Channel defogging navigation assisting method and system and ship

Abstract

The application relates to a channel defogging navigation assisting method and system and a ship, which comprises the following steps: firstly, judging the fog area state data of a plurality of different areas in a target channel based on the environmental data of the target channel, performing path planning to obtain a target navigation path and a target navigation speed, finally, controlling the defogging navigation assisting ship to navigate according to the target navigation path, and acquiring the environmental data of the ship area in real time and controlling the defogging equipment arranged on the defogging navigation assisting ship to defog. Compared with the prior art, the application can be flexibly changed according to the change of the fog area state, and defogging is only performed on the required area under the condition that the fog concentration is large, the area is large, and the flowability is strong on the river and sea channel. The problems of low navigation efficiency and poor safety of the ship or fleet in the heavy fog weather are better solved, and the visibility of the ship in the fog area channel is improved, and the ship can efficiently and safely pass through the fog area.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ship control, and in particular to a channel defogging and navigation assisting method and system and a ship. BACKGROUND

[0002] The Yangtze River basin and some coastal areas in China are areas where fog occurs frequently, for example, the average annual fog days (visibility <1 000 m) in the Yichang section of the Yangtze River are more than 50 days. In particular, in the area near the Three Gorges Dam, ships usually anchor in the nearby anchorage before entering the ship lock of the Three Gorges Dam. The navigation section from these anchorage areas to the Three Gorges ship lock belongs to a foggy area, and in some local areas, there may be a phenomenon of fog with a visibility of less than 50 m and a long duration.

[0003] The Ministry of Transport stipulates that ships are prohibited from sailing upstream when the visibility is less than 500 m and are prohibited from sailing downstream when the visibility is less than 1 000 m in the water area above the Three Gorges Dam on the Yangtze River trunk line. Therefore, there are many cases every year in which ships cannot enter the ship lock from the anchorage due to fog in the channel, which seriously affects the navigation efficiency of the ships passing through the ship lock and causes great economic losses.

[0004] Although there are some researches on fog driving methods for airports and highways, these researches cannot be applied to the sea due to the characteristics of the fog on the river and sea channel, such as high concentration, large area, and strong flow. The fog on the channel cannot be effectively driven away by these methods and devices alone, and ships cannot safely and quickly pass through the fog area. SUMMARY

[0005] Therefore, it is necessary to provide a channel defogging and navigation assisting method, system and ship to solve the problem of how to help ships safely and quickly pass through the fog area on the river and sea channel in the prior art.

[0006] To achieve the above technical purpose, the present application adopts the following technical scheme:

[0007] In a first aspect, the present application provides a channel defogging and navigation assisting method, comprising:

[0008] obtaining environmental data of a target channel;

[0009] judging fog area state data of a plurality of different regions in the target channel based on the environmental data of the target channel, and planning a path according to the fog area state data of the plurality of different regions to obtain a target navigation path and a target speed;

[0010] controlling a defogging and navigation assisting ship to navigate according to the target navigation path and the target speed, and obtaining environmental data of a ship region in real time during navigation, and controlling a defogging device arranged on the defogging and navigation assisting ship to defog according to the environmental data of the ship region.

[0011] Further, the environmental data of the target channel includes radar echo data, and the radar echo data includes fog droplet sub-reflection factor data and fog droplet sub-radial velocity data; the fog area state data includes fog evolution data for describing whether the fog is in a forming stage, a sustaining stage or a dissipating stage, fog movement trend data, fog area position distribution data and fog area internal visibility contour data; the judgment of the fog area state data of the plurality of different regions in the target channel based on the environmental data of the target channel includes:

[0012] The fog evolution data of different regions is obtained according to the intensity change of the radar echo data judged by the reflection factor data of different regions;

[0013] The fog movement trend data of different regions is obtained by synthesizing the velocity vectors of the fog droplet sub-radial velocity data of different regions;

[0014] The fog area position distribution data and the fog area internal visibility contour data are obtained according to the fog droplet sub-reflection factor data of different regions based on a preset reflection factor-visibility function, wherein the preset reflection factor-visibility function is obtained according to machine learning.

[0015] Further, the path planning according to the fog area state data of the plurality of different regions includes:

[0016] A path speed planning model is established according to the fog evolution data, the fog movement trend data, the fog area position distribution data and the fog area internal visibility contour data, taking the navigation path and the speed as decision variables;

[0017] The target navigation path and the target speed are obtained by an optimization algorithm according to the path speed planning model.

[0018] Further, the environmental data of the ship region includes visibility data, temperature data, humidity data and air pressure data of the ship region; the defogging device includes a sound wave radiator and a blower; the control of the defogging assisted navigation ship according to the target navigation path and the target speed includes:

[0019] The sound wave modulation data including the optimal sound wave frequency, amplitude, phase and waveform parameter combination is obtained according to the average value of the visibility data, the temperature data and the humidity data of the ship region;

[0020] Based on the fog conditions in the ship area, the optimal pose data of the acoustic radiator is obtained, including the optimal operating height and angle parameters.

[0021] Using the highest air pressure data in the ship area as the optimization target, the preset radial visibility as the constraint, and the operating parameters of the blower as the optimization variables, the optimal operating parameters of the blower are obtained. The optimal operating parameters include the speed and angle of the blower.

[0022] The acoustic radiator is controlled to operate based on the acoustic modulation data and the optimal pose data, and the blower is controlled to operate based on the optimal operating parameters to perform defogging.

[0023] Furthermore, it also includes:

[0024] Based on the infrared camera and searchlight installed on the navigation aid, visual enhancement data is acquired, and the navigation of the defogging aid vessel is adjusted according to the visual enhancement data.

[0025] Furthermore, it also includes:

[0026] Based on the environmental data of the vessel area, obstruction vessel data is obtained, and warning information is sent to the obstruction vessel and the following vessels of the defogging assistance vessel based on the obstruction vessel data.

[0027] Secondly, the present invention also provides a navigation channel defogging aid system, comprising:

[0028] An environmental perception system is used to acquire environmental data of the target waterway.

[0029] A fog path planning system is used to determine the fog state data of multiple different areas in the target waterway based on the environmental data of the target waterway, and to perform path planning based on the fog state data of the multiple different areas to obtain the target navigation path and target speed.

[0030] The waterway defogging system is used to control the navigation of the defogging-aided vessel according to the target navigation path and target speed. While navigating, it acquires environmental data of the vessel's area in real time and controls the defogging equipment installed on the defogging-aided vessel to perform defogging based on the environmental data of the vessel's area.

[0031] Furthermore, it also includes:

[0032] A visual enhancement navigation aid system is used to acquire visual enhancement data based on an infrared camera and searchlight installed on the navigation aid, and to adjust the navigation of the defogging aid vessel according to the visual enhancement data.

[0033] Furthermore, it also includes:

[0034] A ship driving system for obtaining data of a navigation-obstructing ship according to environmental data of a region of the ship, and sending warning information to the navigation-obstructing ship and a following ship of the ship according to the data of the navigation-obstructing ship.

[0035] In a third aspect, the present application further provides a navigation channel de-fogging assisting ship, which is equipped with the navigation channel de-fogging assisting system according to any one of the above.

[0036] The present application provides a navigation channel de-fogging assisting method and system, and a ship. The method comprises the following steps: obtaining environmental data of a target channel, judging fog area state data of multiple different regions in the target channel based on the environmental data of the target channel, planning a path according to the fog area state data of the multiple different regions, obtaining a target navigation path and a target navigation speed, and controlling a de-fogging assisting ship to navigate according to the target navigation path and the target navigation speed. The environmental data of a region of the ship is obtained in real time during the navigation, and a de-fogging device arranged on the de-fogging assisting ship is controlled to de-fog according to the environmental data of the region of the ship. The method and system can de-fog and assist the navigation of the ship itself or other following ships. Compared with the prior art, the optimal target navigation path is selected according to the fog area state, and then the de-fogging work is only performed on the path based on the target navigation path. The de-fogging work can be flexibly adjusted according to the change of the fog area state. In the condition of high fog concentration, large area and strong flow in the river and sea channel, the de-fogging work is only performed on the required region. The problem of low navigation efficiency and poor safety of ships or ship fleets in heavy fog weather is solved. The visibility of ships in the fog area is improved, and the ships can efficiently and safely pass through the fog area. BRIEF DESCRIPTION OF DRAWINGS

[0037] Figure 1 A method flowchart of an embodiment of the navigation channel de-fogging assisting method provided by the present application;

[0038] Figure 2 A system architecture diagram of an embodiment of the navigation channel de-fogging assisting system provided by the present application;

[0039] Figure 3 A structural schematic diagram of an embodiment of the navigation channel de-fogging assisting ship provided by the present application;

[0040] Figure 4 A top view of an embodiment of the navigation channel de-fogging assisting ship provided by the present application;

[0041] Figure 5 A structural schematic diagram of an environmental perception system part of an embodiment of the navigation channel de-fogging assisting ship provided by the present application;

[0042] Figure 6A structure schematic diagram of a defogging device part in an embodiment of a channel defogging and navigation assisting ship provided by the present application is shown. DETAILED DESCRIPTION

[0043] The preferred embodiments of the present application will be described in detail with reference to the drawings, in which the same or similar components are denoted by the same reference numerals, and therefore the description will be given only with respect to the differences from the previous embodiments.

[0044] It can be understood that the technical terms, English abbreviations and the like appearing hereinafter are all prior art, and those skilled in the art can understand their meanings according to the context, which will not be described in detail herein for the sake of brevity.

[0045] In the description of the present application, the meaning of "a plurality of" is two or more than two, unless otherwise explicitly and specifically limited.

[0046] Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are they necessarily mutually exclusive of other embodiments. It is explicitly understood that the embodiments described herein are open-ended and can be combined with each other in their various permutations and combinations.

[0047] The present application provides a channel defogging and navigation assisting method, system and ship, which will be described below respectively.

[0048] In combination with Figure 1 An embodiment of the present application is shown, which discloses a channel defogging and navigation assisting method, comprising:

[0049] S101, acquiring environmental data of a target channel;

[0050] S102, judging fog area state data of a plurality of different areas in the target channel based on the environmental data of the target channel, and performing path planning according to the fog area state data of the plurality of different areas to obtain a target navigation path and a target navigation speed;

[0051] S103, controlling a defogging and navigation assisting ship to navigate according to the target navigation path and the target navigation speed, acquiring environmental data of a ship area in real time while navigating, and controlling a defogging device arranged on the defogging and navigation assisting ship to defog according to the environmental data of the ship area.

[0052] The method can defog and assist navigation of the ship itself or other following ships implementing the method. The ship implementing the method is the defogging and navigation assisting ship. When other ships follow the defogging and navigation assisting ship to advance, the other ships are the following ships of the defogging and navigation assisting ship. The defogging and navigation assisting ship defogs and leads the following ships to assist them to advance.

[0053] Compared with the prior art, the application selects the optimal target navigation path according to the fog area state, and then performs defogging work only on the path on the basis of the target navigation path, can flexibly change according to the change of the fog area state, and only needs to defog the area under the conditions of large fog concentration, large area and strong flow in the river and sea channel. The problem of low navigation efficiency and poor safety of ships or fleets in heavy fog weather is better solved. Through the implementation of the technical system scheme of the application, the visibility of ships in the fog area can be improved, and the ships can pass through the fog area efficiently and safely.

[0054] Specifically, in the step S101, the environmental data includes various data, which are all data for describing the environmental information in the target channel, and can be obtained by existing devices. The specific types will be described below.

[0055] In a preferred embodiment, the environmental data of the target channel includes radar echo data, and the radar echo data includes fog droplet sub-reflection factor data and fog droplet sub-radial velocity data; the fog area state data includes fog evolution data for describing whether the fog is in the forming stage, the continuous stage or the dissipation stage, fog movement trend data, fog area position distribution data and fog area internal visibility contour data.

[0056] The step S102 includes the following steps:

[0057] According to the intensity change of the radar echo data determined by the reflection factor data of different regions, the fog evolution data of different regions is obtained;

[0058] The speed vector synthesis is performed on the fog droplet sub-radial velocity data of different regions to obtain the fog movement trend data of different regions;

[0059] Based on a preset reflection factor-visibility function, the fog area position distribution data and the fog area internal visibility contour data are obtained according to the fog droplet sub-reflection factor data of different regions, wherein the preset reflection factor-visibility function is obtained according to machine learning.

[0060] Further, in a preferred embodiment, the step S102, based on the environmental data of the target channel, judges the fog area state data of a plurality of different regions in the target channel, and performs path planning according to the fog area state data of the plurality of different regions to obtain the target navigation path and the target speed, further includes:

[0061] Taking a navigation path and a navigation speed as decision variables, a path and speed planning model is established according to the fog evolution data, the fog movement trend data, fog area position distribution data and fog area internal visibility contour data;

[0062] According to the path and speed planning model, the target navigation path and the target navigation speed are obtained through an optimization algorithm.

[0063] The above process can realize real-time judgment of the fog area state and flexibly find an optimal path, can well cope with the strong flowability and fast change of the fog area on the water surface, can not only provide an optimal navigation path, but also reduce the difficulty of a subsequent fog removal step.

[0064] Further, the application also provides a more detailed embodiment to more clearly illustrate the above process:

[0065] Taking a navigation path as a first decision variable and a navigation speed as a second decision variable, taking the sum of average visibilities of each fog area passed through on the navigation path as a first optimization target, taking the minimum of a total fog evolution weight of the fog area passed through by the navigation path as a second optimization target, wherein the fog evolution weight is a weight corresponding to each fog evolution data, taking the minimum of total navigation time obtained by adding the time of passing through each fog area on the navigation path as a third optimization target, taking the minimum of total fuel consumption obtained by adding the fuel consumption of each fog area passage on the navigation path as a fourth optimization target, taking the average visibility of each fog area on the navigation path being greater than a preset minimum visibility as a first constraint condition, taking the average visibility gradient of each fog area on the navigation path being less than a preset maximum visibility gradient as a second constraint condition, taking the total navigation time being less than a preset maximum navigation time as a third constraint condition, taking the navigation speed being between a preset maximum navigation speed and a preset minimum navigation speed as a fourth constraint condition, taking the curvature radius of the navigation path being greater than a minimum turning radius of the navigation aid ship as a fifth constraint condition, and taking the distance between the ship and a navigation obstacle (such as a river and sea coastline, port facilities and other obstacles, etc.) being greater than a minimum safety distance as a sixth constraint condition, a path and speed planning model is established.

[0066] According to the path and speed planning model, the target navigation path and the target navigation speed are obtained through a multi-objective genetic algorithm.

[0067] Specifically, in a preferred embodiment, the above path and speed planning model is:

[0068] Min(Z,V)=w1×Max∑C×(w2×Min∑T+w3×Max∑Avg(Vis)+w4×Min∑F)

[0069] Wherein, Z represents a navigation path, V represents a navigation speed, ∑C represents a total fog evolution weight of the navigation path through the fog area (i.e. the second optimization objective), C is a fog evolution weight (for example, a formation stage C1, a continuous state C2, a dissipation state C3), ∑T represents a total navigation time obtained by accumulating the time through each fog area (i.e. the third optimization objective), ∑Avg(Vis) represents the sum of the average visibility through each fog area (i.e. the first optimization objective), ∑F represents a total fuel consumption obtained by accumulating the fuel consumption through each section of the fog area (i.e. the fourth optimization objective), w1, w2, w3 and w4 are different weight parameters respectively, used to weigh the importance of the above four optimization objectives, and the above formula means that the navigation path and the navigation speed are solved when the total fog evolution weight of the navigation path through the fog area is maximum, the total navigation time obtained by accumulating the time through each fog area is minimum, the sum of the average visibility through each fog area is maximum, and the total fuel consumption obtained by accumulating the fuel consumption through each section of the fog area is minimum.

[0070] The above process introduces how to judge the state of the fog area through what data and through what method, and introduces how to perform path optimization. Those skilled in the art can implement the above process through the prior art under the condition of knowing the above idea, and therefore the specific implementation process is not described in detail.

[0071] Further, in a preferred embodiment, the environmental data of the ship area further includes visibility data, temperature data, humidity data and air pressure data of the ship area; and the defogging device includes a sound wave radiator and a blower;

[0072] The above step S103, according to the target navigation path and the target navigation speed, controls the defogging assisted navigation ship to navigate, and environmental data of a ship area is obtained in real time during navigation, and a defogging device arranged on the defogging assisted navigation ship is controlled to defog according to the environmental data of the ship area, and specifically includes:

[0073] According to the average value of the visibility data, the temperature data and the humidity data of the ship area, sound wave modulation data is obtained, and the sound wave modulation data includes a combination of optimal sound wave frequency, amplitude, phase and waveform parameters;

[0074] According to the state of the fog area of the ship area, optimal pose data of the sound wave radiator is obtained, and the optimal pose data includes optimal operation height and angle parameters;

[0075] Taking the highest air pressure data in the ship area as an optimization objective, taking a preset radial visibility as a constraint condition, and taking the operation parameters of the blower as optimization variables, optimal operation parameters of the blower are obtained, and the optimal operation parameters include the rotation speed and the angle of the blower;

[0076] Controlling the operation of the sound wave radiator according to the sound wave modulation data and the optimal pose data, controlling the operation of the air blower according to the optimal operation parameters, and performing the defogging.

[0077] The above process can be carried out by the sound wave radiator and the air blower to perform the defogging treatment, wherein:

[0078] 1. Sound wave radiator: The sound wave radiator destroys the surface tension of water droplets by generating sound wave vibration, so that the water droplets are better mixed and dispersed with air. This helps to accelerate the evaporation and drying process of water droplets, thereby reducing the mist.

[0079] 2. Air blower: The air blower increases the flowability of air by generating strong air flow, effectively dispersing the mist. It can help to quickly remove the mist from the target area, improving the defogging speed.

[0080] The advantages of using the sound wave radiator and the air blower together are that the characteristics of both are combined, increasing the defogging effect. The sound wave radiator destroys the surface tension of water droplets, and the air blower quickly disperses the dispersed water droplets, together promoting the dissipation of the mist. This combination can clear the mist in a shorter time and provide better visibility and environmental conditions.

[0081] Further, in a preferred embodiment, the channel defogging and navigation assisting method further comprises:

[0082] Based on the infrared camera and searchlight arranged on the navigation assisting ship, visual enhancement data is obtained, and the navigation of the defogging and navigation assisting ship is adjusted according to the visual enhancement data.

[0083] The above process is visual enhancement, which can make the personnel inside the ship better understand the environment in the fog and improve the safety of navigation.

[0084] Further, in a preferred embodiment, the channel defogging and navigation assisting method further comprises:

[0085] Obtaining obstacle ship data according to the environmental data of the ship area, and sending warning information to the obstacle ship and the following ship of the defogging and navigation assisting ship according to the obstacle ship data.

[0086] The above steps are obstacle avoidance functions, which can prevent accidents on the water surface.

[0087] In order to better implement the channel defogging and navigation assisting method in the embodiment of the present application, on the basis of the channel defogging and navigation assisting method, please refer to Figure 2 , Figure 2 The structure diagram of an embodiment of the channel defogging and navigation assisting system provided by the present application, the channel defogging and navigation assisting system 200 provided by the embodiment of the present application comprises:

[0088] an environment perception system 210, configured to acquire environment data of a target channel;

[0089] a fog area path planning system 220, configured to determine fog area state data of a plurality of different areas in the target channel based on the environment data of the target channel, and perform path planning according to the fog area state data of the plurality of different areas to obtain a target navigation path and a target navigation speed;

[0090] a channel defogging system 230, configured to control a defogging aid navigation ship to navigate according to the target navigation path and the target navigation speed, and acquire environment data of a ship area in real time during navigation, and control a defogging device arranged on the defogging aid navigation ship to defog according to the environment data of the ship area.

[0091] It should be noted that the corresponding system 200 provided in the above embodiments can implement the technical solutions described in the above method embodiments, and the principles of the implementation of the above modules or units can be referred to the corresponding content in the above method embodiments, which will not be described here.

[0092] Further, in a preferred embodiment, the channel defogging aid navigation system further comprises:

[0093] a visual enhancement aid navigation system, configured to acquire visual enhancement data based on an infrared camera and a searchlight arranged on the aid navigation ship, and adjust navigation of the defogging aid navigation ship according to the visual enhancement data.

[0094] Further, in a preferred embodiment, the channel defogging aid navigation system further comprises:

[0095] a ship driving away system, configured to obtain obstacle ship data according to the environment data of the ship area, and send warning information to the obstacle ship and a following ship of the defogging aid navigation ship according to the obstacle ship data.

[0096] The application also provides a channel defogging aid navigation ship, which is loaded with the channel defogging aid navigation system as described in any one of the above embodiments.

[0097] The application also provides a more detailed embodiment to more clearly illustrate the above channel defogging aid navigation method, system and ship:

[0098] In combination with Figures 3-6 the drawings, the embodiment provides a channel defogging aid navigation ship, which comprises an environment perception system, a data processing system, a fog area path planning system, a channel defogging system, a visual enhancement aid navigation system and a ship driving away system.

[0099] The environment perception system comprises an infrared thermal imager 1, a millimeter wave radar 2, a Beidou positioning system, a searchlight 3, a temperature and humidity and air pressure sensor 4, a marine radar 5, a visibility sensor 6, an automatic identification system 7 (AIS) and a hydraulic lifting and rotating mechanism 8 for controlling the movement of each device.

[0100] The fog area path planning system can analyze the characteristics of the fog by millimeter wave radar echo information, and use an optimization algorithm to search for the optimal path and safe navigation speed of the ship or fleet in the fog area to reach the destination in a future period of time, with the factors of fog occurrence position, internal visibility distribution of the fog, movement trend of the fog area and necessary navigation time of the ship crossing different fog areas as constraint conditions.

[0101] The channel defogging system comprises a sound wave modulator 9, a sound wave radiator 10, air blowers 11 arranged at four corners of the deck of the ship, a hydraulic lifting and rotating mechanism for controlling the movement of the sound wave radiator and the air blowers, and a sound wave radiator and air blower operation parameter calculation subsystem. The channel defogging system drives away the fog by combining the air blowers and the sound wave radiator. The air blowers are arranged at four corners of the deck of the ship to increase the fog driving range. The defogging efficiency can be improved by adaptively adjusting the rotating speed, operation angle of the air blowers and the sound wave frequency, amplitude, phase, waveform and operation height angle parameters of the sound wave radiator based on the monitored internal visibility distribution of the fog and the current position temperature and humidity data, and the negative pressure of the air pressure on the deck of the defogging assisted navigation ship is minimized to reduce the influence of the backflow of the fog.

[0102] The visual enhancement navigation assistance system can adaptively adjust the operation parameters such as the height, angle, light brightness and focal length of the infrared camera and the searchlight of the defogging assisted navigation ship based on the multi-source information of the channel defogging assisted navigation ship environment perception system, and share the monitoring results in real time to the subsequent fleet to realize the visual enhancement of the channel in the vicinity of the ship.

[0103] The ship driving away system comprises a ship driving away decision system, an AIS system, a warning broadcasting horn 12 and a navigation warning light 13. The ship driving away system can identify other ships close to the defogging assisted navigation ship and the subsequent fleet in real time based on the marine radar, the AIS system, the millimeter wave radar and the infrared camera, automatically broadcast the dangerous driving behavior information of the navigation hindering ship to the navigation hindering ship, the subsequent fleet and the maritime administration supervision system through the AIS system, and automatically start the warning broadcasting horn and the navigation warning light to sound and light warning and drive away the navigation hindering ship.

[0104] In the embodiment, the operation method of the channel defogging assisted navigation ship is performed according to the following steps:

[0105] Step 1: Data acquisition and processing

[0106] (I) On the defogging-assisted ship, radar echo data (including echo intensity, echo signal, etc.) are obtained by millimeter wave radar, the horizontal scanning mode and the vertical scanning mode of the millimeter wave radar are cyclically turned on to extract the reflectivity factor and the radial velocity data of the fog droplet in the horizontal and vertical areas, the latitude and longitude information of the defogging-assisted ship is collected in real time by the Beidou positioning system, the temperature, humidity, air pressure and visibility data near the ship are collected in real time by the temperature and humidity sensor, the air pressure sensor and the visibility sensor arranged on the top of the bridge, and the channel obstacle or other ship driving behavior data are collected in real time by the marine radar and the general shipborne automatic identification system.

[0107] (II) The collected data are transmitted to the database of the data processing and analysis system for storage, and the data in the database are cleaned by means of error data identification deletion and missing data filling.

[0108] Step two: fog area path planning

[0109] (I) When the millimeter wave radar detects that there is a fog area within a radial distance of 10 km, the fog area path planning system is automatically started, the fog evolution stage of the area is judged by judging the change trend of the radar echo intensity according to different reflectivity factor data, that is, the formation stage, the continuous stage or the dissipation stage, the moving trend (i.e. the moving direction and speed) of the fog in different areas is obtained by synthesizing the radial velocity vectors of the fog droplets in different areas, and the fog area position distribution data and the fog area internal visibility contour data are obtained by inversely calculating the millimeter wave radar reflectivity echo signal data through the "reflectivity factor-visibility" function pre-fitted by machine learning algorithm.

[0110] (II) The fog area path planning system is started, the necessary sailing time of the ship passing through different fog areas is taken as the constraint condition, the fog evolution data, the fog moving trend, the fog area position distribution data, the visibility contour in the horizontal and vertical directions of the fog area, etc. are taken as the path selection influencing factors, the simulated annealing optimization algorithm is used to construct the fog area path optimization model, the optimal path and the safe sailing speed of the ship passing through the fog area to reach the destination in a future period of time are searched, and the ship and the subsequent fleet are ensured to pass through the fog area in the safest way and the shortest time.

[0111] Step three: channel fog elimination operation optimization

[0112] (I) The channel defogging system is triggered and started.

[0113] When sailing along the optimal path, the average visibility of the area in front of the channel is monitored and calculated in real time by combining the millimeter wave radar and the visibility sensor, and when the average visibility is lower than the set value and the temperature and humidity data meet the fog characteristics, the channel defogging system is automatically triggered.

[0114] (I) The sound wave radiator and its lifting and rotating mechanism operation parameter optimization.

[0115] The sound wave radiator and the blower operation parameter calculation subsystem analyzes and calculates the current area fog average visibility and temperature and humidity in real time to obtain the optimal sound wave frequency, amplitude, phase and waveform parameter combination, and outputs the corresponding control signal to the sound wave modulator by the sound wave radiator control module for real-time sound wave modulation. At the same time, the sound wave radiator and the blower operation parameter calculation subsystem analyzes and calculates the distribution characteristics of the current area fog in the horizontal and vertical directions (such as the fog area position distribution data and the fog area internal visibility contour data of the current area) to obtain the optimal operation height and angle parameters of the sound wave radiator, and outputs the corresponding lifting height and rotating angle signal to the sound wave radiator hydraulic lifting and rotating mechanism by the sound wave radiator control module for real-time adjustment.

[0116] (III) The blower and its lifting and rotating mechanism operation parameter optimization.

[0117] The sound wave radiator and the blower operation parameter calculation subsystem establishes a blower and its lifting and rotating mechanism operation parameter optimization model. The model takes the highest air pressure value on the deck of the defogging and navigation assisting ship measured by the air pressure sensor as the optimization target, takes the required set radial visibility as the constraint condition, and takes the rotating speed and angle of the four blowers as the optimization variables for optimization, so as to obtain the optimal operation parameters of the blower to prevent the formation of negative pressure area causing the backflow of fog. When the channel radial visibility is greater than the set value, the blower is turned off.

[0118] (IV) Channel defogging operation. The sound wave radiator, the blower and its lifting and rotating mechanism are controlled by the optimized operation parameters to maximize the efficiency of channel defogging operation.

[0119] Step four: visual enhancement of defogging and navigation assisting ship

[0120] (I) Start the visual enhancement navigation aid system, and automatically start the infrared camera for fog penetration monitoring when the regional visibility is lower than the set value. The control module dynamically adjusts the operation height and angle of the infrared camera by the hydraulic lifting and rotating mechanism to keep the camera field of view open.

[0121] (II) Real-time detection of low visibility and obstacle area in front of the channel, and the visual enhancement navigation aid system outputs the optimal operation height, angle, light brightness and focal length of the fog penetration searchlight to the control module. The control module outputs the corresponding equipment operation parameters to the fog penetration searchlight, and outputs the corresponding lifting height and rotating angle signal to the searchlight hydraulic lifting and rotating mechanism for real-time adjustment, realizes real-time tracking of poor visibility area and possible dangerous area, and realizes secondary visual enhancement based on infrared camera monitoring.

[0122] (III) Real-time sharing of visual enhancement navigation system monitoring results to subsequent fleets.

[0123] Step five: Obstruction ship driving away

[0124] The ship driving away system is started, and other ships (i.e. obstruction ships) within a range of 2 km close to the defogging navigation ship and the subsequent fleet are identified in real time through the marine radar, AIS system, millimeter wave radar and infrared camera; when the obstruction ship is found, the obstruction ship dangerous driving behavior information (i.e. one kind of warning information) is automatically broadcast to the obstruction ship, the subsequent fleet and the maritime administration supervision system through the AIS system; at the same time, the warning loudspeaker and the navigation warning light are started to sound and light warning and driving away the obstruction ship (also one kind of warning information).

[0125] The application provides a channel defogging navigation method and system and a ship, which first acquires environmental data of a target channel, then judges fog area state data of a plurality of different regions in the target channel based on the environmental data of the target channel, performs path planning according to the fog area state data of the plurality of different regions, obtains a target navigation path and a target speed, and finally controls a defogging navigation ship to navigate according to the target navigation path and the target speed, and acquires environmental data of a ship region in real time during navigation, controls a defogging device arranged on the defogging navigation ship to defog according to the environmental data of the ship region. The method and system can defog the ship itself or other following ships. Compared with the prior art, the application first selects an optimal target navigation path according to the fog area state, then performs navigation based on the target navigation path, and only defogs the path, which can be flexibly changed according to the change of the fog area state. In the condition of large fog concentration, large area and strong flow in the river and sea channel, only the required area is defogged. The application better solves the problems of low navigation efficiency and poor safety of ships or fleets in heavy fog weather, and can improve the visibility of ships in the fog area, and help the ships to efficiently and safely pass through the fog area.

[0126] The above description is only a preferred embodiment of the application, but the protection scope of the application is not limited thereto, and any changes or replacements within the technical range disclosed by the application can be easily thought by those skilled in the art, which should be covered in the protection scope of the application.

Claims

1. A channel defogging and navigation assisting method, characterized by, The method comprises the following steps: acquiring environmental data of a target channel; judging fog area state data of multiple different areas in the target channel based on the environmental data of the target channel, and performing path planning according to the fog area state data of the multiple different areas to obtain a target navigation path and a target navigation speed; controlling the navigation of a ship for fog removal and navigation according to the target navigation path and the target navigation speed, and acquiring environmental data of a ship area in real time during the navigation, and controlling a fog removal device arranged on the ship for fog removal and navigation to perform fog removal according to the environmental data of the ship area.

2. The channel defogging navigation aid method according to claim 1, characterized by, The environmental data of the target channel comprises radar echo data, and the radar echo data comprises fog droplet sub-reflection factor data and fog droplet sub-radial velocity data; the fog area state data comprises fog evolution data for describing whether fog is in a forming stage, a sustaining stage or a dissipating stage, fog movement trend data, fog area position distribution data and fog area internal visibility contour data; The method of judging the fog area state data of multiple different areas in the target channel based on the environmental data of the target channel comprises the following steps: obtaining fog evolution data of different areas according to the intensity change of the radar echo data judged according to the reflection factor data of different areas; obtaining fog movement trend data of different areas by performing velocity vector synthesis on fog droplet sub-radial velocity data of different areas; obtaining the fog area position distribution data and the fog area internal visibility contour data according to the fog droplet sub-reflection factor data of different areas based on a preset reflection factor-visibility function, wherein the preset reflection factor-visibility function is obtained according to machine learning.

3. The channel defogging navigation aid method according to claim 2, characterized by, The method of performing path planning according to the fog area state data of the multiple different areas to obtain the target navigation path and the target navigation speed comprises the following steps: taking a navigation path and a navigation speed as decision variables, and establishing a path and speed planning model according to the fog evolution data, the fog movement trend data, the fog area position distribution data and the fog area internal visibility contour data; obtaining the target navigation path and the target navigation speed by an optimization algorithm according to the path and speed planning model.

4. The channel defogging navigation aid method according to claim 2, characterized by, The environmental data of the ship area comprises visibility data, temperature data, humidity data and air pressure data of the ship area; the fog removal device comprises a sound wave radiator and a blower; the method of controlling the navigation of the ship for fog removal and navigation according to the target navigation path and the target navigation speed, and acquiring environmental data of a ship area in real time during the navigation, and controlling a fog removal device arranged on the ship for fog removal and navigation to perform fog removal according to the environmental data of the ship area comprises the following steps: obtaining sound wave modulation data according to the average value of the visibility data, the temperature data and the humidity data of the ship area, wherein the sound wave modulation data comprises a combination of optimal sound wave frequency, amplitude, phase and waveform parameters; obtaining optimal pose data of the sound wave radiator according to the fog area state of the ship area, wherein the optimal pose data comprises optimal operation height and angle parameters. Taking the highest air pressure data in the ship area as an optimization target, taking the preset radial visibility as a constraint condition, and taking the operation parameters of the air blower as optimization variables to perform optimization, optimal operation parameters of the air blower are obtained, the optimal operation parameters including the rotation speed and angle of the air blower; According to the sound wave modulation data and the optimal pose data, the sound wave radiator is controlled to work, and according to the optimal operation parameters, the air blower is controlled to work, so as to perform defogging.

5. The channel defogging method according to claim 1, wherein Further comprising: Based on the infrared camera and searchlight arranged on the defogging aid ship, visual enhancement data is obtained, and the navigation of the defogging aid ship is adjusted according to the visual enhancement data.

6. The channel defogging method according to claim 1, wherein Further comprising: According to the environmental data of the ship area, obstacle ship data is obtained, and warning information is sent to the obstacle ship and the following ship of the defogging aid ship according to the obstacle ship data.

7. A channel defogging navigation aid system characterized by, Comprising: An environmental perception system is used to obtain environmental data of a target channel; A fog area path planning system is used to judge fog area state data of a plurality of different areas in the target channel based on the environmental data of the target channel, and to perform path planning according to the fog area state data of the plurality of different areas, so as to obtain a target navigation path and a target navigation speed; A channel defogging system is used to control the navigation of a defogging aid ship according to the target navigation path and the target navigation speed, to obtain environmental data of a ship area in real time while navigating, and to control a defogging device arranged on the defogging aid ship to perform defogging according to the environmental data of the ship area.

8. The channel defogging pilot system according to claim 7, wherein Further comprising: A visual enhancement aid navigation system is used to obtain visual enhancement data based on an infrared camera and a searchlight arranged on the defogging aid ship, and to adjust the navigation of the defogging aid ship according to the visual enhancement data.

9. The channel defogging pilot system according to claim 7, wherein Further comprising: A ship driving system is used to obtain obstacle ship data according to the environmental data of the ship area, and to send warning information to the obstacle ship and the following ship of the defogging aid ship according to the obstacle ship data.

10. A channel de-fogging pilotage vessel, characterized by, The channel defogging aid navigation system according to any one of claims 7-9 is carried.

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