Watercrafts environment risk real-time control and navigation system and its operation method

A watercrafts environment risk real-time control and navigation system, comprising:

• a processor is configured on a watercraft;
• a 3-dimension (3D) radar connects with the processor, and the 3D radar scans the obstacles around the watercraft and gets a 3D point cloud in real time;
• an inertial sensor connects with the processor, and the inertial sensor detects a motion of the watercraft and acquires a watercraft motion information;
• and
• a global positioning system (GPS) connects with the processor, and the GPS feedbacks a real-time coordinate of the watercraft in a plane navigation coordinate system;
• wherein the processor, comprising:
• a coordinate transform system stacks a projection of the 3D point cloud to form a 2-dimension (2D) point cloud, and the 2D point cloud is converted into a plane point cloud according to a real-time coordinate of the plane navigation coordinate system;
• an image processing unit rasterizes the plane point cloud, and the image processing unit refers to the watercraft motion information to remove noise and optimize the obstacles via an algorithm, and the image processing unit generates a plane navigation map;
• a path planning unit calculates an optimal path for the watercraft by the plane navigation map;
• wherein the image processing unit comprises a filter module, and the filter module performs an erosion operation, a dilation operation, or combinations thereof;
• wherein the dilation operation comprising:
• a reference value is set by sea state;
• a first dilation coefficient;
• and
• a second dilation coefficient;
• wherein if a value of the watercraft motion information is not over the reference value, the dilation operation performs the image operation with the first dilation coefficient;
• if the value of the watercraft motion information is over the reference value, the dilation operation performs the image operation with the second dilation coefficient.