Ship navigation risk early warning method and system, electronic equipment and storage medium

Abstract

The invention discloses a ship navigation risk early warning method and system, electronic equipment and a storage medium. The method comprises the steps that ship navigation data and navigation environment data are acquired; constructing a ship navigation risk field model according to the ship navigation data and the navigation environment data, and determining ship risk field data through the ship navigation risk field model; determining a preset risk threshold according to the ship navigation risk field model and a preset nearest encounter distance model; performing analysis and calculation according to the ship risk field data and the preset risk threshold to obtain a ship navigation safety index; and carrying out ship navigation risk early warning through the ship navigation safety index. According to the embodiment of the invention, the accuracy of ship navigation risk prediction in a complex navigation environment can be effectively improved, and ship navigation risk early warning is realized. The method can be widely applied to the technical field of risk prediction.

Description

Technical Field

[0001] The present application relates to the technical field of risk prediction, and in particular to a method, system, electronic device and storage medium for early warning of ship navigation risks. Background Art

[0002] With the rapid development of sensor and computer communication technology, the accuracy of ship navigation related information is getting higher and higher, which can provide a data basis for ship navigation risk prediction and prevention of ship accidents. However, in the related technology, in the ship navigation risk prediction, the risk factors considered are not complete, and the accuracy of ship risk assessment in complex navigation environment is low.

[0003] In summary, the technical problems existing in the relevant technologies need to be improved. Summary of the invention

[0004] The main purpose of the embodiments of the present application is to propose a ship navigation risk warning method, system, electronic device and storage medium, which can effectively improve the accuracy of ship navigation risk prediction in complex navigation environments and realize ship navigation risk warning.

[0005] To achieve the above-mentioned purpose, an embodiment of the present application provides a method for early warning of ship navigation risks, the method comprising the following steps:

[0006] Obtain ship navigation data and navigation environment data;

[0007] Constructing a ship navigation risk field model according to the ship navigation data and the navigation environment data, so as to determine the ship risk field data through the ship navigation risk field model;

[0008] Determining a preset risk threshold according to the ship navigation risk field model and the preset closest encounter distance model;

[0009] Analyze and calculate the ship risk field data and the preset risk threshold to obtain a ship navigation safety index;

[0010] The ship navigation safety index is used to provide a warning of ship navigation risks.

[0011] In some embodiments, the obtaining of ship navigation data and navigation environment data includes:

[0012] Acquire the ship navigation data of the preset ship; wherein the ship navigation data includes the ship mass, the type of cargo carried, the ship navigation speed and the ship position;

[0013] The navigation environment data of the preset ship is obtained; wherein the preset ship includes the own ship and other ships, and the navigation environment data includes channel information and obstruction information.

[0014] In some embodiments, the constructing a ship navigation risk field model according to the ship navigation data and the navigation environment data includes:

[0015] Constructing a static potential energy field model according to the ship navigation data and the navigation environment data; wherein the static potential energy field model takes the stationary obstruction as the core;

[0016] A dynamic kinetic energy field model is constructed according to the ship navigation data through the Doppler effect; wherein the dynamic kinetic energy field model takes the other ship as the core.

[0017] In some embodiments, determining the ship risk field data by using the ship navigation risk field model includes:

[0018] The potential energy field force is calculated according to the ship position, the ship sailing speed, the first distance information and the static potential energy field model; wherein the first distance information includes the distance information between the ship and the stationary obstacle;

[0019] Determine the potential energy of the potential energy field of the own ship according to the static potential energy field model and the potential energy field force;

[0020] The kinetic energy field force is calculated according to the ship position, the ship sailing speed, the second distance information and the dynamic kinetic energy field model; wherein the second distance information includes the distance information between the own ship and the other ship;

[0021] The kinetic energy of the kinetic energy field of the own ship is determined according to the dynamic kinetic energy field model and the kinetic energy field force.

[0022] In some embodiments, determining the preset risk threshold according to the ship navigation risk field model and the preset closest encounter distance model includes:

[0023] According to the ship field combined with ship dynamics factors, a first reaction distance threshold is calculated; wherein the first reaction distance threshold includes a reaction distance threshold of the ship to the stationary obstacle;

[0024] Calculating a first risk threshold according to the first reaction distance threshold and the static potential energy field model;

[0025] A second reaction distance threshold is calculated based on the ship avoidance minimum distance combined with the ship dynamics factor; wherein the second reaction distance threshold includes a reaction distance threshold of the own ship to the other ship;

[0026] A second risk threshold is calculated based on the second reaction distance threshold and the dynamic kinetic energy field model.

[0027] In some embodiments, the analyzing and calculating according to the ship risk field data and the preset risk threshold to obtain the ship navigation safety index includes:

[0028] Calculate the first risk field safety index of each of the stationary obstacles to the ship according to the first risk threshold and the potential energy field potential;

[0029] A second risk field safety index of each of the other ships to the own ship is calculated according to the second risk threshold and the kinetic energy of the kinetic energy field;

[0030] Comprehensive navigation risk information is obtained by analyzing and calculating the first risk field safety index and the second risk field safety index.

[0031] In some embodiments, the ship navigation risk warning is performed by using the ship navigation safety index, including:

[0032] When it is determined that the safety index of the first risk field is greater than the third risk threshold, or the safety index of the second risk field is greater than the third risk threshold, a ship navigation risk warning is issued;

[0033] Corresponding warning level information is issued based on the comprehensive navigation risk information.

[0034] To achieve the above-mentioned purpose, another aspect of the embodiment of the present application provides a ship navigation risk warning system, the system comprising:

[0035] The first module is used to obtain ship navigation data and navigation environment data;

[0036] The second module is used to construct a ship navigation risk field model according to the ship navigation data and the navigation environment data, so as to determine the ship risk field data through the ship navigation risk field model;

[0037] The third module is used to determine a preset risk threshold according to the ship navigation risk field model and the preset closest encounter distance model;

[0038] The fourth module is used to analyze and calculate according to the ship risk field data and the preset risk threshold to obtain a ship navigation safety index;

[0039] The fifth module is used to provide early warning of ship navigation risks through the ship navigation safety index.

[0040] To achieve the above objective, another aspect of an embodiment of the present application provides an electronic device, the electronic device comprising:

[0041] at least one processor;

[0042] at least one memory for storing at least one program;

[0043] When the at least one program is executed by the at least one processor, the at least one processor implements the above method.

[0044] To achieve the above objective, another aspect of an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and the computer program implements the above method when executed by a processor.

[0045] The embodiments of the present application at least include the following beneficial effects: The present application provides a method, system, electronic device and storage medium for warning of ship navigation risk. The scheme acquires ship navigation data and navigation environment data, and constructs a ship navigation risk field model according to the ship navigation data and navigation environment data, so as to determine the ship risk field data through the ship navigation risk field model. At the same time, the embodiment of the present invention determines the preset risk threshold according to the ship navigation risk field model and the preset closest encounter distance model. Accordingly, the embodiment of the present invention analyzes and calculates according to the ship risk field data and the preset risk threshold to obtain the ship navigation safety index, and then performs a ship navigation risk warning through the ship navigation safety index to realize the ship navigation risk warning. It is easy to understand that the embodiment of the present invention can accurately evaluate the risks in a complex navigation environment by constructing a ship navigation risk field model according to the ship navigation data and navigation environment data, and analyzes and calculates according to the ship risk field data determined by the ship navigation risk field model and the preset risk threshold, so as to effectively improve the accuracy of ship navigation risk prediction in a complex navigation environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 It is a schematic diagram of the steps of the ship navigation risk warning method provided by an embodiment of the present invention;

[0047] Figure 2 It is a schematic diagram of the overall architecture of the ship navigation risk warning method provided by an embodiment of the present invention;

[0048] Figure 3 It is a flow chart of a method for early warning of ship navigation risks provided by an embodiment of the present invention;

[0049] Figure 4 It is a structural schematic diagram of a ship navigation risk warning system provided in an embodiment of the present application;

[0050] Figure 5 It is a schematic diagram of the hardware structure of the electronic device provided in the embodiment of the present application. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is further described in detail below in conjunction with the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the embodiments of the present application. They are only examples of devices and methods consistent with some aspects of the embodiments of the present application as detailed in the attached claims.

[0052] It is understood that the terms "first", "second", etc. used in this application can be used to describe various concepts in this article, but unless otherwise specified, these concepts are not limited by these terms. These terms are only used to distinguish one concept from another concept. For example, without departing from the scope of the embodiment of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the words "if" and "if" as used herein can be interpreted as "at the time of" or "when" or "in response to determination".

[0053] The terms "at least one", "multiple", "each", "any", etc. used in this application, at least one includes one, two or more, multiple includes two or more, each refers to each of the corresponding multiple, and any refers to any one of the multiple.

[0054] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0055] Before describing the embodiments of the present application in detail, some nouns and terms involved in the embodiments of the present application are first described. The nouns and terms involved in the embodiments of the present application are subject to the following explanations.

[0056] Distance to Close Approach (DCPA) model: It is used to calculate the closest distance between two ships when they pass each other during the encounter process. The distance to close approach is an important basis for ships to safely avoid other ships during navigation.

[0057] Static potential field: a potential field that does not change over time and is not affected by the presence of other individuals or objects. It is used to represent the impact of static objects in a fixed grid or spatial area on the surrounding environment.

[0058] Dynamic potential field: used to describe and simulate the impact of an object or area on the surrounding environment in a dynamic environment, which may change due to time, the movement of other objects or changes in external factors.

[0059] With the rapid development of sensors and computer communication technology, the accuracy of relevant information about ship navigation is getting higher and higher, such as navigation information and navigation environment information. This information can provide a data basis for ship navigation risk prediction and prevention of ship accidents. However, in the relevant technologies, in the prediction of ship navigation risk, the risk factors considered are not complete, and the accuracy of ship risk assessment in complex navigation environments is low. For example, in the traditional prediction of ship navigation risk, the impact of ship drivers, complex meteorological environments, waterway environments, etc. on navigation risks is ignored, and the description of the coupling mechanism between drivers, ships, and navigation environments is not clear enough, which makes the application of risk warning subject to great limitations.

[0060] In view of this, a method, system, electronic device and storage medium for warning of ship navigation risks are provided in the embodiments of the present application. The scheme acquires ship navigation data and navigation environment data, and constructs a ship navigation risk field model based on the ship navigation data and navigation environment data, so as to determine the ship risk field data through the ship navigation risk field model. At the same time, the embodiment of the present invention determines the preset risk threshold value based on the ship navigation risk field model and the preset closest encounter distance model. Accordingly, the embodiment of the present invention performs analysis and calculation based on the ship risk field data and the preset risk threshold value to obtain the ship navigation safety index, and then performs a ship navigation risk warning through the ship navigation safety index, thereby realizing a ship navigation risk warning and effectively improving the accuracy of ship navigation risk prediction in a complex navigation environment.

[0061] The ship navigation risk warning method provided in the embodiment of the present application relates to the field of risk prediction technology. The ship navigation risk warning method provided in the embodiment of the present application can be applied to a terminal, can also be applied to a server, and can also be software running in a terminal or a server. In some embodiments, the terminal can be a smart phone, a tablet computer, a laptop computer, a desktop computer, a smart speaker, a smart watch, and a car terminal, etc., but is not limited to this; the server side can be configured as an independent physical server, or it can be configured as a server cluster or distributed system composed of multiple physical servers, and can also be configured to provide cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms and other basic cloud computing services. The server can also be a node server in a blockchain network; the software can be an application that implements the ship navigation risk warning method, etc., but is not limited to the above forms.

[0062] The present application can be used in many general or special computer system environments or configurations. For example: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, etc. The present application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present application can also be practiced in distributed computing environments, in which tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media including storage devices.

[0063] Figure 1 is an optional flow chart of the ship navigation risk warning method provided in the embodiment of the present application, Figure 1 The method may include but is not limited to steps S110 to S150.

[0064] Step S110: Acquire ship navigation data and navigation environment data.

[0065] Step S120: constructing a ship navigation risk field model according to the ship navigation data and the navigation environment data, so as to determine the ship risk field data through the ship navigation risk field model.

[0066] Step S130: determining a preset risk threshold according to the ship navigation risk field model and the preset closest encounter distance model.

[0067] Step S140: Analyze and calculate according to the ship risk field data and the preset risk threshold to obtain the ship navigation safety index.

[0068] Step S150: Provide ship navigation risk warning through the ship navigation safety index.

[0069] During the working process of this specific embodiment, the embodiment of the present invention first obtains ship navigation data and navigation environment data, and constructs a ship navigation risk field model based on the ship navigation data and navigation environment data, so as to determine the ship risk field data through the ship navigation risk field model. Specifically, the ship navigation data in the embodiment of the present invention refers to the navigation parameters of the ship during the navigation process, such as speed, position information, etc., and the navigation environment data refers to the environmental information of the navigation area where the ship is located. Correspondingly, the ship navigation risk field model refers to a risk field model that qualitatively and quantitatively describes the objects, ships and other traffic factors in the navigation environment. Among them, the embodiment of the present invention constructs a ship navigation risk field model by combining the ship navigation data and the navigation environment data, so that the ship risk field data can be determined through the ship navigation risk field model, that is, the risk caused by objects, ships and other traffic factors in the ship navigation process is evaluated. At the same time, the embodiment of the present invention determines the preset risk threshold according to the ship navigation risk field model and the preset closest encounter distance model. Specifically, the preset risk threshold in the embodiment of the present invention refers to the risk field threshold that the ship can accept. Accordingly, the embodiment of the present invention predicts the ship's avoidance closest distance through the preset closest encounter distance model, and analyzes and judges in combination with the ship risk field model, so as to determine the preset risk threshold of the ship. Furthermore, the embodiment of the present invention performs analysis and calculation based on the ship risk field data and the preset risk threshold to obtain a ship navigation safety index, and performs a ship navigation risk warning through the ship navigation safety index. Specifically, the ship navigation safety index in the embodiment of the present invention refers to the risk index of the ship's navigation. Accordingly, the embodiment of the present invention compares the ship risk field data with the preset risk threshold to analyze and quantify the navigation risk of the ship, and obtains the ship navigation safety index. Finally, the embodiment of the present invention performs a risk warning based on the ship navigation safety index obtained by analysis, such as issuing warning information and warning levels.

[0070] It should be noted that the ship navigation risk field model and the ship navigation safety index in the embodiment of the present invention can be applied to different navigation areas, including inland rivers, nearshore and sea navigation. At the same time, the embodiment of the present invention regularly calibrates and optimizes the model parameters based on the latest navigation data and environmental changes, thereby improving the accuracy and reliability of early warning. In addition, the embodiment of the present invention can be applied to a variety of ship types, including but not limited to cargo ships, passenger ships, fishing boats and tankers.

[0071] In some embodiments of the present invention, obtaining ship navigation data and navigation environment data includes but is not limited to the following steps:

[0072] Obtain the ship navigation data of the preset ship, wherein the ship navigation data includes the ship mass, the type of cargo carried, the ship navigation speed and the ship position.

[0073] Obtain navigation environment data of preset ships, wherein the preset ships include the own ship and other ships, and the navigation environment data includes channel information and obstruction information.

[0074] In this specific embodiment, the embodiment of the present invention first obtains the ship navigation data and navigation environment data of the preset ship. Specifically, the preset ships in the embodiment of the present invention include the ship and other ships, that is, the embodiment of the present invention obtains the ship navigation data and navigation environment data of the ship and other ships. Among them, the ship navigation data in the embodiment of the present invention includes the ship mass, the type of cargo carried, the ship's navigation speed and the ship's position. Accordingly, the ship mass in the embodiment of the present invention refers to the mass of the ship and other ships, and the type of cargo carried refers to the type of cargo carried. In addition, the navigation environment data in the embodiment of the present invention includes waterway information and obstruction information. Accordingly, the obstruction information in the embodiment of the present invention refers to the information of obstacles in the navigation area, such as information on obstructions such as floating objects on the sea.

[0075] In some embodiments of the present invention, a ship navigation risk field model is constructed based on ship navigation data and navigation environment data, including but not limited to the following steps:

[0076] According to the ship navigation data and navigation environment data, a static potential energy field model is constructed, wherein the static potential energy field model takes the stationary obstruction as the core.

[0077] According to the ship's navigation data, a dynamic kinetic energy field model is constructed through the Doppler effect. Among them, the dynamic kinetic energy field model takes other ships as the core.

[0078] In this specific embodiment, the ship navigation risk field model constructed by the embodiment of the present invention includes a static potential field model and a dynamic kinetic field model. Among them, the embodiment of the present invention first constructs a static potential field model based on ship navigation data and navigation environment data. Specifically, the embodiment of the present invention constructs a static potential field model with stationary obstacles as the core based on the collected ship navigation data and navigation environment data through the artificial potential field theory, so as to reflect the potential dangers of stationary obstacles to the surroundings through the static potential field model. For example, the embodiment of the present invention constructs a static potential field model by inputting the collected ship navigation data and navigation environment data into the following formula (1).

[0079]

[0080] Among them, E s,aj represents the field strength formed by the obstruction a, K and k1 represent the unknown coefficients, M a It represents the risk factor of the obstruction itself, E s,aj With r aj The direction is consistent.

[0081] Next, the embodiment of the present invention constructs a dynamic kinetic energy field model based on the ship navigation data through the Doppler effect. Specifically, the embodiment of the present invention constructs a ship kinetic energy field model with other ships as the core, that is, a dynamic kinetic energy field model, based on the Doppler effect and combined with the collected ship navigation data, so as to reflect the potential dangers caused by other ships to the surroundings through the dynamic kinetic energy field model. For example, in the embodiment of the present invention, the collected ship navigation data is input into the following formula (2) to construct a dynamic kinetic energy field model.

[0082]

[0083] Among them, E d,bj represents the field strength formed by the other ship b, v b represents the speed of the other ship b, θ b Represents r bj With v b The angle between the two sides of the triangle is shown in Figure 2. K, k2 and k3 represent the unknown coefficients, M a Indicates the risk factor of other ships, E d,bj With r bj The direction is consistent.

[0084] It should be noted that the magnitude and direction of the potential energy field in the embodiment of the present invention are determined by the properties of the stationary object and the navigation environment. Among them, the embodiment of the present invention classifies the stationary objects in the navigation environment into two types of stationary objects based on the navigation environment data: the first type of stationary objects will cause substantial losses due to collision, and the losses are usually related to mass; the second type of stationary objects will not cause substantial losses due to collision itself, but will greatly increase the risk. Accordingly, the potential energy field forms of the two types of stationary objects are different, and the stationary object's own risk coefficient M a It is a function determined by the mass and type of the stationary object. At the same time, according to field theory, the embodiment of the present invention uses the center of mass of the object as the center of the potential energy field of the stationary object to construct a potential energy field model related to the mass and type of the stationary object.

[0085] Accordingly, the magnitude and direction of the kinetic energy field in the embodiment of the present invention are determined by the properties of the moving object and its motion relationship relative to the ship. Among them, the embodiment of the present invention uses the center of mass position of the moving object as the center position of the kinetic energy field of the moving object based on the ship navigation data and the ship navigation environment data, and the magnitude of the field strength changes with the mass, speed and direction of the moving object. In addition, the difference from the potential energy field of a stationary object is that the kinetic energy field in the embodiment of the present invention changes with the movement of the moving object, and the charge M of the kinetic energy field source is b It is a function of the mass, type and speed of the other ship.

[0086] In some embodiments of the present invention, determining the ship risk field data by using the ship navigation risk field model includes but is not limited to the following steps:

[0087] The potential energy field force is calculated based on the ship position, the ship sailing speed, the first distance information and the static potential energy field model, wherein the first distance information includes the distance information between the ship and the stationary obstacle.

[0088] Determine the potential energy of the ship's potential field based on the static potential field model and the potential field force.

[0089] The kinetic energy field force is calculated based on the ship position, the ship sailing speed, the second distance information and the dynamic kinetic energy field model, wherein the second distance information includes the distance information between the ship and other ships.

[0090] The kinetic energy of the ship's kinetic field is determined based on the dynamic kinetic field model and the kinetic field force.

[0091] In this specific embodiment, the embodiment of the present invention first calculates the potential field force according to the ship's position, the ship's sailing speed, the first distance information and the static potential field model, and then determines the potential field potential of the ship according to the static potential field model and the potential field force. Specifically, the first distance information in the embodiment of the present invention includes the distance information between the ship and the stationary obstacles, that is, the distance between the ship and the surrounding obstacles. Accordingly, the embodiment of the present invention determines the potential field force corresponding to the current ship according to the ship's position information, the sailing speed, the distance between the ship and the surrounding obstacles and the static potential field model, as shown in the following formula (3):

[0092] F s,aj =E s,aj ·M s (3)

[0093] Among them, F s,aj represents the field force on the ship in the static potential field formed by the obstacle a, where F s,aj With E s,aj The same direction, M s Indicates the ship's own risk factor.

[0094] Furthermore, the embodiment of the present invention determines the potential energy of the potential energy field corresponding to the current ship according to the static potential energy field model and the determined potential energy field force, as shown in the following formula (4):

[0095]

[0096] Among them, u s,a represents the potential energy of the ship in the static potential energy field formed by the obstacle a, where r aj Indicates the distance between the obstruction and own ship.

[0097] Next, the embodiment of the present invention calculates the kinetic field force according to the ship's position, the ship's sailing speed, the second distance information and the dynamic kinetic field model, and then determines the kinetic field kinetic energy of the ship according to the dynamic kinetic field model and the kinetic field force. Specifically, the second distance information in the embodiment of the present invention includes the distance information between the ship and the other ship, that is, the distance between the ship and the other ship. Accordingly, the embodiment of the present invention determines the kinetic field force corresponding to the ship through the ship's position, sailing speed, the distance between the ship and the other ship and the dynamic kinetic field model, as shown in the following formula (5):

[0098] F d,bj =E d,bj ·M s (5)

[0099] Among them, F d,bj represents the field force received by the ship in the dynamic kinetic field formed by the other ship b, and F d,bj With E d,bj The same direction, M s Indicates the ship's own risk factor.

[0100] Furthermore, the embodiment of the present invention determines the kinetic energy of the kinetic energy field corresponding to the ship according to the dynamic kinetic energy field model and the kinetic energy field force, as shown in the following formula (6):

[0101]

[0102] Among them, u d,bj represents the kinetic energy of the ship in the dynamic kinetic energy field formed by the other ship b, r bj Indicates the distance between the obstruction and own ship.

[0103] In some embodiments of the present invention, determining a preset risk threshold according to a ship navigation risk field model and a preset closest encounter distance model includes but is not limited to the following steps:

[0104] The first reaction distance threshold is calculated based on the ship field and ship dynamics factors, wherein the first reaction distance threshold includes the reaction distance threshold of the ship to the stationary obstruction.

[0105] The first risk threshold is calculated based on the first reaction distance threshold and the static potential energy field model.

[0106] The second reaction distance threshold is calculated based on the closest distance of the ship to avoid and the ship dynamics factors, wherein the second reaction distance threshold includes the reaction distance threshold of the own ship to the other ship.

[0107] The second risk threshold is calculated based on the second reaction distance threshold and the dynamic kinetic energy field model.

[0108] In this specific embodiment, the embodiment of the present invention first calculates the first reaction distance threshold according to the ship field combined with the ship dynamics factor, and then calculates the first risk threshold according to the first reaction distance threshold and the static potential field model. Specifically, the ship field in the embodiment of the present invention refers to the waters occupied by the ship itself during navigation and the safe distance space range required by the ship during maneuvering, collision avoidance, etc. In addition, the ship dynamics factor refers to the dynamic factors that affect the maneuverability of the ship, such as fluid resistance, inertial force, hydrodynamic force, etc. Correspondingly, the first reaction distance threshold in the embodiment of the present invention includes the reaction distance threshold of the ship to the stationary obstacle, that is, the distance required for the ship to react to the stationary obstacle. Among them, the embodiment of the present invention determines the first reaction distance threshold based on the ship field and considering the ship dynamics factor. At the same time, the embodiment of the present invention calculates the risk threshold of the static risk field, that is, the first risk threshold, according to the static potential field model and the first reaction distance threshold, as shown in the following formula (7):

[0109]

[0110] Among them, U threshord_a represents the risk field threshold of the obstruction a, r a Indicates the safe distance required for the ship to make an avoidance response to a stationary object, that is, the first reaction distance threshold.

[0111] Next, the embodiment of the present invention calculates the second reaction distance threshold value based on the closest ship avoidance distance combined with the ship dynamics factor, and then calculates the second risk threshold value based on the second reaction distance threshold value and the dynamic kinetic energy field model. Specifically, the ship avoidance closest distance (DCPA) in the embodiment of the present invention refers to the minimum horizontal distance reached by two ships on their respective navigation trajectories without being interfered by external forces. Accordingly, the embodiment of the present invention determines the distance required for the ship to react to the other ship based on the closest ship avoidance distance (DCPA) and takes into account the ship dynamics factor, that is, the second reaction distance threshold value. Furthermore, the embodiment of the present invention calculates the risk threshold of the dynamic kinetic energy field, that is, the second risk threshold value, based on the dynamic kinetic energy field model combined with the determined distance required for the ship to react to the other ship, as shown in the following formula (8):

[0112]

[0113] Among them, U threshord_b represents the risk field threshold of ship b, v s represents the ship's sailing speed, r dcpa Indicates the closest point according to the DCPA formula.

[0114] In some embodiments of the present invention, the ship navigation safety index is obtained by analyzing and calculating according to the ship risk field data and the preset risk threshold, including but not limited to the following steps:

[0115] The first risk field safety index of each stationary obstacle to the ship is calculated based on the first risk threshold and the potential energy field potential.

[0116] The second risk field safety index of each other ship to the ship is calculated based on the second risk threshold and the kinetic energy of the kinetic field.

[0117] Comprehensive navigation risk information is obtained by analyzing and calculating the safety index of the first risk field and the safety index of the second risk field.

[0118] In this specific embodiment, the embodiment of the present invention first calculates the first risk field safety index of each stationary obstacle to the ship according to the first risk threshold and the potential energy of the potential energy field, and at the same time calculates the second risk field safety index of each other ship to the ship according to the second risk field threshold and the kinetic energy of the kinetic energy field, and then analyzes and calculates according to the first risk field safety index and the second risk field safety index to obtain comprehensive navigation risk information. Specifically, the embodiment of the present invention first quantifies the safety index of the ship during the navigation process. Among them, the embodiment of the present invention quantifies the navigation safety index in the dynamic kinetic energy field and the static potential energy field respectively. Correspondingly, the embodiment of the present invention quantifies the safety impact of each stationary obstacle in the static potential energy field on the ship according to the potential energy of the potential energy field and the corresponding first risk threshold, and obtains the first risk field safety index. Similarly, the embodiment of the present invention calculates the safety impact of each other ship in the dynamic kinetic energy field on the ship according to the kinetic energy of the kinetic energy field and the corresponding second risk threshold, and obtains the second risk field safety index. For example, the embodiment of the present invention calculates the risk size of a single other ship or stationary obstruction according to the corresponding preset risk thresholds (the first risk threshold and the second risk threshold) and the ship risk field data (potential energy of the potential energy field and kinetic energy of the kinetic energy field), that is, obtains the risk of each individual to the ship, as shown in the following formula (9):

[0119]

[0120] Among them, U i represents the potential energy of the potential field or the kinetic energy of the kinetic field in the risk field i, U threshord_i represents the risk threshold of risk field i, rnsi i Indicates the risk of potential field i to the ship.

[0121] Furthermore, since there may be multiple other ships and stationary obstructions in the navigation environment that may pose risks to the ship, the embodiment of the present invention combines the calculated first risk field safety index and the second risk field safety index to perform a comprehensive analysis to obtain comprehensive navigation risk information, as shown in the following formula (10):

[0122]

[0123] Among them, RNSI represents the comprehensive risk of all potential energy fields in the navigation environment to the ship.

[0124] In some embodiments of the present invention, the ship navigation risk warning is performed through the ship navigation safety index, including but not limited to the following steps:

[0125] When it is determined that the safety index of the first risk field is greater than the third risk threshold, or the safety index of the second risk field is greater than the third risk threshold, a ship navigation risk warning is issued.

[0126] Corresponding warning level information will be issued based on comprehensive aviation risk information.

[0127] In this specific embodiment, the embodiment of the present invention compares the relationship between the first risk field safety index and the second risk field safety index and the third risk threshold to determine whether an early warning is needed. When it is determined that the first risk field safety index is greater than the third risk threshold, or the second risk field safety index is greater than the third risk threshold, the embodiment of the present invention issues a ship navigation risk early warning. Specifically, the third risk threshold in the embodiment of the present invention refers to the risk field safety index threshold. When it is determined that the first risk field safety index or the second risk field safety index is greater than the third risk threshold, such as rnsi i When it is greater than 1, the embodiment of the present invention issues a ship navigation risk warning to indicate that there is a stationary obstruction or another ship has entered the warning range, and the ship driver needs to respond to it. At the same time, the embodiment of the present invention issues corresponding warning level information based on the comprehensive navigation risk information. Specifically, the comprehensive navigation risk information in the embodiment of the present invention summarizes various dangerous information in the ship's navigation environment, reflecting the current risk situation of the ship. Therefore, the embodiment of the present invention analyzes the current risk level of the ship through the comprehensive navigation risk information, and then issues corresponding warning level information. Among them, the larger the value of the comprehensive navigation risk information, the higher the risk.

[0128] For example, in the risk warning process of the embodiment of the present invention, the ship's navigation data and navigation environment data are first monitored in real time, and the data are input into the risk field model, so as to calculate the navigation risk potential of obstacles or other ships in the navigation environment in real time through the risk field model. i When the value is greater than the threshold, an early warning is issued. At the same time, the early warning level is issued according to the RNSI value to reflect the number of obstructions or ships that cause the early warning.

[0129] Next, the scheme of the embodiment of the present invention is described in detail and explained in conjunction with a specific application example of ship navigation risk warning:

[0130] For example, refer to Figure 2 and Figure 3 ,in Figure 2Schematic diagram of the overall architecture of the ship navigation risk warning method provided by an embodiment of the present invention. Figure 3 It is a flow chart of the ship navigation risk warning method provided by an embodiment of the present invention. Specifically, the embodiment of the present invention first obtains the ship and the surrounding traffic information, that is, according to the risk field model requirements, collects the ship navigation data and the ship navigation environment data. Then, the embodiment of the present invention constructs a risk field model, such as a static potential field model and a dynamic kinetic field model. The embodiment of the present invention imports the collected data into the ship navigation risk field model to construct a static potential field model corresponding to the stationary obstacles in the navigation environment and a dynamic kinetic field model corresponding to other ships. At the same time, the embodiment of the present invention calculates the potential energy of the ship in each risk field (static potential field and dynamic kinetic field) in real time according to the constructed static potential field model and dynamic kinetic field model. Accordingly, the embodiment of the present invention calculates the ship navigation risk threshold according to the ship navigation risk field model and the nearest encounter distance. Then, the embodiment of the present invention compares the ship navigation risk potential energy and the ship navigation risk threshold calculated in a single risk field to obtain the navigation safety index rnsi in a single risk field, and summarizes the overall navigation safety index, that is, the comprehensive navigation risk information RNSI. Next, the embodiment of the present invention determines the navigation risk of the ship according to the overall navigation safety index. For example, when the RNSI is greater than 0, an early warning is issued, and corresponding risk avoidance operations are taken according to each RNSI. On the contrary, when the RNSI is less than the corresponding threshold, the ship maintains the current navigation state.

[0131] It is easy to understand that the embodiment of the present invention constructs a navigation risk field theory and establishes a general model of the ship navigation risk field, which can qualitatively and quantitatively describe the risks caused by traffic factors such as objects and ships in the navigation environment in real time. At the same time, the embodiment of the present invention considers the comprehensive impact of multiple factors on the ship navigation risk and can accurately evaluate the ship risk in a complex navigation environment.

[0132] See also Figure 4 The embodiment of the present application also provides a ship navigation risk warning system, which can implement the above-mentioned ship navigation risk warning method, and the system includes:

[0133] The first module 210 is used to obtain ship navigation data and navigation environment data.

[0134] The second module 220 is used to construct a ship navigation risk field model according to the ship navigation data and the navigation environment data, so as to determine the ship risk field data through the ship navigation risk field model.

[0135] The third module 230 is used to determine a preset risk threshold according to the ship navigation risk field model and the preset closest encounter distance model.

[0136] The fourth module 240 is used to perform analysis and calculation based on the ship risk field data and the preset risk threshold to obtain the ship navigation safety index.

[0137] The fifth module 250 is used to provide early warning of ship navigation risks through a ship navigation safety index.

[0138] It can be understood that the contents of the above method embodiments are all applicable to the present system embodiments, the functions specifically implemented by the present system embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0139] The embodiment of the present application also provides an electronic device, the electronic device includes a memory and a processor, the memory stores a computer program, and the processor implements the above-mentioned ship navigation risk warning method when executing the computer program. The electronic device can be any smart terminal including a tablet computer, a car computer, etc.

[0140] It can be understood that the contents of the above method embodiments are all applicable to the present device embodiments, the functions specifically implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0141] See also Figure 5 , Figure 5 The hardware structure of an electronic device of another embodiment is illustrated, and the electronic device includes:

[0142] The processor 310 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application;

[0143] The memory 320 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 320 can store an operating system and other application programs. When the technical solution provided in the embodiment of this specification is implemented by software or firmware, the relevant program code is stored in the memory 320, and the processor 310 calls and executes the ship navigation risk warning method of the embodiment of the present application;

[0144] Input / output interface 330, used to implement information input and output;

[0145] Communication interface 340, used to realize communication interaction between the device and other devices, which can be realized through wired mode (such as USB, network cable, etc.) or wireless mode (such as mobile network, WIFI, Bluetooth, etc.);

[0146] bus 350 , which transmits information between the various components of the device (e.g., processor 310 , memory 320 , input / output interface 330 , and communication interface 340 );

[0147] The processor 310 , the memory 320 , the input / output interface 330 and the communication interface 340 are connected to each other in communication within the device via the bus 350 .

[0148] An embodiment of the present application also provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the above-mentioned ship navigation risk warning method is implemented.

[0149] It can be understood that the contents of the above method embodiments are all applicable to the present storage medium embodiments, the functions specifically implemented by the present storage medium embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0150] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely disposed relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0151] The embodiments described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. Those skilled in the art will appreciate that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0152] Those skilled in the art will appreciate that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than shown in the figures, or a combination of certain steps, or different steps.

[0153] The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0154] Those skilled in the art will appreciate that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices may be implemented as software, firmware, hardware, or a suitable combination thereof.

[0155] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0156] It should be understood that in the present application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0157] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the above units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0158] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0159] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0160] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including multiple instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM), disk or optical disk and other media that can store programs.

[0161] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but the scope of the rights of the present invention is not limited thereto. Any modification, equivalent substitution and improvement made by a person skilled in the art without departing from the scope and essence of the present invention should be within the scope of the rights of the present invention.

Claims

1. A ship navigation risk early warning method, characterized in that: The method comprises the following steps: Obtain ship navigation data and navigation environment data; Constructing a ship navigation risk field model according to the ship navigation data and the navigation environment data, so as to determine the ship risk field data through the ship navigation risk field model; Determining a preset risk threshold according to the ship navigation risk field model and the preset closest encounter distance model; Analyze and calculate the ship risk field data and the preset risk threshold to obtain a ship navigation safety index; The ship navigation safety index is used to provide a warning of ship navigation risks.

2. The method according to claim 1, characterized in that The obtaining of ship navigation data and navigation environment data includes: Acquire the ship navigation data of the preset ship; wherein the ship navigation data includes the ship mass, the type of cargo carried, the ship navigation speed and the ship position; The navigation environment data of the preset ship is obtained; wherein the preset ship includes the own ship and other ships, and the navigation environment data includes channel information and obstruction information.

3. The method according to claim 2, characterized in that The constructing of the ship navigation risk field model according to the ship navigation data and the navigation environment data comprises: Constructing a static potential energy field model according to the ship navigation data and the navigation environment data; wherein the static potential energy field model takes the stationary obstruction as the core; A dynamic kinetic energy field model is constructed according to the ship navigation data through the Doppler effect; wherein the dynamic kinetic energy field model takes the other ship as the core.

4. The method according to claim 3, characterized in that The determining of the ship risk field data by using the ship navigation risk field model includes: The potential energy field force is calculated according to the ship position, the ship sailing speed, the first distance information and the static potential energy field model; wherein the first distance information includes the distance information between the ship and the stationary obstacle; Determine the potential energy of the potential energy field of the own ship according to the static potential energy field model and the potential energy field force; The kinetic energy field force is calculated according to the ship position, the ship sailing speed, the second distance information and the dynamic kinetic energy field model; wherein the second distance information includes the distance information between the own ship and the other ship; The kinetic energy of the kinetic energy field of the own ship is determined according to the dynamic kinetic energy field model and the kinetic energy field force.

5. The method according to claim 4, characterized in that Determining the preset risk threshold according to the ship navigation risk field model and the preset closest encounter distance model includes: According to the ship field combined with ship dynamics factors, a first reaction distance threshold is calculated; wherein the first reaction distance threshold includes a reaction distance threshold of the ship to the stationary obstacle; Calculating a first risk threshold according to the first reaction distance threshold and the static potential energy field model; A second reaction distance threshold is calculated based on the ship avoidance minimum distance combined with the ship dynamics factor; wherein the second reaction distance threshold includes a reaction distance threshold of the own ship to the other ship; A second risk threshold is calculated based on the second reaction distance threshold and the dynamic kinetic energy field model.

6. The method according to claim 5, characterized in that The analyzing and calculating according to the ship risk field data and the preset risk threshold to obtain the ship navigation safety index includes: Calculate the first risk field safety index of each of the stationary obstacles to the ship according to the first risk threshold and the potential energy field potential; A second risk field safety index of each of the other ships to the own ship is calculated according to the second risk threshold and the kinetic energy of the kinetic energy field; Comprehensive navigation risk information is obtained by analyzing and calculating the first risk field safety index and the second risk field safety index.

7. The method according to claim 6, characterized in that The ship navigation risk warning is carried out through the ship navigation safety index, including: When it is determined that the safety index of the first risk field is greater than the third risk threshold, or the safety index of the second risk field is greater than the third risk threshold, a ship navigation risk warning is issued; Corresponding warning level information is issued based on the comprehensive navigation risk information.

8. A ship navigation risk warning system, characterized in that: The system comprises: The first module is used to obtain ship navigation data and navigation environment data; The second module is used to construct a ship navigation risk field model according to the ship navigation data and the navigation environment data, so as to determine the ship risk field data through the ship navigation risk field model; The third module is used to determine a preset risk threshold according to the ship navigation risk field model and the preset closest encounter distance model; The fourth module is used to analyze and calculate according to the ship risk field data and the preset risk threshold to obtain a ship navigation safety index; The fifth module is used to provide early warning of ship navigation risks through the ship navigation safety index.

9. An electronic device, characterized in that: include: at least one processor; at least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the method according to any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

Images