CN113393708A - Method and device for collision avoidance of workboat and workboat - Google Patents
Method and device for collision avoidance of workboat and workboat Download PDFInfo
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Abstract
The application relates to the technical field of collision avoidance of workboats, and discloses a method for collision avoidance of workboats, which comprises the following steps: acquiring an alert zone preventing other ships from passing through; setting a plurality of AIS virtual navigation marks according to the warning area; and transmitting a plurality of AIS virtual beacons. The method comprises the steps of setting a warning area of the operation ship, setting a plurality of AIS virtual beacons according to the warning area, and sending the set AIS virtual beacons outwards, so that other ships can identify the set AIS virtual beacons on self-carried AIS equipment when approaching the warning area, and further plan a route to avoid the warning area in advance, and active collision avoidance of the operation ship is achieved. The application also discloses a device and a ship for preventing collision of the operation ship.
Description
Technical Field
The present application relates to the field of collision avoidance technology for workboats, and for example, to a method and an apparatus for collision avoidance for workboats, and a workboat.
Background
At present, with the development of economy, research and utilization of marine resources are more and more frequent, and more offshore vessels are used, including freight vessels, passenger vessels, fishing vessels, scientific vessels, and the like. In order to avoid the mutual interference between ships and even the collision, the problem of marine traffic is solved. The ships needing offshore operation, such as scientific research ships, are particularly obvious, the collision avoidance of the ships, scientific research equipment thrown into the sea and collision avoidance of an operation range need to be considered, and serious consequences such as equipment damage, operation failure and the like can be caused once other ships collide with the operation equipment carelessly or enter the operation range of the operation ships.
In the prior art, monitoring is usually carried out by operating personnel on a ship, and then collision avoidance of the operating ship is realized in a manual early warning mode, so that active collision avoidance of the operating ship cannot be realized.
Disclosure of Invention
The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview nor is intended to identify key/critical elements or to delineate the scope of such embodiments but rather as a prelude to the more detailed description that is presented later.
The embodiment of the disclosure provides a method and a device for preventing collision of a workboat, and the workboat, so as to solve the technical problem that active collision prevention of the workboat cannot be realized in the prior art.
In some embodiments, the method comprises: acquiring an alert zone preventing other ships from passing through; setting a plurality of AIS virtual navigation marks according to the warning area; and transmitting a plurality of AIS virtual beacons.
In some embodiments, the apparatus comprises a processor and a memory storing program instructions, the processor being configured, when executing the program instructions, to perform the method for workboat collision avoidance described above.
In some embodiments, the vessel comprises an arrangement for collision avoidance of a work vessel as described above.
The method, the device and the ship for collision avoidance of the workboat provided by the embodiment of the disclosure can realize the following technical effects: the method comprises the steps of setting a warning area of the operation ship, setting a plurality of AIS virtual beacons according to the warning area, and sending the set AIS virtual beacons outwards, so that other ships can identify the set AIS virtual beacons on self-carried AIS equipment when approaching the warning area, and further plan a route to avoid the warning area in advance, and active collision avoidance of the operation ship is achieved.
The foregoing general description and the following description are exemplary and explanatory only and are not restrictive of the application.
Drawings
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the accompanying drawings and not in limitation thereof, in which elements having the same reference numeral designations are shown as like elements and not in limitation thereof, and wherein:
FIG. 1 is a schematic illustration of a method for collision avoidance for a workboat according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of a method for collision avoidance for a workboat according to an embodiment of the present disclosure;
FIG. 3 is a schematic diagram of a method for collision avoidance for a workboat according to an embodiment of the present disclosure;
FIG. 4 is a schematic view of an apparatus for collision avoidance for a workboat according to an embodiment of the present disclosure;
fig. 5 is a schematic view of an apparatus for collision avoidance for a workboat according to an embodiment of the disclosure.
Detailed Description
So that the manner in which the features and elements of the disclosed embodiments can be understood in detail, a more particular description of the disclosed embodiments, briefly summarized above, may be had by reference to the embodiments, some of which are illustrated in the appended drawings. In the following description of the technology, for purposes of explanation, numerous details are set forth in order to provide a thorough understanding of the disclosed embodiments. However, one or more embodiments may be practiced without these details. In other instances, well-known structures and devices may be shown in simplified form in order to simplify the drawing.
It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the present disclosure described herein may be made. Furthermore, the terms "comprising" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions.
The term "plurality" means two or more unless otherwise specified.
An Automatic Identification System (AIS) for ships is composed of shore-based facilities and shipborne equipment, and is a novel digital navigation aid System and equipment integrating network technology, modern communication technology, computer technology and electronic information display technology. The AIS System is matched with a Global Positioning System (GPS) to broadcast dynamic data of ships such as ship positions, ship speeds, changed course rates and courses and the like to ships and shore stations in nearby water areas from very high frequency in combination with ship static data such as ship names, call signs, draught, dangerous goods and the like, so that the adjacent ships and shore stations can timely master dynamic and static information of all ships on nearby sea surfaces, communication and coordination can be realized immediately, necessary avoidance actions are taken, and the navigation safety of the ships is effectively guaranteed.
Referring to fig. 1, an embodiment of the present disclosure provides a method for collision avoidance of a workboat, including:
s1, acquiring a warning area for preventing other ships from passing through;
s2, setting a plurality of AIS virtual navigation marks according to the warning area;
and S3, sending a plurality of AIS virtual navigation marks.
By adopting the method for collision avoidance of the operating ship provided by the embodiment of the disclosure, the warning area of the operating ship is set, the plurality of AIS virtual beacons are set according to the warning area, and then the set AIS virtual beacons are sent outwards, so that other ships can identify the set AIS virtual beacons on the AIS equipment carried by the other ships when approaching the warning area, and then plan the air route in advance to avoid the warning area, thereby realizing active collision avoidance of the operating ship.
The warning area may be an operation range of the work ship, for example, an activity range of the work ship and/or a working equipment mounted thereon, or may be an area where work is prevented from being disturbed, for example, a safety range where electromagnetic interference from other ships is prevented during geomagnetic diurnal observation. Therefore, the selection of the alert zone is determined according to the operation type of the operation ship. The job types include two types: fixed point operation and dragging operation. Fixed-point operations do not mean that the workboat is fixed stationary at a certain position, and may include small-scale movement of the workboat over a certain area or unpowered floating. The dragging operation refers to that the operation ship dragging operation equipment travels according to the purpose of the operation ship in a planning way to complete operation, for example, the operation ship drags a cable to carry out data acquisition operation.
Optionally, when the job type is a fixed-point job, the alert area is a closed area. When the operation type is the spot operation, only a certain area around the operation ship or a certain area around the operation equipment needs to be protected. The warning region is set to a closed region including a work vessel or work equipment, and the influence on the surrounding vessels can be reduced as much as possible while ensuring work.
Referring to fig. 2, optionally, when the operation type is a towing operation, acquiring an alert zone for preventing other ships from passing includes:
s11, acquiring the current position and the track line of the workboat;
s12, extending a preset distance along the track line from the current position to be determined as an alert area.
The current coordinate value of the work ship and the coordinate value of the work ship in the past period are obtained through a GPS carried by the work ship, and then the track line of the work ship can be generated. A line segment is taken from the current position along the track line by a preset distance, and a certain distance is extended outwards on the basis of the line segment to serve as an alert area. The selection of the preset distance is determined according to the length of the dragged equipment in the dragging operation, and is usually not less than the length of the dragged equipment. Therefore, under the condition that a positioning device is not required to be installed on the dragged equipment and the position of the dragged equipment is obtained in real time, the position of the dragged equipment can be accurately obtained, a warning area is obtained, and collision avoidance is achieved.
For example, in the actual operation process, if a long cable is dragged behind the operation ship, the shape of the cable is overlapped with the motion track of the operation ship, namely, the cable always moves along the motion track of the operation ship no matter the operation ship moves linearly or in a curve. The movement track of the operation ship is easy to obtain, and the shape and the movement track of the cable are not easy to directly obtain, so that the movement track of the cable is estimated by obtaining the movement track of the operation ship, the operation ship is more convenient and faster, and the pre-judgment of the movement track of the cable can be realized within a certain time range.
Optionally, setting a plurality of AIS virtual beacons according to the warning region includes:
acquiring the current position of the operation ship at preset time intervals;
an AIS virtual beacon is set at the current position.
The method comprises the steps of acquiring position information of a working ship at preset time intervals by using a GPS device of the working ship, and setting an AIS virtual navigation mark on the position information. The preset time is flexibly set according to the speed of the operation ship and the length of the dragged equipment, for example, when the speed of the operation ship is high and the length of the dragged equipment is short, the preset time is set to be short so as to ensure that enough AIS virtual fairway signs are set; when the speed of the operation ship is low and the length of the dragged equipment is long, the preset time is set to be long. Because the AIS virtual fairway buoy that shows in on-board AIS equipment all is an independent mark, if guarantee the virtual fairway buoy's of AIS quantity and the distance between the fairway buoy suitable condition, the operating personnel of other boats can be based on the virtual fairway buoy's of AIS condition and presume that it is with long chain form object, carries out the rational planning route.
Optionally, setting a plurality of AIS virtual beacons according to the warning region, further includes:
and when the AIS virtual fairway buoy exceeds the preset quantity, the AIS virtual fairway buoy which is set firstly in the existing AIS virtual fairway buoy is cancelled.
For example, the length of the towed cable is 1000 meters, and 10 AIS virtual fairway beacons are set every 100 meters. The position of the tail end of the current cable is A, the serial number of the set AIS virtual navigation mark is 1, the position closest to the tail end is B, and the serial number of the set AIS virtual navigation mark is 2. In the cable movement process, the tail end of the cable moves from the position A to the position B, at the moment, the original position A does not have the cable any longer, avoiding is not needed any longer, at the moment, the system can automatically update the AIS virtual navigation mark coordinate information with the sequence number of 1 set at the position A, and other AIS virtual navigation mark coordinate information is sequentially updated forwards. Therefore, the 10 virtual AIS navigation marks received by the peripheral ships are guaranteed to be real-time position coordinates which are always superposed on the cable, and operation safety is guaranteed.
Optionally, setting a plurality of AIS virtual beacons according to the warning region includes:
setting an AIS virtual navigation mark at the head end and the tail end of the warning area respectively;
and arranging AIS virtual navigation marks at fixed intervals in other parts of the warning area.
Because the AIS virtual fairway buoy that shows in on-board AIS equipment all is an independent mark, if guarantee the virtual fairway buoy's of AIS quantity and the distance between the fairway buoy suitable condition, the operating personnel of other boats can be based on the virtual fairway buoy's of AIS condition and presume that it is with long chain form object, carries out the rational planning route. Therefore, it is necessary to set AIS virtual beacons at the first two ends of the warning area and set the AIS virtual beacons at a fixed distance from the middle portion.
Optionally, when the warning region is the closed region, setting a plurality of AIS virtual beacons according to the warning region includes:
acquiring the boundary of the warning area;
a plurality of AIS virtual navigation marks are set on the boundary of the warning area.
The space between the AIS virtual beacons is set flexibly according to the size of the warning area and the resources of the AIS virtual beacons on the boundary, so that surrounding ships can presume that the warning area formed by the AIS virtual beacons in a surrounding mode through shipborne AIS equipment is a closed operation area and needs to avoid.
Referring to fig. 3, optionally, when the workboat is used for fixed-point operation, the method for collision avoidance of the workboat includes:
s1, acquiring a warning area for preventing other ships from passing through;
s2, setting a plurality of AIS virtual navigation marks according to the warning area;
s3, sending a plurality of AIS virtual navigation marks;
and S4, when detecting that no other ships exist in the warning area, driving the operation ship into the warning area.
And monitoring the warning area in real time by using the onboard AIS system, and driving the working ship into the warning area when no other ship exists in the warning area or the working ship enters the warning area when no other ship exists in the warning area. Therefore, the waiting time can be greatly reduced while the safety is ensured, and the working efficiency is improved.
For example, when the working ship drives to the warning area and finds that other ships are in the warning area, the working ship needs to wait for a certain distance outside the warning area, and can enter the warning area for working after the other ships completely drive away from the warning area. However, since the waiting area is spaced apart from the surveillance area by a certain distance, there may occur a case where other ships enter or drive to the surveillance area again during traveling, and therefore when it is detected that there is no other ship in the surveillance area, the AIS virtual navigation mark is first set up in the surveillance area and issued to the outside. Therefore, after the AIS virtual navigation mark is detected by the shipborne AIS systems of other ships, the route can be reasonably planned, active avoidance is carried out on the warning area, and the waiting time of the operation ship is reduced.
Referring to fig. 4, an apparatus for collision avoidance of a workboat according to an embodiment of the present disclosure includes an obtaining module 1, a setting module 2, and a sending module 3. The acquisition module 1 is configured to acquire an alert zone that prevents other vessels from passing through; the setting module 2 is configured to set a plurality of AIS virtual beacons according to the warning region; the transmitting module 3 is configured to transmit a plurality of AIS virtual beacons.
By adopting the device for collision avoidance of the working ship, the acquisition module 1 can acquire the warning area of the working ship, the setting module 2 sets a plurality of AIS virtual beacons according to the warning area, and then the set AIS virtual beacons are sent outwards through the sending module 3, so that other ships can identify the set AIS virtual beacons on the AIS equipment carried by the ships when approaching the warning area, and then plan the air route in advance to avoid the warning area, and active collision avoidance of the working ship is realized.
As shown in fig. 5, an apparatus for collision avoidance for a workboat according to an embodiment of the present disclosure includes a processor (processor)100 and a memory (memory) 101. Optionally, the apparatus may also include a Communication Interface (Communication Interface)102 and a bus 103. The processor 100, the communication interface 102, and the memory 101 may communicate with each other via a bus 103. The communication interface 102 may be used for information transfer. Processor 100 may invoke logic instructions in memory 101 to perform the method for workboat collision avoidance of the above-described embodiments.
In addition, the logic instructions in the memory 101 may be implemented in the form of software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products.
The memory 101, which is a computer-readable storage medium, may be used for storing software programs, computer-executable programs, such as program instructions/modules corresponding to the methods in the embodiments of the present disclosure. The processor 100 executes functional applications and data processing by executing program instructions/modules stored in the memory 101, i.e. implements the method for collision avoidance of a workboat in the above-described embodiments.
The memory 101 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal device, and the like. In addition, the memory 101 may include a high-speed random access memory, and may also include a nonvolatile memory.
The embodiment of the disclosure provides a ship, which comprises the device for preventing collision of the operation ship.
Embodiments of the present disclosure provide a computer-readable storage medium having stored thereon computer-executable instructions configured to perform the above-described method for collision avoidance for a workboat.
Embodiments of the present disclosure provide a computer program product comprising a computer program stored on a computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform the above-described method for collision avoidance for a workboat.
The computer-readable storage medium described above may be a transitory computer-readable storage medium or a non-transitory computer-readable storage medium.
The technical solution of the embodiments of the present disclosure may be embodied in the form of a software product, where the computer software product is stored in a storage medium and includes one or more instructions to enable a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method of the embodiments of the present disclosure. And the aforementioned storage medium may be a non-transitory storage medium comprising: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes, and may also be a transient storage medium.
The above description and drawings sufficiently illustrate embodiments of the disclosure to enable those skilled in the art to practice them. Other embodiments may incorporate structural, logical, electrical, process, and other changes. The examples merely typify possible variations. Individual components and functions are optional unless explicitly required, and the sequence of operations may vary. Portions and features of some embodiments may be included in or substituted for those of others. Furthermore, the words used in the specification are words of description only and are not intended to limit the claims. As used in the description of the embodiments and the claims, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Similarly, the term "and/or" as used in this application is meant to encompass any and all possible combinations of one or more of the associated listed. Furthermore, the terms "comprises" and/or "comprising," when used in this application, 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. Without further limitation, an element defined by the phrase "comprising an …" does not exclude the presence of other like elements in a process, method or apparatus that comprises the element. In this document, each embodiment may be described with emphasis on differences from other embodiments, and the same and similar parts between the respective embodiments may be referred to each other. For methods, products, etc. of the embodiment disclosures, reference may be made to the description of the method section for relevance if it corresponds to the method section of the embodiment disclosure.
Those of skill in the art would appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software may depend upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the disclosed embodiments. It can be clearly understood by the skilled person that, for convenience and brevity of description, the specific working processes of the system, the apparatus and the unit described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the embodiments disclosed herein, the disclosed methods, products (including but not limited to devices, apparatuses, etc.) may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units may be merely a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form. The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to implement the present embodiment. In addition, functional units in the embodiments of the present disclosure may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. In the description corresponding to the flowcharts and block diagrams in the figures, operations or steps corresponding to different blocks may also occur in different orders than disclosed in the description, and sometimes there is no specific order between the different operations or steps. For example, two sequential operations or steps may in fact be executed substantially concurrently, or they may sometimes be executed in the reverse order, depending upon the functionality involved. Each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
Claims (10)
1. A method for collision avoidance for a workboat, comprising:
acquiring an alert zone preventing other ships from passing through;
setting a plurality of AIS virtual navigation marks according to the warning area;
and sending the AIS virtual beacons.
2. The method according to claim 1, wherein the alert zone is determined based on a type of operation of the work vessel.
3. The method according to claim 2, wherein the acquiring an alert zone that prevents other vessels from passing when the operation type is towing operation comprises:
acquiring the current position and the trajectory line of the workboat;
the warning region is determined as extending from the current position along the trajectory line by a preset distance.
4. The method according to claim 3, wherein said setting a plurality of AIS virtual beacons according to said surveillance zone comprises:
acquiring the current position of the operation ship at preset time intervals;
and setting an AIS virtual navigation mark at the current position.
5. The method according to claim 3, wherein said setting a plurality of AIS virtual beacons according to said surveillance zone comprises:
setting an AIS virtual navigation mark at the head end and the tail end of the warning area respectively;
and arranging AIS virtual navigation marks at other parts of the warning area at fixed intervals.
6. The method according to claim 2, wherein the alert zone is an enclosed zone when the job type is a spot job.
7. The method according to claim 6, wherein said setting a plurality of AIS virtual beacons according to said surveillance zone comprises:
acquiring the boundary of the warning area;
and setting a plurality of AIS virtual navigation marks on the boundary of the warning area.
8. The method of any one of claims 1, 2, 6, or 7, further comprising:
and when detecting that no other ships exist in the warning area, driving the operating ship into the warning area.
9. An apparatus for collision avoidance for a work vessel, comprising a processor and a memory having stored thereon program instructions, wherein the processor is configured to perform the method for collision avoidance for a work vessel according to any of claims 1 to 8 when executing the program instructions.
10. A vessel comprising an arrangement for collision avoidance of a process vessel according to claim 9.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010174187.2A CN113393708A (en) | 2020-03-13 | 2020-03-13 | Method and device for collision avoidance of workboat and workboat |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010174187.2A CN113393708A (en) | 2020-03-13 | 2020-03-13 | Method and device for collision avoidance of workboat and workboat |
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| CN113393708A true CN113393708A (en) | 2021-09-14 |
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| CN202010174187.2A Pending CN113393708A (en) | 2020-03-13 | 2020-03-13 | Method and device for collision avoidance of workboat and workboat |
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| CN108922247A (en) * | 2018-07-25 | 2018-11-30 | 重庆大学 | A kind of ship based on AIS-navigation mark Risk-Degree of Collision evaluation method |
| CN110853408A (en) * | 2019-12-06 | 2020-02-28 | 武汉欣海远航科技研发有限公司 | Offshore wind farm electronic fence and acousto-optic early warning device and method |
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| CN107016879A (en) * | 2017-05-19 | 2017-08-04 | 武汉理工大学 | Virtually guard against mark system and method in a kind of construction ship operation area based on AIS/GPRS |
| CN107945580A (en) * | 2017-11-17 | 2018-04-20 | 武汉理工大学 | Marine traction system AIS virtually guards against mark designation system and method |
| CN108922247A (en) * | 2018-07-25 | 2018-11-30 | 重庆大学 | A kind of ship based on AIS-navigation mark Risk-Degree of Collision evaluation method |
| CN110853408A (en) * | 2019-12-06 | 2020-02-28 | 武汉欣海远航科技研发有限公司 | Offshore wind farm electronic fence and acousto-optic early warning device and method |
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