Ship berthing safety monitoring system and method

Abstract

The invention relates to the technical field of ship safety monitoring, and particularly discloses a ship berthing safety monitoring system and method.The ship berthing safety monitoring system comprises an acquisition module, a partition confirmation module, a monitoring module, a risk assessment module and an early warning module; the port interaction unit is used for receiving partition data and historical operation data output by a port end, the historical operation data are operation times of ships in corresponding partitions in all time periods in a historical period, and the partition confirmation module is used for determining partitions where the ships and adjacent ships are located according to ship parameters and environment parameters; the risk assessment module determines the early warning level of the ship according to the ship parameters, the environmental parameters and the operation characteristic values of the ship and the partition where the adjacent ship is located, and the risk assessment module determines the early warning level of the ship according to the ship parameters, the environmental parameters and the operation characteristic values of the ship and the partition where the adjacent ship is located; the probability that risks are further amplified due to regionalism and unstable factors of adjacent ships when the monitoring parameters have risks is considered, and the accuracy of early warning is effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of ship safety monitoring, and in particular to a safety monitoring system and method for ship docking. Background Art

[0002] In recent years, with the development of the international shipping industry, ships have become increasingly large, and many ports have experienced large ships hitting docks due to excessive speed, large angles or other environmental factors, resulting in damage to dock facilities. The unsafe behavior of large ships has a huge impact on ports, and it is increasingly urgent for dock companies to monitor and pre-control the safety of large ships berthing, so accurate monitoring and early warning of ships are crucial.

[0003] The prior art discloses a method and device for monitoring the safe state of a ship berthing. The ship is connected to an anchor pile set on the shore by a cable to achieve berthing. The method specifically includes: establishing a dynamic coordinate system with the geometric center of the ship as the origin, establishing a static coordinate system with the anchor pile as the origin, controlling a drone to continuously collect images of the ship within a predetermined period of time, and receiving the position of the ship located by a positioning device installed on the ship. Then, the ship's motion and water flow conditions are extracted, the real-time water flow conditions are analyzed by combining wave-current coupling and imaging technology, the attitude angle change of the ship is calculated, and the displacement change of the ship is analyzed in the static coordinate system based on the received multiple ship images and the ship's position, and the attitude change curve of the ship is drawn based on the attitude angle change and displacement change of the ship. Finally, an early warning is issued for the safety of the ship berthing based on the attitude change curve.

[0004] However, in the above technical solution, the monitoring results lack integration with the regional location and lack comprehensiveness of monitoring, which leads to the inability to guarantee the accuracy of early warning. Summary of the invention

[0005] The purpose of the present invention is to provide a safety monitoring system and method for ship docking, so as to solve the problem that the existing technology lacks the combination of monitoring results with the location and environmental parameters, lacks comprehensiveness of monitoring, and thus cannot guarantee the accuracy of early warning.

[0006] To this end, on one hand, the present invention provides a safety monitoring system for ship docking, which includes a collection module, a partition confirmation module, a monitoring module, a risk assessment module and an early warning module.

[0007] The acquisition module includes a ship acquisition unit, a port interaction unit and an environment acquisition unit. The ship acquisition unit is used to acquire ship parameters. The port interaction unit is used to receive partition data and historical operation data output by the port end. The environment acquisition unit is used to acquire environmental parameters of the ship and the position of the neighboring ship.

[0008] The partition confirmation module is connected to the acquisition module, and is used to determine the partitions where the ship and the neighboring ship are located according to the ship parameters and the environmental parameters, and to determine the operation characteristic values ​​of the partitions where the ship and the neighboring ship are located;

[0009] The monitoring module is connected to the acquisition module and is used to determine whether the ship has a risk hazard according to the ship parameters and the environmental parameters;

[0010] The risk assessment module is connected to the partition confirmation module, the acquisition module and the monitoring module respectively. In response to the existence of the risk hazard, the risk assessment module determines the warning level of the ship according to the ship parameters, the environmental parameters and the operation characteristic values ​​of the partition where the ship and the neighboring ships are located;

[0011] The early warning module is connected to the risk assessment module, and the early warning module outputs different early warning signals in response to different early warning levels;

[0012] Among them, the historical operation data is the number of operations of the ships in the corresponding partition in each time period of the historical cycle. For a single partition, the operation characteristic value is the daily average number of operations of the ships in the partition in the time period at the current time on several days included in the historical cycle.

[0013] As a preferred technical solution of the safety monitoring system for ship berthing, the risk assessment module determines the early warning assessment value of the ship according to the parameter types and corresponding parameter values ​​of the risk hazards, the operation characteristic values ​​of the partition where the ship is located, the number of neighboring ships and the operation characteristic values ​​of the partition where the neighboring ships are located;

[0014] The warning evaluation value is used for classifying the warning level.

[0015] As a preferred technical solution for the safety monitoring system for ship berthing, the risk assessment module determines the early warning assessment value by:

[0016] Obtain the parameter types and corresponding parameter values ​​that have potential risks, and determine the risk levels corresponding to the parameter values;

[0017] According to the risk level, the warning assessment value is determined by the following formula:

[0018]

[0019] Among them, p is the number of types of parameters with potential risks, A n is the risk level of the nth parameter, S is the operational characteristic value of the zone where the ship is located, q is the number of neighboring ships, S iis the operating characteristic value of the partition where the i-th neighbor ship is located, and S0 is the average operating characteristic value of each partition of the port.

[0020] As a preferred technical solution for the safety monitoring system for ship docking, the risk assessment module is provided with several comparison intervals of the warning assessment value, and the warning level of the ship is determined by the comparison interval where the warning assessment value of the ship at the current moment is located.

[0021] As a preferred technical solution for the safety monitoring system for ship docking, the number of operations is the sum of the number of speed adjustments, the number of heading adjustments, the number of anchoring, the number of draft adjustments and the number of attitude adjustments.

[0022] As a preferred technical solution for the safety monitoring system for ship docking, the safety monitoring system for ship docking also includes a port recording module, which is arranged at the port end and is used to divide the port into zones and record the number of operations of each ship in each zone within a single time period.

[0023] As a preferred technical solution for the safety monitoring system for ship docking, the environmental parameters include temperature, wind speed, obstacle distance, flow rate and water level.

[0024] As a preferred technical solution for the safety monitoring system for ship docking, the ship parameters include ship attitude, ship stress, ship vibration, ship power equipment parameters and ship lighting parameters.

[0025] As an optimal technical solution for the safety monitoring system for ship docking, the monitoring module is provided with threshold values ​​for various types of parameters in the environmental parameters and the ship parameters. If any one of the environmental parameters and the ship parameters exceeds the corresponding threshold value, the monitoring module determines that the ship has a corresponding type of risk hazard and outputs the determination result to the risk assessment module.

[0026] As an optimal technical solution for the safety monitoring system for ship docking, the early warning module outputs the early warning assessment value of the ship, the parameter types and parameter values ​​corresponding to the risk hazards, the operating characteristic values ​​of the partition where the ship is located, and the number of neighboring ships and the operating characteristic values ​​of the partition where the neighboring ships are located, while outputting the early warning information.

[0027] On the other hand, the present invention further provides a method for monitoring the safety of a ship docking, which is applied to the safety monitoring system for a ship docking described in any of the above schemes, comprising: obtaining ship parameters, partition data, historical operation data, environmental parameters of the ship, and positions of neighboring ships of the ship;

[0028] Determine the zones where the ship and the neighboring ship are located respectively according to the ship parameters and the environmental parameters;

[0029] Determine the operation characteristic values ​​of the zones where the ship and the neighboring ships are located respectively according to the historical operation data;

[0030] Determining whether the ship has a risk hazard according to the ship parameters and the environmental parameters;

[0031] If the risk exists, determining the warning level of the ship according to the ship parameters, the environmental parameters and the operation characteristic values ​​of the zone where the ship and the neighboring ships are located;

[0032] Different warning signals are output in response to different warning levels.

[0033] The beneficial effects of the present invention are:

[0034] The present invention provides a port interaction unit for receiving partition data and historical operation data output by the port end, and provides a risk assessment module to respond to the existence of risk hazards, and determine the warning level of the ship according to the ship parameters, environmental parameters and historical operation data. By acquiring the historical operation data, the regional influence of the partition where the ship is located and the partition where the neighboring ship is located on the ship and the neighboring ship can be effectively determined. The number of operations of the ship in the partition in the same period of a single day in the historical cycle can effectively show the complexity of the region. The operation characteristic value determined by the historical operation data can comprehensively evaluate the risk hazards when the risk hazards exist and the complexity of the operation of the ship and the neighboring ship when the risk hazards occur. The higher the operation complexity of the ship itself and the neighboring ship at the current position and the current time, the higher the probability that the risk hazards cause a substantial impact, and the higher the determined warning level. It is not limited to the single collection and warning of the monitoring parameters, but considers the probability of further amplification of the risk due to the unstable factors of regionality and neighboring ships when the monitoring parameters have risks. The warning level determined in this way can more comprehensively reflect the state of the ship at this time, effectively improve the accuracy of the warning, and avoid the influence of false alarms or information inequality corresponding to the alarm on the docking of the ship. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a structural block diagram of a safety monitoring system for ship docking in an embodiment of the present invention;

[0036] Figure 2 It is a structural block diagram of the acquisition module in an embodiment of the present invention;

[0037] Figure 3 The present invention is a flowchart for determining a warning evaluation value in an embodiment of the present invention. DETAILED DESCRIPTION

[0038] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] In the description of the present invention, it should be noted that the orientations or positional relationships indicated by the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions, and the first feature "above", "above" and "above" the second feature include the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. The first feature "below", "below" and "below" the second feature include the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0040] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0041] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0042] See also Figure 1 and Figure 2 As shown, this embodiment provides a safety monitoring system for ship docking, which includes a collection module, a partition confirmation module, a monitoring module, a risk assessment module and an early warning module.

[0043] The acquisition module includes a ship acquisition unit, a port interaction unit and an environment acquisition unit. The ship acquisition unit is used to collect ship parameters, the port interaction unit is used to receive partition data and historical operation data output by the port end, and the environment acquisition unit is used to collect the environmental parameters of the ship and the position of the neighboring ship.

[0044] The partition confirmation module is connected to the acquisition module, and is used to determine the partitions where the ship and the neighboring ship are located according to the ship parameters and the environmental parameters, and to determine the operation characteristic values ​​of the partitions where the ship and the neighboring ship are located;

[0045] The monitoring module is connected to the acquisition module to determine whether the ship has risk hazards based on the ship parameters and environmental parameters;

[0046] The risk assessment module is connected to the partition confirmation module, the collection module and the monitoring module respectively. In response to the existence of risk hazards, the risk assessment module determines the warning level of the ship according to the ship parameters, environmental parameters and the operation characteristic values ​​of the partition where the ship and the neighboring ships are located;

[0047] The early warning module is connected to the risk assessment module, and the early warning module outputs different early warning signals in response to different early warning levels;

[0048] Among them, the historical operation data is the number of operations of the ships in the corresponding partition in each time period of the historical cycle. For a single partition, the operation characteristic value is the daily average number of operations of the ships in the partition in the time period at the current time on several days included in the historical cycle.

[0049] It can be understood that the historical cycle is the minimum time that can show the statistical characteristics of the ship. Optionally, the historical cycle is one year. Of course, the time period referred to above is a time period with equal intervals in a single day, such as 9:00-9:30. Optionally, the time period length is 30 minutes. For example, a ship is in the time period of 9:00-9:30 at 9:20, and the corresponding operation characteristic value is the ratio of the sum of the operation times of all ships in the zone where the ship is located during the time period of 9:00-9:30 in the past year to the number of days included in the past year. In implementation, neighboring ships are other ships within a preset range centered on the ship, and the preset range is determined in combination with actual conditions.

[0050] In the above embodiment, by acquiring historical operation data, the regional impact of the zone where the ship is located and the zone where the neighboring ships are located on the ship and the neighboring ships can be effectively determined. The number of operations of the ship in the zone during the same period of a single day in the historical period can effectively reflect the complexity of the region. The operation characteristic values ​​determined by the historical operation data can comprehensively evaluate the risks and the complexity of the operations of the ship and the neighboring ships when the risks occur. The higher the operation complexity of the ship itself and the neighboring ships at the current position and the current time, the higher the probability that the risks will cause substantial impact, and the higher the determined warning level. It is not limited to the single collection and warning of monitoring parameters, but considers the probability of further amplification of risks due to regional and unstable factors of neighboring ships when there are risks in the monitoring parameters. The warning level determined in this way can more comprehensively reflect the current state of the ship and effectively improve the accuracy of the warning.

[0051] To ensure the accuracy of the warning level classification, the risk assessment module determines the warning assessment value of the ship based on the types of parameters with risk hazards and the corresponding parameter values, the operating characteristic values ​​of the partition where the ship is located, the number of neighboring ships, and the operating characteristic values ​​of the partition where the neighboring ships are located.

[0052] Among them, the warning assessment value is used to divide the warning level.

[0053] See also Figure 3 As shown, the risk assessment module determines the early warning assessment value by:

[0054] Step S1, obtaining the parameter types and corresponding parameter values ​​with potential risks, and determining the risk levels corresponding to the parameter values;

[0055] Step S2: According to the risk level, the early warning assessment value is determined by the following formula:

[0056]

[0057] Among them, p is the number of types of parameters with potential risks, A n is the risk level of the nth parameter, S is the operational characteristic value of the zone where the ship is located, q is the number of neighboring ships, S i is the operating characteristic value of the partition where the i-th neighbor ship is located, and S0 is the average operating characteristic value of each partition of the port.

[0058] In the above formula, there is a case where q is 0. When q is 0, just delete the first term of the formula. When q is not 0, i=1,…,q, q>0 and q is a positive integer, n=1,…,p, p>0 and p is a positive integer.

[0059] In the above embodiment, the determination of the risk level is based on the prior art. The risk level is a classification of the degree to which the parameter exceeds the threshold value, and the higher the risk level, the higher the corresponding security risk.

[0060] Specifically, the risk assessment module is provided with several comparison intervals of the warning assessment value, and the warning level of the ship is determined by the comparison interval where the warning assessment value of the ship at the current moment is located. In detail, each comparison interval is continuous, and the division of the comparison interval needs to be determined in combination with the actual scenario. The output of the warning level by the warning module can be carried out through sound and light, such as indicator lights of different colors or alarm sounds of different tones.

[0061] Specifically, the number of operations is the sum of the number of speed adjustments, the number of heading adjustments, the number of anchoring, the number of draft adjustments and the number of attitude adjustments. In detail, the number of operations should be the number of operations related to regionality as above. Operations that are not related to regionality, that is, operations that are not affected by the environmental parameters of the zone in which they are located, are not counted as the number of operations. The operation characteristic value determined in this way is more representative of the impact of the zone in which the ship is located on the operation of the ship.

[0062] Specifically, the safety monitoring system for ship berthing also includes a port recording module, which is arranged at the port end and connected to the acquisition module, and is used to partition the port and record the number of operations of each ship in each partition within a single period. In detail, the port partition can be carried out in a grid division manner, and the number of operations can be recorded by data interaction between the port end and the ship. Through the setting of the port recording module, further support for the port interaction unit of the acquisition module is achieved.

[0063] Specifically, environmental parameters include temperature, wind speed, obstacle distance, flow rate and water level. Ship parameters include ship attitude, ship stress, ship vibration, ship power equipment parameters and ship lighting parameters. In detail, the acquisition module is an existing technology for the acquisition of environmental parameters and ship parameters, which can be carried out through data interaction with corresponding sensors or acquisition devices. It will not be repeated here. In implementation, the types of environmental parameters and ship parameters can be increased or decreased according to the ship type.

[0064] Specifically, the monitoring module is provided with threshold values ​​of various types of parameters in environmental parameters and ship parameters. If any of the environmental parameters and ship parameters exceeds the corresponding threshold value, the monitoring module determines that the ship has a corresponding type of risk hazard and outputs the determination result to the risk assessment module. The existing technologies for monitoring the above environmental parameters and ship parameters can be realized, and the setting of the corresponding threshold values ​​also needs to be determined in combination with the actual working conditions, which will not be repeated here.

[0065] To ensure the analyzability of the warning information, the warning module outputs the warning assessment value of the ship, the parameter types and values ​​corresponding to the risk hazards, the operation characteristic values ​​of the partition where the ship is located, and the number of neighboring ships and the operation characteristic values ​​of the partition where the neighboring ships are located. It can display more effective information to facilitate the effective response to the risk hazards in combination with the warning information.

[0066] This embodiment further provides a method for monitoring the safety of a ship docking, which is applied to the system for monitoring the safety of a ship docking described in any of the above solutions, including:

[0067] Step S01, obtaining ship parameters, partition data, historical operation data, environmental parameters of the ship, and positions of neighboring ships of the ship;

[0068] Step S02, determining the zones where the ship and the neighboring ship are located respectively according to the ship parameters and the environmental parameters;

[0069] Step S03, determining the operation characteristic values ​​of the zones where the ship and the neighboring ships are located respectively according to the historical operation data;

[0070] Step S04, determining whether the ship has a risk hazard according to the ship parameters and the environmental parameters;

[0071] Step S05: if the risk exists, determining the warning level of the ship according to the ship parameters, the environmental parameters and the operation characteristic values ​​of the zones where the ship and the neighboring ships are located;

[0072] Step S06: output different warning signals in response to different warning levels.

[0073] The modules involved in the embodiments described in the present application can be implemented by software or hardware. The modules described can also be set in a processor, for example, it can be described as: a processor includes an acquisition module, a partition confirmation module, a risk assessment module, a monitoring module and an early warning module. The names of these modules do not constitute a limitation on the modules themselves in some cases.

[0074] The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the modules and methods according to various embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or the flowchart, and the combination of the boxes in the block diagram and / or the flowchart, can be implemented with a dedicated hardware-based device that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0075] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A safety monitoring system for ship berthing, characterized in that: include: A collection module, the collection module includes a ship collection unit, a port interaction unit and an environment collection unit, the ship collection unit is used to collect ship parameters, the port interaction unit is used to receive partition data and historical operation data output by the port end, and the environment collection unit is used to collect environmental parameters of the ship and the position of the neighboring ship; A partition confirmation module, connected to the acquisition module, for respectively determining the partitions where the ship and the neighboring ship are located according to the ship parameters and the environmental parameters, and respectively determining the operation characteristic values ​​of the partitions where the ship and the neighboring ship are located according to the historical operation data; A monitoring module, connected to the acquisition module, for determining whether the ship has a risk hazard according to the ship parameters and the environmental parameters; a risk assessment module, connected to the partition confirmation module, the acquisition module and the monitoring module respectively, wherein the risk assessment module determines the warning level of the ship in response to the existence of the risk hazard according to the ship parameters, the environmental parameters and the operation characteristic values ​​of the partition where the ship and the neighboring ships are located; An early warning module, connected to the risk assessment module, the early warning module outputs different early warning signals in response to different early warning levels; Among them, the historical operation data is the number of operations of the ships in the corresponding partition in each time period of the historical cycle. For a single partition, the operation characteristic value is the daily average number of operations of the ships in the partition in the time period at the current time on several days included in the historical cycle.

2. The ship berthing safety monitoring system according to claim 1, characterized in that: The risk assessment module determines the warning assessment value of the ship according to the parameter types and corresponding parameter values ​​of the risk hazards, the operation characteristic values ​​of the partition where the ship is located, the number of neighboring ships and the operation characteristic values ​​of the partition where the neighboring ships are located; The warning evaluation value is used for classifying the warning level.

3. The ship berthing safety monitoring system according to claim 2, characterized in that: The risk assessment module determines the early warning assessment value by: Obtain the parameter types and corresponding parameter values ​​that have potential risks, and determine the risk levels corresponding to the parameter values; According to the risk level, the warning assessment value is determined by the following formula: Among them, p is the number of types of parameters with potential risks, A n is the risk level of the nth parameter, S is the operational characteristic value of the zone where the ship is located, q is the number of neighboring ships, S i is the operating characteristic value of the partition where the i-th neighbor ship is located, and S0 is the average operating characteristic value of each partition of the port.

4. The ship berthing safety monitoring system according to claim 3, characterized in that: The risk assessment module is provided with a plurality of comparison intervals of the warning assessment value, and the warning level of the ship is determined by the comparison interval in which the warning assessment value of the ship at the current moment is located.

5. The ship berthing safety monitoring system according to claim 1, characterized in that: The number of operations is the sum of the number of speed adjustments, the number of heading adjustments, the number of anchoring, the number of draft adjustments and the number of attitude adjustments.

6. The ship berthing safety monitoring system according to claim 1, characterized in that: The ship berthing safety monitoring system also includes a port recording module, which is arranged at the port end and is used to divide the port into zones and record the number of operations of each ship in each zone within a single time period.

7. The ship berthing safety monitoring system according to claim 1, characterized in that: The environmental parameters include temperature, wind speed, obstacle distance, flow rate and water level.

8. The ship berthing safety monitoring system according to claim 1, characterized in that: The ship parameters include ship attitude, ship stress, ship vibration, ship power equipment parameters and ship lighting parameters.

9. The ship berthing safety monitoring system according to any one of claims 1 to 4, characterized in that: The monitoring module is provided with threshold values ​​for various types of parameters in the environmental parameters and the ship parameters. If any one of the environmental parameters and the ship parameters exceeds the corresponding threshold value, the monitoring module determines that the ship has a corresponding type of risk hazard and outputs the determination result to the risk assessment module.

10. A method for monitoring the safety of a ship at a berth, applied to the system for monitoring the safety of a ship at a berth according to any one of claims 1 to 8, characterized in that: include: Obtain vessel parameters, partition data, historical operation data, vessel's environmental parameters and the position of the vessel's neighboring vessels; Determine the zones where the ship and the neighboring ship are located respectively according to the ship parameters and the environmental parameters; Determine the operation characteristic values ​​of the zones where the ship and the neighboring ships are located respectively according to the historical operation data; Determining whether the ship has a risk hazard according to the ship parameters and the environmental parameters; If the risk exists, determining the warning level of the ship according to the ship parameters, the environmental parameters and the operation characteristic values ​​of the zone where the ship and the neighboring ships are located; Different warning signals are output in response to different warning levels.

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