An abnormal monitoring and early warning system for maritime ships

Abstract

The present invention discloses an abnormal monitoring and early warning system for offshore ships. The abnormal monitoring and early warning module is used to receive the information of abnormal ships sent by the route driving early warning module, monitor the routes of offshore ships, and analyze whether there are abnormal behaviors of offshore ships. The present invention relates to the technical field of offshore ship monitoring. The abnormal monitoring and early warning system for offshore ships can analyze the collision risk when ships gather through the route driving early warning module. After the number of offshore ships within a set range reaches a certain value, it can judge whether early warning is needed according to the direction and number of offshore ships traveling, so as to ensure the safety of offshore ships traveling. It cooperates with the abnormal monitoring and early warning module to analyze whether there are abnormal gathering behaviors of offshore ships, and can avoid the behavior that the positioning system is deliberately turned off, resulting in the inability to judge the abnormality of offshore ships, thereby improving the investigation intensity of abnormal ships.

Description

Technical Field

[0001] The present invention relates to the technical field of maritime ship monitoring, and specifically to an abnormal monitoring and early warning system for maritime ships. Background Art

[0002] Driven by interests, a large number of ships carry out transportation operations that violate relevant regulations, which not only pose great potential safety hazards but also are related to the safety of people's lives and property. At the same time, there are cases where foreign ships turn off devices such as AIS and illegally intrude into China's sea areas. These illegally gathered ships seriously damage China's territorial security. Therefore, it is urgent to monitor the abnormalities of these maritime ships and manage the ships engaged in transportation operations that violate relevant regulations.

[0003] During the navigation of existing maritime ships, the monitoring of whether there are abnormalities completely depends on the positioning system equipped on the ships themselves. By judging whether there are too many ships within a set range through positioning points, without a systematic algorithm, it will bring limitations to the monitoring process. And when the positioning system is turned off by the ship, reasonable judgment cannot be made. At the same time, during the navigation of the ship, there is a lack of protection for navigation safety, and early warning cannot be given in time before avoidance. Therefore, the present invention proposes an abnormal monitoring and early warning system for maritime ships to solve the above-mentioned problems. Summary of the Invention

[0004] (1) Technical Problems to be Solved

[0005] In view of the deficiencies of the prior art, the present invention provides an abnormal monitoring and early warning system for maritime ships, which solves the problems mentioned in the above background art.

[0006] (2) Technical Solutions

[0007] To achieve the above object, the present invention is realized through the following technical solutions: An abnormal monitoring and early warning system for maritime ships, comprising:

[0008] A ship information collection module, which is used to collect maritime ship information, perform real-time positioning on it, and then send the obtained information to the base station control module. Among them, the real-time positioning method of the maritime ship is: GPS positioning;

[0009] A base station control module, which is used to receive the information from the ship information collection module and send it to the route navigation early warning module;

[0010] A route navigation early warning module, which is used to receive the ship route information sent by the base station control module, perform collision risk analysis when ships gather, propose an early warning plan for the ship route, and then send the information about ship gathering to the abnormal monitoring and early warning module;

[0011] Abnormal monitoring and early warning module: It is used to receive the ship aggregation information sent by the route driving early warning module, monitor the routes of ships at sea, analyze whether there are abnormal aggregation behaviors of ships at sea, and remotely warn the ships at sea that generate abnormal aggregation behaviors.

[0012] As an improved technical solution, when the ship information collection module collects ship information at sea, it authenticates the identity of each ship's information and all uses the same GPS positioning system.

[0013] As an improved technical solution, in the route driving early warning module, when ships gather, the specific method for analyzing the collision risk and proposing an early warning plan for the ship route is as follows:

[0014] S1: First, locate the ships at sea through GPS and mark them as A n , where n = 1, 2,..., j, n is the serial number of the ship at sea, and then generate the route of the ship's movement according to the location A n and mark it as LA n . When n < 3, the collision risk is not considered at this time. When n ≥ 3, it is necessary to further judge according to the moving direction of the ship.

[0015] As an improved technical solution, the specific method for further judging according to the moving direction of the ship in S1 is as follows:

[0016] S11: First, when n ≥ 3, according to the ship movement route LA n , extend the route LA n and analyze whether there are intersection points between the ship routes LA n . When there are no intersection points between the routes LA n , the collision risk is not considered at this time. When there are intersection points between the routes LA n , further analyze the positions of the ships at this time;

[0017] S12: Then, construct a plane coordinate system with several ship positioning points A n , bring the moving direction of the positioning point A n into the plane coordinate system, and according to the first, second, third, and fourth quadrants divided by the plane coordinate system, at least the moving directions of the positioning points A n are distributed in three different quadrants. At this time, it is necessary to calculate the collision risk. Refer to the calculation formula: Among them, AD is the starting point of the route LA n , AM is the intersection point of the collision, V is the moving speed of the ship, Z is the length of the ship itself, T n is the time for the ship to reach the impact point, and compare T nWhether they are the same, which is used to determine whether a collision will occur.

[0018] As an improved technical solution, in S12, when the travel times T of several ships n are different, further risk assessment is required. The specific method is as follows:

[0019] Set a time threshold t, referring to the calculation formula: CT n = T n - T n-1 、CT n-1 = T n-1 - T n-2 、...、CT2 = T2 - T1, where CT n is the difference in the time for the ship to reach the collision point. Among them, take the minimum value and mark it as minCT n , when minCT n > t, no collision risk warning is given; when minCT n ≤ t, a collision risk warning is given.

[0020] As an improved technical solution, in the abnormal monitoring and warning module, the route of the ship at sea is monitored, and the specific method for analyzing whether there is abnormal aggregation behavior of the ship at sea is as follows:

[0021] P1: Set a circular range threshold, with the radius marked as R and the area marked as S. When the ship number n > 3, according to the formula select a ship as the starting point of S and mark it as O. At this time, if n > 3 within the range S, it can be initially judged that the ships at sea are abnormally aggregated;

[0022] P2: Then set a stay time threshold Tmin, and mark the stay time of the ship's positioning point A n within S as Tmax. When Tmax ≥ Tmin, at this time the ship's positioning point A n is marked as abnormally aggregated; otherwise, it is marked as an accidental encounter. When the GPS positioning disappears, further analysis is required for the judgment of abnormal aggregation of ships at sea.

[0023] As an improved technical solution, after the GPS positioning of the ship at sea disappears, the specific method for further analyzing the judgment of abnormal aggregation of the ship at sea is as follows:

[0024] Mark the last disappearing point of the ship's positioning point A n as XA n , and set a new threshold range with the marked point XA n as the center and the radius in the form of , and mark it as At this time, when performing the judgment in step P1, within Within the range, the disappearing A n The point is default serial number n + 1. At this time, the judgment method is: n + 1 > 3 until the disappearing A n The point reappears on the GPS positioning.

[0025] As an improved technical solution, in the abnormal monitoring and warning module, when remotely warning the offshore ships with abnormal aggregation behavior, a satellite phone can be used for dialogue warning, and after the warning is ineffective, an offshore fleet can conduct on-site inspections according to the positioning location.

[0026] As an improved technical solution, the information feedback module is used to feedback the information of the route driving warning module and the abnormal monitoring and warning module into the base station control module.

[0027] (III) Beneficial effects

[0028] The present invention provides an offshore ship abnormal monitoring and warning system. Compared with the prior art, it has the following beneficial effects:

[0029] This offshore ship abnormal monitoring and warning system can analyze the collision risk when ships gather through the route driving warning module. After the number of offshore ships within the set range reaches a certain value, it can judge whether early warning is needed according to the traveling direction and number of offshore ships to ensure the safety of offshore ship travel. It cooperates with the abnormal monitoring and warning module to analyze whether there is abnormal aggregation behavior of offshore ships, and can avoid the behavior of deliberately turning off the positioning system, which leads to the inability to judge the abnormal aggregation of offshore ships, thus improving the investigation intensity of abnormal ships. Description of the drawings

[0030] Figure 1 It is a block diagram of the offshore ship abnormal monitoring and warning system of the present invention;

[0031] Figure 2 It is a schematic diagram showing the traveling direction distribution of ships in three different quadrants in the route driving warning module of the present invention. Specific embodiments

[0032] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0033] Please refer to Figure 1 - Figure 2 , the embodiments of the present invention provide five technical solutions:

[0034] Embodiment 1: An abnormal monitoring and early warning system for maritime ships, comprising:

[0035] A ship information collection module, which is used to collect maritime ship information, perform real-time positioning on it, and then send the obtained information to the base station control module. Among them, the method of real-time positioning of maritime ships is: GPS positioning; when the ship information collection module collects maritime ship information, real-name authentication of each ship's information is adopted, specifically including the hull number, the identity information of the holder, and the navigation route, and all use the same GPS positioning system. The GPS positioning system can also be replaced by other systems that can perform real-time positioning, such as the Beidou positioning system.

[0036] A base station control module, which is used to receive the information from the ship information collection module and send it to the route driving early warning module; the base station control module is the signal transceiver center and plays a central control role. The specific control method can be manual control or machine control.

[0037] A route driving early warning module, which is used to receive the ship route information sent by the base station control module, perform collision risk analysis when ships gather, propose an early warning plan for the ship route, and then send the information of ship gathering to the abnormal monitoring and early warning module; in the route driving early warning module, when ships gather, the specific method for performing collision risk analysis and proposing an early warning plan for the ship route is: S1: First, locate the maritime ships through GPS and mark them as A n , where n = 1, 2,..., j, n is the serial number of the maritime ship, and then generate the route of the ship's travel according to the positioning A n and mark it as LA n . When n < 3, the collision risk is not considered at this time. When n ≥ 3, it is necessary to further judge according to the traveling direction of the ship. The specific method for further judging according to the traveling direction of the ship in S1 is: S11: First, when n ≥ 3, according to the ship traveling route LA n , extend the route LA n , analyze whether there is an intersection between the ship routes LA n . When there is no intersection between the routes LA n , the collision risk is not considered at this time. When there is an intersection between the routes LA n , further analyze the positions of the ships at this time; S12: Then, construct a plane coordinate system with several ship positioning points A n , bring the traveling direction of the positioning point A n into the plane coordinate system, and according to the first, second, third, and fourth quadrants divided by the plane coordinate system, at least the traveling directions of the positioning points A n are distributed in three different quadrants. At this time, it is necessary to calculate the collision risk. Refer to the calculation formula: Among them, AD is the starting point of route LA n , AM is the intersection point of the collision, V is the traveling speed of the ship, Z is the length of the ship itself, T n is the time for the ship to reach the impact point. Compare whether T n is the same to determine whether a collision will occur. In S12, when the traveling times T of several ships n are different, further risk assessment is required. The specific method is as follows: Set a time threshold t and refer to the calculation formula: CT n = T n - T n-1 , CT n-1 = T n-1 - T n-2 、...、CT2 = T2 - T1. Among them, CT n is the difference in the time for the ship to reach the collision point. Among them, take the minimum value and mark it as minCT n . When minCT n > t, no collision risk warning is given. When minCT n ≤ t, a collision risk warning is given.

[0038] Combined with actual analysis, when the number of ships at sea does not reach the abnormal aggregation standard, at this time, early warning can be given for the ship route. When there is no intersection between routes LA n , because there will be no intersection, it only appears within the range. Therefore, the collision risk is not considered at this time. At least the traveling directions of positioning points A n are distributed in three different quadrants because if they are only distributed in one or two different quadrants, at this time, the traveling directions of the ships are the same or opposite. In this case, when avoiding, there is no need to consider third-party ships and it is easy to avoid. However, after third-party ships enter, at this time, it is necessary to consider whether there will be an impact on third-party ships when avoiding. Therefore, it is very necessary to give an early warning.

[0039] Embodiment 2: Based on Embodiment 1, the difference from Embodiment 1 is that it further includes: Anomaly Monitoring and Warning Module: used to receive the ship aggregation information sent by the route driving warning module, monitor the routes of ships at sea, analyze whether there is abnormal aggregation behavior of ships at sea, and remotely warn the ships at sea that have abnormal aggregation behavior. In the Anomaly Monitoring and Warning Module, when remotely warning the ships at sea that have abnormal aggregation behavior, a satellite phone can be used for dialogue warning, and after the warning is ineffective, a naval fleet is used to conduct on-site inspections according to the positioning location. The specific method for the Anomaly Monitoring and Warning Module to monitor the routes of ships at sea and analyze whether there is abnormal aggregation behavior of ships at sea is as follows: P1: Set a circular range threshold, with the radius marked as R and the area marked as S. When the ship number n > 3, according to the formula Select a ship as the starting point of S and mark it as O. At this time, if n > 3 within the range S, it can be preliminarily judged that there is abnormal aggregation of ships at sea; P2: Then set a stay time threshold Tmin, and mark the positioning point A of the ship n The stay time within S as Tmax. When Tmax ≥ Tmin, at this time, the positioning point A of the ship n Is marked as abnormal aggregation, otherwise, it is marked as an accidental encounter. When the GPS positioning disappears, further analysis is required for the judgment of abnormal aggregation of ships at sea. The specific method for further analysis of the judgment of abnormal aggregation of ships at sea after the GPS positioning of the ships at sea disappears is as follows: Mark the last disappearing point of the positioning point A of the ship n As XA n , and set a new threshold range with the marked point XA n As the center and the radius in the form of , and mark it as At this time, when performing the judgment in step P1, within The range, the disappearing A n Point is defaulted to the serial number n + 1. At this time, the judgment method is: n + 1 > 3, until the disappearing A n Point reappears on the GPS positioning.

[0040] Combined with actual analysis, after reaching the number of ships with abnormal aggregation, at this time, it is necessary to judge the stay time Tmax of the ships. When Tmax < Tmin, at this time, the ships are probably just having an encounter within the range and do not need to be marked as abnormal aggregation. However, some lawbreakers avoid ship anomaly monitoring and warning by temporarily turning off the GPS positioning system. At this time, it is necessary to analyze the disappearing position of the GPS positioning. Set a new threshold range with the marked point XA n As the center and the radius in the form of , and mark it as , the disappearing A nThe point is default serial number n + 1, which will not affect the judgment of abnormal ship aggregation.

[0041] Embodiment 3: On the basis of Embodiment 1, the difference from Embodiment 1 is that it further includes an information feedback module, which is used to feedback the information of the route driving warning module and the abnormal monitoring warning module to the base station control module.

[0042] Embodiment 4: Compared with Embodiment 1, Embodiment 2 and Embodiment 3, the technical solution of this embodiment is to combine the solutions of the above Embodiment 1, Embodiment 2 and Embodiment 3 for implementation.

[0043] Embodiment 5: Ship information collection module, base station control module, route driving warning module, abnormal monitoring warning module and information feedback module; the ship information collection module is used to collect the information of ships at sea, perform real-time positioning on them, and then send the obtained information to the base station control module. Among them, the real-time positioning method of ships at sea is: GPS positioning; the base station control module is used to receive the information of the ship information collection module and send it to the route driving warning module; the route driving warning module is used to receive the ship route information sent by the base station control module, perform collision risk analysis when ships gather, and propose a warning plan for the ship route, and then send the information of ship aggregation to the abnormal monitoring warning module; the abnormal monitoring warning module: is used to receive the ship aggregation information sent by the route driving warning module, monitor the routes of ships at sea, analyze whether there is abnormal aggregation behavior of ships at sea, and remotely warn the ships at sea with abnormal aggregation behavior; the information feedback module is used to feedback the information of the route driving warning module and the abnormal monitoring warning module to the base station control module.

[0044] At the same time, the content not described in detail in this specification belongs to the prior art well-known to those skilled in the art.

[0045] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device.

[0046] Although embodiments of the present invention have been shown and described, those of ordinary skill in the art will appreciate that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A marine ship abnormality monitoring and early warning system, characterized in that: include: Ship information collection module, base station control module, route driving warning module, abnormal monitoring and warning module and information feedback module; The ship information collection module is used to collect the information of ships at sea, locate them in real time, and then send the acquired information to the base station control module. The real-time positioning method of ships at sea is: GPS positioning; The base station control module is used to receive information from the ship information collection module and send it to the route driving warning module; The route driving warning module is used to receive the ship route information sent by the base station control module, and perform collision risk analysis when ships gather, and propose warning plans for the ship routes, and then send the information of ship gathering to the abnormal monitoring and warning module; Abnormal monitoring and early warning module: used to receive the ship gathering information sent by the route driving early warning module, monitor the routes of ships at sea, analyze whether there are abnormal gathering behaviors of ships at sea, and issue remote early warnings to ships at sea that have abnormal gathering behaviors; In the route warning module, the specific method of performing collision risk analysis when ships gather and proposing a warning plan for the ship route is as follows: S1: First, locate the ship at sea through GPS and mark it as A n , where n = 1, 2, ..., j, n is the serial number of the ship at sea, and then according to the positioning A n Generate the ship's route and mark it as LA n When n < 3, the collision risk is not considered. When n ≥ 3, further judgment is required based on the direction of the ship. The specific method that needs to be further judged according to the traveling direction of the ship in S1 is: S11: First, when n ≥ 3, according to the ship's route LA n , on route LA n Extend and analyze the ship route LA n Is there an intersection between them? n There is no intersection between them, so the collision risk is not considered. n There is an intersection between them, at which point the position of the ship is further analyzed; S12: Then use several ships to locate point A n Construct a plane coordinate system and locate point A n The direction of travel is brought into the plane coordinate system. According to the first, second, third and fourth quadrants divided by the plane coordinate system, at least point A is located n The travel directions are distributed in three different quadrants. At this time, the collision risk needs to be calculated. Refer to the calculation formula: Among them, AD is route LA n The starting point, AM is the intersection point of the collision, V is the speed of the ship, Z is the length of the ship itself, T n is the time when the ship arrives at the impact point, compared with T n Whether they are the same is used to determine whether a collision will occur; In S12, when the travel time of several ships is T n If the risk is different, further risk assessment is required, as follows: Set the time threshold t, refer to the calculation formula: CT n =T n -T n-1 , CT n-1 =T n-1 -T n-2 , ..., CT2 = T2 - T1, where CT n is the difference in time for the ship to reach the collision point, among which the minimum value is taken and marked as minCT n , when minCT n >t, no collision risk warning will be given, minCT n ≤t, a collision risk warning will be issued; The specific method of monitoring the routes of ships at sea and analyzing whether there is abnormal gathering behavior of ships at sea in the abnormal monitoring and early warning module is as follows: P1: Set the circular range threshold, with the radius marked as R and the area marked as S. When the ship number n>3, according to the formula Select a ship as the starting point of S and mark it as O. At this time, if n>3 is satisfied within the range S, it can be preliminarily judged that the ships at sea are abnormally gathered; P2: Then set the dwell time threshold Tmin and move the ship's positioning point A n The stay time in S is marked as Tmax. When Tmax ≥ Tmin, the ship's positioning point A n It is marked as abnormal gathering, otherwise, it is marked as accidental encounter. When GPS positioning disappears, the judgment of abnormal gathering of ships at sea needs further analysis; After the GPS positioning of the ships at sea disappears, the specific method for judging the abnormal gathering of ships at sea that needs further analysis is as follows: Set the ship's positioning point A n The last vanishing point is marked as XA n , set the point marked with XA n is the center and the radius is A new threshold range is formed and marked as At this time, when judging step P1, A disappeared within the range n The point is defaulted to number n+1, and the judgment method is: n+1>3, until the A disappears n The point is displayed again on the GPS position.

2. The marine vessel abnormality monitoring and early warning system according to claim 1 is characterized by: When the ship information collection module collects the information of ships at sea, it uses real-name authentication for each ship information, and all of them use the same GPS positioning system.

3. The marine vessel abnormality monitoring and early warning system according to claim 1 is characterized by: In the abnormal monitoring and early warning module, when a remote early warning is given to ships at sea that have abnormal gathering behavior, a conversation warning can be given by using a satellite phone. If the warning is ineffective, the maritime fleet can conduct on-site inspections based on the positioning location.

4. The marine vessel abnormality monitoring and early warning system according to claim 1 is characterized by: The information feedback module is used to feed back the information of the route driving warning module and the abnormal monitoring warning module to the base station control module.

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