CN113505345A - Marine liquid level anomaly detection method and system and storage medium - Google Patents
Marine liquid level anomaly detection method and system and storage medium Download PDFInfo
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Abstract
The invention provides a marine liquid level abnormity detection method, which collects a first liquid level L1(ii) a Determining an environment state, wherein the environment state does not belong to a static state or a stable navigation state is a first state, and the environment state belongs to a bumpy running state and is a second state; if the environmental state is the second state, the first liquid level L is corrected according to the bumping condition and the inclination condition1Obtaining a second liquid level L2(ii) a And confirming whether the suspected abnormal point belongs to the liquid level abnormality or not according to the height of the primary normal liquid level before the suspected abnormal point and the height of x liquid levels after the suspected abnormal point. The invention solves the technical problem that the liquid level is difficult to accurately identify under bump navigation in the prior art, and the three-layer data processing link is arranged, so that the liquid level abnormity under bump navigation is accurately judged by integrating three types of data, namely liquid level data, navigation data and positioning data, and the monitoring of stealing, draining and leaking sewage is realized effectively and accurately in real time.
Description
Technical Field
The invention relates to the field of detection, in particular to a marine liquid level abnormity detection method.
Background
The stealing discharge of sewage generated by ships and the leakage of pipelines easily cause serious environmental influence on surrounding water areas. In order to avoid the stealing, draining and leakage of ship sewage, a common solution is to additionally install a liquid level meter on a temporary sewage storage cabinet of a ship and monitor the change condition of the sewage liquid level in real time, so that the stealing, draining and leakage of the ship sewage can be timely identified. The solution can effectively identify the liquid level abnormality in a static state or a steady driving state, but the attitude of the ship body can be changed due to the complex driving environment of the ship, such as large difference of the conditions of navigational speed, bump, inclination and the like, and even in a ship parking state, due to waves and the like. The complex environments all put higher demands on the monitoring of the liquid level. The method depends on a liquid level data acquisition and correction method in a static state, the problem of liquid level abnormity identification in a complex operation environment of a ship is difficult to effectively deal with, the change condition of a sewage storage cabinet cannot be accurately judged in time, and further false alarm or failure alarm of stealing, draining and missing discharge is easily generated, so that the method cannot effectively monitor the sewage storage cabinet.
Disclosure of Invention
In order to solve the technical problem that accurate identification is difficult to carry out under marine use in the prior art, the invention provides a marine liquid level abnormity detection method, which comprises the following steps:
s1 collecting a first liquid level L1；
S2, determining an environment state, wherein the environment state belongs to a static state or a steady navigation state and is a first state, and the environment state belongs to a bumpy running state and is a second state;
s3, if the environmental condition is the second condition, correcting the first liquid level L according to the bump condition and the tilt condition1Obtaining a second liquid level L2；
S4 determining the first environmental condition according to the first liquid level L if the environmental condition is the first environmental condition1Judging whether the secondary liquid level is a suspected abnormal liquid level, and if the environmental state is a second environmental state, judging according to the second liquid level L2Judging whether the secondary liquid level is suspected to be an abnormal liquid level;
s5, according to the previous normal liquid level height of the suspected abnormal point and the next x liquid level heights of the suspected abnormal point, determining whether the suspected abnormal point belongs to liquid level abnormality;
the altitude positively correlated with the historical sampling according to the bumping condition and negatively correlated with the total range of the liquid level instrument; the inclination condition is positively correlated with the difference of a plurality of altitudes and negatively correlated with the ship height.
Preferably, the correction method of S3 includes:
wherein L is1First level, L, collected for level gauge2In order to obtain the corrected second liquid level,
in order to obtain the coefficient of pitch,
is the tilt factor.
Preferably, the coefficient of pitch
The determination method comprises the following steps:
wherein the content of the first and second substances,
for the bump coefficient, i is the ith sample, hiIs the ith sampling altitude, a and b are the sampling times, HLIs the total measuring range of the liquid level meter,
is a constant.
Preferably, the tilt coefficient
The determination method comprises the following steps:
wherein the content of the first and second substances,
is the inclination coefficient, j is the jth sampling, c is the sampling times, H is the ship height, H is the ship height1jSample the left altitude, h, for the jth2jFor the jth sample of the right altitude,
is a constant.
Preferably, said S3 comprises
S3.1: if the environmental state is the second environmental state, comparing the first liquid level L in the same average navigational speed interval1Height of liquid level meter and corresponding fluctuation coefficient L of same type of liquid level meter4If the first level L1Less than the height of the liquid level meter and the corresponding fluctuation coefficient L of the same type of liquid level meter4If the product of (A) and (B) is not corrected, otherwise, the first liquid level L is corrected according to the bumping condition and the inclination condition1Obtaining a second liquid level L2；
S3.2: comparing the second liquid level L in the same average navigational speed interval2Average level meter fluctuation coefficient L corresponding to height of level meter and corresponding navigational speed3If the second level L2Average liquid level meter fluctuation coefficient L smaller than height of liquid level meter and corresponding navigational speed3The product of the above steps is determined as a normal liquid level;
s3.3: first liquid level L in case of S3.11Or a second liquid level L in the case of S3.22Average liquid level meter fluctuation coefficient L larger than height of liquid level meter and corresponding navigational speed3The point is determined to be a suspected outlier.
Preferably, the fluctuation coefficient L of the average level meter3The calculation method comprises the following steps:
calculating the average navigational speed in the time interval d, and calculating the fluctuation coefficient L of the average level gauge corresponding to the navigational speed3：
Wherein L is3As an average of corresponding speedsCoefficient of fluctuation of liquid level meter, HcAverage historical fluctuation height corresponding to navigational speed, T is historical sampling frequency, HkFor this threshold value of liquid level height, Hk1For the previous level gauge height, Hk2To a previous level gauge height, HTIs the level gauge height.
Preferably, said first passing level L1Or the second liquid level L2The step of judging whether the liquid level is abnormal or not by the abnormal value of the abnormal conditions for a plurality of times comprises the following steps:
obtaining the previous normal liquid level height of the suspected abnormal point and the next x liquid level heights of the suspected abnormal point, wherein y exists in the x liquid level heights1% difference between the liquid level height and the normal liquid level height is within a second threshold range, and then no abnormality is considered;
or, calculating a first difference value between the height of the previous normal liquid level and the height of the liquid level of the suspected abnormal point, and calculating x difference values between the height of the previous normal liquid level and the height of x liquid levels after the suspected abnormal point, wherein if y exists in the x difference values2If the sign of the difference value of% is opposite to the first difference value, the suspected abnormal point is not considered to belong to the abnormal liquid level;
otherwise, the suspected abnormal point of the liquid is determined to belong to the abnormal liquid level.
A marine liquid level anomaly detection system, comprising:
the system comprises a sensing system, a shipborne system and a shore-based control background;
the sensing system includes: the device comprises a liquid level meter, an automatic ship identification system and a Beidou positioning device;
the shipborne system comprises: the device comprises a liquid level data acquisition module, an auxiliary data acquisition module, a liquid level filtering module, a liquid level correction module, a double confirmation module and a calculation parameter adjustment module;
the shore-based control background comprises: a liquid level parameter big data calculation module;
the liquid level filtering module is configured to: filtering abnormal false alarm data, wherein the abnormal false alarm data comprises: the filtration is less than the fluctuation coefficient L of the same liquid level meter4First liquid level L multiplied by the height of the level gauge1Filtering the average liquid level instrument fluctuation coefficient of the same average navigational speed interval smaller than the corresponding navigational speedL3First liquid level L multiplied by the height of the level gauge1And a second liquid level L2(ii) a The first liquid level L1Level data collected for a level gauge, said second level L2Is a first liquid level L1The correction data of (1);
the liquid level correction module is configured to: if the environment state is not a static state or a stable sailing state, the first liquid level L is corrected according to the bumping condition and the inclining condition1Obtaining a second liquid level L2；
The dual acknowledgement module is configured to: confirming whether the suspected abnormal point belongs to liquid level abnormality or not according to the obtained primary normal liquid level height of the suspected abnormal point and the obtained x liquid level heights of the suspected abnormal point;
the calculation parameter adjustment module is configured to: calculating the coefficient of jounce
Coefficient of tilt
Mean level meter coefficient of fluctuation L3Fluctuation coefficient L of the same kind of liquid level meter4。
Preferably, the shipboard system further comprises: the liquid level data reporting module and the abnormal data reporting module are connected with the liquid level data processing module;
the liquid level data reporting module is configured to: reporting all collected liquid level data to a liquid level parameter big data calculation module;
the abnormal data reporting module is configured to: and reporting the liquid level abnormity and all liquid level information participating in calculation to a liquid level parameter big data calculation module.
A computer-readable storage medium storing a computer program; the computer program, when executed by a processor in a computing device, causes the computing device to perform the method of any one of the above.
According to the invention, three layers of data processing links are arranged, three types of data including liquid level data, navigation data and positioning data are integrated, the liquid level abnormity under bump navigation is accurately judged, and the monitoring of stealing, draining and leaking sewage is realized effectively and accurately in real time. And three layers of data processing links are buckled in a loop mode, small fluctuation data corresponding to the navigational speed are filtered based on navigational data, non-small fluctuation liquid level data are corrected by adopting a bump coefficient and an inclination coefficient, and finally double confirmation is carried out on liquid level abnormity through the repetition proportion of the fluctuation degree of the liquid level or the consistency proportion of the fluctuation direction, so that abnormity detection is completed. According to the three-layer data processing method, anomaly detection is performed under multiple amplitudes and a certain time window from three aspects of fluctuation amplitude based on a navigation state, fluctuation amplitude correction based on inclination and bumping and multiple accumulated fluctuation, so that the occurrence of false alarm and missing report is effectively reduced, and the decision correctness is improved.
Drawings
In order to more clearly illustrate the embodiments of the 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, and it is obvious that the drawings in the following description are only some embodiments of the invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
Fig. 1 is a flowchart of a marine liquid level anomaly detection method according to an embodiment of the present invention.
Fig. 2 is a flowchart illustrating a method for detecting an abnormal liquid level in a ship according to an embodiment of the present invention.
Fig. 3 is a flowchart illustrating a double confirmation of the marine liquid level anomaly detection method according to an embodiment of the present invention.
Fig. 4 is a schematic view of a marine liquid level anomaly detection method according to an embodiment of the present invention.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced otherwise than as specifically described herein, and thus the scope of the present invention is not limited by the specific embodiments disclosed below.
Example one
The embodiment provides a method for detecting a marine liquid level abnormality, as shown in fig. 1 to 4, including:
s1 collects the data.
The data acquisition comprises acquiring at least one first liquid level L by using at least one level meter1And a ship Automatic Identification System (AIS) is adopted to acquire navigation data, and a Beidou positioning device is adopted to acquire Beidou positioning data. The acquisition frequency of the level gauge may be 2 seconds per time.
S2 determines the environmental state, which belongs to the stationary state or the steady travel state as the first state, and the environmental state belongs to the bumpy running state as the second state.
One method of determining the environmental state is: and if the absolute value of the difference value between the current level meter data and the previous level meter data is less than or equal to the product of the average fluctuation coefficient of the level meter and the height of the level meter, and the absolute value of the difference value between the current level meter data and the previous level meter data is less than or equal to the product of the average fluctuation coefficient of the level meter and the height of the level meter, determining that the vehicle is in a static state or a stable driving state.
According to actual need, with the quantity of the liquid level data of this liquid level data comparison earlier traceing back adjustable, in addition, also can be supplementary through the navigation data that boats and ships automatic identification system gathered and the big dipper positioning data that big dipper positioner gathered, confirm the environmental condition jointly.
The step filters the liquid level data of the running in a static or steady state or small-amplitude fluctuation data which does not need to be corrected by determining the environmental state, reduces the calculated amount of correction, and improves the real-time performance of monitoring feedback.
S3 if the environmental condition is the second condition, correcting the first liquid level L according to the bump condition and the tilt condition1Obtaining a second liquid level L2；
The S3 includes:
s3.1: if the environmental state is the second environmental state, comparing the first liquid level L in the same average navigational speed interval1Height of liquid level meter and corresponding fluctuation coefficient L of same type of liquid level meter4If the first level L1Less than the height of the liquid level meter and the corresponding fluctuation coefficient L of the same type of liquid level meter4If the product of (A) and (B) is not corrected, otherwise, the first liquid level L is corrected according to the bumping condition and the inclination condition1Obtaining a second liquid level L2。
The calculation mode of the fluctuation coefficient of the same liquid level meter is as follows:
wherein L is4For the same kind of level meter fluctuation coefficient, Hp1For the first boundary value, H, of the same kind of liquid level meterp2Second boundary value of the same kind of liquid level meter, HTXThe height of the same liquid level instrument.
The construction of the calculation method of the fluctuation coefficient of the same liquid level meter and the determination of small-amplitude fluctuation accurately and effectively distinguish whether the liquid level data needs to be corrected or not, and avoid the false alarm and missing report of subsequent abnormity caused by correction omission.
S3.2: comparing the second liquid level L in the same average navigational speed interval2Average level meter fluctuation coefficient L corresponding to height of level meter and corresponding navigational speed3If the second level L2Average liquid level meter fluctuation coefficient L smaller than height of liquid level meter and corresponding navigational speed3The product of (a) and (b) is determined as the normal liquid level.
S3.3: first liquid level L in case of S3.11Or a second liquid level L in the case of S3.22Average liquid level meter fluctuation coefficient L larger than height of liquid level meter and corresponding navigational speed3The point is determined to be a suspected outlier.
The fluctuation coefficient L of the average liquid level meter3The calculation method comprises the following steps:
calculating the average navigational speed in the time interval d, and calculating the average level meter wave corresponding to the navigational speedCoefficient of motion L3：
Wherein L is3Average level meter coefficient of fluctuation H for corresponding navigational speedcAverage historical fluctuation height corresponding to navigational speed, T is historical sampling frequency, Hk1For this height of the level gauge, Hk2For the previous level gauge height, HTIs the level gauge height.
In a preferred embodiment, the average speed of flight over a time window is calculated. Take an example of an average speed of flight calculation with a time window of 3 minutes, where the average speed of flight is the sum of the sampling speeds over 3 minutes divided by the number of samples. The differentiated motion states may be set as: and respectively calculating the average level meter fluctuation coefficient corresponding to the navigational speed in the interval corresponding to the navigational state according to the average navigational speed within 3 minutes in the static state of the sections 0 to 3, the low-speed navigational state of the sections 4 to 9 and the high-speed navigational state of the sections 10 and above.
The correction method of S3.1 comprises the following steps:
wherein L is1First level, L, collected for level gauge2In order to obtain the corrected second liquid level,
in order to obtain the coefficient of pitch,
is the tilt factor.
The coefficient of pitch
The determination method comprises the following steps:
wherein the content of the first and second substances,
for the bump coefficient, i is the ith sample, hiIs the ith sampling altitude, a and b are the sampling times, HLIs the total measuring range of the liquid level meter,
is a constant.
Coefficient of inclination
The determination method comprises the following steps:
wherein the content of the first and second substances,
is the inclination coefficient, j is the jth sampling, c is the sampling times, H is the ship height, H is the ship height1jSample the left altitude, h, for the jth2jFor the jth sample of the right altitude,
is a constant.
Coefficient of pitch
And coefficient of tilt
The number may be divided into a plurality of stages according to the magnitude of the value, and the following embodiment is exemplified by 5 stages. The ship bump coefficient is classified into 5 grades: smooth, slightly bumpy, ordinary bumpy, moderate bumpy and severe bumpy. Calculating the absolute value of the difference value of the average altitude within the first 60 seconds, setting 0.5 m as a first level, 0-0.5 m as a steady state, 0.6-1.0 m as a slight jolt, and 1.1 m as a slight jolt1.5 m is normal bump, 1.6-2.0 m is moderate bump, and more than 2.1 m is severe bump. The ship inclination coefficient is divided into 5 grades: smooth, slight left inclination, severe left inclination, slight right inclination and severe right inclination. Calculating the difference between the average left altitude in the first 60 seconds and the average right altitude in the first 60 seconds, dividing the difference by the ship height, setting 10% meter as one level, 10.0% to 10.0% as stable, 20.0% to-10.1% as slight left inclination, below 20.1% as severe left inclination, 10.1% to 20.0% as mild right inclination, and above 20.1% as severe right inclination.
The influence of the integral up-and-down bump of the ship body or the inclination of the ship head and the ship tail in different degrees on the liquid level is simultaneously considered in the step, and the bump coefficient is used
And coefficient of tilt
The calculation mode is set, and the liquid level data can be quickly and effectively corrected under the complex ship traveling environment.
S4 determining the first environmental condition according to the first liquid level L if the environmental condition is the first environmental condition1Judging whether the secondary liquid level is a suspected abnormal liquid level, and if the environmental state is a second environmental state, judging according to the second liquid level L2Judging whether the secondary liquid level is suspected to be an abnormal liquid level;
s5, according to the previous normal liquid level height of the suspected abnormal point and the next x liquid level heights of the suspected abnormal point, determining whether the suspected abnormal point belongs to the liquid level abnormality
Specifically, the S5 includes:
obtaining the previous normal liquid level height of the suspected abnormal point and the next x liquid level heights of the suspected abnormal point, wherein y exists in the x liquid level heights1% difference between the liquid level height and the normal liquid level height is within a second threshold range, and then no abnormality is considered;
or, calculating a first difference value between the previous normal liquid level height and the suspected abnormal point liquid level height, and calculating x difference values between the previous normal liquid level height and x liquid level heights after the suspected abnormal point, if x difference values are xPresence of y in the difference2The sign of the difference of% is opposite to the first difference, and then no abnormality is considered;
otherwise, the liquid level is determined to be abnormal.
In a preferred embodiment, the previous normal level meter data and the last five normal level meter data are firstly obtained, if the level difference between more than two pieces of the last five normal level meter data and the last five normal level meter data is within the range of no change of the liquid level, the liquid level is considered to be actually not changed, and the current abnormal liquid level data belongs to false alarm. If the liquid level meter data is judged to be normal shaking of the liquid level instead of liquid level change, the abnormal data is judged to be false alarm. And if the conditions are not met, determining that the abnormality is real and effective abnormal data, adding the data into a to-be-uploaded list, and sending the data to a shore-based monitoring background.
The selection of the times of the data of the prior normal level gauge and the times of the data of the subsequent level gauge can be determined according to the actual navigation requirement, and the selection is not fixedly limited to one time or five times.
The method has the advantages that through the arrangement of double confirmation, the mode that the liquid level is corrected to be single-point correction under the common condition is improved to be elongated under the time window, the misinformation caused by liquid level shaking is filtered according to the comparison of the fluctuation directions of the previous and the next times of liquid level data in the time window, and the accuracy of abnormity detection is further improved.
In conclusion, the three-layer data processing link is set, the three types of data including the liquid level data, the navigation data and the positioning data are integrated, the liquid level abnormity under the bumpy navigation is accurately judged, and the monitoring of the sewage caused by stealing, draining and leaking is effectively and accurately realized in real time. And three layers of data processing links are buckled in a loop mode, small fluctuation data corresponding to the navigational speed are filtered based on navigational data, non-small fluctuation liquid level data are corrected by adopting a bump coefficient and an inclination coefficient, and finally double confirmation is carried out on liquid level abnormity through the repetition proportion of the fluctuation degree of the liquid level or the consistency proportion of the fluctuation direction, so that abnormity detection is completed. According to the three-layer data processing method, anomaly detection is performed under multiple amplitudes and a certain time window from three aspects of fluctuation amplitude based on a navigation state, fluctuation amplitude correction based on inclination and bumping and multiple accumulated fluctuation, so that the occurrence of false alarm and missing report is effectively reduced, and the decision correctness is improved.
Example two
The embodiment provides a marine liquid level anomaly detection system, includes: the system comprises a sensing system, a shipborne system and a shore-based control background. The sensing system is responsible for collecting various external information. The shipborne system comprises a liquid level detection control box which is responsible for processing external sensor information, calculating liquid level change conditions, adjusting liquid level state change calculation parameters, judging abnormal liquid level state change information, reporting the sensor information and the liquid level change state information, and receiving the liquid level change condition calculation parameters sent by a liquid level parameter big data calculation server. The shore-based control background comprises a liquid level parameter big data calculation module, and a liquid level parameter big data calculation server is responsible for receiving sensor information and liquid level change state information, calculating liquid level change state calculation parameters and sending the liquid level change state calculation parameters to a liquid level detection control box.
The sensing system includes: the device comprises a liquid level meter, an automatic ship identification system and a Beidou positioning device. Wherein, the liquid level appearance gathers liquid level change situation information, and boats and ships Automatic Identification System (AIS) gathers boats and ships automatic identification relevant information, including but not limited to navigation information etc. big dipper high accuracy positioner gathers big dipper location relevant information
The shipborne system comprises: the device comprises a liquid level data acquisition module, an auxiliary data acquisition module, a liquid level filtering module, a liquid level correction module, a double confirmation module, a calculation parameter adjustment module, a liquid level data reporting module and an abnormal data reporting module.
The liquid level filtering module is configured to: filtering abnormal false alarm data, wherein the abnormal false alarm data comprises: the filtration is less than the fluctuation coefficient L of the same liquid level meter4First liquid level L multiplied by the height of the level gauge1Filtering the average liquid level meter fluctuation coefficient L of which the same average navigational speed interval is less than the corresponding navigational speed3First liquid level L multiplied by the height of the level gauge1And a second liquid level L2(ii) a The first liquid levelL1Level data collected for a level gauge, said second level L2Is a first liquid level L1The correction data of (1). In an optimal case, the monitoring period of the liquid level instrument data by the liquid level filtering module can be 2 seconds each time, after the liquid level instrument data is received, an abnormal liquid level filtering and calculating link is entered, whether the liquid level instrument data is in a static state or a stable navigation state is judged firstly, and if the liquid level instrument data is not in the static state or the stable navigation state, the liquid level instrument data directly enters the liquid level calculating and correcting module. If the liquid level is in a static state or a stable sailing state, directly judging whether the liquid level is abnormal or not. If the difference between the current liquid level instrument data and the previous liquid level instrument data is smaller than the product of the average liquid level instrument fluctuation coefficient corresponding to the navigational speed and the height of the liquid level instrument, the liquid level instrument is not considered to belong to the abnormal liquid level, subsequent correction calculation is not needed, and otherwise, the data is transferred to a liquid level calculation correction module.
The liquid level correction module is configured to: if the environmental state is the first environmental state, the first liquid level L is corrected1Obtaining a second liquid level L2. Under an optimal condition, after receiving the data of the liquid level instrument, entering a liquid level calculation and correction link, and firstly judging whether the data is larger than the product of the fluctuation coefficient of the liquid level instrument of the same type and the height of the liquid level instrument, so that the problem caused by individual difference of the liquid level instruments is reduced. If the average liquid level instrument fluctuation coefficient is less than or equal to the product of the average liquid level instrument fluctuation coefficient corresponding to the navigational speed in each motion state and the height of the liquid level instrument, the liquid level abnormal data is considered to belong to false alarm, subsequent double confirmation correction calculation is not needed, and otherwise, the data is transferred to a double confirmation correction module. The calculation method of the correction is as follows:
wherein L is1First level, L, collected for level gauge2In order to obtain the corrected second liquid level,
in order to obtain the coefficient of pitch,
is the tilt factor.
The calculation parameter adjustment module is configured to: calculating the coefficient of jounce
Coefficient of tilt
Coefficient of fluctuation L of liquid level meter3. The liquid level calculation parameter adjusting module mainly comprises a calculation parameter receiving module and a calculation parameter adjusting module. The receiving period of the liquid level calculation parameter adjusting module can be 1 minute each time, after receiving the calculation parameters needing to be adjusted sent by the shore-based control background, if the liquid level calculation is carried out, the liquid level calculation module waits until all the corresponding calculation parameters are updated after the single liquid level calculation is finished. The method for calculating the coefficient of the reference sailing state is consistent with the method described in the first embodiment.
The coefficient of pitch
The determination method comprises the following steps:
wherein the content of the first and second substances,
for the bump coefficient, i is the ith sample, hiIs the ith sampling altitude, a and b are the sampling times, HLIs the total measuring range of the liquid level meter,
is a constant.
Coefficient of inclination
The determination method comprises the following steps:
wherein the content of the first and second substances,
is the inclination coefficient, j is the jth sampling, c is the sampling times, H is the ship height, H is the ship height1jSample the left altitude, h, for the jth2jFor the jth sample of the right altitude,
is a constant.
The average liquid level meter fluctuation coefficient L corresponding to the navigational speed3The calculation method comprises the following steps:
the fluctuation coefficient L of the average liquid level meter3The calculation method comprises the following steps:
calculating the average navigational speed in the time interval d, and calculating the fluctuation coefficient L of the average level gauge corresponding to the navigational speed3：
Wherein L is3Average level meter coefficient of fluctuation H for corresponding navigational speedcAverage historical fluctuation height corresponding to navigational speed, T is historical sampling frequency, HkFor this threshold value of liquid level height, Hk1For the previous level gauge height, Hk2To a previous level gauge height, HTIs the level gauge height.
The calculation mode of the fluctuation coefficient of the same liquid level meter is as follows:
wherein L is4For the same kind of level meter fluctuation coefficient, Hp1For the first boundary value, H, of the same kind of liquid level meterp2Second boundary value of the same kind of liquid level meter, HTXThe height of the same liquid level instrument.
The dual acknowledgement module is configured to: and confirming whether the suspected abnormal point belongs to liquid level abnormality or not according to the previous normal liquid level height of the suspected abnormal point and the next x liquid level heights of the suspected abnormal point. In a preferable case, the previous normal level meter data and the last five normal level meter data are firstly obtained, if the level difference of more than two level meter data and normal level meter data in the last five normal level meter data is within the range of no change of the liquid level, the liquid level is considered to be not changed actually, and the abnormal liquid level data belongs to false alarm. If the liquid level meter data is judged to be normal shaking of the liquid level instead of liquid level change, the abnormal data is judged to be false alarm. And if the conditions are not met, determining that the abnormality is real and effective abnormal data, adding the data into a to-be-uploaded list, and sending the data to a shore-based monitoring background.
The liquid level data reporting module is configured to: reporting all collected liquid level data to a liquid level parameter big data calculation module;
the abnormal data reporting module is configured to: and reporting the liquid level abnormity and all liquid level information participating in calculation to a liquid level parameter big data calculation module.
The shore-based control background comprises: and a liquid level parameter big data calculation module.
The present embodiment also provides a computer-readable storage medium storing a computer program; the computer program, when executed by a processor in a computing device, causes the computing device to perform the method of any one of the above.
The marine liquid level anomaly detection system provided by the embodiment mainly comprises a sensing system, a shipborne system and a shore-based control background, and can rapidly adjust the calculation accuracy of the liquid level change condition according to various large parameters after large data calculation while ensuring the real-time high-speed calculation capability of the onboard liquid level change condition. This embodiment gathers liquid level change situation on the ship through the liquid level appearance in the interim sewage storage cabinet, filters through unusual liquid level, and liquid level calculation is corrected and is calculated the back, tentatively filters out liquid level change abnormal information, and after the dual affirmation of rethread was corrected, if be real effectual liquid level change abnormal information, then in time inform bank base management and control backstage through the thing networking, if the unusual information of false liquid level change situation then filters, does not inform bank base management and control backstage. Meanwhile, all liquid level change condition information, AIS ship automatic identification system data and Beidou high-precision positioning device data can be reported to a shore-based control background, source data of big data calculation can be provided, a liquid level parameter big data calculation result of the shore-based control background can be received, the same liquid level instrument fluctuation coefficient and the average liquid level instrument fluctuation coefficient corresponding to the navigational speed can be updated in real time, and the reliability of liquid level change abnormal information identification is improved.
The foregoing description, for purposes of explanation, used specific nomenclature to provide a thorough understanding of the embodiments. It will be apparent, however, to one skilled in the art that the embodiments may be practiced without the specific details. Thus, the foregoing descriptions of specific embodiments described herein are presented for purposes of illustration and description. They are not intended to be exhaustive or to limit the embodiments to the precise forms disclosed. It will be apparent to those skilled in the art that many modifications and variations are possible in light of the above teaching. Further, as used herein to refer to the position of a component, the terms above and below, or their synonyms, do not necessarily refer to an absolute position relative to an external reference, but rather to a relative position of the component with reference to the drawings.
Moreover, the foregoing drawings and description include many concepts and features that may be combined in various ways to achieve various benefits and advantages. Thus, features, components, elements and/or concepts from various different figures may be combined to produce embodiments or implementations not necessarily shown or described in this specification. Furthermore, not all features, components, elements and/or concepts shown in a particular figure or description are necessarily required to be in any particular embodiment and/or implementation. It is to be understood that such embodiments and/or implementations fall within the scope of the present description.
Claims (10)
1. A marine liquid level anomaly detection method is characterized by comprising the following steps:
s1 collecting a first liquid level L1；
S2, determining an environment state, wherein the environment state belongs to a static state or a steady navigation state and is a first state, and the environment state belongs to a bumpy running state and is a second state;
s3 if the environmental condition is the second condition, correcting the first liquid level L according to the bump condition and the tilt condition1Obtaining a second liquid level L2；
S4 determining the first environmental condition according to the first liquid level L if the environmental condition is the first environmental condition1Judging whether the secondary liquid level is a suspected abnormal liquid level, and if the environmental state is a second environmental state, judging according to the second liquid level L2Judging whether the secondary liquid level is suspected to be an abnormal liquid level;
s5, according to the previous normal liquid level height of the suspected abnormal point and the next x liquid level heights of the suspected abnormal point, determining whether the suspected abnormal point belongs to liquid level abnormality;
the altitude positively correlated with the historical sampling according to the bumping condition and negatively correlated with the total range of the liquid level instrument; the inclination condition is positively correlated with the difference of a plurality of altitudes and negatively correlated with the ship height.
2. The marine liquid level abnormality detection method according to claim 1, wherein the correction method of S3 includes:
wherein L is1First level, L, collected for level gauge2In order to obtain the corrected second liquid level,
in order to obtain the coefficient of pitch,
is the tilt factor.
3. The marine liquid level anomaly detection method according to claim 2, characterized in that the bump coefficient
The determination method comprises the following steps:
wherein the content of the first and second substances,
for the bump coefficient, i is the ith sample, hiIs the ith sampling altitude, a and b are the sampling times, HLIs the total measuring range of the liquid level meter,
is a constant.
4. The marine liquid level anomaly detection method according to claim 2, characterized in that said inclination coefficient
The determination method comprises the following steps:
wherein the content of the first and second substances,
is the inclination coefficient, j is the jth sampling, c is the sampling times, and H is the ship height，h1jSample the left altitude, h, for the jth2jFor the jth sample of the right altitude,
is a constant.
5. The marine liquid level abnormality detection method according to claim 1, wherein the S3 includes:
s3.1: if the environmental state is the second environmental state, comparing the first liquid level L in the same average navigational speed interval1Height of liquid level meter and corresponding fluctuation coefficient L of same type of liquid level meter4If the first level L1Less than the height of the liquid level meter and the corresponding fluctuation coefficient L of the same type of liquid level meter4If the product of (A) and (B) is not corrected, otherwise, the first liquid level L is corrected according to the bumping condition and the inclination condition1Obtaining a second liquid level L2；
S3.2: comparing the second liquid level L in the same average navigational speed interval2Average level meter fluctuation coefficient L corresponding to height of level meter and corresponding navigational speed3If the second level L2Average liquid level meter fluctuation coefficient L smaller than height of liquid level meter and corresponding navigational speed3The product of the above steps is determined as a normal liquid level;
s3.3: first liquid level L in case of S3.11Or a second liquid level L in the case of S3.22Average liquid level meter fluctuation coefficient L larger than height of liquid level meter and corresponding navigational speed3The point is determined to be a suspected outlier.
6. The marine liquid level abnormality detection method according to claim 5, characterized in that the average level meter fluctuation coefficient L3The calculation method comprises the following steps:
calculating the average navigational speed in the time interval d, and calculating the fluctuation coefficient L of the average level gauge corresponding to the navigational speed3：
Wherein L is3Average level meter coefficient of fluctuation H for corresponding navigational speedcAverage historical fluctuation height corresponding to navigational speed, T is historical sampling frequency, HkFor this threshold value of liquid level height, Hk1For the previous level gauge height, Hk2To a previous level gauge height, HTIs the level gauge height.
7. The marine liquid level anomaly detection method according to claim 5, characterized in that said passing first liquid level L1Or the second liquid level L2The step of judging whether the liquid level is abnormal or not by the abnormal value of the abnormal conditions for a plurality of times comprises the following steps:
obtaining the previous normal liquid level height of the suspected abnormal point and the next x liquid level heights of the suspected abnormal point, wherein y exists in the x liquid level heights1% difference between the liquid level height and the normal liquid level height is within a second threshold range, and then no abnormality is considered;
or, calculating a first difference value between the height of the previous normal liquid level and the height of the liquid level of the suspected abnormal point, and calculating x difference values between the height of the previous normal liquid level and the height of x liquid levels after the suspected abnormal point, wherein if y exists in the x difference values2If the sign of the difference value of% is opposite to the first difference value, the suspected abnormal point is not considered to belong to the abnormal liquid level;
otherwise, the suspected abnormal point of the liquid is determined to belong to the abnormal liquid level.
8. A marine liquid level anomaly detection system, comprising:
the system comprises a sensing system, a shipborne system and a shore-based control background;
the sensing system includes: the device comprises a liquid level meter, an automatic ship identification system and a Beidou positioning device;
the shipborne system comprises: the device comprises a liquid level data acquisition module, an auxiliary data acquisition module, a liquid level filtering module, a liquid level correction module, a double confirmation module and a calculation parameter adjustment module;
the shore-based control background comprises: a liquid level parameter big data calculation module;
the liquid level filtering module is configured to: filtering abnormal false alarm data, wherein the abnormal false alarm data comprises: the filtration is less than the fluctuation coefficient L of the same liquid level meter4First liquid level L multiplied by the height of the level gauge1Filtering the average liquid level meter fluctuation coefficient L of which the same average navigational speed interval is less than the corresponding navigational speed3First liquid level L multiplied by the height of the level gauge1And a second liquid level L2(ii) a The first liquid level L1Level data collected for a level gauge, said second level L2Is a first liquid level L1The correction data of (1);
the liquid level correction module is configured to: if the environment state is not a static state or a stable sailing state, the first liquid level L is corrected according to the bumping condition and the inclining condition1Obtaining a second liquid level L2；
The dual acknowledgement module is configured to: confirming whether the suspected abnormal point belongs to liquid level abnormality or not according to the obtained primary normal liquid level height of the suspected abnormal point and the obtained x liquid level heights of the suspected abnormal point;
the calculation parameter adjustment module is configured to: calculating the coefficient of jounce
Coefficient of tilt
Mean level meter coefficient of fluctuation L3Fluctuation coefficient L of the same kind of liquid level meter4。
9. The marine liquid level anomaly detection system according to claim 8, said shipboard system further comprising: the liquid level data reporting module and the abnormal data reporting module are connected with the liquid level data processing module;
the liquid level data reporting module is configured to: reporting all collected liquid level data to a liquid level parameter big data calculation module;
the abnormal data reporting module is configured to: and reporting the liquid level abnormity and all liquid level information participating in calculation to a liquid level parameter big data calculation module.
10. A computer-readable storage medium storing a computer program, the computer program, when executed by a processor in a computing device, causing the computing device to perform the method of any of claims 1-7.
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