An intelligent bridge active anti-collision warning system

Abstract

This invention discloses an intelligent bridge active collision avoidance and early warning system, comprising: an AIS device installed on both the bridge and a vessel to acquire the vessel's navigation information; a lidar device installed on the bridge to monitor the distance between the vessel and the bridge in real time, as well as the vessel's three-dimensional hull information; a thermal imaging camera installed on the bridge to monitor the vessel's actual height on the water surface in real time; a prediction unit installed on the bridge to make bridge collision predictions based on relevant vessel information and stored bridge information, and to provide safety guidance information; and an alarm unit installed on both the bridge and the vessel to warn the vessel based on the bridge collision predictions and to send safety guidance information to the vessel. This invention utilizes radar technology, thermal imaging, and AIS technology to monitor the navigation status of vessels navigating under bridges and provide safety guidance information, preventing vessel collisions with bridges, minimizing accidents, and ensuring bridge safety.

Description

Technical Field

[0001] The invention relates to the technical field of bridge security warning, and in particular to an intelligent bridge active anti-collision warning system. Background Art

[0002] With the rapid development of my country's transportation industry in recent years, many cross-river bridges have been built or are being planned. At the same time, the density, size and tonnage of ships crossing bridges have also increased significantly. Bridges must inevitably cross busy waterways during design and construction. However, the safety risks brought by large-scale ships to cross-river bridges are increasingly severe, especially in inland high-grade waterways. Due to the busy water traffic, large ship load and complex navigation environment, the safety hazard of collision between ships and bridges is particularly prominent. Given that the ship load is relatively large and the driving and control flexibility is low, once it collides with a bridge, it is easy to cause serious accidents such as bridge damage or even collapse.

[0003] In the existing related technologies, ship-bridge anti-collision devices are mainly divided into active and passive types; among them, passive anti-collision devices, such as resisting the impact of ships by reducing the ship collision force or bearing all the ship collision force outside the bridge pier, and passive anti-collision equipment has problems such as high cost, cumbersome construction, and lack of active warning capabilities. The problem that only passive anti-collision cannot actually meet the safety requirements. Once a ship collision accident occurs, it can only passively rely on the hardness of anti-collision piles and bridge pillars to resist and offset the impact damage. However, the disadvantage of this problem-solving measure is that it cannot avoid risks in advance. Regardless of the anti-collision result, it will cause damage to the hull and bridge, poor effect, and great harm. However, the active anti-collision devices currently used also generally have problems such as few risk category identification types, large environmental restrictions, unstable identification accuracy, and low degree of automation. Summary of the invention

[0004] The technical problem to be solved by the present invention is that the active bridge collision avoidance system in the prior art has the problems of few risk category recognition types, large environmental restrictions, unstable recognition accuracy, low degree of automation, and inability to provide safety guidance information to guide ships to pass through bridges safely.

[0005] In order to solve the above technical problems, the present invention provides an intelligent bridge active anti-collision warning system, comprising:

[0006] AIS devices are installed on bridges and ships to obtain navigation information of ships;

[0007] Laser radar, installed on the bridge, is used to monitor the distance between the ship and the bridge and the three-dimensional information of the ship's hull in real time;

[0008] Thermal imaging cameras, installed on the bridge, are used to monitor the actual height of the ship above the water in real time;

[0009] The prediction unit is installed on the bridge and is used to predict the bridge collision avoidance according to the ship's navigation information, actual height, 3D information of the ship and the stored bridge information, and provide safety guidance information;

[0010] The alarm units are respectively arranged on the bridge and the ship, and are used to warn the ship according to the bridge anti-collision prediction and send safety guidance information to the ship.

[0011] Furthermore, the navigation information of the ship includes: the ship's width, heading, speed and turning rate;

[0012] The prediction unit comprises:

[0013] A collection module, connected to the AIS device, the laser radar, and the thermal imaging camera, respectively, for detecting the information;

[0014] The processing module is connected to the acquisition module and is used to process and analyze the collected data, make a prediction, and provide safety guidance information.

[0015] Furthermore, the processing module is used to determine whether the ship can pass through the bridge according to the width of the ship and the information of the bridge;

[0016] When the width of the ship exceeds the limited passing width of the bridge, the processing module gives a prediction that the ship cannot pass through the bridge;

[0017] When the width of the ship does not exceed the restricted passing width of the bridge, the processing module provides a first condition for the ship to pass through the bridge.

[0018] Further, when the ship meets the first condition for passing through the bridge, the processing module is used to determine whether the ship can pass through the bridge according to the actual height of the ship and the information of the bridge;

[0019] When the actual height of the ship exceeds the restricted passing height of the bridge, the processing module gives a prediction that the ship cannot pass through the bridge;

[0020] When the actual height of the ship does not exceed the restricted passing height of the bridge, the processing module provides a second condition for the ship to pass through the bridge.

[0021] Further, when the ship satisfies the first condition and the second condition for passing through the bridge in sequence, the processing module is used to determine whether to provide safety guidance information for the ship to make adjustments according to the original heading of the ship and the information of the bridge;

[0022] When the processing module predicts that the ship will not collide with the bridge if it sails along the original course, the processing module does not need to provide safety guidance information for the ship to make adjustments;

[0023] When the processing module predicts that the ship will collide with the bridge when sailing according to the original course, the processing module chooses whether to adjust the ship's turning rate according to the straight-line distance between the ship and the bridge.

[0024] Furthermore, when the processing module predicts that the ship will collide with the bridge if it sails in the original direction, the processing module is used to select whether to adjust the ship's turning rate according to the straight-line distance between the ship and the bridge; wherein,

[0025] The processing module is used to set the straight-line distance S0 between the ship and the bridge, and the acquisition module is used to collect the straight-line distance △S between the ship and the bridge in real time. The processing module is also used to determine whether the straight-line distance △S between the ship and the bridge collected in real time is greater than the straight-line distance S0 between the ship and the bridge, and determine whether to adjust the ship turning rate △L according to the judgment result:

[0026] When △S>S0, the processing module does not adjust the ship turning rate △L;

[0027] When △S≤S0, the processing module adjusts the ship turning rate △L.

[0028] Further, when △S≤S0, when the ship turning rate △L is adjusted, the acquisition module is used to adjust the ship turning rate △L according to the collected straight-line distance △S between the ship and the bridge; wherein,

[0029] The processing module is used to preset a first preset straight-line distance S1 between a ship and a bridge, a second preset straight-line distance S2 between a ship and a bridge, a third preset straight-line distance S3 between a ship and a bridge, and a fourth preset straight-line distance S4 between a ship and a bridge, and S0>S1>S2>S3>S4; the processing module is also used to preset a first preset ship turning rate adjustment coefficient x1, a second preset ship turning rate adjustment coefficient x2, a third preset ship turning rate adjustment coefficient x3, and a fourth preset ship turning rate adjustment coefficient x4, and 1<x1<x2<x3<x4<1.3;

[0030] The processing module is used to adjust the ship turning rate according to the relationship between the straight-line distance ΔS between the ship and the bridge collected in real time and each preset straight-line distance Si between the ship and the bridge:

[0031] When S1>△S≥S2, the first preset ship turning rate adjustment coefficient x1 is selected to adjust the ship turning rate, and the adjusted ship turning rate is △L*x1;

[0032] When S2>△S≥S3, the second preset ship turning rate adjustment coefficient x2 is selected to adjust the ship turning rate, and the adjusted ship turning rate is △L*x2;

[0033] When S3>△S≥S4, the third preset ship turning rate adjustment coefficient x3 is selected to adjust the ship turning rate, and the adjusted ship turning rate is △L*x3;

[0034] When S4>ΔS, the fourth preset ship turning rate adjustment coefficient x4 is selected to adjust the ship turning rate, and the adjusted ship turning rate is ΔL*x4.

[0035] Further, after selecting the i-th preset ship turning rate adjustment coefficient xi to adjust the ship turning rate, and obtaining the adjusted ship turning rate as △L*xi, i=1, 2, 3, 4, including:

[0036] The acquisition module is used to acquire the ship's speed △A in real time, and the processing module is used to preset the ship's speed A1, the second preset ship's speed A2, the third preset ship's speed A3 and the fourth preset ship's speed A4, and A1<A2<A3<A4; the processing module is also used to preset the first preset correction coefficient y1, the second preset correction coefficient y2, the third preset correction coefficient y3 and the fourth preset correction coefficient y4, and 1.1<y1<y2<y3<y4<1.5;

[0037] The processing module corrects the adjusted ship turning rate to △L*xi according to the relationship between the ship's speed △A collected in real time and the speed Ai of each preset ship:

[0038] When A1<△A≤A2, the first preset correction coefficient y1 is selected to correct the ship turning rate △L*xi, and the corrected ship turning rate is △L*xi*y1;

[0039] When A2<△A≤A3, the second preset correction coefficient y2 is selected to correct the ship turning rate △L*xi, and the corrected ship turning rate is △L*xi*y2;

[0040] When A3<△A≤A4, the third preset correction coefficient y3 is selected to correct the ship turning rate △L*xi, and the corrected ship turning rate is △L*xi*y3;

[0041] When A4<ΔA, the fourth preset correction coefficient y4 is selected to correct the ship turning rate ΔL*xi, and the corrected ship turning rate is ΔL*xi*y4.

[0042] Compared with the prior art, the intelligent bridge active anti-collision warning system according to the embodiment of the present invention has the following beneficial effects:

[0043] The present invention utilizes radar technology, thermal imaging and AIS technology to monitor the navigation status of ships passing through the bridge area, and provides safety guidance information to prevent ships from colliding with bridges, minimize accidents and ensure the safety of bridges. In addition, the present invention has the advantages of low cost, easy installation and strong applicability. Its installation method can adapt to various types of bridges, and its practical functions can be widely applied to bridges in any waters. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 2 is a schematic diagram of the structure of an intelligent bridge active anti-collision warning system according to an embodiment of the present invention;

[0045] Figure 2 Schematic diagram of condition judgment of the intelligent bridge active anti-collision warning system in an embodiment of the present invention;

[0046] Figure 3 2 is a schematic diagram of the structure of a prediction unit of an intelligent bridge active anti-collision warning system in an embodiment of the present invention;

[0047] Figure 4 It is a connection diagram of the acquisition module of the intelligent bridge active anti-collision warning system in an embodiment of the present invention. DETAILED DESCRIPTION

[0048] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0049] In the description of the present application, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0050] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0051] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0052] like Figure 1 -4, in an embodiment of the present application, there is provided an intelligent bridge active collision avoidance warning system, comprising: an AIS device, a laser radar, a thermal imaging camera, a prediction unit and an alarm unit; the AIS device is respectively arranged on a bridge and a ship, and is used to obtain the navigation information of the ship; the laser radar is arranged on the bridge, and is used to monitor the distance between the ship and the bridge and the three-dimensional information of the ship's hull in real time; the thermal imaging camera is arranged on the bridge, and is used to monitor the actual height information of the ship above the water surface in real time; the prediction unit is arranged on the bridge, and is used to perform bridge collision avoidance prediction according to the ship's navigation information, actual height, three-dimensional hull information and stored bridge information, and provide safety guidance information; the alarm unit is respectively arranged on the bridge and the ship, and is used to warn the ship according to the bridge collision avoidance prediction, and send the safety guidance information to the ship.

[0053] Specifically, the AIS device is equipped with an automatic identification system for ships, which refers to a new navigation aid system used for maritime safety and communication between ships and shores, and between ships. It is usually composed of a VHF communicator, a GPS locator, and a communication controller connected to a shipboard display and sensor, etc., and can automatically exchange important information such as ship position, speed, heading, ship name, call sign, etc. While the AIS installed on the ship sends this information to the outside, it also receives information from other ships within the VHF coverage range, thereby realizing automatic response. It is an effective means to obtain traffic information without radar detection, and can effectively reduce ship collision accidents.

[0054] Specifically, the thermal imaging camera has the characteristics of strong fog penetration, little interference from adverse weather conditions, high sensitivity and long measurement distance.

[0055] Specifically, the laser radar has the characteristics of good directivity, high resolution and high precision. By emitting 240,000 point clouds per second, millimeter-level three-dimensional data of ships can be obtained.

[0056] Specifically, the prediction unit is arranged on the bridge, and is used to perform bridge collision avoidance prediction based on the collected navigation information, actual height, three-dimensional information of the hull and stored bridge information of the ship, to determine which ships will collide with the bridge and which ships will not collide with the bridge, and to provide safety guidance information to guide the ships to navigate according to the calculated safe route to safely pass the bridge.

[0057] Specifically, the alarm device includes an LED display screen, a tweeter, a lighting lamp, a fog-penetrating lamp, and a warning lamp, which are installed on the bridge to send out alarm information to over-height and over-width ships to remind the ships that they cannot pass; the alarm device can automatically send safety guidance information to ships that are not over-height and over-width, and to ships that will collide with the bridge if they continue to sail on the original course, and promptly inform the crew to take preventive measures and change course to ensure smooth passage; in addition, the warning signal will be synchronously transmitted to the monitoring and command center of the Maritime Affairs and Changjiang Navigation Administration, and the monitoring and command center will take joint preventive measures.

[0058] Specifically, the AIS device, lidar, thermal imaging camera, prediction unit and alarm unit are interconnected by establishing a program-controlled switching center network. The program-controlled switching center includes communication protocols, data interfaces, and program compilation for complete matching.

[0059] Furthermore, the present invention utilizes radar technology, thermal imaging and AIS technology to monitor the navigation status of ships passing through the bridge area, and provides safety guidance information to prevent ships from colliding with bridges, thereby minimizing accidents and ensuring the safety of bridges.

[0060] In an embodiment of the present application, an intelligent bridge active anti-collision warning system is provided, wherein the navigation information of the ship includes: the ship's width, heading, speed and turning rate;

[0061] The prediction unit includes: a collection module and a processing module.

[0062] Specifically, the acquisition module is connected to the AIS device, the laser radar, and the thermal imaging camera respectively, and is used to collect the ship width, heading, speed and turning rate of the ship detected by the AIS device, the laser radar, and the thermal imaging camera, as well as the actual height of the ship and the three-dimensional information of the hull.

[0063] Specifically, the processing module is connected to the acquisition module, and is used to process and analyze the data collected by the acquisition module, make a prediction, and provide specific safety guidance information according to actual conditions.

[0064] In an embodiment of the present application, an intelligent bridge active anti-collision warning system is provided, wherein the processing module is used to determine whether a ship can pass through a bridge based on the width of the ship and the information of the bridge;

[0065] When the width of the ship exceeds the limited passing width of the bridge, the processing module gives a prediction that the ship cannot pass through the bridge;

[0066] When the width of the ship does not exceed the restricted passing width of the bridge, the processing module provides a first condition for the ship to pass through the bridge.

[0067] In an embodiment of the present application, an intelligent bridge active anti-collision warning system is provided. When a ship meets the first condition for passing through a bridge, the processing module is used to determine whether the ship can pass through the bridge according to the actual height of the ship and the information of the bridge;

[0068] When the actual height of the ship exceeds the restricted passing height of the bridge, the processing module gives a prediction that the ship cannot pass through the bridge;

[0069] When the actual height of the ship does not exceed the restricted passing height of the bridge, the processing module provides a second condition for the ship to pass through the bridge.

[0070] In an embodiment of the present application, an intelligent bridge active collision avoidance warning system is provided. When a ship satisfies the first condition and the second condition for passing through a bridge in sequence, the processing module is used to determine whether to provide safety guidance information for the ship to make adjustments based on the original heading of the ship and the information of the bridge;

[0071] When the processing module predicts that the ship will not collide with the bridge if it sails along the original course, the processing module does not need to provide safety guidance information for the ship to make adjustments;

[0072] When the processing module predicts that the ship will collide with the bridge when sailing according to the original course, the processing module chooses whether to adjust the ship's turning rate according to the straight-line distance between the ship and the bridge.

[0073] Specifically, the safety guidance information is the guidance information for the ship to pass through the bridge smoothly. According to this safety guidance information, the ship can make timely adjustments to ensure smooth passage through the bridge.

[0074] In an embodiment of the present application, an intelligent bridge active collision avoidance warning system is provided. When the processing module predicts that the ship will collide with the bridge when sailing according to the original course, the processing module is used to select whether to adjust the ship turning rate according to the straight-line distance between the ship and the bridge; wherein,

[0075] The processing module is used to set the straight-line distance S0 between the ship and the bridge, and the acquisition module is used to collect the straight-line distance △S between the ship and the bridge in real time. The processing module is also used to determine whether the straight-line distance △S between the ship and the bridge collected in real time is greater than the straight-line distance S0 between the ship and the bridge, and determine whether to adjust the ship turning rate △L according to the judgment result:

[0076] When △S>S0, the processing module does not adjust the ship turning rate △L;

[0077] When △S≤S0, the processing module adjusts the ship turning rate △L.

[0078] Specifically, when the straight-line distance between the ship and the bridge is still far, the ship can sail according to the original route. Only when the straight-line distance between the ship and the bridge reaches a certain value, the ship's turning rate will be adjusted as needed.

[0079] In an embodiment of the present application, an intelligent bridge active anti-collision warning system is provided. When △S≤S0, the ship turning rate △L is adjusted, and the acquisition module is used to adjust the ship turning rate △L according to the collected straight-line distance △S between the ship and the bridge; wherein,

[0080] The processing module is used to preset a first preset straight-line distance S1 between a ship and a bridge, a second preset straight-line distance S2 between a ship and a bridge, a third preset straight-line distance S3 between a ship and a bridge, and a fourth preset straight-line distance S4 between a ship and a bridge, and S0>S1>S2>S3>S4; the processing module is also used to preset a first preset ship turning rate adjustment coefficient x1, a second preset ship turning rate adjustment coefficient x2, a third preset ship turning rate adjustment coefficient x3, and a fourth preset ship turning rate adjustment coefficient x4, and 1<x1<x2<x3<x4<1.3;

[0081] The processing module is used to adjust the ship turning rate according to the relationship between the straight-line distance ΔS between the ship and the bridge collected in real time and each preset straight-line distance Si between the ship and the bridge:

[0082] When S1>△S≥S2, the first preset ship turning rate adjustment coefficient x1 is selected to adjust the ship turning rate, and the adjusted ship turning rate is △L*x1;

[0083] When S2>△S≥S3, the second preset ship turning rate adjustment coefficient x2 is selected to adjust the ship turning rate, and the adjusted ship turning rate is △L*x2;

[0084] When S3>△S≥S4, the third preset ship turning rate adjustment coefficient x3 is selected to adjust the ship turning rate, and the adjusted ship turning rate is △L*x3;

[0085] When S4>ΔS, the fourth preset ship turning rate adjustment coefficient x4 is selected to adjust the ship turning rate, and the adjusted ship turning rate is ΔL*x4.

[0086] Specifically, the ship turning rate is adjusted according to the relationship between the straight-line distance between the ship and the bridge collected in real time and the straight-line distance between each preset ship and the bridge, so that the ship has a larger ship turning rate when approaching the bridge, ensuring that the ship will not collide with the bridge.

[0087] In an embodiment of the present application, an intelligent bridge active collision avoidance warning system is provided, wherein after selecting the i-th preset ship turning rate adjustment coefficient xi to adjust the ship turning rate, and obtaining the adjusted ship turning rate as △L*xi, i=1, 2, 3, 4, it includes:

[0088] The acquisition module is used to acquire the ship's speed △A in real time, and the processing module is used to preset the ship's speed A1, the second preset ship's speed A2, the third preset ship's speed A3 and the fourth preset ship's speed A4, and A1<A2<A3<A4; the processing module is also used to preset the first preset correction coefficient y1, the second preset correction coefficient y2, the third preset correction coefficient y3 and the fourth preset correction coefficient y4, and 1.1<y1<y2<y3<y4<1.5;

[0089] The processing module corrects the adjusted ship turning rate to △L*xi according to the relationship between the ship's speed △A collected in real time and the speed Ai of each preset ship:

[0090] When A1<△A≤A2, the first preset correction coefficient y1 is selected to correct the ship turning rate △L*xi, and the corrected ship turning rate is △L*xi*y1;

[0091] When A2<△A≤A3, the second preset correction coefficient y2 is selected to correct the ship turning rate △L*xi, and the corrected ship turning rate is △L*xi*y2;

[0092] When A3<△A≤A4, the third preset correction coefficient y3 is selected to correct the ship turning rate △L*xi, and the corrected ship turning rate is △L*xi*y3;

[0093] When A4<ΔA, the fourth preset correction coefficient y4 is selected to correct the ship turning rate ΔL*xi, and the corrected ship turning rate is ΔL*xi*y4.

[0094] Specifically, since the ship turning rate will also be affected by the ship's speed, the adjusted ship turning rate is corrected according to the relationship between the ship's speed collected in real time and the speed of each preset ship, so as to reduce the influence of the ship's speed on the ship turning rate, and ensure that the given ship turning rate can enable the ship to safely improve the bridge.

[0095] In summary, the embodiment of the present invention provides an intelligent bridge active anti-collision warning system, which includes: an AIS device, which is respectively arranged on the bridge and the ship, and is used to obtain the navigation information of the ship; a laser radar, which is arranged on the bridge, and is used to monitor the distance between the ship and the bridge and the three-dimensional information of the ship's hull in real time; a thermal imaging camera, which is arranged on the bridge, and is used to monitor the actual height information of the ship on the water surface in real time; a prejudgment unit, which is arranged on the bridge, and is used to perform bridge anti-collision prejudgment according to the navigation information, actual height, three-dimensional hull information and stored bridge information of the ship, and provide safety guidance information; an alarm unit, which is respectively arranged on the bridge and the ship, and is used to warn the ship according to the bridge anti-collision prejudgment, and send the safety guidance information to the ship. The present invention uses radar technology, thermal imaging and AIS technology to monitor the navigation status of ships passing through the bridge area, and provides safety guidance information to avoid ships from colliding with bridges, minimize accidents, and ensure the safety of bridges.

[0096] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An intelligent bridge active anti-collision warning system, characterized in that: include: AIS devices are installed on bridges and ships to obtain navigation information of ships; Laser radar, installed on the bridge, is used to monitor the distance between the ship and the bridge and the three-dimensional information of the ship's hull in real time; Thermal imaging cameras, installed on the bridge, are used to monitor the actual height of the ship above the water in real time; The prediction unit is installed on the bridge and is used to predict the bridge collision avoidance according to the ship's navigation information, actual height, 3D information of the ship and the stored bridge information, and provide safety guidance information; Alarm units are respectively installed on bridges and ships to warn ships based on bridge collision avoidance prediction and send safety guidance information to ships; Said navigation information of the ship includes: the ship's width, heading, speed and turning rate; The prediction unit comprises: A collection module, connected to the AIS device, the laser radar, and the thermal imaging camera, respectively, for detecting the information; A processing module, connected to the acquisition module, is used to process and analyze the collected data, make a prediction, and provide safety guidance information; The processing module is used to determine whether the ship can pass through the bridge according to the width of the ship and the information of the bridge; When the width of the ship exceeds the limited passing width of the bridge, the processing module gives a prediction that the ship cannot pass through the bridge; When the width of the ship does not exceed the limited passing width of the bridge, the processing module gives a first condition that the ship meets to pass the bridge; When the ship meets the first condition for passing through the bridge, the processing module is used to determine whether the ship can pass through the bridge according to the actual height of the ship and the information of the bridge; When the actual height of the ship exceeds the restricted passing height of the bridge, the processing module gives a prediction that the ship cannot pass through the bridge; When the actual height of the ship does not exceed the restricted passing height of the bridge, the processing module provides a second condition for the ship to pass through the bridge; When the ship satisfies the first condition and the second condition for passing through the bridge in sequence, the processing module is used to determine whether to provide safety guidance information for the ship to make adjustments based on the original heading of the ship and the information of the bridge; When the processing module predicts that the ship will not collide with the bridge if it sails along the original course, the processing module does not need to provide safety guidance information for the ship to make adjustments; When the processing module predicts that the ship will collide with the bridge if sailing in the original course, the processing module selects whether to adjust the ship's turning rate according to the straight-line distance between the ship and the bridge; When the processing module predicts that the ship will collide with the bridge if it sails in the original direction, the processing module is used to select whether to adjust the ship's turning rate according to the straight-line distance between the ship and the bridge; wherein, The processing module is used to set the straight-line distance S0 between the ship and the bridge, and the acquisition module is used to collect the straight-line distance △S between the ship and the bridge in real time. The processing module is also used to determine whether the straight-line distance △S between the ship and the bridge collected in real time is greater than the straight-line distance S0 between the ship and the bridge, and determine whether to adjust the ship turning rate △L according to the judgment result: When △S>S0, the processing module does not adjust the ship turning rate △L; When △S≤S0, the processing module adjusts the ship turning rate △L; When △S≤S0, the ship turning rate △L is adjusted, and the acquisition module is used to adjust the ship turning rate △L according to the collected straight-line distance △S between the ship and the bridge; wherein, The processing module is used to preset a first preset straight-line distance S1 between a ship and a bridge, a second preset straight-line distance S2 between a ship and a bridge, a third preset straight-line distance S3 between a ship and a bridge, and a fourth preset straight-line distance S4 between a ship and a bridge, and S0>S1>S2>S3>S4; the processing module is also used to preset a first preset ship turning rate adjustment coefficient x1, a second preset ship turning rate adjustment coefficient x2, a third preset ship turning rate adjustment coefficient x3, and a fourth preset ship turning rate adjustment coefficient x4, and 1<x1<x2<x3<x4<1.3; The processing module is used to adjust the ship turning rate according to the relationship between the straight-line distance ΔS between the ship and the bridge collected in real time and each preset straight-line distance Si between the ship and the bridge: When S1>△S≥S2, the first preset ship turning rate adjustment coefficient x1 is selected to adjust the ship turning rate, and the adjusted ship turning rate is △L*x1; When S2>△S≥S3, the second preset ship turning rate adjustment coefficient x2 is selected to adjust the ship turning rate, and the adjusted ship turning rate is △L*x2; When S3>△S≥S4, the third preset ship turning rate adjustment coefficient x3 is selected to adjust the ship turning rate, and the adjusted ship turning rate is △L*x3; When S4>ΔS, the fourth preset ship turning rate adjustment coefficient x4 is selected to adjust the ship turning rate, and the adjusted ship turning rate is ΔL*x4; After selecting the i-th preset ship turning rate adjustment coefficient xi to adjust the ship turning rate, and obtaining the adjusted ship turning rate as △L*xi, i=1, 2, 3, 4, including: The acquisition module is used to acquire the ship's speed △A in real time, and the processing module is used to preset the ship's speed A1, the second preset ship's speed A2, the third preset ship's speed A3 and the fourth preset ship's speed A4, and A1<A2<A3<A4; the processing module is also used to preset the first preset correction coefficient y1, the second preset correction coefficient y2, the third preset correction coefficient y3 and the fourth preset correction coefficient y4, and 1.1<y1<y2<y3<y4<1.5; The processing module corrects the adjusted ship turning rate to △L*xi according to the relationship between the ship's speed △A collected in real time and the speed Ai of each preset ship: When A1<△A≤A2, the first preset correction coefficient y1 is selected to correct the ship turning rate △L*xi, and the corrected ship turning rate is △L*xi*y1; When A2<△A≤A3, the second preset correction coefficient y2 is selected to correct the ship turning rate △L*xi, and the corrected ship turning rate is △L*xi*y2; When A3<△A≤A4, the third preset correction coefficient y3 is selected to correct the ship turning rate △L*xi, and the corrected ship turning rate is △L*xi*y3; When A4<ΔA, the fourth preset correction coefficient y4 is selected to correct the ship turning rate ΔL*xi, and the corrected ship turning rate is ΔL*xi*y4.

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