CN104267723A - Ocean vessel navigation automatic sailing system and navigation method - Google Patents
Ocean vessel navigation automatic sailing system and navigation method Download PDFInfo
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- CN104267723A CN104267723A CN201410456803.8A CN201410456803A CN104267723A CN 104267723 A CN104267723 A CN 104267723A CN 201410456803 A CN201410456803 A CN 201410456803A CN 104267723 A CN104267723 A CN 104267723A
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Abstract
The invention discloses an ocean vessel navigation automatic sailing system and a navigation method. The automatic sailing system comprises an automatic sailing controller, a touch screen, a trackball, a three-dimensional electronic chart module, a GSP module, a ship radar module, an AIS module, a compass module, a distance metering module, a wind direction and wind speed metering module, a depth metering module and a 4G wireless network communication module; the touch screen, the trackball, the three-dimensional electronic chart module, the GSP module, the ship radar module, the AIS module, the compass module, the distance metering module, the wind direction and wind speed metering module, the depth metering module and the 4G wireless network communication module are each connected with the automatic sailing controller. According to the navigation method, a starting point and a terminal point are marked on an electronic chart, the optimum path is automatically arranged, barriers and sailing vessels in the path are automatically avoided in the automatic sailing period, a vessel is automatically driven to the specific terminal point, the number of persons distributed to the vessel is decreased, and the work intensity of seamen is reduced.
Description
Technical field
The present invention relates to a kind of navigation system automatically, particularly relate to the automatic navigation system of a kind of foreign-going ship and air navigation aid thereof, belong to ship equipment technical field.
Background technology
The navigation manipulation of boats and ships ocean is the same with aircraft space flight manipulation, needs control staff to have abundant knowledge hierarchy, the manipulation technology of specialty, especially needs control staff's spirit high concentration, the various situations in Real Time Observation ship's navigation.Present flight automatic Pilot technology is widely applied to aerospace field, and flight autopilot facility significantly can reduce the working strength of pilot, simplifies the difficulty of flight operation.The automatic navigation technology of same marine navigation can reduce the number of the operating personnel of boats and ships, and reduce the working strength of personnel, simplify the operation difficulty.
After the U.S. builds up " astronomical transit " satellite navigation system, respective navigational satellite system is all being greatly developed in countries in the world.At present, Russia, France, Japan, China all establish respective satellite navigation system.The three-dimensional space covering the whole world of satellite navigation system, can realize accurate three-dimensional localization and real time speed measuring, and have strong interference immunity, the feature of real-time excellence.Along with the develop rapidly of satellite navigation system, the evolution that electronic chart is also making rapid progress.The Intelligent handhold electronic equipment of current outfit GPS (GPS), electronic compass instrument gos deep into daily life.This kind equipment have miniaturization, high precision, can be civilian etc. series of advantages.
In sum, if develop a need indicate starting point and terminal on electronic chart, just can the travel route of Lookup protocol the best, according to GPS (GPS) data, electronic three-dimensional map data, weather on route data, course line hydrographic data, marine radar data, AIS (boats and ships automatic answering system) data etc., the travel conditions of Real-Time Monitoring boats and ships, the best route of auto modification boats and ships, and current course line and prediction course line are reported regulatory authorities and put on record, make boats and ships quick, safety, automatic running will have great meaning to specifying the equipment of terminal.This automatic navigational equipment can improve the automatization level of boats and ships manipulation, most importantly can reduce the number of human pilot, greatly reduces the working strength of human pilot.Along with high precision, the development of high dynamic pickup, automatic navigation technology is in a fast-developing rising stage, therefore the state of development that the automatic navigation equipment of marine navigation not only meets automatic navigation technology is developed, also significant in the relevant blank making up marine automatic navigation driving field.
Summary of the invention
The object of the present invention is to provide a kind of foreign-going ship to navigate the data of automatic navigational equipment and air navigation aid, this equipment real-time integration each side, automatically handle boats and ships and drive to destination safely and reliably.This ship autopilot device can reduce the working strength of staff, reduces the configuration number of boats and ships personnel.
Object of the present invention is achieved by the following technical programs:
A kind of foreign-going ship navigates automatic navigation system, comprises automatically navigating by water controller, touch-screen, trace ball, three-dimensional electronic sea chart module, GPS module, marine radar module, AIS module, compass module, module of having the records of distance by the log, wind direction and wind velocity measurement module, depth measurement module, 4G wireless network communication module; Described touch-screen, trace ball, three-dimensional electronic sea chart module, GPS module, marine radar module, AIS module, compass module, module of having the records of distance by the log, wind direction and wind velocity measurement module, depth measurement module, 4G wireless network communication module are connected with the automatic controller that navigates by water respectively.
Foreign-going ship navigates the air navigation aid of automatic navigation system, comprises the following steps:
S1: the starting point of automatically being navigated by water by touch-screen or trace ball input and destination;
S2: ask for the shortest navigation route between starting point and destination;
S3: Ship ' navigation average velocity, estimates the theoretical course line of boats and ships, the weather in binding isotherm course line, hydrologic regime, revises the shortest navigation route and obtain theoretical best navigation route;
S4: by GPS module location boats and ships current actual positions, and weather, the hydrology prediction information after the best navigation route of the theory obtained in conjunction with compass module, module of having the records of distance by the log, wind direction and wind velocity measurement module and 4G wireless network communication module in several days course lines, judge the operational configuration of latter several days, and then the best navigation route of revised theory obtains actual best navigation route;
S5: according to the scanning information of marine radar module and the Water Depth Information of depth measurement module, the situation of real-time monitored reef or submerged reef, revises actual best navigation route further;
S6: according to the data of the scanning information of radar module and AIS (boats and ships automatic answering system) module with carry out ship automatic exchange message, realize dodging action;
S7: the actual best navigation route of real navigation is backed up and by 4G wireless communication, up-to-date actual best navigation route is reported the renewal of aviation management department and put on record.
Object of the present invention can also be realized further by following technical measures:
Aforementioned foreign-going ship navigates the air navigation aid of automatic navigation system, and the method for the shortest navigation route that wherein step S2 asks between starting point and destination is:
First, in electronic chart, starting point and terminal is marked; The second, straight line Minimal Flight Path between zequin and terminal; 3rd, judge whether there is barrier in straight line Minimal Flight Path; 4th, if there is barrier, judge the intersection point of Minimal Flight Path and barrier, and go out to make vertical line at this intersection point, the obstacle length+safe distance in the length=vertical line direction of vertical line; 5th, connect this section of starting point and the shortest one end of vertical line, this section is called that Minimal Flight Path _ i, i is segment number; 6th, by this segment endpoint, one end that namely vertical line is the shortest is defined as the starting point in next judgement cycle; Be recycled to second step, make the straight line Minimal Flight Path between terminal with the starting point newly defined, continue to judge whether there is barrier in straight line Minimal Flight Path; 7th, only have in straight line Minimal Flight Path and no longer there is barrier, connect Minimal Flight Path _ i piecemeal successively, just can obtain the Minimal Flight Path route between starting point and terminal.
Aforementioned foreign-going ship navigates the air navigation aid of automatic navigation system, and the method that wherein in step S4, the best navigation route of revised theory obtains actual best navigation route is: bad weather and hydrology harsh conditions are considered as barrier and evade.
Aforementioned foreign-going ship navigates the air navigation aid of automatic navigation system, and the method wherein realizing dodging action in step S6 is:
First, marine radar module scans ambient conditions centered by boats and ships, finds that there is ship at evaded distance; The second, AIS module always ship sends answer signal; 3rd, judge whether carry out ship replys the answer signal sent from ship; 4th, if carry out ship do not reply the answer signal sent from ship, system gives the alarm, and is switched to manual control; Whether and keep a safe distance from ship 5th, if carry out ship to reply the answer signal sent from ship, system intercourses travel route, judges in ship route, carry out ship; 6th, if in ship route, carrying out ship and can keep a safe distance from ship, from ship without the need to changing the course line of self, normally travelling; 7th, if in ship route, carry out ship and can not keep a safe distance from ship, system make from ship with carry out ship and communicate, confirm from ship and carry out ship dodge direction, the direction of dodging of two ships must be contrary; 8th, radar module scanning carrys out ship, confirms from ship and the distance come between ship; 9th, system is selected to dodge a little between two ships; Tenth, a little sentence safe distance and do equidistant vertical line dodging, and connect from ship, the two ends coming ship and equidistant vertical line, make it formation quadrilateral; 11, judge that whether any limit of quadrilateral is crossing with barrier; 12, if any limit of quadrilateral is not crossing with barrier, then two ships dodge direction according to what arrange, first to one end of equidistant vertical line, then travel to the position of opponent vessel, carry out dodging action; 13, if any limit of quadrilateral is crossing with barrier, need to judge to select to dodge a little whether exceed certain number of times; 14, if select to dodge and a little exceed certain number of times, in any case illustrates that selection is dodged a little, all can not make from ship with carry out ship and drive through this navigation channel with meeting, need AIS module to contact from ship and carry out ship, carry out and dodge action from ship or the wait that carrys out ship; 15, if select to dodge and a little do not exceed certain number of times, illustrate may there is safety meeting dodge a little, reselect new dodging a little.
Compared with prior art, the invention has the beneficial effects as follows: the present invention only need remember a little and terminal at electronic chart subscript, and just automatically can arrange best route, automatic Pilot boats and ships advance to appointment terminal.Automatic term of voyage can automatic decision route, avoids the barrier in route and vessel, reduces the personnel depaly of boats and ships, alleviates the working strength of crewman.
Accompanying drawing explanation
Fig. 1 is the automatic navigational equipment system construction drawing of marine navigation of the present invention;
Fig. 2 is the automatic program navigation process flow diagram of marine navigation of the present invention;
Fig. 3 calculates the shortest navigation route exemplary plot;
Fig. 4 is the shortest navigation route calculation flow chart;
Best for theory navigation route is modified to actual best navigation route exemplary plot by Fig. 5;
Fig. 6 is the process flow diagram of automatically dodging according to scanning information and the AIS module of radar module.
Embodiment
Below in conjunction with the drawings and specific embodiments, the invention will be further described.
As shown in Figure 1, be the system construction drawing of the automatic navigation equipment of marine navigation that the present invention proposes.The automatic navigation equipment of marine navigation the most important thing is automatically to navigate by water controller, and navigation controller is the core of equipment automatically.Touch-screen is the input-output device of system, and trace ball can backup system input; Three-dimensional electronic sea chart provides the natural information such as geography, the hydrology, weather in marine site to automatic navigation controller; 4G wireless network communication module is responsible for the exchanges data between boats and ships and control desk, can the relevant information such as geography, the hydrology, weather, steamer line in marine site, real-time update navigation channel; GPS (GPS) module is used for the longitude and latitude of real-time accurately location boats and ships; Marine radar scans surrounding sea areas centered by boats and ships, and the situation (island, reef, submerged reef, boats and ships) of Real-Time Monitoring surrounding sea areas, ensures all barriers all outside the safe distance of steamer line; AIS (boats and ships auto answer) module is used for from ship and carrys out ship exchange information, controls the traveling of boats and ships meeting; Compass module is for determining the orientation of boats and ships; Module of having the records of distance by the log is for recording route and the mileage number of ship's navigation; Wind direction measurement module is for measuring wind direction and wind speed; Depth measurement module is for measuring the hydrographic information around boats and ships.
The automatic navigation equipment of marine navigation proposed by the invention, key is to calculate navigation algorithm, and only need remember a little and terminal at electronic chart subscript, the automatic navigation equipment of marine navigation just can arrange best route automatically, and automatic Pilot boats and ships advance to appointment terminal.Automatic term of voyage can selection schemer automatically, and avoid the barrier in route and vessel, the very big personnel depaly that must reduce boats and ships, alleviates the working strength of crewman.Therefore the automatic navigation equipment of this marine navigation has important application value and economic worth.
As shown in Figure 2, Fig. 2 is the program flow diagram of the automatic navigation system of marine navigation that the present invention proposes.Step is as follows:
S1: the starting point of automatically being navigated by water by touch-screen or trace ball input and destination;
By touch-screen or trace ball, mark in three-dimensional electronic sea chart sails capable starting point and terminal, and touch-screen not only plays the output action that display navigation route, display relevant information are also played in input action here.
S2: the shortest navigation route between starting point and destination asked for by navigation controller automatically;
The calculating of the shortest navigation route, principle is the hull drinking water data current according to boats and ships, avoids all barriers in three-dimensional electronic sea chart, as island, reef, submerged reef etc.When avoiding the barrier in three-dimensional electronic sea chart, with minimum target offset angle for criterion.
Fig. 3 is at electron sea chart display starting point and terminal, and calculates an example of the shortest navigation route.
As shown in Figure 3, first on three-dimensional electronic sea chart, mark goes out starting point and terminal, and pecked line a1 is the straight line bee-line of origin-to-destination, and pecked line a1 is crossing with barrier " Yongxing Island "; Get its intersection point and make vertical line a2, the obstacle length+safe distance in the length=vertical line direction of vertical line; Judge the most short end of vertical line, this end is the starting point in the shortest next navigation route judgement cycle; Connection source and the most short end of vertical line, obtain dotted line a3, dotted line a3 is the shortest navigation route in this section of voyage; Straight line is done to terminal with the starting point in the next one the shortest navigation route judgement cycle, continue to judge whether there is barrier in this straight course, if there is barrier, just need to repeat above-mentioned judgement, ask for the intersection point of straight course and barrier, point of intersection makes vertical line, judges one end that vertical line is the shortest, connect this section of starting point and the shortest one end of vertical line obtains this section of Minimal Flight Path route, so obtain line segment a4 ~ a10.
Fig. 4 is the shortest navigation route calculation flow chart.First, need in electronic chart, mark starting point and terminal; The second, straight line Minimal Flight Path between zequin and terminal; 3rd, judge whether there is barrier in straight line Minimal Flight Path; 4th, if there is barrier, judge the intersection point of Minimal Flight Path and barrier, and go out to make vertical line at this intersection point, the obstacle length+safe distance in the length=vertical line direction of vertical line; 5th, connect this section of starting point and the most short end of vertical line, this section is called Minimal Flight Path _ i, and i is segment number; 6th, by this segment endpoint, namely the most short end of vertical line is defined as the starting point in next judgement cycle; Be recycled to second step, straight line Minimal Flight Path between making between terminal with the starting point newly defined, continue to judge whether there is barrier in straight line Minimal Flight Path; 7th, only have in straight line Minimal Flight Path and no longer there is barrier, connect Minimal Flight Path _ i piecemeal successively, just can obtain the Minimal Flight Path route between starting point and terminal.
S3: Ship ' navigation average velocity, estimates the theoretical course line of boats and ships, the weather in binding isotherm course line, hydrologic regime, revises the shortest navigation route and obtain theoretical best navigation route;
Set is had the records of distance by the log the average velocity of module Ship ' navigation, the theory navigation circuit of prediction boats and ships, and namely when boats and ships can navigate by water where, according to weather, the hydrologic regime of prediction, in conjunction with the theoretical navigation route of boats and ships prediction, the shortest navigation route of adjustment, obtains theoretical best navigation route.
S4: the best navigation route of revised theory obtains actual best navigation route further;
By GPS (GPS) module location boats and ships current actual positions, and in conjunction with compass, have the records of distance by the log, the meteorology and hydrology information of forecasting of several days from now in the best navigation route of theory that wind direction and wind velocity measurement module and 4G wireless communication obtain, revise navigation route, severe to the hydrology in several days from now on, meteorological severe marine site is carried out prediction and is evaded, thus the best navigation route of revised theory obtains actual best navigation route further.
As shown in Figure 5, best for theory navigation route is modified to actual best navigation route by Fig. 5 further.The process of route correction is more similar with the shortest navigation route calculation process, and the key distinction is that makeover process is combined closely meteorology, the hydrologic regime of prediction in following several days, and by meteorology, severe and hydrology harsh conditions is considered as barrier and evades.In comparison diagram 3 and Fig. 5, Fig. 5, circle represents meteorological severe or hydrology harsh conditions, and need to evade when the best navigation route planning of reality, the flow process of evading is the same with navigation route calculation process the shortest in Fig. 4.
In Fig. 5, b10 represents the theory best navigation route of most short end (starting point of the actual best navigation route of terminal/b12 of the actual best navigation route of b9) to terminal of b8 vertical line, due to the existence of circle (representing the meteorological severe or severe marine site of the hydrology), the best navigation route of theory of boats and ships is obstructed.B10 is crossing with circle; Get its intersection point and be vertical line b11, the obstacle length+safe distance in the length=vertical line direction of vertical line; Judge one end that vertical line is the shortest, this end is the starting point in the next actual best navigation route correction cycle, connects the most short end of the most short end of b8 vertical line and b11 vertical line, obtains actual best navigation route section b12.In like manner can obtain b13 ~ b16 successively, connect b3, b6, b9, b12, b15, b16, obtain the actual best navigation route after revising.
S5: according to the scanning information of radar module and the Water Depth Information of depth measurement module, the situation of real-time monitored reef or submerged reef, revises actual best navigation route further;
Geography around radar and depth measurement module real time scan boats and ships and hydrologic regime, prevent the depth of water situation not having information and the real-time change marked above three-dimensional electronic sea chart, ensure the safety zone around boats and ships.
S6: according to the data of the scanning information of radar module and AIS (boats and ships automatic answering system) module with carry out ship automatic exchange message, realize dodging action;
As shown in Figure 6, Fig. 6 is the flow process automatically dodged according to scanning information and AIS (boats and ships automatic answering system) module of radar module.First, radar scans ambient conditions centered by boats and ships, finds that there is ship at evaded distance; The second, AIS (boats and ships automatic answering system) always ship sends answer signal; 3rd, judge whether carry out ship replys the answer signal sent from ship; 4th, if carry out ship do not reply the answer signal sent from ship, system gives the alarm, and notifies crewman on duty, needs to enhance your vigilance, is switched to manual control; Whether and keep a safe distance from ship 5th, if carry out ship to reply the answer signal sent from ship, system intercourses travel route, judges in ship route, carry out ship; 6th, if in ship route, carrying out ship and can keep a safe distance from ship, from ship without the need to changing the course line of self, normally travelling; 7th, if in ship route, carry out ship and can not keep a safe distance from ship, system make from ship with carry out ship and communicate, confirm from ship and carry out ship dodge direction, the direction of dodging of two ships must be contrary; 8th, radar module scanning carrys out ship, confirms from ship and the distance come between ship; 9th, system is selected to dodge a little between two ships; Tenth, a little sentence safe distance and do equidistant vertical line dodging, and connect from ship, the two ends coming ship and equidistant vertical line, make it formation quadrilateral; 11, judge that whether any limit of quadrilateral is crossing with barrier; 12, if any limit of quadrilateral is not crossing with barrier, then two ships dodge direction according to what arrange, first to one end of equidistant vertical line, then travel to the position of opponent vessel, carry out dodging action; 13, if any limit of quadrilateral is crossing with barrier, need to judge to select to dodge a little whether exceed certain number of times; 14, if selecting to dodge a little exceedes certain number of times, in any case illustrate and select to dodge a little, all can not make from ship and carry out ship and drive through this navigation channel with meeting, need AIS (boats and ships automatic answering system) to contact from ship and carry out ship, carry out and dodge action from ship or the wait that carrys out ship; 15, if select to dodge and a little do not exceed certain number of times, illustrate may there is safety meeting dodge a little, reselect new dodging a little.
S7: after a period of time, backs up the actual best navigation route of real navigation and by 4G wireless communication, up-to-date actual best navigation route is reported the renewal of aviation management department and put on record.
Obtain actual best navigation route by the wireless wireless network communication module of 4G and offer aviation management department by up-to-date in advance and carry out putting on record for future reference.
In addition to the implementation, the present invention can also have other embodiments, and all employings are equal to the technical scheme of replacement or equivalent transformation formation, all drop in the protection domain of application claims.
Claims (5)
1. a foreign-going ship navigates automatic navigation system, it is characterized in that, comprise and automatically navigate by water controller, touch-screen, trace ball, three-dimensional electronic sea chart module, GPS module, marine radar module, AIS module, compass module, module of having the records of distance by the log, wind direction and wind velocity measurement module, depth measurement module, 4G wireless network communication module; Described touch-screen, trace ball, three-dimensional electronic sea chart module, GPS module, marine radar module, AIS module, compass module, module of having the records of distance by the log, wind direction and wind velocity measurement module, depth measurement module, 4G wireless network communication module are connected with the automatic controller that navigates by water respectively.
2. foreign-going ship as claimed in claim 1 navigates an air navigation aid for automatic navigation system, it is characterized in that, comprises the following steps:
S1: the starting point of automatically being navigated by water by touch-screen or trace ball input and destination;
S2: ask for the shortest navigation route between starting point and destination;
S3: Ship ' navigation average velocity, estimates the theoretical course line of boats and ships, the weather in binding isotherm course line, hydrologic regime, revises the shortest navigation route and obtain theoretical best navigation route;
S4: by GPS module location boats and ships current actual positions, and weather, the hydrology prediction information after the best navigation route of the theory obtained in conjunction with compass module, module of having the records of distance by the log, wind direction and wind velocity measurement module and 4G wireless network communication module in several days course lines, judge the operational configuration of latter several days, and then the best navigation route of revised theory obtains actual best navigation route;
S5: according to the scanning information of marine radar module and the Water Depth Information of depth measurement module, the situation of real-time monitored reef or submerged reef, revises actual best navigation route further;
S6: according to the data of the scanning information of radar module and AIS module with carry out ship automatic exchange message, realize dodging action;
S7: the actual best navigation route of real navigation is backed up and by 4G wireless communication, up-to-date actual best navigation route is reported the renewal of aviation management department and put on record.
3. foreign-going ship as claimed in claim 2 navigates the air navigation aid of automatic navigation system, and it is characterized in that, the method for the shortest navigation route that described step S2 asks between starting point and destination is:
First, in electronic chart, starting point and terminal is marked; The second, straight line Minimal Flight Path between zequin and terminal; 3rd, judge whether there is barrier in straight line Minimal Flight Path; 4th, if there is barrier, judge the intersection point of Minimal Flight Path and barrier, and go out to make vertical line at this intersection point, the obstacle length+safe distance in the length=vertical line direction of vertical line; 5th, connect this section of starting point and the shortest one end of vertical line, this section is called that Minimal Flight Path _ i, i is segment number; 6th, by this segment endpoint, one end that namely vertical line is the shortest is defined as the starting point in next judgement cycle; Be recycled to second step, make the straight line Minimal Flight Path between terminal with the starting point newly defined, continue to judge whether there is barrier in straight line Minimal Flight Path; 7th, only have in straight line Minimal Flight Path and no longer there is barrier, connect Minimal Flight Path _ i piecemeal successively, just can obtain the Minimal Flight Path route between starting point and terminal.
4. foreign-going ship as claimed in claim 2 navigates the air navigation aid of automatic navigation system, it is characterized in that, the method that in described step S4, the best navigation route of revised theory obtains actual best navigation route is: bad weather and hydrology harsh conditions are considered as barrier and evade.
5. foreign-going ship as claimed in claim 2 navigates the air navigation aid of automatic navigation system, and it is characterized in that, the method realizing dodging action in described step S6 is:
First, marine radar module scans ambient conditions centered by boats and ships, finds that there is ship at evaded distance; The second, AIS module always ship sends answer signal; 3rd, judge whether carry out ship replys the answer signal sent from ship; 4th, if carry out ship do not reply the answer signal sent from ship, system gives the alarm, and is switched to manual control; Whether and keep a safe distance from ship 5th, if carry out ship to reply the answer signal sent from ship, system intercourses travel route, judges in ship route, carry out ship; 6th, if in ship route, carrying out ship and can keep a safe distance from ship, from ship without the need to changing the course line of self, normally travelling; 7th, if in ship route, carry out ship and can not keep a safe distance from ship, system make from ship with carry out ship and communicate, confirm from ship and carry out ship dodge direction, the direction of dodging of two ships must be contrary; 8th, radar module scanning carrys out ship, confirms from ship and the distance come between ship; 9th, system is selected to dodge a little between two ships; Tenth, a little sentence safe distance and do equidistant vertical line dodging, and connect from ship, the two ends coming ship and equidistant vertical line, make it formation quadrilateral; 11, judge that whether any limit of quadrilateral is crossing with barrier; 12, if any limit of quadrilateral is not crossing with barrier, then two ships dodge direction according to what arrange, first to one end of equidistant vertical line, then travel to the position of opponent vessel, carry out dodging action; 13, if any limit of quadrilateral is crossing with barrier, need to judge to select to dodge a little whether exceed certain number of times; 14, if select to dodge and a little exceed certain number of times, in any case illustrates that selection is dodged a little, all can not make from ship with carry out ship and drive through this navigation channel with meeting, need AIS module to contact from ship and carry out ship, carry out and dodge action from ship or the wait that carrys out ship; 15, if select to dodge and a little do not exceed certain number of times, illustrate may there is safety meeting dodge a little, reselect new dodging a little.
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