Icebreaker mast vibration monitoring and sailing auxiliary decision-making system and method

Abstract

The invention discloses an icebreaker mast vibration monitoring and sailing auxiliary decision-making system and method. The system comprises a vibration signal acquisition system, a vibration signal processing and analyzing system and a sailing auxiliary decision-making system. The vibration signal acquisition system is used for acquiring vibration data by arranging an optical fiber vibration sensor at a measuring point position of a mast structure; the vibration signal processing and analyzing system is used for processing the vibration data, extracting the processed vibration data and simultaneously carrying out real-time vibration monitoring and evaluation; the sailing auxiliary decision-making system comprises a ship driving operation control module, a ship navigation adjustment decision-making module and a self-adaptive sailing control module. According to the method, real-time monitoring of the vibration state of the ship mast structure and real-time adjustment of the navigation state can be ensured, ice-induced vibration can be controlled on the basis of the real-time icebreaking state, overlarge ice-induced vibration frequency and amplitude are avoided, and the icebreaking efficiency is maximized under the condition that the safety of a ship and the comfort of sailors are ensured.

Description

Technical Field

[0001] The present invention belongs to the technical field of ships and marine engineering, and in particular relates to an icebreaker mast vibration monitoring and navigation auxiliary decision-making system and method. Background Art

[0002] The hull structure of an icebreaker will vibrate due to the excitation of waves, ice loads and mechanical equipment during navigation and operation in ice areas. The vibration of the hull structure not only easily leads to fatigue damage of the hull structure, affecting the normal operation and navigation of the icebreaker, but also affects the comfort of the living and working environment of the crew on board. At present, ships sailing in polar ice areas often face complex ice conditions, such as floating ice and icebergs, which pose severe challenges to the safety of ships and the comfort of crew members. Ice-induced vibration is a common phenomenon in polar navigation, which can cause nonlinear response of the hull, damage the hull structure, and even affect the normal work and life of the crew. Therefore, advanced methods are needed to monitor vibration in real time and guide the navigation of ships in ice areas.

[0003] The mast structure is very susceptible to ice-induced vibrations caused by ice loads. At the same time, since the mast structure itself is a tall, flexible, fixed cantilever beam structure, it usually vibrates significantly under the excitation of ice loads. There are two main existing icebreaking methods: continuous icebreaking and impact icebreaking. Different icebreaking methods produce different load excitations. Impact icebreaking produces transient impact force, which in turn causes the structure to vibrate significantly. During continuous icebreaking, the ice load is a high-frequency, random, simple harmonic load. Under the continuous action of dynamic alternating loads, the hull will vibrate violently. At the same time, if the load excitation frequency is close to the natural frequency of the mast structure, resonance will occur, causing structural damage or generating violent noise.

[0004] The navigation parameters determine the impact force and frequency of the collision between the hull and the ice body, and are an important factor in determining the ice-induced load on the hull. The increase in speed will increase the impact and destructive force of ice on the hull. Although the increase in speed can improve the efficiency of the hull in ice areas, the impact force of sea ice on the hull will also increase at the same time; not only that, in the local area where the ship contacts the sea ice, the stress will also increase accordingly, not only the structure becomes more susceptible to damage and deformation, but also due to the continuous loading and unloading of the load, it will cause continuous vibration in the local area, affecting the safety of the ship structure. However, if the navigation speed is too low, the navigation efficiency will be reduced and the economic benefits will be affected. Therefore, when an icebreaker sails in an ice area, the selection of the ship speed should take into account various factors, and navigation efficiency and hull structure vibration are two very important factors. At the same time, different ice areas have different sea ice parameters, including ice density, sea ice thickness, sea ice size, etc., which are important parameters affecting structural vibration. Therefore, by adjusting its own navigation and operation parameters and selecting different navigation areas, ice-induced vibration can be controlled, prevented, and more flexible. It is necessary to establish a hull mast vibration monitoring and navigation auxiliary decision-making system. By real-time monitoring of the vibration state of the local mast structure and understanding the icebreaking state, the navigation control parameters can be guided, and the ship's operating status can be adjusted in real time to avoid excessive ice-induced vibration frequency and amplitude. This can maximize the icebreaking efficiency while ensuring the safety of the hull and the comfort of the crew. Summary of the invention

[0005] The purpose of the present invention is to address the deficiencies of the above-mentioned background technology and to provide an icebreaker mast vibration monitoring and navigation auxiliary decision-making system and method, which can ensure real-time monitoring of the vibration state of the hull mast structure and real-time adjustment of the navigation state, and make the ice-induced vibration controllable based on the real-time icebreaking state, avoiding excessive ice-induced vibration frequency and amplitude, and maximizing the icebreaking efficiency while ensuring the safety of the hull and the comfort of the crew.

[0006] To achieve the above-mentioned purpose, the present invention provides an icebreaker mast vibration monitoring and navigation auxiliary decision system, including a vibration signal acquisition system, a vibration signal processing and analysis system, and a navigation auxiliary decision system;

[0007] The vibration signal acquisition system collects vibration data by using optical fiber vibration sensors arranged at measuring points of the mast structure, and transmits the collected vibration data to the vibration signal processing and analysis system in real time;

[0008] The vibration signal processing and analysis system receives the vibration data transmitted by the vibration signal acquisition system, processes the vibration data, and extracts the processed vibration data, including modal data, frequency domain curves, and time domain curves; at the same time, it performs real-time vibration monitoring and evaluation, and transmits the obtained vibration monitoring data and evaluation results to the navigation auxiliary decision system;

[0009] The navigation auxiliary decision system includes a ship driving and maneuvering control module, a ship navigation adjustment decision module and an adaptive navigation control module. The ship driving and maneuvering control module receives the vibration monitoring data and evaluation results transmitted by the vibration signal processing and analysis system, and identifies the current icebreaking state and ship performance; the ship navigation adjustment decision module makes real-time adjustments to navigation parameters according to the vibration state and icebreaking state; the adaptive navigation control module implements adaptive navigation control based on historical data and intelligent algorithms, and makes navigation adaptability adjustments according to different icebreaking states and different vibration states.

[0010] Furthermore, the measuring point position of the mast structure is the position where the mast vibration frequency and amplitude are the largest as determined by numerical simulation results, which is used as the optimal measuring point position of the optical fiber vibration sensor; and the support point and connection method are determined based on actual conditions, and vibration signals at different positions of the mast structure are collected simultaneously using multiple channels.

[0011] Furthermore, when the vibration signal processing and analysis system is started, the optical fiber vibration sensor is initialized, including sensor sensitivity, sampling rate, and filter parameter settings.

[0012] Furthermore, the vibration signal processing and analysis system processes the vibration data specifically as follows: first, the vibration data is filtered using a digital filter to remove noise in different frequency ranges, and then a wavelet algorithm is used to perform noise reduction to ensure signal clarity, and the vibration data collected by multiple fiber optic vibration sensors are time-aligned.

[0013] Furthermore, the vibration signal processing and analysis system extracts the processed vibration data by performing Fourier transform on the vibration data, identifying the characteristic frequency and spectrum of the vibration, and drawing the corresponding time domain curve to determine the characteristic parameters of the vibration amplitude, period, and pulse, and at the same time determining the vibration natural frequency, damping, and vibration type modal data of the mast based on the modal recognition algorithm.

[0014] Furthermore, the vibration signal processing and analysis system evaluates the vibration state in real time based on preset evaluation indicators to determine whether abnormal vibration exists.

[0015] Furthermore, the ship navigation adjustment decision module performs real-time adjustment of navigation parameters according to the vibration state and the icebreaking state, specifically including icebreaking operation parameters, power system parameters, and propeller parameters.

[0016] The present invention also provides a method for utilizing the icebreaker mast vibration monitoring and navigation auxiliary decision-making system, comprising the following steps:

[0017] Step S1: determining the optimal measuring point position of the optical fiber vibration sensor on the mast structure according to the numerical simulation results, and installing the optical fiber vibration sensor at the measuring point position;

[0018] Step S2: Initialize the optical fiber vibration sensor, including sensor sensitivity, sampling rate, and filter parameter settings;

[0019] Step S3: starting the vibration signal acquisition system to start real-time acquisition of vibration data monitored by the optical fiber vibration sensor;

[0020] Step S4: The collected vibration data is transmitted to the vibration signal processing and analysis system in real time through the data transmission channel, and the vibration data is filtered, denoised, and aligned;

[0021] Step S5: extracting vibration data, including frequency domain curves, modal data, and time domain curves, and performing real-time vibration monitoring;

[0022] Step S6: Evaluate the frequency reserve of the modal data and the frequency domain curve and the criterion evaluation of the comprehensive time domain curve, and output the vibration data of the unfavorable state of ice breaking;

[0023] Step S7: Based on the vibration data of the unfavorable icebreaking state outputted in step S6, the data is inputted into the ship driving and maneuvering control system in real time to further identify the current icebreaking state and ship performance;

[0024] Step S8: adjusting the navigation parameters in real time based on the ship mast vibration state and icebreaking state, changing the icebreaking operation parameters, power system parameters and propeller parameters, and further adjusting the icebreaking mode and the ship speed and heading;

[0025] Step S9: Further realize adaptive navigation control based on historical data and intelligent algorithms, and make navigation adaptive adjustments according to different ice conditions and vibration states.

[0026] Furthermore, the specific steps of step S6 are as follows: the modal data and the frequency domain curve are evaluated. When the frequency reserve between the mast result natural frequency and the excitation frequency exceeds 15%, it can be determined as an unfavorable icebreaking state. When the frequency reserve requirement is met, further criterion evaluation is performed with the time domain curve. When the criterion requirement is met, it is determined to be a normal icebreaking state. If the criterion requirement is not met, it is determined to be an unfavorable icebreaking state.

[0027] Furthermore, in step S8, the real-time adjustment of navigation parameters includes changing icebreaking operation parameters, power system parameters and propeller parameters, and further adjusting the icebreaking method and the ship's speed and heading.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] First, the icebreaker mast vibration monitoring and navigation auxiliary decision-making system and method of the present invention can monitor the mast vibration state in real time and accurately, and then understand the icebreaking state to adjust the navigation parameters. Based on mast vibration monitoring, the vibration parameters such as the vibration frequency, vibration amplitude, and mode of the mast can be accurately evaluated, and the navigation parameters can be adjusted in time to avoid structural damage and vibration noise problems caused by adverse vibrations, eliminate safety hazards, discover and deal with potential vibration problems in advance, reduce maintenance costs, and extend the service life of the hull.

[0030] Secondly, the present invention can understand the icebreaking status in real time through the vibration of the mast, and can predict the complex ice conditions to provide detailed navigation suggestions, thereby improving the efficiency of icebreaker navigation and icebreaking. Especially in complex ice conditions and thick ice areas, it solves the problem of structural vibration caused by the unpredictable icebreaking operation, as well as the real-time understanding of the icebreaking status and real-time adjustment of navigation parameters.

[0031] Third, the system of the present invention is adaptable to multiple ice conditions and can provide reasonable navigation suggestions under different ice conditions. It has better adaptability and flexibility, and provides technical support for ships' navigation in diverse ice areas. Navigation parameters and vibration problems have always been two contradictory systems. Improper navigation parameters will bring about adverse ice load excitation, and then produce uncontrollable ice-induced vibrations, affecting structural safety and icebreaking efficiency. Combined with vibration monitoring data, the navigation assistance decision system of the present invention has intelligent path planning and power distribution functions, which can provide real-time and accurate navigation suggestions, control ice-induced vibration problems, and optimize the ship's navigation and icebreaking efficiency.

[0032] Fourthly, the intelligent navigation auxiliary decision system of the present invention provides real-time suggestions for the crew, reduces the crew's operating burden, and improves the controllability and safety of the ship's navigation. In the above manner, the present invention fully solves the contradiction between ice-induced vibration and navigation driving of traditional icebreakers, and provides comprehensive technical support for the safe and efficient navigation of icebreakers in ice areas. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a structural schematic diagram of an icebreaker mast vibration monitoring and navigation auxiliary decision system;

[0034] Figure 2 This is a flow chart of icebreaker mast vibration monitoring and navigation assistance decision-making method;

[0035] In the figure: a vibration signal acquisition system 1, an optical fiber vibration sensor 11, a vibration signal processing and analysis system 2, a navigation auxiliary decision system 3, a ship driving and maneuvering control module 31, a ship navigation adjustment decision module 32, and an adaptive navigation control module 33. DETAILED DESCRIPTION

[0036] The specific embodiments of the present invention are further described below in conjunction with the accompanying drawings. It should be noted that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation of the present invention, and is only used as an example. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other. At the same time, the advantages of the present invention will become clearer and easier to understand by explaining.

[0037] like Figure 1 As shown, an icebreaker mast vibration monitoring and navigation auxiliary decision system of the present invention includes a vibration signal acquisition system 1, a vibration signal processing and analysis system 2, and a navigation auxiliary decision system 3. Among them, the vibration signal acquisition system 1 collects vibration data by using an optical fiber vibration sensor 11 arranged at the measuring point position of the mast structure, and transmits the collected vibration data to the vibration signal processing and analysis system in real time; the measuring point position of the mast structure is the position where the mast vibration frequency and amplitude are the largest determined by the numerical simulation results, as the optimal measuring point position of the optical fiber vibration sensor; and according to the actual determination of the support point and the connection method, a multi-channel is used to simultaneously collect vibration signals at different positions of the mast structure. When the vibration signal processing and analysis system is started, the optical fiber vibration sensor is initialized and set, including sensor sensitivity, sampling rate, filter parameter settings, and high sampling rate within a high frequency and high dynamic range is set to ensure that the sensor can obtain the best performance under a specific environment. In this embodiment, the optical fiber vibration sensor is fixed to the mast structure by a thread to ensure a firm and stable installation. The optical fiber vibration sensor needs to have certain waterproof and corrosion resistance to ensure long-term reliable operation. While collecting data, the system monitors the sensor status in real time to ensure its normal operation. If a sensor failure or abnormality occurs, the system will alarm and record it in time.

[0038] The vibration signal processing and analysis system 2 receives the vibration data transmitted by the vibration signal acquisition system, processes the vibration data, first filters the vibration data with a digital filter to remove noise in different frequency ranges, then uses a wavelet algorithm with a high signal-to-noise ratio to perform noise reduction processing to ensure signal clarity, and time-aligns the vibration data collected by multiple optical fiber vibration sensors; then Fourier transforms the vibration data to identify the characteristic frequency and spectrum of the vibration, and draws the corresponding time domain curve to determine the vibration amplitude, period, pulse and other characteristic parameters, and at the same time determines the vibration natural frequency, damping and vibration type of the mast based on the modal recognition algorithm, extracts vibration data including modal data, frequency domain curves, and time domain curves; at the same time, real-time vibration monitoring and evaluation are performed, and the system performs real-time evaluation of the vibration state based on preset evaluation indicators to determine whether there is abnormal vibration, and transmits the obtained vibration monitoring data and evaluation results to the navigation auxiliary decision system;

[0039] The navigation auxiliary decision system 3 includes a ship driving and maneuvering control module 31, a ship navigation adjustment decision module 32 and an adaptive navigation control module 33. The ship driving and maneuvering control module 31 receives the vibration monitoring data and evaluation results transmitted by the vibration signal processing and analysis system to identify the current icebreaking state and ship performance; the ship navigation adjustment decision module 32 adjusts the navigation parameters in real time according to the vibration state of the ship mast and the icebreaking state, including icebreaking operation parameters, power system parameters, propeller parameters, and adjusts the navigation, and then controls the vibration, and understands the icebreaking state through vibration, improves the structural safety and icebreaking efficiency; the adaptive navigation control module 33 realizes adaptive navigation control based on historical data and intelligent algorithms, and adjusts the navigation adaptability through different icebreaking states and different vibration states. In this embodiment, the navigation auxiliary decision system understands the acceleration state of the icebreaking operation in real time according to the processed vibration monitoring data, combined with parameters such as real-time sea conditions, so as to reasonably allocate the main engine power and propeller power through the power distribution algorithm, and the system calculates and gives the optimal speed, optimal heading, and icebreaking operation parameter settings to ensure that the ship obtains the best performance in the icebreaking operation while reducing the impact of vibration and ensuring the safety of the ship structure.

[0040] like Figure 2 As shown, the method of the present invention using the above-mentioned icebreaker mast vibration monitoring and navigation auxiliary decision system includes the following steps:

[0041] Step S1: determining the optimal measuring point position of the optical fiber vibration sensor on the mast structure according to the numerical simulation results, and firmly installing the optical fiber vibration sensor at the measuring point position through a thread;

[0042] Step S2: connecting to the optical fiber vibration sensor via an optical fiber, and initializing the optical fiber vibration sensor, including sensor sensitivity, sampling rate, and filter parameter settings;

[0043] Step S3: starting the vibration signal acquisition system to start real-time acquisition of vibration data monitored by the optical fiber vibration sensor;

[0044] Step S4: The collected vibration data is transmitted to the vibration signal processing and analysis system in real time through the data transmission channel, and the vibration data is filtered, denoised, and aligned;

[0045] Step S5: extracting vibration data, including frequency domain curves, modal data, and time domain curves, and performing real-time vibration monitoring;

[0046] Step S6: Evaluate the frequency reserve of the modal data and the frequency domain curve and the criterion evaluation of the comprehensive time domain curve, and output the vibration data of the unfavorable state of icebreaking; evaluate the modal data and the frequency domain curve, when the frequency reserve of the mast result natural frequency and the excitation frequency exceeds 15%, it can be identified as an unfavorable state of icebreaking, and when the frequency reserve requirements are met, further criterion evaluation is performed with the vibration time domain curve; when the criterion requirements are met, it is identified as a normal state of icebreaking, and if the criterion requirements are not met, it is identified as an unfavorable state of icebreaking;

[0047] Step S7: Based on the vibration data of the unfavorable icebreaking state outputted in step S6, the data is inputted into the ship driving and maneuvering control system in real time to further identify the current icebreaking state and ship performance;

[0048] Step S8: Based on the vibration state of the ship's mast and the icebreaking state, the navigation parameters are adjusted in real time, the icebreaking operation parameters, power system parameters and propeller parameters are changed, and the icebreaking method and the ship's speed and heading are further adjusted; the data is input into the ship's driving and maneuvering control system, and the real-time icebreaking situation is understood through the vibration state. The corresponding icebreaking parameters can be adjusted to adapt to the current ice conditions. By adjusting the distribution of the power system and the propeller parameters, the navigation performance of the ship, including speed and navigation, is adjusted in real time to change the excitation of the ice load during navigation and avoid the adverse vibration of the external load on the structure. After the navigation parameters are adjusted, the vibration data will be further collected, processed and evaluated, and the navigation will be adjusted again until the normal state of icebreaking is achieved;

[0049] Step S9: Further realize adaptive navigation control based on historical data and intelligent algorithms, and make navigation adaptive adjustments according to different ice conditions and vibration states.

[0050] Based on the above scheme, real-time monitoring of mast vibration status and guidance of navigation adjustment can be achieved, ensuring real-time monitoring of the vibration status of the hull mast structure and real-time adjustment of the navigation status. The ice-induced vibration can be controlled based on the real-time icebreaking status, avoiding excessive ice-induced vibration frequency and amplitude, and maximizing the icebreaking efficiency while ensuring the safety of the hull and the comfort of the crew.

[0051] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in the field.

Claims

1. An icebreaker mast vibration monitoring and navigation auxiliary decision system, characterized by: Including vibration signal acquisition system, vibration signal processing and analysis system and navigation auxiliary decision system; The vibration signal acquisition system collects vibration data by using optical fiber vibration sensors arranged at measuring points of the mast structure, and transmits the collected vibration data to the vibration signal processing and analysis system in real time; The vibration signal processing and analysis system receives the vibration data transmitted by the vibration signal acquisition system, processes the vibration data, and extracts the processed vibration data, including modal data, frequency domain curves, and time domain curves; at the same time, it performs real-time vibration monitoring and evaluation, and transmits the obtained vibration monitoring data and evaluation results to the navigation auxiliary decision system; The navigation auxiliary decision system includes a ship driving and maneuvering control module, a ship navigation adjustment decision module and an adaptive navigation control module. The ship driving and maneuvering control module receives the vibration monitoring data and evaluation results transmitted by the vibration signal processing and analysis system, and identifies the current icebreaking state and ship performance; the ship navigation adjustment decision module makes real-time adjustments to navigation parameters according to the vibration state and icebreaking state; the adaptive navigation control module implements adaptive navigation control based on historical data and intelligent algorithms, and makes navigation adaptability adjustments according to different icebreaking states and different vibration states.

2. The icebreaker mast vibration monitoring and navigation assistance decision system according to claim 1 is characterized by: The measuring point position of the mast structure is the position where the mast vibration frequency and amplitude are the largest as determined by numerical simulation results, which is used as the optimal measuring point position of the optical fiber vibration sensor; and the support point and connection method are determined according to actual conditions, and vibration signals at different positions of the mast structure are simultaneously collected using multiple channels.

3. The icebreaker mast vibration monitoring and navigation assistance decision system according to claim 2 is characterized by: When the vibration signal processing and analysis system is started, the optical fiber vibration sensor is initialized and set, including the sensor sensitivity, sampling rate, and filter parameter settings.

4. The icebreaker mast vibration monitoring and navigation assistance decision system according to claim 3 is characterized by: The vibration signal processing and analysis system processes the vibration data specifically as follows: first, the vibration data is filtered using a digital filter to remove noise in different frequency ranges, then a wavelet algorithm is used to perform noise reduction to ensure signal clarity, and the vibration data collected by multiple optical fiber vibration sensors are time-aligned.

5. The icebreaker mast vibration monitoring and navigation assistance decision system according to claim 4 is characterized by: The vibration signal processing and analysis system extracts the processed vibration data by performing Fourier transform on the vibration data, identifying the characteristic frequency and spectrum of the vibration, and drawing the corresponding time domain curve to determine the characteristic parameters of the vibration amplitude, period, and pulse, and at the same time determining the vibration natural frequency, damping, and vibration type modal data of the mast based on the modal recognition algorithm.

6. The icebreaker mast vibration monitoring and navigation assistance decision system according to claim 5 is characterized by: The vibration signal processing and analysis system evaluates the vibration state in real time based on preset evaluation indicators to determine whether there is abnormal vibration.

7. The icebreaker mast vibration monitoring and navigation assistance decision system according to claim 6 is characterized by: The ship navigation adjustment decision module performs real-time adjustment of navigation parameters according to the vibration state and the icebreaking state, specifically including icebreaking operation parameters, power system parameters, and propeller parameters.

8. A method for utilizing the icebreaker mast vibration monitoring and navigation assistance decision system according to any one of claims 1 to 7, characterized in that: The steps include: Step S1: determining the optimal measuring point position of the optical fiber vibration sensor on the mast structure according to the numerical simulation results, and installing the optical fiber vibration sensor at the measuring point position; Step S2: Initialize the optical fiber vibration sensor, including sensor sensitivity, sampling rate, and filter parameter settings; Step S3: starting the vibration signal acquisition system to start real-time acquisition of vibration data monitored by the optical fiber vibration sensor; Step S4: The collected vibration data is transmitted to the vibration signal processing and analysis system in real time through the data transmission channel, and the vibration data is filtered, denoised, and aligned; Step S5: extracting vibration data, including frequency domain curves, modal data, and time domain curves, and performing real-time vibration monitoring; Step S6: Evaluate the frequency reserve of the modal data and the frequency domain curve and the criterion evaluation of the comprehensive time domain curve, and output the vibration data of the unfavorable state of ice breaking; Step S7: Based on the vibration data of the unfavorable icebreaking state outputted in step S6, the data is inputted into the ship driving and maneuvering control system in real time to further identify the current icebreaking state and ship performance; Step S8: adjusting the navigation parameters in real time based on the ship mast vibration state and icebreaking state; Step S9: Further realize adaptive navigation control based on historical data and intelligent algorithms, and make navigation adaptive adjustments according to different ice conditions and vibration states.

9. The method according to claim 8, characterized in that: The specific steps of step S6 are as follows: the modal data and the frequency domain curve are evaluated. When the frequency reserve between the mast result natural frequency and the excitation frequency exceeds 15%, it can be determined as an unfavorable icebreaking state; when the frequency reserve requirement is met, further criterion evaluation is performed with the time domain curve. When the criterion requirement is met, it is determined to be a normal icebreaking state. If the criterion requirement is not met, it is determined to be an unfavorable icebreaking state.

10. The method according to claim 8, characterized in that: In step S8, the real-time adjustment of navigation parameters includes changing icebreaking operation parameters, power system parameters and propeller parameters, and further adjusting the icebreaking method and the ship's speed and heading.

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