Intelligent port intelligent navigation device and method

Abstract

The invention discloses an intelligent navigation device for an intelligent port, and the device comprises a buoy body which is internally provided with an edge computer and a controller; the support assembly comprises a supporting stand column and a mounting plate arranged on the top of the supporting stand column. The navigation early warning assembly comprises a lighting warning lamp, a Beidou satellite communication terminal, a buzzer and a voice alarm which are arranged on the mounting plate; the power supply system comprises a solar power supply assembly arranged on the buoy body through a supporting stand column. The buoyancy increasing assembly comprises a plurality of buoyancy cabins arranged at the bottom of the buoy body; wherein the Beidou satellite communication terminal is connected with a serial port of the edge computer, and the lighting warning lamp, the buzzer and the voice alarm are electrically connected with the controller. The invention further provides a navigation method based on the intelligent port intelligent navigation device. The ship yawing warning device not only provides a guiding direction for ship navigation, but also can give a warning signal when the ship yaws.

Description

Technical Field

[0001] The present invention relates to the technical field of port navigation, and more specifically, to an intelligent navigation device and method for a smart port. Background Art

[0002] Port navigation generally uses navigation to navigate ships. Navigation buoys mark the range of the channel, indicate shallows, and obstacles to achieve the purpose of navigation for ships. For example, the utility model patent with the announcement number CN219300634U discloses a port channel navigation device, including a floating base, a frame is installed on the top of the floating base, a solar panel is fixed on the outside of the frame, a mounting plate is fixed on the top of the frame, and an indicator light is provided on the mounting plate through a placement groove. Another example is the utility model patent with the announcement number CN216468325U, which discloses a port channel navigation warning device, including a connecting block, the bottom end of the connecting block is connected to a floating body through a thread, the top of the connecting block is connected to a warning column, the outer wall of the warning column is provided with a warning light and a reflective strip, and the reflective strip and the warning light are staggered.

[0003] It can be seen from the above technical solutions that the existing intelligent navigation devices for ports can only provide suggestive navigation guidance for ships by setting indicator lights, warning lights, reflective strips, etc. When the port channel is more complicated and there are more obstacles, the navigation device that provides navigation guidance through indicator lights, warning lights and reflective strips has limited effect and is not conducive to the safe navigation of ships. Summary of the invention

[0004] An object of the present invention is to solve at least the above problems and to provide at least the advantages which will be described hereinafter.

[0005] Another object of the present invention is to provide an intelligent navigation device for a smart port, which not only has a lighting warning light for guidance, but also has a Beidou satellite communication terminal to obtain ship information in real time, and issue a warning through a buzzer and voice alarm when the ship deviates from the safe navigation direction or path.

[0006] In order to achieve these purposes and other advantages according to the present invention, a smart port intelligent navigation device is provided, comprising:

[0007] A buoy body, wherein an edge computer and a controller are arranged inside the buoy body, and the edge computer is electrically connected to the controller;

[0008] A bracket assembly, comprising four supporting columns vertically arranged on the buoy body, with a mounting plate provided on the top of each supporting column;

[0009] A navigation warning assembly, which includes an illumination warning lamp, a Beidou satellite communication terminal, a buzzer and a voice alarm arranged on the mounting plate;

[0010] A power supply system, comprising a solar power supply assembly arranged on the buoy body through a support column, for supplying power to the lighting warning light, the Beidou satellite communication terminal, the buzzer, the voice alarm and the edge computer;

[0011] A buoyancy enhancement assembly, comprising a plurality of buoyancy chambers arranged at the bottom of the buoy body;

[0012] Wherein, the Beidou satellite communication terminal is connected to the edge computer serial port, and the lighting warning light, the buzzer and the voice alarm are electrically connected to the controller.

[0013] Preferably, the solar power supply assembly comprises:

[0014] A plurality of annular installation layers are arranged at different heights of the support column, and the outer diameters of the plurality of annular installation layers increase sequentially from top to bottom;

[0015] A plurality of groups of solar panels are arranged in sequence from top to bottom between the mounting plate and the annular mounting layer, between the annular mounting layer and the annular mounting layer, and between the annular mounting layer and the buoy body, and any group of solar panels is laid out in a truncated cone shape;

[0016] A plurality of groups of lithium batteries, which are respectively connected to the plurality of groups of solar panels through converters, and any group of lithium batteries is arranged on the annular mounting layer corresponding to the bottom of the solar panel or on the buoy body;

[0017] A power supply controller is connected to a plurality of lithium battery groups, and the lighting warning light, the Beidou satellite communication terminal, the buzzer, the voice alarm and the edge computer are connected to the power supply controller.

[0018] Preferably, a mounting column is provided on the mounting plate, the lighting warning light is arranged on the top of the mounting column, the Beidou satellite communication terminal and the voice alarm are respectively arranged on both sides of the mounting column through connecting columns, the buzzer is arranged below the voice alarm, and the mounting column and the connecting column both have a wiring cavity.

[0019] Preferably, stairs are provided between the mounting plate and the annular mounting layer, between the annular mounting layer and the annular mounting layer, and between the annular mounting layer and the buoy body, and the stairs are located outside the solar panel.

[0020] Preferably, climbing steps are provided between the support columns.

[0021] The present invention further claims protection for a navigation method of the smart port intelligent navigation device, comprising:

[0022] Step 1: Obtain ship navigation data and weather data at the location through the Beidou satellite communication terminal. The ship navigation data includes the ship model, heading, L , current position of the ship S, target position of the ship S t ; The meteorological data includes wind speed V f 、Wind direction A f and rainfall H f ;

[0023] Step 2: Connect the ship's navigation data between the ship's starting position S and the target position St according to the ship's position to obtain the ship's navigation path information W L :W L ={A L , W}, where W is the ship's navigation path formed by the ship's navigation position points;

[0024] Step 3: Collect data from different ships of the same model from position S and target position S t The navigation path W between them forms the safe navigation path range W of this type of ship. S ; Collect data from different ships of the same model from position S and target position S t The heading of any navigation point between the two forms a safe range for the heading of the corresponding navigation point of the ship of this type;

[0025] Step 4: According to wind speed V f and rainfall H f The impact on the ship's navigation is binary processed, and the expression is as follows:

[0026]

[0027] Among them, B f is the wind speed threshold that can affect the navigation of ships, C f is the rainfall threshold that can affect ship navigation.

[0028] Step 5: According to wind direction A f , wind speed V f and rainfall H f The degree of influence on the heading safety range is to correct the heading safety range of the navigation position point to the corrected heading safety range of the navigation position point;

[0029] Step 6: If only the ship's heading is A L Deviation A S1 If the angle is greater than 3-10°, the smart port intelligent navigation device sends a first-level warning signal and the buzzer sounds; if only the ship's navigation path is within the safe navigation path range W SIf the overlap is less than 80-90%, the smart port intelligent navigation device sends a secondary warning signal and the voice alarm sounds; if the ship is heading A L Deviation A S1 The angle is greater than 3-10° and the ship's navigation path is within the safe navigation path range W S When the overlap degree is lower than 80-90%, or the corrected safety range of the navigation position heading is 0, the smart port intelligent navigation device sends a third-level warning signal, and the buzzer and the voice alarm sound alternately.

[0030] Preferably, the corrected safety range A of the navigation position heading in step 5 is S1 The correction methods include:

[0031] The first step is to determine the relative angle A between wind direction and heading. J The current sailing status is divided into tailwind, headwind and crosswind:

[0032] When 0°≤A J When the angle is less than 45°, the current sailing status is downwind;

[0033] When 45°≤A J When the angle is less than 135°, the current navigation status is crosswind;

[0034] When 135°≤A J When the angle is less than 180°, the current sailing status is against the wind;

[0035] Among them, A J =|A L -A f |;

[0036] Step 2: Correct the safety range of the navigation position and heading according to the current navigation status:

[0037] When the current navigation state is downwind, the endpoint value A of the corrected safety range of the navigation position heading s1 The correction method of the endpoint value As corresponding to the safety range relative to the navigation position point heading is:

[0038] A S1 =A s ×k1V f ×k2H f ×75%;

[0039] When the current navigation state is crosswind, the endpoint value A of the corrected safety range of the navigation position heading s1 The correction method of the endpoint value As corresponding to the safety range relative to the navigation position point heading is:

[0040] A S1 =A s×k1V f ×k2H f ×90%;

[0041] When the current navigation state is against the wind, the endpoint value A of the corrected safety range of the navigation position heading s1 The correction method of the endpoint value As corresponding to the safety range relative to the navigation position point heading is:

[0042] A S1 =A s ×k1V f ×k2H f ×125%;

[0043] Among them, k1 is the influence factor of wind speed on the safe range of ship heading, k2 is the influence factor of rainfall on the safe range of ship heading, among which k1=0.96; k2=1.

[0044] The present invention has at least the following beneficial effects:

[0045] First, the smart port intelligent navigation device provided by the present invention includes a buoy body, a bracket assembly, a navigation warning assembly, a power supply system and a float-increasing assembly, wherein the buoy body is used to set the bracket assembly, the navigation warning assembly, the power supply system and the float-increasing assembly, the bracket assembly is used to install the navigation warning assembly and the power supply system, the float-increasing assembly is used to keep the buoy body floating on the water surface, the navigation warning assembly includes a Beidou satellite communication terminal, a lighting warning light, a buzzer and a voice alarm, and the Beidou satellite communication terminal is set to communicate with the ship to obtain the navigation data and meteorological data of the ship, and provide a deviation warning signal for the ship to navigate in a more complex waterway, so as to ensure the accuracy and safety of the ship's navigation;

[0046] Secondly, the smart port intelligent navigation device provided by the present invention not only has a basic lighting warning light to provide guidance for ship navigation, but also has a buzzer and voice alarm that can warn against ship deviation or dangerous navigation behavior, thereby improving the performance of the smart port intelligent navigation device and broadening the functionality of the smart port intelligent navigation device;

[0047] Thirdly, the smart port intelligent navigation device provided by the present invention provides a power supply system (all solar power supply components) that is sufficient to meet the power demand of the smart port intelligent navigation device, thereby solving the problem of power shortage of the smart port intelligent navigation device;

[0048] Fourthly, the smart port intelligent navigation device provided by the present invention further includes a buoyancy-increasing component to ensure the stability of the smart port intelligent navigation device on water;

[0049] Fifth, the navigation method based on the smart port smart navigation device of the present invention forms a safe navigation path range W for a certain type of ship based on sufficient learning of more samples. S The safety range of the heading corresponding to the navigation position of this type of ship is revised based on the safety range of the heading corresponding to the navigation position of the ship, and full consideration is given to the impact of wind speed, wind direction and rainfall on the navigation of the ship. The dangerous navigation behavior and deviation behavior of the ship are accurately judged, and warnings are issued, providing guarantee for the accurate and safe navigation of the ship.

[0050] Other advantages, objectives and features of the present invention will be embodied in part through the following description, and in part will be understood by those skilled in the art through study and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 This is a schematic diagram of the structure of the smart port intelligent navigation device in one technical solution of the present invention;

[0052] Figure 2 It is a structural schematic diagram of a power supply system in another technical solution of the present invention;

[0053] Figure 3 A flowchart of a navigation method according to another technical solution of the present invention;

[0054] Among them, 1, stairs; 2, mounting plate; 3, buzzer; 4, voice alarm; 5, lighting warning light; 6, Beidou satellite communication terminal; 7, connecting column; 8, supporting column; 9, solar panel; 10, annular mounting layer; 11, buoy body; 12, buoyancy chamber. DETAILED DESCRIPTION

[0055] The present invention is further described in detail below in conjunction with the accompanying drawings so that those skilled in the art can implement the invention with reference to the description.

[0056] It should be understood that the terms such as “having”, “including” and “comprising” used herein do not exclude the existence or addition of one or more other elements or combinations thereof.

[0057] like Figures 1-2 As shown, the present invention provides an intelligent navigation device for a smart port, comprising:

[0058] The buoy body 11 has an edge computer and a controller disposed therein, and the edge computer is electrically connected to the controller;

[0059] A bracket assembly, comprising four support columns 8 vertically arranged on the buoy body 11, with a mounting plate 2 provided on the top of the support columns 8;

[0060] A navigation warning component, which includes an illumination warning light 5, a Beidou satellite communication terminal 6, a buzzer 3 and a voice alarm 4 arranged on the mounting plate 2;

[0061] A power supply system, which includes a solar power supply component arranged on the buoy body 11 through a support column 8, and is used to supply power to the lighting warning light 5, the Beidou satellite communication terminal 6, the buzzer 3, the voice alarm 4 and the edge computer;

[0062] A buoyancy enhancement assembly, comprising a plurality of buoyancy chambers 12 arranged at the bottom of the buoy body 11;

[0063] Wherein, the Beidou satellite communication terminal 6 is connected to the edge computer serial port, and the lighting warning light 5, the buzzer 3 and the voice alarm 4 are electrically connected to the controller.

[0064] In the above technical solution, the smart port intelligent navigation device includes a buoy body 11, and an edge computer and a controller are arranged inside the buoy body 11. The edge computer is electrically connected to the controller to transmit the instructions obtained by the edge computer analysis to the controller, and the controller issues a designation to the execution subject, and the execution subject then executes the instructions.

[0065] In the above technical solution, the smart port intelligent navigation device also includes a Beidou satellite communication terminal 6. The Beidou satellite communication terminal 6 communicates with the ship based on the Beidou satellite system, and uses the ship's navigation system to directly obtain the ship's navigation data and meteorological data at its location, and transmits it to the edge computer through a serial port connection, which speeds up data transmission and processing, reduces delays, and ensures the timeliness of warning signals.

[0066] In the above technical solution, the navigation warning component of the smart port intelligent navigation device includes a lighting warning light 5, a Beidou satellite communication terminal 6, a buzzer 3 and a voice alarm 4, wherein the lighting warning light 5 is used to provide guidance for ship navigation, the Beidou satellite communication terminal 6 is used to communicate with the ship in navigation, obtain the navigation data and meteorological data of the ship, transmit it to the edge computer for data analysis to obtain instructions, and transmit the instructions to the controller, when the edge computer analyzes that there is a risk of deviation during the navigation of the ship, the buzzer 3 and the voice alarm 4 are used to execute the instructions issued by the controller, and send a warning signal to the ship with a risk of deviation, wherein the voice alarm 4 is a speaker with recorded alarm voice. The effective navigation distance of the smart port intelligent navigation device is the propagation length of the warning signal. The role of the smart port intelligent navigation device is particularly obvious in a waterway with many obstacles, in a complex waterway environment, or at a bend in the waterway, and can effectively ensure the correctness and safety of ship navigation.

[0067] In the above technical solution, after the smart port intelligent navigation device is equipped with a Beidou satellite communication terminal 6, a buzzer 3 and a voice alarm 4, the power consumption of the smart port intelligent navigation device is increased. Therefore, the smart port intelligent navigation device is equipped with a power supply system adapted to the power consumption of the navigation and warning components. The power supply system is arranged on the buoy body 11 through a supporting column 8. At the same time, the smart port intelligent navigation device is also equipped with an adaptive buoyancy-increasing component, which is arranged at the bottom of the buoy body 11 to increase the buoyancy of the buoy body 11 to balance the weight of the navigation and warning components and the power supply system.

[0068] like Figure 1 or Figure 2 As shown, in one of the technical solutions, the solar power supply component includes:

[0069] A plurality of annular installation layers 10 are arranged at different heights of the support column 8, and the outer diameters of the plurality of annular installation layers 10 increase sequentially from top to bottom;

[0070] A plurality of groups of solar panels 9 are arranged in sequence from top to bottom between the mounting plate 2 and the annular mounting layer 10, between the annular mounting layer 10 and the annular mounting layer 10, and between the annular mounting layer 10 and the buoy body 11, and any group of solar panels 9 is laid out in a truncated cone shape;

[0071] A plurality of groups of lithium batteries, which are respectively connected to the plurality of groups of solar panels 9 through converters, and any group of lithium batteries is arranged on the annular mounting layer 10 corresponding to the bottom of the solar panel 9 or on the buoy body 11;

[0072] A power supply controller is connected to a plurality of lithium battery groups, and the lighting warning light 5, the Beidou satellite communication terminal 6, the buzzer 3, the voice alarm 4 and the edge computer are connected to the power supply controller.

[0073] In the above technical solution, the solar power supply component includes multiple annular installation layers 10, multiple groups of solar panels 9, multiple groups of lithium batteries and a power supply controller. The annular installation layers 10 are arranged at different heights of the support columns. Solar panels 9 are laid between the annular installation layers 10. The solar panels 9 between the annular installation layers 10 are laid in a truncated cone shape. The annular installation layer 10 is located on the support column 8, and there is no partition at the center of the annular installation layer 10, so that the inner side of the four support columns 8 (within the frame surrounded by the four support columns 8) can be passed by personnel to repair the solar panels 9 and the lithium batteries arranged in the annular installation layer 10; the annular installation layer 10 of the top layer A truncated cone-shaped solar panel 9 is also installed between the mounting layer 10 and the mounting plate 2. The mounting plate 2 covers the supporting column 8 to prevent rainwater from entering the inner side of the four supporting columns 8 and damaging the lithium battery, converter and power supply controller. A truncated cone-shaped solar panel 9 is also arranged between the bottom annular mounting layer 10 and the buoy body 11. Preferably, in order to allow personnel to enter the inner side of the four supporting columns 8, a gap is reserved for personnel to enter and exit when the solar panels are arranged between the bottom annular mounting layer 10 and the buoy body 11, that is, a gap is provided on the truncated cone-shaped structure formed by the solar panels 9 arranged between the bottom annular mounting layer 10 and the buoy body 11. The design of multiple layers of truncated cone-shaped solar panels 9 provides sufficient power to meet the power requirements of the edge computer, controller and navigation warning components.

[0074] like Figures 1-2 As shown, in one of the technical solutions, the mounting plate 2 is provided with a mounting column, the lighting warning light 5 is arranged on the top of the mounting column, the Beidou satellite communication terminal 6 and the voice alarm 4 are respectively arranged on both sides of the mounting column through the connecting column 7, the buzzer 3 is arranged below the voice alarm 4, and the mounting column and the connecting column 7 both have a wiring cavity. The lighting warning light 5 is installed on the mounting plate 2 through the mounting column, which increases the installation height of the lighting warning light 5 and better guides the navigation direction for the ship. The Beidou satellite communication terminal 6 and the voice alarm 4 are respectively arranged on both sides of the mounting column through the connecting column 7, the buzzer 3 is arranged between the voice alarm 4 and the connecting column 7 on the side where the voice alarm 4 is located, the Beidou satellite communication terminal 6 is connected to the edge computer through a serial port, and its connecting line passes through the mounting plate 2 from the inner side of the four supporting columns 8, and is arranged along the wiring cavity of the mounting column and the wiring cavity of the connecting column 7, which ensures the safety of the connecting line and effectively avoids the possibility of the connecting line contacting with water.

[0075] like Figure 1As shown, in one of the technical solutions, a staircase 1 is provided between the mounting plate 2 and the annular mounting layer 10, between the annular mounting layer 10 and the annular mounting layer 10, and between the annular mounting layer 10 and the buoy body 11. The staircase 1 is located on the outside of the solar panel 9 and is used for inspecting or replacing the solar panel 9, the lighting warning light 5, the Beidou satellite communication terminal 6, the buzzer 3 and the voice alarm 4. In order to better set up the staircase 1, the annular mounting layer 10 and the mounting plate 2 are provided with an outwardly extending extension portion on the periphery to install the staircase 1.

[0076] In one of the technical solutions, climbing steps are provided between the support columns 8 to facilitate personnel to climb and inspect lithium batteries installed at different heights.

[0077] like Figure 3 As shown, the present invention further claims protection for the navigation method of the smart port intelligent navigation device, comprising:

[0078] Step 1: Obtain ship navigation data and weather data at the location through the Beidou satellite communication terminal 6. The ship navigation data includes the ship's model, heading, L , current position of the ship S, target position of the ship S t ; The meteorological data includes wind speed V f 、Wind direction A f and rainfall H f ;

[0079] Step 2: Connect the ship's navigation data between the ship's starting position S and the target position St according to the ship's position to obtain the ship's navigation path information W L :W L ={A L , W}, where W is the ship's navigation path formed by the ship's navigation position points;

[0080] Step 3: Collect data from different ships of the same model from position S and target position S t The navigation path W between them forms the safe navigation path range W of this type of ship. S ; Collect data from different ships of the same model from position S and target position S t The heading of any navigation point between the two forms a safe range for the heading of the corresponding navigation point of the ship of this type;

[0081] Step 4: According to wind speed V f and rainfall H f The impact on the ship's navigation is binary processed, and the expression is as follows:

[0082]

[0083] Among them, B fis the wind speed threshold that can affect the navigation of ships, C f is the rainfall threshold that can affect ship navigation.

[0084] Step 5: According to wind direction A f , wind speed V f and rainfall H f The degree of influence on the heading safety range is to correct the heading safety range of the navigation position point to the corrected heading safety range of the navigation position point;

[0085] Step 6: If only the ship's heading is A L Deviation A S1 If the angle is greater than 3-10°, the smart port intelligent navigation device sends a first-level warning signal and the buzzer 3 sounds; if only the ship's navigation path is within the safe navigation path range W S If the overlap is less than 80-90%, the smart port intelligent navigation device sends a secondary warning signal and the voice alarm 4 sounds; if the ship is heading A L Deviation A S1 The angle is greater than 3-10° and the ship's navigation path is within the safe navigation path range W S When the overlap is lower than 80-90%, or the corrected safety range of the navigation position heading is 0, the smart port intelligent navigation device sends out a third-level warning signal, and the buzzer 3 and the voice alarm 4 sound alternately.

[0086] In the above technical solution, the navigation method includes:

[0087] Step 1: Obtain ship navigation data and weather data at the location through the Beidou satellite communication terminal 6. The ship navigation data includes the ship's model, heading, L , current position of the ship S, target position of the ship S t ; The meteorological data includes wind speed V f 、Wind direction A f and rainfall H f The navigation method optimizes the ship's model, heading A L , current position of the ship S, target position of the ship S t , wind speed V f 、Wind direction A f and rainfall H f The ship model can be obtained by obtaining the ship's IMO code. The ship IMO code is a coding system established by the International Maritime Organization for uniquely identifying ships worldwide. It consists of 7 digits representing the ship's identity information, including the ship's name, type, and owner. L , current position of the ship S, target position of the ship S t, wind speed V f 、Wind direction A f and rainfall H f It can be obtained from the navigation system carried by the ship itself and transmitted to the Beidou satellite communication terminal 6, the current position of the ship S, the target position of the ship S t The data format is as follows: S = (x, y), where x represents the longitude of the current position of the ship, y represents the latitude of the current position of the ship, and S represents the target position of the ship. t The same data format, ship current position S, ship target position S t The voyage of the ship is determined, and the voyage is divided into different route lengths according to the warning length of the smart port intelligent navigation device. L The heading to the ground is from due north, and the angle increases clockwise. The wind direction is A. f It also starts from due north and rotates clockwise, with the angle increasing continuously.

[0088] Step 2: Connect the ship's navigation data between the ship's starting position S and the target position St according to the ship's position to obtain the ship's navigation path information W L :W L ={A L , W}, where W is the ship's navigation path formed by the ship's navigation position points; first, the ship's navigation data between the starting position S and the target position St is cleaned, and the data is arranged in the order of longitude and latitude. Each longitude and latitude corresponds to a position point, and multiple longitudes and latitudes correspond to multiple position points. Duplicate data is deleted, and missing position points are filled. The position points are connected to form a navigation path. Here, the navigation path is at least greater than or equal to the warning length of a smart port intelligent navigation device, and the heading A is set at the corresponding position point. L , delete the obviously abnormal heading A L After that, the navigation path information W is formed L .

[0089] Step 3: Collect data from different ships of the same model from position S and target position S t The navigation path W between them forms the safe navigation path range W of this type of ship. S ; Collect data from different ships of the same model from position S and target position S t The heading of any navigation point between them forms the safety range of the heading of the corresponding navigation point of the ship of this model; integrating the navigation path information W of different ships of the same model L , forming the safe navigation path range W of this type of ship S , that is, merge the navigation paths formed by the position points, delete the duplicate points, and form a safe navigation path range W S, integrate the headings of different ships of the same model to form a safe range of the headings of the corresponding navigation position points of the ship of this model, that is, merge all the headings and take the merged heading range.

[0090] Step 4: According to wind speed V f and rainfall H f The impact on the ship's navigation is binary processed, and the expression is as follows:

[0091]

[0092] Among them, B f is the wind speed threshold that can affect the navigation of ships, C f is the rainfall threshold that can affect ship navigation.

[0093] Wind speed and rainfall usually affect the navigation of ships only after they exceed the safety threshold. Therefore, after processing the wind speed and rainfall by binary, the model of the impact of wind speed and rainfall on the navigation of ships is simplified, which is convenient for statistical processing of data. Further, different wind speeds are converted into binary values ​​that affect the navigation of ships and do not affect the navigation of ships, which simplifies the impact of wind speed when correcting the safety range of the navigation position and heading. Different rainfall amounts are converted into binary values ​​that affect the navigation of ships and do not affect the navigation of ships, which simplifies the impact of rainfall when correcting the safety range of the navigation position and heading.

[0094] Step 5: According to wind direction A f , wind speed V f and rainfall H f The degree of impact on the safe range of heading is to correct the safe range of the heading of the navigation position point to the corrected safe range of the heading of the navigation position point; if the wind speed and rainfall exceed the safety threshold and the ship still sails, it is regarded as a dangerous navigation behavior.

[0095] Step 6: If the ship is heading only to A L Deviation A S1 If the angle is greater than 3-10°, the smart port intelligent navigation device sends a first-level warning signal and the buzzer 3 sounds; if the ship's navigation path is only within the safe navigation path range W S If the overlap is less than 80-90%, the smart port intelligent navigation device sends a secondary warning signal and the voice alarm 4 sounds; if the ship is heading A L Deviation A S1 The angle is greater than 3-10° and the ship's navigation path is within the safe navigation path range W SWhen the overlap degree is lower than 80-90%, or the corrected safety range of the navigation position heading is 0, the smart port intelligent navigation device sends out a three-level warning signal, and the buzzer 3 and the voice alarm 4 sound at intervals. According to different yaw states, the first-level warning signal, the second-level warning signal and the third-level warning signal are triggered respectively. If it is determined that the ship is in dangerous navigation behavior, the third-level warning signal is directly triggered.

[0096] In one of the technical solutions, the corrected safety range A of the navigation position heading in step 5 is S1 The correction methods include:

[0097] The first step is to determine the relative angle A between wind direction and heading. J The current sailing status is divided into tailwind, headwind and crosswind:

[0098] When 0°≤A J When the angle is less than 45°, the current sailing status is downwind;

[0099] When 45°≤A J When the angle is less than 135°, the current navigation status is crosswind;

[0100] When 135°≤A J When the angle is less than 180°, the current sailing status is against the wind;

[0101] Among them, A J =|A L -A f |;

[0102] Step 2: Correct the safety range of the navigation position and heading according to the current navigation status:

[0103] When the current navigation state is downwind, the endpoint value A of the corrected safety range of the navigation position heading s1 The correction method of the endpoint value As corresponding to the safety range relative to the navigation position point heading is:

[0104] A S1 =A s ×k1V f ×k2H f ×75%;

[0105] When the current navigation state is crosswind, the endpoint value A of the corrected safety range of the navigation position heading s1 The correction method of the endpoint value As corresponding to the safety range relative to the navigation position point heading is:

[0106] A S1 =A s ×k1V f ×k2H f ×90%;

[0107] When the current navigation state is against the wind, the endpoint value A of the corrected safety range of the navigation position heading s1 The correction method of the endpoint value As corresponding to the safety range relative to the navigation position point heading is:

[0108] A S1 =A s ×k1V f ×k2H f ×125%;

[0109] Among them, k1 is the influence factor of wind speed on the safe range of ship heading, k2 is the influence factor of rainfall on the safe range of ship heading, among which k1=0.96; k2=1.

[0110] In the above technical scheme, the safety range of the heading is directly corrected for different navigation conditions. The different effects of wind speed and rainfall on the safety range of the ship's heading are no longer considered for different navigation conditions. The effect of wind speed on the safety range of the ship's heading is quantified into an influence factor k1, and the effect of rainfall on the safety range of the ship's heading is quantified into an influence factor k2, which simplifies data processing and improves the efficiency of warning.

[0111] In the above technical solution, when the wind speed V f Or rainfall H f When any value is 0, the wind speed V f and rainfall H f When any of the above exceeds the threshold that affects the navigation of the ship, the endpoint value of the corrected safety range of the navigation position and heading is 0, and the navigation conditions are not met, and the third-level warning signal is directly triggered. f Or rainfall H f When any value is 1, the wind speed V f Or rainfall H f When none of the items affects the navigation of the ship, the influence factor k1 of wind speed on the safe range of the ship's heading and the influence factor k2 of rainfall on the safe range of the ship's heading are set, and the safe range of the heading of the navigation position point is corrected to ensure accurate prediction of the ship's deviation behavior and dangerous navigation behavior (navigation without navigation conditions).

[0112] The number of devices and processing scale described here are used to simplify the description of the present invention. The application, modification and variation of the smart port intelligent navigation device of the present invention are obvious to those skilled in the art.

[0113] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the implementation modes, and they can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the illustrations shown and described herein.

Claims

1. Smart port intelligent navigation device, characterized in that: include: A buoy body, wherein an edge computer and a controller are arranged inside the buoy body, and the edge computer is electrically connected to the controller; A bracket assembly, comprising four supporting columns vertically arranged on the buoy body, with a mounting plate provided on the top of each supporting column; A navigation warning assembly, which includes an illumination warning lamp, a Beidou satellite communication terminal, a buzzer and a voice alarm arranged on the mounting plate; A power supply system, comprising a solar power supply assembly arranged on the buoy body through a support column, for supplying power to the lighting warning light, the Beidou satellite communication terminal, the buzzer, the voice alarm and the edge computer; A buoyancy enhancement assembly, comprising a plurality of buoyancy chambers arranged at the bottom of the buoy body; Wherein, the Beidou satellite communication terminal is connected to the edge computer serial port, and the lighting warning light, the buzzer and the voice alarm are electrically connected to the controller.

2. The smart port intelligent navigation device according to claim 1, characterized in that: The solar power supply assembly comprises: A plurality of annular installation layers are arranged at different heights of the support column, and the outer diameters of the plurality of annular installation layers increase sequentially from top to bottom; A plurality of groups of solar panels are arranged in sequence from top to bottom between the mounting plate and the annular mounting layer, between the annular mounting layer and the annular mounting layer, and between the annular mounting layer and the buoy body, and any group of solar panels is laid out in a truncated cone shape; A plurality of groups of lithium batteries, which are respectively connected to the plurality of groups of solar panels through converters, and any group of lithium batteries is arranged on the annular mounting layer corresponding to the bottom of the solar panel or on the buoy body; A power supply controller is connected to a plurality of lithium battery groups, and the lighting warning light, the Beidou satellite communication terminal, the buzzer, the voice alarm and the edge computer are connected to the power supply controller.

3. The smart port intelligent navigation device according to claim 2, characterized in that: A mounting column is provided on the mounting plate, the lighting warning light is arranged on the top of the mounting column, the Beidou satellite communication terminal and the voice alarm are respectively arranged on both sides of the mounting column through connecting columns, the buzzer is arranged below the voice alarm, and the mounting column and the connecting column both have a wiring cavity.

4. The smart port intelligent navigation device according to claim 3, characterized in that: Stairs are also provided between the mounting plate and the annular mounting layer, between the annular mounting layer and the annular mounting layer, and between the annular mounting layer and the buoy body, and the stairs are located outside the solar panel.

5. The smart port intelligent navigation device according to claim 4, characterized in that: Climbing steps are arranged between the support columns.

6. The navigation method based on the smart port intelligent navigation device according to any one of claims 1 to 5 is characterized in that: include: Step 1: Obtain ship navigation data and weather data at the location through the Beidou satellite communication terminal. The ship navigation data includes the ship model, heading, L , current position of the ship S, target position of the ship S t ; The meteorological data includes wind speed V f 、Wind direction A f and rainfall H f ; Step 2: Connect the ship's navigation data between the ship's starting position S and the target position St according to the ship's position to obtain the ship's navigation path information W L :W L ={A L , W}, where W is the ship's navigation path formed by the ship's navigation position points; Step 3: Collect data from different ships of the same model from position S and target position S t The navigation path W between them forms the safe navigation path range W of this type of ship. S ; Collect data from different ships of the same model from position S and target position S t The heading of any navigation point between the two forms a safe range for the heading of the corresponding navigation point of the ship of this type; Step 4: According to wind speed V f and rainfall H f The impact on the ship's navigation is binary processed, and the expression is as follows: Among them, B f is the wind speed threshold that can affect the navigation of ships, C f is the rainfall threshold that can affect ship navigation. Step 5: According to wind direction A f , wind speed V f and rainfall H f The degree of influence on the heading safety range is to correct the heading safety range of the navigation position point to the corrected heading safety range of the navigation position point; Step 6: If only the ship's heading is A L Deviation A S1 If the angle is greater than 3-10°, the smart port intelligent navigation device sends a first-level warning signal and the buzzer sounds; if only the ship's navigation path is within the safe navigation path range W S If the overlap is less than 80-90%, the smart port intelligent navigation device sends a secondary warning signal and the voice alarm sounds; if the ship is heading A L Deviation A S1 The angle is greater than 3-10° and the ship's navigation path is within the safe navigation path range W S When the overlap degree is lower than 80-90%, or the corrected safety range of the navigation position heading is 0, the smart port intelligent navigation device sends a third-level warning signal, and the buzzer and the voice alarm sound alternately.

7. The navigation method according to claim 6, characterized in that: Correction safety range A of the navigation position heading in step 5 S1 The correction methods include: The first step is to determine the relative angle A between wind direction and heading. J The current sailing status is divided into tailwind, headwind and crosswind: When 0°≤A J When the angle is less than 45°, the current sailing status is downwind; When 45°≤A J When the angle is less than 135°, the current navigation status is crosswind; When 135°≤A J When the angle is less than 180°, the current sailing status is against the wind; Among them, A J =|A L -A f |; Step 2: Correct the safety range of the navigation position and heading according to the current navigation status: When the current navigation state is downwind, the endpoint value A of the corrected safety range of the navigation position heading s1 The correction method of the endpoint value As corresponding to the safety range relative to the navigation position point heading is: A S1 =A s ×k1V f ×k2H f ×75%; When the current navigation state is crosswind, the endpoint value A of the corrected safety range of the navigation position heading s1 The correction method of the endpoint value As corresponding to the safety range relative to the navigation position point heading is: A S1 =A s ×k1V f ×k2H f ×90%; When the current navigation state is against the wind, the endpoint value A of the corrected safety range of the navigation position heading s1 The correction method of the endpoint value As corresponding to the safety range relative to the navigation position point heading is: A S1 =A s ×k1V f ×k2H f ×125%; Among them, k1 is the influence factor of wind speed on the safe range of ship heading, k2 is the influence factor of rainfall on the safe range of ship heading, among which k1=0.96; k2=1.

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