Intelligent early warning method, device and intelligent early warning equipment for grounding of sea exploration work vessel

Abstract

The present invention discloses an intelligent early warning method, device and intelligent early warning equipment for the grounding of an ocean-going work ship, and relates to the technical field of shipping monitoring. The method obtains regional water level changes by analyzing water environment data of an area between a target ocean-going work ship and the grounding area and the grounding area, and analyzes the probability of the target ocean-going work ship being grounded according to current navigation data based on the water level changes and the current draft of the target ocean-going work ship, and when the probability of grounding is relatively large, analyzes the navigation speed and bow adjustment angle that need to be adjusted for the target ocean-going work ship based on the difference in the probability of grounding, water level changes, current navigation parameters and current draft, thereby generating a navigation early warning so as to adjust the navigation of the target ocean-going work ship, and can improve the accuracy of the early warning of grounding during the navigation of the ocean-going work ship, thereby reducing the occurrence of grounding or even reef-running accidents of the ocean-going work ship.

Description

Technical Field

[0001] The present invention relates to the technical field of shipping monitoring, and in particular to an intelligent early warning method, device and intelligent early warning equipment for a grounding of an ocean-going work vessel. Background Art

[0002] With the rapid increase of scientific research and testing on the ocean, the technical level and application scenarios of ocean exploration vessels are rapidly updating and growing. However, due to the complex and changeable characteristics of the marine working environment, there are many factors that affect the safe navigation of ocean exploration vessels. Therefore, whether for safety considerations or management and development needs, it is very necessary to warn of the grounding of ocean exploration vessels during navigation.

[0003] At present, the commonly used method of warning the grounding of sea-going workboats is to place grounding warning devices around the sea-going workboats, monitor the water depth of the navigation area through the grounding warning devices, and send out an alarm signal when the water depth is less than the set water depth, so that the navigation driver can take corresponding grounding prevention measures to reduce the possibility of the sea-going workboat running aground. However, practice has found that the current method of warning the grounding of sea-going workboats through grounding warning devices is not accurate, which has also led to the grounding of sea-going workboats and even reef accidents. Therefore, it is very necessary to propose a technical solution to improve the accuracy of the warning of grounding during the navigation of sea-going workboats. Summary of the invention

[0004] The present invention provides an intelligent early warning method, device and intelligent early warning equipment for a grounding of an ocean-going work vessel, which can improve the accuracy of early warning of a grounding of an ocean-going work vessel during navigation, thereby reducing the occurrence of groundings or even reef-hitting accidents of the ocean-going work vessel.

[0005] In order to solve the above technical problems, the first aspect of the present invention discloses an intelligent early warning method for a grounding of a sea-exploring work vessel, the method comprising:

[0006] When it is monitored that the distance between the current position of the target sea exploration work vessel and the predetermined stranded area is less than or equal to a predetermined distance threshold, data collectors based on different installation positions on the target sea exploration work vessel collect water environment data of the target area formed between the current position of the target sea exploration work vessel and the stranded area and the stranded area;

[0007] Analyzing the water environment data to obtain analysis results corresponding to the stranded area, the analysis results including water level changes of the target area and the stranded area;

[0008] Acquire the current navigation parameters of the target sea exploration work vessel and the current draft of the target sea exploration work vessel, wherein the current navigation parameters include the current navigation speed and the current navigation direction;

[0009] According to the analysis result and the current draft, the grounding probability of the target sea exploration vessel running aground when sailing through the grounding area according to the current navigation parameters is calculated, and whether the grounding probability is greater than or equal to a preset grounding probability threshold is determined;

[0010] When the judgment result is yes, the difference between the grounding probability and the preset grounding probability threshold is calculated, and according to the grounding probability difference, the analysis result, the current navigation parameters and the current draft, the first operating parameter that needs to be adjusted for the target sea exploration work vessel to safely pass through the grounding area is estimated, and the first operating parameter includes the navigation speed that needs to be adjusted for the target sea exploration work vessel and the bow adjustment angle of the target sea exploration work vessel;

[0011] According to the first working parameter, a navigation warning prompt of the target sea exploration work vessel is generated, and the navigation warning prompt of the target sea exploration work vessel includes the first working parameter and is used to prompt the staff to adjust the navigation of the target sea exploration work vessel according to the first working parameter.

[0012] As an optional implementation, in the first aspect of the present invention, the water environment data includes a plurality of underwater positions and a plurality of water surface positions, and each of the underwater positions has a corresponding water surface position;

[0013] The step of analyzing the water environment data to obtain analysis results corresponding to the stranded area includes:

[0014] For the same horizontal position, according to each of the water bottom positions and the corresponding water surface position, the height difference corresponding to each of the water bottom positions is calculated as the water level corresponding to the water bottom position;

[0015] Starting from the current position of the target sea exploration work vessel toward the stranded area, the water levels corresponding to all the bottom positions are analyzed to obtain the analysis results corresponding to the stranded area.

[0016] As an optional implementation, in the first aspect of the present invention, the water environment data also includes water wave fluctuations and underwater object conditions in the target area and the stranded area;

[0017] The method further comprises:

[0018] Collecting the water flow velocity and the first water flow direction at the current location of the target sea exploration work vessel;

[0019] Input the water wave fluctuation, the underwater object, the water level change, the water flow velocity and the first water flow direction into the pre-trained water flow analysis model for analysis, and obtain the water flow conditions of the target area and the stranded area, wherein the water flow conditions include the second water flow direction and the water flow velocity change;

[0020] The water flow condition is updated to the analysis result.

[0021] As an optional embodiment, in the first aspect of the present invention, the method further comprises:

[0022] Collecting wind speed and wind direction in the target area and the stranded area, and obtaining the entire ship shape of the target sea exploration work vessel;

[0023] According to the wind speed, the wind direction, the shape of the whole ship and the current sailing direction, analyzing the wind direction angle formed by the wind blowing toward the target sea exploration work ship at multiple positions of the target sea exploration work ship, all the positions include two or more of the bow, the stern, one-Nth hull, two-Nth hull, and three-Nth hull, where N≥4;

[0024] Wherein, the estimating the first operating parameter that needs to be adjusted for the target sea exploration vessel to safely pass through the stranded area according to the stranded probability difference, the analysis result, the current navigation parameter and the current draft depth includes:

[0025] According to the wind direction angle corresponding to each of the positions, the grounding probability difference, the analysis result, the current navigation parameters and the current draft depth, the first working parameter that needs to be adjusted for the target sea exploration vessel to safely pass through the grounding area is estimated.

[0026] As an optional embodiment, in the first aspect of the present invention, the first operating parameter that needs to be adjusted for the target sea exploration vessel to safely pass through the stranded area is estimated based on the wind direction angle corresponding to each of the positions, the stranded probability difference, the analysis result, the current navigation parameter and the current draft depth, including:

[0027] The grounding probability difference, the analysis result, the current sailing speed and the current draft are input into a pre-trained speed analysis model for analysis to obtain the sailing speed that needs to be adjusted for the target sea exploration work vessel;

[0028] The required adjusted sailing speed, the wind direction angle corresponding to each of the positions, the grounding probability difference, the analysis result and the current sailing direction are input into a pre-trained direction analysis model for analysis to obtain the bow adjustment angle of the target sea exploration vessel.

[0029] As an optional embodiment, in the first aspect of the present invention, the method further comprises:

[0030] When it is determined that the grounding probability is less than the preset grounding probability threshold, obtaining target sea exploration work ship information of the target sea exploration work ship, wherein the target sea exploration work ship information includes the shape of the bottom of the ship, the ship's load capacity and the size of the sea exploration work ship;

[0031] Obtaining the navigation conditions of all historical sea exploration work ships that have passed through the stranded area in the past period of time, whose sea exploration work ship information matches the target sea exploration work ship information and whose navigation directions match the current navigation directions of the target sea exploration work ship;

[0032] According to the navigation conditions of all the historical sea exploration vessels, determining whether there is a historical sea exploration vessel that has run aground in the stranded area among all the historical sea exploration vessels;

[0033] When the result is determined, the navigation data and damage of the historical sea exploration work vessel that has been stranded passing through the stranded area are obtained, and the navigation data includes the navigation direction, navigation speed and draft depth;

[0034] According to the navigation data, the damage condition and the current navigation parameters of the target sea exploration ship, a second operating parameter that needs to be adjusted for the target sea exploration ship is generated, and according to the second operating parameter, a navigation warning prompt for the target sea exploration ship is generated.

[0035] As an optional embodiment, in the first aspect of the present invention, the method further comprises:

[0036] When it is determined that there is a historical sea-exploring work ship that has run aground in the stranded area among all the historical sea-exploring work ships, the grounding cause of the historical sea-exploring work ship that has run aground in the stranded area is obtained, and based on the grounding cause, it is determined whether there is a situation in which the grounding is caused by unbalanced load of the sea-exploring work ship;

[0037] When the result of the judgment is yes, the weight borne by multiple positions on the ship's deck, the draft depth and buoyancy of the ship's bottom corresponding to each position on the ship's deck, and the distance between the ship's bottom and the water bottom are obtained;

[0038] Analyze the weight borne by each of the ship surface positions, the draft depth and buoyancy of the ship bottom corresponding to each of the ship surface positions, the distance between the ship bottom and the water bottom, and the water level change to obtain all target ship surface positions that need to be moved;

[0039] According to the weight borne by each target ship surface position, the draft depth and buoyancy of the ship bottom corresponding to each target ship surface position, the distance between the ship bottom and the water bottom, and the water level change, the object movement situation required for each target ship surface position is estimated, and the object movement situation of each target ship surface position includes the object movement position, object movement weight, and object movement speed of the target ship surface position;

[0040] For any of the target ship deck positions, an operation of moving the object moving weight to the object moving position is performed according to the object moving speed.

[0041] The second aspect of the present invention discloses an intelligent early warning device for a grounding of a sea-exploring work vessel, the device comprising:

[0042] A collection module, for collecting water environment data of a target area formed between the current location of the target sea exploration work vessel and the stranded area and the stranded area based on data collectors at different installation locations on the target sea exploration work vessel when it is monitored that the distance between the current location of the target sea exploration work vessel and the stranded area is less than or equal to a predetermined distance threshold;

[0043] An analysis module, used to analyze the water environment data to obtain analysis results corresponding to the stranded area, wherein the analysis results include water level changes of the target area and the stranded area;

[0044] An acquisition module, used to acquire the current navigation parameters of the target sea exploration work vessel and the current draft of the target sea exploration work vessel, wherein the current navigation parameters include the current navigation speed and the current navigation direction;

[0045] A calculation module, for calculating the probability of the target sea exploration vessel running aground when sailing through the stranded area according to the current navigation parameters, based on the analysis result and the current draft;

[0046] A judgment module, used to judge whether the grounding probability is greater than or equal to a preset grounding probability threshold;

[0047] The calculation module is further configured to calculate a grounding probability difference between the grounding probability and the preset grounding probability threshold when the judgment result is yes;

[0048] A first estimation module is used to estimate the first operating parameter that needs to be adjusted for the target sea exploration work vessel to safely pass through the stranded area according to the stranded probability difference, the analysis result, the current navigation parameter and the current draft depth, wherein the first operating parameter includes the navigation speed that needs to be adjusted for the target sea exploration work vessel and the bow adjustment angle of the target sea exploration work vessel;

[0049] A generation module is used to generate a navigation warning prompt for the target sea exploration work vessel according to the first working parameter, and the navigation warning prompt for the target sea exploration work vessel includes the first working parameter and is used to prompt the staff to adjust the navigation of the target sea exploration work vessel according to the first working parameter.

[0050] As an optional implementation, in the second aspect of the present invention, the water environment data includes a plurality of underwater positions and a plurality of water surface positions, and each of the underwater positions has a corresponding water surface position;

[0051] The specific method in which the analysis module analyzes the water environment data to obtain the analysis result corresponding to the stranded area includes:

[0052] For the same horizontal position, according to each of the water bottom positions and the corresponding water surface position, the height difference corresponding to each of the water bottom positions is calculated as the water level corresponding to the water bottom position;

[0053] Starting from the current position of the target sea exploration work vessel toward the stranded area, the water levels corresponding to all the bottom positions are analyzed to obtain the analysis results corresponding to the stranded area.

[0054] As an optional implementation, in the second aspect of the present invention, the water environment data also includes water wave fluctuations and underwater object conditions in the target area and the stranded area;

[0055] The acquisition module is further used to acquire the water flow velocity and the first water flow direction at the current location of the target sea exploration work vessel;

[0056] The analysis module is further used to input the water wave fluctuation, the underwater object situation, the water level change, the water flow speed and the first water flow direction into the pre-trained water flow analysis model for analysis, so as to obtain the water flow situation of the target area and the stranded area, wherein the water flow situation includes the second water flow direction and the water flow speed change;

[0057] The device also includes:

[0058] An updating module is used to update the water flow condition to the analysis result.

[0059] As an optional implementation, in the second aspect of the present invention, the acquisition module is further used to collect wind speed and wind direction in the target area and the stranded area, and obtain the entire ship shape of the target sea exploration work ship;

[0060] The analysis module is further used to analyze the wind direction angle formed by the wind blowing toward the target sea exploration work ship at multiple positions of the target sea exploration work ship according to the wind speed, the wind direction, the shape of the whole ship and the current sailing direction, all of the positions include two or more of the bow, the stern, one-Nth of the hull, two-Nths of the hull, and three-Nths of the hull, where N is ≥ 4;

[0061] The specific manner in which the first estimation module estimates the first operating parameter that needs to be adjusted for the target sea exploration vessel to safely pass through the stranded area according to the stranded probability difference, the analysis result, the current navigation parameter and the current draft depth includes:

[0062] According to the wind direction angle corresponding to each of the positions, the grounding probability difference, the analysis result, the current navigation parameters and the current draft depth, the first working parameter that needs to be adjusted for the target sea exploration vessel to safely pass through the grounding area is estimated.

[0063] As an optional embodiment, in the second aspect of the present invention, the first estimation module estimates the first working parameter that needs to be adjusted for the target sea exploration work vessel to safely pass through the stranded area according to the wind direction angle corresponding to each of all the positions, the stranded probability difference, the analysis result, the current navigation parameter and the current draft depth, including:

[0064] The grounding probability difference, the analysis result, the current sailing speed and the current draft are input into a pre-trained speed analysis model for analysis to obtain the sailing speed that needs to be adjusted for the target sea exploration work vessel;

[0065] The required adjusted sailing speed, the wind direction angle corresponding to each of the positions, the grounding probability difference, the analysis result and the current sailing direction are input into a pre-trained direction analysis model for analysis to obtain the bow adjustment angle of the target sea exploration vessel.

[0066] As an optional implementation, in the second aspect of the present invention, the acquisition module is further used to acquire target sea exploration work ship information of the target sea exploration work ship when it is determined that the grounding probability is less than the preset grounding probability threshold, the target sea exploration work ship information including the shape of the bottom of the ship, the ship's load capacity and the size of the sea exploration work ship;

[0067] The acquisition module is further used to acquire the navigation conditions of all historical sea exploration work ships passing through the stranded area in the past period of time, whose sea exploration work ship information matches the target sea exploration work ship information and whose navigation direction matches the current navigation direction of the target sea exploration work ship;

[0068] The judging module is further used to judge whether there is a historical sea exploration work vessel that has been stranded in the stranded area among all the historical sea exploration work vessels according to the navigation conditions of all the historical sea exploration work vessels;

[0069] The acquisition module is further used to acquire the navigation data and damage of the historical sea exploration work ship that has run aground and passed through the grounding area when the result is determined, wherein the navigation data includes the navigation direction, navigation speed and draft depth;

[0070] The generation module is also used to generate a second operating parameter that needs to be adjusted for the target sea exploration ship based on the navigation data, the damage condition and the current navigation parameters of the target sea exploration ship, and generate a navigation warning prompt for the target sea exploration ship based on the second operating parameter.

[0071] As an optional implementation, in the second aspect of the present invention, the acquisition module is further used to acquire the grounding cause of the historical sea exploration work ship that has run aground in the grounding area when it is determined that there is a historical sea exploration work ship that has run aground in the grounding area among all the historical sea exploration work ships;

[0072] The judging module is further used to judge, based on the grounding cause, whether the grounding is caused by unbalanced load of the sea exploration vessel;

[0073] The acquisition module is further used to acquire the weight borne by multiple deck positions of the target sea exploration vessel, the draft depth and buoyancy of the bottom of the ship corresponding to each deck position, and the distance between the bottom of the ship and the bottom of the water when the result of the judgment is yes;

[0074] The analysis module is further used to analyze the weight borne by each of the ship surface positions, the draft depth and buoyancy of the ship bottom corresponding to each of the ship surface positions, the distance between the ship bottom and the water bottom, and the water level change, to obtain all target ship surface positions that need to be moved;

[0075] The device also includes:

[0076] A second estimation module is used to estimate the object movement required for each target ship surface position according to the weight borne by each target ship surface position, the draft depth and buoyancy of the ship bottom corresponding to each target ship surface position, the distance between the ship bottom and the water bottom, and the water level change, wherein the object movement situation of each target ship surface position includes the object movement position, object movement weight, and object movement speed of the target ship surface position;

[0077] The control module is used for executing the operation of moving the object moving weight to the object moving position according to the object moving speed for any of the target ship deck positions.

[0078] The third aspect of the present invention discloses an intelligent early warning device, which is used to execute part or all of the steps in any one of the intelligent early warning methods for the grounding of a sea-exploring work vessel disclosed in the first aspect of the present invention.

[0079] The fourth aspect of the present invention discloses another intelligent early warning device for a grounding of a sea-exploring work vessel, the device comprising:

[0080] A memory storing executable program code;

[0081] a processor coupled to the memory;

[0082] The processor calls the executable program code stored in the memory to execute part or all of the steps in any one of the intelligent early warning methods for the grounding of an ocean-going work vessel disclosed in the first aspect of the present invention.

[0083] The fifth aspect of the present invention discloses a computer storage medium, which stores computer instructions. When the computer instructions are called, they are used to execute part or all of the steps in any intelligent early warning method for the grounding of an ocean-going work vessel disclosed in the first aspect of the present invention.

[0084] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0085] The embodiment of the present invention obtains regional water level changes by analyzing the area between the target sea exploration work ship and the stranded area and the water environment data of the stranded area, and analyzes the probability of the target sea exploration work ship running aground according to the current navigation data based on the water level changes and the current draft of the target sea exploration work ship, and when the probability of running aground is relatively large, the navigation speed and bow adjustment angle that need to be adjusted for the target sea exploration work ship are analyzed based on the stranding probability difference, water level changes, current navigation parameters and current draft, thereby generating a navigation warning to adjust the navigation of the target sea exploration work ship, which can improve the accuracy of the stranding warning during the navigation of the sea exploration work ship, thereby reducing the occurrence of sea exploration work ship running aground or even reef accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0086] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only preferred embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0087] Figure 1 It is a flow chart of an intelligent early warning method for a grounding of a sea-exploring work vessel disclosed in an embodiment of the present invention;

[0088] Figure 2 It is a flow chart of another intelligent early warning method for grounding of a sea-exploring work vessel disclosed in an embodiment of the present invention;

[0089] Figure 3 It is a structural schematic diagram of an intelligent early warning device for a grounding of a sea-exploring work vessel disclosed in an embodiment of the present invention;

[0090] Figure 4 It is a structural schematic diagram of another intelligent early warning device for grounding of a sea-exploring work vessel disclosed in an embodiment of the present invention;

[0091] Figure 5 It is a structural schematic diagram of another intelligent early warning device for grounding of a sea-exploring work vessel disclosed in an embodiment of the present invention;

[0092] Figure 6 It is a structural schematic diagram of an intelligent early warning device disclosed in an embodiment of the present invention. DETAILED DESCRIPTION

[0093] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0094] The terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish different objects rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, device, product or end including a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units inherent to these processes, methods, products or ends.

[0095] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0096] The present invention discloses an intelligent early warning method, device and intelligent early warning equipment for the grounding of a sea-exploring workboat. By analyzing the water environment data of the area between the target sea-exploring workboat and the grounding area and the grounding area, the regional water level change is obtained, and the probability of the target sea-exploring workboat being grounded according to the current navigation data is analyzed according to the water level change and the current draft of the target sea-exploring workboat. When the probability of grounding is relatively large, the navigation speed and bow adjustment angle required to be adjusted for the target sea-exploring workboat are analyzed based on the difference in the probability of grounding, the water level change, the current navigation parameters and the current draft, thereby generating a navigation early warning, so as to adjust the navigation of the target sea-exploring workboat, and improving the accuracy of the early warning of grounding during the navigation of the sea-exploring workboat, thereby reducing the occurrence of grounding or even reef-running accidents of the sea-exploring workboat. The following are detailed descriptions.

[0097] Embodiment 1

[0098] See also Figure 1 , Figure 1 The figure is a flow chart of an intelligent early warning method for a grounding of a sea-exploring work vessel disclosed in an embodiment of the present invention. Figure 1 The described method can be applied to an intelligent early warning device for a grounding of a sea-going workboat, which can include a sea-going workboat monitoring device capable of monitoring the navigation of the sea-going workboat, a sea-going workboat monitoring server (such as a local server, a cloud server), and a sea-going workboat monitoring platform. Figure 1 As shown, the intelligent early warning method for the grounding of the sea exploration work vessel may include the following operations:

[0099] 101. When it is monitored that the distance between the current position of the target sea exploration work vessel and the predetermined stranded area is less than or equal to a predetermined distance threshold, data collectors based on different installation positions on the target sea exploration work vessel collect water environment data of the target area and the stranded area formed between the current position of the target sea exploration work vessel and the stranded area.

[0100] In the embodiment of the present invention, the target sea exploration vessel is any sea exploration vessel that needs to be warned of grounding. The target sea exploration vessel is equipped with a distance sensor, which can monitor the distance between the current location of the target sea exploration vessel and the grounding area; the grounding area is an area that has been determined to have or has been grounded. The data collector on the target sea exploration vessel is any sensor that can collect data such as the bottom position and water level position, such as a radar sensor, which is not limited in the embodiment of the present invention.

[0101] 102. Analyze the water environment data to obtain analysis results corresponding to the stranded area, and the analysis results include water level changes in the target area and the stranded area.

[0102] In an embodiment of the present invention, the water environment data includes a plurality of water bottom positions and a plurality of water surface positions, and each water bottom position has a corresponding water surface position;

[0103] In this optional embodiment, the water environment data is analyzed to obtain analysis results corresponding to the stranded area, including:

[0104] For the same horizontal position, according to each bottom position and its corresponding water surface position, the height difference corresponding to each bottom position is calculated as the water level corresponding to the bottom position;

[0105] Starting from the current location of the target sea exploration work vessel toward the stranded area, the water levels corresponding to all underwater locations are analyzed to obtain the analysis results corresponding to the stranded area.

[0106] It can be seen that the embodiment of the present invention can also obtain analysis results such as the water level change between the current location of the target sea exploration vessel and the stranded area by analyzing the height difference of each horizontal position of the water surface, thereby improving the analysis accuracy of the water level change.

[0107] 103. Obtain current navigation parameters of the target sea exploration work vessel and the current draft of the target sea exploration work vessel, where the current navigation parameters include the current navigation speed and the current navigation direction.

[0108] In the embodiment of the present invention, the server on the target sea exploration work vessel stores its navigation data, including current navigation parameters; and the current draft depth of the target sea exploration work vessel is collected through the water level sensor on the hull of the target sea exploration work vessel.

[0109] 104. Based on the analysis results and the current draft depth, calculate the grounding probability of the target sea exploration vessel when it sails through the grounding area according to the current navigation parameters, and determine whether the grounding probability is greater than or equal to the preset grounding probability threshold.

[0110] In the implementation of the present invention, the water level changes in the target area and the stranded area, the current draft and the current navigation parameters are input into a pre-acquired stranded analysis model for data analysis to obtain the stranded probability.

[0111] 105. When the judgment result is yes, the difference between the grounding probability and the preset grounding probability threshold is calculated, and based on the grounding probability difference, the analysis result, the current navigation parameters and the current draft depth, the first working parameter that needs to be adjusted for the target sea exploration work vessel to safely pass through the grounding area is estimated. The first working parameter includes the navigation speed that needs to be adjusted for the target sea exploration work vessel and the bow adjustment angle of the target sea exploration work vessel.

[0112] In an embodiment of the present invention, the first working parameter that needs to be adjusted for the target sea-going workboat to safely pass through the stranded area is obtained by inputting the grounding probability difference, analysis results, current navigation parameters and current draft into a predetermined parameter prediction model for analysis. The parameter prediction model is a model obtained by pre-training a basic neural network such as a DBN deep belief network based on the sample grounding probability difference, sample analysis results, sample current navigation parameters and sample current draft of different sample sea-going workboats.

[0113] 106. Generate a navigation warning prompt for the target sea exploration work vessel according to the first working parameter, wherein the navigation warning prompt for the target sea exploration work vessel includes the first working parameter and is used to prompt the staff to adjust the navigation of the target sea exploration work vessel according to the first working parameter.

[0114] It can be seen that implementation Figure 1 The described intelligent early warning method for the grounding of an ocean-going exploration ship obtains regional water level changes by analyzing the water environment data of the area between the target ocean-going exploration ship and the grounding area and the grounding area, and analyzes the probability of the target ocean-going exploration ship being grounded according to the current navigation data based on the water level changes and the current draft of the target ocean-going exploration ship, and when the probability of grounding is relatively large, the navigation speed and bow adjustment angle required to be adjusted for the target ocean-going exploration ship are analyzed based on the difference in the probability of grounding, water level changes, current navigation parameters and current draft, thereby generating a navigation early warning so as to adjust the navigation of the target ocean-going exploration ship, which can improve the accuracy of the early warning of grounding during the navigation of the ocean-going exploration ship, thereby reducing the occurrence of groundings of ocean-going exploration ships or even reef accidents.

[0115] In an optional embodiment, the water environment data further includes water wave fluctuations and underwater object conditions in the target area and the stranded area, wherein the underwater object conditions include one or more of the type of underwater object, the shape of underwater object, the size of underwater object, and the distribution of underwater object; the method may further include the following steps:

[0116] Collect the water flow velocity and the first water flow direction at the current location of the target sea exploration work vessel;

[0117] The wave fluctuations, underwater objects, water level changes, water flow speed and the first water flow direction are input into the pre-trained water flow analysis model for analysis to obtain the water flow conditions in the target area and the stranded area, including the second water flow direction and water flow speed changes;

[0118] Update the water flow conditions to the analysis results.

[0119] In this optional embodiment, after the water flow conditions are updated to the analysis results, the above-mentioned operation of estimating the first working parameters that need to be adjusted for the target ocean exploration vessel to safely pass through the stranded area based on the difference in the probability of stranding, the analysis results, the current navigation parameters and the current draft depth can be triggered.

[0120] In this optional embodiment, the water flow analysis model is obtained by pre-training a neural network model such as CNN based on sample data such as sample water wave fluctuations, sample underwater object conditions, sample water level changes, sample water flow speed and sample first water flow direction.

[0121] It can be seen that this optional embodiment analyzes the working parameters of the target sea exploration ship passing through the stranded area by combining the water flow velocity, water flow direction, underwater objects, wave fluctuations, etc. at the current location of the target sea exploration ship with the water level changes between the target sea exploration ship and the stranded area, current working parameters and other data. This can improve the accuracy of the analysis of the working parameters, thereby reducing the occurrence of sea exploration ships running aground and further ensuring the safe passage of the ship through the stranded area.

[0122] In yet another optional embodiment, the method may further include the following steps:

[0123] When it is determined that the grounding probability is less than a preset grounding probability threshold, obtaining target sea exploration work ship information of the target sea exploration work ship, the target sea exploration work ship information including the shape of the bottom of the ship, the ship's load capacity and the size of the sea exploration work ship;

[0124] Obtaining the navigation conditions of all historical sea exploration vessels passing through the stranded area within a past period of time (e.g., the past six months), whose information matches that of the target sea exploration vessel and whose navigation direction matches that of the current navigation direction of the target sea exploration vessel;

[0125] According to the navigation conditions of all historical sea exploration vessels, it is determined whether there are any historical sea exploration vessels that have been stranded in the stranded area;

[0126] When the result is determined, the navigation data and damage of the historical sea exploration work ship passing through the stranded area are obtained, and the navigation data includes the navigation direction, navigation speed and draft depth;

[0127] According to the navigation data, damage conditions and current navigation parameters of the target sea exploration work ship, a second operating parameter that needs to be adjusted for the target sea exploration work ship is generated, and according to the second operating parameter, a navigation warning prompt for the target sea exploration work ship is generated.

[0128] In this optional embodiment, the specific content included in the second operating parameter can be found in the detailed description of the first operating parameter, which will not be repeated here.

[0129] In this optional embodiment, the target sea exploration work vessel information of the target sea exploration work vessel is acquired from the memory of the target sea exploration work vessel.

[0130] In this optional embodiment, the matching of the current sailing directions may be understood as the consistency of the sailing directions, or may be understood as the consistency of the sailing directions when passing through the stranded area.

[0131] In this optional embodiment, when it is determined that there is no historical ocean exploration vessel that has ever run aground in the stranded area among all historical ocean exploration vessels, the current process is terminated.

[0132] It can be seen that when this optional embodiment determines that the probability of a grounding is small based on the current operating parameters of the target sea exploration vessel and the corresponding water level changes and draft depth, it further participates in the navigation adjustment of the target sea exploration vessel based on the data of sea exploration vessels whose ship attribute information is similar or identical to that of the target sea exploration vessel and which have been stranded in the past period of time. That is, by adjusting the navigation of the target sea exploration vessel together with the stranding data of the sea exploration vessel that has been stranded in the past and the current data corresponding to the target sea exploration vessel, the possibility of the target sea exploration vessel running aground can be further reduced and the target sea exploration vessel can safely pass through the stranding area.

[0133] In yet another optional embodiment, the method may further include the following steps:

[0134] When it is determined that there is a historical sea-exploring work ship that has run aground in the grounding area among all historical sea-exploring work ships, the grounding cause of the historical sea-exploring work ship that has run aground in the grounding area is obtained, and based on the grounding cause, it is determined whether there is a situation in which the grounding is caused by unbalanced load of the sea-exploring work ship;

[0135] When the result is yes, the weight borne by multiple positions on the ship's deck, the draft depth and buoyancy of the ship's bottom corresponding to each position on the ship's deck, and the distance between the ship's bottom and the water bottom are obtained;

[0136] Analyze the weight borne by each ship surface position, the draft depth and buoyancy of the ship bottom corresponding to each ship surface position, the distance between the ship bottom and the water bottom, and the water level change, and obtain all target ship surface positions that need to be moved;

[0137] According to the weight borne by each target ship surface position, the draft depth and buoyancy of the ship bottom corresponding to each target ship surface position, the distance between the ship bottom and the water bottom, and the water level change, the object movement situation required for each target ship surface position is estimated, and the object movement situation of each target ship surface position includes the object movement position, object movement weight, and object movement speed of the target ship surface position;

[0138] For any target ship surface position, an operation of moving the object moving weight to the object moving position is performed according to the object moving speed.

[0139] In this optional embodiment, for any target deck position, the operation of moving the object moving weight to the object moving position is performed according to the object moving speed, specifically including: if the object is a person, notifying the person corresponding to the object moving weight to move to the corresponding target deck position according to the object moving speed; when the object is an article or a mobile device, it is transported to or moved to the corresponding target deck position by means of transportation equipment or by controlling the mobile device according to the corresponding object moving speed.

[0140] In this optional embodiment, when it is determined that there is no grounding due to unbalanced load of the ocean exploration vessel, the process is terminated.

[0141] It should be noted that, optionally, the operation of moving the object moving weight to the object moving position according to the object moving speed can be performed simultaneously with or separately from adjusting the target marine exploration vessel according to the first working parameter or the second working parameter of the target marine exploration vessel.

[0142] It can be seen that when this optional embodiment determines that the cause of the grounding in the past includes an unbalanced ship load, the weight borne by multiple deck positions of the target ocean exploration work ship, the buoyancy, the distance between the bottom of the ship and the bottom of the water, and the water level changes are used to determine the target deck position to be moved to and the moving weight and speed of the object to be moved, and then controls the movement of the object and / or notifies the object to move, so that the hull of the target ocean exploration work ship can be balanced, reducing collisions with the bottom of the ship and thus groundings, further ensuring that the target ocean exploration work ship safely passes through the grounding area.

[0143] Embodiment 2

[0144] See also Figure 2 , Figure 2 The figure is a flow chart of an intelligent early warning method for a grounding of a sea-exploring work vessel disclosed in an embodiment of the present invention. Figure 2 The described method can be applied to an intelligent early warning device for a grounding of a sea-going workboat, which can include a sea-going workboat monitoring device capable of monitoring the navigation of the sea-going workboat, a sea-going workboat monitoring server (such as a local server, a cloud server), and a sea-going workboat monitoring platform. Figure 2 As shown, the intelligent early warning method for the grounding of the sea exploration work vessel may include the following operations:

[0145] 201. When it is monitored that the distance between the current position of the target sea exploration work vessel and the predetermined stranded area is less than or equal to a predetermined distance threshold, data collectors based on different installation positions on the target sea exploration work vessel collect water environment data of the target area and the stranded area formed between the current position of the target sea exploration work vessel and the stranded area.

[0146] 202. Analyze the water environment data to obtain analysis results corresponding to the stranded area, and the analysis results include water level changes in the target area and the stranded area.

[0147] 203. Obtain current navigation parameters of the target sea exploration work vessel and the current draft of the target sea exploration work vessel, where the current navigation parameters include a current navigation speed and a current navigation direction.

[0148] 204. According to the analysis results and the current draft depth, the grounding probability of the target sea exploration vessel when sailing through the grounding area according to the current navigation parameters is calculated, and it is determined whether the grounding probability is greater than or equal to a preset grounding probability threshold.

[0149] 205. When the judgment result is yes, the difference between the grounding probability and the preset grounding probability threshold is calculated.

[0150] 206. Collect the wind speed and direction in the target area and the stranded area, and obtain the overall ship shape of the target sea exploration work vessel.

[0151] In the embodiment of the present invention, a target meteorological parameter collector is provided on the target sea exploration work vessel, and the wind speed and wind direction in the target area and the stranded area are collected through the meteorological parameter collector.

[0152] 207. According to the wind speed, wind direction, shape of the whole ship and the current sailing direction, analyze the wind direction angles formed by the wind blowing towards the target sea exploration work ship at multiple positions of the target sea exploration work ship. All positions include two or more of the bow, stern, one-Nth hull, two-Nth hull and three-Nth hull, where N ≥ 4.

[0153] 208. According to the wind direction angle corresponding to each position among all positions, the difference in the probability of grounding, the analysis results, the current navigation parameters and the current draft depth, the first working parameters that need to be adjusted for the target sea exploration work vessel to safely pass through the grounding area are estimated. The first working parameters include the navigation speed that needs to be adjusted for the target sea exploration work vessel and the bow adjustment angle of the target sea exploration work vessel.

[0154] 209. Generate a navigation warning prompt for the target sea exploration work vessel according to the first working parameter, wherein the navigation warning prompt for the target sea exploration work vessel includes the first working parameter and is used to prompt the staff to adjust the navigation of the target sea exploration work vessel according to the first working parameter.

[0155] In the embodiment of the present invention, for other descriptions of steps 201 to 206 and step 210, please refer to the detailed description of steps 101 to 106 in the first embodiment, which will not be repeated here.

[0156] It can be seen that implementation Figure 2 The described intelligent early warning method for the grounding of an ocean-going exploration ship obtains regional water level changes by analyzing the water environment data of the area between the target ocean-going exploration ship and the grounding area and the grounding area, and analyzes the probability of the target ocean-going exploration ship being grounded according to the current navigation data based on the water level changes and the current draft of the target ocean-going exploration ship, and when the probability of grounding is relatively large, the navigation speed and bow adjustment angle required to be adjusted for the target ocean-going exploration ship are analyzed based on the difference in the probability of grounding, water level changes, current navigation parameters and current draft, thereby generating a navigation early warning so as to adjust the navigation of the target ocean-going exploration ship, which can improve the accuracy of the early warning of grounding during the navigation of the ocean-going exploration ship, thereby reducing the occurrence of groundings of ocean-going exploration ships or even reef accidents. In addition, since the moving speed, direction, wind direction and wind speed of the target sea exploration ship may change, when estimating the working parameters that need to be adjusted for the target sea exploration ship, the angle formed by the wind direction blowing to the hull of the target sea exploration ship during navigation is obtained by analyzing the overall ship shape of the target sea exploration ship, the area between the ship and the stranded area, and the wind speed and direction in the stranded area, and then the navigation working parameters that need to be adjusted for the ship are calculated, that is, by taking into account the factors that can affect the navigation of the ship and cause it to run aground during navigation, the accuracy of the ship's navigation adjustment can be further improved, thereby further reducing the probability of running aground.

[0157] In an optional embodiment, based on the wind direction angle corresponding to each position in all positions, the difference in grounding probability, the analysis result, the current navigation parameters and the current draft, the first working parameter that needs to be adjusted for the target sea exploration vessel to safely pass through the grounding area is estimated, including:

[0158] The difference in grounding probability, analysis results, current sailing speed and current draft are input into the pre-trained speed analysis model for analysis to obtain the sailing speed that needs to be adjusted for the target sea exploration vessel;

[0159] The required adjusted sailing speed, the wind direction angle corresponding to each position among all positions, the difference in grounding probability, the analysis results and the current sailing direction are input into the pre-trained direction analysis model for analysis to obtain the bow adjustment angle of the target sea exploration work vessel.

[0160] It can be seen that this optional embodiment can also achieve accurate analysis of speed and angle by analyzing step by step the navigation speed and navigation adjustment angle that need to be adjusted for the target sea exploration work vessel, thereby improving the accuracy of the heading adjustment of the target sea exploration work vessel, and further improving the occurrence of the ship's safe passage through the stranded area.

[0161] Embodiment 3

[0162] See also Figure 3 , Figure 3 The structure diagram of an intelligent early warning device for a grounding of a sea-exploring work vessel disclosed in an embodiment of the present invention is shown in FIG. Figure 3 The described device may include one of a sea-exploring workboat monitoring device capable of monitoring the navigation of the sea-exploring workboat, a sea-exploring workboat monitoring server (such as a local server, a cloud server) and a sea-exploring workboat monitoring platform, and as Figure 3 As shown, the device comprises:

[0163] The acquisition module 301 is used to collect water environment data of the target area and the stranded area formed between the current position of the target sea exploration work vessel and the stranded area based on data collectors at different installation positions on the target sea exploration work vessel when it is monitored that the distance between the current position of the target sea exploration work vessel and the predetermined stranded area is less than or equal to a predetermined distance threshold;

[0164] An analysis module 302 is used to analyze the water environment data to obtain analysis results corresponding to the stranded area, and the analysis results include water level changes in the target area and the stranded area;

[0165] An acquisition module 303 is used to acquire current navigation parameters of the target sea exploration work vessel and the current draft of the target sea exploration work vessel, wherein the current navigation parameters include the current navigation speed and the current navigation direction;

[0166] The calculation module 304 is used to calculate the grounding probability of the target sea exploration vessel when it sails through the grounding area according to the current navigation parameters based on the analysis results and the current draft depth;

[0167] A judgment module 305 is used to judge whether the grounding probability is greater than or equal to a preset grounding probability threshold;

[0168] The calculation module 304 is further configured to calculate the difference between the grounding probability and a preset grounding probability threshold when the judgment result is yes;

[0169] The first estimation module 306 is used to estimate the first working parameters that need to be adjusted for the target sea exploration work vessel to safely pass through the stranded area according to the stranded probability difference, the analysis result, the current navigation parameters and the current draft depth. The first working parameters include the navigation speed that needs to be adjusted for the target sea exploration work vessel and the bow adjustment angle of the target sea exploration work vessel;

[0170] The generation module 307 is used to generate a navigation warning prompt for the target sea exploration work vessel according to the first working parameter. The navigation warning prompt for the target sea exploration work vessel includes the first working parameter and is used to prompt the staff to adjust the navigation of the target sea exploration work vessel according to the first working parameter.

[0171] It can be seen that implementation Figure 3 The described intelligent early warning device for the grounding of an ocean-going work vessel obtains the current position information and identification information of the target ocean-going work vessel when it is necessary to monitor the trajectory of the target ocean-going work vessel, and determines multiple first Internet of Things nodes within the first area of ​​the target ocean-going work vessel based on the current position information of the target ocean-going work vessel, thereby obtaining the identification information of each first Internet of Things node, and then generates monitoring and control parameters of the first Internet of Things node, such as the monitoring identification of the target ocean-going work vessel, based on the identification information, current position information of the target ocean-going work vessel and the identification information of each first Internet of Things node, so as to control the first Internet of Things node to perform monitoring operations on the navigation trajectory of the target ocean-going work vessel, thereby improving the monitoring accuracy of the trajectory of the target ocean-going work vessel, and thus facilitating the supervision of the target ocean-going work vessel and making anti-collision preparations in advance when a collision is about to occur, thereby reducing personal safety and property losses.

[0172] In an optional embodiment, the water environment data includes a plurality of water bottom positions and a plurality of water surface positions, and each water bottom position has a corresponding water surface position;

[0173] The specific method in which the analysis module 302 analyzes the water environment data to obtain the analysis result corresponding to the stranded area includes:

[0174] For the same horizontal position, according to each bottom position and its corresponding water surface position, the height difference corresponding to each bottom position is calculated as the water level corresponding to the bottom position;

[0175] Starting from the current location of the target sea exploration work vessel toward the stranded area, the water levels corresponding to all underwater locations are analyzed to obtain the analysis results corresponding to the stranded area.

[0176] It can be seen that implementation Figure 3The described intelligent early warning device for the grounding of an ocean-going work vessel can also analyze the height difference of each horizontal position of the water surface to obtain analysis results such as the water level change between the current area where the target ocean-going work vessel is located and the grounding area, thereby improving the accuracy of the analysis of water level changes.

[0177] In another optional embodiment, the water environment data also includes water wave fluctuations and underwater object conditions in the target area and the stranded area, wherein the underwater object conditions include one or more of the type of underwater object, the shape of underwater object, the size of underwater object, and the distribution of underwater object, etc.;

[0178] The acquisition module 301 is also used to acquire the water flow velocity and the first water flow direction of the current position of the target sea exploration work vessel;

[0179] The analysis module 302 is further used to input the wave fluctuation, underwater object situation, water level change, water flow speed and the first water flow direction into the pre-trained water flow analysis model for analysis, and obtain the water flow situation of the target area and the stranded area, and the water flow situation includes the second water flow direction and the change of water flow speed;

[0180] like Figure 4 As shown, Figure 4 FIG. 1 is a schematic diagram of the structure of another intelligent early warning device for a grounding of a sea-exploring work vessel disclosed in an embodiment of the present invention. Figure 4 As shown, the device may also include:

[0181] The updating module 308 is used to update the water flow conditions to the analysis results, and trigger the first estimating module 306 to execute the above-mentioned operation of estimating the first working parameters that need to be adjusted for the target ocean exploration work vessel to safely pass through the stranded area based on the difference in the probability of stranding, the analysis results, the current navigation parameters and the current draft depth.

[0182] It can be seen that implementation Figure 4 The described intelligent early warning device for the grounding of an ocean-going work vessel can improve the accuracy of the analysis of the working parameters by analyzing the working parameters of the target ocean-going work vessel through the grounding area together with the water flow speed, water flow direction, underwater objects, wave fluctuations, etc. at the current location of the target ocean-going work vessel, the water level changes between the target ocean-going work vessel and the grounding area, the current working parameters and other data, thereby reducing the occurrence of the ocean-going work vessel running aground and further ensuring the safe passage of the vessel through the grounding area.

[0183] In yet another optional embodiment, Figure 4 As shown, the acquisition module 301 is also used to collect wind speed and wind direction in the target area and the stranded area, and obtain the entire ship shape of the target sea exploration work ship;

[0184] The analysis module 302 is further used to analyze the wind direction angle formed by the wind blowing toward the target sea exploration work ship at multiple positions of the target sea exploration work ship according to the wind speed, wind direction, shape of the whole ship and the current sailing direction, where all positions include two or more of the bow, stern, one-Nth hull, two-Nth hull and three-Nth hull, where N≥4;

[0185] The first estimation module 306 estimates the first working parameter that needs to be adjusted to safely pass the stranded area according to the stranded probability difference, the analysis result, the current navigation parameters and the current draft depth, including:

[0186] According to the wind direction angle corresponding to each position among all positions, the difference in grounding probability, the analysis results, the current navigation parameters and the current draft depth, the first working parameters that need to be adjusted for the target sea exploration work ship to safely pass through the grounding area are estimated. The first working parameters include the navigation speed that needs to be adjusted for the target sea exploration work ship and the bow adjustment angle of the target sea exploration work ship.

[0187] It can be seen that implementation Figure 4 The described intelligent early warning device for the grounding of an ocean-going work vessel can also obtain the angle formed by the wind direction blowing to the hull of the target ocean-going work vessel during navigation by analyzing the overall ship shape of the target ocean-going work vessel, the area between the ship and the grounding area, and the wind speed and wind direction in the grounding area, and then calculate the navigation working parameters that need to be adjusted for the ship. That is, by taking into account the factors that can affect the navigation of the ship and cause it to run aground during navigation, the accuracy of the ship's navigation adjustment can be further improved, thereby further reducing the probability of a grounding.

[0188] In this optional embodiment, if Figure 4 As shown, the first estimation module 306 estimates the first working parameter that needs to be adjusted to safely pass through the stranded area of ​​the target sea exploration work vessel according to the wind direction angle, the stranded probability difference, the analysis result, the current navigation parameters and the current draft corresponding to each position in all positions. The specific method includes:

[0189] The difference in grounding probability, analysis results, current sailing speed and current draft are input into the pre-trained speed analysis model for analysis to obtain the sailing speed that needs to be adjusted for the target sea exploration vessel;

[0190] The required adjusted sailing speed, the wind direction angle corresponding to each position among all positions, the difference in grounding probability, the analysis results and the current sailing direction are input into the pre-trained direction analysis model for analysis to obtain the bow adjustment angle of the target sea exploration vessel.

[0191] It can be seen that implementation Figure 4The intelligent early warning device for the grounding of the ocean-going work vessel described can also analyze the navigation speed and navigation adjustment angle that need to be adjusted for the target ocean-going work vessel in steps, and can achieve accurate analysis of speed and angle, thereby improving the accuracy of the heading adjustment of the target ocean-going work vessel, and further improving the occurrence of the ship passing safely through the grounding area.

[0192] In yet another optional embodiment, Figure 4 As shown, the acquisition module 303 is also used to acquire target sea exploration work ship information of the target sea exploration work ship when it is determined that the grounding probability is less than a preset grounding probability threshold, and the target sea exploration work ship information includes the shape of the bottom of the ship, the ship's load capacity and the size of the sea exploration work ship;

[0193] The acquisition module 303 is further used to acquire the navigation conditions of all historical sea exploration vessels passing through the stranded area within the past period of time (such as the past six months), whose information of the sea exploration vessel matches the information of the target sea exploration vessel and whose navigation direction matches the current navigation direction of the target sea exploration vessel;

[0194] The judgment module 305 is further used to judge whether there is a historical sea exploration work ship that has been stranded in the stranded area among all the historical sea exploration work ships according to the navigation conditions of all the historical sea exploration work ships;

[0195] The acquisition module 303 is also used to obtain the navigation data and damage of the historical sea exploration work ship that has run aground through the grounding area when the result is determined, and the navigation data includes the navigation direction, navigation speed and draft depth;

[0196] The generation module 307 is also used to generate a second operating parameter that needs to be adjusted for the target sea exploration ship according to the navigation data, damage conditions and current navigation parameters of the target sea exploration ship, and generate a navigation warning prompt for the target sea exploration ship according to the second operating parameter.

[0197] It can be seen that implementation Figure 4 The described intelligent early warning device for the grounding of an ocean-going work ship can also, when it is judged that the probability of a grounding is small based on the current working parameters of the target ocean-going work ship and the corresponding water level changes and draft depth, further participate in the navigation adjustment of the target ocean-going work ship based on the data of ocean-going work ships whose ship attribute information is similar or identical to that of the target ocean-going work ship and which have been grounded in the past period of time. That is, by adjusting the navigation of the target ocean-going work ship together with the grounding data of the ocean-going work ship that has been grounded in the past and the current data corresponding to the target ocean-going work ship, the possibility of the target ocean-going work ship running aground and passing through the grounding area safely can be further reduced.

[0198] In yet another optional embodiment, Figure 4As shown, the acquisition module 303 is also used to acquire the grounding cause of the historical sea exploration work ship that has grounded in the grounding area when it is determined that there is a historical sea exploration work ship that has grounded in the grounding area among all the historical sea exploration work ships;

[0199] The judgment module 305 is also used to judge whether the grounding is caused by unbalanced load of the sea exploration work vessel according to the grounding cause;

[0200] The acquisition module 303 is further used to acquire the weight borne by multiple deck positions of the target sea exploration work vessel, the draft depth and buoyancy of the bottom of the ship corresponding to each deck position, and the distance between the bottom of the ship and the bottom of the water when the result of the judgment is yes;

[0201] The analysis module 302 is further used to analyze the weight borne by each deck position, the draft depth and buoyancy of the ship bottom corresponding to each deck position, the distance between the ship bottom and the water bottom, and the water level change, and obtain all target deck positions that need to be moved;

[0202] And, if Figure 4 As shown, the device also includes:

[0203] The second estimation module 309 is used to estimate the object movement required for each target ship surface position according to the weight borne by each target ship surface position, the draft depth and buoyancy of the ship bottom corresponding to each target ship surface position, the distance between the ship bottom and the water bottom, and the water level change. The object movement of each target ship surface position includes the object movement position, object movement weight, and object movement speed of the target ship surface position;

[0204] The control module 310 is used for executing the operation of moving the object moving weight to the object moving position according to the object moving speed for any target ship deck position.

[0205] It can be seen that implementation Figure 4 The described intelligent early warning device for the grounding of an ocean-going work vessel can also determine the target surface position to be moved and the moving weight and moving speed of the object to be moved based on the weight, buoyancy, distance between the bottom of the ship and the bottom of the water, and water level changes borne by multiple surface positions of the target ocean-going work vessel when it is determined that the cause of the grounding in the past includes an unbalanced ship load, and then control the movement of the object and / or notify the object to move, so that the hull of the target ocean-going work vessel can be balanced, reducing collisions with the bottom of the ship and thus the occurrence of groundings, further ensuring that the target ocean-going work vessel safely passes through the grounding area.

[0206] Embodiment 4

[0207] See also Figure 5 , Figure 51 is a schematic diagram of the structure of another intelligent early warning device for grounding of a sea-exploring workboat disclosed in an embodiment of the present invention. The device may include a sea-exploring workboat monitoring device capable of monitoring the navigation of the sea-exploring workboat, a sea-exploring workboat monitoring server (such as a local server, a cloud server) and a sea-exploring workboat monitoring platform; and Figure 5 The described apparatus may include:

[0208] A memory 401 storing executable program codes;

[0209] a processor 402 coupled to the memory 401;

[0210] Furthermore, it may also include an input interface 403 and an output interface 404 coupled to the processor 402;

[0211] The processor 402 calls the executable program code stored in the memory 401 to execute some or all steps of the intelligent early warning method for the grounding of the ocean exploration work vessel disclosed in the first or second embodiment of the present invention.

[0212] Embodiment 5

[0213] See also Figure 6 , Figure 6 Schematic diagram of the structure of an intelligent early warning device disclosed in an embodiment of the present invention. Figure 6 As shown, the intelligent early warning device may include an intelligent early warning device for a grounded sea-exploring work vessel, and is used to perform some or all of the steps in the intelligent early warning method for a grounded sea-exploring work vessel described in Embodiment 1 or Embodiment 2. Optionally, the intelligent early warning device for a grounded sea-exploring work vessel may be Figure 3-Figure 4 The embodiments of the present invention are not limited to the intelligent early warning device for the grounding of a sea-exploring work vessel described in any one of the items.

[0214] Embodiment 6

[0215] An embodiment of the present invention discloses a computer storage medium, which stores computer instructions. When the computer instructions are called, they are used to execute some or all of the steps in the intelligent early warning method for the grounding of an ocean exploration work vessel disclosed in embodiment 1 or embodiment 2 of the present invention.

[0216] The device embodiments described above are only illustrative, wherein the modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, i.e., they may be located in one place, or they may be distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative work.

[0217] Through the specific description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on such an understanding, the above technical solution can be essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, and the storage medium includes a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electronically erasable rewritable read-only memory (EEPROM), a compact disc (CD-ROM) or other optical disc storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0218] Finally, it should be noted that the intelligent early warning method, device and intelligent early warning equipment for the grounding of an ocean-going work vessel disclosed in the embodiments of the present invention only disclose the preferred embodiments of the present invention, which are only used to illustrate the technical scheme of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical schemes recorded in the aforementioned embodiments can still be modified, or some of the technical features therein can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical schemes from the spirit and scope of the technical schemes of the various embodiments of the present invention.

Claims

1. An intelligent early warning method for a grounding of a sea-exploring work vessel, characterized in that: The method comprises: When it is monitored that the distance between the current position of the target sea exploration work vessel and the predetermined stranded area is less than or equal to a predetermined distance threshold, data collectors based on different installation positions on the target sea exploration work vessel collect water environment data of the target area formed between the current position of the target sea exploration work vessel and the stranded area and the stranded area; Analyzing the water environment data to obtain analysis results corresponding to the stranded area, the analysis results including water level changes of the target area and the stranded area; Acquire the current navigation parameters of the target sea exploration work vessel and the current draft of the target sea exploration work vessel, wherein the current navigation parameters include the current navigation speed and the current navigation direction; According to the analysis result and the current draft, the grounding probability of the target sea exploration vessel running aground when sailing through the grounding area according to the current navigation parameters is calculated, and whether the grounding probability is greater than or equal to a preset grounding probability threshold is determined; When the judgment result is yes, the difference between the grounding probability and the preset grounding probability threshold is calculated, and according to the grounding probability difference, the analysis result, the current navigation parameters and the current draft, the first operating parameter that needs to be adjusted for the target sea exploration work vessel to safely pass through the grounding area is estimated, and the first operating parameter includes the navigation speed that needs to be adjusted for the target sea exploration work vessel and the bow adjustment angle of the target sea exploration work vessel; Generate a navigation warning prompt for the target sea exploration work vessel according to the first working parameter, wherein the navigation warning prompt for the target sea exploration work vessel includes the first working parameter and is used to prompt a staff member to adjust the navigation of the target sea exploration work vessel according to the first working parameter; The water environment data includes a plurality of underwater positions and a plurality of water surface positions, and each of the underwater positions has a corresponding water surface position; The step of analyzing the water environment data to obtain analysis results corresponding to the stranded area includes: For the same horizontal position, according to each of the water bottom positions and the corresponding water surface position, the height difference corresponding to each of the water bottom positions is calculated as the water level corresponding to the water bottom position; Starting from the current position of the target sea exploration work vessel toward the stranded area, analyzing the water levels corresponding to all the bottom positions to obtain the analysis results corresponding to the stranded area; The water environment data also includes the wave fluctuations and underwater objects in the target area and the stranded area; The method further comprises: Collecting the water flow velocity and the first water flow direction at the current location of the target sea exploration work vessel; Input the water wave fluctuation, the underwater object, the water level change, the water flow velocity and the first water flow direction into the pre-trained water flow analysis model for analysis, and obtain the water flow conditions of the target area and the stranded area, wherein the water flow conditions include the second water flow direction and the water flow velocity change; The water flow condition is updated to the analysis result.

2. The intelligent early warning method for the grounding of a sea-exploring work vessel according to claim 1 is characterized in that: The method further comprises: Collecting wind speed and wind direction in the target area and the stranded area, and obtaining the entire ship shape of the target sea exploration work vessel; According to the wind speed, the wind direction, the shape of the whole ship and the current sailing direction, analyzing the wind direction angle formed by the wind blowing toward the target sea exploration work ship at multiple positions of the target sea exploration work ship, all the positions include two or more of the bow, the stern, one-Nth hull, two-Nth hull, and three-Nth hull, where N≥4; Wherein, the first working parameter that needs to be adjusted for the target sea exploration vessel to safely pass through the stranded area is estimated based on the stranded probability difference, the analysis result, the current navigation parameter and the current draft depth, including: According to the wind direction angle corresponding to each of the positions, the grounding probability difference, the analysis result, the current navigation parameters and the current draft depth, the first working parameter that needs to be adjusted for the target sea exploration vessel to safely pass through the grounding area is estimated.

3. The intelligent early warning method for the grounding of a sea-exploring work vessel according to claim 2 is characterized in that: The first working parameter that needs to be adjusted for the target sea exploration vessel to safely pass through the stranded area is estimated based on the wind direction angle corresponding to each of the positions, the stranded probability difference, the analysis result, the current navigation parameter and the current draft depth, including: The grounding probability difference, the analysis result, the current sailing speed and the current draft are input into a pre-trained speed analysis model for analysis to obtain the sailing speed that needs to be adjusted for the target sea exploration work vessel; The required adjusted sailing speed, the wind direction angle corresponding to each of the positions, the grounding probability difference, the analysis result and the current sailing direction are input into a pre-trained direction analysis model for analysis to obtain the bow adjustment angle of the target sea exploration vessel.

4. The intelligent early warning method for the grounding of a sea-exploring work vessel according to claim 3 is characterized in that: The method further comprises: When it is determined that the grounding probability is less than the preset grounding probability threshold, obtaining target sea exploration work ship information of the target sea exploration work ship, wherein the target sea exploration work ship information includes the shape of the bottom of the ship, the ship's load capacity and the size of the sea exploration work ship; Obtaining the navigation conditions of all historical sea exploration work ships that have passed through the stranded area in the past period of time, whose sea exploration work ship information matches the target sea exploration work ship information and whose navigation directions match the current navigation directions of the target sea exploration work ship; According to the navigation conditions of all the historical sea exploration vessels, determining whether there is a historical sea exploration vessel that has run aground in the stranded area among all the historical sea exploration vessels; When the result is determined, the navigation data and damage of the historical sea exploration work vessel that has been stranded passing through the stranded area are obtained, and the navigation data includes the navigation direction, navigation speed and draft depth; According to the navigation data, the damage condition and the current navigation parameters of the target sea exploration ship, a second operating parameter that needs to be adjusted for the target sea exploration ship is generated, and according to the second operating parameter, a navigation warning prompt for the target sea exploration ship is generated.

5. The intelligent early warning method for the grounding of a sea-exploring work vessel according to claim 4 is characterized in that: The method further comprises: When it is determined that there is a historical sea-exploring work ship that has run aground in the stranded area among all the historical sea-exploring work ships, the grounding cause of the historical sea-exploring work ship that has run aground in the stranded area is obtained, and based on the grounding cause, it is determined whether there is a situation in which the grounding is caused by unbalanced load of the sea-exploring work ship; When the result of the judgment is yes, the weight borne by multiple positions on the ship's deck, the draft depth and buoyancy of the ship's bottom corresponding to each position on the ship's deck, and the distance between the ship's bottom and the water bottom are obtained; Analyze the weight borne by each of the ship surface positions, the draft depth and buoyancy of the ship bottom corresponding to each of the ship surface positions, the distance between the ship bottom and the water bottom, and the water level change to obtain all target ship surface positions that need to be moved; According to the weight borne by each target ship surface position, the draft depth and buoyancy of the ship bottom corresponding to each target ship surface position, the distance between the ship bottom and the water bottom and the water level change, the object movement situation required for each target ship surface position is estimated, and the object movement situation of each target ship surface position includes the object movement position, object movement weight and object movement speed of the target ship surface position; For any of the target ship deck positions, an operation of moving the object moving weight to the object moving position is performed according to the object moving speed.

6. An intelligent early warning device for a grounding of a sea-exploring work vessel, characterized in that: The device comprises: A collection module, for collecting water environment data of a target area formed between the current location of the target sea exploration work vessel and the stranded area and the stranded area based on data collectors at different installation locations on the target sea exploration work vessel when it is monitored that the distance between the current location of the target sea exploration work vessel and the stranded area is less than or equal to a predetermined distance threshold; An analysis module, used to analyze the water environment data to obtain analysis results corresponding to the stranded area, wherein the analysis results include water level changes of the target area and the stranded area; An acquisition module, used to acquire the current navigation parameters of the target sea exploration work vessel and the current draft of the target sea exploration work vessel, wherein the current navigation parameters include the current navigation speed and the current navigation direction; A calculation module, for calculating the probability of the target sea exploration vessel running aground when sailing through the stranded area according to the current navigation parameters, based on the analysis result and the current draft; A judgment module, used to judge whether the grounding probability is greater than or equal to a preset grounding probability threshold; The calculation module is further configured to calculate a grounding probability difference between the grounding probability and the preset grounding probability threshold when the judgment result is yes; A first estimation module is used to estimate the first operating parameter that needs to be adjusted for the target sea exploration work vessel to safely pass through the stranded area according to the stranded probability difference, the analysis result, the current navigation parameter and the current draft depth, wherein the first operating parameter includes the navigation speed that needs to be adjusted for the target sea exploration work vessel and the bow adjustment angle of the target sea exploration work vessel; A generation module is used to generate a navigation warning prompt for the target sea exploration work vessel according to the first working parameter, and the navigation warning prompt for the target sea exploration work vessel includes the first working parameter and is used to prompt the staff to adjust the navigation of the target sea exploration work vessel according to the first working parameter.

7. An intelligent early warning device, characterized in that: The intelligent early warning device comprises: A memory storing executable program code; a processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the intelligent early warning method for the grounding of an ocean exploration work vessel as described in any one of claims 1-5.

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