CN109144060A - A kind of dangerous discernment method and system of steamer line - Google Patents
A kind of dangerous discernment method and system of steamer line Download PDFInfo
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- CN109144060A CN109144060A CN201810960121.9A CN201810960121A CN109144060A CN 109144060 A CN109144060 A CN 109144060A CN 201810960121 A CN201810960121 A CN 201810960121A CN 109144060 A CN109144060 A CN 109144060A
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
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Abstract
The embodiment of the present application provides a kind of dangerous discernment method and system of steamer line, wherein, this method comprises: obtain the obstacle information of barrier in cruiseway to be monitored, current context information and drive into the cruiseway to be monitored each ship ship information；According to the current context information, each ship information and the obstacle information, dangerous discernment is carried out to the course line of each ship.The embodiment of the present application improves the accuracy that dangerous discernment is carried out to the course line of the ship in cruiseway to be monitored.
Description
Technical field
This application involves cruiseway monitoring technical fields, in particular to a kind of dangerous discernment side of steamer line
Method and system.
Background technique
The bridge quantity built on current cruiseway is more and more, this ability for allowing inland river to open the navigation or air flight has received very big limit
System.Some early stage construction such as bridge is not completely in view of shipping from now on is grown rapidly, with national economy and water transport object
The fast development of stream, inland water transport heavy traffic, ship overload phenomenon is more universal, the bad weather, low visibility the case where
Under, dealing ship might easily get lost or manipulate improper and hits the barrier in navigation channel in navigation channel, such as bridge, hit a submerged reef.
In order to solve problems, method common at present is by the way that physics crash bearer, laser technology, Radar Technology is arranged
Or the schemes such as video technique, wherein setting physics crash bearer cost is higher, and belongs to passive anticollision, can not predict danger in advance
Danger；And Radar Technology or laser technology is taken to be monitored, there is a problem of that the corresponding time is short, i.e., ship can not be made timely
Change navigation channel；When being monitored using video technique, influenced by weather it is more serious, can not be effective when weather conditions are severe
Monitoring.
To sum up, the prior art lacks a kind of pair of high dangerous discernment method of steamer line progress accuracy.
Summary of the invention
In view of this, a kind of dangerous discernment method and system for being designed to provide steamer line of the application, to improve
The accuracy of dangerous discernment is carried out to the course line of the ship in cruiseway to be monitored.
In a first aspect, the embodiment of the present application provides a kind of dangerous discernment method of steamer line, comprising:
It obtains the obstacle information of barrier in cruiseway to be monitored, current context information and drives into described to be monitored
The ship information of each ship of cruiseway；
According to the current context information, each ship information and the obstacle information, to each ship
Course line carries out dangerous discernment.
With reference to first aspect, the embodiment of the present application provides the first possible embodiment of first aspect, the ship
Oceangoing ship information includes ship attribute information；It is described according to the current context information, each ship information and the obstacle
Object information carries out dangerous discernment to the course line of each ship, comprising:
According to the current context information and the obstacle information, the current context information and the barrier are calculated
Between the first matching relationship；
According to the ship attribute information and first matching relationship, verify whether the barrier region is danger
Danger zone domain.
The possible embodiment of with reference to first aspect the first, the embodiment of the present application provide second of first aspect
Possible embodiment, when the obstacle information includes bridge information, the current context information includes inland river Water Depth Information
And the ship attribute information is when including ship height, it is described to be closed according to the ship attribute information with first matching
System, verifies whether the barrier region is danger zone, specifically includes:
According to the bridge information and the inland river Water Depth Information, the difference in height between the inland river water surface and bridge is calculated；
Based on the ship height and the difference in height, verify whether the bridge region is danger zone.
The possible embodiment of with reference to first aspect the first, the embodiment of the present application provide the third of first aspect
Possible embodiment, the ship information include at least real-time position information, it is described according to the current context information, it is each
The ship information and the obstacle information carry out dangerous discernment to the course line of each ship, comprising:
According to the real-time position information of each ship, course and the speed of a ship or plane of each ship are determined；
According to the location information in the course of each ship and danger zone, judges whether there is ship and drive towards the danger
Region；
If so, determining that ship drives into the residue of the danger zone according to the speed of a ship or plane for the ship for driving towards the danger zone
Time, and the class of risk for driving towards the course line of ship of the danger zone is determined based on the remaining time；
Based on the class of risk, early warning corresponding with the class of risk is carried out to the ship for driving towards the danger zone
Prompt.
With reference to first aspect, the embodiment of the present application provides the 4th kind of possible embodiment of first aspect, described to work as
Preceding environmental information includes at least current hydrographic information and current weather information；The ship information is believed including at least real time position
Breath；It is described to obtain the obstacle information of barrier, current context information in cruiseway to be monitored and drive into described to be monitored
The ship information of each ship of cruiseway, comprising:
By the way that RTK rover station on the barrier is arranged in and the base station RTK of cruiseway to be monitored is arranged in, obtain
The obstacle information；
By the water level and water velocity monitor being arranged in the cruiseway to be monitored, the current hydrology is acquired
Data；
By the meteorology and environment monitor being arranged in the cruiseway to be monitored, the current weather number is acquired
According to；
Pass through the RTK rover station being arranged on each ship and the base station RTK that cruiseway to be monitored is set, acquisition
The real-time position information of each ship, the real-time position information carry the identification code of the ship.
With reference to first aspect, the embodiment of the present application provides the 5th kind of possible embodiment of first aspect, the side
Method further include:
When monitoring dangerous there are the course line of ship, the current driving video letter of dangerous ship is obtained
Breath；
The current driving video information is sent to monitoring display end.
With reference to first aspect, the embodiment of the present application provides the 6th kind of possible embodiment of first aspect, the barrier
Object information is hindered to include at least navigation channel information, navigation mark information and islands and reefs information, it is described to obtain barrier in cruiseway to be monitored
It obstacle information, current context information and drives into before the ship information of each ship of the cruiseway to be monitored, institute
State method further include:
Obtain navigation channel information, navigation mark information and the islands and reefs information in the barrier letter；
Based on the navigation channel information, navigation mark information and islands and reefs information with establishing the navigation channel of the cruiseway to be monitored artwork
Type；
It is described obtain the obstacle information of barrier in cruiseway to be monitored, current context information and drive into it is described to
After the ship information for monitoring each ship of cruiseway, the method also includes:
The ship information of each ship and the current context information are recorded in the navigation channel cartographic model, generated
Current steamer line map；
The current steamer line map is sent to corresponding each ship display end and monitoring display end.
Second aspect, the embodiment of the present application provide a kind of threat identification system of steamer line, comprising: positioning element,
Environment information acquisition component and server, the server respectively with the positioning element and the environment information acquisition component
Connection；
The positioning element, for acquiring the obstacle information of barrier in cruiseway to be monitored and driving into described wait supervise
The ship information of each ship of cruiseway is surveyed, and the obstacle information and the ship information are sent to the service
Device；
The environment information acquisition component, for acquiring the current context information of the cruiseway to be monitored, and by institute
It states current context information and is sent to the server；
The server, for being believed according to the current context information, each ship information and the barrier
Breath carries out dangerous discernment to the course line of each ship.
In conjunction with second aspect, the embodiment of the present application provides the first possible embodiment of second aspect, the clothes
Business implement body is used for:
According to the current context information and the obstacle information, the current context information and the barrier are calculated
Between the first matching relationship；
According to the ship attribute information and first matching relationship, verify whether the barrier region is danger
Danger zone domain.
In conjunction with the first possible embodiment of second aspect, the embodiment of the present application provides second of second aspect
Possible embodiment, when the obstacle information includes bridge information, the current context information includes inland river Water Depth Information
And the ship attribute information, when including ship height, the server is specifically used for:
According to the bridge information and the inland river Water Depth Information, the difference in height between the inland river water surface and bridge is calculated；
Based on the ship height and the difference in height, verify whether the bridge region is danger zone.
Compared in the prior art, the dangerous discernment method of steamer line provided by the embodiments of the present application, including obtain to
Monitor obstacle information, current context information and each ship for driving into cruiseway to be monitored of barrier in cruiseway
Ship information；According to current context information, each ship information and obstacle information, endanger to the course line of each ship
Danger identification.
As it can be seen that the dangerous discernment method for the steamer line that the embodiment of the present application provides, is the inland river to be monitored by acquisition
The obstacle information of barrier in navigation channel, current context information and drive into cruiseway to be monitored each ship ship letter
Breath, the dangerous discernment that the course line of each ship is carried out jointly, in this way because in different environments and under different ships,
Danger zone caused by barrier may not be it is unalterable, environmental factor and ship self information are taken into account, energy
It is enough more accurate to the ship progress dangerous discernment for driving into cruiseway to be monitored.
To enable the above objects, features, and advantages of the application to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
Technical solution in ord to more clearly illustrate embodiments of the present application, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only some embodiments of the application, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 shows the dangerous discernment method flow schematic diagram of the first steamer line provided by the embodiment of the present application；
Fig. 2 shows the dangerous discernment method flow schematic diagrams of second of steamer line provided by the embodiment of the present application；
Fig. 3 shows the dangerous discernment method flow schematic diagram of the third steamer line provided by the embodiment of the present application；
Fig. 4 shows a kind of threat identification system structural schematic diagram of steamer line provided by the embodiment of the present application；
Fig. 5 shows a kind of specific structure signal of the threat identification system of steamer line provided by the embodiment of the present application
Figure.
Specific embodiment
To keep the purposes, technical schemes and advantages of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
Middle attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
It is some embodiments of the present application, instead of all the embodiments.The application being usually described and illustrated herein in the accompanying drawings is real
The component for applying example can be arranged and be designed with a variety of different configurations.Therefore, below to the application's provided in the accompanying drawings
The detailed description of embodiment is not intended to limit claimed scope of the present application, but is merely representative of the selected reality of the application
Apply example.Based on embodiments herein, those skilled in the art institute obtained without making creative work
There are other embodiments, shall fall in the protection scope of this application.
The embodiment of the present application provides a kind of dangerous discernment method of steamer line, as shown in Figure 1, including step S100~
S110:
S100 obtains the obstacle information of barrier, current context information in cruiseway to be monitored and drives into wait supervise
Survey the ship information of each ship of cruiseway.
Wherein, what barrier referred to ship may be made to collide in certain circumstances includes bridge, hits a submerged reef；When
Preceding environment refers to hydrographic data and meteorological data of cruiseway to be monitored etc., and hydrographic data includes the depth of water, flow velocity of water etc.；
Ship information includes ship attribute information and real-time position information, and ship attribute information here may include the big decimal of ship
According to information such as, identification codes.
Current context information includes at least current hydrographic information and current weather information；Ship information includes at least real-time position
Confidence breath；In step S100, obtains the obstacle information of barrier, current context information in cruiseway to be monitored and drive into
The ship information of each ship of cruiseway to be monitored, comprising:
(1) it by the way that RTK rover station on barrier is arranged in and the base station RTK of cruiseway to be monitored is arranged in, obtains
Obstacle information.
RTK (Real-time kinematic, in real time dynamic) movement station is mounted on barrier, using big-dipper satellite and
GPS (Global Positioning System, global positioning system) satellite measures obstacle information, while receiving RTK base
Data are corrected in the position positioning sent of standing, and using revised obstacle information as final obstacle information.
The base station RTK is based on known location point, using big-dipper satellite and GPS satellite, for anti-to RTK rover station on ship
The data of feedback generate position positioning amendment data using RTK technology in real time, and the position of generation are positioned amendment data and is sent to
It is mounted on barrier on RTK rover station, final obstacle information is accurately determined convenient for RTK rover station.
(2) by the water level and water velocity monitor that are arranged in cruiseway to be monitored, current hydrographic data is acquired.
Here hydrographic data includes the hydrographic informations such as water level, water velocity.
(3) by the meteorology and environment monitor that are arranged in cruiseway to be monitored, current weather data are acquired.
Meteorological data includes the weather informations such as wind speed, wind direction, temperature, mist.
(4) pass through the RTK rover station being arranged on each ship and the base station RTK that cruiseway to be monitored is set,
The real-time position information of each ship is acquired, real-time position information carries the identification code of ship.
Here, RTK rover station: deployment is mounted on various ships, using big-dipper satellite and GPS satellite, for monitoring, instead
Feedback records ship underway position data information, while receiving the position positioning amendment data of the base station RTK transmission, thus accurate true
The real-time position information of fixed each ship.
The base station RTK: being based on known location point, using big-dipper satellite and GPS satellite, for anti-to RTK rover station on ship
The data of feedback generate position positioning corrected parameter using RTK technology in real time, and corrected parameter data information are sent in real time
RTK rover station.
S110 carries out the course line of each ship according to current context information, each ship information and obstacle information
Dangerous discernment.
Wherein, ship information includes ship attribute information, in step S110, is believed according to current context information, each ship
Breath and obstacle information carry out dangerous discernment to the course line of each ship, as shown in Fig. 2, including step S200~S210:
S200 calculates first between current context information and barrier according to current context information and obstacle information
Matching relationship.
Here the current context information in cruiseway to be monitored and obstacle information will form a kind of matching relationship, than
Such as, when obstacle information includes bridge information, current context information includes inland river Water Depth Information and ship attribute information includes
When ship height, the difference in height between the inland river water surface and bridge can be calculated according to bridge information and inland river Water Depth Information.
S210 verifies whether barrier region is danger zone according to ship attribute information and the first matching relationship.
After the first matching relationship between current context information and barrier determines, further according to ship attribute information and it is somebody's turn to do
First matching relationship, with the presence or absence of danger for being able to verify that barrier region to the ship.
For example, in above-mentioned example, after calculating the difference in height between the inland river water surface and bridge, then based on ship height and
Difference in height is just able to verify that whether bridge region is difference in height between danger zone, such as the current inland river water surface and bridge
It is 8 meters, and the ship height of ship is 9 meters, if high ship will can then be collided by the bridge, i.e. bridge region
For danger zone.
, can be for the course line just dangerous discernment of ship after determining the various danger zones in river to be monitored, it can
Selection of land, ship information includes at least real-time position information, in step S110, according to current context information, each ship information with
And obstacle information, dangerous discernment is carried out to the course line of each ship, as shown in figure 3, including the following steps S300~S330:
S300 determines course and the speed of a ship or plane of each ship according to the real-time position information of each ship.
For any one vessel, according to the real-time position information of the ship, that is, course and the speed of a ship or plane of the ship can determine.
S310 judges whether there is ship and drives towards danger according to the location information in the course of each ship and danger zone
Danger zone domain.
For example, northeastward of the danger zone in some ship current location leans on the place in 30 degree of east, if according to the ship
Real-time position information determine that the ship just drives towards northeastward by 30 degree of the place in east, it is determined that the ship drives towards danger
Region.
S320, if so, according to the speed of a ship or plane for the ship for driving towards danger zone, when determining that ship drives into the residue of danger zone
Between, and the class of risk for driving towards the course line of ship of danger zone is determined based on remaining time.
According to the current geographic position of ship and the geographical location of danger zone, determine ship reach danger zone away from
From then further according to the speed of a ship or plane of ship, so that it may determine that ship drives into the remaining time of danger zone, then according to the residue when
Between come determine at present drive towards danger zone ship course line the class of risk, such as remaining time it is short, illustrate the danger of ship
Danger zone domain is closer, then the class of risk in the course line of the ship is higher, and remaining time is long, illustrates the danger zone of ship farther out,
Then the class of risk in the course line of the ship is lower.
S330 is based on the class of risk, carries out early warning corresponding with the class of risk to the ship for driving towards danger zone.
For example, can be carried out to the ship for driving towards danger zone corresponding with high-risk classification when the class of risk is higher
Early warning.
Optionally, when monitoring dangerous there are the course line of ship, the current driving of dangerous ship is obtained
Video information.Current driving video information is sent to monitoring display end.
Optionally, obstacle information includes at least navigation channel information, navigation mark information and islands and reefs information, and step S100 is obtained wait supervise
Survey obstacle information, current context information and each ship for driving into the cruiseway to be monitored of barrier in cruiseway
Before the ship information of oceangoing ship, this method further include:
(1) navigation channel information, navigation mark information and the islands and reefs information in barrier letter are obtained.
(2) the navigation channel cartographic model of cruiseway to be monitored is established based on navigation channel information, navigation mark information and islands and reefs information.
In step S100, obtains the obstacle information of barrier, current context information in cruiseway to be monitored and sail
After the ship information of each ship for entering cruiseway to be monitored, this method further include:
The ship information of each ship and current context information are recorded in the cartographic model of navigation channel, current ship is generated
Route map.
Obstacle information in the cruiseway to be measured based on high-precision satellite positioning of the application, with practical navigation channel course line
Information establishes navigation channel cartographic model, the information such as ships all in navigation channel, bridge, ship lock, islands and reefs, harbour, navigation mark is carried out high-precision
Degree mapping positioning, is converted by coordinate, and the ship information of each ship and current context information are marked in navigation channel artwork
In type, current steamer line map is formed.
Current steamer line map is sent to corresponding each ship display end and monitoring display end, so as in ship
Captain and the staff for monitoring display end monitor cruiseway to be monitored in real time.
The embodiment of the present application provides the specific example of a kind of dangerous discernment method of steamer line, as follows:
Step (A), is surveyed and drawn by RTK rover station, establishes navigation channel accurately graph model, and model includes cruiseway to be measured
The essential informations such as bridge, gate, navigation mark in waters.
Step (B), according to the off permanently or temporarily control point position number such as bridge, gate, islands and reefs, navigation mark in tunnel
According to, bridge in hydrographic data, meteorological data and navigation channel, the headroom limit for height of ship lock, limit for width requirement, in conjunction with sea-route management demand,
Navigation channel is marked off into several navigation regions, alarm region, prohibited area etc.；Simultaneously according to degree of danger to alarm region and navigation ban
Region is further segmented, default with apart from the 3 of bridge pier or ship lock kilometer, 2 kilometers, 1 kilometer of position be respectively set safe early warning area,
No entry area, dangerous security area three lines of defence, and the warning and corresponding intervening measure of " early warning, urgent, critical " is respectively set
Scheme can be configured here according to customer account management process and demand.
Step (C), according to the dynamics attitude data such as the real time position of ship satellite positioning, course, speed of a ship or plane, in navigation channel model
Interior calculating simultaneously draws out the track of ship's navigation, and can prejudge the course of ship, the probability in ship attack early warning region and pre-
The data such as meter intrusion or the time hit, facilitate the timely decision of manager and take corresponding Disposal Measures.
Step (D), according to the dynamic attitude data of ship's navigation, the ship course of anticipation, collision probability, remaining time etc.
It is interacted between the data boundaries such as the navigation region, alarm region, the prohibited area that are divided in data, with navigation channel, when estimated ship
Oceangoing ship will or ship invaded alarm region, prohibited area when, successively triggering starting mobile phone short message, audible and visual alarm, network
All kinds of Forewarning Measures such as video camera.It reminds ship operator that ship is driven into normal navigation channel, reminds bridge, lock station administration personnel
It takes measures, tracks, ship is assisted to drive into normal navigation channel.
Step (E), if if intrusion alarm region, prohibited area when ship's navigation, according to the different degrees of of its intrusion, if
Set the Forewarning Measures of different stage, at the same in ship-handling cabin display terminal, monitoring center display terminal in different colors into
Row highlights.
The waterway bridge based on high-precision satellite positioning, ship lock anti-collision early warning monitoring device and the method for the application, can
According to the linear model that actual navigation channel geography information is established, by bridge, ship lock, navigation mark, islands and reefs etc. in navigation channel with map view
Show, and divide navigation region, entry region etc..By the monitoring to vessel position data, realize accurate, real-time, high
Effect ground monitoring ship's navigation behavior, realize remote early warning and avoided even through pro-active intervention means ship to bridge pier and
The shock accident of ship lock improves sea-route management efficiency and operability, being capable of significant increase channel safe.And used satellite
Locating information acquisition and data at figure display technology, Hydrological Data Acquisition technology, weather environment data acquisition technology etc. more
Maturation, installation is simple, and cost is relatively low, has good popularization and application foreground and good economic benefit.
The embodiment of the present application provides a kind of threat identification system of steamer line, as shown in Figure 4, comprising: positioning element
401, environment information acquisition component 402 and server 403, server 403 respectively with positioning element 401 and environment information acquisition
Component 402 connects.
Optionally, the threat identification system of steamer line further includes communication component, and server passes through communication component and positioning
Component connection, and connect by communication component with environment information acquisition component.
Positioning element 401, for acquiring the obstacle information of barrier in cruiseway to be monitored and driving into be monitored
The ship information of each ship in river navigation channel, and obstacle information and ship information are sent to server 403.
Wherein, positioning element 401 includes RTK rover station and the base station RTK.
By the way that RTK rover station on barrier is arranged in and the base station RTK of cruiseway to be monitored is arranged in, obstacle is obtained
Object information.
Pass through the RTK rover station being arranged on each ship and the base station RTK that cruiseway to be monitored is set, acquisition
The real-time position information of each ship, real-time position information carry the identification code of ship.
Here, RTK rover station: deployment is mounted on various ships, using big-dipper satellite and GPS satellite, for monitoring, instead
Feedback records ship underway position data information, while receiving the position positioning amendment data of the base station RTK transmission, thus accurate true
The real-time position information of fixed each ship.
The base station RTK: being based on known location point, using big-dipper satellite and GPS satellite, for anti-to RTK rover station on ship
The data of feedback generate position positioning corrected parameter using RTK technology in real time, and corrected parameter data information are sent in real time
RTK rover station.
In addition, RTK rover station is mounted on barrier, using big-dipper satellite and GPS satellite, obstacle information is measured, together
When receive the position positioning amendment data that the base station RTK sends, and believe revised obstacle information as final barrier
Breath.
The base station RTK is based on known location point, using big-dipper satellite and GPS satellite, for anti-to RTK rover station on ship
The data of feedback generate position positioning amendment data using RTK technology in real time, and the position of generation are positioned amendment data and is sent to
It is mounted on barrier on RTK rover station, final obstacle information is accurately determined convenient for RTK rover station.
Environment information acquisition component 402, for acquiring the current context information of cruiseway to be monitored, and by current environment
Information is sent to server 403.
Here environment information acquisition component 402 includes: water level and water velocity monitor and meteorological and environment monitor.
By the water level and water velocity monitor being arranged in cruiseway to be monitored, current hydrographic data is acquired.
Here water level and water velocity monitor: the hydrographic informations such as water level, water velocity for monitoring control point.
By the meteorology and environment monitor being arranged in cruiseway to be monitored, current weather data are acquired.
Here meteorology and environment monitor: for measuring the weather informations such as wind speed, wind direction, temperature, mist.
Server 403 is used for according to current context information, each ship information and obstacle information, to each ship
Course line carry out dangerous discernment.
Optionally, server 403 is specifically used for:
According to current context information and obstacle information, the first matching calculated between current context information and barrier is closed
System.
According to ship attribute information and the first matching relationship, verify whether barrier region is danger zone.
Optionally, when obstacle information includes bridge information, current context information includes inland river Water Depth Information and ship
When attribute information includes ship height, server 403 is specifically used for:
According to bridge information and inland river Water Depth Information, the difference in height between the inland river water surface and bridge is calculated.
Based on ship height and difference in height, verify whether bridge region is danger zone.
Optionally, ship information includes at least real-time position information, and server is specifically used for:
According to the real-time position information of each ship, course and the speed of a ship or plane of each ship are determined.
According to the location information in the course of each ship and danger zone, judges whether there is ship and drive towards danger area
Domain.
If so, determining that ship drives into the remaining time of danger zone, and base according to the speed of a ship or plane for the ship for driving towards danger zone
The class of risk for driving towards the course line of ship of danger zone is determined in remaining time.
Based on the class of risk, early warning corresponding with the class of risk is carried out to the ship for driving towards danger zone.
Optionally, the threat identification system of steamer line further includes sound-light alarm component, and server is based on the class of risk, control
Sound-light alarm component processed carries out early warning corresponding with the class of risk to the ship for driving towards danger zone.
The threat identification system of the steamer line further includes web camera and monitoring display end, and server is also used to:
When monitoring dangerous there are the course line of ship, control web camera obtains working as dangerous ship
Preceding traveling video information.
Current driving video information is sent to monitoring display end.
Optionally, obstacle information includes at least navigation channel information, navigation mark information and islands and reefs information, obtains inland river boat to be monitored
The obstacle information of barrier in road, current context information and drive into the cruiseway to be monitored each ship ship
Before information, server is also used to:
Acquire navigation channel information, navigation mark information and the islands and reefs information in barrier letter.
The navigation channel cartographic model of cruiseway to be monitored is established based on navigation channel information, navigation mark information and islands and reefs information.
It is obtaining the obstacle information of barrier in cruiseway to be monitored, current context information and is driving into be monitored
After the ship information of each ship in river navigation channel, it is also used to:
The ship information of each ship and current context information are recorded in the cartographic model of navigation channel, current ship is generated
Route map.
Current steamer line map is sent to corresponding each ship display end and monitoring display end.
It is described in detail below with a specific embodiment, as shown in figure 5, the threat identification system packet of steamer line
Include server A 501, the base station RTK 502, RTK rover station 503, communication component 504, water level and water flow sensing unit 505, meteorological and ring
Border sensor 506, monitoring display end 507, combined aural and visual alarm 508 and web camera 509, connection relationship was as shown in figure 5, should
Water level and water flow sensing unit 505 are water level and water flow monitoring instrument in specific embodiment, and meteorological and environmental sensor 506 is gas
As with environment monitor.
Specifically, RTK rover station 503: deployment is mounted on various ships, on navigation mark, utilizes big-dipper satellite (BDS) and GPS
Satellite for monitoring, feeding back, recording ship underway position data information, while receiving the position positioning amendment of the base station RTK transmission
Data；And position data is sent into data server.
The base station RTK 502: being based on known location point, using big-dipper satellite and GPS satellite, for RTK rover station on ship
The data of feedback generate position positioning corrected parameter using RTK technology in real time, and corrected parameter data information are sent in real time
RTK rover station.
Server A 501: the data for 503 road roller traveling-position of the base station recording and storage RTK 502 and RTK rover station
Information；For obtaining the data letter of the ship movement of 503 position location data information of RTK rover station and data server record
Breath, calculates the accurate real time position of ship, and calculate other parameters data, including route speed, navigation direction etc.
Data information；Also simultaneously for obtaining the obstacle informations such as ship attribute information, navigation channel attribute information, navigation mark etc. basic information
Data.
Monitoring display end 507: for monitoring and show the navigational parameter of all ships in the region of navigation channel, and in navigation channel area
Distribution situation in domain.The management measures such as check, have access to, dispatch and intervene convenient for supervisor.
Ship-handling cabin display terminal (being not shown in Fig. 5): being mounted in ship-handling cabin, for reading and showing itself
Ship running parameters data, and other information in the navigation channel within the scope of safe early warning nearby, mention convenient for deck officer
Before take measures, it is improper to prevent from getting lost or manipulating, and can show related proximity warning information.
Water level and water flow sensing unit 505: the hydrographic informations such as water level, water velocity for monitoring control point.
Meteorological and environmental sensor 506: for measuring the weather informations such as wind speed, wind direction, temperature, mist.
Web camera 509: for shooting, recording site safety accident situation.
Combined aural and visual alarm 508: the alert device of two kinds of sound, light alarm signals can be simultaneously emitted by.
Communication component 504: in the base station RTK, RTK rover station, server A, water level and water velocity sensor, meteorology
Mutual data transmission communication is carried out between environmental sensor, web camera, monitoring display end.
Compared in the prior art, the dangerous discernment method of steamer line provided by the embodiments of the present application, including obtain to
Monitor obstacle information, current context information and each ship for driving into cruiseway to be monitored of barrier in cruiseway
Ship information；According to current context information, each ship information and obstacle information, endanger to the course line of each ship
Danger identification.
As it can be seen that the dangerous discernment method for the steamer line that the embodiment of the present application provides, is the inland river to be monitored by acquisition
The obstacle information of barrier in navigation channel, current context information and drive into cruiseway to be monitored each ship ship letter
Breath, the dangerous discernment that the course line of each ship is carried out jointly, in this way because in different environments and under different ships,
Danger zone caused by barrier may not be it is unalterable, environmental factor and ship self information are taken into account, energy
It is enough more accurate to the ship progress dangerous discernment for driving into cruiseway to be monitored.
In addition, the waterway bridge based on high-precision satellite positioning of the application, ship lock anti-collision early warning monitoring device and method,
The linear model that can be established according to actual navigation channel geography information, by bridge, ship lock, navigation mark, islands and reefs etc. in navigation channel with map
Form is shown, and divide navigation region, entry region etc..By the monitoring to vessel position data, realize accurate, real
When, efficiently monitoring ship's navigation behavior, realize remote early warning even through pro-active intervention means to avoid ship pair
The shock accident of bridge pier and ship lock improves sea-route management efficiency and operability, being capable of significant increase channel safe.And it is used
Satellite positioning information acquisition and data at figure display technology, Hydrological Data Acquisition technology, weather environment data acquisition technology etc.
More mature, installation is simple, and cost is relatively low, has good popularization and application foreground and good economic benefit.
The computer program product of the dangerous discernment method of steamer line provided by the embodiment of the present application, including store
The computer readable storage medium of program code, the instruction that said program code includes can be used for executing in previous methods embodiment
The method, specific implementation can be found in embodiment of the method, and details are not described herein.
The dangerous discernment device of steamer line provided by the embodiment of the present application can in equipment specific hardware or
Software or firmware for being installed in equipment etc..The technology of device provided by the embodiment of the present application, realization principle and generation is imitated
Fruit is identical with preceding method embodiment, and to briefly describe, Installation practice part does not refer to place, can refer to preceding method implementation
Corresponding contents in example.It is apparent to those skilled in the art that for convenience and simplicity of description, foregoing description
The specific work process of system, device and unit, the corresponding process during reference can be made to the above method embodiment, it is no longer superfluous herein
It states.
In embodiment provided herein, it should be understood that disclosed device and method, it can be by others side
Formula is realized.The apparatus embodiments described above are merely exemplary, for example, the division of the unit, only one kind are patrolled
Function division is collected, there may be another division manner in actual implementation, in another example, multiple units or components can combine or can
To be integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Coupling, direct-coupling or communication connection can be INDIRECT COUPLING or communication link by some communication interfaces, device or unit
It connects, can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
In addition, each functional unit in embodiment provided by the present application can integrate in one processing unit, it can also
To be that each unit physically exists alone, can also be integrated in one unit with two or more units.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer readable storage medium.Based on this understanding, the technical solution of the application is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, server or network equipment etc.) execute each embodiment the method for the application all or part of the steps.
And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic or disk.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing, in addition, term " the
One ", " second ", " third " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
Finally, it should be noted that embodiment described above, the only specific embodiment of the application, to illustrate the application
Technical solution, rather than its limitations, the protection scope of the application is not limited thereto, although with reference to the foregoing embodiments to this Shen
It please be described in detail, those skilled in the art should understand that: anyone skilled in the art
Within the technical scope of the present application, it can still modify to technical solution documented by previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make
The essence of corresponding technical solution is detached from the spirit and scope of the embodiment of the present application technical solution.The protection in the application should all be covered
Within the scope of.Therefore, the protection scope of the application shall be subject to the protection scope of the claim.
Claims (10)
1. a kind of dangerous discernment method of steamer line characterized by comprising
It obtains the obstacle information of barrier in cruiseway to be monitored, current context information and drives into the inland river to be monitored
The ship information of each ship in navigation channel；
According to the current context information, each ship information and the obstacle information, to the course line of each ship
Carry out dangerous discernment.
2. the method according to claim 1, wherein the ship information includes ship attribute information；Described
According to the current context information, each ship information and the obstacle information, endanger to the course line of each ship
Danger identification, comprising:
According to the current context information and the obstacle information, calculate between the current context information and the barrier
The first matching relationship；
According to the ship attribute information and first matching relationship, verify whether the barrier region is danger area
Domain.
3. according to the method described in claim 2, it is characterized in that, when the obstacle information include bridge information, it is described to work as
It is described according to the ship when preceding environment information includes inland river Water Depth Information and the ship attribute information includes ship height
Attribute information and first matching relationship are verified whether the barrier region is danger zone, are specifically included:
According to the bridge information and the inland river Water Depth Information, the difference in height between the inland river water surface and bridge is calculated；
Based on the ship height and the difference in height, verify whether the bridge region is danger zone.
4. according to the method described in claim 2, it is characterized in that, the ship information includes at least real-time position information, institute
State according to the current context information, each ship information and the obstacle information, to the course line of each ship into
Row dangerous discernment, comprising:
According to the real-time position information of each ship, course and the speed of a ship or plane of each ship are determined；
According to the location information in the course of each ship and danger zone, judges whether there is ship and drive towards the danger area
Domain；
If so, determine that ship drives into the remaining time of the danger zone according to the speed of a ship or plane for the ship for driving towards the danger zone,
And the class of risk for driving towards the course line of ship of the danger zone is determined based on the remaining time；
Based on the class of risk, early warning corresponding with the class of risk is carried out to the ship for driving towards the danger zone and is mentioned
Show.
5. the method according to claim 1, wherein the current context information includes at least current hydrographic information
And current weather information；The ship information includes at least real-time position information；It is described to obtain obstacle in cruiseway to be monitored
The obstacle information of object, current context information and drive into the cruiseway to be monitored each ship ship information, packet
It includes:
By the way that RTK rover station on the barrier is arranged in and the base station RTK of cruiseway to be monitored is arranged in, described in acquisition
Obstacle information；
By the water level and water velocity monitor being arranged in the cruiseway to be monitored, the current hydrology number is acquired
According to；
By the meteorology and environment monitor being arranged in the cruiseway to be monitored, the current weather data are acquired；
By the RTK rover station being arranged on each ship and the base station RTK that cruiseway to be monitored is arranged in, acquisition is each
The real-time position information of the ship, the real-time position information carry the identification code of the ship.
6. according to the method described in claim 1, the method also includes:
When monitoring dangerous there are the course line of ship, the current driving video information of dangerous ship is obtained；
The current driving video information is sent to monitoring display end.
7. the method according to claim 1, wherein the obstacle information includes at least navigation channel information, navigation mark
Information and islands and reefs information, it is described to obtain the obstacle information of barrier, current context information in cruiseway to be monitored and sail
Before the ship information for entering each ship of the cruiseway to be monitored, the method also includes:
Obtain navigation channel information, navigation mark information and the islands and reefs information in the barrier letter；
The navigation channel cartographic model of the cruiseway to be monitored is established based on the navigation channel information, navigation mark information and islands and reefs information；
It is described to obtain the obstacle information of barrier, current context information in cruiseway to be monitored and drive into described to be monitored
After the ship information of each ship of cruiseway, the method also includes:
The ship information of each ship and the current context information are recorded in the navigation channel cartographic model, generated current
Steamer line map；
The current steamer line map is sent to corresponding each ship display end and monitoring display end.
8. a kind of threat identification system of steamer line characterized by comprising positioning element, environment information acquisition component with
And server, the server are connect with the positioning element and the environment information acquisition component respectively；
The positioning element, for acquiring the obstacle information of barrier in cruiseway to be monitored and driving into described to be monitored interior
The ship information of each ship in river navigation channel, and the obstacle information and the ship information are sent to the server；
The environment information acquisition component is worked as acquiring the current context information of the cruiseway to be monitored, and by described in
Preceding environmental information is sent to the server；
The server is used for according to the current context information, each ship information and the obstacle information, right
The course line of each ship carries out dangerous discernment.
9. system according to claim 8, which is characterized in that the server is specifically used for:
According to the current context information and the obstacle information, calculate between the current context information and the barrier
The first matching relationship；
According to the ship attribute information and first matching relationship, verify whether the barrier region is danger area
Domain.
10. system according to claim 9, which is characterized in that when the obstacle information include bridge information, it is described to work as
When preceding environment information includes inland river Water Depth Information and the ship attribute information includes ship height, the service implement body is used
In:
According to the bridge information and the inland river Water Depth Information, the difference in height between the inland river water surface and bridge is calculated；
Based on the ship height and the difference in height, verify whether the bridge region is danger zone.
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| CN201810960121.9A CN109144060A (en) | 2018-08-22 | 2018-08-22 | A kind of dangerous discernment method and system of steamer line |
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| CN201810960121.9A CN109144060A (en) | 2018-08-22 | 2018-08-22 | A kind of dangerous discernment method and system of steamer line |
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| CN111489266A (en) * | 2020-04-23 | 2020-08-04 | 舟山国家远洋渔业基地科技发展有限公司 | Fishery information service method based on position |
| CN111583721A (en) * | 2020-05-09 | 2020-08-25 | 南京中科思蓝信息科技有限公司 | Forced control system for forbidden fish or cargo ship |
| CN111951610A (en) * | 2020-08-31 | 2020-11-17 | 上海海事大学 | Ship-bridge collision avoidance active anti-collision intelligent early warning system and method |
| CN111951607A (en) * | 2020-08-03 | 2020-11-17 | 中华人民共和国佛山海事局 | Inland ship risk identification and early warning device and assessment method thereof |
| CN115188221A (en) * | 2022-09-09 | 2022-10-14 | 苏州智能交通信息科技股份有限公司 | River channel shipping monitoring management method and device, terminal and storage medium |
| CN115985073A (en) * | 2023-03-17 | 2023-04-18 | 广东海洋大学 | Safety early warning method and system for marine network in inland waterway |
| CN116088542A (en) * | 2023-04-12 | 2023-05-09 | 中国水产科学研究院南海水产研究所 | Fishing boat operation safety early warning method and system based on remote sensing technology |
| CN116312063A (en) * | 2023-05-23 | 2023-06-23 | 中国船舶集团有限公司第七〇七研究所 | Ship avoidance decision method, device, equipment and medium |
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