecting unit collects the environment monitoring data set in real time through the compass, the water depth sensor, the flowmeter, the water temperature sensor and the water quality sensor, and sends the collected environment monitoring data set to the data analysis module through the network.
Preferably, the data analysis module respectively numbers the fixed point obstacle avoidance information set, the meteorological data set and the environment monitoring data set according to the navigation data set characteristics, wherein the fixed point obstacle avoidance information set is numbered asThe meteorological dataset is numbered/>The environmental monitoring data set is numbered as。
Preferably, the data analysis module calculates the estimated navigation duration according to the fixed point obstacle avoidance information set, the meteorological data set and the environment monitoring data set, and the calculation formula is as follows:
in the formula (i), Representing estimated navigation duration,/>Representing the total sea-line value,/>Representing the value of the sea-lining travelled,/>Representing the remaining sea-line values,/>Representing real-time navigational speed of ship,/>Representing the number of vessels predicted to meet in the course of the route,/>Representing the number of areas where the line obstacle points detected by the lidar are dense,/>Represents the average duration of single crossing obstacle avoidance of the ship under normal conditions,/>The total time spent by the ship going through all expected intersection obstacle avoidance is represented outside the normal sailing.
Preferably, the data analysis module calculates the navigation recommended speed according to the fixed point obstacle avoidance information set, the meteorological data set and the environment monitoring data set, and the calculation formula is as follows:
in the formula (i), Representing a recommended voyage speed,/>Representing the meteorological condition reference coefficient,/>Representing a meteorological system collected by current real-time sailing, which consists of four influencing factors of wind speed, wind direction, air pressure and temperature, wherein the weather system comprises a wind speed sensor, a wind direction sensor, a wind pressure sensor and a wind speed sensorRepresenting corresponding driving sea under standard meteorological conditions,/>Representation ofRepresenting the number of vessels predicted to meet during the course of the route,Representing the number of areas where the line obstacle points detected by the lidar are dense,/>Mean sea area for multiple travels, representing single intersection obstacle avoidance,/>, ofRepresenting the total sea of the ship which is required to travel more through all predicted intersection obstacle avoidance under normal navigation,/>Indicating the duration of the journey that the airline is required to travel.
Preferably, the data analysis module calculates the navigation monitoring coefficient according to the fixed point obstacle avoidance information set, the meteorological data set and the environment monitoring data set, and the calculation formula is as follows:
in the formula (i), Representing navigational monitoring coefficients,/>The reference coefficient of the environment monitoring when the ship runs without obstacle is represented,Representing error values of compass display and GPS receiver display,/>Representing the number of shoal submerged reef areas sensed by a water depth sensor,/>Index of water flow speed level of water area where ship is located,/>Index of temperature level of water area around shipIndex of water quality level of surrounding water area of shipRepresenting the impact cardinality corresponding to a single exponent,Representing the total coefficient of the current sailing environment influence of the ship.
Preferably, the data analysis module judges the navigation environment according to the navigation monitoring coefficient and transmits the navigation environment to the data display module through a network, wherein the navigation monitoring coefficientWhen the ship is in < 0>, judging that the current sailing environment of the ship is in a dangerous state, and immediately taking treatment measures on the condition that the barriers around the ship body are numerous, wherein the sailing monitoring coefficient/>And when the number of the obstacle is more than or equal to 0, judging that the current sailing environment of the ship is in a safe state, and the surrounding obstacles of the ship body are fewer, so that the influence of environmental factors on the sailing state is lower.
Preferably, the data display module calculates the current brake index of the hull according to the fixed point obstacle avoidance information set, the meteorological data set and the environment monitoring data set, and the calculation formula is as follows:
in the formula (i), Representing the current brake index of the hull,/>Represents the braking distance required by the hull to completely rest at the current voyage speed,/>Representing the straight line distance between the hull and the obstacle,/>Indicating the hull safety separation distance.
Preferably, the data display module is used for displaying the current brake index of the ship bodyJudging the processing measures, and controlling the sound wave unit and the alarm unit, wherein the current brake index/>0, Judging that the ship has a safe braking distance from an obstacle, driving the fish school through the sound wave unit, and enabling the ship body to have a current braking index/>When the distance between the ship and the obstacle is less than or equal to 0, the ship is judged to have no safety distance, and an obstacle avoidance warning is output through the alarm unit immediately.
Preferably, the sound wave unit outputs sound waves through a sonar, the sound wave unit sets sound wave frequency and duration according to a navigation data set, the alarm unit outputs an alarm through an alarm and transmits the alarm to the transmission unit through a network, and the transmission unit displays the navigation data set through a display screen and predicts the navigation durationNavigation recommended speed/>Navigation monitoring coefficient/>And barrier area around hull/>Is displayed in numerical form on the display screen.
Compared with the prior art, the invention provides a ship navigation environment monitoring system, which has the following beneficial effects:
1. The navigation data set is acquired by the information receiving unit, the meteorological sensing unit and the data acquisition unit, and the data analysis module numbers according to the fixed point obstacle avoidance information set Meteorological dataset number/>And environmental monitoring dataset numbering/>Calculating the estimated navigation duration/>Navigation recommended speed/>And navigation monitoring coefficient/>The navigation progress is accurately mastered, the port and the traffic management department are informed in advance to cooperate with berthing or scheduling, a proper amount of acceleration or deceleration is realized in the navigation process, high fuel consumption is avoided, the systematic monitoring environment data is more comprehensive, the error is small, and the navigation safety of the ship is high.
2. According to the navigation monitoring coefficient, the data analysis module is used for monitoring the coefficient according to navigationJudging that the sailing environment is safe or dangerous, transmitting the safety or dangerous to a data display module through a network, and calculating the current brake index/>, of the hull according to the sailing data set by the data display moduleAfter corresponding treatment measures are judged, the sound wave unit is controlled to drive fish shoals or the alarm unit is used for outputting obstacle avoidance warning, so that the damage of ship navigation to marine organisms is reduced, the early warning response is rapid, and collision friction of ship navigation is effectively avoided.
Drawings
FIG. 1 is a schematic diagram of the structural system of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but 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.
Referring to fig. 1, a ship navigation environment monitoring system comprises an information receiving unit, a weather sensing unit and a data acquisition unit, wherein the information receiving unit is connected with a data collection module through a network, the information receiving unit acquires a fixed point obstacle avoidance information set in real time through an AIS receiver, a GPS receiver and a laser radar, the acquired fixed point obstacle avoidance information set is sent to a data analysis module through the network, the weather sensing unit is connected with the data collection module through the network, the weather sensing unit acquires the weather data set through a weather sensor every 5 minutes, the acquired weather data set is sent to the data analysis module through the network, the data acquisition unit is connected with the data collection module through the network, the data acquisition unit acquires the environment monitoring data set in real time through a compass, a water depth sensor, a flow velocity meter, a water temperature sensor and a water quality sensor, and sends the acquired environment monitoring data set to the data analysis module through the network;
The data analysis module carries out classification numbering on the navigation data set according to the characteristics of the navigation data set, the navigation data set classification consists of a fixed-point obstacle avoidance information set, a meteorological data set and an environment monitoring data set, and the fixed-point obstacle avoidance information set is numbered The serial numbers correspond to the data acquired in real time by the AIS receiver, the GPS receiver and the laser radar, so that the ship positioning, speed and heading can be accurately mastered, the obstacles around the ship can be monitored in real time, the collision is avoided, and the weather data set is numberedThe serial numbers correspond to the current wind speed, wind direction, air pressure and temperature acquired by the meteorological sensors, and when severe weather is encountered in the sailing process, the sailing safety is ensured, and the serial number of the environmental monitoring data set is/>The compass has the advantages that the number corresponds to the compass, the water depth sensor, the flowmeter, the water temperature sensor and the water quality sensor, environmental monitoring data are more comprehensive, the compass indicates the course of the ship through the magnetic needle under the condition that no GPS signal exists, the positioning obstacle avoidance error is small, the navigation safety of the ship is effectively improved, and the data analysis module is used for numbering/>, according to the fixed point obstacle avoidance information setMeteorological dataset number/>And environmental monitoring dataset numbering/>Calculating the estimated navigation duration/>Navigation recommended speed/>And navigation monitoring coefficient/>And storing the numerical value into a data display module, wherein the calculation formula is as follows:
in the formula (i), Representing estimated navigation duration,/>Representing the total sea-line value,/>Representing the value of the sea-lining travelled,/>Representing the remaining sea-line values,/>Representing real-time navigational speed of ship,/>Representing the number of vessels predicted to meet in the course of the route,/>Representing the number of areas where the line obstacle points detected by the lidar are dense,/>Represents the average duration of single crossing obstacle avoidance of the ship under normal conditions,/>The total duration of the ship which is required to spend after all the predicted intersection obstacle avoidance is shown outside the normal navigation, and the estimated duration/>, is calculated according to the navigationThe ship management personnel can accurately grasp the navigation progress and inform the port and the traffic management department in advance to cooperate with berthing or scheduling;
in the formula (i), Representing a recommended voyage speed,/>Representing the meteorological condition reference coefficient,/>Representing a meteorological system collected by current real-time sailing, which consists of four influencing factors of wind speed, wind direction, air pressure and temperature, wherein the weather system comprises a wind speed sensor, a wind direction sensor, a wind pressure sensor and a wind speed sensorRepresenting corresponding driving sea under standard meteorological conditions,/>Representation ofRepresenting the number of vessels predicted to meet during the course of the route,Representing the number of areas where the line obstacle points detected by the lidar are dense,/>Mean sea area for multiple travels, representing single intersection obstacle avoidance,/>, ofRepresenting the total sea of the ship which is required to travel more through all predicted intersection obstacle avoidance under normal navigation,/>The traffic duration which needs to be consumed for the navigation route is represented, and the navigation speed/>, according to the navigation recommended speedThe ship manager can accelerate or decelerate in proper amount, so that high fuel consumption and ship body bump are avoided;
in the formula (i), Representing navigational monitoring coefficients,/>The reference coefficient of the environment monitoring when the ship runs without obstacle is represented,Representing error values of compass display and GPS receiver display,/>Representing the number of shoal submerged reef areas sensed by a water depth sensor,/>Index of water flow speed level of water area where ship is located,/>Index of temperature level of water area around shipIndex of water quality level of surrounding water area of shipRepresenting the impact cardinality corresponding to a single exponent,Representing the total coefficient of the influence of the current sailing environment of the ship, and according to the sailing monitoring coefficient/>The ship manager can judge the ship body environment in real time, so that the high safety of ship navigation is ensured;
the data analysis module judges the navigation environment according to the navigation monitoring coefficient and transmits the navigation environment to the data display module through a network, wherein the navigation monitoring coefficient is used for displaying the navigation environment When the ship is in <0 >, judging that the current sailing environment of the ship is in a dangerous state, and immediately taking treatment measures on numerous obstacles around the ship body, wherein the sailing monitoring coefficient/>When the ship is more than or equal to 0, judging that the current sailing environment of the ship is in a safe state, wherein obstacles around the ship body are fewer, and environmental factors have lower influence on the sailing state;
the data display module is composed of an acoustic wave unit, a transmission unit and an alarm unit, calculates the current brake index of the hull according to the navigation data set, and is connected with the transmission unit through a network, and the calculation formula is as follows:
in the formula (i), Representing the current brake index of the hull,/>Represents the braking distance required by the hull to completely rest at the current voyage speed,/>Representing the straight line distance between the hull and the obstacle,/>Representing the safe spacing distance of the ship body according to the current brake index/>, of the ship bodyThe ship manager can rapidly judge whether the ship needs to move forward at a reduced speed, so that the ship body is prevented from being broken due to friction collision between the ship body and an obstacle, and the navigation danger is reduced;
The transmission unit is connected with the sound wave unit and the alarm unit through a network, and the data display module is used for displaying the current brake index of the ship body Judging the processing measures, controlling the sound wave unit and the alarm unit, and controlling the current brake index/>, of the hullWhen 0, the situation that the ship has a safe braking distance from the obstacle is judged, the fish school is driven through the sound wave unit, and the current braking index/>, of the ship body is obtainedWhen the distance between the ship and the obstacle is less than or equal to 0, judging that the ship has no safety distance, and immediately outputting an obstacle avoidance warning through an alarm unit;
The sound wave unit outputs sound waves through the sonar, the sound wave unit sets sound wave frequency and duration according to the navigation data set, and sets sound wave frequency and duration according to fish shoals of different types and different gathering areas, so that fish shoals are driven, damage to marine organisms in the ship navigation process is effectively reduced, the alarm unit outputs an alarm through the alarm and transmits the alarm to the transmission unit through the network, the transmission unit displays the navigation data set through the display screen, and the navigation estimated duration is estimated Navigation recommended speed/>Navigation monitoring coefficient/>And barrier area around hull/>The navigation system is characterized in that the navigation system is displayed on a display screen in a numerical form, the navigation environment data of the ship are monitored systematically, management staff is assisted to control the ship more time and labor, and the navigation safety is effectively improved.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. A marine vessel navigation environment monitoring system, characterized by: the system comprises an information receiving unit, a meteorological sensing unit and a data acquisition unit, wherein the information receiving unit is connected with a data collection module through a network, the meteorological sensing unit is connected with the data collection module through the network, and the data acquisition unit is connected with the data collection module through the network;
The data analysis module is used for numbering the navigation data sets according to the characteristics of the navigation data sets, the navigation data sets are classified and composed of fixed-point obstacle avoidance information sets, meteorological data sets and environment monitoring data sets, and the data analysis module is used for numbering the fixed-point obstacle avoidance information sets Meteorological dataset number/>And environmental monitoring dataset numbering/>Calculating the estimated navigation duration/>Navigation recommended speed/>And navigation monitoring coefficient/>And storing the numerical value into a data display module, wherein the data analysis module is used for analyzing the navigation monitoring coefficient/>Judging the navigation environment and transmitting the navigation environment to a data display module through a network;
the data display module consists of an acoustic wave unit, a transmission unit and an alarm unit, and calculates the current brake index of the hull according to the navigation data set The transmission unit is connected with the sound wave unit and the alarm unit through a network, and the data display module is used for displaying the current brake index/> of the hullJudging the processing measures and controlling the sound wave unit and the alarm unit.
2. A marine vessel voyage environment monitoring system according to claim 1, wherein: the information receiving unit collects fixed point obstacle avoidance information sets in real time through the AIS receiver, the GPS receiver and the laser radar, the collected fixed point obstacle avoidance information sets are sent to the data analysis module through a network, the weather sensing unit collects the weather data sets through the weather sensors every 5 minutes, the collected weather data sets are sent to the data analysis module through the network, the data collection unit collects environment monitoring data sets in real time through the compass, the water depth sensor, the flowmeter, the water temperature sensor and the water quality sensor, and the collected environment monitoring data sets are sent to the data analysis module through the network.
3. A marine vessel voyage environment monitoring system as claimed in claim 2, wherein: the data analysis module respectively numbers the fixed point obstacle avoidance information set, the meteorological data set and the environment monitoring data set according to the characteristics of the navigation data set, wherein the fixed point obstacle avoidance information set is numberedThe meteorological data set is numbered asThe environmental monitoring dataset is numbered/>。
4. A marine vessel voyage environment monitoring system according to claim 3, wherein: the data analysis module calculates the estimated navigation duration according to the fixed point obstacle avoidance information set, the meteorological data set and the environment monitoring data set, and the calculation formula is as follows:
in the formula (i), Representing estimated navigation duration,/>Representing the total sea-line value,/>Indicating the value of the sea level that has been travelled,Representing the remaining sea-line values,/>Representing real-time navigational speed of ship,/>Representing the number of vessels predicted to meet in the course of the route,/>Representing the number of areas where the line obstacle points detected by the lidar are dense,/>Represents the average duration of single crossing obstacle avoidance of the ship under normal conditions,/>The total time spent by the ship going through all expected intersection obstacle avoidance is represented outside the normal sailing.
5. A marine vessel voyage environment monitoring system according to claim 3, wherein: the data analysis module calculates navigation recommended speed according to the fixed point obstacle avoidance information set, the meteorological data set and the environment monitoring data set, and the calculation formula is as follows:
in the formula (i), Representing a recommended voyage speed,/>Representing the meteorological condition reference coefficient,/>Representing a meteorological system collected by current real-time sailing, which consists of four influencing factors of wind speed, wind direction, air pressure and temperature, wherein the weather system comprises a wind speed sensor, a wind direction sensor, a wind pressure sensor and a wind speed sensorRepresenting corresponding driving sea under standard meteorological conditions,/>Representation ofRepresenting the number of vessels predicted to meet during the course of the route,Representing the number of areas where the line obstacle points detected by the lidar are dense,/>Mean sea area for multiple travels, representing single intersection obstacle avoidance,/>, ofRepresenting the total sea of the ship which is required to travel more through all predicted intersection obstacle avoidance under normal navigation,/>Indicating the duration of the journey that the airline is required to travel.
6. A marine vessel voyage environment monitoring system according to claim 3, wherein: the data analysis module calculates navigation monitoring coefficients according to the fixed point obstacle avoidance information set, the meteorological data set and the environment monitoring data set, and the calculation formula is as follows:
in the formula (i), Representing navigational monitoring coefficients,/>Representing the environmental monitoring reference coefficient of ship during barrier-free running,/>Representing error values of compass display and GPS receiver display,/>Indicating the number of the shoal reef areas sensed by the water depth sensor,Index of water flow speed level of water area where ship is located,/>Index of temperature level of water area around shipIndex of water quality level of surrounding water area of shipRepresenting the impact cardinality corresponding to a single exponent,Representing the total coefficient of the current sailing environment influence of the ship.
7. A marine vessel voyage environment monitoring system as claimed in claim 6, wherein: the data analysis module judges the navigation environment according to the navigation monitoring coefficient and transmits the navigation environment to the data display module through a network, wherein the navigation monitoring coefficientWhen the ship is in < 0>, judging that the current sailing environment of the ship is in a dangerous state, and immediately taking treatment measures on the condition that the barriers around the ship body are numerous, wherein the sailing monitoring coefficient/>And when the number of the obstacle is more than or equal to 0, judging that the current sailing environment of the ship is in a safe state, and the surrounding obstacles of the ship body are fewer, so that the influence of environmental factors on the sailing state is lower.
8. A marine vessel voyage environment monitoring system according to claim 7, wherein: the data display module calculates the current brake index of the hull according to the fixed point obstacle avoidance information set, the meteorological data set and the environment monitoring data set, and the calculation formula is as follows:
in the formula (i), Representing the current brake index of the hull,/>Represents the braking distance required by the hull to completely rest at the current voyage speed,/>Representing the straight line distance between the hull and the obstacle,/>Indicating the hull safety separation distance.
9. A marine vessel voyage environment monitoring system as claimed in claim 8, wherein: the data display module is used for displaying the current brake index of the ship bodyJudging the processing measures, and controlling the sound wave unit and the alarm unit, wherein the current brake index/>0, Judging that the ship has a safe braking distance from an obstacle, driving the fish school through the sound wave unit, and enabling the ship body to have a current braking index/>When the distance between the ship and the obstacle is less than or equal to 0, the ship is judged to have no safety distance, and an obstacle avoidance warning is output through the alarm unit immediately.
10. A marine vessel voyage environment monitoring system as claimed in claim 9, wherein: the sound wave unit outputs sound waves through the sonar, the sound wave unit sets sound wave frequency and duration according to a navigation data set, the alarm unit outputs an alarm through the alarm and transmits the alarm to the transmission unit through a network, and the transmission unit displays the navigation data set through the display screen and predicts the navigation durationNavigation recommended speed/>Navigation monitoring coefficient/>And barrier area around hullIs displayed in numerical form on the display screen.
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