Ship navigation risk assessment method and assessment system

Abstract

The invention provides a ship navigation risk assessment method and assessment system, and relates to the technical field of ships, and the method comprises the steps: screening out a plurality of collision risk ships according to an initial navigation state and a ship satellite system, and determining a ship conflict risk coefficient in a planned navigation path according to the planned navigation path and a set navigation path of each collision risk ship; determining the obstacle collision emergency degree between the target ship and each navigation obstacle by using the planned navigation path, and performing obstacle avoidance path search on the target ship based on all the obstacle collision emergency degrees to obtain a risk obstacle avoidance path, determining a ship conflict risk coefficient in the risk obstacle avoidance path according to the risk obstacle avoidance path and the set navigation path of each collision risk ship; according to the ship conflict risk coefficient in the planned navigation path and the ship conflict risk coefficient in the risk obstacle avoidance path, a navigation risk assessment report of the target ship is generated, the collision risk can be predicted in advance, and the safety of ship navigation is improved.

Description

Technical Field

[0001] The present application relates to the field of ship technology, and more specifically, to a ship navigation risk assessment method and assessment system. Background Art

[0002] Ship navigation risks involve various potential threats that ships face during navigation, including collision, grounding, bad weather, and the complexity of the marine environment. These risks may be affected by factors such as the ship's own status, the complexity of the navigation path, environmental conditions, and the actions of other ships.

[0003] Ship navigation risk assessment is a key process to ensure navigation safety. It aims to identify, analyze and manage various risks that ships may face during navigation. The ship navigation risk assessment process involves a comprehensive analysis of factors such as the ship's own status, environmental conditions, navigation paths and other ship activities. In the existing technology, it is necessary to use satellite navigation technology to monitor and warn ships in real time, and the planned navigation path of the ship determines the number of conflict adjustments during the navigation process. If the number of conflict adjustments is too large, the transportation efficiency of the ship will be greatly reduced. If the ship's navigation risk is estimated in advance before it leaves the port to reduce the number of conflict adjustments during the navigation process, the efficiency of the ship's transportation process can be effectively improved. In addition, the ship navigation risk assessment not only needs to comprehensively consider the current navigation data, but also predict future risks and make dynamic adjustments to cope with emergencies. Therefore, how to pre-evaluate the collision risk of the obstacle avoidance path adjusted during the ship's navigation process to improve the safety of ship navigation is a difficult problem faced by the industry. Summary of the invention

[0004] The present application provides a ship navigation risk assessment method and assessment system, which can pre-assess the collision risk of an obstacle avoidance path adjusted during ship navigation to improve the safety of ship navigation.

[0005] In a first aspect, the present application provides a method for assessing ship navigation risk, the method comprising the following steps:

[0006] Obtain the initial navigation status and planned navigation path of the target ship;

[0007] Screening out a plurality of collision risk ships from all ships entering and leaving the port according to the initial navigation state and the ship satellite system, and determining a ship collision risk coefficient of the target ship in the planned navigation path according to the planned navigation path and the set navigation paths of each collision risk ship;

[0008] Obtain all navigation obstacles between the target ship and the destination of the target ship, use the planned navigation path to determine the obstacle collision urgency between the target ship and each navigation obstacle, search for an obstacle avoidance path for the target ship based on all obstacle collision urgency, obtain a risk obstacle avoidance path for the target ship, and determine a ship collision risk coefficient of the target ship in the risk obstacle avoidance path based on the risk obstacle avoidance path and the set navigation paths of each collision risk ship;

[0009] A navigation risk assessment report of the target ship is generated according to the ship conflict risk coefficient of the target ship in the planned navigation path and the ship conflict risk coefficient of the target ship in the risk obstacle avoidance path.

[0010] In this embodiment, the initial navigation state and planned navigation path of the target ship are acquired through the ship satellite system.

[0011] In this embodiment, all navigation obstacles between the target ship and the target ship's destination are acquired through a ship satellite system.

[0012] In this embodiment, screening out a plurality of ships with collision risks from all ships entering and leaving the port according to the initial navigation state and the ship satellite system specifically includes:

[0013] Extracting the initial navigation speed and initial heading of the target ship in the initial navigation state;

[0014] Determine a navigation conflict domain of the target ship according to the initial navigation speed and the initial heading;

[0015] Obtain the navigation status of each ship entering and leaving the port through the ship satellite system;

[0016] A plurality of ships with collision risks are screened out from all ships entering and leaving the port based on the navigation conflict domain and the navigation status of each ship.

[0017] In this embodiment, using the planned navigation path to determine the obstacle collision urgency between the target ship and each navigation obstacle specifically includes:

[0018] For each navigation obstacle, obtain the morphological characteristics and geographical location of the navigation obstacle;

[0019] Determine the collision risk distance between the target ship and the navigation obstacle according to the morphological characteristics, the geographical location of the obstacle and the planned navigation path;

[0020] The obstacle collision urgency between the target ship and the navigation obstacle is determined by the collision risk distance, and then the obstacle collision urgency between the target ship and each navigation obstacle is obtained.

[0021] In this embodiment, an obstacle avoidance path search is performed on the target ship based on all obstacle collision urgency levels, and obtaining a risk obstacle avoidance path for the target ship specifically includes:

[0022] For all navigation obstacles, one navigation obstacle is selected as the selected navigation obstacle;

[0023] determining an obstacle avoidance coordination zone of the target ship between the selected navigation obstacle and the adjacent navigation obstacle according to the obstacle urgency of the selected navigation obstacle and the obstacle urgency of the adjacent navigation obstacle of the selected navigation obstacle, thereby obtaining multiple obstacle avoidance coordination zones of the target ship;

[0024] The obstacle avoidance path of the target ship is searched based on all obstacle avoidance cooperative areas to obtain the risk obstacle avoidance path of the target ship.

[0025] In this embodiment, generating a navigation risk assessment report of a target ship according to a ship conflict risk coefficient of the target ship in the planned navigation path and a ship conflict risk coefficient of the target ship in the risk obstacle avoidance path specifically includes:

[0026] The navigation risk degree of the target ship is determined by the ship conflict risk coefficient of the target ship in the planned navigation path and the ship conflict risk coefficient of the target ship in the risk obstacle avoidance path;

[0027] A navigation risk assessment report for the target ship is generated based on the navigation risk degree and the navigation risk grade table.

[0028] In a second aspect, the present application provides a ship navigation risk assessment system for executing a ship navigation risk assessment method, the assessment system comprising:

[0029] Initialization module, used to obtain the initial navigation status of the target ship and plan the navigation path;

[0030] A collision risk assessment module, for screening out a plurality of collision risk ships from all ships entering and leaving the port according to the initial navigation state and the ship satellite system, and determining a ship collision risk coefficient of the target ship in the planned navigation path according to the planned navigation path and the set navigation paths of each collision risk ship;

[0031] a risk reassessment module, for obtaining all navigation obstacles between the target ship and the target ship's destination, using the planned navigation path to determine the obstacle collision urgency between the target ship and each navigation obstacle, searching for an obstacle avoidance path for the target ship based on all obstacle collision urgency, obtaining a risk obstacle avoidance path for the target ship, and determining a ship collision risk coefficient of the target ship in the risk obstacle avoidance path from the risk obstacle avoidance path and the set navigation paths of each collision risk ship;

[0032] The report generation module is used to generate a navigation risk assessment report of the target ship according to the ship conflict risk coefficient of the target ship in the planned navigation path and the ship conflict risk coefficient of the target ship in the risk obstacle avoidance path.

[0033] The technical solution provided by the embodiments disclosed in this application has the following beneficial effects:

[0034] By acquiring the initial navigation state and planned navigation path of the target ship; screening out a plurality of collision risk ships from all ships entering and leaving the port according to the initial navigation state and the ship satellite system, determining the ship conflict risk coefficient of the target ship in the planned navigation path according to the planned navigation path and the set navigation path of each collision risk ship; acquiring all navigation obstacles between the target ship and the target ship destination, using the planned navigation path to determine the obstacle collision urgency between the target ship and each navigation obstacle, performing obstacle avoidance path search for the target ship based on all obstacle collision urgency, obtaining the risk obstacle avoidance path of the target ship, determining the ship conflict risk coefficient of the target ship in the risk obstacle avoidance path according to the risk obstacle avoidance path and the set navigation path of each collision risk ship; generating a navigation risk assessment report for the target ship according to the ship conflict risk coefficient of the target ship in the planned navigation path and the ship conflict risk coefficient of the target ship in the risk obstacle avoidance path.

[0035] It can be seen that in the present application, the collision risk of the obstacle avoidance path adjusted during the ship's navigation process can be pre-evaluated; wherein, by pre-evaluating the collision risk in the navigation path of the target ship, the potential collision risk ship can be identified in advance before the target ship enters the high-risk area, and the ship conflict risk coefficient calculation can provide a scientific basis for the selection of the obstacle avoidance path, and by comparing the risk coefficients of different obstacle avoidance paths, the lowest risk and safest navigation path can be selected; then, by obtaining the information of all navigation obstacles, the potential risks in the navigation path of the target ship can be fully identified, and by determining the obstacle collision urgency, the potential threat of each obstacle can be quantified into a specific urgency value, so that by utilizing all obstacle collision urgency, the obstacle avoidance path search can give priority to avoiding high-risk areas, ensuring that the ship always chooses a safer path during navigation; finally, a navigation risk assessment report of the target ship is generated based on the ship conflict risk coefficient of the target ship in the planned navigation path and the ship conflict risk coefficient of the target ship in the risk obstacle avoidance path.

[0036] In summary, the technical solution adopted in the present application can pre-evaluate the collision risk of the obstacle avoidance path adjusted during the navigation of the ship, so as to improve the safety of the ship's navigation. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0038] Figure 1 is a flow chart of a ship navigation risk assessment method provided in this application;

[0039] Figure 2 It is a module structure diagram of the ship navigation risk assessment system provided by this application. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0041] The embodiment of the present application provides a ship navigation risk assessment method and assessment system, the core of which is to obtain the initial navigation state and planned navigation path of the target ship; select multiple collision risk ships from all ships entering and leaving the port according to the initial navigation state and the ship satellite system, determine the ship conflict risk coefficient of the target ship in the planned navigation path according to the planned navigation path and the set navigation path of each collision risk ship; obtain all navigation obstacles between the target ship and the target ship destination, use the planned navigation path to determine the obstacle collision urgency between the target ship and each navigation obstacle, search for the obstacle avoidance path of the target ship based on all obstacle collision urgency, obtain the risk obstacle avoidance path of the target ship, determine the ship conflict risk coefficient of the target ship in the risk obstacle avoidance path by the risk obstacle avoidance path and the set navigation path of each collision risk ship; generate a navigation risk assessment report of the target ship according to the ship conflict risk coefficient of the target ship in the planned navigation path and the ship conflict risk coefficient of the target ship in the risk obstacle avoidance path. The above scheme can be used to pre-assess the collision risk of the obstacle avoidance path adjusted during the ship's navigation process to improve the safety of the ship's navigation.

[0042] Embodiment 1

[0043] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods. Figure 1As shown in FIG. 1 , this figure is an exemplary flow chart of a ship navigation risk assessment method according to this embodiment of the present application, and the assessment method includes the following steps:

[0044] In step S1, the initial navigation state and planned navigation path of the target ship are obtained.

[0045] In specific implementation, the initial navigation state and planned navigation path of the target ship can be obtained through the ship satellite system; it should be noted that, in the present application, the ship satellite system refers to the satellite navigation system (GNSS), and the initial navigation state and planned navigation path of the target ship are obtained through the ship satellite system, the initial navigation state includes the initial position (latitude and longitude) of the target ship, the initial navigation speed and the initial heading, and the planned navigation path is the navigation path set for the target ship at the beginning.

[0046] In step S2, a plurality of collision risk ships are screened out from all ships entering and leaving the port according to the initial navigation state and the ship satellite system, and the ship conflict risk coefficient of the target ship in the planned navigation path is determined according to the planned navigation path and the set navigation paths of each collision risk ship.

[0047] In this embodiment, the following steps can be used to select multiple ships with collision risks from all ships entering and leaving the port based on the initial navigation state and the ship satellite system:

[0048] In step S21, the initial navigation speed and initial heading of the target ship are extracted in the initial navigation state;

[0049] In step S22, the navigation conflict domain of the target ship is determined according to the initial navigation speed and the initial heading;

[0050] In step S23, the navigation status of each ship entering and leaving the port is obtained through the ship satellite system;

[0051] In step S24, a plurality of ships with collision risks are screened out from all the ships entering and leaving the port based on the navigation conflict domain and the navigation status of each ship.

[0052] In specific implementation, first, the initial navigation speed and initial heading of the target ship can be extracted from the initial navigation state; then, the navigation conflict domain of the target ship can be determined according to the initial navigation speed and the initial heading, that is, the initial navigation speed and the initial heading of the target ship are input into the existing trajectory prediction algorithm for prediction, so as to obtain a predicted path, and the area surrounded by the predicted path and the planned navigation path of the target ship can be used as the navigation conflict domain of the target ship, and the navigation conflict domain indicates the area where there may be a navigation conflict between the target ship and other ships; secondly, the navigation status of each ship entering and leaving the port where the target ship is located can be obtained through the ship satellite system, and the navigation status includes the navigation speed and heading of the ship; finally, for each ship, the navigation status of the ship is input into the existing trajectory prediction algorithm for prediction to obtain the navigation path of the ship, and when the navigation path of the ship passes through the navigation conflict domain of the target ship, the ship is regarded as a collision risk ship, and the collision risk ship indicates a ship that may have a collision risk with the target ship. In the above manner, multiple collision risk ships can be screened out from all ships entering and leaving the port.

[0053] Preferably, in this embodiment, the ship collision risk coefficient of the target ship in the planned navigation path is determined according to the planned navigation path and the set navigation paths of each collision risk ship, and specifically the following method can be adopted, namely:

[0054] For each collision risk ship, determining the collision risk extreme value between the collision risk ship and the target ship through the set navigation path of the collision risk ship and the planned navigation path, and then obtaining the collision risk extreme value between each collision risk ship and the target ship;

[0055] The ship collision risk coefficient of the target ship in the planned navigation path is determined by all collision risk extreme values.

[0056] It should be noted that, in the present application, the collision risk extreme value represents the maximum possible collision risk between the collision risk ship and the target ship. The larger the collision risk extreme value is, the greater the possibility of collision between the collision risk ship and the target ship under extreme circumstances. The ship conflict risk coefficient represents the degree of ship conflict risk faced by the target ship when sailing according to the planned navigation path. The larger the ship conflict risk coefficient is, the greater the ship conflict risk faced by the target ship when sailing according to the planned navigation path.

[0057] In the specific implementation, first, for each collision risk ship, the collision risk extreme value between the collision risk ship and the target ship is determined by the set navigation path and the planned navigation path of the collision risk ship, that is, when the collision risk ship and the target ship are sailing, the minimum Euclidean distance between the collision risk ship and the target ship can be calculated according to the set navigation path and the planned navigation path of the collision risk ship, and the minimum Euclidean distance is used as the collision risk extreme value between the collision risk ship and the target ship. The collision risk extreme value between each collision risk ship and the target ship can be obtained in the above manner; then, the ship conflict risk coefficient of the target ship in the planned navigation path can be determined by all the collision risk extreme values, that is, the standard deviation of all the collision risk extreme values ​​is used as the ship conflict risk coefficient of the target ship in the planned navigation path.

[0058] It should be noted that by pre-evaluating the collision risk in the target ship's navigation path, potential collision risk ships can be identified in advance before the target ship enters the high-risk area, and the calculation of the ship conflict risk coefficient can provide a scientific basis for the selection of the obstacle avoidance path. By comparing the risk coefficients of different obstacle avoidance paths, the lowest risk and safest navigation path can be selected.

[0059] In step S3, all navigation obstacles between the target ship and the target ship's destination are obtained, and the obstacle collision urgency between the target ship and each navigation obstacle is determined using the planned navigation path. An obstacle avoidance path search is performed on the target ship based on all obstacle collision urgency to obtain a risk obstacle avoidance path for the target ship. The ship collision risk coefficient of the target ship in the risk obstacle avoidance path is determined by the risk obstacle avoidance path and the set navigation paths of each collision risk ship.

[0060] In specific implementation, all navigation obstacles between the target ship and the target ship's destination can be obtained through the ship satellite system; it should be noted that in this application, navigation obstacles include terrain obstacles (such as islands, reefs, shoals), fixed facilities (such as platforms, lighthouses) and severe weather obstacles (such as typhoons, heavy rains).

[0061] In this embodiment, the planned navigation path is used to determine the obstacle collision urgency between the target ship and each navigation obstacle, which can be achieved by the following steps:

[0062] In step S31, for each navigation obstacle, the morphological characteristics and geographical location of the navigation obstacle are obtained;

[0063] In step S32, the collision risk distance between the target ship and the navigation obstacle is determined according to the morphological characteristics, the geographical location of the obstacle and the planned navigation path;

[0064] In step S33, the obstacle collision urgency between the target ship and the navigation obstacle is determined by the collision risk distance, and then the obstacle collision urgency between the target ship and each navigation obstacle is obtained.

[0065] It should be noted that, in the present application, the morphological feature indicates the size of the navigation obstacle; the geographical location of the obstacle indicates the longitude and latitude of the navigation obstacle; the collision risk distance indicates the minimum safe distance between the target ship and the navigation obstacle. If the distance between the target ship and the navigation obstacle is less than the collision risk distance, a collision will occur between the target ship and the navigation obstacle; the obstacle collision urgency indicates the degree of emergency risk of a collision between the target ship and the navigation obstacle.

[0066] In specific implementation, first, for each navigation obstacle, the morphological characteristics and geographical location of the navigation obstacle can be obtained through the ship satellite system; then, the collision risk distance between the target ship and the navigation obstacle can be determined according to the morphological characteristics, the geographical location of the obstacle and the planned navigation path, that is, according to the minimum Euclidean distance between the geographical location of the navigation obstacle and the planned navigation path, the ratio of the maximum radius of the morphological characteristics of the navigation obstacle to the minimum Euclidean distance is used as the collision risk distance between the target ship and the navigation obstacle; finally, the navigation time of the target ship to the navigation obstacle can be calculated, and the ratio of the collision risk distance to the navigation time is used as the obstacle collision urgency between the target ship and the navigation obstacle. The obstacle collision urgency between the target ship and each navigation obstacle can be obtained in the above manner.

[0067] In this embodiment, an obstacle avoidance path search is performed on the target ship based on all obstacle collision urgency levels, and the risk obstacle avoidance path of the target ship can be obtained in the following manner, namely:

[0068] For all navigation obstacles, one navigation obstacle is selected as the selected navigation obstacle;

[0069] determining an obstacle avoidance coordination zone of the target ship between the selected navigation obstacle and the adjacent navigation obstacle according to the obstacle urgency of the selected navigation obstacle and the obstacle urgency of the adjacent navigation obstacle of the selected navigation obstacle, thereby obtaining multiple obstacle avoidance coordination zones of the target ship;

[0070] The obstacle avoidance path of the target ship is searched based on all obstacle avoidance cooperative areas to obtain the risk obstacle avoidance path of the target ship.

[0071] In specific implementation, first, for all navigation obstacles, one navigation obstacle can be selected as the selected navigation obstacle, that is, other navigation obstacles can also be processed in the same way; then, the adjacent navigation obstacles of the selected navigation obstacle are obtained from all navigation obstacles, and the obstacle urgency of the selected navigation obstacle and the obstacle urgency of the adjacent navigation obstacles are obtained respectively. An obstacle urgency interval can be set according to historical experience, so that the sum of the obstacle urgency of the selected navigation obstacle and the obstacle urgency of the adjacent navigation obstacle is within the obstacle urgency interval by changing the planned navigation path of the target ship, and the change range of the planned navigation path of the target ship is used as the obstacle avoidance coordination zone of the target ship between the selected navigation obstacle and the adjacent navigation obstacle. In the above method, multiple obstacle avoidance coordination zones of the target ship can be obtained; finally, the obstacle avoidance path of the target ship can be searched based on all obstacle avoidance coordination zones, and a heuristic search algorithm can be used to search for the optimal path between multiple obstacle avoidance coordination zones. The heuristic method can consider the path length, time and obstacle urgency to find the optimal obstacle avoidance path, thereby obtaining the risk obstacle avoidance path of the target ship.

[0072] Preferably, in the present embodiment, the ship collision risk coefficient of the target ship in the risk obstacle avoidance path is determined by the risk obstacle avoidance path and the set navigation paths of each collision risk ship; it should be noted that, in the present application, the ship collision risk coefficient of the target ship in the risk obstacle avoidance path can be determined by the method in step S2, which will not be repeated here.

[0073] It should be noted that by obtaining information on all navigation obstacles, the potential risks in the navigation path of the target ship can be fully identified, and by determining the collision urgency of the obstacle, the potential threat of each obstacle can be quantified into a specific urgency value, so that the obstacle avoidance path search can prioritize avoiding high-risk areas by utilizing the collision urgency of all obstacles, ensuring that the ship always chooses a safer path during navigation. This path optimization can effectively reduce the probability of collision accidents.

[0074] In step S4, a navigation risk assessment report of the target ship is generated according to the ship conflict risk coefficient of the target ship in the planned navigation path and the ship conflict risk coefficient of the target ship in the risk obstacle avoidance path.

[0075] In this embodiment, the navigation risk assessment report of the target ship is generated according to the ship conflict risk coefficient of the target ship in the planned navigation path and the ship conflict risk coefficient of the target ship in the risk obstacle avoidance path, which can be specifically generated in the following manner, namely:

[0076] The navigation risk degree of the target ship is determined by the ship conflict risk coefficient of the target ship in the planned navigation path and the ship conflict risk coefficient of the target ship in the risk obstacle avoidance path;

[0077] A navigation risk assessment report for the target ship is generated based on the navigation risk degree and the navigation risk grade table.

[0078] In specific implementation, first, weights can be set for the ship conflict risk coefficient of the target ship in the planned navigation path and the ship conflict risk coefficient of the target ship in the risk obstacle avoidance path according to historical experiments and data analysis, and the ship conflict risk coefficient of the target ship in the planned navigation path and the ship conflict risk coefficient of the target ship in the risk obstacle avoidance path are multiplied by the corresponding weights and summed, so that the result can be used as the navigation risk degree of the target ship, and the navigation risk degree represents the degree of risk faced by the target ship in this navigation; then, a navigation risk assessment report of the target ship is generated based on the navigation risk degree and the navigation risk level table, that is, the navigation risk degree of the target ship is compared with the preset navigation risk level table, and the risk level of the target ship is determined according to different risk ranges. The navigation risk level table is usually divided into multiple levels (such as low, medium, high, extremely high, etc.), and each level corresponds to a certain risk range. According to the range of the navigation risk degree of the target ship, the risk level of the current navigation of the target ship is determined. This level reflects the overall risk that the ship may face under the current path, so that a navigation risk assessment report for the target ship can be generated. The navigation risk assessment report for the target ship includes the navigation risk degree of the current navigation path of the target ship, risk analysis of the planned navigation path and obstacle avoidance navigation path, the risk level of the current target ship according to the risk level table, and specific operational suggestions based on the risk level, such as adjusting the navigation speed, changing the course, real-time monitoring of specific areas, etc., to help ships reduce navigation risks.

[0079] It can be seen from this that in this application, the collision risk of the obstacle avoidance path adjusted during the ship's navigation process can be pre-evaluated; wherein, by pre-evaluating the collision risk in the navigation path of the target ship, the potential collision risk ship can be identified in advance before the target ship enters the high-risk area, and the ship conflict risk coefficient calculation can provide a scientific basis for the selection of the obstacle avoidance path, and by comparing the risk coefficients of different obstacle avoidance paths, the lowest risk and safest navigation path can be selected; then, by obtaining the information of all navigation obstacles, the potential risks in the navigation path of the target ship can be fully identified, and by determining the obstacle collision urgency, the potential threat of each obstacle can be quantified as a specific urgency value, so that the obstacle collision urgency can be used, and the obstacle avoidance path search can give priority to avoiding high-risk areas, ensuring that the ship always chooses a safer path during navigation; finally, the navigation risk assessment report of the target ship is generated according to the ship conflict risk coefficient of the target ship in the planned navigation path and the ship conflict risk coefficient of the target ship in the risk obstacle avoidance path. In summary, the technical solution adopted in this application can pre-evaluate the collision risk of the obstacle avoidance path adjusted during the ship's navigation process to improve the safety of the ship's navigation.

[0080] Embodiment 2

[0081] This application provides a ship navigation risk assessment system, referring to Figure 2 As shown, this figure is a schematic diagram of an evaluation system according to this embodiment of the present application, and the evaluation system includes:

[0082] The initialization module 100 is used to obtain the initial navigation state of the target ship and plan the navigation path.

[0083] The collision risk assessment module 200 is used to screen out multiple collision risk ships from all ships entering and leaving the port based on the initial navigation state and the ship satellite system, and determine the ship collision risk coefficient of the target ship in the planned navigation path according to the planned navigation path and the set navigation paths of each collision risk ship.

[0084] The risk reassessment module 300 is used to obtain all navigation obstacles between the target ship and the target ship's destination, use the planned navigation path to determine the obstacle collision urgency between the target ship and each navigation obstacle, search for an obstacle avoidance path for the target ship based on all obstacle collision urgency, obtain a risk obstacle avoidance path for the target ship, and determine the ship collision risk coefficient of the target ship in the risk obstacle avoidance path based on the risk obstacle avoidance path and the set navigation paths of each collision risk ship.

[0085] The report generation module 400 is used to generate a navigation risk assessment report of the target ship according to the ship conflict risk coefficient of the target ship in the planned navigation path and the ship conflict risk coefficient of the target ship in the risk avoidance path.

[0086] The present application is described with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0087] Those skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium, and the storage medium includes a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electronically erasable programmable read-only memory (EEPROM), a compact disc (CD-ROM) or other optical disc storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0088] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

Claims

1. A method for assessing ship navigation risk, characterized in that: The evaluation method comprises the following steps: Obtain the initial navigation status and planned navigation path of the target ship; Screening out a plurality of collision risk ships from all ships entering and leaving the port according to the initial navigation state and the ship satellite system, and determining a ship collision risk coefficient of the target ship in the planned navigation path according to the planned navigation path and the set navigation paths of each collision risk ship; Obtain all navigation obstacles between the target ship and the destination of the target ship, use the planned navigation path to determine the obstacle collision urgency between the target ship and each navigation obstacle, search for an obstacle avoidance path for the target ship based on all obstacle collision urgency, obtain a risk obstacle avoidance path for the target ship, and determine a ship collision risk coefficient of the target ship in the risk obstacle avoidance path based on the risk obstacle avoidance path and the set navigation paths of each collision risk ship; A navigation risk assessment report of the target ship is generated according to the ship conflict risk coefficient of the target ship in the planned navigation path and the ship conflict risk coefficient of the target ship in the risk obstacle avoidance path.

2. A ship navigation risk assessment method according to claim 1, characterized in that: The initial navigation status and planned navigation path of the target ship are obtained through the ship satellite system.

3. A method for assessing ship navigation risk according to claim 2, characterized in that: All navigation obstacles between the target ship and the target ship's destination are obtained through the ship's satellite system.

4. A method for assessing ship navigation risk according to claim 3, characterized in that: According to the initial navigation status and the ship satellite system, multiple collision risk ships are screened out from all ships entering and leaving the port, including: Extracting the initial navigation speed and initial heading of the target ship in the initial navigation state; Determine a navigation conflict domain of the target ship according to the initial navigation speed and the initial heading; Obtain the navigation status of each ship entering and leaving the port through the ship satellite system; A plurality of ships with collision risks are screened out from all ships entering and leaving the port based on the navigation conflict domain and the navigation status of each ship.

5. A method for assessing ship navigation risk according to claim 4, characterized in that: Determining the obstacle collision urgency between the target ship and each navigation obstacle using the planned navigation path specifically includes: For each navigation obstacle, obtain the morphological characteristics and geographical location of the navigation obstacle; Determine the collision risk distance between the target ship and the navigation obstacle according to the morphological characteristics, the geographical location of the obstacle and the planned navigation path; The obstacle collision urgency between the target ship and the navigation obstacle is determined by the collision risk distance, and then the obstacle collision urgency between the target ship and each navigation obstacle is obtained.

6. A method for assessing ship navigation risk according to claim 5, characterized in that: Based on the collision urgency of all obstacles, the target ship is searched for an obstacle avoidance path, and the risk obstacle avoidance path of the target ship is obtained, which specifically includes: For all navigation obstacles, one navigation obstacle is selected as the selected navigation obstacle; determining an obstacle avoidance coordination zone of the target ship between the selected navigation obstacle and the adjacent navigation obstacle according to the obstacle urgency of the selected navigation obstacle and the obstacle urgency of the adjacent navigation obstacle of the selected navigation obstacle, thereby obtaining multiple obstacle avoidance coordination zones of the target ship; The obstacle avoidance path of the target ship is searched based on all obstacle avoidance cooperative areas to obtain the risk obstacle avoidance path of the target ship.

7. A method for assessing ship navigation risk according to claim 6, characterized in that: The navigation risk assessment report of the target ship is generated according to the ship conflict risk coefficient of the target ship in the planned navigation path and the ship conflict risk coefficient of the target ship in the risk avoidance path, which specifically includes: The navigation risk degree of the target ship is determined by the ship conflict risk coefficient of the target ship in the planned navigation path and the ship conflict risk coefficient of the target ship in the risk obstacle avoidance path; A navigation risk assessment report for the target ship is generated based on the navigation risk degree and the navigation risk grade table.

8. A ship navigation risk assessment system, used to execute a ship navigation risk assessment method according to any one of claims 1 to 7, characterized in that: The evaluation system comprises: Initialization module, used to obtain the initial navigation status of the target ship and plan the navigation path; A collision risk assessment module, for screening out a plurality of collision risk ships from all ships entering and leaving the port according to the initial navigation state and the ship satellite system, and determining a ship collision risk coefficient of the target ship in the planned navigation path according to the planned navigation path and the set navigation paths of each collision risk ship; a risk reassessment module, for obtaining all navigation obstacles between the target ship and the target ship's destination, using the planned navigation path to determine the obstacle collision urgency between the target ship and each navigation obstacle, searching for an obstacle avoidance path for the target ship based on all obstacle collision urgency, obtaining a risk obstacle avoidance path for the target ship, and determining a ship collision risk coefficient of the target ship in the risk obstacle avoidance path from the risk obstacle avoidance path and the set navigation paths of each collision risk ship; The report generation module is used to generate a navigation risk assessment report of the target ship according to the ship conflict risk coefficient of the target ship in the planned navigation path and the ship conflict risk coefficient of the target ship in the risk obstacle avoidance path.

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