Ship navigation anti-collision early warning system and device

Abstract

The invention discloses a ship sailing anti-collision early warning system and device, and relates to the technical field of ship sailing, the ship sailing anti-collision early warning system comprises a limiting seat mounted on a ship body, a transverse swing piece is hinged to the upper portion of the limiting seat, and protruding plates are arranged on the two edges of the end, away from the limiting seat, of the transverse swing piece; a longitudinal swing beam is hinged between one ends of the two protruding plates, a monitoring machine is installed at one end of the longitudinal swing beam, and impurity removing mechanisms used for cleaning garbage around the monitoring machine are arranged on the opposite sides of the two protruding plates. According to the ship navigation anti-collision early warning system and device, a servo motor drives a gear and a connecting rod mechanism, repeated swing of the monitoring machine in the transverse direction and the longitudinal direction is achieved, the monitoring range is expanded, the purpose of multi-direction angle monitoring is achieved, the monitoring machine can cover a larger space area, and the monitoring efficiency is improved. The monitoring early warning capability of the ship is effectively improved, the monitoring machine can flexibly swing no matter in the transverse direction or the longitudinal direction, and monitoring comprehensiveness and accuracy are ensured.

Description

Technical Field

[0001] The present invention relates to the field of ship navigation technology, and in particular to a ship navigation anti-collision warning system and device. Background Art

[0002] With the development of the maritime industry, ship navigation safety has received increasing attention. As an important navigation safety aid, ship navigation collision avoidance warning systems and devices primarily monitor the vessel's surroundings, promptly identify potential collision risks, and issue early warnings to ensure safe navigation. These systems typically include a monitoring unit, a drive unit, a data processing module, and other components. They provide comprehensive monitoring of the vessel's surroundings, providing real-time, accurate environmental information to ship operators.

[0003] However, existing ship navigation collision avoidance warning systems and devices have certain defects in performance and functionality. First, the monitoring range is limited and cannot fully cover the complex environment around the ship, which easily leads to monitoring blind spots. Second, when processing multi-source heterogeneous data, the system has poor spatiotemporal synchronization, which affects the comprehensiveness and real-time nature of environmental perception. In addition, the existing system has low accuracy in target detection and trajectory prediction, especially in complex scenarios, which can easily lead to misjudgments. Finally, in terms of decision-making and path optimization, the existing system is not intelligent enough and cannot effectively achieve intelligent generation of avoidance paths and high-precision execution of rudder angle commands, affecting the navigation safety of ships. Therefore, it is necessary to develop a new type of ship navigation collision avoidance warning system and device to address the shortcomings of existing technologies. Summary of the Invention

[0004] The purpose of the present invention is to provide a system and equipment for sensing the surrounding environment of a ship during navigation, so as to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a ship navigation anti-collision warning device, comprising a limit seat installed on the hull, the upper part of the limit seat being hinged with a transverse swing member, and the two edges of the transverse swing member at one end away from the limit seat are provided with raised plates, a longitudinal swing beam is hinged between one ends of the two raised plates, a monitoring machine is installed at one end of the longitudinal swing beam, and a debris removal mechanism for cleaning garbage around the monitoring machine is provided on the opposite sides of the two raised plates, a servo motor is installed at the bottom of the limit seat, a first cavity and a second cavity are provided in the limit seat, and the output shaft of the servo motor is located in the first cavity and is connected to a longitudinal and transverse swing drive mechanism for driving the monitoring machine to perform multi-directional monitoring.

[0006] The longitudinal and transverse swing driving mechanism includes a limiting shaft connected to the output shaft of the servo motor, the upper end of the limiting shaft rotates through the interior of the first cavity and is connected to the main gear, one side of the main gear is engaged with a gear plate, the gear plate is rotatably set on the top side of the limiting seat, and the upper part of the gear plate is hinged with an eccentric rod, the other end of the eccentric rod is hinged to the upper part of the transverse swing member, the outside of the limiting shaft is located in the first cavity and a gear column is provided, one side of the gear column is engaged with a spur rack, one end of the spur rack is connected to a moving rod, the moving rod slides horizontally through the inner side of the first cavity and is located in the second cavity and is connected to a third piston block, and the air pressure of the second cavity is compressed and extracted to transmit it to the transverse swing member, thereby realizing the longitudinal swing monitoring of the monitoring machine.

[0007] Preferably, the transverse rocking member includes a transverse rocking beam hinged to the upper part of the limit seat, a third cavity is provided in the transverse rocking beam, a first piston block is slidably provided in the third cavity, one side of the first piston block is connected to a movable shaft, one end of the movable shaft slides laterally through the inner side of the third cavity and is connected to a vertical rod, the upper end of the vertical rod is connected to a first connecting rod, and the other end of the first connecting rod is hinged to the upper part of the longitudinal rocking beam.

[0008] Preferably, the bottom of the yaw beam is also connected to an air pipe communicating with the interior of the third cavity, and the other end of the air pipe is connected to one side of the limit seat and communicates with the interior of the second cavity.

[0009] Preferably, the debris removal mechanism includes a rocking plate hinged to one side of the raised plate and a fourth cavity arranged inside the raised plate, a disc is provided for rotation inside the fourth cavity, one end of the disc is connected to one side of the longitudinal rocking beam, so that the longitudinal rocking beam drives the disc to rotate when it swings, one side of the disc is hinged to an eccentric shaft, the other end of the eccentric shaft is hinged to a second piston block adapted to the internal size of the fourth cavity, a protrusion is provided on one side of the second piston block, the debris removal mechanism also includes a limiting groove provided on the outer side of the raised plate, one end of the protrusion slides horizontally and extends out of the limiting groove and is hinged to a second connecting rod, and the other end of the second connecting rod is hinged to the rocking plate.

[0010] Preferably, the swing plate includes a limit plate hinged to the outer side of the raised plate, the other end of the second connecting rod is hinged to the side of the limit plate, and the other side of the limit plate is integrally formed with a straight plate, and the other end of the straight plate is provided with a plate body, and the plate body is located on one side of the monitoring machine.

[0011] Preferably, the plate body is densely covered with buffer holes.

[0012] A ship navigation collision avoidance warning system, which is used to implement the ship navigation collision avoidance warning device described above, and the monitoring machine includes:

[0013] Multi-source heterogeneous data fusion module: used to collect ship radar data, AIS data, GPS positioning information, meteorological data and hydrological data in real time, and achieve data spatiotemporal synchronization through multimodal data alignment algorithm;

[0014] Dynamic target recognition and trajectory prediction module: Based on a deep learning model, it performs real-time target detection of surrounding ships and obstacles and predicts their movement trajectories within the next 5 to 30 seconds;

[0015] Risk assessment and collision warning module: generates collision probability levels through a dynamic risk scoring algorithm based on ship maneuvering parameters and environmental constraints;

[0016] The multi-level warning response module includes visual alarms, auditory alarms, voice prompts, and automatic sending of AIS emergency broadcast signals, and supports hierarchical warning strategies.

[0017] Preferably, the multi-source heterogeneous data fusion module includes a data preprocessing submodule and a spatiotemporal alignment submodule, wherein the data preprocessing submodule uses Kalman filtering to suppress noise on the original sensor data, and the spatiotemporal alignment submodule realizes unified representation of multi-source data through timestamp calibration and coordinate system conversion algorithm.

[0018] Preferably, the dynamic target recognition and trajectory prediction module includes a target detection submodule and a trajectory prediction submodule, wherein the target detection submodule realizes real-time recognition of targets such as ships, buoys, and icebergs based on the YOLOv8 model, and the trajectory prediction submodule adopts the Transformer-GRU hybrid model to combine the target historical trajectory and environmental interference factors for long-term trajectory prediction.

[0019] Preferably, the collaborative decision-making and path optimization module includes an avoidance strategy generation submodule and a path execution submodule, wherein the avoidance strategy generation submodule simulates the avoidance behavior of the ship in a complex environment based on the reinforcement learning algorithm, and the path execution submodule converts the optimized path into a ship rudder angle instruction through the PID control algorithm, and performs closed-loop feedback control with the ship's automatic rudder system.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. This ship navigation collision avoidance warning system and device uses a servo motor to drive the gear and connecting rod mechanism to achieve repeated lateral and longitudinal swings of the monitoring machine, thereby expanding the monitoring range and achieving the purpose of multi-directional angle monitoring. This design enables the monitoring machine to cover a larger spatial area, effectively improving the ship's monitoring and early warning capabilities. Whether it is horizontally or vertically, the monitoring machine can swing flexibly, ensuring the comprehensiveness and accuracy of monitoring, and greatly improving the safety of the ship during navigation.

[0022] 2. This ship navigation collision avoidance warning system and device effectively addresses the issue of debris clinging to the monitoring device through the ingenious design of an eccentrically driven second piston block and a pendulum plate. During operation, the pendulum plate swings back and forth, removing debris from the surrounding area and maintaining a clean monitoring area. This design reduces the impact of debris on the monitoring device's operation and ensures the accuracy and reliability of monitoring data. Consequently, it not only improves monitoring efficiency but also effectively extends the life of the monitoring device, further enhancing the ship's self-cleaning and protection capabilities in complex environments.

[0023] 3. The ship navigation collision avoidance warning system and device achieves spatiotemporal synchronization of radar, AIS, GPS, meteorological and hydrological data through a multi-source heterogeneous data fusion module, significantly improving the comprehensiveness and real-time nature of environmental perception; the dynamic target recognition and trajectory prediction module combines the YOLOv8 and Transformer-GRU models to effectively improve target detection accuracy and trajectory prediction reliability in complex scenarios; the risk assessment and collision warning module uses a dynamic risk scoring algorithm to accurately quantify the probability of collision and support a graded warning strategy to enhance the scientific nature of decision-making; the collaborative decision-making and path optimization module uses reinforcement learning and PID control to achieve intelligent generation of avoidance paths and high-precision execution of rudder angle commands. The overall system has significant technical advantages in improving collision avoidance efficiency, reducing accident risks, and enhancing navigation safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural schematic diagram of the present invention;

[0025] Figure 2 This is a schematic structural diagram of the horizontal swing member of the present invention;

[0026] Figure 3 Schematic diagram of the internal structure of the yaw beam of the present invention;

[0027] Figure 4 It is a structural schematic diagram of the longitudinal and transverse swing driving mechanism of the present invention;

[0028] Figure 5 It is a structural schematic diagram of the impurity removal mechanism of the present invention;

[0029] Figure 6 Schematic diagram of the internal structure of the raised plate of the present invention.

[0030] In the figure: 1. Limit seat; 11. First cavity; 12. Second cavity; 2. Horizontal swing member; 21. Horizontal swing beam; 22. Third cavity; 23. First piston block; 24. Moving shaft; 25. Vertical rod; 26. First connecting rod; 27. Air pipe; 3. Raised plate; 4. Longitudinal swing beam; 5. Monitoring machine; 6. Debris removal mechanism; 61. Swing plate; 611. Limit plate; 612. Straight plate; 613. Plate body; 614. Buffer hole; 62. Fourth cavity; 63. Disc; 64. Eccentric shaft; 65. Second piston block; 66. Bump; 67. Limit groove; 68. Second connecting rod; 7. Servo motor; 8. Longitudinal and horizontal swing driving mechanism; 81. Limit shaft; 82. Main gear; 83. Gear disc; 84. Eccentric rod; 85. Gear column; 86. Straight rack; 87. Moving rod; 88. Third piston block. DETAILED DESCRIPTION

[0031] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0032] Example 1

[0033] See also Figure 1 In an embodiment of the present invention, a ship navigation anti-collision warning device includes a limit seat 1 installed on the hull, a transverse swing member 2 is hingedly connected to the upper part of the limit seat 1, and a raised plate 3 is provided at both edges of the end of the transverse swing member 2 away from the limit seat 1, a longitudinal swing beam 4 is hinged between one ends of the two raised plates 3, a monitoring machine 5 is installed at one end of the longitudinal swing beam 4, and a debris removal mechanism 6 for cleaning garbage around the monitoring machine 5 is provided on the opposite sides of the two raised plates 3. A servo motor 7 is installed at the bottom of the limit seat 1, and a first cavity 11 and a second cavity 12 are provided in the limit seat 1. The output shaft of the servo motor 7 is located in the first cavity 11 and is connected to a longitudinal and transverse swing driving mechanism 8 for driving the monitoring machine 5 to perform multi-directional monitoring.

[0034] See also Figure 1 and Figure 4In the embodiment of the present invention, the longitudinal and transverse swing driving mechanism 8 includes a limiting shaft 81 connected to the output shaft of the servo motor 7, the upper end of the limiting shaft 81 rotates through the interior of the first cavity 11 and is connected to the main gear 82, one side of the main gear 82 is engaged with a gear plate 83, the gear plate 83 is rotatably set on the top side of the limiting seat 1, and the upper part of the gear plate 83 is hinged with an eccentric rod 84, the other end of the eccentric rod 84 is hinged to the upper part of the transverse swing member 2, the outside of the limiting shaft 81 is located in the first cavity 11 and is provided with a gear column 85, one side of the gear column 85 is engaged with a straight rack 86, one end of the straight rack 86 is connected to a moving rod 87, the moving rod 87 slides horizontally through the inner side of the first cavity 11 and is located in the second cavity 12 and is connected to the third piston block 88, and the air pressure of the second cavity 12 is compressed and extracted to be transmitted to the transverse swing member 2, thereby realizing the longitudinal swing monitoring of the monitoring machine 5.

[0035] In this embodiment, when in use, the servo motor 7 drives the limit shaft 81 to rotate back and forth repeatedly, the limit shaft 81 drives the main gear 82 to rotate, the main gear 82 drives the gear plate 83 engaged with it to rotate, and the gear plate 83 causes the eccentric rod 84 to perform eccentric movement. Under the rotation of the horizontal pendulum 2, the eccentric rod 84 will cause the horizontal pendulum 2 to swing back and forth repeatedly laterally, thereby causing the monitoring machine 5 at one end of the longitudinal pendulum beam 4 to swing back and forth repeatedly laterally.

[0036] In the second embodiment, based on the first embodiment, a longitudinal swing monitoring device of the monitoring machine 5 is additionally provided, specifically as follows:

[0037] See also Figure 1-Figure 3 In the embodiment of the present invention, the lateral rocking member 2 includes a lateral rocking beam 21 hinged to the upper part of the limit seat 1, a third cavity 22 is provided in the lateral rocking beam 21, a first piston block 23 is slidably provided in the third cavity 22, one side of the first piston block 23 is connected to a movable shaft 24, one end of the movable shaft 24 slides laterally through the inner side of the third cavity 22 and is connected to a vertical rod 25, the upper end of the vertical rod 25 is connected to a first connecting rod 26, and the other end of the first connecting rod 26 is hinged to the upper part of the longitudinal rocking beam 4.

[0038] See also Figure 1-Figure 3 In this embodiment of the present invention, the bottom of the yaw beam 21 is also connected to an air pipe 27 that communicates with the interior of the third cavity 22 , and the other end of the air pipe 27 is connected to one side of the limit seat 1 and communicates with the interior of the second cavity 12 .

[0039] In the embodiment, the limiting shaft 81 rotates, and simultaneously drives the gear column 85 to rotate, the gear column 85 drives the straight rack 86 to move back and forth transversely repeatedly, and further drives the moving rod 87 to move back and forth, the third piston block 88 at one end of the moving rod 87 compresses or extracts the air pressure in the second cavity 12 in the limiting seat 1, and then is conducted to the third cavity 22 in the yaw beam 21 through the gas conveying pipe 27 to compress or extract the air pressure in the third cavity 22, thereby driving the first piston block 23 to move back and forth repeatedly, the first piston block 23 drives the moving shaft 24 to move back and forth repeatedly, under the rotation of the longitudinal beam 4, the first connecting rod 26 at the upper end of the vertical rod 25 drives the longitudinal beam 4 to move back and forth longitudinally repeatedly, thereby making the monitoring machine 5 move back and forth longitudinally repeatedly, enabling the monitoring machine 5 to move back and forth in the transverse direction and the longitudinal direction, improving the monitoring and early warning range of the monitoring machine 5, and thereby improving the safety of the ship.

[0040] In the embodiment, the device for cleaning the garbage around the monitoring machine 5 is additionally arranged on the basis of the embodiment one and the embodiment two, and specifically as follows.

[0041] Please refer to Figure 1 and Figure 5-Figure 6 In the embodiment, the purifying mechanism 6 comprises the swing plate 61 hinged to one side of the convex plate 3 and the fourth cavity 62 arranged inside the convex plate 3, the disc 63 is rotatably arranged in the fourth cavity 62, one end of the disc 63 is connected with one side of the longitudinal beam 4, the disc 63 is driven to rotate when the longitudinal beam 4 swings, the eccentric shaft 64 is hinged to one side of the disc 63, the other end of the eccentric shaft 64 is hinged to the second piston block 65 matched with the internal size of the fourth cavity 62, the protrusion 66 is arranged on one side of the second piston block 65, the purifying mechanism 6 further comprises the limiting groove 67 arranged on one side outside the convex plate 3, one end of the protrusion 66 extends into the limiting groove 67 and is hinged to the second connecting rod 68, the other end of the second connecting rod 68 is hinged to the swing plate 61.

[0042] Please refer to Figure 1 and Figure 5-Figure 6 In the embodiment, the swing plate 61 comprises the limiting plate 611 hinged to one side outside the convex plate 3, the other end of the second connecting rod 68 is hinged to the side of the limiting plate 611, and the straight plate 612 is integrally arranged on the other side of the limiting plate 611, the plate body 613 is arranged on the other end of the straight plate 612, and the plate body 613 is located on one side of the monitoring machine 5.

[0043] In this embodiment, when the first connecting rod 26 drives the longitudinal swing beam 4 to swing up and down between the two convex plates 3, the longitudinal swing beam 4 drives the disc 63 to rotate back and forth repeatedly, so that the eccentric shaft 64 drives the second piston block 65 to slide back and forth repeatedly in the fourth cavity 62, and the protrusion 66 on the second piston block 65 drives the swing plate 61 to swing back and forth, and the plate body 613 on the swing plate 61 can swing away the garbage around the monitoring machine 5, preventing the garbage from adhering to the monitoring machine 5 and affecting the monitoring and early warning effect of the monitoring machine 5.

[0044] Further, referring to Figure 5 In the embodiment of the present application, the plate body 613 is densely covered with buffer holes 614, and when the plate body 613 swings, water passes through the buffer holes 614, reducing the impact of water on the plate body 613 and protecting the plate body 613.

[0045] Embodiment four

[0046] Further, a ship navigation anti-collision early warning system, the ship navigation anti-collision early warning system comprises a monitoring machine 5, the monitoring machine 5 comprises:

[0047] A multi-source heterogeneous data fusion module is configured to collect radar data, AIS data, GPS positioning information, meteorological data and hydrological data of the ship in real time, and realize time and space synchronization of the data through a multi-modal data alignment algorithm;

[0048] A dynamic target recognition and trajectory prediction module is configured to perform real-time target detection on surrounding ships and obstacles based on a deep learning model, and predict the motion trajectory of the surrounding ships and obstacles within 5 to 30 seconds in the future;

[0049] A risk assessment and collision warning module is configured to generate a collision probability level through a dynamic risk scoring algorithm according to ship maneuvering characteristic parameters and environmental constraint conditions;

[0050] A multi-level early warning response module is configured to include visual alarm, auditory alarm, voice prompt and automatic sending of AIS emergency broadcast signal, and support a hierarchical early warning strategy.

[0051] Preferably, the multi-source heterogeneous data fusion module comprises a data preprocessing submodule and a time and space alignment submodule, wherein the data preprocessing submodule is configured to perform noise suppression on original sensor data by using Kalman filtering, and the time and space alignment submodule is configured to realize unified representation of multi-source data through a time stamp calibration and coordinate system conversion algorithm.

[0052] Preferably, the dynamic target recognition and trajectory prediction module comprises a target detection submodule and a trajectory prediction submodule, wherein the target detection submodule is configured to realize real-time recognition of ships, buoys, icebergs and other targets based on a YOLOv8 model, and the trajectory prediction submodule is configured to combine target historical trajectories and environmental interference factors to perform long-term trajectory prediction by using a Transformer-GRU hybrid model.

[0053] Preferably, the collaborative decision-making and path optimization module includes an avoidance strategy generation submodule and a path execution submodule, wherein the avoidance strategy generation submodule simulates the avoidance behavior of the ship in a complex environment based on the reinforcement learning algorithm, and the path execution submodule converts the optimized path into a ship rudder angle instruction through the PID control algorithm, and performs closed-loop feedback control with the ship's automatic rudder system.

[0054] Working principle: The servo motor 7 drives the limit shaft 81 to rotate back and forth repeatedly, which in turn drives the main gear 82 to rotate. The main gear 82 drives the gear plate 83 meshing with it to rotate. The gear plate 83 causes the eccentric rod 84 to perform eccentric movement. Under the rotation of the transverse pendulum member 2, the eccentric rod 84 causes the transverse pendulum member 2 to swing back and forth horizontally repeatedly, thereby causing the monitoring machine 5 at one end of the longitudinal pendulum beam 4 to swing back and forth horizontally repeatedly.

[0055] Furthermore, when the limit shaft 81 rotates, it also drives the gear column 85 to rotate. The gear column 85 drives the spur rack 86 meshing with it to move back and forth horizontally, thereby driving the moving rod 87 to move back and forth. The third piston block 88 at one end of the moving rod 87 will compress or extract the air pressure in the second cavity 12 in the limit seat 1, and then transmit it to the third cavity 22 in the lateral swing beam 21 through the air supply pipe 27, compressing or extracting the air pressure in the third cavity 22, thereby driving the first piston block 23 to move back and forth continuously. The first piston block 23 drives the moving shaft 24 to move repeatedly. Under the rotation of the longitudinal swing beam 4, the first connecting rod 26 at the upper end of the vertical rod 25 will drive the longitudinal swing beam 4 to swing back and forth continuously, thereby causing the monitoring machine 5 to swing back and forth repeatedly, so that the monitoring machine 5 can monitor both lateral and longitudinal swings, thereby improving the monitoring and early warning range of the monitoring machine 5, thereby improving the safety of the ship.

[0056] When the first connecting rod 26 drives the longitudinal swing beam 4 to swing up and down between the two raised plates 3, the longitudinal swing beam 4 will drive the disc 63 to rotate back and forth repeatedly, so that the eccentric shaft 64 drives the second piston block 65 to slide back and forth repeatedly in the fourth cavity 62, and the protrusion 66 on the second piston block 65 will cause the swing plate 61 to swing back and forth. The plate body 613 on the swing plate 61 can swing away the garbage around the monitoring machine 5 to prevent the garbage from adhering to the monitoring machine 5 and affecting the monitoring and early warning effect of the monitoring machine 5.

[0057] Meanwhile, the contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0058] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0059] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A ship navigation anti-collision warning device, comprising a limit seat (1) installed on the hull, characterized in that: The upper part of the limit seat (1) is hinged with a transverse swing member (2), and a raised plate (3) is provided at both edges of the end of the transverse swing member (2) away from the limit seat (1). A longitudinal swing beam (4) is hinged between one end of the two raised plates (3), and a monitoring machine (5) is installed at one end of the longitudinal swing beam (4). The two raised plates (3) are provided with a cleaning mechanism (6) for cleaning garbage around the monitoring machine (5) on the opposite sides. A servo motor (7) is installed at the bottom of the limit seat (1), and a first cavity (11) and a second cavity (12) are provided in the limit seat (1). The output shaft of the servo motor (7) is located in the first cavity (11) and is connected to a longitudinal and transverse swing driving mechanism (8) for driving the monitoring machine (5) to perform multi-directional monitoring. The longitudinal and transverse swing driving mechanism (8) includes a limit shaft (81) connected to the output shaft of the servo motor (7), the upper end of the limit shaft (81) rotates through the interior of the first cavity (11) and is connected to a main gear (82), one side of the main gear (82) is engaged with a gear plate (83), the gear plate (83) is rotatably arranged on the top side of the limit seat (1), and the upper part of the gear plate (83) is hinged with an eccentric rod (84), the other end of the eccentric rod (84) is hinged to the upper part of the transverse swing member (2), and the limit shaft The outside of (81) is provided with a gear column (85) in the first cavity (11), one side of the gear column (85) is meshed with a straight rack (86), one end of the straight rack (86) is connected to a moving rod (87), the moving rod (87) slides horizontally through the inner side of the first cavity (11) and is located in the second cavity (12) and is connected to a third piston block (88), and the air pressure of the second cavity (12) is compressed and extracted to be transmitted to the horizontal swing member (2), thereby realizing the longitudinal swing monitoring of the monitoring machine (5).

2. A ship navigation collision avoidance warning device according to claim 1, characterized in that: The transverse swing member (2) includes a transverse swing beam (21) hinged to the upper part of the limit seat (1), a third cavity (22) is provided in the transverse swing beam (21), a first piston block (23) is slidably provided in the third cavity (22), one side of the first piston block (23) is connected to a movable shaft (24), one end of the movable shaft (24) slides transversely through the inner side of the third cavity (22) and is connected to a vertical rod (25), the upper end of the vertical rod (25) is connected to a first connecting rod (26), and the other end of the first connecting rod (26) is hinged to the upper part of the longitudinal swing beam (4).

3. The ship navigation anti-collision warning device according to claim 2, characterized in that: The bottom of the lateral beam (21) is also connected to an air pipe (27) communicating with the interior of the third cavity (22), and the other end of the air pipe (27) is connected to one side of the limit seat (1) and communicates with the interior of the second cavity (12).

4. The ship navigation anti-collision warning device according to claim 1, characterized in that: The impurity removal mechanism (6) comprises a swing plate (61) hinged to one side of the raised plate (3) and a fourth cavity (62) arranged inside the raised plate (3). A disc (63) is rotatably arranged inside the fourth cavity (62). One end of the disc (63) is connected to one side of the longitudinal swing beam (4), so that the longitudinal swing beam (4) drives the disc (63) to rotate. One side of the disc (63) is hinged to an eccentric shaft (64). The other side of the eccentric shaft (64) is hinged to the eccentric shaft (64). The end of the fourth cavity (62) is hinged with a second piston block (65) adapted to the internal size of the fourth cavity (62), and a protrusion (66) is provided on one side of the second piston block (65). The impurity removal mechanism (6) also includes a limiting groove (67) provided on one side of the outside of the raised plate (3). One end of the protrusion (66) slides horizontally out of the limiting groove (67) and is hinged with a second connecting rod (68). The other end of the second connecting rod (68) is hinged on the swing plate (61).

5. The ship navigation anti-collision warning device according to claim 4, characterized in that: The swing plate (61) includes a limit plate (611) hinged to one side of the outside of the raised plate (3); the other end of the second connecting rod (68) is hinged to the side of the limit plate (611); and the other side of the limit plate (611) is integrally formed with a straight plate (612); the other end of the straight plate (612) is provided with a plate body (613); and the plate body (613) is located on one side of the monitoring machine (5).

6. The ship navigation anti-collision warning device according to claim 5, characterized in that: The plate body (613) is densely covered with buffer holes (614).

7. A ship navigation collision avoidance warning system, characterized by: The ship navigation collision avoidance warning system is used to implement the ship navigation collision avoidance warning device according to any one of claims 1 to 6, and is characterized in that the monitoring machine (5) includes: Multi-source heterogeneous data fusion module: used to collect ship radar data, AIS data, GPS positioning information, meteorological data and hydrological data in real time, and achieve data spatiotemporal synchronization through multimodal data alignment algorithm; Dynamic target recognition and trajectory prediction module: Based on a deep learning model, it performs real-time target detection of surrounding ships and obstacles and predicts their movement trajectories within the next 5 to 30 seconds; Risk assessment and collision warning module: generates collision probability levels through a dynamic risk scoring algorithm based on ship maneuvering parameters and environmental constraints; The multi-level warning response module includes visual alarms, auditory alarms, voice prompts, and automatic sending of AIS emergency broadcast signals, and supports hierarchical warning strategies.

8. A ship navigation collision avoidance warning system according to claim 7, characterized in that: The multi-source heterogeneous data fusion module includes a data preprocessing submodule and a spatiotemporal alignment submodule. The data preprocessing submodule uses Kalman filtering to suppress noise on raw sensor data, and the spatiotemporal alignment submodule realizes unified representation of multi-source data through timestamp calibration and coordinate system conversion algorithm.

9. The ship navigation collision avoidance warning system according to claim 7, characterized in that: The dynamic target recognition and trajectory prediction module includes a target detection submodule and a trajectory prediction submodule. The target detection submodule uses the YOLOv8 model to achieve real-time recognition of targets such as ships, buoys, and icebergs. The trajectory prediction submodule uses a Transformer-GRU hybrid model to combine the target's historical trajectory with environmental interference factors for long-term trajectory prediction.

10. The ship navigation collision avoidance warning system according to claim 7, characterized in that: The collaborative decision-making and path optimization module includes an avoidance strategy generation submodule and a path execution submodule. The avoidance strategy generation submodule simulates the avoidance behavior of the ship in a complex environment based on the reinforcement learning algorithm, and the path execution submodule converts the optimized path into a ship rudder angle command through the PID control algorithm, and performs closed-loop feedback control with the ship's automatic rudder system.

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