CN119007502A - Marine operation and emergency rescue training command system based on unmanned aerial vehicle technology - Google Patents
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Abstract
本发明涉及海上救援技术领域，具体涉及基于无人机技术的海上运营及应急救援作训指挥系统，包括：可视化平台，用于实时监控海上运营区域船只分布状态信息；预测模块，用于接收可视化平台中海上运营区域中船只分布状态信息，基于船只分布状态信息预测船只未来航行轨迹；本发明通过海上运营区域及船只航行路径的分析，构建以船只未来航行轨迹拓扑，基于拓扑中的未来航行轨迹相交问题，对存在航行风险的船只进行确定，进一步的配载以无人机设备对海上航行船只作出提示，以供海上航行船只响应，规避航行路线相同而产生的碰撞风险，有效提升了海上船只运营安全，对于海上交通起到一定的救援服务效果。
The present invention relates to the field of maritime rescue technology, and in particular to a maritime operation and emergency rescue training command system based on unmanned aerial vehicle technology, comprising: a visualization platform for real-time monitoring of ship distribution status information in a maritime operation area; a prediction module for receiving ship distribution status information in a maritime operation area in the visualization platform, and predicting the future navigation trajectory of the ship based on the ship distribution status information; the present invention constructs a topology of future navigation trajectories of ships through analysis of maritime operation areas and ship navigation paths, determines ships with navigation risks based on the intersection of future navigation trajectories in the topology, and further configures unmanned aerial vehicle equipment to give prompts to ships sailing at sea, so that the ships sailing at sea can respond, thereby avoiding collision risks caused by the same navigation routes, effectively improving the operational safety of ships at sea, and having a certain rescue service effect on maritime traffic.
Description
Technical Field
The invention relates to the technical field of offshore rescue, in particular to an offshore operation and emergency rescue training command system based on an unmanned aerial vehicle technology.
Background
Offshore operations are mainly involved in various types of business in marine environments. Including marine transportation, such as efficient transportation of cargo and personnel; the offshore oil gas development operation ensures the stable supply of energy sources; and marine travel operations, providing a unique marine experience for tourists. It faces complex ocean condition challenges, requiring specialized teams to ensure safety and efficiency.
The invention patent with the application number 201410182540.6 discloses a railway emergency rescue command system, which is characterized by comprising a railway office emergency rescue command device, a station section emergency rescue command device and a site emergency rescue command device, wherein the railway office emergency rescue command device is in communication connection with the station section emergency rescue command device, the railway office emergency rescue command device is in communication connection with the site emergency rescue command device, the station section emergency rescue command device is in communication connection with the site emergency rescue command device, the railway office emergency rescue command device comprises a database server and an application server, the station section emergency rescue command device is formed by connecting a plurality of computers, and the site emergency rescue command device is an industrial computer.
The application aims at solving the problems: the accident emergency rescue command work of the railway in China usually adopts the traditional method implemented by the on-site decision command and organization of rescue command personnel, and the problem that rescue command personnel have command decision errors, rescue resource calling is disordered and slow, rescue decision scheme errors and the like frequently occurs due to the fact that the informatization and intelligence degree of the whole rescue work are insufficient, and due to the fact that the factors such as the stress atmosphere of the accident site and the experience of the rescue command personnel are insufficient, the rescue time is prolonged, and even secondary disasters occur in the rescue process, bad social influence is caused, and economic loss is large. "problem.
However, compared with railway transportation, in the marine transportation operation scene, each ship has a preset sailing route, but the ship is influenced by various uncertain factors in the sailing process, such as radar signal interference, bad weather and the like, the sailing route on the way of the ship can deviate to a certain extent, and when many sailing routes of the ship are poorly planned, the situation that the sailing routes of the ship are intersected easily occurs, so that the risk of sailing collision of the ship is generated.
Therefore, an offshore operation and emergency rescue training command system based on unmanned aerial vehicle technology is provided.
Disclosure of Invention
Aiming at the defects existing in the prior art, the invention provides an offshore operation and emergency rescue training command system based on unmanned aerial vehicle technology, and solves the technical problems in the background technology.
In order to achieve the above purpose, the invention is realized by the following technical scheme:
Offshore operation and emergency rescue training command system based on unmanned aerial vehicle technology includes:
the visual platform is used for monitoring the ship distribution state information of the offshore operation area in real time;
The prediction module is used for receiving the ship distribution state information in the offshore operation area in the visual platform and predicting the future sailing track of the ship based on the ship distribution state information;
The construction module is used for acquiring the future navigation track of the ship predicted by the prediction module and constructing the future navigation track topology of the ship based on the future navigation track of the ship;
The identifying module is used for identifying ships with possible navigation risks and ship navigation risk values;
The judging module is used for setting a judging threshold value, receiving the ship navigation risk value identified in the identifying module, and judging the risk ship based on the comparison of the ship navigation risk value and the judging threshold value;
And the control module is used for prompting the steering or detouring of the risk ship.
Still further, the offshore operation area in the visual platform is customized by a system end user, when the offshore operation area is set, the system end user inputs at least three sets of coordinates into the visual platform, and inputs coordinates into the visual platform to be adjacently connected with each other so as to construct a set of closed graphs, wherein the area defined by the closed graphs is the offshore operation area, and a sub-module is arranged at the lower stage of the visual platform, and the sub-module comprises:
The positioning unit is used for positioning the position coordinates of the ship in the offshore operation area in real time;
the transmission unit is used for transmitting the ship position coordinates positioned by the positioning unit to the visualization platform;
The positioning units are arranged in a plurality of groups, the positioning units are respectively deployed on ships running in the offshore operation area, and each ship is provided with one group of positioning units;
after receiving the ship position coordinates transmitted by the transmission unit, the visualization platform expresses the corresponding ship by using the appointed image blocks, places the image blocks expressing the ship into the offshore operation area based on the ship position coordinates, each group of image blocks expressing the ship is further marked with the name of the ship or any distinguishing mark, and after all the image blocks expressing the ship are placed into the offshore operation area, the offshore operation area and the placement state of each image block in the offshore operation area, namely the ship distribution state information.
Further, the visual platform synchronously operates along with the submodules of the visual platform, and when the transmission unit transmits the ship position coordinates to the visual platform, the ship distribution state information displayed in the visual platform is synchronously updated;
when the transmission unit transmits the ship position coordinates to the visual platform, the ship position coordinates are synchronously marked with the names or any distinguishing marks of the ships, the positioning unit is provided with operation logic, the positioning is operated based on the operation logic, the transmission unit synchronously operates along with the positioning unit, and the operation logic is expressed as:
；
Wherein: Is a correction; the method comprises the steps that a set of operation periods before a current operation period of a positioning unit is set; The sailing distance of the ship is the ith operation period; is a normalization factor; Rainfall is the current running period of the positioning unit; The current operation period wind level of the positioning unit is set; Visibility of the current running period of the positioning unit; 、、 Is the weight; The next operation period of the positioning unit; the base number of the running period of the positioning unit;
based on the above formula, the next operation period of the positioning unit is obtained and applied in the current operation period of the positioning unit, and the normalization factor is calculated and applied Control correctionAlways in the value range of 0.1-1, and the base number of the running period of the positioning unitCustomized by system end user, weight、、The sum is 1, and is customized by the system end user.
Still further, the prediction module is internally provided with a sub-module, including:
the monitoring unit is used for monitoring the updating times of the ship distribution state information in the visual platform, and controlling the operation of the prediction module when the updating times of the position coordinates of each ship are not less than three times;
Before the ship distribution state information in each visualization platform is updated, the monitoring unit records the position coordinates of each ship, and when the recording times of the position coordinates of each ship are not less than three times, the monitoring unit judges that the updating times of the position coordinates of each ship are not less than three times.
Further, the operation stage of the prediction module traverses and acquires the position coordinates of each ship recorded by the operation of the monitoring unit, each acquired ship position coordinate is derived from the same ship, a group of spline curves are drawn based on each group of position coordinates of the same ship, the ship sailing forward direction end of the spline curves extends to the boundary of the offshore operation area, and each ship corresponds to the extending part of the spline curve, namely the prediction result of the future sailing track of the ship in the prediction module;
Wherein the predicted result of the future sailing trajectory of each group of vessels, i.e. the extension curves taken from the extended spline curves, is provided with a corresponding vessel name or any kind of distinguishing mark.
Further, the future sailing trajectory topology of the ship constructed in the construction module is composed of all extended part curves with ship names or any distinguishing marks in the offshore operation area.
Still further, the identification module is provided with a sub-module at a lower stage, including:
An input unit for inputting obstacle position coordinates, which are represented in a designated block different from a block representing a ship block in an offshore operation area;
wherein, the obstacle position coordinates input in the input unit are manually input by a system end user.
Still further, the ships with navigation risk identified in the identification module are:
In the future navigation track topology of the ship, the extending part curve representing the future navigation track of the ship corresponds to the ship, and in the image block representing the position coordinates of the obstacle, the extending part curve with the intersecting position relation exists;
The navigation risk value of the ship possibly having navigation risk in the identification module is expressed as the identification logic:
；
Wherein: a voyage risk value for ship a and ship b; a distance from the current position of the ship a to the intersection point of the ship a and the ship b extension part curve; a distance from the current position of the ship b to the intersection point of the ship a and the ship b extension part curve; 、 the current sailing speed of the ship a and the ship b; Is a constant;
Wherein the constant is > 0, And the above equation considers only the case where two sets of ship extension curves intersect, where the extension curve corresponding to a ship is directly determined to be a risk ship when one set of ships intersects a tile representing an obstacle.
Furthermore, the control module is integrated by the unmanned aerial vehicle module and the loudspeaker, and in the operation stage of the control module, the unmanned aerial vehicle module acquires the ship which is judged to be the risk ship in the identification module or the judgment module, and identifies the risk judgment source as another ship or a block representing an obstacle;
the risk determination source is another ship: the ship determined as the risk ship or the ship corresponding to the risk determination source is taken as a prompt target, the unmanned aerial vehicle is controlled to drive to any position on the curve of the ship corresponding to the risk ship, which is determined to be the corresponding extension part of the ship corresponding to the risk ship, along with the intersection point of the curve of the corresponding extension part of the risk determination source, in the direction opposite to the heading direction, and the loudspeaker is further controlled to operate at the sea and the air to play prompt audio;
the risk determination sources are tiles representing obstacles: the unmanned aerial vehicle is controlled to drive to any position on a curve of the ship corresponding to the ship which is judged to be the risk ship and in the opposite direction to the heading direction of the position of the intersection point of the image blocks representing the obstacle, and the loudspeaker is further controlled to run at the sea and the air to play the prompt audio;
the prompt audio content played by the loudspeaker is as follows: the position coordinates of the intersection point of another extending part curve or the block representing the obstacle on the extending part curve corresponding to the ship and the text information is 'please bypass' prompt voice;
namely, the prompt audio played by the loudspeaker is as follows: please bypass "xx. "xx.xx.xx" is: the ship corresponds to the position coordinates of the intersection point of another extension curve or a block representing an obstacle on the extension curve intersecting with it.
Still further, the visual platform subordinate is connected with positioning unit and transmission unit through wireless network interaction, the visual platform is connected with prediction module through wireless network interaction, the inside monitoring unit that is connected with through wireless network interaction of prediction module, the monitoring unit is connected with the visual platform interaction through wireless network, the prediction module is connected with building module and identification module through wireless network interaction, the identification module subordinate is connected with input unit through wireless network interaction, identification module is connected with decision module and control module through wireless network interaction.
Compared with the known public technology, the technical scheme provided by the invention has the following beneficial effects:
The invention provides an offshore operation and emergency rescue training command system based on unmanned aerial vehicle technology, which is used for constructing future navigation track topology of ships through analysis of offshore operation areas and navigation paths of the ships in the operation process, determining the ships with navigation risks based on the future navigation track intersection problem in the topology, further carrying out prompt on the offshore navigation ships by using unmanned aerial vehicle equipment so as to enable the offshore navigation ships to respond, avoiding collision risks caused by identical navigation routes, effectively improving the operation safety of the offshore ships, and playing a certain rescue service effect on offshore traffic.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is evident that the drawings in the following description are only some embodiments of the present invention and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art.
Fig. 1 is a schematic structural diagram of an offshore operation and emergency rescue training command system based on unmanned aerial vehicle technology.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention is further described below with reference to examples.
Example 1:
The offshore operation and emergency rescue training command system based on unmanned aerial vehicle technology in this embodiment, as shown in fig. 1, includes:
the visual platform is used for monitoring the ship distribution state information of the offshore operation area in real time;
The offshore operation area in the visual platform is customized by a system end user, when the offshore operation area is set, the system end user inputs at least three groups of coordinates into the visual platform, the coordinates are input into the visual platform and are adjacently connected with each other to construct a group of closed graphs, the area defined by the closed graphs is the offshore operation area, and a sub-module is arranged at the lower level of the visual platform and comprises:
The positioning unit is used for positioning the position coordinates of the ship in the offshore operation area in real time;
the transmission unit is used for transmitting the ship position coordinates positioned by the positioning unit to the visualization platform;
the positioning units are provided with a plurality of groups, the plurality of groups of positioning units are respectively deployed on ships travelling in the offshore operation area, and each ship is provided with one group of positioning units;
After receiving the ship position coordinates transmitted by the transmission unit, the visualization platform expresses corresponding ships by using specified image blocks, places the image blocks expressing the ships into the offshore operation area based on the ship position coordinates, each group of image blocks expressing the ships is also marked with the name of the ship or any distinguishing mark, and after all the image blocks expressing the ships are placed into the offshore operation area, the offshore operation area and the placement state of each image block in the offshore operation area, namely the ship distribution state information;
the visual platform synchronously operates along with the submodules of the visual platform, and when the transmission unit transmits the ship position coordinates to the visual platform, the ship distribution state information displayed in the visual platform is synchronously updated;
When the transmission unit transmits the ship position coordinates to the visual platform, the ship position coordinates are synchronously marked with the names of ships or any distinguishing mark, the positioning unit is provided with operation logic, the positioning is operated based on the operation logic, the transmission unit synchronously operates along with the positioning unit, and the operation logic is expressed as:
；
Wherein: Is a correction; the method comprises the steps that a set of operation periods before a current operation period of a positioning unit is set; The sailing distance of the ship is the ith operation period; is a normalization factor; Rainfall is the current running period of the positioning unit; The current operation period wind level of the positioning unit is set; Visibility of the current running period of the positioning unit; 、、 Is the weight; The next operation period of the positioning unit; the base number of the running period of the positioning unit;
based on the above formula, the next operation period of the positioning unit is obtained and applied in the current operation period of the positioning unit, and the normalization factor is calculated Control correctionAlways in the value range of 0.1-1, and the base number of the running period of the positioning unitCustomized by system end user, weight、、The sum is 1, and is customized by the system end user;
The prediction module is used for receiving the ship distribution state information in the offshore operation area in the visual platform and predicting the future sailing track of the ship based on the ship distribution state information;
the prediction module is internally provided with a sub-module, comprising:
the monitoring unit is used for monitoring the updating times of the ship distribution state information in the visual platform, and controlling the operation of the prediction module when the updating times of the position coordinates of each ship are not less than three times;
before the ship distribution state information in each visualization platform is updated, the monitoring unit records the position coordinates of each ship, and when the recording times of the position coordinates of each ship are not less than three times, the monitoring unit judges that the updating times of the position coordinates of each ship are not less than three times;
The construction module is used for acquiring the future navigation track of the ship predicted by the prediction module and constructing the future navigation track topology of the ship based on the future navigation track of the ship;
The identifying module is used for identifying ships with possible navigation risks and ship navigation risk values;
the identification module is provided with the submodule in the lower level, includes:
An input unit for inputting obstacle position coordinates, which are represented in a designated block different from a block representing a ship block in an offshore operation area;
the obstacle position coordinates input in the input unit are manually input by a user at the system end;
the ships with navigation risks identified in the identification module are:
In the future navigation track topology of the ship, the extending part curve representing the future navigation track of the ship corresponds to the ship, and in the image block representing the position coordinates of the obstacle, the extending part curve with the intersecting position relation exists;
The navigation risk value of the ship with possible navigation risk in the identification module is expressed by the identification logic:
；
Wherein: a voyage risk value for ship a and ship b; a distance from the current position of the ship a to the intersection point of the ship a and the ship b extension part curve; a distance from the current position of the ship b to the intersection point of the ship a and the ship b extension part curve; 、 the current sailing speed of the ship a and the ship b; Is a constant;
Wherein the constant is > 0, And the above equation considers only the case where two sets of ship extension curves intersect, when one set of ships intersects a pattern representing an obstacle, the extension curve corresponding to the ship is directly determined to be a risk ship;
The judging module is used for setting a judging threshold value, receiving the ship navigation risk value identified in the identifying module, and judging the risk ship based on the comparison of the ship navigation risk value and the judging threshold value;
the control module is used for prompting the steering or detouring of the risk ship;
The visual platform is connected with a positioning unit and a transmission unit in a subordinate mode through wireless network interaction, the visual platform is connected with a prediction module through wireless network interaction, a monitoring unit is connected with the visual platform in the prediction module through wireless network interaction, the prediction module is connected with a construction module and a recognition module through wireless network interaction, the recognition module is connected with an input unit through wireless network interaction, and the recognition module is connected with a judgment module and a control module through wireless network interaction.
In this embodiment, the visualization platform operates to monitor the ship distribution state information of the offshore operation area in real time, the positioning unit positions the ship position coordinates in the offshore operation area in real time, the transmission unit synchronously transmits the ship position coordinates positioned by the positioning unit to the visualization platform, the prediction module further receives the ship distribution state information in the offshore operation area in the visualization platform, predicts the future sailing track of the ship based on the ship distribution state information, the monitoring unit synchronously monitors the number of times of updating the ship distribution state information in the visualization platform, controls the prediction module to operate when the number of times of updating each ship position coordinate is monitored to be not less than three, acquires the future sailing track of the ship predicted by the prediction module, constructs the future sailing track topology of the ship based on the future sailing track of the ship, the identification module operates to identify the ship and the ship sailing risk values which possibly have sailing risks, the input unit synchronously inputs the obstacle position coordinates, is indicated in the offshore operation area based on the blocks which are designated and are different from the blocks representing the ship, finally, the judgment threshold is set by the judgment module, the ship sailing risk values identified in the identification module is received, the ship sailing risk values are compared with the judgment threshold value based on the judgment threshold, and the ship sailing risk values are predicted, and the ship risk diversion module is controlled.
Through the system operation in the embodiment, an effective traffic command effect is brought to the ship sailing at sea, the occurrence probability of the marine traffic accident is reduced, and the marine traffic safety is improved.
Example 2:
on the aspect of implementation, on the basis of embodiment 1, this embodiment further specifically describes, with reference to fig. 1, an offshore operation and emergency rescue training command system based on unmanned aerial vehicle technology in embodiment 1:
The operation stage of the prediction module is to traverse and acquire the position coordinates of each ship recorded by the operation of the monitoring unit, the position coordinates of each acquired ship are derived from the same ship, a group of spline curves are drawn based on the position coordinates of each group of the same ship, the ship sailing forward direction end of the spline curves extends to the boundary of the offshore operation area, and each ship corresponds to the extending part of the spline curve, namely the prediction result of the future sailing track of the ship in the prediction module;
Wherein the prediction result of the future sailing track of each group of ships, namely an extension part curve cut from the extended spline curve, and each group of extension part curves is configured with a corresponding ship name or any distinguishing mark;
The future sailing trajectory topology of the ship constructed in the construction module is composed of the offshore operation area and all the extension curves with ship names or any kind of distinguishing marks.
In this embodiment, through the above arrangement, further operation data and logic support are provided for the system in embodiment 1, so as to ensure the operation stability of the system in embodiment 1.
Example 3:
on the aspect of implementation, on the basis of embodiment 1, this embodiment further specifically describes, with reference to fig. 1, an offshore operation and emergency rescue training command system based on unmanned aerial vehicle technology in embodiment 1:
the control module is integrated by the unmanned aerial vehicle module and the loudspeaker, and in the operation stage of the control module, the unmanned aerial vehicle module acquires the ship which is judged to be a risk ship in the identification module or the judgment module, and identifies the risk judgment source as another ship or a block representing an obstacle;
the risk determination source is another ship: the ship determined as the risk ship or the ship corresponding to the risk determination source is taken as a prompt target, the unmanned aerial vehicle is controlled to drive to any position on the curve of the ship corresponding to the risk ship, which is determined to be the corresponding extension part of the ship corresponding to the risk ship, along with the intersection point of the curve of the corresponding extension part of the risk determination source, in the direction opposite to the heading direction, and the loudspeaker is further controlled to operate at the sea and the air to play prompt audio;
the risk determination sources are tiles representing obstacles: the unmanned aerial vehicle is controlled to drive to any position on a curve of the ship corresponding to the ship which is judged to be the risk ship and in the opposite direction to the heading direction of the position of the intersection point of the image blocks representing the obstacle, and the loudspeaker is further controlled to run at the sea and the air to play the prompt audio;
the prompt audio content played by the loudspeaker is as follows: the position coordinates of the intersection point of another extending part curve or the block representing the obstacle on the extending part curve corresponding to the ship and the text information is 'please bypass' prompt voice;
namely, the prompt audio played by the loudspeaker is as follows: please bypass "xx. "xx.xx.xx" is: the ship corresponds to the position coordinates of the intersection point of another extension curve or a block representing an obstacle on the extension curve intersecting with it.
In this embodiment, through the above arrangement, the control module of the system in embodiment 1 is further provided with a designated control logic, so as to ensure that the system in embodiment 1 finally uses the unmanned aerial vehicle as an interactive carrier, and realize the traffic management of the marine operation ship.
In summary, in the above embodiment, in the running process of the system, through analysis of the offshore operation area and the ship navigation path, the future navigation track topology of the ship is constructed, the ship with navigation risk is determined based on the future navigation track intersection problem in the topology, and further unmanned plane equipment is loaded to prompt the offshore navigation ship for the offshore navigation ship to respond, so that collision risk caused by the same navigation route is avoided, the operation safety of the offshore ship is effectively improved, and a certain rescue service effect is achieved for offshore traffic.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. Offshore operation and emergency rescue training command system based on unmanned aerial vehicle technique, its characterized in that includes:
the visual platform is used for monitoring the ship distribution state information of the offshore operation area in real time;
The prediction module is used for receiving the ship distribution state information in the offshore operation area in the visual platform and predicting the future sailing track of the ship based on the ship distribution state information;
The construction module is used for acquiring the future navigation track of the ship predicted by the prediction module and constructing the future navigation track topology of the ship based on the future navigation track of the ship;
The identifying module is used for identifying ships with possible navigation risks and ship navigation risk values;
The judging module is used for setting a judging threshold value, receiving the ship navigation risk value identified in the identifying module, and judging the risk ship based on the comparison of the ship navigation risk value and the judging threshold value;
And the control module is used for prompting the steering or detouring of the risk ship.
2. The unmanned aerial vehicle technology-based offshore operation and emergency rescue training command system according to claim 1, wherein the offshore operation area in the visual platform is defined by a system end user, when the offshore operation area is set, the system end user inputs at least three sets of coordinates into the visual platform, and inputs coordinates into the visual platform for adjacent interconnection so as to construct a set of closed graphics, wherein the area defined by the closed graphics is the offshore operation area, and the lower level of the visual platform is provided with a sub-module comprising:
The positioning unit is used for positioning the position coordinates of the ship in the offshore operation area in real time;
the transmission unit is used for transmitting the ship position coordinates positioned by the positioning unit to the visualization platform;
The positioning units are arranged in a plurality of groups, the positioning units are respectively deployed on ships running in the offshore operation area, and each ship is provided with one group of positioning units;
after receiving the ship position coordinates transmitted by the transmission unit, the visualization platform expresses the corresponding ship by using the appointed image blocks, places the image blocks expressing the ship into the offshore operation area based on the ship position coordinates, each group of image blocks expressing the ship is further marked with the name of the ship or any distinguishing mark, and after all the image blocks expressing the ship are placed into the offshore operation area, the offshore operation area and the placement state of each image block in the offshore operation area, namely the ship distribution state information.
3. The unmanned aerial vehicle technology-based offshore operation and emergency rescue training command system according to claim 2, wherein the visualization platform synchronously operates along with the submodules thereof, and when the transmission unit transmits the position coordinates of the ship to the visualization platform, the ship distribution state information displayed in the visualization platform is synchronously updated;
when the transmission unit transmits the ship position coordinates to the visual platform, the ship position coordinates are synchronously marked with the names or any distinguishing marks of the ships, the positioning unit is provided with operation logic, the positioning is operated based on the operation logic, the transmission unit synchronously operates along with the positioning unit, and the operation logic is expressed as:
；
Wherein: Is a correction; the method comprises the steps that a set of operation periods before a current operation period of a positioning unit is set; The sailing distance of the ship is the ith operation period; is a normalization factor; Rainfall is the current running period of the positioning unit; The current operation period wind level of the positioning unit is set; Visibility of the current running period of the positioning unit; 、、 Is the weight; The next operation period of the positioning unit; the base number of the running period of the positioning unit;
based on the above formula, the next operation period of the positioning unit is obtained and applied in the current operation period of the positioning unit, and the normalization factor is calculated and applied Control correctionAlways in the value range of 0.1-1, and the base number of the running period of the positioning unitCustomized by system end user, weight、、The sum is 1, and is customized by the system end user.
4. The unmanned aerial vehicle technology-based offshore operation and emergency rescue training command system according to claim 1, wherein the prediction module is internally provided with a sub-module, comprising:
the monitoring unit is used for monitoring the updating times of the ship distribution state information in the visual platform, and controlling the operation of the prediction module when the updating times of the position coordinates of each ship are not less than three times;
Before the ship distribution state information in each visualization platform is updated, the monitoring unit records the position coordinates of each ship, and when the recording times of the position coordinates of each ship are not less than three times, the monitoring unit judges that the updating times of the position coordinates of each ship are not less than three times.
5. The unmanned aerial vehicle technology-based offshore operation and emergency rescue training command system according to claim 4, wherein the prediction module is operated at a stage of traversing and acquiring each ship position coordinate recorded by the operation of the monitoring unit, each acquired ship position coordinate is derived from the same ship, a set of spline curves are drawn based on each set of position coordinates of the same ship, the ship navigation advancing direction end of the spline curves extends to the boundary of an offshore operation area, and each ship corresponds to the extending part of the spline curves, namely, the prediction result of the future navigation track of the ship in the prediction module;
Wherein the predicted result of the future sailing trajectory of each group of vessels, i.e. the extension curves taken from the extended spline curves, is provided with a corresponding vessel name or any kind of distinguishing mark.
6. The unmanned aerial vehicle technology-based offshore operation and emergency rescue training command system according to claim 1, wherein the future sailing trajectory topology of the ship constructed in the construction module is composed of an offshore operation area and all extended part curves with ship names or any distinguishing marks.
7. The unmanned aerial vehicle technology-based offshore operation and emergency rescue training instruction system according to claim 1, wherein the identification module is provided with a sub-module at a lower stage, comprising:
An input unit for inputting obstacle position coordinates, which are represented in a designated block different from a block representing a ship block in an offshore operation area;
wherein, the obstacle position coordinates input in the input unit are manually input by a system end user.
8. The unmanned aerial vehicle technology-based marine operation and emergency rescue training instruction system according to claim 1, wherein the ships with navigation risk identified in the identification module are:
In the future navigation track topology of the ship, the extending part curve representing the future navigation track of the ship corresponds to the ship, and in the image block representing the position coordinates of the obstacle, the extending part curve with the intersecting position relation exists;
The navigation risk value of the ship possibly having navigation risk in the identification module is expressed as the identification logic:
；
Wherein: a voyage risk value for ship a and ship b; a distance from the current position of the ship a to the intersection point of the ship a and the ship b extension part curve; a distance from the current position of the ship b to the intersection point of the ship a and the ship b extension part curve; 、 the current sailing speed of the ship a and the ship b; Is a constant;
Wherein the constant is > 0, And the above equation considers only the case where two sets of ship extension curves intersect, where the extension curve corresponding to a ship is directly determined to be a risk ship when one set of ships intersects a tile representing an obstacle.
9. The unmanned aerial vehicle technology-based offshore operation and emergency rescue training command system according to claim 1, wherein the control module is integrated by an unmanned aerial vehicle module and a loudspeaker, and the unmanned aerial vehicle module obtains a ship which is judged to be a risk ship in the identification module or the judgment module, identifies a risk judgment source as another ship or a block representing an obstacle in the operation stage of the control module;
the risk determination source is another ship: the ship determined as the risk ship or the ship corresponding to the risk determination source is taken as a prompt target, the unmanned aerial vehicle is controlled to drive to any position on the curve of the ship corresponding to the risk ship, which is determined to be the corresponding extension part of the ship corresponding to the risk ship, along with the intersection point of the curve of the corresponding extension part of the risk determination source, in the direction opposite to the heading direction, and the loudspeaker is further controlled to operate at the sea and the air to play prompt audio;
the risk determination sources are tiles representing obstacles: the unmanned aerial vehicle is controlled to drive to any position on a curve of the ship corresponding to the ship which is judged to be the risk ship and in the opposite direction to the heading direction of the position of the intersection point of the image blocks representing the obstacle, and the loudspeaker is further controlled to run at the sea and the air to play the prompt audio;
the prompt audio content played by the loudspeaker is as follows: the position coordinates of the intersection point of another extending part curve or the block representing the obstacle on the extending part curve corresponding to the ship and the text information is 'please bypass' prompt voice;
namely, the prompt audio played by the loudspeaker is as follows: please bypass "xx. "xx.xx.xx" is: the ship corresponds to the position coordinates of the intersection point of another extension curve or a block representing an obstacle on the extension curve intersecting with it.
10. The unmanned aerial vehicle technology-based offshore operation and emergency rescue training command system according to claim 1, wherein the lower level of the visual platform is interactively connected with a positioning unit and a transmission unit through a wireless network, the visual platform is interactively connected with a prediction module through the wireless network, the inside of the prediction module is interactively connected with a monitoring unit through the wireless network, the monitoring unit is interactively connected with the visual platform through the wireless network, the prediction module is interactively connected with a construction module and an identification module through the wireless network, the lower level of the identification module is interactively connected with an input unit through the wireless network, and the identification module is interactively connected with a judgment module and a control module through the wireless network.
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