GIS (Geographic Information System) cross-space-time analysis robot for sailing situation safety of autonomous ship

Abstract

The invention discloses a GIS cross-space-time analysis robot for autonomous ship navigation situation safety, and the robot comprises a navigation situation safety GIS cross-space-time analysis end which achieves the cross-space-time monitoring, prediction and evaluation of the navigation situation safety based on the data information of the positions in different time and spaces in the ship navigation process, achieves the intelligent navigation of a ship, and achieves the real-time monitoring, prediction and evaluation of the navigation situation safety. The danger existing in the ship navigation process is evaluated; the shore-based remote intelligent control end is used for acquiring real-time data information in the ship operation process transmitted by the navigation situation safety GIS cross-space-time analysis end, integrating, visually displaying and storing navigation situation safety information of multiple space-time dimensions, and responding to emergency situations and accidents to be dealt with by the ship; and the mobile intelligent display terminal provides different warnings and is used for reminding and informing sailors of the current ship navigation safety situation and displaying and issuing the ship information and situation information in the ship driving process.

Description

Technical Field

[0001] The present invention belongs to the field of robots and relates to a GIS cross-time and space analysis robot for autonomous ship navigation situation safety. Background Art

[0002] With the development of Industry 4.0, the publication of GMTT 2030, and the advancement of the IMO and IALA "e-Navigation" strategies, smart ships, smart navigation technologies, and integrated navigation simulation systems are constantly evolving. The integration of shipborne sensor systems and the intelligent interconnection of the Internet of Things (IoT) are becoming increasingly widespread. GIS cross-spatiotemporal analysis technology plays an increasingly prominent role in the comprehensive processing and analysis of spatiotemporal information related to autonomous ship navigation safety. However, current research institutions and R&D companies have yet to develop a mature GIS cross-spatiotemporal analysis robot capable of supporting autonomous ship navigation safety. During autonomous navigation, the complex and ever-changing spatiotemporal environment of unmanned maritime navigation frequently leads to navigation safety issues, especially in harsh and complex environments. Therefore, in-depth analysis of cross-spatiotemporal information related to autonomous ship navigation safety is crucial for the application of unmanned ships. Designing a GIS cross-spatiotemporal analysis robot for autonomous ship navigation safety is crucial to addressing these issues. Summary of the Invention

[0003] In order to solve the above problems, the technical solution adopted by the present invention is: a GIS cross-temporal and spatial analysis robot for autonomous ship navigation situation safety, comprising: The cross-temporal and spatial analysis terminal of the navigation situation safety geographic information system (GIS): This terminal is used to obtain navigation situation and environmental information of the surrounding sea area during the ship's navigation process. Based on the data information of the ship's position at different times and spaces during the navigation process, it can realize cross-temporal and spatial monitoring, prediction and assessment of navigation situation safety, realize intelligent navigation of ships, and assess the dangers in the ship's navigation process. Shore-based remote intelligent control terminal: obtains real-time data information of the ship's operation process transmitted by the navigation situation safety GIS cross-temporal and spatial analysis terminal, integrates and intuitively displays and stores the navigation situation safety information in multiple temporal and spatial dimensions, and responds to emergencies and accidents that the ship is about to deal with; Mobile intelligent display terminal: obtains real-time data information of the ship operation process transmitted by the navigation situation safety GIS cross-time and space analysis terminal, provides different warning words to remind and inform the crew of the current ship navigation safety situation, and displays and publishes the ship information and situation information during the ship's navigation process.

[0004] Furthermore, the navigation situation safety GIS cross-temporal and spatial analysis terminal includes: Situational information sensing unit: used to sense and collect navigation situation and environmental information of the sea area around the ship, including weather, sea conditions, water depth, and ship position, and overlay it with the electronic chart system; Ship navigation and positioning unit: used to locate the ship's position information in real time; Situational safety cross-temporal and spatial analysis unit: Based on the navigation situation and environmental information of the sea area around the ship transmitted by the situation information sensing unit and the ship's position information transmitted by the ship navigation and positioning unit, it performs cross-temporal and cross-spatial analysis and calculation of the safety situation during the ship's navigation process. Combined with advanced cross-temporal and cross-spatial analysis algorithms, it realizes cross-temporal and cross-spatial monitoring, prediction and assessment of navigation situation safety. Advanced navigation strategy intelligent optimization unit: based on the predicted ship navigation dynamics transmitted by the situational security cross-temporal and spatial analysis unit, it performs automatic navigation, path planning, and dynamic optimization adjustment; Ship voice interactive intelligent driving control unit: used to evaluate the degree of navigation danger based on the situation analysis results transmitted by the situation safety cross-time and space analysis unit, and autonomously adjust the course and speed when the danger is lower than the safety warning line to achieve autonomous navigation of the ship.

[0005] Furthermore, based on the navigation situation and environmental information of the sea area surrounding the ship transmitted by the situation information sensing unit and the position information of the ship transmitted by the ship navigation and positioning unit, the safety situation of the ship during navigation is analyzed and solved across time and space, and combined with advanced cross-time and space analysis algorithms, the process of cross-time and space monitoring, prediction and evaluation of navigation situation safety is achieved as follows: Based on the ship's navigation motion parameters and spatial geometric relationship elements, a continuous state equation across time and space is established for the ship's dangerous area, and the modeling feature points of the spatial model of the ship's dangerous area are constructed; Based on the continuous space-time coordinate system, the precise calculation of the dynamic laws of encounters between ships and the analysis of their interaction states are achieved, and the construction of a space-time relationship expression model library for the dynamic patterns of ship encounters is completed. This enables the cross-space continuity modeling, risk evolution, and quantitative analysis of the dynamic behaviors and situations of ship encounters, thereby improving the navigation situation safety assessment and early warning capabilities in complex space-time encounter scenarios.

[0006] Furthermore: the navigation situation safety GIS cross-temporal and spatial analysis terminal also includes: a virtual reality interaction module: used to perceive and invert the ship's navigation environment information, and perform navigation situation safety simulation based on the navigation sea area environment information, providing virtual navigation situation safety simulation, interaction, and tracking.

[0007] Furthermore: the shore-based remote intelligent control terminal includes: Navigation data and interaction unit: This unit conducts cross-temporal and spatial navigation data modeling, integrates and intuitively displays navigation situation and safety information in multiple temporal and spatial dimensions, and provides a convenient interactive interface and parameter input method. Database module: used to store the ship's type, characteristics, navigation points and navigation regulations of the ship's navigation area, as well as other data support for the ship's navigation; Ship-shore emergency linkage and response unit: used to achieve real-time communication, data transmission, and information sharing between the ship and the shore-based control center, providing command and dispatch services to the ship; Central core processing and intelligent control unit: obtains the ship terminal data information transmitted by the database module and the heading and speed adjustment decisions transmitted by the ship voice interactive intelligent driving control unit, and performs ship navigation data processing, situation analysis, emergency response, and intelligent control; Browser / server architecture monitoring and management module: used to transmit information to the central core processing and intelligent control unit to realize centralized processing and monitoring of various functions of the shore-based remote intelligent control terminal; Ship dynamic spatiotemporal data receiving and sending storage unit: stores the ship's dynamic spatiotemporal data, namely, position, speed, and heading spatiotemporal information, transmitted by the navigation situation safety GIS cross-temporal and spatial analysis terminal, and transmits the ship dynamic information in the database module transmitted by the browser / server architecture monitoring and management module to the navigation situation safety GIS cross-temporal and spatial analysis terminal.

[0008] Furthermore: the database module includes a local database module and a cloud database cluster module; The local database module is used to store the ship type, ship characteristics, ship navigation points and navigation regulations of the ship's navigation area; The cloud database module is used to retrieve various relevant information required for navigation, including navigation environment data, navigation target information, and storage of the current status information of the ship based on the real-time ship position information transmitted by the ship navigation and positioning unit.

[0009] Furthermore: the mobile intelligent display terminal includes: Voice warning unit: Based on the navigation situation and environmental information of the sea area around the ship transmitted by the situation information sensing unit, it provides different warning words for different navigation safety situations to remind and inform the crew of the current navigation safety situation of the ship; Mobile display unit: used for mobile display of ship information and situation information; Emergency call and collaborative response module: When a ship's safety is in trouble, it can quickly locate other personnel with response capabilities within a certain range around the ship based on the ship's real-time positioning data; and send an emergency call command containing event details, location information, and response requirements; Situation information communication unit: used for signal communication with other modules.

[0010] The GIS cross-temporal and spatial analysis robot for autonomous ship navigation safety provided by the present invention has the following advantages: Based on the GIS architecture, the present invention creates a navigation situation analysis robot with a GIS architecture and high spatiotemporal integration characteristics. It has powerful information fusion and analysis capabilities and can deeply integrate various situation information of the sea area around the ship. On this basis, it can carry out cross-spatiotemporal analysis of the situation safety around the ship, covering key links such as accurate acquisition of cross-spatiotemporal encounter safety information, scientific prediction of navigation risks, and comprehensive assessment of navigation safety. With the help of the navigation situation GIS cross-spatiotemporal analysis terminal, this robot realizes intelligent navigation safety driving analysis and real-time dynamic optimization of routes, improving the navigation efficiency and safety of ships. On the other hand, it monitors potential risks in the navigation process in real time, and makes early warnings and responses in a timely manner, effectively reducing navigation risks, reducing the adverse effects of human factors on navigation, and ensuring the safety of ship navigation. In terms of user experience, the robot has been optimized in all aspects. The navigation data and interaction unit provides a simple, intuitive, and easy-to-operate user-friendly interface, allowing users to easily obtain the required information and perform interactive operations; the mobile display unit can push multi-temporal and spatial ship information and situation information in real time, allowing users to grasp the dynamics of the ship at any time no matter where they are; the voice interaction unit provides a convenient voice interaction method, and users only need to issue voice commands to achieve precise control of the ship, greatly improving the user experience. In summary, this GIS cross-temporal and spatial analysis robot that supports the safety of autonomous navigation of ships not only greatly improves the safety and intelligent efficiency of autonomous navigation of ships, allowing crew members to enjoy the convenience and efficiency brought by intelligent navigation technology, but also realizes ship-shore emergency linkage, providing all-round protection for ship navigation safety. This invention has broad application prospects and significant social value, and is expected to promote the field of autonomous ship navigation to a safer, smarter, and more efficient direction. BRIEF DESCRIPTION OF THE DRAWINGS In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0011] Figure 1 It is a schematic diagram of the system structure of the present invention; Figure 2 It is the technical roadmap of the present invention; Figure 3 It is the system operation logic diagram of the present invention. DETAILED DESCRIPTION

[0012] It should be noted that, unless there is any conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0013] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is in no way intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0014] Figure 1 It is a schematic diagram of the system structure of the present invention; Figure 2 It is the technical roadmap of the present invention; A GIS cross-temporal and spatial analysis robot for autonomous ship navigation situation safety, including: The cross-temporal and spatial analysis terminal of the navigation situation safety geographic information system (GIS): This terminal is used to obtain navigation situation and environmental information of the surrounding sea area during the ship's navigation process. Based on the data information of the ship's position at different times and spaces during the navigation process, it can realize cross-temporal and spatial monitoring, prediction and assessment of navigation situation safety, realize intelligent navigation of ships, and assess the dangers in the ship's navigation process. Shore-based remote intelligent control terminal: obtains real-time data information of the ship's operation process transmitted by the navigation situation safety GIS cross-temporal and spatial analysis terminal, integrates and intuitively displays and stores the navigation situation safety information in multiple temporal and spatial dimensions, and responds to emergencies and accidents that the ship is about to deal with; Mobile intelligent display terminal: obtains real-time data information of the ship operation process transmitted by the navigation situation safety GIS cross-time and space analysis terminal, provides different warning words to remind and inform the crew of the current ship navigation safety situation, and displays and publishes the ship information and situation information during the ship's navigation process.

[0015] The navigation situation safety GIS cross-temporal and spatial analysis terminal includes: a situation information sensing and perception unit, a situation safety cross-temporal and spatial analysis unit, an advanced navigation strategy intelligent optimization unit, a ship navigation and positioning unit, a virtual reality interaction module, and a ship voice interaction intelligent driving control unit; Situational information sensing and perception unit: used to sense and collect navigation situation and environmental information of the sea area around the ship, including weather, sea conditions, water depth, and ship position, and superimpose it with the electronic chart system; the main function of this unit is to provide the system with real-time or multi-temporal and cross-temporal navigation situation information, to provide protection for the intelligent navigation safety of the ship, and the perceived real-time information is transmitted to the shore-based remote intelligent control terminal and the mobile intelligent display terminal.

[0016] Ship navigation and positioning unit: used to locate the ship's position information in real time; including GPS, Beidou, inertial navigation and other positioning methods. The main function of this unit is to provide the system with real-time ship position information, and at the same time feed the real-time information back to the cloud database module to ensure the navigation safety of the ship; The Situational Safety Trans-temporal and Spatial Analysis Unit (STSMU) analyzes and resolves the vessel's safety situation across time and space, based on the navigational situation and environmental information of the surrounding waters transmitted by the Situational Information Sensing Unit and the vessel's position information transmitted by the Navigation and Positioning Unit. Combined with advanced trans-temporal and spatial analysis algorithms, this unit enables trans-temporal and spatial monitoring, prediction, and assessment of navigational safety. The Situational Safety Trans-temporal and Spatial Analysis Unit serves as the robot's "intelligent brain." This unit primarily analyzes and resolves the vessel's safety situation across time and space. Based on integrated data from different time slices and spatial locations, including navigation trajectory, ocean environment, waterway conditions, vessel status, collision risk, traffic flow, and navigation safety, this unit, combined with advanced trans-temporal and spatial analysis algorithms, enables trans-temporal and spatial monitoring, prediction, and assessment of navigational safety. This unit's primary function is to help navigation managers and decision-makers comprehensively and accurately understand the navigational safety situation and promptly identify potential risks. This acts as a "warning radar" for autonomous vessel navigation safety, enabling timely and effective preventive and response measures to ensure safe and smooth navigation.

[0017] Advanced navigation strategy intelligent optimization unit: Based on the predicted ship navigation dynamics transmitted by the situational security cross-temporal and spatial analysis unit, it performs functions such as automatic navigation, path planning, and dynamic optimization adjustment. The core function of this unit is to improve the efficiency and safety of the ship's intelligent navigation, while minimizing the impact of human factors on the navigation process, making the ship's navigation more intelligent, efficient, and safe.

[0018] Ship voice interactive intelligent driving control unit: used to evaluate the degree of navigation danger based on the situation analysis results transmitted by the situation safety cross-temporal and spatial analysis unit, and autonomously adjust the course and speed when the danger is lower than the safety warning line (when the situation safety cross-temporal and spatial analysis reflects that it is dangerous, evasion or collision avoidance is performed) to achieve autonomous navigation of the ship.

[0019] The process of performing cross-temporal and cross-spatial analysis and calculation of the safety situation of the ship during navigation based on the navigation situation and environmental information of the sea area surrounding the ship transmitted by the situation information sensing unit and the position information of the ship transmitted by the ship navigation and positioning unit, and combining with advanced cross-temporal and cross-spatial analysis algorithms to achieve cross-temporal and cross-spatial monitoring, prediction and assessment of navigation situation safety is as follows: Aiming at the problem of cross-temporal and spatial dynamic analysis in multi-ship encounter scenarios, based on the ship navigation motion parameters (including relative azimuth, velocity vector, etc.) and spatial geometric relationship elements (such as ship-to-ship distance, heading angle, relative position, etc.), a cross-temporal and spatial continuous state equation of the ship encounter danger domain is established, and the modeling feature points of the ship encounter danger domain spatial model are constructed. Based on the continuous space-time coordinate system, the precise calculation of the encounter dynamic laws and interaction state analysis between ships are realized, and the construction of the space-time relationship expression model library of the ship encounter dynamic pattern is completed. The cross-temporal and spatial continuity modeling, risk evolution and quantitative analysis of the dynamic behavior and situation of the ship encounter process are realized, and the navigation situation safety assessment and early warning capabilities in complex ship encounter space-time scenarios are improved.

[0020] The ship voice interactive intelligent driving control unit is a unit module that controls the navigation of the ship through voice interaction. It is used to control the navigation of the ship. The module combines the situation analysis results to intelligently assess the degree of navigation danger. When the danger is lower than the safety warning line, it automatically adjusts the course and speed to achieve autonomous navigation of the ship. At the same time, the decision direction is directly fed back to the central processing unit module on the shore for unified analysis. The central processing unit module includes a speech recognition subunit, a rudder angle control subunit, a speed control subunit, a heading control subunit, etc.

[0021] Speech recognition subunit: It can recognize the crew's voice instructions and convert them into commands to control the ship's navigation; Rudder angle control subunit: can control the rudder angle according to the crew's voice commands to adjust the ship's heading; Speed ​​control subunit: can control the speed of the ship according to the voice commands of the crew, and adjust the sailing speed of the ship; Heading control subunit: It can control the ship's heading according to the crew's voice commands, adjust the ship's heading, and control the ship's navigation through voice interaction, which can improve the crew's experience of intelligent control of the ship, reduce the complexity and difficulty of operation, and improve the ship's navigation safety and response efficiency.

[0022] The navigation situation safety GIS cross-temporal and spatial analysis terminal also includes: a virtual reality interaction module: used to perceive and invert ship navigation environment information, and perform navigation situation safety simulation based on navigation sea environment information, providing virtual navigation situation safety simulation, interaction, and tracking. Based on the navigation sea environment, the robot uses virtual reality (VR) / augmented reality (AR) technology, combined with GIS (geographic information system) spatiotemporal data, to dynamically construct a digital twin scene of the ship's navigation environment, and conducts simulation deduction and interactive analysis of the safety situation in this scene. With VR, AR and other visual modes, the main function of this unit is to provide users with immersive ship navigation information and improve the safety performance of autonomous ship driving.

[0023] The shore-based remote intelligent control terminal includes: a navigation data and interaction unit, a ship dynamic spatiotemporal data transmission and storage unit, a database unit, a ship-shore emergency linkage and response unit, a central core processing and intelligent control module, and a browser / server architecture monitoring and management module; Navigation data and interaction unit: Conduct cross-temporal and spatial navigation data modeling (by inputting dynamic target data and environmental data during the navigation process to conduct GIS modeling), integrate and intuitively display navigation situation safety information in multiple temporal and spatial dimensions, and provide a convenient interactive interface and parameter input method; The navigation data and interaction unit is a core component of the GIS cross-temporal and spatial analysis robot, providing system users with a highly integrated IoT information architecture. This unit enables shore-based users to quickly understand a vessel's navigational safety status in multiple temporal and spatial scenarios, accurately issuing relevant instructions and guiding the delivery of relevant signals.

[0024] Database module: used to store the ship's type, characteristics, navigation points and navigation regulations of the ship's navigation area, as well as other data support for the ship's navigation; The database module adopts a local and cloud dual architecture, and the database module includes a local database module and a cloud database cluster module; The local database module is used to store the ship type, ship characteristics, ship navigation points and navigation regulations of the ship's navigation area; The cloud database module, on the one hand, provides timely and accurate data support for the ship's navigation decision-making based on the real-time ship position information transmitted by the ship navigation and positioning unit; On the other hand, it closely monitors the current status of the ship, such as whether there is any damage, whether there is a lack of power and other key information, and is used to retrieve various relevant information required for navigation, namely navigation environment data (wind, waves and currents), navigation target information, and storage of the ship's current status information.

[0025] To ensure data timeliness and integrity, the entire cloud database is automatically fed back to the cloud-based master database module for backup storage every time slice. This dual-database collaboration enables comprehensive integration and efficient utilization of ship navigation information, providing more powerful data processing capabilities for the autonomous ship navigation situation safety GIS cross-temporal and spatial analysis robot.

[0026] Ship-shore emergency linkage and response unit: used to achieve real-time communication, data transmission, and information sharing between the ship and the shore control center, providing command and dispatch services to the ship; The ship-shore emergency linkage and response unit is a robotic system that integrates a variety of advanced communication, control, and monitoring technologies. It enables real-time communication, data transmission, information sharing, command and dispatch, and other functions between the ship and the shore station. The ship and the shore station can communicate seamlessly through a variety of communication methods, such as satellite, radio, and text messaging. By monitoring the ship's position, heading, speed, and other information in real time, the shore station can keep abreast of the ship's status and provide command and dispatch services to the ship when necessary. The shore station can also provide emergency rescue services, medical care, and supplies to the ship. The robots assist the ship in responding to emergencies and accidents, providing shore-based support for the ship's navigation safety.

[0027] The central core processing and intelligent control unit is the "brain" of the robot. The central core processing and intelligent control unit is used to obtain the ship terminal data information transmitted by the database module, the heading and speed adjustment decisions transmitted by the ship voice interactive intelligent driving control unit, and perform various functions such as ship navigation data processing, situation analysis, emergency response, and intelligent control. Figure 3 The system operates as a whole. It is also responsible for reading database terminal data, conducting in-depth analysis of the data through advanced analysis and processing modules, and ultimately accurately transmitting the data to the B / S architecture monitoring and management unit. This unit centrally processes and monitors various functions of the shore-based remote intelligent control terminal. Its main function is to achieve centralized management and monitoring of the system, improving its stability and reliability.

[0028] Browser / server architecture monitoring and management module: used to centrally process and monitor the functions of the shore-based remote intelligent control terminal for the information transmitted by the central core processing and intelligent control unit; Figure 3 System operation process; The B / S architecture monitoring module is closely connected to the ship dynamic spatiotemporal data transceiver and storage unit through a communication interface, and can obtain ship dynamic information in the database in real time or across time and space, providing powerful monitoring support for the operation of the system.

[0029] Ship dynamic spatiotemporal data receiving and sending storage unit: stores the ship's dynamic spatiotemporal data, namely, position, speed, and heading spatiotemporal information, transmitted by the navigation situation safety GIS cross-temporal and spatial analysis terminal, and transmits the ship dynamic information in the database module transmitted by the browser / server architecture monitoring and management module to the navigation situation safety GIS cross-temporal and spatial analysis terminal.

[0030] The mobile intelligent display terminal includes: a voice warning unit, a situation information communication unit, a mobile display unit, and a nearby personnel emergency call and collaborative response module; Voice warning unit: Based on the navigation situation and environmental information of the sea area around the ship transmitted by the situation information sensing unit, it provides different warning words for different navigation safety situations to remind and inform the crew of the current navigation safety situation of the ship; different navigation safety situations include low risk situation (long distance between ships), medium risk situation (potential conflict between ships, DCPA approaching the threshold), and high risk situation (imminent danger, TCPA danger); Mobile display unit: used to display ship information and situation information on a mobile device; including remote controls, pad display units, handheld devices, virtual reality, etc. This unit mainly displays images and videos of unmanned navigation systems, providing real-time ship information and situation information for ship safety supervision.

[0031] Emergency call and collaborative response module: When a ship's safety is in trouble, it can quickly locate other personnel with response capabilities within a certain range around the ship based on the ship's real-time positioning data; and send an emergency call command containing event details, location information, and response requirements; The process of locking down other people with response capabilities within a certain range around the person is as follows: Install positioning equipment on ships to transmit real-time location information to the safety management system. At the same time, collect positioning data of surrounding personnel (such as nearby ships, rescue teams, etc.); Perform range locking: Based on the preset range and the real-time position of the ship, select the personnel with response capabilities within the range.

[0032] Sending instructions: Send emergency summons containing event details, location information, and response requirements to targeted personnel via communication networks (such as satellite communications, wireless communications, etc.) to ensure accurate and timely delivery of information.

[0033] The module for emergency summoning and coordinated response of nearby personnel relies on advanced positioning tracking and intelligent communication technologies. When a problem occurs with the safety of a ship, it can quickly and accurately identify and lock other personnel with response capabilities within a certain range around it based on the ship's real-time positioning data. By building an efficient and reliable emergency communication network, the module can automatically send emergency summon instructions containing event details, location information and response requirements to these nearby personnel, achieving rapid personnel mobilization and coordinated response. At the same time, the module has the function of ship status monitoring and information feedback, which can track the response status and progress of nearby personnel in real time, and promptly transmit relevant information back to the central processing module on the shore, providing strong support for overall emergency decision-making and command and dispatch.

[0034] Situation Information Communication Unit: Used for signal communication with other modules, including radio, satellite communication, Bluetooth, etc. The main function of this unit is to achieve information sharing and interaction between different functional modules.

[0035] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A GIS cross-temporal and spatial analysis robot for autonomous ship navigation situation safety, characterized by: include: The cross-temporal and spatial analysis terminal of the navigation situation safety geographic information system (GIS): This terminal is used to obtain navigation situation and environmental information of the surrounding sea area during the ship's navigation process. Based on the data information of the ship's position at different times and spaces during the navigation process, it can realize cross-temporal and spatial monitoring, prediction and assessment of navigation situation safety, realize intelligent navigation of ships, and assess the dangers in the ship's navigation process. Shore-based remote intelligent control terminal: obtains real-time data information of the ship's operation process transmitted by the navigation situation safety GIS cross-temporal and spatial analysis terminal, integrates and intuitively displays and stores the navigation situation safety information in multiple temporal and spatial dimensions, and responds to emergencies and accidents that the ship is about to deal with; Mobile intelligent display terminal: obtains real-time data information of the ship operation process transmitted by the navigation situation safety GIS cross-time and space analysis terminal, provides different warning words to remind and inform the crew of the current ship navigation safety situation, and displays and publishes the ship information and situation information during the ship's navigation process.

2. The GIS cross-temporal and spatial analysis robot for autonomous ship navigation safety according to claim 1 is characterized by: The navigation situation safety GIS cross-temporal and spatial analysis terminal includes: Situational information sensing unit: used to sense and collect navigation situation and environmental information of the sea area around the ship, including weather, sea conditions, water depth, and ship position, and overlay it with the electronic chart system; Ship navigation and positioning unit: used to locate the ship's position information in real time; Situational safety cross-temporal and spatial analysis unit: Based on the navigation situation and environmental information of the sea area around the ship transmitted by the situation information sensing unit and the ship's position information transmitted by the ship navigation and positioning unit, it performs cross-temporal and cross-spatial analysis and calculation of the safety situation during the ship's navigation process. Combined with advanced cross-temporal and cross-spatial analysis algorithms, it realizes cross-temporal and cross-spatial monitoring, prediction and assessment of navigation situation safety. Advanced navigation strategy intelligent optimization unit: based on the predicted ship navigation dynamics transmitted by the situational security cross-temporal and spatial analysis unit, it performs automatic navigation, path planning, and dynamic optimization adjustment; Ship voice interactive intelligent driving control unit: used to evaluate the degree of navigation danger based on the situation analysis results transmitted by the situation safety cross-time and space analysis unit, and autonomously adjust the course and speed when the danger is lower than the safety warning line to achieve autonomous navigation of the ship.

3. The GIS cross-time and space analysis robot for autonomous ship navigation situation safety according to claim 1 is characterized by: The process of performing cross-temporal and cross-spatial analysis and calculation of the safety situation of the ship during navigation based on the navigation situation and environmental information of the sea area surrounding the ship transmitted by the situation information sensing unit and the position information of the ship transmitted by the ship navigation and positioning unit, and combining with advanced cross-temporal and cross-spatial analysis algorithms to achieve cross-temporal and cross-spatial monitoring, prediction and assessment of navigation situation safety is as follows: Based on the ship's navigation motion parameters and spatial geometric relationship elements, a continuous state equation across time and space is established for the ship's dangerous area, and the modeling feature points of the spatial model of the ship's dangerous area are constructed; Based on the continuous space-time coordinate system, the precise calculation of the dynamic laws of encounters between ships and the analysis of their interaction states are achieved, and the construction of a space-time relationship expression model library for the dynamic patterns of ship encounters is completed. This enables the cross-space continuity modeling, risk evolution, and quantitative analysis of the dynamic behaviors and situations of ship encounters, thereby improving the navigation situation safety assessment and early warning capabilities in complex space-time encounter scenarios.

4. The GIS cross-time and space analysis robot for autonomous ship navigation situation safety according to claim 1 is characterized by: The navigation situation safety GIS cross-temporal and spatial analysis terminal also includes: a virtual reality interaction module: used to perceive and invert ship navigation environment information, and perform navigation situation safety simulation based on navigation sea area environment information, providing virtual navigation situation safety simulation, interaction, and tracking.

5. The GIS cross-time and space analysis robot for autonomous ship navigation situation safety according to claim 1 is characterized by: The shore-based remote intelligent control terminal includes: Navigation data and interaction unit: This unit conducts cross-temporal and spatial navigation data modeling, integrates and intuitively displays navigation situation and safety information in multiple temporal and spatial dimensions, and provides a convenient interactive interface and parameter input method. Database module: used to store the ship's type, characteristics, navigation points and navigation regulations of the ship's navigation area, as well as other data support for the ship's navigation; Ship-shore emergency linkage and response unit: used to achieve real-time communication, data transmission, and information sharing between the ship and the shore-based control center, providing command and dispatch services to the ship; Central core processing and intelligent control unit: obtains the ship terminal data information transmitted by the database module and the heading and speed adjustment decisions transmitted by the ship voice interactive intelligent driving control unit, and performs ship navigation data processing, situation analysis, emergency response, and intelligent control; Browser / server architecture monitoring and management module: used to transmit information to the central core processing and intelligent control unit to realize centralized processing and monitoring of various functions of the shore-based remote intelligent control terminal; Ship dynamic spatiotemporal data receiving and sending storage unit: stores the ship's dynamic spatiotemporal data, namely, position, speed, and heading spatiotemporal information, transmitted by the navigation situation safety GIS cross-temporal and spatial analysis terminal, and transmits the ship dynamic information in the database module transmitted by the browser / server architecture monitoring and management module to the navigation situation safety GIS cross-temporal and spatial analysis terminal.

6. The GIS cross-time and space analysis robot for autonomous ship navigation situation safety according to claim 4 is characterized by: The database module includes a local database module and a cloud database cluster module; The local database module is used to store the ship type, ship characteristics, ship navigation points and navigation regulations of the ship's navigation area; The cloud database module is used to retrieve various relevant information required for navigation, including navigation environment data, navigation target information, and storage of the current status information of the ship based on the real-time ship position information transmitted by the ship navigation and positioning unit.

7. The GIS cross-time and space analysis robot for autonomous ship navigation situation safety according to claim 1 is characterized by: The mobile intelligent display terminal includes: Voice warning unit: Based on the navigation situation and environmental information of the sea area around the ship transmitted by the situation information sensing unit, it provides different warning words for different navigation safety situations to remind and inform the crew of the current navigation safety situation of the ship; Mobile display unit: used for mobile display of ship information and situation information; Emergency call and collaborative response module: When a ship's safety is in trouble, it can quickly locate other personnel with response capabilities within a certain range around the ship based on the ship's real-time positioning data; and send an emergency call command containing event details, location information, and response requirements; Situation information communication unit: used for signal communication with other modules.

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