阅读说明：本技术 一种船舶航行风险预警方法、装置、终端设备及存储介质 (ship navigation risk early warning method and device, terminal device and storage medium ) 是由 王兴平 王远渊 李丹青 刘佳仑 马枫 于 2019-09-20 设计创作，主要内容包括：本申请适用于船舶航行安全监控技术领域,提供了一种船舶航行风险预警方法、装置、终端设备及存储介质,方法包括：获取船舶底部第一预设测量点到水底的第一距离H<Sub>S</Sub>和船舶顶部第二预设测量点到位于船舶上方的障碍物的第二距离H<Sub>h</Sub>,然后判断第一距离H<Sub>S</Sub>是否符合第一预警条件或第二距离H<Sub>h</Sub>是否符合第二预警条件,根据判断结果生成对应的控制指令和船舶航行风险的危险预警,并根据控制指令控制船舶航行。本申请通过实时获取水深、吃水深度和船舶底部到水底的第一距离等多种数据,对实时获取的数据进行计算,判断船舶是否存在航行风险,并根据风险的类型生成对应的危险预警,减轻了船舶驾驶人员的计算量,保证了运算的稳定和准确性,提高了判断的效率。(The application is suitable for the technical field of ship navigation safety monitoring, and provides a ship navigation risk early warning method, a device, terminal equipment and a storage medium, wherein the method comprises the following steps: obtaining a first distance H from a first preset measuring point at the bottom of a ship to the bottom of the ship S and a second distance H from a second predetermined measuring point at the top of the vessel to an obstacle located above the vessel h then, the first distance H is determined S Whether the first early warning condition or the second distance H is met h And if the second early warning condition is met, generating a corresponding control instruction and a danger early warning of the ship navigation risk according to the judgment result, and controlling the ship to navigate according to the control instruction. This application calculates the data that acquire in real time through multiple data such as the depth of water, draft and the first distance of boats and ships bottom to the bottom in real time, judges whether boats and ships have the risk of sailing to according to the dangerous early warning that the type generation of risk corresponds, alleviateed boats and ships navigating mate's calculated volume, guaranteed the stability and the accuracy of operation, improved the efficiency of judgement.)

1. A ship navigation risk early warning method is characterized by comprising the following steps:

Obtaining a first distance H from a first preset measuring point at the bottom of a ship to the bottom of the ship_Sand a second distance H from a second predetermined measuring point at the top of the vessel to an obstacle located above the vessel_h；

Judging the first distance H_SWhether the first early warning condition or the second distance H is met_hWhether a second early warning condition is met;

and generating a corresponding control instruction and a danger early warning of the ship navigation risk according to the judgment result, and controlling the ship to navigate according to the control instruction.

2. The method according to claim 1, wherein the first distance H from the first predetermined measuring point at the bottom of the ship to the water bottom is obtained_SAnd a second distance H from a second predetermined measuring point at the top of the vessel to an obstacle located above the vessel_hPreviously, comprising:

Obtaining draft H of a vessel₀the water depth H, the height of the barrier above the ship and the height of the ship;

Acquiring a first distance H from a first preset measuring point at the bottom of the ship to the bottom of the ship_Sand a second distance H from a second predetermined measuring point at the top of the vessel to an obstacle located above the vessel_hthe method comprises the following steps:

Obtaining the water depth H and the draft H₀The difference therebetween as the first distance H_S；

Obtaining the vessel height and the draft H₀the difference value is used as a third distance from a second preset measuring point at the top of the ship to the water surface;

Acquiring a difference between the height of the obstacle above the ship and the third distance as the distancesecond distance H_h。

3. Ship voyage risk early warning method according to claim 1, characterized in that the first distance H is determined_SWhether the first early warning condition or the second distance H is met_hwhether a second early warning condition is met or not includes:

When the first distance H is monitored_Swhen the distance is less than or equal to a first preset distance, the first distance H is judged_SAccording with a first early warning condition, judging that the ship has a grounding danger;

When the second distance H is monitored_hAnd when the distance is smaller than or equal to a second preset distance, judging that the second distance meets a second early warning condition, and judging that the ship has a water collision danger.

4. method for early warning of the risk of a ship sailing according to claim 3, characterized in that when the first distance H is monitored_SWhen the distance is less than or equal to a first preset distance, the first distance H is judged_SAccord with first early warning condition, judge that there is the danger of stranding the boats and ships, include:

If the first distance H_SLess than or equal to a first preset distance H_Sif the difference value between the ship and the first preset distance is smaller than or equal to a first preset threshold value, judging that the ship has a stranding danger and is low in danger, and determining that the ship is at a third-level stranding danger;

If the first distance H_SLess than or equal to a first preset distance H_SIf the difference value between the ship and the first preset distance is smaller than or equal to a second preset threshold value, judging that the ship has a stranding danger and is high in danger, and determining that the ship is a secondary stranding danger; wherein the second preset threshold is greater than the first preset threshold;

If the first distance H_SLess than or equal to a first preset distance H_Sif the difference value between the first preset distance and the first preset distance is smaller than or equal to a third preset threshold value, judging that the ship has a stranding danger and is high in danger, and determining that the ship is a first-level stranding danger; wherein the content of the first and second substances,the third preset threshold is greater than the second preset threshold.

5. Method for early warning of the risk of a ship sailing according to claim 3, characterized in that when the second distance H is monitored_hwhen being less than or equal to second preset distance, judge the second distance accords with second early warning condition, judges that there is the collision danger on water in boats and ships, include:

if the second distance H_hLess than or equal to a second preset distance H_hIf the difference value between the ship and the second preset distance is smaller than or equal to a fourth preset threshold value, judging that the ship has an overwater collision danger and is low in danger, and determining that the ship is a third-level collision danger;

If the second distance H_hLess than or equal to a second preset distance H_hIf the difference value between the ship and the second preset distance is smaller than or equal to a fifth preset threshold value, judging that the ship has a water collision risk and is high in risk, and determining that the ship is a secondary collision risk; wherein the fifth preset threshold is greater than the fourth preset threshold;

if the second distance H_hless than or equal to a second preset distance H_hIf the difference value between the first preset distance and the second preset distance is smaller than or equal to a sixth preset threshold value, determining that the ship has a water collision risk and is high in risk, and determining that the ship is a first-level collision risk; wherein the sixth preset threshold is greater than the fifth preset threshold.

6. the method according to claim 4 or 5, wherein the steps of generating a corresponding control command and a danger warning of the ship navigation risk according to the judgment result, and controlling the ship to navigate according to the control command comprise:

If the judgment result is at least one of the first-level collision danger and the first-level grounding danger, generating a corresponding first-level control instruction and a corresponding first-level collision danger early warning or first-level grounding danger early warning;

If the judgment result is at least one of the secondary collision danger and the secondary stranding danger, generating a corresponding secondary control instruction and corresponding secondary collision danger early warning or secondary stranding danger early warning;

And if the judgment result is at least one of the three-level collision danger and the three-level grounding danger, generating a corresponding three-level control instruction and corresponding three-level collision danger early warning or three-level grounding danger early warning.

7. The method according to claim 1, wherein after generating a corresponding control command and a risk warning of the ship's navigation risk according to the determination result and controlling the ship's navigation according to the control command, the method further comprises:

and sending the danger early warning to target terminal equipment.

8. a ship navigation risk early warning device is characterized by comprising:

The acquisition module is used for acquiring a first distance H from a first preset measurement point at the bottom of the ship to the bottom of the ship_SAnd a second distance H from a second predetermined measuring point at the top of the vessel to an obstacle located above the vessel_h；

A judgment module for judging the first distance H_SWhether the first early warning condition or the second distance H is met_hWhether a second early warning condition is met;

and the early warning module generates a corresponding control instruction and a danger early warning of the ship navigation risk according to the judgment result, and controls the ship to navigate according to the control instruction.

9. A terminal device comprising at least one processor and a memory communicatively connected to the at least one processor, the memory storing a computer program executable by the at least one processor, wherein the at least one processor, when executing the computer program, implements the method according to any of claims 1 to 7.

10. A computer-readable storage medium, in which a computer program is stored which, when being executed by at least one processor, carries out the method according to any one of claims 1 to 7.

Technical Field

The application belongs to the technical field of ship navigation safety monitoring, and particularly relates to a ship navigation risk early warning method and device, terminal equipment and a storage medium.

Background

When a ship is sailing, the water depth of a sailing water area and the draft of the ship can be dynamically changed due to the influence of factors such as tides, ocean currents, storms and the like, and the situation that safe sailing of the ship is threatened such as ship grounding or ship collision can occur.

In the prior art, the early warning mechanism for the ship navigation risk mostly adopts the modes of manually predicting the ship navigation parameter by means of manual experience or estimating the risk occurrence probability by means of an empirical formula, and the like.

Disclosure of Invention

The embodiment of the application provides a ship navigation risk early warning method, a ship navigation risk early warning device, terminal equipment and a storage medium, and can solve the problem that in the prior art, a ship navigation risk early warning mechanism has certain potential safety hazards due to the defects of low early warning efficiency, poor real-time performance, easy misjudgment and the like.

In a first aspect, an embodiment of the present application provides a ship voyage risk early warning method, including:

Obtaining a first distance H from a first preset measuring point at the bottom of a ship to the bottom of the ship_Sand a second distance H from a second predetermined measuring point at the top of the vessel to an obstacle located above the vessel_h；

Judging the first distance H_SWhether the first early warning condition or the second distance H is met_hwhether a second early warning condition is met;

And generating a corresponding control instruction and a danger early warning of the ship navigation risk according to the judgment result, and controlling the ship to navigate according to the control instruction.

In a possible implementation manner of the first aspect, the obtaining of the first preset measurement of the bottom of the shipfirst distance H from measuring point to water bottom_SAnd a second distance H from a second predetermined measuring point at the top of the vessel to an obstacle located above the vessel_hPreviously, comprising:

Obtaining draft H of a vessel₀The water depth H, the height of the barrier above the ship and the height of the ship;

Acquiring a first distance H from a first preset measuring point at the bottom of the ship to the bottom of the ship_SAnd a second distance H from a second predetermined measuring point at the top of the vessel to an obstacle located above the vessel_hThe method comprises the following steps:

Obtaining the water depth H and the draft H₀The difference therebetween as the first distance H_S；

Obtaining the vessel height and the draft H₀the difference value is used as a third distance from a second preset measuring point at the top of the ship to the water surface;

acquiring a difference between the height of the obstacle above the ship and the third distance as the second distance H_h。

In a possible implementation manner of the first aspect, the first distance H is determined_SWhether the first early warning condition or the second distance H is met_hwhether a second early warning condition is met or not includes:

When the first distance H is monitored_SWhen the distance is less than or equal to a first preset distance, the first distance H is judged_SAccording with a first early warning condition, judging that the ship has a grounding danger;

When the second distance H is monitored_hAnd when the distance is smaller than or equal to a second preset distance, judging that the second distance meets a second early warning condition, and judging that the ship has a water collision danger.

In a possible implementation manner of the first aspect, the first distance H is monitored when the first distance H is monitored_SWhen the distance is less than or equal to a first preset distance, the first distance H is judged_SAccord with first early warning condition, judge that there is the danger of stranding the boats and ships, include:

If the first distance H_Sless than or equal to the firstset a distance, just the first distance H_SIf the difference value between the ship and the first preset distance is smaller than or equal to a first preset threshold value, judging that the ship has a stranding danger and is low in danger, and determining that the ship is at a third-level stranding danger;

if the first distance H_SLess than or equal to a first preset distance H_SIf the difference value between the ship and the first preset distance is smaller than or equal to a second preset threshold value, judging that the ship has a stranding danger and is high in danger, and determining that the ship is a secondary stranding danger; wherein the second preset threshold is greater than the first preset threshold;

If the first distance H_SLess than or equal to a first preset distance H_SIf the difference value between the first preset distance and the first preset distance is smaller than or equal to a third preset threshold value, judging that the ship has a stranding danger and is high in danger, and determining that the ship is a first-level stranding danger; wherein the third preset threshold is greater than the second preset threshold.

In a possible implementation manner of the first aspect, when the second distance H is monitored_hWhen being less than or equal to second preset distance, judge the second distance accords with second early warning condition, judges that there is the collision danger on water in boats and ships, include:

If the second distance H_hLess than or equal to a second preset distance H_hIf the difference value between the ship and the second preset distance is smaller than or equal to a fourth preset threshold value, judging that the ship has an overwater collision danger and is low in danger, and determining that the ship is a third-level collision danger;

If the second distance H_hLess than or equal to a second preset distance H_hIf the difference value between the ship and the second preset distance is smaller than or equal to a fifth preset threshold value, judging that the ship has a water collision risk and is high in risk, and determining that the ship is a secondary collision risk; wherein the fifth preset threshold is greater than the fourth preset threshold;

If the second distance H_hless than or equal to a second preset distance H_hthe difference between the first preset distance and the second preset distance is less than or equal to a sixth preset thresholdIf so, judging that the ship has a water collision danger and high danger, and determining the ship to be a first-level collision danger; wherein the sixth preset threshold is greater than the fifth preset threshold.

in a possible implementation manner of the first aspect, generating a corresponding control instruction and a danger early warning of a ship navigation risk according to the determination result, and controlling a ship to navigate according to the control instruction includes:

If the judgment result is at least one of the first-level collision danger and the first-level grounding danger, generating a corresponding first-level control instruction and a corresponding first-level collision danger early warning or first-level grounding danger early warning;

If the judgment result is at least one of the secondary collision danger and the secondary stranding danger, generating a corresponding secondary control instruction and corresponding secondary collision danger early warning or secondary stranding danger early warning;

and if the judgment result is at least one of the three-level collision danger and the three-level grounding danger, generating a corresponding three-level control instruction and corresponding three-level collision danger early warning or three-level grounding danger early warning.

In a possible implementation manner of the first aspect, after generating a corresponding control instruction and a danger early warning of a ship navigation risk according to the determination result, and controlling a ship to navigate according to the control instruction, the method further includes:

and sending the danger early warning to target terminal equipment.

In a second aspect, an embodiment of the present application provides a ship navigation risk early warning device, including:

The acquisition module is used for acquiring a first distance H from a first preset measurement point at the bottom of the ship to the bottom of the ship_SAnd a second distance H from a second predetermined measuring point at the top of the vessel to an obstacle located above the vessel_h；

a judgment module for judging the first distance H_SWhether the first early warning condition or the second distance H is met_hWhether a second early warning condition is met;

And the early warning module generates a corresponding control instruction and a danger early warning of the ship navigation risk according to the judgment result, and controls the ship to navigate according to the control instruction.

in a possible implementation manner of the second aspect, the method further includes:

an acquisition module for acquiring the draft H of a ship₀the water depth H, the height of the barrier above the ship and the height of the ship;

The collection module comprises:

A first acquisition unit for acquiring the water depth H and the draft H₀The difference therebetween as the first distance H_S；

A second acquisition unit for acquiring the ship height and the draft H₀The difference value is used as a third distance from a second preset measuring point at the top of the ship to the water surface;

A third acquisition unit configured to acquire a difference between the height of the obstacle above the ship and the third distance as the second distance H_h。

In a possible implementation manner of the second aspect, the decision module includes:

a first judgment unit, configured to monitor the first distance H_Swhen the distance is less than or equal to a first preset distance, the first distance H is judged_SAccording with a first early warning condition, judging that the ship has a grounding danger;

a second judgment unit, configured to monitor the second distance H_hAnd when the distance is smaller than or equal to a second preset distance, judging that the second distance meets a second early warning condition, and judging that the ship has a water collision danger.

In a possible implementation manner of the second aspect, the first decision unit includes:

a first decision subunit, configured to decide if the first distance H is smaller than the first threshold_Sless than or equal to a first preset distance H_SIf the difference value between the ship and the first preset distance is smaller than or equal to a first preset threshold value, judging that the ship has a stranding danger and is low in danger, and determining that the ship is at a third-level stranding danger;

A second decision subunit for deciding if the first distance H is smaller than the first distance H_SLess than or equal to a first preset distance H_Sif the difference value between the ship and the first preset distance is smaller than or equal to a second preset threshold value, judging that the ship has a stranding danger and is high in danger, and determining that the ship is a secondary stranding danger; wherein the second preset threshold is greater than the first preset threshold;

A third decision subunit, configured to decide if the first distance H is smaller than the first distance H_SLess than or equal to a first preset distance H_Sif the difference value between the first preset distance and the first preset distance is smaller than or equal to a third preset threshold value, judging that the ship has a stranding danger and is high in danger, and determining that the ship is a first-level stranding danger; wherein the third preset threshold is greater than the second preset threshold.

In a possible implementation manner of the second aspect, the second decision unit includes:

A fourth decision subunit, configured to determine if the second distance H is smaller than the first distance H_hLess than or equal to a second preset distance H_hIf the difference value between the ship and the second preset distance is smaller than or equal to a fourth preset threshold value, judging that the ship has an overwater collision danger and is low in danger, and determining that the ship is a third-level collision danger;

A fifth decision subunit, configured to decide if the second distance H is smaller than the first distance H_hless than or equal to a second preset distance H_hIf the difference value between the ship and the second preset distance is smaller than or equal to a fifth preset threshold value, judging that the ship has a water collision risk and is high in risk, and determining that the ship is a secondary collision risk; wherein the fifth preset threshold is greater than the fourth preset threshold;

a sixth decision subunit, configured to determine whether the second distance H is greater than the first distance H_hless than or equal to a second preset distance H_hIf the difference value between the first preset distance and the second preset distance is smaller than or equal to a sixth preset threshold value, determining that the ship has a water collision risk and is high in risk, and determining that the ship is a first-level collision risk; wherein the sixth preset threshold is greater than the fifth preset threshold.

In a possible implementation manner of the second aspect, the early warning module includes:

the first early warning unit is used for generating a corresponding first-level control instruction and a corresponding first-level collision danger early warning or first-level stranding danger early warning if the judgment result is at least one of the first-level collision danger and the first-level stranding danger;

the second early warning unit is used for generating a corresponding second-level control instruction and corresponding second-level collision danger early warning or second-level grounding danger early warning if the judgment result is at least one of the second-level collision danger and the second-level grounding danger;

And the third early warning unit is used for generating a corresponding three-level control instruction and corresponding three-level collision risk early warning or three-level grounding risk early warning if the judgment result is at least one of the three-level collision risk and the three-level grounding risk.

In a possible implementation manner of the second aspect, the method further includes:

And the sending module is used for sending the danger early warning to target terminal equipment.

in a third aspect, an embodiment of the present application provides a terminal device, including at least one processor and a memory communicatively connected to the at least one processor, where the memory stores a computer program executable by the at least one processor, and the at least one processor, when executing the computer program, implements the ship voyage risk early warning method according to any one of the first aspect.

In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by at least one processor, the method for warning a ship's voyage risk according to any one of the first aspect is implemented.

In a fifth aspect, the present application provides a computer program product, which when run on a terminal device, causes the terminal device to execute the ship voyage risk early warning method according to any one of the first aspect.

It is understood that the beneficial effects of the second aspect to the fifth aspect can be referred to the related description of the first aspect, and are not described herein again.

According to the embodiment of the application, various data such as the water depth, the draft and the first distance from the bottom of the ship to the bottom of the ship are acquired in real time, the data acquired in real time are calculated to judge whether the ship has a navigation risk or not, corresponding danger early warning is generated according to the type of the risk, the calculated amount of ship drivers is reduced, the stability and the accuracy of operation are guaranteed, and the judgment efficiency is improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a schematic flow chart of a ship voyage risk early warning method according to an embodiment of the present application;

fig. 2 is a schematic view of a vessel provided with a lightning rod according to an embodiment of the present application;

FIG. 3 is a schematic view of a draft condition of a vessel according to an embodiment of the present application;

FIG. 4 is a schematic view of another draft condition of a vessel according to an embodiment of the present application;

fig. 5 is a schematic structural diagram of a ship navigation risk early warning device according to an embodiment of the present application;

Fig. 6 is a schematic diagram of a software architecture of a notebook computer 100 according to an embodiment of the present application;

Fig. 7 is a schematic structural diagram of a shipborne control device according to an embodiment of the present application.

Detailed Description

in the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

it will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to" determining "or" in response to detecting ". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".

Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.

reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.