An intelligent system and method for ship safety early warning

Abstract

The present invention discloses an intelligent system and method for ship safety early warning, which relates to the field of ship safety technology, including a ship route end, a coordinated positioning end and an early warning analysis end. The ship route end is used to monitor the running track around the ship in real time and generate a multi-angle route image in real time, measure the distance between the obstacle in front of the multi-angle route and the ship, and judge the approximate outline of the obstacle in front of the multi-angle route. The coordinated positioning end is used to judge whether the ship's running track is safe in real time through the obstacle movement angle and the current movement angle of the ship. The early warning analysis end is used to track the current route angle of the ship in real time, and analyze the impact of multi-positioned obstacles on the ship's route according to progressive interlacing. The intelligent system and method for ship safety early warning improve the monitoring effect of the real-time status of the ship's route, and improve the accuracy and reliability of early obstacle avoidance when the ship is running, and early warning of ship safety according to the map and current weather.

Description

Technical Field

[0001] The present invention relates to the field of ship safety technology, and in particular to an intelligent system and method for ship safety early warning. Background Art

[0002] Ship safety refers to taking various preventive measures during navigation and operation at sea to ensure the safety of ships, crew members and the marine environment, prevent accidents or reduce the damage caused by accidents. Ship safety management is the core of ensuring ship safety. It includes formulating and implementing safety management systems, conducting regular safety inspections and maintenance, and providing safety education and training for crew members. By establishing a sound safety management system, safety risks can be effectively prevented and controlled, and the safety of ship operation can be improved.

[0003] Publication No. CN202110205351.6 discloses an intelligent system and method for ship safety warning. The intelligent system for ship safety warning includes an indoor smart camera, an outdoor smart camera, a shipboard server, a portable mobile terminal, a Beidou antenna, a shore server, an sound and light alarm and an intelligent safety wearable device. The indoor smart camera, the outdoor smart camera, the portable mobile terminal, and the intelligent safety wearable device are electrically connected to the shipboard server through the Beidou antenna at the same time, and the shipboard server is electrically connected to the shore server; it has the advantages of improving ship safety performance.

[0004] After searching the above patents, it was found that there are some deficiencies in the operation of ship safety warning: 1. Due to the complex underwater environment, when a ship encounters an obstacle while sailing, it is impossible to analyze the approximate outline of the obstacle ahead of the route in real time from multiple angles and quickly issue a ship route warning, which weakens the monitoring effect of the real-time status of the ship route; 2. When encountering multiple obstacles during the movement of the ship route, it is impossible to continuously track the obstruction angle of the obstacle to the ship during the ship route, especially when encountering multiple obstacles, resulting in limitations in the obstacle avoidance angle when the ship route is running; 3. When multiple obstacles hinder the navigation of the ship at the same time, it is impossible to progressively and staggeredly adjust the obstacle avoidance angles of multiple obstacles in real time, and when the ship route moves, it is impossible to warn the ship's safety in advance based on the map and current weather, resulting in the inability to predict the operation trajectory of the ship route in advance, affecting the safety and reliability of the ship.

[0005] Therefore, an intelligent system and method for ship safety early warning are proposed to solve the above problems. Summary of the invention

[0006] The main purpose of the present invention is to provide an intelligent system and method for ship safety early warning to solve the problems raised in the above background.

[0007] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: an intelligent system and method for ship safety early warning, including a ship route end, a coordinated positioning end and an early warning analysis end;

[0008] The ship route terminal is used to monitor the running track around the ship in real time and generate multi-angle route images in real time, integrate the route images captured underwater and on the water in real time, and determine the approximate outline of obstacles in front of the multi-angle route;

[0009] The cooperative positioning end is used to judge whether the ship's running track is safe in real time through the obstacle movement angle and the current movement angle of the ship, and continuously track the angle difference between the ship's running track and the obstacle, and analyze the ship's obstacle avoidance angle in a sequential and progressive manner;

[0010] The early warning analysis terminal is used to track the current route angle of the ship in real time, and analyze the impact of multiple obstacles on the ship's route based on progressive and staggered analysis, adjust the ship's obstacle avoidance angles for multiple obstacles in real time based on progressive and staggered analysis, and issue early warnings for ship safety and adjust ship operation decision plans based on maps and current weather.

[0011] The ship route terminal includes a route setting module, an image generation module and a route tracking module;

[0012] The route setting module includes a route setting unit and a route positioning unit;

[0013] The route setting unit is used to set basic information of the ship route according to the ship model, the basic information including the route track, route duration, route environment, route landmarks and dangerous areas around the route;

[0014] The route positioning unit is used to locate the current ship's operating position in real time through the GPS positioning navigation equipment, and to sense the ship's longitudinal and rolling attitude angles and camera capture angles in real time using sensors.

[0015] The image generation module includes a route acquisition unit and an image generation unit;

[0016] The route acquisition unit is used to receive basic information matching the corresponding ship model in real time through the set ship route;

[0017] The image generation unit is used to capture the ship route information in real time through cameras and sensors during the operation of the ship. The cameras include above-water cameras and underwater cameras, and the sensors include above-water sensors and underwater sensors.

[0018] The route tracking module includes an image updating unit, a multi-dimensional distance measurement unit and a classification warning unit;

[0019] The image updating unit is used to automatically generate images from the ship route information received by the camera and the sensor, and compare the images in real time according to the timer;

[0020] The multi-dimensional distance measuring unit is used to monitor the position of obstacles around the ship route in real time through the positioning device, and calculate the distance between the obstacles around the ship route and the ship in real time according to the distance measuring formula;

[0021] The classification warning unit is used to determine the approximate outline of the obstacle after combining the above-water and underwater obstacles in real time based on the image information captured by the camera.

[0022] The cooperative positioning terminal includes a multi-dimensional navigation module, a trajectory judgment module and a continuous tracking module;

[0023] The multi-dimensional navigation module includes a multi-angle analysis unit and a sequence number arrangement unit;

[0024] The multi-angle analysis unit is used to calculate in real time through a calculation formula whether the multi-angle of the ship route movement at the current moment deviates from the obstacle, and then judge whether the angle of the ship route movement deviates; if not, judge that the angle of the ship route movement is normal;

[0025] The serial number arrangement unit is used to arrange the angles of multiple obstacles to the ship's route in real time by Arabic numerals, and to sort them from near to far according to the distance.

[0026] The trajectory judgment module includes a type classification unit, a route angle unit and a trajectory warning unit;

[0027] The type classification unit is used to classify obstacles into types of obstacles, and the obstacles include glaciers, reefs, shipwrecks, fishing reefs, fishing fences and obstacle columns;

[0028] The route angle unit is used to determine in real time whether the ship's navigation angle deviates from the angles of multiple obstacles by using a calculation formula for the average displacement between the characteristic points of the ship's route and the obstacles during the ship's navigation;

[0029] The trajectory warning unit is used to, when it is determined that the ship's navigation angle deviates from the angles of multiple obstacles, indicate that the ship's route is operating normally; if it is determined that the ship's navigation angle does not deviate from the angles of multiple obstacles, immediately report to the system and adjust the ship's route until it is determined that the ship's navigation angle deviates from the angles of multiple obstacles and stops;

[0030] The continuous tracking module is used to track the status of the ship's route operation in real time through a data tracker, a camera and an angle analyzer.

[0031] The warning analysis end includes a progressive staggered module, a warning correction module, a correction monitoring module and a route prediction module;

[0032] The progressive interleaving module includes a progressive analysis unit, a sequence number matching unit and a progressive obstacle avoidance unit;

[0033] The progressive analysis unit is used to calculate the correction value of the current ship's navigation angle and the obstacle movement angle through the angle movement deviation calculation formula. If the correction value is greater than the safety obstacle avoidance parameter, it means that the ship's navigation track is safe. If the correction value is less than or equal to the safety obstacle avoidance parameter, it means that the ship's navigation track is dangerous.

[0034] The serial number matching unit is used to arrange the correction values ​​of the plurality of obstacles and the ship's route trajectory in serial numbers;

[0035] The progressive obstacle avoidance unit is used to perform progressive obstacle avoidance on multiple obstacles in order of distance values ​​from small to large.

[0036] The warning correction module is used to set obstacle avoidance safety parameters. If the deviation value of the pitch angle between the ship's navigation trajectory and multiple obstacles is determined to be less than or equal to 0, the system is immediately reported to issue an obstacle avoidance warning reminder, and the ship's navigation warning information is predicted through the GIS map and environmental information;

[0037] The route adjustment module is used to calculate that if the difference between the calculated deviation value of the pitch angle between the ship's navigation and multiple obstacles and the obstacle avoidance safety parameter is greater than or equal to 100m, it means that the ship's navigation and obstacle avoidance are safe. If the difference between the calculated deviation value of the pitch angle between the ship's navigation and multiple obstacles and the obstacle avoidance safety parameter is less than the obstacle avoidance safety parameter, it means that the ship's navigation and obstacle avoidance are abnormal.

[0038] The correction monitoring module is connected to the early warning correction module;

[0039] The correction monitoring module is used to track the navigation status of the ship in real time through a data tracker, and calculate the difference between the value after data correction and the value before correction. If the difference is equal to 0, it means that the correction is invalid, and obstacle avoidance correction or early warning prediction is performed again. If the difference is not equal to 0, it is judged that the correction is valid.

[0040] An intelligent method for ship safety early warning comprises the following steps:

[0041] Step 1: Configure the IP address information of the ship route remote control area server;

[0042] Step 2: Enter the ship route end, generate a multi-angle route in real time through the ship's running trajectory, measure the distance of obstacles in front of the multi-angle route in real time, and analyze the approximate outline of obstacles in front of the multi-angle route in real time;

[0043] Step 3: Enter the coordinated positioning terminal, and judge in real time whether the ship's running track is safe based on the obstacle's moving angle and the ship's current moving angle. If not, adjust immediately and continue to track the angle difference between the ship's running track and the obstacle;

[0044] Step 4: Enter the early warning analysis terminal, through real-time tracking of the current route angle of the ship, progressive and staggered analysis of the impact of multiple obstacles on the ship's route, predict whether the operation trajectory of the ship's route is safe, and automatically adjust the route when the early warning level is reached.

[0045] The present invention has the following beneficial effects:

[0046] 1. In the present invention, by setting a ship route end, when a safety warning is issued during the operation of the ship, the operation trajectory around the ship is monitored in real time and multi-angle route images are generated in real time, and the route images captured underwater and on the water are integrated in real time, the approximate outline of obstacles in front of the multi-angle route is judged to issue an obstacle avoidance warning, and the approximate outline of obstacles in front of the route is analyzed in real time from multiple angles, thereby improving the monitoring effect of the real-time status of the ship route.

[0047] 2. In the present invention, by setting a coordinated positioning end, when a safety warning is issued during the operation of the ship, the moving angle of the obstacle and the current moving angle of the ship are used to judge in real time whether the ship's running trajectory is safe, and the angle difference between the ship's running trajectory and the obstacle is continuously tracked. Especially when encountering multiple obstacles, the ship's obstacle avoidance angle can be analyzed in sequence and progressively, reducing the limitations of the obstacle avoidance angle when the ship is running, and improving the accuracy and reliability of early obstacle avoidance when the ship is running.

[0048] 3. In the present invention, by setting up an early warning analysis terminal, when a safety warning is issued during the operation of the ship, by predicting in advance whether the operation trajectory of the ship's route is safe, when multiple obstacles simultaneously hinder the navigation of the ship, the obstacle avoidance angles of the ship to multiple obstacles can be adjusted in real time according to a progressive and staggered manner, and the safety of the ship can be warned in advance according to the map and the current weather, and the safety of the ship's route can be predicted in advance, thereby improving the safety and reliability of the movement of the ship's route. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 A schematic diagram of the system architecture of an intelligent system and method for ship safety early warning according to the present invention;

[0050] Figure 2 A schematic diagram of the architecture of a ship route end of an intelligent system and method for ship safety early warning according to the present invention;

[0051] Figure 3 This is a schematic diagram of the structure of a positioning terminal in cooperation with an intelligent system and method for ship safety early warning according to the present invention;

[0052] Figure 4 The present invention is a schematic diagram of the architecture of an early warning analysis end of an intelligent system and method for ship safety early warning. DETAILED DESCRIPTION

[0053] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0054] Embodiment 1

[0055] Please refer to Figure 1 to Figure 2 As shown: An intelligent system and method for ship safety warning, including a ship route end, a coordinated positioning end and a warning analysis end;

[0056] The ship route end includes a route setting module, an image generation module and a route tracking module;

[0057] The route setting module includes a route setting unit and a route positioning unit;

[0058] The route setting unit is used to set the basic information of the ship route according to the ship model. The basic information includes the route track, route duration, route environment, route landmarks and dangerous areas around the route;

[0059] The route positioning unit is used to locate the current position of the ship in real time through GPS positioning and navigation equipment, and to use sensors to sense the ship's longitudinal and roll attitude angles and camera capture angles in real time.

[0060] The image generation module includes a route acquisition unit and an image generation unit;

[0061] The route acquisition unit is used to receive the basic information matching the corresponding ship model in real time through the set ship route;

[0062] The image generation unit is used to capture the ship route information of the ship in real time through cameras and sensors. The cameras include above-water cameras and underwater cameras, and the sensors include above-water sensors and underwater sensors.

[0063] In the present invention, the ship first sets the basic information of the ship's route according to the ship model, then uses the GPS positioning and navigation equipment to locate the ship's current operating position in real time, and uses sensors to perceive the ship's longitudinal and roll attitude angles and camera capture angles in real time, and receives the basic information matching the corresponding ship model in real time through the set ship route. Finally, the ship's route information is captured in real time through cameras and sensors during operation, which can capture the ship's route information in real time and ensure timely real-time status monitoring of the ship's route.

[0064] The route tracking module includes an image update unit, a multi-dimensional distance measurement unit, and a classification warning unit;

[0065] The image updating unit is used to automatically generate images from the ship route information received by the camera and the sensor, and compare the images in real time according to the timer;

[0066] The multi-dimensional distance measurement unit is used to monitor the position of obstacles around the ship route in real time through the positioning device, and calculate the distance between the obstacles around the ship route and the ship in real time according to the distance measurement formula. The calculation method is as follows:

[0067] Set the ship's operating position at the corresponding moment to (X1, Y1), and the obstacle's position at the current moment to (X2, Y2);

[0068] ;

[0069] in, Indicates the distance between the ship and the obstacle at the corresponding moment, n indicates the distance between the nth obstacle and the ship, and the real-time distance between the current ship and the obstacle is calculated in real time at different moments when the ship is running, and the distances are arranged in sequence;

[0070] The classification warning unit is used to determine the approximate outline of obstacles on and under the water in real time using the image information captured by the camera. The determination method is as follows:

[0071] Step 1: Based on the initial point of the ship's route, the distance feature points between the obstacle and the ship, and the currently tracked ship position feature points, calculate the average displacement between the feature points of the ship's route and the obstacle, and then calculate the approximate outline of the ship in the current image information based on the moving distance of the obstacle, and match the average displacement between the feature points of the ship's route and the obstacle. The calculation formula is as follows:

[0072] ;

[0073] in, Represents the characteristic points in the ship route operation area at time t-1, represents the ship route running feature point detected at time t, M represents the serial number of the ship route running feature point and obstacle position tracked at time t, Indicates the average displacement between the characteristic points of the ship's route and the obstacles;

[0074] Step 2: By moving the pixel points on the known path at time t-1 , the approximate outline of the object in the visual image at time t can be obtained, and the obstacle can be monitored in real time to see if it is moving, and what the obstacles are after combining the above-water and underwater obstacles, including glaciers, reefs, shipwrecks, fishing reefs, fishing traps and obstacle columns;

[0075] Step 3: After determining the approximate outline of the obstacle, issue a warning message and regularly remind the ship of the route.

[0076] In the present invention, firstly, the ship route information received by the camera and the sensor is automatically generated into an image, and the image is compared in real time according to the timer to see if the comparison time is the same. If the time is the same, it means that the received information is wrong. After the time comparison is completed, the position of obstacles around the ship route is monitored in real time by the positioning device, and the distance between the obstacles around the ship route and the ship is calculated in real time according to the ranging formula, and the real-time distance between the current ship and the obstacle is calculated in real time at different times when the ship is running, and then the sequence is arranged, and the image is integrated in combination with the obstacles monitored on the water and underwater. It is possible to timely judge the approximate contours of obstacles ahead of the route from multiple angles and issue obstacle avoidance warnings, and analyze the approximate contours of obstacles ahead of the route from multiple angles in real time, thereby improving the monitoring effect of the real-time status of the ship route.

[0077] Embodiment 2

[0078] Please refer to Figure 3 As shown: Based on the first embodiment, the positioning terminal includes a multi-dimensional navigation module, a trajectory judgment module and a continuous tracking module;

[0079] The multi-dimensional navigation module includes a multi-angle analysis unit and a sequence number arrangement unit;

[0080] The multi-angle analysis unit is used to calculate in real time whether the multi-angle of the ship's route at the current moment deviates from the obstacle through a calculation formula. The calculation method is as follows:

[0081] Step I: Connect multiple obstacles and ship routes face to face in pairs, and set the area surrounded by the connection line as the ship operation area. Then set the basic center point of the ship operation area as a circle, establish a coordinate system (X, Y), and calculate the angular movement deviation of the ship route using the calculation formula:

[0082] ;

[0083] ;

[0084] in, is the angle between the angular movement distance of the ship's route and the positive direction of the X-axis, is the angle between the angular movement distance of the ship route and the positive direction of the Y axis, H is the ship's operating height, is the vector of the ship’s route angle in the X-axis direction, is the vector of the ship's route angle in the Y-axis direction, and n represents the moving angle between the nth obstacle and the moving direction of the ship's route;

[0085] Step II: Calculate the ship's route angle and Compare with the set route angle, the standard movement value is set to O and M. -O ≥ 1 or - If M ≥ 1, it is judged that the angle of the ship's route movement is deviated; if not, it is judged that the angle of the ship's route movement is normal;

[0086] The serial number arrangement unit is used to arrange the angles of multiple obstacles to the ship's route in real time by Arabic numerals, and to sort them from near to far according to the distance.

[0087] In the present invention, during the navigation process of the ship, it is possible to calculate whether the ship's route at the current moment deviates from multiple angles of obstacles, and continuously track the angle difference between the ship's running trajectory and the obstacle. Especially when encountering multiple obstacles, it is possible to sequentially and progressively analyze the obstacle avoidance angles during the navigation process of the ship to ensure the accuracy of the ship's navigation and obstacle avoidance.

[0088] The trajectory judgment module includes a type classification unit, a route angle unit and a trajectory warning unit.

[0089] In the present invention, obstacles are classified into obstacle avoidance types, and the calculation formula of the average displacement between the characteristic points of the ship's operating route and the obstacles is used in real time during the ship's navigation to judge in real time whether the ship's navigation angle deviates from the angles of multiple obstacles. When it is judged that there is a deviation between the ship's navigation angle and the angles of multiple obstacles, it means that the ship's route is operating normally. If it is judged that there is no deviation between the ship's navigation angle and the angles of multiple obstacles, it is reported to the system immediately, and the ship's route is adjusted until it is judged that there is a deviation between the ship's navigation angle and the angles of multiple obstacles. Finally, the status of the ship's route operation is tracked in real time through a data tracker, a camera and an angle analyzer, which can reduce the limitations of the obstacle avoidance angle when the ship is running, and improve the accuracy and reliability of early obstacle avoidance when the ship is running.

[0090] Embodiment 3

[0091] Please refer to Figure 4 As shown: Based on the first embodiment, the early warning analysis end includes a progressive staggered module, an early warning correction module, a correction monitoring module and a route prediction module;

[0092] The progressive interleaving module includes a progressive analysis unit, a sequence matching unit and a progressive obstacle avoidance unit;

[0093] The progressive analysis unit is used to calculate the correction value of the current ship's navigation angle and the obstacle movement angle through the angle movement deviation calculation formula. If the correction value is greater than the safety obstacle avoidance parameter, it means that the ship's navigation track is safe. If the correction value is less than or equal to the safety obstacle avoidance parameter, it means that the ship's navigation track is dangerous.

[0094] The serial number matching unit is used to arrange the correction values ​​of multiple obstacles and the ship's route trajectory in serial numbers;

[0095] The progressive obstacle avoidance unit is used to avoid multiple obstacles in a progressive manner in the order of distance values ​​from small to large. The obstacle avoidance method is as follows:

[0096] S1 (1): Calculate the coefficient of the first-order term of the regression equation. The formula is as follows:

[0097] ;

[0098] in, is a linear coefficient and represents the quadratic relationship between the pitch angle value and the obstacle angle data when the ship is sailing, as follows: Indicates the basic value of the first obstacle avoidance angle deviation. Indicates the basic value of the first obstacle avoidance angle reaching the specified point. Indicates the base value of the second obstacle avoidance angle deviation. Indicates the basic value of the second obstacle avoidance angle deviation from the specified point. Indicates the basic value of the obstacle avoidance angle deviation at the current moment. Here, it indicates the deviation values ​​at different time points and different obstacle avoidance angles. The obstacle avoidance angle indicates the pitch angle above and below the water for the ship to avoid obstacles, as well as the obstacle avoidance angle with the corresponding number of obstacles.

[0099] S1(2): Calculate the quadratic coefficient of the regression equation. The formula is as follows:

[0100] ;

[0101] in, It represents the coefficient of the quadratic term and represents the binary quadratic relationship between the pitch angle value and the obstacle angle data when the ship is sailing;

[0102] ;

[0103] in, represents the constant term coefficient, Indicates the average value of the obstacle avoidance angle deviation at the current moment. The obstacle avoidance angle here indicates the obstacle avoidance pitch angle and the obstacle avoidance angle with the specified number of obstacles. Indicates The deviation value of the obstacle avoidance angle;

[0104] S1 (3): Based on the linear term coefficient, quadratic term coefficient and constant term coefficient, a regression equation is established to obtain the deviation value of the pitch angle between the ship and multiple obstacles during navigation and set the obstacle avoidance safety parameters.

[0105] In the present invention, by real-time multi-angle analysis of whether the ship route is deviating from the multiple angles of obstacles at the current moment, and by real-time serial numbering of the angles of multiple obstacles and the ship route using Arabic numerals and sorting them from near to far according to the distance, it is possible to predict in advance whether the operation trajectory of the ship route is safe.

[0106] The warning correction module is used to set obstacle avoidance safety parameters. If the deviation value of the pitch angle between the ship's navigation trajectory and multiple obstacles is less than or equal to 0, the system will be immediately reported to issue an obstacle avoidance warning reminder, and the ship's navigation warning information will be predicted through the GIS map and environmental information. The prediction method is as follows:

[0107] Step (1): Create, manage, analyze and draw the ship navigation area through GIS map, and set the environmental standard parameters for the navigation project in the corresponding ship navigation area. Use color markers, earthquake monitoring equipment, landslide monitoring equipment, mud-rock flow monitoring equipment, water surface subsidence monitoring equipment, volcanic eruption monitoring equipment, glacier melting monitoring equipment, reef movement monitoring equipment, precipitation monitoring equipment and wave impact monitoring equipment to detect the environmental parameters of the corresponding ship navigation area in real time, and use data recorders to record in real time the impact of different geographical locations on the ship's navigation trajectory at historical moments and the environmental parameters of the corresponding ship navigation area;

[0108] Step (2): Combine the geographical location of the corresponding ship navigation area, weather forecast information and environmental parameters monitored during the ship navigation to obtain the ship navigation environmental parameters at the current moment, and perform difference calculation with the environmental standard parameters. If the difference is equal to ±0.2, it is judged that the ship navigation environmental parameters are approaching the safe value. If the difference is greater than 0.2 or less than -0.2, it is judged that the ship navigation environmental parameters exceed the safe value, and a ship navigation warning signal is issued. Ten minutes is counted as one cycle, and the ship navigation environmental parameters of the ship navigation area are predicted based on the ship navigation environmental parameters of three cycles. If the average values ​​of the ship navigation environmental parameters of the three cycles all exceed the ship navigation environmental standard parameters, it is judged that the project execution of the ship navigation plan originally set for the corresponding ship navigation area is abnormal;

[0109] The route adjustment module is used to calculate the difference between the deviation value of the pitch angle between the ship's navigation and multiple obstacles and the obstacle avoidance safety parameter. If the difference is greater than or equal to 100m, it means that the ship's navigation and obstacle avoidance are safe. If the difference between the deviation value of the pitch angle between the ship's navigation and multiple obstacles and the obstacle avoidance safety parameter is less than the obstacle avoidance safety parameter, it means that the ship's navigation and obstacle avoidance are abnormal.

[0110] In the present invention, when multiple obstacles simultaneously hinder the navigation of a ship, the obstacle avoidance angles of the ship to the multiple obstacles can be adjusted in real time according to a progressive and staggered manner, and the ship's safety can be warned in advance according to the map and the current weather, and the safety of the ship's route can be predicted in advance, thereby improving the safety and reliability of the ship's route movement.

[0111] The correction monitoring module is connected with the early warning correction module;

[0112] The correction monitoring module is used to track the navigation status of the ship in real time through the data tracker, and calculate the difference between the value after the data correction and the value before the correction. If the difference is equal to 0, it means that the correction is invalid, and the obstacle avoidance correction or early warning prediction is performed again. If the difference is not equal to 0, the correction is judged to be effective.

[0113] In the present invention, the correction monitoring module can track the correction status of the ship's navigation in real time, ensure the safety and reliability of the ship's angle deviation or obstacle avoidance, and further increase the safety warning stability of the ship's navigation.

[0114] In the present invention, an intelligent system and method for ship safety warning are provided. When the system is in operation, the ship safety warning terminal control server is first configured, and the ship route end is accessed to monitor the running track around the ship in real time and generate multi-angle route images in real time. In addition, during the navigation of the ship, the distance between the obstacle in front of the multi-angle route and the ship is measured in real time, and the route images captured underwater and on the water are integrated in real time to determine the approximate contour of the obstacle in front of the multi-angle route and issue an obstacle avoidance warning, so that before the ship encounters the obstacle during navigation, the approximate contour of the obstacle in front of the route can be analyzed in real time from multiple angles, thereby improving the monitoring effect of the real-time status of the ship route; through the obstacle movement angle and the current movement angle of the ship, it is determined in real time whether the ship's running track is safe, if not, it is adjusted immediately, and the angle difference between the ship's running track and the obstacle is continuously tracked, so that when encountering multiple positioning obstacles during the movement of the ship's route, it can continuously It continuously tracks whether the obstruction angle of obstacles to the ship during the navigation process needs to be adjusted. Especially when encountering multiple obstacles, it can analyze the obstacle avoidance angle of the ship in sequence and progressively, reduce the limitations of the obstacle avoidance angle when the ship is running, and improve the accuracy and reliability of obstacle avoidance in advance when the ship is running; through real-time tracking of the current route angle of the ship, and when it is found that the route trajectory deviates and adjusts the obstacle avoidance, it analyzes the impact of multiple positioned obstacles on the ship's route according to the progressive and staggered analysis, and predicts in advance whether the operation trajectory of the ship's route is safe. If the current value reaches the warning level, it will automatically issue an alarm and make progressive route adjustments. When multiple obstacles hinder the navigation of the ship at the same time, it can adjust the obstacle avoidance angle of the ship to multiple obstacles in real time according to the progressive and staggered method, and when the ship's route moves, it can warn the ship's safety in advance according to the map and the current weather, predict in advance whether the operation of the ship's route is safe, and improve the safety and reliability of the ship's route movement.

[0115] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. An intelligent system for ship safety warning, characterized in that: The system includes a ship route terminal, a coordinated positioning terminal and an early warning analysis terminal; The ship route terminal is used to monitor the running track around the ship in real time and generate multi-angle route images in real time, integrate the route images captured underwater and on the water in real time, and determine the approximate outline of obstacles in front of the multi-angle route; The cooperative positioning end is used to judge whether the ship's running track is safe in real time through the obstacle movement angle and the current movement angle of the ship, and continuously track the angle difference between the ship's running track and the obstacle, and analyze the ship's obstacle avoidance angle in a sequential and progressive manner; The warning analysis terminal is used to track the current route angle of the ship in real time, analyze the impact of multiple obstacles on the ship's route according to the progressive staggered method, adjust the ship's obstacle avoidance angles for multiple obstacles in real time according to the progressive staggered method, and warn the ship of safety in advance and adjust the ship's operation decision plan according to the map and the current weather; The cooperative positioning terminal includes a multi-dimensional navigation module, a trajectory judgment module and a continuous tracking module; The multi-dimensional navigation module includes a multi-angle analysis unit and a sequence number arrangement unit; The multi-angle analysis unit is used to calculate in real time whether the multi-angle of the ship's route at the current moment deviates from the obstacle through a calculation formula. The calculation method is as follows: Step I: Connect multiple obstacles and ship routes face to face in pairs, and set the area surrounded by the connection line as the ship operation area. Then set the basic center point of the ship operation area as a circle, establish a coordinate system (X, Y), and calculate the angular movement deviation of the ship route using the calculation formula: ； ； in, is the angle between the angular movement distance of the ship's route and the positive direction of the X-axis, is the angle between the angular movement distance of the ship route and the positive direction of the Y axis, H is the ship's operating height, is the vector of the ship’s route angle in the X-axis direction, is the vector of the ship's route angle in the Y-axis direction, and n represents the moving angle between the nth obstacle and the moving direction of the ship's route; Step II: Calculate the ship's route angle and Compare with the set route angle, the standard movement value is set to O and M. -O ≥ 1 or - If M ≥ 1, it is judged that the angle of the ship's route movement is deviated; if not, it is judged that the angle of the ship's route movement is normal; The serial number arrangement unit is used to arrange the angles of multiple obstacles to the ship's route in real time by Arabic numerals, and to sort them from near to far according to the distance; The trajectory judgment module includes a type classification unit, a route angle unit and a trajectory warning unit; The type classification unit is used to classify obstacles into types of obstacles, and the obstacles include glaciers, reefs, shipwrecks, fishing reefs, fishing fences and obstacle columns; The route angle unit is used to determine in real time whether the ship's navigation angle deviates from the angles of multiple obstacles by using a calculation formula for the average displacement between the characteristic points of the ship's route and the obstacles during the ship's navigation; The trajectory warning unit is used to, when it is determined that the ship's navigation angle deviates from the angles of multiple obstacles, indicate that the ship's route is operating normally; if it is determined that the ship's navigation angle does not deviate from the angles of multiple obstacles, immediately report to the system and adjust the ship's route until it is determined that the ship's navigation angle deviates from the angles of multiple obstacles and stops; The continuous tracking module is used to track the status of the ship's route operation in real time through a data tracker, a camera and an angle analyzer; The warning analysis end includes a progressive staggered module, a warning correction module, a correction monitoring module and a route prediction module; The progressive interleaving module includes a progressive analysis unit, a sequence number matching unit and a progressive obstacle avoidance unit; The progressive analysis unit is used to calculate the correction value of the current ship's navigation angle and the obstacle movement angle through the angle movement deviation calculation formula. If the correction value is greater than the safety obstacle avoidance parameter, it means that the ship's navigation track is safe. If the correction value is less than or equal to the safety obstacle avoidance parameter, it means that the ship's navigation track is dangerous. The serial number matching unit is used to arrange the correction values ​​of the plurality of obstacles and the ship's route trajectory in serial numbers; The progressive obstacle avoidance unit is used to progressively avoid multiple obstacles in the order of distance values ​​from small to large. The obstacle avoidance method is as follows: S1 (1): Calculate the coefficient of the first-order term of the regression equation. The formula is as follows: ； in, is a linear coefficient and represents the quadratic relationship between the pitch angle value and the obstacle angle data when the ship is sailing, as follows: Indicates the basic value of the first obstacle avoidance angle deviation. Indicates the basic value of the first obstacle avoidance angle reaching the specified point. Indicates the base value of the second obstacle avoidance angle deviation. Indicates the basic value of the second obstacle avoidance angle deviation from the specified point. Indicates the basic value of the obstacle avoidance angle deviation at the current moment. Here, it indicates the deviation values ​​at different time points and different obstacle avoidance angles. The obstacle avoidance angle indicates the pitch angle above and below the water for the ship to avoid obstacles, as well as the obstacle avoidance angle with the corresponding number of obstacles. S1(2): Calculate the quadratic coefficient of the regression equation. The formula is as follows: ； in, It represents the coefficient of the quadratic term and represents the binary quadratic relationship between the pitch angle value and the obstacle angle data when the ship is sailing; ； in, represents the constant term coefficient, Indicates the average value of the obstacle avoidance angle deviation at the current moment. The obstacle avoidance angle here indicates the obstacle avoidance pitch angle and the obstacle avoidance angle with the specified number of obstacles. Indicates The deviation value of the obstacle avoidance angle; S1 (3): Based on the linear term coefficient, quadratic term coefficient and constant term coefficient, a regression equation is established to obtain the deviation value of the pitch angle between the ship and multiple obstacles during navigation, and to set the obstacle avoidance safety parameters; The warning correction module is used to set obstacle avoidance safety parameters. If the deviation value of the pitch angle between the ship's navigation trajectory and multiple obstacles is less than or equal to 0, the system is immediately reported to issue an obstacle avoidance warning reminder, and the ship's navigation warning information is predicted through the GIS map and environmental information. The prediction method is as follows: Step (1): Create, manage, analyze and draw the ship navigation area through GIS map, and set the environmental standard parameters for the navigation project in the corresponding ship navigation area. Use color markers, earthquake monitoring equipment, landslide monitoring equipment, mud-rock flow monitoring equipment, water surface subsidence monitoring equipment, volcanic eruption monitoring equipment, glacier melting monitoring equipment, reef movement monitoring equipment, precipitation monitoring equipment and wave impact monitoring equipment to detect the environmental parameters of the corresponding ship navigation area in real time, and use data recorders to record in real time the impact of different geographical locations on the ship's navigation trajectory at historical moments and the environmental parameters of the corresponding ship navigation area; Step (2): Combine the geographical location of the corresponding ship navigation area, weather forecast information and environmental parameters monitored during the ship navigation to obtain the ship navigation environmental parameters at the current moment, and perform difference calculation with the environmental standard parameters. If the difference is equal to ±0.2, it is judged that the ship navigation environmental parameters are approaching the safe value. If the difference is greater than 0.2 or less than -0.2, it is judged that the ship navigation environmental parameters exceed the safe value, and a ship navigation warning signal is issued. Ten minutes is counted as one cycle, and the ship navigation environmental parameters of the ship navigation area are predicted based on the ship navigation environmental parameters of three cycles. If the average values ​​of the ship navigation environmental parameters of the three cycles all exceed the ship navigation environmental standard parameters, it is judged that the project execution of the ship navigation plan originally set for the corresponding ship navigation area is abnormal; The route adjustment module is used to calculate the difference between the deviation value of the pitch angle between the ship's navigation and multiple obstacles and the obstacle avoidance safety parameter. If the difference is greater than or equal to 100m, it means that the ship's navigation and obstacle avoidance are safe. If the difference between the deviation value of the pitch angle between the ship's navigation and multiple obstacles and the obstacle avoidance safety parameter is less than the obstacle avoidance safety parameter, it means that the ship's navigation and obstacle avoidance are abnormal.

2. The system according to claim 1, characterized in that: The ship route terminal includes a route setting module, an image generation module and a route tracking module; The route setting module includes a route setting unit and a route positioning unit; The route setting unit is used to set basic information of the ship route according to the ship model, the basic information including the route track, route duration, route environment, route landmarks and dangerous areas around the route; The route positioning unit is used to locate the current ship's operating position in real time through the GPS positioning navigation equipment, and to sense the ship's longitudinal and rolling attitude angles and camera capture angles in real time using sensors.

3. The system according to claim 2, characterized in that: The image generation module includes a route acquisition unit and an image generation unit; The route acquisition unit is used to receive basic information matching the corresponding ship model in real time through the set ship route; The image generation unit is used to capture the ship route information in real time through cameras and sensors during the operation of the ship. The cameras include above-water cameras and underwater cameras, and the sensors include above-water sensors and underwater sensors.

4. The system according to claim 3, characterized in that: The route tracking module includes an image updating unit, a multi-dimensional distance measurement unit and a classification warning unit; The image updating unit is used to automatically generate images from the ship route information received by the camera and the sensor, and compare the images in real time according to the timer; The multi-dimensional distance measurement unit is used to monitor the position of obstacles around the ship route in real time through the positioning device, and calculate the distance between the obstacles around the ship route and the ship in real time according to the distance measurement formula. The calculation method is as follows: Set the ship's operating position at the corresponding moment to (X1, Y1), and the obstacle's position at the current moment to (X2, Y2); ； in, Indicates the distance between the ship and the obstacle at the corresponding moment, n indicates the distance between the nth obstacle and the ship, and the real-time distance between the current ship and the obstacle is calculated in real time at different moments when the ship is running, and the distances are arranged in sequence; The classification warning unit is used to determine the approximate outline of the obstacle after combining the above-water and underwater obstacles in real time using the image information captured by the camera. The determination method is as follows: Step 1: Based on the initial point of the ship's route, the distance feature points between the obstacle and the ship, and the currently tracked ship position feature points, calculate the average displacement between the feature points of the ship's route and the obstacle, and then calculate the approximate outline of the ship in the current image information based on the moving distance of the obstacle, and match the average displacement between the feature points of the ship's route and the obstacle. The calculation formula is as follows: ； in, Represents the characteristic points in the ship route operation area at time t-1, represents the ship route running feature point detected at time t, M represents the serial number of the ship route running feature point and obstacle position tracked at time t, Indicates the average displacement between the characteristic points of the ship's route and the obstacles; Step 2: By moving the pixel points on the known path at time t-1 , the approximate outline of the object in the visual image at time t can be obtained, and the obstacle can be monitored in real time to see if it is moving, and what the obstacles are after combining the above-water and underwater obstacles, including glaciers, reefs, shipwrecks, fishing reefs, fishing traps and obstacle columns; Step 3: After determining the approximate outline of the obstacle, issue a warning message and regularly remind the ship of the route.

5. The system according to claim 1, characterized in that: The correction monitoring module is connected to the early warning correction module; The correction monitoring module is used to track the navigation status of the ship in real time through a data tracker, and calculate the difference between the value after data correction and the value before correction. If the difference is equal to 0, it means that the correction is invalid, and obstacle avoidance correction or early warning prediction is performed again. If the difference is not equal to 0, it is judged that the correction is valid.

6. An intelligent method for ship safety early warning, referring to the intelligent system for ship safety early warning as described in any one of claims 1 to 5, characterized in that: The following steps are involved: Step 1: Configure the IP address information of the ship route remote control area server; Step 2: Enter the ship route end, generate a multi-angle route in real time through the ship's running trajectory, measure the distance of obstacles in front of the multi-angle route in real time, and analyze the approximate outline of obstacles in front of the multi-angle route in real time; Step 3: Enter the coordinated positioning terminal, and judge in real time whether the ship's running track is safe based on the obstacle's moving angle and the ship's current moving angle. If not, adjust immediately and continue to track the angle difference between the ship's running track and the obstacle; Step 4: Enter the early warning analysis terminal, through real-time tracking of the current route angle of the ship, progressive and staggered analysis of the impact of multiple obstacles on the ship's route, predict whether the operation trajectory of the ship's route is safe, and automatically adjust the route when the early warning level is reached.

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