Ship route interference detection method

Abstract

The invention discloses a ship route interference detection method. The method comprises the following steps: step 1, loading ship data; step 2, loading route data; step 3, coordinate transformation; 4, reachability judgment is carried out; 5, judging the validity of the time period; step 6, calculating a static safety distance; and step 6, calculating a static safety distance. According to the invention, interference detection can be carried out on the planned multi-ship route, and then a detection result is given, so that adjustment and collision avoidance of the navigation route are realized. The method comprises the steps of firstly loading ship basic information and planned ship route information, then converting coordinates of a ship route into plane coordinates, performing accessibility calculation and time period effectiveness calculation in combination with ship information and the ship route information, and after the ship route passes effectiveness verification, performing ship safety distance calculation to obtain a ship safety distance. And space-time interference calculation of every two routes is carried out in sequence by combining the ship safety distance, and finally a feedback result is given to adjust the planned ship routes.

Description

Technical Field

[0001] The invention relates to the field of ship route planning and detection, in particular to a ship route interference detection method. Background Art

[0002] With the continuous development of global trade, water transport ships play an important role in cargo transportation. The navigation route planning and navigation of water transport are the key links to ensure the safety and efficiency of maritime transportation. Reasonable route planning and effective navigation system can ensure the safe navigation of ships and the timely arrival of goods, and realize the improvement of navigation route planning and navigation capabilities.

[0003] At present, the planning of the navigation route is generally based on the ship or the related ships of the shipping company, and the navigation route is finally formulated by comprehensive analysis and judgment in combination with meteorological conditions, hydrological conditions and waterway conditions. The navigation route formulated by it has not been analyzed for interference with the navigation routes formulated by other ships. When the ship actually sails according to the planned route and time, it will inevitably encounter and collide with other ships. Some dangers and hidden dangers such as shipwrecks may occur if they are not handled properly, which seriously affects the normal operation and management of VTS.

[0004] Therefore, it is very important to have a method that can analyze and judge the routes of the ship and other ships in the time and space dimensions, and can timely and effectively detect whether there is interference with other routes. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a ship route interference detection method in view of the deficiencies of the above-mentioned prior art, which performs interference detection on planned multiple ship routes and then gives the detection results to achieve a method for adjusting the navigation route and avoiding collisions.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0007] A method for detecting interference with a ship route comprises the following steps.

[0008] Step 1: Loading ship data: Loading the static data of the ship to be detected.

[0009] Step 2, route data loading: load the planned route A data of the ship to be inspected; the planned route A data includes a number of waypoint information arranged in chronological order; each waypoint information includes the waypoint coordinates and the estimated arrival time.

[0010] Step 3, coordinate conversion: Convert the coordinates of each waypoint loaded in step 2 into plane coordinates.

[0011] Step 4, reachability judgment: two adjacent waypoints in the planned route A data form a segment. According to the waypoint information at both ends of each segment, the average speed of each segment is calculated, and the obtained average speed of the segment is compared with the maximum speed of the ship to be tested; if the average speed of a segment is greater than the maximum speed of the ship to be tested, it is judged that the planned route A is unreachable, the test fails, and subsequent tests are stopped; otherwise, it is judged that the planned route A is reachable and enter step 5.

[0012] Step 5, time period validity judgment: for the planned route A that has passed the accessibility check, determine whether it is possible for it to appear at the same time as other routes; each other route B that is likely to appear at the same time as the planned route A is added to the planned route A queue.

[0013] Step 6: Calculate the static safety distance: For each other route B in the planned route A queue, calculate the static safety distance from the planned route A.

[0014] Step 7, route spatiotemporal interference calculation: Based on the static safety distance calculated in step 6, perform spatiotemporal collision analysis and calculation on each segment of planned route A and each segment of every other route B in the planned route A queue to confirm whether there is a possibility of interference between planned route A and all other routes B; when there is no interference between each segment of planned route A and each segment of every other route B in the planned route A queue, it is determined that planned route A has passed the inspection, the planned route A queue is cleared, and planned route A is stored in the cache.

[0015] In step 1, the static data of the ship to be detected includes MMSI, length, width, maximum speed, draft and deadweight tonnage; wherein the draft and deadweight tonnage are the actual draft and deadweight tonnage of the ship to be detected when sailing along the planned route.

[0016] The waypoint coordinates in step 2 are WGS-84 coordinates; the plane coordinates converted in step 3 are Gauss-Krüger coordinates.

[0017] In step 4, the calculation formula for the average speed vs of the flight segment is:

[0018]

[0019] in:

[0020]

[0021] ts=|eta1-eta2|

[0022] Where ds is the flight distance, unit: meter.

[0023] ts is the duration of the flight segment, in seconds.

[0024] (x g1 ,y g1 ) and (x g2 ,y g2 ) are the plane coordinates of the waypoints at both ends of the flight segment.

[0025] eta1 and eta2 are the estimated arrival times of the waypoints at both ends of the flight segment.

[0026] In step 5, the method for determining the validity of the time period includes the following steps:

[0027] Step 5-1, obtain other routes: obtain other routes from the cache; when there are other routes in the cache, go to step 5-2; when there are no other routes in the cache, it means that the planned route A that has passed the accessibility test is the first route, and there is no need to make a time association judgment with other routes, then the time period validity test of the planned route A passes, and the planned route A and the ship information are added to the cache, and the subsequent detection is stopped;

[0028] Step 5-2, time association judgment: Compare the estimated start time and the estimated end time of the planned route A and another route B obtained from the cache according to the following formula (1):

[0029] p et1 ≤p st2 ||p et2 ≤p st1 (1)

[0030] In the formula, p st1 and p et1 They are the estimated start time and the estimated end time of route A.

[0031] p st2 and p et2 They are the estimated start time and estimated end time of a route obtained from the cache respectively.

[0032] When formula (1) holds true, it is determined that the planned route A and other routes B have a time association, and it is necessary to add the other route B information and the corresponding ship information to the planned route A queue;

[0033] Step 5-3: Perform the time association judgment of step 5-2 on the planned route A and each of the remaining routes in the cache.

[0034] In step 6, the static safety distance includes the static basic safety distance db and the static load safety distance dl. The calculation formulas for db and dl are:

[0035]

[0036] dl=max(h1,h2)×0.01852

[0037] Where l1, w1 and h1 are the length, width and deadweight tonnage of the planned route A respectively.

[0038] l2, w2 and h2 are the length, width and deadweight tonnage of the ship on other route B respectively.

[0039] In step 7, the route space-time interference calculation method includes the following steps:

[0040] Step 7-1, calculate the dynamic safety distance dv of the flight segment: select a flight segment a from the planned route A, and select a flight segment b of another route B from the planned route A queue, and calculate the dynamic safety distance dv of the flight segment a and the flight segment b.

[0041] Step 7-2: Calculate the safety distance d sec , the specific calculation formula is:

[0042] d sec =db+max(dl,dv)

[0043] Step 7-3: Calculate the dynamic distance d between two ships in segment a and segment b within a set time t; where t f1 ≤t≤t f2 And t s1 ≤t≤t s2 .

[0044] Step 7-4: A collision interference analysis: The dynamic distance d between the two ships obtained in step 7-3 is compared with the safety distance d obtained in step 7-2. sec For comparison, specifically:

[0045] When d>d sec Go to step 7-5.

[0046] When d≤d sec When , it indicates that the two ships in segment a and segment b may collide and interfere within the set time t, the planned route A fails the test, and subsequent tests are stopped.

[0047] Step 7-5, secondary collision interference analysis: increase the set time t, and repeat steps 7-3 to 7-4 until the set time t reaches the end time of the operating time range; when the set time t reaches the end time of the operating time range and stops, it is still d>d sec , it means that there is no collision interference between the two ships in segment a and segment b.

[0048] Step 7-6, cyclic collision interference analysis: repeat steps 7-3 to 7-5, and perform collision interference analysis on all segments in planned route A and all segments of all other routes B; when there is no interference between each segment of planned route A and each segment of every other route B in the planned route A queue, it is determined that the planned route A has passed the inspection, the planned route A queue is cleared, and the ship information and route information of planned route A are stored in the cache.

[0049] In step 7-1, the calculation formula for the dynamic safety distance dv of the flight segment is:

[0050]

[0051] in:

[0052]

[0053] Where dv is in nautical miles.

[0054] v sec It is the larger value of the speed in segment a and segment b.

[0055] x f1 ,y f1 ,t f1 、x f2 ,y f2 and t f2 They are respectively the starting abscissa, starting ordinate, starting time, ending abscissa, ending ordinate and ending time of segment a.

[0056] x s1 ,y s1 ,t s1 、x s2 ,y s2 and t s2 They are respectively the starting abscissa, starting ordinate, starting time, ending abscissa, ending ordinate and ending time of segment b.

[0057] In step 7-3, the calculation formula of the dynamic distance d between the two ships is:

[0058]

[0059] in:

[0060]

[0061] In the formula, v sx and v sy is the velocity vector of the ship in the x and y directions corresponding to segment a.

[0062] v fx and v fyis the velocity vector of the ship in the x and y directions corresponding to segment b.

[0063] In step 7-3, the time t is set to 3 seconds.

[0064] The present invention has the following beneficial effects:

[0065] The present invention first loads the basic information of the ship and the planned route information, then converts the coordinates of the route into plane coordinates, combines the ship information and the route information to perform reachability calculation and time period validity calculation, and when the route passes the validity verification, calculates the ship safety distance, obtains the ship safety distance, and performs interference calculations of the routes in pairs in combination with the ship safety distance, and finally gives feedback results to make corresponding adjustments. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Figure 1 A flow chart of a ship route interference detection method of the present invention is shown.

[0067] Figure 2 A schematic diagram showing the ship route under normal circumstances according to the present invention. DETAILED DESCRIPTION

[0068] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific preferred embodiments.

[0069] In the description of the present invention, it should be understood that the terms "left side", "right side", "upper part", "lower part" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. "First", "second" and the like do not indicate the importance of the components, and therefore cannot be understood as limiting the present invention. The specific dimensions used in this embodiment are only for illustrating the technical solution, and do not limit the scope of protection of the present invention.

[0070] like Figure 1 As shown, a method for detecting interference with a ship route includes the following steps.

[0071] Step 1. Ship data loading: Load the static data of the ship to be tested, including MMSI, length (m), width (m), maximum speed (knots), draft (m), deadweight (tons). Draft and deadweight are the actual draft and deadweight of the ship when it is sailing along the planned route.

[0072] Step 2, route data loading: Load the planned route A data of the ship to be detected; the planned route A data includes a number of waypoint information arranged in chronological order; each waypoint information includes the waypoint coordinates P (x, y) and the estimated arrival time eta. The waypoint coordinates are preferably WGS-84 coordinates.

[0073] Step 3: Coordinate conversion: Convert each waypoint coordinate P(x,y) loaded in step 2 to the Gauss-Krüger coordinate P(x g ,y g ).

[0074] Step 4, reachability judgment: two adjacent waypoints in the planned route A data form a segment. According to the waypoint information at both ends of each segment, the average speed of each segment is calculated, and the obtained average speed of the segment is compared with the maximum speed of the ship to be tested; if the average speed of a segment is greater than the maximum speed of the ship to be tested, it is judged that the planned route A is unreachable, the test fails, and subsequent tests are stopped; otherwise, it is judged that the planned route A is reachable and enter step 5.

[0075] The calculation formula for the average speed vs (unit: knot) of the above-mentioned section is preferably:

[0076]

[0077] in:

[0078]

[0079] ts=|eta1-eta2|

[0080] Where ds is the flight distance, unit: meter.

[0081] ts is the duration of the flight segment, in seconds.

[0082] (x g1 ,y g1 ) and (x g2 ,y g2 ) are the plane coordinates of the waypoints at both ends of the flight segment.

[0083] eta1 and eta2 are the estimated arrival times of the waypoints at both ends of the flight segment.

[0084] Step 5, time period validity judgment: for the planned route A that has passed the accessibility check, determine whether it is possible for it to appear at the same time as other routes; each other route B that is likely to appear at the same time as the planned route A is added to the planned route A queue.

[0085] The method for determining the validity of the above time period preferably includes the following steps.

[0086] Step 5-1, obtain other routes: obtain other routes from the cache; when there are other routes in the cache, go to step 5-2; when there are no other routes in the cache, it means that the planned route A that passes the accessibility test is the first route, and there is no need to make a time association judgment with other routes. Then the time period validity test of planned route A passes, and planned route A and ship information are added to the cache, and subsequent detection is stopped.

[0087] Step 5-2, time association judgment: Compare the estimated start time and the estimated end time of the planned route A and another route B obtained from the cache according to the following formula (1):

[0088] p et1 ≤p st2 ||p et2 ≤p st1 (1)

[0089] In the formula, p st1 and p et1 They are the estimated start time and the estimated end time of route A.

[0090] p st2 and p et2 They are the estimated start time and estimated end time of a route obtained from the cache respectively.

[0091] When formula (1) holds true, it is determined that the planned route A and other routes B have a time association, and it is necessary to add the other route B information and the corresponding ship information to the planned route A queue;

[0092] Step 5-3: Perform the time association judgment of step 5-2 on the planned route A and each of the remaining routes in the cache.

[0093] Step 6: Calculate the static safety distance: For each other route B in the planned route A queue, calculate the static safety distance from the planned route A.

[0094] The above static safety distance includes the static basic safety distance db and the static load safety distance dl. The calculation formulas for db and dl are:

[0095]

[0096] dl=max(h1,h2)×0.01852

[0097] Where l1, w1 and h1 are the length, width and deadweight tonnage of the planned route A respectively.

[0098] l2, w2 and h2 are the length, width and deadweight tonnage of the ship on other route B respectively.

[0099] Step 7, route spatiotemporal interference calculation: Based on the static safety distance calculated in step 6, perform spatiotemporal collision analysis and calculation on each segment of planned route A and each segment of every other route B in the planned route A queue to confirm whether there is a possibility of interference between planned route A and all other routes B; when there is no interference between each segment of planned route A and each segment of every other route B in the planned route A queue, it is determined that planned route A has passed the inspection, the planned route A queue is cleared, and planned route A is stored in the cache.

[0100] The above-mentioned route space-time interference calculation method includes the following steps.

[0101] Step 7-1, calculate the dynamic safety distance dv of the flight segment: select a flight segment a from the planned route A, and select a flight segment b of another route B from the planned route A queue, and calculate the dynamic safety distance dv of the flight segment a and the flight segment b, specifically:

[0102]

[0103] in:

[0104]

[0105] Where dv is in nautical miles.

[0106] v sec It is the larger value of the speed in segment a and segment b.

[0107] x f1 ,y f1 ,t f1 、x f2 ,y f2 and t f2 They are respectively the starting abscissa, starting ordinate, starting time, ending abscissa, ending ordinate and ending time of segment a.

[0108] x s1 ,y s1 ,t s1 、x s2 ,y s2 and t s2 They are respectively the starting abscissa, starting ordinate, starting time, ending abscissa, ending ordinate and ending time of segment b.

[0109] Step 7-2: Calculate the safety distance d sec , the specific calculation formula is:

[0110] d sec =db+max(dl,dv)

[0111] Step 7-3: Calculate the dynamic distance d between two ships in segment a and segment b within a set time t; where t f1 ≤t≤t f2 And t s1 ≤t≤t s2 .

[0112] The ship corresponding to segment a within the set time t (preferably 3 seconds) is regarded as a circle. At this time, the start coordinates and end coordinates of segment a are both the coordinates of the corresponding center of the circle; in addition, the ship corresponding to segment b is regarded as a point, and the calculation formula of the dynamic distance d between the two ships is:

[0113]

[0114] in:

[0115]

[0116]

[0117] In the formula, v sx and v sy is the velocity vector of the ship in the x and y directions corresponding to segment a.

[0118] v fx and v fy is the velocity vector of the ship in the x and y directions corresponding to segment b.

[0119] Step 7-4: A collision interference analysis: The dynamic distance d between the two ships obtained in step 7-3 is compared with the safety distance d obtained in step 7-2. sec For comparison, specifically:

[0120] When d>d sec Go to step 7-5.

[0121] When d≤d sec When , it indicates that the two ships in segment a and segment b may collide and interfere within the set time t, the planned route A fails the test, and subsequent tests are stopped.

[0122] Step 7-5, secondary collision interference analysis: increase the set time t, and repeat steps 7-3 to 7-4 until the set time t reaches the end time of the operating time range; when the set time t reaches the end time of the operating time range and stops, it is still d>d sec , it means that there is no collision interference between the two ships in segment a and segment b.

[0123] Step 7-6, cyclic collision interference analysis: repeat steps 7-3 to 7-5, and perform collision interference analysis on all segments in planned route A and all segments of all other routes B; when there is no interference between each segment of planned route A and each segment of every other route B in the planned route A queue, it is determined that the planned route A has passed the inspection, the planned route A queue is cleared, and the ship information and route information of planned route A are stored in the cache.

[0124] The present invention can detect interference on planned multi-ship routes, and then give the detection results to achieve the method of adjusting the navigation route and avoiding collision. The method first loads the basic information of the ship and the planned route information, then converts the coordinates of the route into plane coordinates, combines the ship information and the route information to perform accessibility calculation and time period validity calculation, and when the route passes the validity verification, calculates the ship safety distance to obtain the ship safety distance, and combines the ship safety distance to perform the time and space interference calculation of the two routes in turn, and finally gives the feedback result to adjust the planned ship route.

[0125] The preferred embodiments of the present invention are described in detail above; however, the present invention is not limited to the specific details in the above embodiments. Within the technical concept of the present invention, various equivalent transformations can be made to the technical solutions of the present invention, and these equivalent transformations all belong to the protection scope of the present invention.

Claims

1. A method for detecting interference with a ship route, characterized in that: The steps include: Step 1: Loading ship data: Loading static data of the ship to be detected; Step 2, route data loading: Load the planned route A data of the ship to be inspected; the planned route A data includes a number of waypoint information arranged in chronological order; each waypoint information includes the waypoint coordinates and the estimated arrival time; Step 3, coordinate conversion: convert the coordinates of each waypoint loaded in step 2 into plane coordinates; Step 4, accessibility judgment: two adjacent waypoints in the planned route A data form a segment, and the average speed of each segment is calculated according to the waypoint information at both ends of each segment, and the average speed of the segment is compared with the maximum speed of the ship to be detected; If the average speed of a section is greater than the maximum speed of the ship to be tested, it is determined that the planned route A is unreachable, the test fails, and subsequent tests are stopped; otherwise, it is determined that the planned route A is reachable, and step 5 is entered; Step 5: Time period validity judgment: For the planned route A that has passed the accessibility test, determine whether it is possible for it to appear at the same time as other routes; Each other route B that may appear at the same time as the planned route A is added to the queue of the planned route A; Step 6, static safety distance calculation: for each other route B in the planned route A queue, the static safety distance from the planned route A is calculated; Step 6, static safety distance calculation: According to the static safety distance calculated in step 6, each segment of planned route A and each segment of every other route B in the planned route A queue are subjected to space-time collision analysis and calculation to confirm whether there is a possibility of interference between planned route A and all other routes B; when each segment of planned route A and each segment of every other route B in the planned route A queue do not interfere with each other, it is determined that planned route A has passed the inspection, the planned route A queue is cleared, and planned route A is stored in the cache.

2. The ship route interference detection method according to claim 1 is characterized in that: In step 1, the static data of the ship to be detected includes MMSI, length, width, maximum speed, draft and deadweight tonnage; wherein the draft and deadweight tonnage are the actual draft and deadweight tonnage of the ship to be detected when sailing along the planned route.

3. The ship route interference detection method according to claim 1 is characterized in that: The waypoint coordinates in step 2 are WGS-84 coordinates; the plane coordinates converted in step 3 are Gauss-Krüger coordinates.

4. The ship route interference detection method according to claim 1, characterized in that: In step 4, the calculation formula for the average speed vs of the flight segment is: in: ts=|eta1-eta2| Where, ds is the flight distance, unit: meter; ts is the duration of the flight segment, in seconds; (x g1 ,y g1 ) and (x g2 ,y g2 ) are the plane coordinates of the waypoints at both ends of the flight segment; eta1 and eta2 are the estimated arrival times of the waypoints at both ends of the flight segment.

5. The ship route interference detection method according to claim 1, characterized in that: In step 5, the method for determining the validity of the time period includes the following steps: Step 5-1, obtain other routes: obtain other routes from the cache; when there are other routes in the cache, go to step 5-2; when there are no other routes in the cache, it means that the planned route A that has passed the accessibility test is the first route, and there is no need to make a time association judgment with other routes, then the time period validity test of the planned route A passes, and the planned route A and the ship information are added to the cache, and the subsequent detection is stopped; Step 5-2, time association judgment: Compare the estimated start time and the estimated end time of the planned route A and another route B obtained from the cache according to the following formula (1): p et1 ≤p st2 ||p et2 ≤p st1 (1) In the formula, p st1 and p et1 They are the estimated start time and the estimated end time of route A; p st2 and p et2 They are the estimated start time and estimated end time of a route obtained from the cache respectively; When formula (1) holds true, it is determined that the planned route A and other routes B have a time association, and it is necessary to add the other route B information and the corresponding ship information to the planned route A queue; Step 5-3: Perform the time association judgment of step 5-2 on the planned route A and each of the remaining routes in the cache.

6. The ship route interference detection method according to claim 1, characterized in that: In step 6, the static safety distance includes the static basic safety distance db and the static load safety distance dl. The calculation formulas for db and dl are: dl=max(h1,h2)×0.01852 In the formula, l1, w1 and h1 are the length, width and deadweight tonnage of the planned route A respectively; l2, w2 and h2 are the length, width and deadweight tonnage of the ship on other route B respectively.

7. The ship route interference detection method according to claim 6, characterized in that: In step 7, the route space-time interference calculation method includes the following steps: Step 7-1, calculate the dynamic safety distance dv of the flight segment: select a flight segment a from the planned route A, and select a flight segment b of another route B from the planned route A queue, and calculate the dynamic safety distance dv of the flight segment a and the flight segment b; Step 7-2: Calculate the safety distance d sec , the specific calculation formula is: d sec =db+max(dl,dv) Step 7-3: Calculate the dynamic distance d between two ships in segment a and segment b within a set time t; where t f1 ≤t≤t f2 And t s1 ≤t≤t s2 ; Step 7-4: A collision interference analysis: The dynamic distance d between the two ships obtained in step 7-3 is compared with the safety distance d obtained in step 7-2. sec For comparison, specifically: When d>d sec When , go to step 7-5; When d≤d sec When , it indicates that the two ships in segment a and segment b may collide and interfere within the set time t, the planned route A fails the test, and the subsequent test is stopped; Step 7-5, secondary collision interference analysis: increase the set time t, and repeat steps 7-3 to 7-4 until the set time t reaches the end time of the operating time range; when the set time t reaches the end time of the operating time range and stops, it is still d>d sec , it means that there is no collision interference between the two ships in segment a and segment b; Step 7-6, cyclic collision interference analysis: repeat steps 7-3 to 7-5, and perform collision interference analysis on all segments in planned route A and all segments of all other routes B; when there is no interference between each segment of planned route A and each segment of every other route B in the planned route A queue, it is determined that the planned route A has passed the inspection, the planned route A queue is cleared, and the ship information and route information of planned route A are stored in the cache.

8. The ship route interference detection method according to claim 7 is characterized in that: In step 7-1, the calculation formula for the dynamic safety distance dv of the flight segment is: in: Where, the unit of dv is nautical miles; v sec is the larger value of the speed between segment a and segment b; x f1 ,y f1 ,t f1 、x f2 ,y f2 and t f2 They are the starting abscissa, starting ordinate, starting time, ending abscissa, ending ordinate and ending time of segment a respectively; x s1 ,y s1 ,t s1 、x s2 ,y s2 and t s2 They are respectively the starting abscissa, starting ordinate, starting time, ending abscissa, ending ordinate and ending time of segment b.

9. The ship route interference detection method according to claim 8, characterized in that: In step 7-3, the calculation formula of the dynamic distance d between the two ships is: in: In the formula, v sx and v sy is the velocity vector of the ship in the x and y directions corresponding to segment a; v fx and v fy is the velocity vector of the ship in the x and y directions corresponding to segment b.

10. The ship route interference detection method according to claim 7, characterized in that: In step 7-3, the time t is set to 3 seconds.

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