A risk warning method for intelligent navigation operations

Abstract

The present invention discloses a risk warning method for intelligent navigation operations, comprising: determining a safe navigation area based on a ship domain model; obtaining navigation sea area information and importing it into a radar plotter; predicting the coordinates of encounter points based on the ship's speed, course, surface obstacle information, and underwater obstacle information; and replanning the route if the encounter point coordinates are within the safe navigation area under the current route. By establishing a four-element ship domain model, the safe navigation boundary of the intelligent ship is determined. Using various devices to collect surface and underwater information, the possible collision risk is predicted, a new route is promptly planned, and the course and speed are changed to avoid collision risks. The collision risk of the intelligent ship is predicted in real time during navigation, thereby improving its navigation safety.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent ship navigation control, and in particular to an intelligent navigation operation risk early warning method. Background Art

[0002] In recent years, the domestic shipbuilding industry has achieved rapid development, and the shipbuilding volume has continued to grow. Especially with the continuous advancement of digital and intelligent technologies, the rapid development of the Internet of Things, information technology, artificial intelligence and 5G communication technology, the entire shipbuilding industry has made great progress in computers, digitalization and intelligence.

[0003] When sailing, smart ships lack human control and cannot rely on human thinking and experience to predict risks in advance. They can only rely on the coordination between various equipment to reduce losses.

[0004] Therefore, how to provide early warning of possible collision risks during intelligent navigation, and how to optimize the ship's established route and avoid risks in real time based on the ship's own operating status and the size of the risk by the intelligent navigation decision-making system, has become an urgent problem that needs to be solved. Summary of the Invention

[0005] In view of this, an embodiment of the present invention provides an intelligent navigation operation risk warning method to solve the problem in the prior art that intelligent ships are unable to optimize their established routes and avoid risks in real time during navigation.

[0006] An embodiment of the present invention provides an intelligent navigation operation risk warning method, comprising:

[0007] Determine navigation safety areas based on the ship domain model;

[0008] Obtain navigation area information and import it into the radar plotter;

[0009] Predict the coordinates of the encounter point based on own ship's speed, own ship's heading, surface obstacle information, and underwater obstacle information;

[0010] If the coordinates of the encountered point are within the navigation safety range under the current route, the route will be replanned.

[0011] Optionally, the navigation safety domain is determined based on the ship domain model, including:

[0012] A coordinate system is established with the ship center as the origin, the bow direction as the positive direction of the x-axis, and the direction perpendicular to the bow direction as the positive direction of the y-axis:

[0013]

[0014] Among them, R 前 Indicates the longitudinal front radius of the navigation safety area; R 后Indicates the longitudinal rear radius in the navigation safety area; R 左 Indicates the lateral left radius of the navigation safety area; R 右 Indicates the right lateral radius of the navigation safety area; L is the length of the ship; V t It is the real-time speed of the ship while sailing.

[0015] Optionally, it also includes:

[0016] Set the navigation safety area radius based on the influence of wind, waves, currents, sea fog and rainfall:

[0017]

[0018]

[0019] Among them, k1, k2, k3, k4, k5∈[0,1] represent the influence coefficients of wind, waves, currents, sea fog and rainfall, respectively.

[0020] Optionally, the boundary equation of the navigation safety domain is:

[0021]

[0022]

[0023]

[0024] Among them, sgn(*) is the sign determination function.

[0025] Optionally, it also includes:

[0026] If the surface obstacle is another ship and the other ship is equipped with an automatic identification system, the ship's position, speed, course, name and call sign information will be exchanged with each other through the automatic identification system;

[0027] If the other ships are not equipped with an automatic identification system for ships, they will be identified by infrared thermal imagers and visible light cameras, and located by lidar to determine their headings. The sailing distance and sailing time of the other ships will be obtained through the two positionings, thereby obtaining the real-time speed of the other ships, and the navigation track of surface obstacles will be obtained through the radar plotter.

[0028] Optionally, it also includes:

[0029] Detect the speed and direction of underwater obstacles through sonar;

[0030] The navigation track of underwater obstacles is obtained through the radar plotter.

[0031] Optionally, it also includes:

[0032] When the surface obstacle is a sailing ship, if the encounter point is within the safe navigation area of ​​the ship, an avoidance signal will be sent to the ship according to the rules for preventing collisions at sea until the encounter point is no longer within the safe navigation area of ​​the ship; if the ship does not take avoidance measures, when the ship enters the safe navigation area of ​​the ship, the ship's course and speed will be changed to actively avoid the ship.

[0033] Optionally, it also includes:

[0034] When the surface obstacle is a marine obstruction, take active avoidance strategies.

[0035] Optionally, it also includes:

[0036] When the underwater obstacle is a fixed obstruction, the straight-line distance between the fixed obstruction and the ship and the angle between the fixed obstruction and the horizontal plane are measured by sonar;

[0037] Calculate the vertical distance between the fixed obstruction and the water surface;

[0038] Determine the vertical distance between the fixed obstruction and the water surface and the ship's draft;

[0039] If the vertical distance between the fixed obstruction and the water surface is greater than the ship's draft, the fixed obstruction will have no impact on the ship;

[0040] If the vertical distance between the fixed obstruction and the water surface is less than the draft of the ship, an active avoidance strategy will be adopted.

[0041] Optionally, it also includes:

[0042] When the underwater obstacle is a moving obstruction, the moving speed and direction of the moving obstruction are obtained through sonar;

[0043] Use radar plotting aids to predict the ascending trajectory of moving obstructions;

[0044] The course and speed of the own ship are adjusted according to the rising trajectory of the moving obstruction.

[0045] Beneficial effects of the embodiments of the present invention:

[0046] By establishing a four-element ship domain model, the safe navigation boundaries of smart ships are determined. With the help of various devices, surface and underwater information is collected to predict possible collision risks. New routes are planned in a timely manner, and the course and speed are changed to avoid collision risks in a timely manner. The collision risk of smart ships is predicted in real time during navigation, thereby improving their navigation safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The features and advantages of the present invention will be more clearly understood by referring to the accompanying drawings, which are schematic and should not be construed as limiting the present invention in any way. In the accompanying drawings:

[0048] Figure 1 A flow chart of an intelligent navigation operation risk warning method according to an embodiment of the present invention is shown;

[0049] Figure 2 A schematic diagram of a navigation safety area for an intelligent ship according to an embodiment of the present invention is shown;

[0050] Figure 3 A schematic diagram of the minimum encounter distance between an intelligent ship and other ships in an embodiment of the present invention is shown;

[0051] Figure 4 A schematic diagram showing the vertical distance between an underwater obstruction and the water surface in an embodiment of the present invention is shown;

[0052] Figure 5 A flow chart of another intelligent navigation operation risk warning method in an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0053] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying 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. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making any creative efforts shall fall within the scope of protection of the present invention.

[0054] The embodiment of the present invention provides an intelligent navigation operation risk warning method, such as Figure 1 Shown, including:

[0055] Step S10: determining the navigation safety domain according to the ship domain model.

[0056] In this embodiment, if Figure 2 As shown, when establishing the ship navigation safety model, a coordinate system is established with the ship as the origin, the bow direction as the positive direction of the x-axis, and the direction perpendicular to the bow direction as the positive direction of the y-axis, as shown below, where R 前 、R 后 、R 左 、R 右 They are respectively expressed as the longitudinal front and rear radius and the transverse left and right radius of the ship area, and the calculation formula is:

[0057]

[0058] Among them, R 前 Indicates the longitudinal front radius of the navigation safety area; R 后 Indicates the longitudinal rear radius in the navigation safety area; R 左 Indicates the lateral left radius of the navigation safety area; R 右Indicates the right lateral radius of the navigation safety area; L is the length of the ship; V t It is the real-time speed of the ship while sailing.

[0059] From the formula, we can see that the longer the ship is and the faster the speed is, the larger the radius of its safety zone will be, which means that the size of the ship's area increases with the increase of ship length and speed.

[0060] Step S20: Obtain navigation sea area information and import it into the radar plotter.

[0061] In this embodiment, all units are converted uniformly, the speed unit is unified into nautical miles / hour, and the heading unit is unified into longitude and latitude. After being imported into the radar plotter, the navigation trajectory of the obstruction at future times is drawn according to the heading and speed.

[0062] Step S30 , predicting the coordinates of the encounter point based on the ship's speed, ship's heading, surface obstacle information, and underwater obstacle information.

[0063] In this embodiment, the minimum encounter distance between the other ship and the own ship is determined by a geometric method.

[0064] Step S40: If the coordinates of the encountered point are within the navigation safety range under the current route, the route is replanned.

[0065] In this embodiment, the intelligent navigation decision-making system determines the encounter point. If a dangerous situation arises, it promptly plans a new route and avoids the danger. By establishing a four-dimensional ship domain model, the system determines the safe navigation boundary of the intelligent ship. Using various devices to collect surface and underwater information, it predicts the potential collision risk, plans a new route, and changes course and speed to avoid collision risks. This real-time prediction of collision risks during navigation improves the safety of the intelligent ship.

[0066] As an optional implementation, it also includes:

[0067] Set the navigation safety area radius based on the influence of wind, waves, currents, sea fog and rainfall:

[0068]

[0069]

[0070] Among them, k1, k2, k3, k4, k5∈[0,1] represent the influence coefficients of wind, waves, currents, sea fog and rainfall, respectively.

[0071] In this embodiment, the ship will also be affected by environmental information such as wind, waves, currents, sea fog, and rainfall when sailing, which will also have a certain impact on the safe area of its navigation. After taking into account the influence of environmental information such as wind, waves, currents, sea fog, and rainfall, the safe area radius of the ship's navigation is reset.

[0072] As an optional implementation, the boundary equation of the navigation safety field is:

[0073]

[0074]

[0075]

[0076] Among them, sgn(*) is the sign determination function.

[0077] In this embodiment, in order to avoid a tense situation when ships meet, the safety area is set as an area composed of four different elliptical arcs. The area of the area is larger at this time, which improves the safety of ships when avoiding collisions. At the same time, the influence of ship length, speed and environmental factors is taken into account, and the boundaries of the safety area can be dynamically changed according to changes in the navigation environment.

[0078] As an optional implementation, it also includes:

[0079] If the surface obstacle is another ship and the other ship is equipped with an automatic identification system, the ship's position, speed, course, name and call sign information will be exchanged with each other through the automatic identification system;

[0080] If the other ships are not equipped with an automatic identification system for ships, they will be identified by infrared thermal imagers and visible light cameras, and located by lidar to determine their headings. The sailing distance and sailing time of the other ships will be obtained through the two positionings, thereby obtaining the real-time speed of the other ships, and the navigation track of surface obstacles will be obtained through the radar plotter.

[0081] In a specific embodiment, when the surface obstacle is a sailing ship, if the encounter point is within the navigation safety area of the own ship, an avoidance signal is sent to the ship according to the rules for avoiding collisions at sea until the encounter point is no longer within the navigation safety area of the own ship; if the ship does not take avoidance action, then when the ship enters the safety area of the own ship, the own ship's course and speed are changed to actively avoid the ship.

[0082] In this embodiment, the speed of the own ship can be directly obtained from the speed indicator, and the heading is obtained from the GPS system. For a ship sailing on the sea, the minimum approach distance (DCPA) between the own ship and the other ship is marked on the radar plotter by geometric drawing method, as shown in FIG. Figure 3 If the encounter point is within the ship's safety zone, the ship will issue an avoidance signal according to the rules for preventing collisions at sea until the encounter point is no longer within the ship's safety zone. If the ship does not make any avoidance maneuvers, when the ship enters the ship's safety zone, the ship will need to re-plan the current route, change the course and speed, and avoid the encounter in a timely manner according to the intelligent navigation decision system.

[0083] In this specific embodiment, since the minimum visibility range of a ship's signal lights is 6 nautical miles, the maritime information collected in this invention is a circular area with a radius of 6 nautical miles centered on the smart ship. For ships sailing on the sea, their heading and speed need to be determined. Smart ships equipped with an Automatic Identification System (AIS) can automatically exchange important information such as position, speed, heading, name, and call sign with other ships, providing the necessary information.

[0084] For some ships that are not equipped with AIS systems, this ship relies on the infrared thermal imager and visible light camera on board to identify them, and uses laser radar to locate them and determine their heading. Through two short-time positioning, the sailing distance s and the required time t are determined, and the real-time speed v = s / t is calculated based on this. Other obstacles are also identified and located through these shipborne equipment.

[0085] As an optional implementation, it also includes:

[0086] Detect the speed and direction of underwater obstacles through sonar;

[0087] The navigation track of underwater obstacles is obtained through the radar plotter.

[0088] In this embodiment, sonar is used to detect underwater obstacles to determine their speed and direction. The monitoring of the above information is real-time dynamic monitoring.

[0089] If the underwater obstacle is a fixed object, the system uses sonar to measure the straight-line distance between the obstruction and the host ship, as well as the angle between the obstruction and the horizontal plane. The system then calculates the vertical distance of the obstruction from the water surface. The system then determines the difference between the vertical distance of the obstruction from the water surface and the host ship's draft. If the vertical distance of the obstruction from the water surface is greater than the host ship's draft, the obstruction has no impact on the host ship. If the vertical distance of the obstruction from the water surface is less than the host ship's draft, the system adopts an active avoidance strategy.

[0090] If the underwater obstacle is a moving object, the ship's speed and direction are obtained through sonar. The radar plotter is used to predict the obstruction's ascent trajectory. The ship's course and speed are adjusted based on the obstruction's ascent trajectory.

[0091] In this embodiment, for underwater obstructions, it is necessary to determine whether they are mobile or fixed. If they are fixed, it is necessary to obtain the vertical distance L between the obstruction and the water surface. The specific steps are as follows: the sonar device measures the straight-line distance S between the obstruction and the ship and the angle α between the obstruction and the horizontal plane, such as Figure 4 As shown in the figure, the distance between the obstruction and the horizontal plane is L = S * sinα. Assuming that the draft of the ship is D, determine the size of L and D. If L>D, the obstruction has no impact on the ship. If it is a moving obstacle, use the sonar device to determine its moving speed and direction, and use the radar plotter to predict its movement at the current speed and direction. When it surfaces, whether it is within the current ship safety area, change the course or speed in time according to the prediction results to ensure the safety of the smart ship.

[0092] As an optional implementation, it also includes:

[0093] When the surface obstacle is a marine obstruction, take active avoidance strategies.

[0094] In this embodiment, for obstacles at sea, the ship should take timely measures to avoid them to avoid losses. The specific method is as follows: for mobile obstacles, the judgment method is the same as that of a ship currently sailing, except that the ship can only re-plan its route to avoid them; for fixed obstacles, it is necessary to judge whether they are within the safe area at a certain time in the future based on the navigation track of the ship. If so, the route is re-planned to avoid the obstacle.

[0095] In a specific embodiment, Figure 5 As shown in the figure, a safe area for smart ship navigation is established based on the four-element ship domain model, the navigation sea area information is obtained and imported into the radar plotter, the surface information and underwater information are analyzed and processed respectively, and an avoidance strategy is selected to ensure the safety of smart ship navigation.

[0096] Although the embodiments of the present invention have been described with reference to the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention. Such modifications and variations are all within the scope defined by the appended claims.

Claims

1. An intelligent navigation operation risk warning method, characterized in that: include: Determine navigation safety areas based on the ship domain model; Obtain navigation area information and import it into the radar plotter; Predict the coordinates of the encounter point based on own ship's speed, own ship's heading, surface obstacle information, and underwater obstacle information; If the coordinates of the meeting point are within the navigation safety area under the current route, the route is replanned; Among them, the navigation safety areas are determined according to the ship domain model, including: A coordinate system is established with the ship center as the origin, the bow direction as the positive direction of the x-axis, and the direction perpendicular to the bow direction as the positive direction of the y-axis: Among them, R 前 Indicates the longitudinal front radius of the navigation safety area; R 后 Indicates the longitudinal rear radius in the navigation safety area; R 左 Indicates the lateral left radius of the navigation safety area; R 右 Indicates the right lateral radius of the navigation safety area; L is the length of the ship; V t The real-time speed of the ship when sailing; Set the navigation safety area radius based on the influence of wind, waves, currents, sea fog and rainfall: Among them, k1, k2, k3, k4, k5∈[0,1], represent the influence coefficients of wind, wave, current, sea fog and rainfall, respectively; The boundary equation of the navigation safety field is: Among them, sgn(*) is the sign determination function.

2. The intelligent navigation operation risk warning method according to claim 1 is characterized in that: Also includes: If the surface obstacle is another ship, and the other ship is equipped with an automatic ship identification system, the ship's position, speed, course, name and call sign information will be exchanged with each other through the automatic ship identification system; If the other ships are not equipped with an automatic identification system for ships, the other ships are identified by infrared thermal imagers and visible light cameras, and are located by laser radar to determine the heading of the other ships; the sailing distance and sailing time of the other ships are obtained through the two positionings, thereby obtaining the real-time speed of the other ships, and the navigation track of the surface obstacle is obtained by the radar plotter.

3. The intelligent navigation operation risk warning method according to claim 1 is characterized in that: Also includes: Detect the speed and direction of underwater obstacles through sonar; The navigation track of the underwater obstacle is obtained by the radar plotter.

4. The intelligent navigation operation risk warning method according to claim 2 is characterized in that: Also includes: When the surface obstacle is a sailing ship, if the encounter point is within the safe navigation area of the own ship, an avoidance signal will be sent to the ship in accordance with the rules for avoiding collisions at sea until the encounter point is no longer within the safe navigation area of the own ship; if the ship does not take avoidance action, when the ship enters the safe navigation area of the own ship, the own ship's course and speed will be changed to actively avoid the ship.

5. The intelligent navigation operation risk warning method according to claim 4 is characterized in that: Also includes: When the surface obstacle is a marine obstruction, an active avoidance strategy is adopted.

6. The intelligent navigation operation risk warning method according to claim 3 is characterized in that: Also includes: When the underwater obstacle is a fixed obstruction, the straight-line distance between the fixed obstruction and the ship and the angle between the fixed obstruction and the horizontal plane are measured by the sonar; Calculating the vertical distance between the fixed obstruction and the water surface; Determine the vertical distance between the fixed obstruction and the water surface and the draft of the vessel; If the vertical distance between the fixed obstruction and the water surface is greater than the ship's draft, the fixed obstruction has no impact on the ship; If the vertical distance between the fixed obstruction and the water surface is less than the draft of the ship, an active avoidance strategy is adopted.

7. The intelligent navigation operation risk warning method according to claim 6 is characterized in that: Also includes: When the underwater obstacle is a moving obstruction, obtaining the moving speed and direction of the moving obstruction by the sonar; using the radar plotter to predict the ascending trajectory of the mobile obstruction; The course and speed of the own ship are adjusted according to the rising trajectory of the moving obstruction.

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