CN119169869B

CN119169869B - Fishing boat alarm method and system based on dynamic marine environment simulation

Info

Publication number: CN119169869B
Application number: CN202411341925.2A
Authority: CN
Inventors: 黄应邦; 谭慧明; 仉天宇; 马胜伟; 吴洽儿; 周利粒; 刘婷甄; 潘灶林; 唐宇; 申居正; 王树行; 林汛
Original assignee: Guangdong Ocean University; South China Sea Fisheries Research Institute Chinese Academy Fishery Sciences
Current assignee: Guangdong Ocean University; South China Sea Fisheries Research Institute Chinese Academy Fishery Sciences
Priority date: 2024-09-25
Filing date: 2024-09-25
Publication date: 2025-05-06
Anticipated expiration: 2044-09-25
Also published as: CN119169869A

Abstract

The invention discloses a fishing boat alarming method and system based on dynamic marine environment simulation, comprising the steps of obtaining target fishing boat navigation information and real-time marine environment information, carrying out data preprocessing on the target fishing boat navigation information and the real-time marine environment information, constructing a six-degree-of-freedom kinematic model of the target fishing boat, carrying out sea area environment simulation on the current sea area according to the real-time marine environment information, carrying out navigation response analysis in combination with the target fishing boat navigation information, carrying out navigation danger assessment, judging whether the current navigation strategy of the target fishing boat can safely pass through the target sea area, if not, obtaining navigation capability information of the target fishing boat, analyzing whether the target fishing boat has navigation capability capable of safely passing through the current sea area, and when the target fishing boat navigation capability cannot safely pass through the target sea area, adjusting the current navigation route, making a navigation route adjusting scheme to carry out danger, thereby improving the safety and economic benefit of fishery operation.

Description

Fishing boat alarm method and system based on dynamic marine environment simulation

Technical Field

The invention relates to the technical field of fishing boat early warning, in particular to a fishing boat warning method and system based on dynamic marine environment simulation.

Background

With the complexity of global climate change and marine environments, traditional fishery activities face increasing uncertainty and potential hazards. The dynamic changes of the marine environment, including storm, sea wave, ocean current, tsunami, etc., the frequency of natural disasters gives rise to great challenges for sailing and operation of fishing vessels. The traditional fishery alarm system generally depends on static data and a preset threshold value, is difficult to cope with rapid change and complex marine environments, has the problems of untimely alarm, false alarm, missing alarm and the like, and influences the safety and economic benefit of fishery operation.

In order to improve the safety and emergency response capability of the fishing boat operation, a more advanced and intelligent fishing boat alarming method is needed, and a corresponding navigation evading route is formulated while a dangerous area is pre-warned, so that the safety of the fishing boat is ensured.

Disclosure of Invention

The invention overcomes the defects of the prior art, and provides a fishing boat alarm method and a fishing boat alarm system based on dynamic marine environment simulation, which aim at improving the sailing safety of the fishing boat during operation.

In order to achieve the above object, the first aspect of the present invention provides a fishing boat alarm method based on dynamic marine environment simulation, comprising:

Acquiring target fishing boat navigation information and real-time marine environment information, and performing data preprocessing on the target fishing boat navigation information and the real-time marine environment information;

Constructing a six-degree-of-freedom kinematic model of the target fishing boat, performing sea area environment simulation on the current sea area according to the real-time sea environment information, and performing navigation response analysis by combining the navigation information of the target fishing boat to obtain navigation response analysis information;

According to the navigation response analysis information, performing navigation danger assessment, judging whether the current navigation strategy of the target fishing boat can safely pass through the target sea area, if not, acquiring navigation capability information of the target fishing boat, and analyzing whether the target fishing boat has navigation capability capable of safely passing through the current sea area;

When the sailing capability of the target fishing boat cannot safely pass through the target sea area, the current sailing route is adjusted, and a sailing route adjusting scheme is formulated to avoid danger.

In this scheme, acquire target fishing boat navigation information and real-time marine environment information, carry out data preprocessing to target fishing boat navigation information and real-time marine environment information, specifically include:

acquiring target fishing boat navigation information based on navigation monitoring equipment, wherein the target fishing boat navigation information comprises real-time fishing boat position information, fishing boat heading information, fishing boat speed information, fishing boat wading information and fishing boat route information;

Acquiring real-time marine environment information, wherein the real-time marine environment information comprises sea wave information, wind direction and wind speed information, water flow speed information and regional weather information;

Data cleaning is carried out on the target fishing boat navigation information and the real-time marine environment information, and data standard deviations of the target fishing boat navigation data stream and the real-time marine environment data stream are calculated respectively;

judging the standard deviation of the data of the target fishing boat navigation data stream and the real-time marine environment data stream and a preset standard deviation range, defining the standard deviation of the data which is not in the preset standard deviation range as an abnormal value, and eliminating the abnormal value;

Analyzing data points of the target fishing boat navigation data stream and the real-time marine environment data stream after the abnormal values are removed, and performing difference compensation on the data points after the abnormal values are removed to obtain preprocessing information.

In this scheme, the six degree of freedom kinematic model of construction target fishing boat carries out sea area environmental simulation to current sea area according to real-time ocean environment information, combines the navigation response analysis of target fishing boat navigation information, specifically includes:

acquiring target fishing boat construction information, and constructing a digital twin model of the target fishing boat based on the digital twin technology and the target fishing boat construction information;

the method comprises the steps of constructing a six-degree-of-freedom kinematic model of a target fishing boat based on a constructed digital twin model, wherein the six-degree-of-freedom kinematic model comprises translational degrees of freedom and rotational degrees of freedom, the translational degrees of freedom are heave, sway and heave, and the rotational degrees of freedom are roll, pitch and yaw;

Describing irregular waves by adopting a pearson-Moscow Viterbi spectrum, and constructing an ocean environment analysis model by combining the velocity components of linear wave theory simulation wave velocity in the x-axis and z-axis directions of a coordinate system;

Acquiring real-time marine environment information, setting initial simulation parameters and boundary conditions according to the real-time marine environment information, performing numerical simulation by using CFD software, and performing discretization solution of a control equation by using a standard k-epsilon turbulence model to obtain marine area environment simulation information;

And acquiring navigation information of the target fishing boat, and combining the sea area environment simulation information to input the navigation response of the target fishing boat under the current sea area condition by using a six-degree-of-freedom kinematic model of the target fishing boat so as to obtain navigation response analysis information.

In this scheme, according to navigation response analysis information carries out navigation danger assessment, judges whether current navigation tactics of target fishing boat can pass through the target sea area safely, if can not, then acquires the navigation ability information of target fishing boat, and whether analysis target fishing boat possesses the navigation ability that can pass through current sea area safely specifically includes:

Acquiring navigation response analysis information, and generating a navigation simulation response diagram of the target fishing boat when the target fishing boat runs in the current sea area according to the navigation response analysis information;

Extracting navigation response characteristics of the target fishing boat when the target fishing boat travels in the current sea area according to the navigation simulation response diagram, wherein the navigation response characteristics comprise navigation angle change characteristics and navigation stress change characteristics, and obtaining navigation response characteristic information;

setting navigation danger assessment indexes, setting corresponding assessment weights for the assessment indexes, constructing a navigation danger assessment rule, and assessing the navigation danger of a target fishing boat passing through the current sea area by combining the navigation response characteristic information to obtain navigation danger assessment information;

judging whether the current navigation control parameters of the target fishing boat can safely pass through the target sea area according to the navigation danger assessment information, if not, acquiring the navigation capacity information of the target fishing boat, and analyzing whether the target fishing boat has the navigation capacity capable of safely passing through the current sea area;

Acquiring sea area environment simulation information, setting initial simulation parameters according to the navigation capability information of the target fishing boat, simulating and changing navigation response under the navigation control parameters of the fishing boat through the six-degree-of-freedom kinematic model of the target fishing boat, and performing navigation danger assessment;

presetting a simulation parameter change range and a single change degree, and performing iterative simulation until simulation parameters cannot be changed continuously or navigation danger assessment information can pass safely, so as to obtain first analysis information;

Judging whether the target fishing boat can safely pass through the current sea area after changing the navigation control parameters of the fishing boat according to the first analysis information, and if the judgment result shows that the target fishing boat can safely pass through the current sea area, extracting corresponding navigation simulation parameters to generate a running scheme for recommendation;

If the judgment result shows that the current sea area cannot be safely passed, the navigation capacity of the target fishing boat cannot be safely passed through the target sea area, and early warning information is generated to carry out navigation danger early warning.

In this scheme, setting navigation danger assessment indexes, setting corresponding assessment weights for each assessment index, constructing a navigation danger assessment rule, and assessing the navigation danger of a target fishing boat passing through a current sea area by combining the navigation response characteristic information, specifically including:

Based on big data retrieval, various navigation danger assessment examples are obtained, navigation danger assessment indexes in the navigation danger assessment examples are extracted, and pearson correlation coefficients between the assessment indexes and the navigation dangers are calculated to form a pearson correlation coefficient matrix;

Presetting a pearson correlation coefficient threshold value, carrying out threshold processing on data in the pearson correlation coefficient matrix, setting zero on the data smaller than the threshold value, and selecting a navigation risk assessment index according to the pearson correlation coefficient matrix after the threshold processing to obtain navigation risk assessment index information;

Acquiring influence degree scores of all evaluation indexes according to navigation danger evaluation index information based on an expert knowledge method, introducing an intuitionistic fuzzy analysis method to perform subjective weight distribution on all evaluation indexes, and constructing an intuitionistic fuzzy evaluation matrix according to the influence degree scores;

calculating the intuitionistic fuzzy entropy of each evaluation index according to the intuitionistic fuzzy evaluation matrix, calculating the intuitionistic fuzzy number of each evaluation index through the intuitionistic fuzzy entropy, and carrying out subjective weight distribution on each evaluation index to obtain subjective weight information;

Performing objective weight distribution based on an entropy weight method, constructing a decision matrix according to the navigation risk assessment index information, standardizing the decision matrix to obtain a standardized matrix, calculating the information entropy and the information entropy redundancy of each assessment index according to the standardized matrix, and performing objective weight calculation to obtain objective weight information;

and constructing a navigation danger assessment rule by combining the subjective weight information and the objective weight information, and assessing the navigation danger of the target fishing boat passing through the current sea area based on the navigation response characteristic information to obtain navigation danger assessment information.

In this scheme, when the navigation ability of target fishing boat can not pass through the target sea area safely, then adjust current navigation route, formulate navigation route adjustment scheme and carry out dangerous evasion, specifically include:

Acquiring target fishing boat construction information, defining the size of a grid according to the target fishing boat construction information, and constructing a grid environment map by using a GIS technology;

acquiring a vector electronic chart of a target area, extracting barrier information according to the vector electronic chart of the target area, and carrying out free space marking and non-free space marking on the grid environment map;

extracting regional water depth data according to the vector electronic chart of the target region, predicting the water depth of an unknown grid unit by adopting a spline function interpolation method, constructing a cubic spline function, and presetting boundary conditions;

Acquiring coordinates of an unknown grid unit, acquiring water depth data of a neighbor grid unit according to the coordinates of the unknown grid unit, forming an interpolation interval of the unknown grid unit, and establishing a spline equation of the interpolation interval;

solving spline equations of the interpolation interval to obtain spline coefficients and form spline functions corresponding to the target interpolation interval, predicting the water depth of an unknown grid unit, and marking the grid environment map to obtain a marked grid environment map;

Setting a navigation route change starting point according to the real-time position of a target fishing boat, setting limiting conditions through an original navigation route and the steering capability of the fishing boat, marking a driving-away area based on a detection range corresponding to environment monitoring equipment, and carrying out path optimization by adopting an ant colony algorithm;

presetting an ant colony initial pheromone, taking each grid unit in a free space as a node, calculating the state transition probability of each node, acquiring an avoidance path according to the state transition probability, punishing the avoidance path through a set limiting condition, and performing iterative optimization to obtain candidate avoidance path information;

Extracting water depth data of grid units driven by each path according to the candidate avoidance path information, constructing a wading danger assessment rule based on real-time wading depth of a target fishing boat, assessing each candidate avoidance path, selecting an optimal avoidance path according to an assessment result to generate a navigation route adjustment scheme for danger avoidance, and carrying out real-time monitoring and danger assessment on a driving-away area;

If the target fishing boat judges that the driving-out area meets the passing condition through real-time monitoring and danger evaluation in the dangerous avoidance process, the preset avoidance path is adjusted in real time.

The invention provides a fishing boat alarm system based on dynamic marine environment simulation, which comprises a memory and a processor, wherein the memory contains a fishing boat alarm method program based on dynamic marine environment simulation, and the fishing boat alarm method program based on dynamic marine environment simulation realizes the following steps when being executed by the processor:

Drawings

In order to more clearly illustrate the technical solutions of embodiments or examples of the present invention, the drawings that are required to be used in the embodiments or examples of the present invention 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 the drawings without inventive efforts for those skilled in the art.

FIG. 1 is a flowchart of a fishing boat alarm method based on dynamic marine environment simulation according to an embodiment of the present invention;

FIG. 2 is a flowchart of a dangerous sea area avoidance analysis according to an embodiment of the present invention;

FIG. 3 is a block diagram of a fishing vessel alarm system based on dynamic marine environment simulation according to an embodiment of the present invention;

the achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.

Detailed Description

In order that the above-recited objects, features and advantages of the present application will be more clearly understood, a more particular description of the application will be rendered by reference to the appended drawings and appended detailed description. It should be noted that, without conflict, the embodiments of the present application and features in the embodiments may be combined with each other.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those described herein, and therefore the scope of the present invention is not limited to the specific embodiments disclosed below.

as shown in FIG. 1, the invention provides a fishing boat alarm method flow chart based on dynamic marine environment simulation, which comprises the following steps:

s102, acquiring target fishing boat navigation information and real-time marine environment information, and performing data preprocessing on the target fishing boat navigation information and the real-time marine environment information;

S104, constructing a six-degree-of-freedom kinematic model of the target fishing boat, performing sea area environment simulation on the current sea area according to the real-time sea environment information, and performing navigation response analysis by combining the navigation information of the target fishing boat to obtain navigation response analysis information;

S106, carrying out navigation danger assessment according to the navigation response analysis information, judging whether the current navigation strategy of the target fishing boat can safely pass through the target sea area, if not, acquiring navigation capability information of the target fishing boat, and analyzing whether the target fishing boat has navigation capability capable of safely passing through the current sea area;

S108, when the sailing capacity of the target fishing boat cannot safely pass through the target sea area, the current sailing route is adjusted, and a sailing route adjustment scheme is formulated to avoid danger.

The invention provides a fishing boat alarming method and a fishing boat alarming system based on dynamic marine environment simulation, which are characterized in that dynamic marine environment simulation is carried out through target fishing boat navigation information and real-time marine environment information, a six-degree-of-freedom kinematic model is constructed based on construction information of a target fishing boat, marine environment simulation is carried out by utilizing CFD software, navigation response of the target fishing boat in the current sea area environment is analyzed, navigation danger assessment is carried out according to navigation response analysis results, and whether the current sea area of the target fishing boat is dangerous is judged. Meanwhile, when navigation danger exists, whether the safety passing can be achieved in the navigation capacity range of the target fishing boat is judged by changing the navigation strategy, and if so, the corresponding navigation parameters are pushed to generate navigation advice. If the current navigation route cannot be adjusted, a navigation route adjustment scheme is formulated to avoid danger. Further, the safety and the danger handling capability of the fishing boat during offshore operation are improved.

Further, in a preferred embodiment of the present invention, the acquiring the target fishing boat navigation information and the real-time marine environment information, and performing data preprocessing on the target fishing boat navigation information and the real-time marine environment information specifically includes:

The navigation monitoring device is used for acquiring navigation information of the target fishing boat, wherein the navigation information comprises real-time position information, heading information, navigational speed information, wading information and route information of the fishing boat. Meanwhile, real-time marine environment information is acquired, and sea wave information, wind direction and wind speed information, water flow speed information and regional weather information are related, for example, sea wave information is acquired through a wave monitor, and wind direction and wind speed information and water flow speed information are acquired through environment monitoring equipment. After the data are acquired, the navigation information and the real-time marine environment information of the target fishing boat are subjected to data cleaning, so that the accuracy and the reliability of the data are ensured. And then respectively calculating standard deviations of the target fishing boat navigation data stream and the real-time marine environment data stream. The standard deviation reflects the fluctuation of the data, thereby identifying an outlier. Comparing the calculated standard deviation with a preset standard deviation range, defining any standard deviation which is not in the preset standard deviation range as an abnormal value, eliminating the abnormal value, and eliminating noise and abnormal fluctuation in the data. After the abnormal values are removed, difference compensation is carried out on the data points after the abnormal values are removed, and continuity and integrity of the data are ensured. The difference compensation can fill in the empty defects in the data by interpolation or other methods, so that the data flow is smoother and more coherent. Providing a reliable data basis for subsequent analysis and decision making.

Further, in a preferred embodiment of the present invention, the constructing a six-degree-of-freedom kinematic model of the target fishing vessel, performing sea-area environmental simulation on the current sea area according to the real-time sea environment information, and performing navigation response analysis in combination with the navigation information of the target fishing vessel, includes:

It should be noted that digital twinning techniques create a "mirror image" in a virtual environment by replicating all the key features and behaviors of a physical entity with high precision. And constructing a digital twin model of the target fishing boat by combining the construction information of the target fishing boat. Next, a six-degree-of-freedom kinematic model of the target fishing vessel is further constructed by using the constructed digital twin model, and the six-degree-of-freedom kinematic model is used for describing the motion mode of the fishing vessel in the marine environment, wherein the six-degree-of-freedom kinematic model comprises three translational degrees of freedom (heave, sway and heave) and three rotational degrees of freedom (roll, pitch and yaw). In order to more accurately simulate the marine environment in which a fishing vessel is located, the pearson-moskov wiki spectrum is used to describe the irregular wave. Meanwhile, the velocity components of the wave velocity in the directions of the x axis and the z axis of the coordinate system are simulated by combining the linear wave theory, so that a marine environment analysis model is constructed. Then, by acquiring real-time marine environment information, initial simulation parameters and boundary conditions are set. Numerical simulations were performed using CFD software and standard k-epsilon turbulence models were employed to control the discretized solution of the equations. CFD software can simulate the behavior of a fluid under complex geometries and flow conditions, while k-epsilon turbulence models can better describe turbulence phenomena in the fluid. And finally, inputting the navigation information of the target fishing boat and the sea area environment simulation information into a six-degree-of-freedom kinematic model, and simulating the navigation response of the fishing boat under the current sea area condition. The dynamic characteristics of the fishing boat are considered, the influence of the marine environment on the motion of the fishing boat is fully considered, and the navigation response analysis information is obtained.

It should be noted that the wave propagation equation is:

Where E is the wave energy density, c _g is the group velocity, S is the source term, and t is the time variable.

Further, in a preferred embodiment of the present invention, the performing navigation risk assessment according to the navigation response analysis information, determining whether the current navigation strategy of the target fishing boat can safely pass through the target sea area, if not, acquiring the navigation capability information of the target fishing boat, and analyzing whether the target fishing boat has the navigation capability capable of safely passing through the current sea area, includes:

The navigation response analysis information is used to generate a navigation simulation response chart of the target fishing boat when the target fishing boat is traveling in the current sea area. And extracting the navigation response characteristics of the target fishing boat when the target fishing boat runs in the current sea area according to the navigation simulation response diagram, wherein the navigation response characteristics comprise navigation angle change characteristics and navigation stress change characteristics, and obtaining navigation response characteristic information. Further, navigation danger assessment indexes are set, corresponding assessment weights are set for all the assessment indexes, and a navigation danger assessment rule is constructed. And (3) evaluating the traffic safety of the target fishing boat in the current sea area by combining the extracted navigation response characteristic information to obtain navigation risk evaluation information, and judging whether the current navigation control parameters of the target fishing boat can safely pass through the target sea area. If the evaluation result shows that the safety passing cannot be achieved, the navigation capability information of the target fishing boat is further obtained, and whether the target fishing boat has the capability of safely passing the current sea area or not is analyzed. And setting initial simulation parameters according to the navigation capacity information of the target fishing boat. And simulating and changing the navigation response under the navigation control parameters by using a six-degree-of-freedom kinematic model of the fishing boat, and performing navigation danger assessment. And carrying out iterative simulation through a preset simulation parameter change range and single change degree until simulation parameters cannot be changed continuously or navigation danger assessment results are displayed to be safe to pass, so as to obtain first analysis information. And judging whether the target fishing boat can safely pass through the current sea area after changing the fishing boat navigation control parameters according to the first analysis information. And if the judgment result shows that the safety can pass, extracting corresponding navigation simulation parameters, generating a driving scheme and recommending. Otherwise, if the judgment result shows that the safety passing cannot be achieved, the fact that the sailing capability of the target fishing boat is insufficient for safety passing through the target sea area is indicated, and early warning information is generated to carry out sailing danger early warning. The fishing boat can safely navigate in complex and changeable marine environments, and potential risks are avoided.

Further, in a preferred embodiment of the present invention, the setting of the navigation risk assessment index, setting a corresponding assessment weight for each assessment index, constructing a navigation risk assessment rule, and assessing the navigation risk of the current sea area of the target fishing vessel in combination with the navigation response characteristic information specifically includes:

It should be noted that various navigation risk assessment examples are collected by big data retrieval. The navigation risk assessment method comprises navigation risk assessment under various conditions such as different sea areas, different weather conditions, different fishing boat types and the like, and provides a rich data basis for subsequent analysis. Then, key navigation danger assessment indexes such as wind speed, wave height, visibility, fishing boat size, navigation speed and the like are extracted from the assessment examples. And further analyzing the association degree between each evaluation index and the navigation danger, calculating the pearson correlation coefficient, and constructing a pearson correlation coefficient matrix. And (3) carrying out threshold processing on the pearson correlation coefficient matrix by presetting a pearson correlation coefficient threshold, and eliminating evaluation indexes with weak correlation with navigation danger, thereby selecting indexes with obvious influence on navigation danger evaluation and obtaining navigation danger evaluation index information. After the evaluation indexes are determined, the influence degree scores of the evaluation indexes are obtained based on an expert knowledge method. These scores reflect the subjective judgment of the expert of the importance of each assessment index in the navigation risk assessment. Subjective weight distribution is carried out by introducing an intuitionistic fuzzy analysis method, an intuitionistic fuzzy evaluation matrix is constructed, intuitionistic fuzzy entropy and intuitionistic fuzzy number of each evaluation index are calculated by utilizing influence degree score, and subjective weight information of each evaluation index is obtained. However, subjective judgment may deviate, and thus weight distribution is also required in combination with objective data. Based on the entropy weight method, a decision matrix is constructed according to navigation danger assessment index information, and standardized processing is carried out on the decision matrix to eliminate dimension influence. And then, calculating the information entropy and the information entropy redundancy of each evaluation index by using a standardized matrix, and further distributing objective weights of each evaluation index. And finally, combining the subjective weight information and the objective weight information to construct a navigation danger assessment rule. And (3) evaluating the navigation danger of the target fishing boat passing through the current sea area by combining the navigation response characteristic information to obtain navigation danger evaluation information.

Further, in a preferred embodiment of the present invention, when the sailing capability of the target fishing boat cannot safely pass through the target sea area, the current sailing route is adjusted, and a sailing route adjustment scheme is formulated to avoid danger, which specifically includes:

When it is determined that the sailing capability of the target fishing boat is insufficient to safely pass through the target sea area, the sailing route is required to be adjusted, and a sailing route adjustment scheme is formulated, so that sailing hazards are effectively avoided. First, defining the grid size in the subsequent analysis through the construction information of the target fishing boat, and constructing a grid environment map by using a Geographic Information System (GIS) technology. Obstacle information is extracted through a vector electronic chart of a target area, and marks are carried out on a grid environment map to distinguish free space (namely, a non-obstacle area) from non-free space (namely, an area with an obstacle). And simultaneously, predicting the water depth of the unknown grid unit by adopting a spline function interpolation method. And predicting the water depth of the unknown grid unit based on the known water depth data by constructing a cubic spline function and presetting reasonable boundary conditions, so as to mark the grid environment map in more detail. Before the navigation route is optimized, the real-time position of the fishing boat is set as the starting point of navigation route change, limiting conditions are set based on the original route and the steering capability of the fishing boat, the direction of the avoidance route is limited by the original route without deviating from the original route, and the oversized steering angle in the avoidance route is limited by the steering capability of the fishing boat. Meanwhile, the driving-off area is calibrated through the detection range of the environment monitoring equipment, and the ant colony algorithm is adopted for path optimization. Presetting an initial pheromone, and regarding each grid unit in the free space as a node. And gradually constructing possible evasion paths by calculating the state transition probability of each node. In order to ensure the feasibility and the safety of the paths, the paths are punished according to set limiting conditions, and candidate avoidance paths are obtained through iterative optimization. And then, constructing a wading danger evaluation rule according to the real-time wading depth of the target fishing boat, avoiding the wading danger of the evasion route, evaluating each candidate route to obtain an optimal evasion route, and generating a navigation route adjustment scheme. Due to the limitation of environment detection equipment, only limited information of an original route passing region can be obtained, in the process of avoiding, along with the advancing of a fishing boat, the detection region is also updated continuously, at the moment, real-time detection and danger assessment are needed, whether the updated detection region in the advancing process meets passing conditions or not is judged, the avoiding route is adjusted in real time, and the avoiding consumption is reduced while the safety of the fishing boat is ensured.

as shown in fig. 2, the present invention provides a dangerous sea area evasion analysis flowchart, including:

S202, acquiring navigation information of a target fishing boat and real-time marine environment information;

S204, performing sea area environment simulation on the current sea area according to the real-time sea environment information, and performing navigation response analysis by combining the target fishing boat navigation information to obtain navigation response analysis information;

s206, carrying out navigation danger assessment according to the navigation response analysis information, judging whether the current navigation strategy of the target fishing boat can safely pass through the target sea area, and analyzing whether the navigation capacity of the target fishing boat can safely pass through the target sea area;

S208, when the sailing capacity of the target fishing boat cannot safely pass through the target sea area, adjusting the current sailing route, and making a sailing route adjusting scheme to avoid danger;

S210, acquiring an updated detection area in the danger avoiding process, carrying out navigation danger assessment, and if the updated detection area meets traffic conditions, adjusting the avoiding path in real time.

In addition, the fishing boat alarming method based on dynamic marine environment simulation provided by the invention further comprises the following steps:

If the target fishing boat can safely pass through the current sea area after the fishing boat navigation control parameters are changed, extracting corresponding navigation simulation parameters according to the first analysis information, and generating a changed fishing boat running scheme;

Extracting features of the changed fishing boat running scheme, extracting navigation control parameters and predicted navigation distance of the changed scheme, and calculating navigation time and navigation energy consumption of crossing a target sea area to obtain change scheme consumption information;

Acquiring a navigation route adjustment scheme, extracting navigation control parameters and predicted navigation distances of an avoidance route according to the navigation route adjustment scheme, and calculating navigation time and navigation consumption of an avoidance target sea area to obtain avoidance scheme consumption information;

Acquiring real-time energy reserve information of a target fishing boat, and respectively calculating residual energy of the fishing boat after the modification scheme and the avoidance scheme are completed according to the modification scheme consumption information and the avoidance scheme consumption information to obtain residual energy information;

acquiring navigation plan information, extracting next stop point information according to the navigation plan information, and analyzing whether the residual energy adopting a change scheme or an avoidance scheme can reach the next stop point by combining the residual energy information;

If the avoidance scheme can reach the next stop point and the change scheme can not reach the next stop point, the fishing boat is driven according to the navigation route adjustment scheme;

if the changing scheme and the avoiding scheme can not reach the next stop point, calculating the position of the original route which can be reached after the changing scheme and the avoiding scheme are driven away from the target sea area according to the residual energy information, and recommending the scheme.

When it is judged that the target fishing boat can safely pass through the current sea area after the navigation control parameters of the fishing boat are changed, the representative target fishing boat can safely pass through the target sea area without changing the original route. However, changing the navigation control parameters of the fishing boat changes the navigation energy consumption of the fishing boat, thereby increasing the navigation cost and possibly affecting the navigation planning of the target fishing boat. At the moment, the navigation cost of the evading target sea area and the navigation cost of the crossing target sea area are analyzed, the influence of the two schemes on the original navigation plan is judged, the optimal scheme is selected for traveling, and the influence on the original navigation plan is reduced.

Fig. 3 is a schematic diagram of a fishing vessel alarm system 3 based on dynamic marine environment simulation according to an embodiment of the present invention, where the system includes a memory 31 and a processor 32, the memory 31 contains a fishing vessel alarm method program based on dynamic marine environment simulation, and the following steps are implemented when the fishing vessel alarm method program based on dynamic marine environment simulation is executed by the processor 32:

In the several embodiments provided by the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is merely a logical function division, and there may be additional divisions of actual implementation, such as multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. In addition, the various components shown or discussed may be coupled or directly coupled or communicatively coupled to each other via some interface, whether indirectly coupled or communicatively coupled to devices or units, whether electrically, mechanically, or otherwise.

The units described as separate components may or may not be physically separate, and components displayed as units may or may not be physical units, may be located in one place or distributed on a plurality of network units, and may select some or all of the units according to actual needs to achieve the purpose of the embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated in one processing unit, or each unit may be separately used as a unit, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of hardware plus a form of software functional unit.

It will be appreciated by those of ordinary skill in the art that implementing all or part of the steps of the above method embodiments may be implemented by hardware associated with program instructions, where the above program may be stored in a computer readable storage medium, where the program when executed performs the steps comprising the above method embodiments, where the above storage medium includes a mobile storage device, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic or optical disk, or other various media that may store program code.

Or the above-described integrated units of the invention may be stored in a computer-readable storage medium if implemented in the form of software functional modules and sold or used as separate products. Based on such understanding, the technical solutions of the embodiments of the present invention may be embodied in essence or a part contributing to the prior art in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in the embodiments of the present invention. The storage medium includes various media capable of storing program codes such as a removable storage device, a ROM, a RAM, a magnetic disk or an optical disk.

The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1.A fishing boat alarming method based on dynamic marine environment simulation is characterized by comprising the following steps:

When the sailing capability of the target fishing boat cannot safely pass through the target sea area, the current sailing route is adjusted, and a sailing route adjustment scheme is formulated to avoid danger;

2. The fishing boat alarm method based on dynamic marine environment simulation according to claim 1, wherein the acquiring the target fishing boat navigation information and the real-time marine environment information performs data preprocessing on the target fishing boat navigation information and the real-time marine environment information, and specifically comprises:

3. The fishing boat alarm method based on dynamic marine environment simulation according to claim 1, wherein the constructing a six-degree-of-freedom kinematic model of a target fishing boat, performing sea area environment simulation on a current sea area according to the real-time marine environment information, and performing navigation response analysis in combination with the target fishing boat navigation information, comprises the following specific steps:

4. The fishing boat warning method based on dynamic marine environment simulation according to claim 1, wherein the step of performing navigation danger assessment according to the navigation response analysis information, judging whether the current navigation strategy of the target fishing boat can safely pass through the target sea area, if not, acquiring the navigation capability information of the target fishing boat, and analyzing whether the target fishing boat has the navigation capability capable of safely passing through the current sea area, specifically comprises the steps of:

5. The fishing boat alarm method based on dynamic ocean environment simulation according to claim 4, wherein the setting of navigation danger assessment indexes, setting corresponding assessment weights for each assessment index, constructing a navigation danger assessment rule, and assessing the navigation danger of a target fishing boat passing through a current sea area by combining the navigation response characteristic information, specifically comprises:

6. The fishing boat warning method based on dynamic marine environment simulation according to claim 1, wherein when the sailing ability of the target fishing boat cannot safely pass through the target sea area, the current sailing route is adjusted, and a sailing route adjustment scheme is formulated to avoid danger, and the method specifically comprises the following steps:

7. The fishing boat alarm system based on the dynamic marine environment simulation is characterized by comprising a memory and a processor, wherein the memory contains a fishing boat alarm method program based on the dynamic marine environment simulation, and the fishing boat alarm method program based on the dynamic marine environment simulation realizes the following steps when being executed by the processor: