CN114690209B

CN114690209B - Ship monitoring method based on Beidou positioning system implementation and electronic equipment

Info

Publication number: CN114690209B
Application number: CN202210130768.5A
Authority: CN
Inventors: 安超; 张吉良; 张洪树
Original assignee: Tianjin Cosco Marine Bulk Transportation Digital Technology Co ltd
Current assignee: Tianjin Cosco Marine Bulk Transportation Digital Technology Co ltd
Priority date: 2022-02-12
Filing date: 2022-02-12
Publication date: 2023-07-25
Anticipated expiration: 2042-02-12
Also published as: CN114690209A

Abstract

The application relates to a ship monitoring method and electronic equipment based on Beidou positioning system, and relates to the technical field of ship monitoring, wherein the method comprises the steps of obtaining the current state and the current navigational speed of a ship, wherein the current state comprises an on-the-fly state and an on-port state; judging whether the ship in the harbor state generates a preliminary harbor departure action or not based on the current navigational speed, and whether the ship in the harbor state generates the preliminary harbor departure action or not; judging whether the ship generating the preliminary departure motion generates the departure motion, if so, updating the current state of the ship into the on-the-fly state; judging whether the ship generating the pre-harbor-resisting action generates the harbor-resisting action, and if the ship generating the pre-harbor-resisting action generates the harbor-resisting action, updating the current state of the ship into the harbor-resisting state. The ship state calculation method has the effect of improving the ship state calculation speed.

Description

Ship monitoring method based on Beidou positioning system implementation and electronic equipment

Technical Field

The application relates to the technical field of ship monitoring, in particular to a ship monitoring method implemented based on a Beidou positioning system and electronic equipment.

Background

In recent years, the offshore environment is more complex, so that the accuracy of ship state monitoring by shipping enterprises is more important, the traditional port state monitoring method is manually recorded and transmitted to a shore by ship end service personnel according to the ship state, and the shore end personnel enter the system formally after confirmation, so that the ship state is changed.

At present, the whole-process monitoring of the ship state becomes an urgent need for safety supervision of shipping enterprises, the ship state is monitored through manual recording in the prior art, but the ship state is difficult to change in time when facing the marine complex environment, and the operation speed is low.

Disclosure of Invention

In order to improve the operation speed of the ship state, the application provides a ship monitoring method and electronic equipment based on the Beidou positioning system.

In a first aspect, the present application provides a ship monitoring method implemented based on a beidou positioning system, which adopts the following technical scheme:

a ship monitoring method based on Beidou positioning system comprises the following steps:

acquiring the current state and the current navigational speed of the ship, wherein the current state comprises an on-board state and an on-board state;

judging whether the ship in the harbor state generates a preliminary harbor action or not based on the current navigational speed, and whether the ship in the harbor state generates the preliminary harbor action or not;

judging whether the ship generating the preliminary departure motion generates departure motion, if so, updating the current state of the ship to the on-the-fly state;

judging whether the ship generating the pre-harbor-keeping action generates a harbor-keeping action, and if the harbor-keeping action is generated, updating the current state of the ship into the harbor-keeping state.

By adopting the technical scheme, the current state and the current navigational speed of the ship are obtained, whether the ship in the harbor state generates the preliminary harbor departure action or not is judged based on the current navigational speed, whether the ship in the navigational state generates the preliminary harbor departure action or not is judged, and the ship is screened through the current state and the current navigational speed, so that partial data quantity is reduced. The current state of the ship is updated by judging whether the ship generating the preliminary departure motion generates the departure motion and judging whether the ship generating the preliminary departure motion generates the departure motion. The method can monitor the state of the ship and timely update the current state of the ship, and meanwhile, the efficiency is higher and the calculation speed is higher when the ship is judged whether to generate the departure action or the departure action by screening the ship.

In another possible implementation manner, the determining whether the ship in the harbor state generates the pre-harbor action based on the current voyage speed, and whether the ship in the harbor state generates the pre-harbor action includes:

judging whether the current speed of the ship in the harbor state is greater than a first preset speed, wherein the value range of the first preset speed is 1-3 knots;

If the current navigational speed of the ship is greater than the first preset navigational speed, determining that the ship generates a preliminary departure action;

judging whether the current navigational speed of the ship in the navigational state is smaller than a second preset navigational speed or not, wherein the value range of the second preset navigational speed is 1-2 knots;

and if the current navigational speed of the ship is smaller than the second preset navigational speed, determining that the ship generates a pre-harbor action.

Through adopting above-mentioned technical scheme, whether confirm whether the boats and ships produce the action of leaving a port in advance or the action of keeping out a port in advance based on the current speed of boats and ships, screened the data volume through current speed effectively reduced, and the value scope of first preset speed and second preset speed makes the boats and ships that screen out more accurate.

In another possible implementation manner, the determining whether the ship generating the preliminary departure action generates the departure action includes:

acquiring the latest Beidou positioning moment and the latest report port-keeping time of the ship generating the preliminary departure action;

judging whether the latest Beidou positioning moment is later than the latest report port-keeping time or not;

if the latest report departure time is not later than the latest report departure time, determining that the ship does not generate the departure action;

And if the latest report departure time is later than the latest report departure time, acquiring first confirmation information which is sent by target equipment and is about whether the ship generates the departure action or not, judging whether the ship generates the departure action or not based on the first confirmation information, if so, determining that the ship generates the departure action, and if not, determining that the ship does not generate the departure action.

By adopting the technical scheme, the latest Beidou positioning time and the latest report departure time for generating the preliminary departure action are obtained, and because of hysteresis of Beidou messages transmitted by the Beidou communication system, invalid data are generated, whether the latest Beidou positioning time is later than the latest report departure time or not is judged, the invalid data are removed, if the latest Beidou positioning time is not later than the latest report departure time, the fact that the ship does not generate the departure action is indicated, and the preliminary departure action of the ship is determined because of the hysteresis transmission of the Beidou messages; if the time is later than the latest report departure time, further judging whether the ship generates departure action, removing invalid data can reduce the data quantity, and the judging result is more accurate. Whether the ship generates the departure action is further confirmed by acquiring first confirmation information, wherein the first confirmation information is information sent by a harbor manager through target equipment, and the judgment result is more accurate by the first confirmation information.

In another possible implementation manner, the determining, by the obtaining the first confirmation information sent by the target device, whether the ship generates the departure motion, based on the first confirmation information, includes:

generating a first message, wherein the first message comprises information for inquiring whether the ship leaves a port at the latest Beidou positioning moment;

sending the first message to the target equipment;

judging whether the first confirmation information sent by the target equipment is received or not;

if the first confirmation information is received, judging whether the ship generates the departure action or not based on the first confirmation information;

if the first confirmation information is not received, judging whether the ship is in a harbor area or not after the preset time;

if the ship is in the harbor area, determining that the ship does not generate the departure action;

if the ship is not in the harbor area, determining that the ship generates the departure motion, or determining that the ship generates the departure motion after a preset condition is met, wherein the preset condition is that the first confirmation information sent by the target equipment is received.

By adopting the technical scheme, the first message is sent to the target equipment, the first confirmation information is received, whether the ship generates the departure action is judged based on the first confirmation information, and the target equipment can feed back the most accurate determination result about the ship state by sending the first confirmation information to the port manager. If the first confirmation information is not received, indicating that the harbor manager at the target equipment end does not answer, whether the ship is in the harbor can be judged through the preset time, and whether the ship leaves the harbor is judged.

In another possible implementation manner, the determining whether the ship is in a port after the preset time includes:

acquiring a polygonal area selected by a user in an electronic map, wherein the polygonal area comprises the harbor area;

acquiring the longitude and latitude of the latest positioning point of the ship;

judging whether the latest positioning point is in the polygon area or not according to a judging rule of the point in the polygon;

if the latest positioning point is in the polygonal area, determining that the ship is in the harbor area;

and if the latest positioning point is not in the polygonal area, determining that the ship is not in the harbor area.

By adopting the technical scheme, the longitude and the latitude of the latest positioning point of the ship are obtained, whether the ship is in a harbor area is judged by the judging rule of the point in the polygon, and the judging result is accurate because the judging rule of the point in the polygon is mature.

In another possible implementation manner, the determining whether the ship generating the pre-harbor action generates a harbor action includes:

judging whether the ship generating the pre-harbor action is in a harbor area or not;

if the ship is in the harbor area, acquiring the latest Beidou positioning moment and the latest report departure time of the ship;

judging whether the latest Beidou positioning moment is earlier than the latest report departure time or not;

if the latest report departure time is earlier than the latest report departure time, determining that the ship does not generate the departure action;

and if the time is not earlier than the latest report departure time, acquiring second confirmation information which is sent by the target equipment and is about whether the ship generates the departure action or not, judging whether the ship generates the departure action or not based on the second confirmation information, if so, determining that the ship generates the departure action, and if not, determining that the ship does not generate the departure action.

By adopting the technical scheme, whether the ship generating the pre-harbor action is in a harbor area is judged, and the ship generating the pre-harbor action is screened, so that part of invalid data is removed, and the data quantity is reduced. Acquiring the latest Beidou positioning time and the latest report departure time of a ship in a harbor area, wherein the Beidou messages transmitted through a Beidou communication system have hysteresis, so that invalid data are generated, and judging whether the latest Beidou positioning time is earlier than the latest report departure time, so that the invalid data are removed, and if so, indicating that the ship does not generate a harbor action, wherein the delayed transmission of the Beidou messages enables the ship to be determined to generate a pre-harbor action; if the time is not earlier than the latest report departure time, judging whether the ship generates a departure action, and removing invalid data can reduce the data quantity and enable the judging result to be more accurate. Whether the ship generates the port-keeping action is further confirmed by acquiring second confirmation information, wherein the second confirmation information is information sent by port area management personnel through target equipment, and the judgment result is more accurate by the second confirmation information.

In another possible implementation manner, the obtaining the second confirmation information sent by the target device about whether the ship generates the port-keeping action, and determining whether the ship generates the port-keeping action based on the second confirmation information includes:

Generating a second message, wherein the second message comprises information for inquiring whether the ship is in port or not at the latest Beidou positioning moment;

sending the second message to the target equipment;

judging whether the second confirmation information sent by the target equipment is received or not;

and if the second confirmation information is received, judging whether the ship generates the port-abutting action or not based on the second confirmation information.

By adopting the technical scheme, the second message is sent to the target equipment, the second confirmation information is received, whether the ship generates the port-keeping action is judged based on the second confirmation information, and the target equipment can feed back the most accurate judgment result about the ship dynamics by sending the second confirmation information port-area manager.

In a second aspect, the present application provides a ship monitoring device implemented based on a beidou positioning system, which adopts the following technical scheme:

ship monitoring device based on implementation of big dipper positioning system includes:

the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring the current state and the current navigational speed of the ship, and the current state comprises an on-board navigational state and an on-board state;

the first judging module is used for judging whether the ship in the harbor state generates a pre-harbor action or not based on the current navigational speed and whether the ship in the harbor state generates the pre-harbor action or not;

The second judging module is used for judging whether the ship generating the preliminary departure motion generates departure motion or not, and if the departure motion is generated, updating the current state of the ship into the on-the-fly state;

and the third judging module is used for judging whether the ship generating the pre-harbor-keeping action generates a harbor-keeping action, and if the harbor-keeping action is generated, updating the current state of the ship into the harbor-keeping state.

By adopting the technical scheme, the acquisition module acquires the current state and the current navigational speed of the ship, and based on the current navigational speed, the first judgment module judges whether the ship in the harbor state generates the preliminary harbor action or not, and whether the ship in the navigational state generates the preliminary harbor action or not, and the ship is screened through the current state and the current navigational speed, so that the data quantity of part is reduced. The second judging module judges whether the ship generating the preliminary departure motion generates the departure motion or not, and the third judging module updates the current state of the ship by judging whether the ship generating the preliminary departure motion generates the departure motion or not. The method can monitor the state of the ship and timely update the current state of the ship, and meanwhile, the efficiency is higher and the calculation speed is higher when the ship is judged whether to generate the departure action or the departure action by screening the ship.

In a third aspect, the present application provides an electronic device, which adopts the following technical scheme:

an electronic device, the electronic device comprising:

one or more processors;

a memory;

one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, the one or more applications configured to: a method of monitoring a vessel based on a beidou positioning system according to any one of the possible implementations of the first aspect is performed.

In a fourth aspect, the present application provides a computer readable storage medium, which adopts the following technical scheme:

a computer-readable storage medium, comprising: a computer program is stored that can be loaded and executed by a processor to implement a method for monitoring a vessel based on the beidou positioning system as shown in any one of the possible implementation manners of the first aspect.

In summary, the present application includes at least one of the following beneficial technical effects:

1. the current state and the current navigational speed of the ship are obtained, whether the ship in the harbor state generates the preliminary harbor departure action or not is judged based on the current navigational speed, whether the ship in the navigational state generates the preliminary harbor departure action or not is judged, the ship is screened through the current state and the current navigational speed, and the data quantity of a part is reduced. The current state of the ship is updated by judging whether the ship generating the preliminary departure motion generates the departure motion and judging whether the ship generating the preliminary departure motion generates the departure motion. The method can monitor the state of the ship and timely update the current state of the ship, and meanwhile, the efficiency is higher and the calculation speed is higher when judging whether the ship generates the departure action or the departure action by screening the ship;

2. Whether the ship generates the pre-departure action or the pre-departure action is determined based on the current speed of the ship, the data volume is effectively reduced by screening the ship through the current speed, and the screened ship is more accurate due to the value ranges of the first preset speed and the second preset speed.

Drawings

Fig. 1 is a schematic flow chart of a ship monitoring method implemented based on a beidou positioning system according to an embodiment of the present application.

Fig. 2 is a schematic flow chart of a ship monitoring device implemented based on a beidou positioning system according to an embodiment of the present application.

Fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

The present application is described in further detail below in conjunction with figures 1-3.

Modifications of the embodiments which do not creatively contribute to the invention may be made by those skilled in the art after reading the present specification, but are protected by patent laws only within the scope of claims of the present application.

For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

In addition, the term "and/or" herein is merely an association relationship describing an association object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In this context, unless otherwise specified, the term "/" generally indicates that the associated object is an "or" relationship.

Embodiments of the present application are described in further detail below with reference to the drawings attached hereto.

The embodiment of the application provides a ship monitoring method implemented based on a Beidou positioning system, which is executed by electronic equipment, wherein the electronic equipment can be a server or terminal equipment, the server can be an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, and a cloud server for providing cloud computing service. The terminal device may be, but is not limited to, a smart phone, a tablet computer, a notebook computer, a desktop computer, etc., and the terminal device and the server may be directly or indirectly connected through wired or wireless communication, which is not limited herein, and as shown in fig. 1, the method includes step S101, step S102, step S103, and step S104, where,

Step S101, the current state and the current navigational speed of the ship are obtained.

Wherein the current state includes an on-air state and an on-port state.

For the embodiment of the application, the electronic equipment can acquire the record data and the positioning data of the ship from the database, so as to acquire the current state and the current navigational speed of the ship; the electronic device may also obtain the record data and the positioning data of the ship from the cloud server, which are not limited herein, and the record data and the positioning data in the database or in the cloud server originate from the user's entry or import. The current state includes an on-shore state, which indicates that the ship is not in the harbor and is sailing, and an on-shore state, which indicates that the ship is in the harbor and is not sailing. And (3) placing the ship in the harbor state into a harbor ship monitoring area for monitoring, and placing the ship in the sailing state into the sailing ship monitoring area for monitoring. For example:

the electronic device obtains that the current state of the ship CN20106548193 is in the port state, and the current voyage speed is 1.5 knots.

Step S102, judging whether the ship in the harbor state generates the preliminary harbor movement or not and whether the ship in the harbor state generates the preliminary harbor movement or not based on the current navigational speed.

For the embodiment of the application, the electronic device determines whether the ship in the on-port state generates a preliminary departure action based on the current speed of the ship, and the ship generates the preliminary departure action to indicate that the ship may depart from the port, and the state of the ship is about to be changed into the on-port state. The electronic equipment judges whether the ship in the sailing state generates a pre-harbor-keeping action based on the current sailing speed of the ship, and the ship generates the pre-harbor-keeping action to indicate that the ship possibly needs to keep a harbor, and the state of the ship is about to be changed into the harbor-keeping state. The electronic equipment screens the ship through the current navigational speed, so that the partial data volume can be reduced.

Step S103, judging whether the ship generating the preliminary departure motion generates the departure motion, and if the ship generates the departure motion, updating the current state of the ship into the on-board state.

For the embodiment of the application, the electronic equipment judges whether the ship generating the preliminary departure motion generates the departure motion or not, and further judges the ship generating the preliminary departure motion in detail so as to ensure that the state of the ship is more accurate. If the electronic equipment judges that the ship generates the departure action, and the ship is indicated to leave the harbor area, the electronic equipment updates the current state of the ship into the on-ship state.

Step S104, judging whether the ship generating the pre-harbor-keeping action generates the harbor-keeping action, and if the harbor-keeping action is generated, updating the current state of the ship into the harbor-keeping state.

For the embodiment of the application, the electronic equipment judges whether the ship generating the pre-harbor action generates the harbor action or not, and further judges the ship generating the pre-harbor action in detail so as to ensure that the state of the ship is more accurate. If the electronic equipment judges that the ship generates the port-keeping action, and the ship enters the port area, the electronic equipment updates the current state of the ship into the port-keeping state.

In one possible implementation manner of the embodiment of the present application, in step S102, it is determined whether the ship in the harbor state generates the preliminary departure motion based on the current speed, and whether the ship in the harbor state generates the preliminary departure motion, specifically including step S1021 (not shown in the figure), step S1022 (not shown in the figure), step S1023 (not shown in the figure), and step S1024 (not shown in the figure), the execution sequence of steps S1021 and S1023 is not limited herein, where,

step S1021, judging whether the current speed of the ship in the port state is greater than the first preset speed.

Wherein the value range of the first preset navigational speed is 1-3 knots.

For the embodiment of the application, the electronic device determines whether the current speed of the ship in the harbor state is greater than the first preset speed, and assumes that the first preset speed is 3 knots, taking step S101 as an example, the current speed of the ship is not greater than 3 knots of the first preset speed in 1.5 knots. The value range of the first preset navigational speed is 1 to 3 sections, which means that if the current navigational speed of the ship is greater than 3 sections, the navigational speed of the ship is faster, and the ship is likely to accelerate.

Step S1022, if the current speed of the ship is greater than the first preset speed, determining that the ship generates the preliminary departure action.

For the embodiment of the present application, taking step S1021 as an example, assuming that the current speed of the ship is 4 knots, the current speed is greater than the first preset speed by 3 knots, which indicates that the ship is not stationary in the harbor area, the ship starts to accelerate, and the ship may accelerate for the purpose of departure of the ship, but it cannot be accurately determined whether the ship is to depart or not only by the speed, so that the electronic device determines that the ship generates the preliminary departure motion, so that the ship generating the preliminary departure motion can be determined in detail later. The electronic device may mark the ship that has performed the preliminary departure motion, for example, 1a for the ship that is in the harbor state and has performed the preliminary departure motion, 1b for the ship that is in the harbor state and has not performed the preliminary departure motion, or may mark the ship by other means, which is not limited herein.

Step S1023, judging whether the current navigational speed of the ship in the navigational state is smaller than a second preset navigational speed.

Wherein, the value range of the second preset navigational speed is 1-2 knots.

For the embodiment of the application, the electronic device determines whether the current speed of the ship in the sailing state is less than the second preset speed, and assumes that the second preset speed is 2 knots, taking step S101 as an example, the current speed of the ship is less than 2 knots of the second preset speed by 1.5 knots. The value range of the second preset navigational speed is 1 to 2 sections, which indicates that if the current navigational speed of the ship is less than 1 section, the ship possibly decelerates and stops soon.

Step S1024, if the current speed of the ship is less than the second preset speed, determining that the ship generates the pre-harbor action.

For the embodiment of the present application, taking step S1023 as an example, the current speed 1.5 of the ship is less than the second preset speed 2, which indicates that the ship starts to slow down and stops soon, the purpose of the slow down of the ship may be to stop the ship and stop in the harbor, but it cannot be accurately determined whether the ship is to stop the ship only by the speed, so the electronic device determines that the ship generates the pre-stop motion, so as to facilitate the detailed judgment of the ship generating the pre-stop motion. The electronic device may mark the ship that generates the pre-harbor action, for example, the ship that is in the sailing state and generates the pre-harbor action is marked as 2a, the ship that is in the sailing state and does not generate the pre-harbor action is marked as 2b, or other means may be used for marking, which is not limited herein.

In one possible implementation manner of the embodiment of the present application, step S103 is to determine whether the ship generating the preliminary departure motion generates the departure motion, and specifically includes step S1031 (not shown in the figure), step S1032 (not shown in the figure), step S1033 (not shown in the figure), and step S1034 (not shown in the figure), where,

step S1031, obtaining the latest Beidou positioning moment and the latest report port-keeping time of the ship generating the preliminary departure action.

For the embodiment of the application, the electronic equipment of the ship in the port state can be monitored regularly, the monitoring program is executed every 5 minutes, meanwhile, the target equipment can send the Beidou positioning time and the report port-keeping time of the ship to the electronic equipment in a message form through the Beidou communication system every 5 minutes, and the electronic equipment obtains the latest Beidou positioning time and the latest report port-keeping time of the ship which generate the preliminary port-keeping action and are sent by the target equipment, so that the electronic equipment can conveniently judge whether the ship which generates the preliminary port-keeping action needs to be carried out or not. The Beidou positioning time is the time for positioning the ship position, and the report port-keeping time is the time for the ship to actually arrive at the port area. For example: assuming that the ship CN20106548193 generates a preliminary departure action, the electronic equipment obtains the latest Beidou positioning time of the ship to be 10:55 and the latest report departure time to be 11:00.

Step S1032, judging whether the latest Beidou positioning time is later than the latest report port-keeping time.

For the embodiment of the present application, taking step S1031 as an example, the electronic device determines that the latest Beidou positioning time 10:55 is not later than the latest report port-keeping time 11:00.

Step S1033, if the latest report departure time is not later, determining that the ship does not generate departure action.

For the embodiment of the present application, taking step S1032 as an example, the latest Beidou positioning time 10:55 is no later than the latest report port-keeping time 11:00. Because of the hysteresis of the Beidou message transmitted by the Beidou communication system, the target equipment transmits the latest Beidou positioning time at a ratio of 10:55, but the electronic equipment possibly receives the latest Beidou positioning time transmitted by the target equipment at a ratio of 11:05.

The latest report departure time shows that the ship has been departed at 11:00, taking step S1022 as an example, assuming that the current speed of the ship at 10:55 is 4 knots, which is greater than the first preset speed by 3 knots, the electronic device receives at 11:05 that the current speed of the ship is greater than the first preset speed, and the electronic device determines that the ship generates the preliminary departure motion, but the ship does not departure at the latest beidou positioning time 10:55 received at 11:05, so that the speed is greater than the first preset speed but the preliminary departure motion is not generated, and the ship does not generate the departure motion at 10:55. The hysteresis of the Beidou communication system transmission can cause electronic equipment to misjudge that the ship generates a preliminary departure action, so that invalid data is generated.

Step S1034, if the latest report departure time is later, acquiring first confirmation information about whether the ship generates departure motion sent by the target equipment, judging whether the ship generates departure motion based on the first confirmation information, if so, determining that the ship generates departure motion, and if not, determining that the ship does not generate departure motion.

For the embodiment of the application, assuming that the latest Beidou positioning time is 11:02 and the latest report departure time is 11:00, and the electronic equipment judges that the latest Beidou positioning time is later than the latest report departure time, the electronic equipment acquires first confirmation information about whether the ship generates departure motion or not, which is sent by the target equipment, wherein the first confirmation information is a short message sent by the target equipment to the electronic equipment through the Beidou communication system, and the first confirmation information can be text information of the ship generating departure motion at 11:02 or voice information of the ship generating departure motion at 11:02, and is not limited herein. The electronic device determines whether the ship generates a departure action based on the first confirmation information, for example:

if the electronic equipment acquires the text information of the departure action generated by the ship at the ratio of 11:02, which is sent by the target equipment, determining that the departure action is generated by the ship; if the electronic device obtains the text information that the ship does not generate the departure motion at 11:02, which is sent by the target device, it is determined that the ship does not generate the departure motion, and the current speed of the ship is greater than the first preset speed may be because the ship is berthed in a berthing area of the harbor.

In another implementation manner, the electronic device may acquire positioning points of a plurality of ships within a specified time period, extract the positioning point with the earliest time and the positioning point with the latest time, and determine whether both positioning points are within a ship stopping area of a harbor area. For example:

the electronic equipment extracts locating points of the ship in 11:00 to 11:20, and the electronic equipment judges whether the locating points of 11:00 and the locating points of 11:20 are both in a ship stopping area of a harbor area or not. If the ship is in the ship stopping area of the harbor, determining that the ship does not generate the departure action, and possibly moving the ship to park in the ship stopping area of the harbor; if the ship is not in the ship stopping area of the harbor, determining whether the ship is in the harbor based on the positioning points of 11:20, if the ship is not in the harbor, determining that the ship generates a departure motion, and if the ship is in the harbor, continuously determining whether the ship is in the harbor in the next specified time period, for example: the electronic equipment extracts positioning points of the ship in 11:20 to 11:40, and continues to judge the positioning points, so that whether the ship generates departure motion is determined.

In one possible implementation manner of this embodiment of the present application, the first confirmation information about whether the ship generates the departure motion sent by the target device is acquired in step S1034, and it is determined whether the ship generates the departure motion based on the first confirmation information, where the first confirmation information includes step S10341 (not shown in the figure), step S10342 (not shown in the figure), step S10343 (not shown in the figure), step S10344 (not shown in the figure), step S10345 (not shown in the figure), step S10346 (not shown in the figure), and step S10347 (not shown in the figure), where,

Step S10341, generate a first message.

The first message comprises information for inquiring whether the ship leaves the port at the latest Beidou positioning moment.

For the embodiment of the application, the electronic device generates the first message, where the first message may be in a text form, or may be in a voice form, or may be in other forms, and is not limited herein. For example:

the content of the first message is text information of whether the ship generates departure action at 11:02.

Step S10342, send the first message to the target device.

For the embodiment of the present application, taking step S10341 as an example, the electronic device may send a first message to the ship CN20106548193, so as to query the current state of the ship. And sending a first message to the target equipment to enable the harbor manager to confirm, so that the most accurate determination result of the ship state can be obtained.

Step S10343, determining whether the first acknowledgement information sent by the target device is received.

For the embodiment of the present application, taking step S10342 as an example, after the electronic device sends the first message to the ship CN20106548193, the electronic device determines whether the first acknowledgement information sent by the ship CN20106548193 to the electronic device is received.

In step S10344, if the first confirmation information is received, it is determined whether the ship generates the departure motion based on the first confirmation information.

For the embodiment of the application, taking step S1034 as an example, if the electronic device obtains the text information of the departure motion generated by the ship at 11:02 sent by the target device, determining that the departure motion is generated by the ship; if the electronic device obtains the text information that the ship does not generate the departure motion at 11:02, which is sent by the target device, it is determined that the ship does not generate the departure motion, and the current speed of the ship is greater than the first preset speed may be because the ship is berthed in a berthing area of the harbor.

In step S10345, if the first confirmation information is not received, the predetermined time elapses to determine whether the ship is in the port.

For the embodiment of the application, if the electronic device does not receive the first confirmation information sent by the target device, it is indicated that the harbor manager at the target device end does not answer, and after the preset time, the electronic device judges whether the ship at the ship end is in the harbor again, so as to determine whether the ship is out of harbor. The electronic equipment can acquire the positioning point of the ship, and further judge whether the ship is in a harbor area or not according to the rule that the point is in the polygon. For example: assuming that the preset time is 10 minutes, the electronic device judges whether the ship is in a harbor area or not after 10 minutes.

Step S10346, if the ship is in the harbor, determining that the ship does not generate the departure motion.

For the embodiment of the application, after the preset time, the electronic device judges that the ship is in the harbor area, which means that the ship is always in the harbor area within the preset time, the departure action is not generated, and the ship can be moved and berthed only in the ship stopping area of the harbor area.

Step S10347, if the ship is not in the harbor area, determining that the ship generates the departure motion, or determining that the ship generates the departure motion after a preset condition is met, wherein the preset condition is that the first confirmation information sent by the target equipment is received.

For the embodiment of the application, after the preset time, the electronic equipment judges that the ship is not in the harbor area, and the ship leaves the harbor area within the preset time, so that the electronic equipment determines that the ship generates the departure action. In another implementation manner, after the preset time, the electronic device judges that the ship is not in the harbor area, when the electronic device receives the first confirmation information sent by the target device, the electronic device determines that the ship generates the departure motion, and when the electronic device does not receive the first confirmation information sent by the target device, the electronic device does not determine that the ship generates the departure motion. And after receiving the first confirmation message, determining that the most accurate determination result of the ship state can be obtained.

In one possible implementation manner of this embodiment of the present application, step S10345 includes determining whether the ship is in the port after the preset time has elapsed, specifically including step S10345a (not shown), step S10345b (not shown), step S10345c (not shown), step S10345d (not shown), and step S10345e (not shown), wherein,

in step S10345a, a polygonal area selected by the user in the electronic map is acquired.

Wherein the polygonal area comprises a port area.

For the embodiment of the application, the electronic device may call the electronic map from the database, and may call the electronic map from the cloud server, which is not limited herein. The electronic equipment can further determine the polygon area by acquiring the selected points triggered by the user in the electronic map, sequentially connect each selected point according to the sequence of the selected points of the user, establish the polygon by taking each selected point as a vertex, sequentially connect each selected point according to the reverse sequence for selecting the points, and acquire the polygon surrounded by a plurality of line segments or a plurality of straight lines triggered by the user on the electronic map. The user may trigger the selection point on the screen through the touch screen, or may select the point through a key, which is not limited herein. For example: the method comprises the following steps of: (117.854314,36.879294), (118.063767,38.182938), (118.063749,38.182569), (118.063552,38.182449) and (118.062168,38.183938). The electronic equipment sequentially connects the selected points according to the sequence of the selected points of the user, and establishes a polygon by taking the selected points as vertexes, wherein the polygon area comprises the coast harbor district.

Step S10345b, the longitude and latitude of the latest anchor point of the ship are acquired.

For the embodiment of the application, the electronic device may obtain the longitude and latitude of the latest positioning point of the ship from the database, and may also obtain the longitude and latitude of the latest positioning point of the ship from the cloud server, which is not limited herein. For example: the electronic device obtains the latest anchor point of the ship CN20106548193 from the database with the longitude and latitude (118.063264,38.184122).

In step S10345c, it is determined whether the latest anchor point is in the polygon area according to the rule of determining that the point is in the polygon.

For the embodiment of the application, through a judgment rule that points are in a polygon, the electronic device uses the latest positioning point as a starting point to make a horizontal ray from left to right, determines the number of intersection points of the boundary of the horizontal ray and the polygon area, judges the parity of the number of the intersection points, determines that a track point is in the polygon area if the number of the intersection points is odd, and determines that the track point is outside the polygon area if the number of the intersection points is even, and the specific reference literature: youjian, shongxin, chen Ding. Comparing two algorithms in arbitrary polygons to determine if a point is in [ J ]. Land mine mapping, 2009, 25 (3): 28-30, 36; the electronic device may also determine whether the latest positioning point is in the polygonal area in other manners, which is not limited herein.

And step S10345d, if the latest positioning point is in the polygonal area, determining that the ship is in the harbor area.

For the embodiment of the application, assuming that the latest positioning point is (118.062833,38.183598), taking step S10345a as an example, the electronic device determines that the latest positioning point is in the coast state harbor region according to the rule of judging that the point is in the polygon.

And step S10345e, if the latest positioning point is not in the polygonal area, determining that the ship is not in the harbor area.

For the embodiment of the present application, take step S10345b as an example: the latest positioning point (118.063264,38.184122) is determined not to be in the coast state harbor district through the judgment rule that the point is in the polygon.

In one possible implementation manner of the embodiment of the present application, step S104 is to determine whether the ship generating the pre-harbor action generates the harbor action, and specifically includes step S1041 (not shown), step S1042 (not shown), step S1043 (not shown), step S1044 (not shown), and step S1045 (not shown), wherein,

step S1041, judging whether the ship generating the pre-harbor action is in the harbor area.

For the embodiment of the application, the electronic device can acquire the positioning point of the ship generating the pre-harbor action, and further judge whether the ship is in a harbor area or not according to the rule that the point is in the polygon.

Step S1042, if in the harbor area, acquiring the latest Beidou positioning moment and the latest report departure time of the ship.

For the embodiment of the application, the ship electronic equipment in the on-the-fly state can be monitored regularly, the monitoring program is executed every 5 minutes, and meanwhile, the target equipment can send the Beidou positioning time and the report departure time of the ship to the electronic equipment in a message mode through the Beidou communication system every 5 minutes.

If the electronic equipment judges that the ship generating the pre-harbor action is in the harbor area, the electronic equipment acquires the latest Beidou positioning moment and the latest report harbor departure time of the ship generating the pre-harbor action, which are sent by the target equipment, so that the electronic equipment can further judge whether the ship generating the pre-harbor action needs harbor or not. The Beidou positioning time is the time for positioning the ship position, and the report departure time is the time for the ship to actually leave the harbor area. For example: assuming that the ship CN20106548193 generates a pre-harbor-keeping action, the electronic equipment obtains the latest Beidou positioning time of the ship to be 8:55, and the latest report departure time is 9:00.

If the electronic equipment judges that the ship generating the pre-harbor action is not in a harbor area, the current state of the ship is the in-voyage state, and the current voyage speed of the ship is smaller than the second preset voyage speed, the electronic equipment determines that the ship is an abnormal ship, and the current voyage speed of the ship in the voyage state is the voyage speed, so that the voyage speed is very small, and the ship possibly has faults.

Step S1043, judging whether the latest Beidou positioning time is earlier than the latest report departure time.

For the embodiment of the present application, taking step S1042 as an example, the electronic device determines that the latest beidou positioning time 8:55 is earlier than the latest report departure time 9:00.

Step S1044, if the time is earlier than the latest report departure time, determining that the ship does not generate the departure action.

For the embodiment of the present application, taking step S1043 as an example, the latest beidou positioning time 8:55 is earlier than the latest report departure time 9:00. Because of the hysteresis of the Beidou message transmitted by the Beidou communication system, the target equipment transmits the latest Beidou positioning time at 8:55, but the electronic equipment possibly receives the latest Beidou positioning time transmitted by the target equipment at 9:05.

The latest report departure time shows that the ship has departed from the port at 9:00, taking step S1023 as an example, assuming that the current speed of the ship at 8:55 is 1.5 knots, the current speed of the ship received by the electronic device at 9:05 is less than the second preset speed by 2 knots, the electronic device determines that the ship generates the pre-departure motion, but the ship does not depart from the port at the latest Beidou positioning moment 8:55 received by 9:05, so that the speed is less than the second preset speed but does not generate the pre-departure motion, and the ship does not generate the departure motion at 8:55. The hysteresis of the Beidou communication system transmission can cause electronic equipment to misjudge that the ship generates a pre-port-abutting action, so that invalid data is generated.

Step S1045, if not earlier than the latest report departure time, obtaining second confirmation information about whether the ship generates the departure action sent by the target equipment, judging whether the ship generates the departure action based on the second confirmation information, if so, determining that the ship generates the departure action, and if not, determining that the ship does not generate the departure action.

For the embodiment of the application, assuming that the latest Beidou positioning time is 9:02 and the latest report port-keeping time is 9:00, and the electronic equipment judges that the latest Beidou positioning time is not earlier than the latest report port-keeping time, the electronic equipment acquires second confirmation information about whether the ship generates port-keeping action or not, which is sent by the target equipment, wherein the second confirmation information is a short message sent by the target equipment to the electronic equipment through the Beidou communication system, and can be text information of the ship generating port-keeping action at 9:02 or voice information of the ship generating port-keeping action at 9:02, and the limitation is not made herein. The electronic device determines whether the ship generates a harbor action based on the second confirmation information, for example:

if the electronic equipment acquires the text information of the ship generating the harbor action at 9:02 sent by the target equipment, determining that the ship generates the harbor action; if the electronic equipment acquires the text information that the ship does not generate the harbor action at 9:02, which is sent by the target equipment, the ship is determined to not generate the harbor action.

In one possible implementation manner of this embodiment of the present application, the step S1045 of obtaining the second confirmation information about whether the ship generates the port-keeping action sent by the target device, and judging whether the ship generates the port-keeping action based on the second confirmation information specifically includes a step S10451 (not shown in the figure), a step S10452 (not shown in the figure), a step S10453 (not shown in the figure), and a step S10454 (not shown in the figure), where,

in step S10451, a second message is generated.

The second message comprises information for inquiring whether the ship is in port or not at the latest Beidou positioning moment.

For the embodiment of the application, the electronic device generates the second message, where the second message may be in a text form, or may be in a voice form, or may be in other forms, and is not limited herein. For example:

the content of the second message is text information of whether the ship generates a harbor action at 9:02.

Step S10452, sending a second message to the target device.

For the embodiment of the present application, taking step S10451 as an example, the electronic device may send a second message to the ship CN20106548193, so as to query the current state of the ship. And sending a second message to the target equipment to enable the harbor manager to confirm, so that the most accurate determination result of the ship state can be obtained.

In step S10453, it is determined whether the second acknowledgement information sent by the target device is received.

For the embodiment of the present application, taking step S10452 as an example, after the electronic device sends the second message to the ship CN20106548193, the electronic device determines whether the second acknowledgement information sent by the ship CN20106548193 to the electronic device is received.

In step S10454, if the second confirmation information is received, it is determined whether the ship generates a port-keeping operation based on the second confirmation information.

For the embodiment of the application, if the electronic equipment acquires the text information of the port-keeping action generated by the ship at 9:02 sent by the target equipment, determining that the ship generates the port-keeping action; if the electronic equipment acquires the text information that the ship does not generate the harbor action at 9:02, which is sent by the target equipment, the ship is determined to not generate the harbor action.

The above embodiment describes a ship monitoring method implemented based on a Beidou positioning system from the aspect of a method flow, and the following embodiment describes a ship monitoring device implemented based on a Beidou positioning system from the aspect of a virtual module or a virtual unit, specifically the following embodiment.

The embodiment of the application provides a ship monitoring device 20 implemented based on a Beidou positioning system, as shown in fig. 2, the ship monitoring device 20 implemented based on the Beidou positioning system may specifically include:

An obtaining module 201, configured to obtain a current state and a current speed of the ship, where the current state includes an on-hold state and an on-hold state;

a first judging module 202, configured to judge whether the ship in the harbor state generates a pre-harbor action or not based on the current navigational speed, and whether the ship in the harbor state generates the pre-harbor action or not;

a second judging module 203, configured to judge whether the ship generating the preliminary departure motion generates the departure motion, and if the departure motion generates, update the current state of the ship to an on-shore state;

and a third judging module 204, configured to judge whether the ship generating the pre-harbor-keeping action generates a harbor-keeping action, and if the harbor-keeping action generates, update the current state of the ship to the harbor-keeping state.

In one possible implementation manner of this embodiment of the present application, the first determining module 202 is specifically configured to, when determining whether the ship in the harbor state generates the preliminary departure motion based on the current speed, and whether the ship in the harbor state generates the preliminary departure motion:

Judging whether the current navigational speed of the ship in the navigational state is smaller than a second preset navigational speed or not, wherein the value range of the second preset navigational speed is 1-2 sections;

and if the current navigational speed of the ship is smaller than the second preset navigational speed, determining that the ship generates the pre-harbor-keeping action.

In one possible implementation manner of this embodiment of the present application, when determining whether the ship generating the preliminary departure motion generates the departure motion, the second determining module 203 is specifically configured to:

acquiring the latest Beidou positioning moment and the latest report port-keeping time of a ship generating the preliminary departure action;

if the time is not later than the latest report departure time, determining that the ship does not generate departure action;

if the time is later than the latest report departure time, acquiring first confirmation information about whether the ship generates departure motion or not, which is sent by the target equipment, judging whether the ship generates departure motion based on the first confirmation information, if so, determining that the ship generates departure motion, and if not, determining that the ship does not generate departure motion.

In one possible implementation manner of this embodiment of the present application, when obtaining the first confirmation information about whether the ship generates the departure motion sent by the target device, the second determining module 203 is specifically configured to:

sending a first message to target equipment;

judging whether first confirmation information sent by target equipment is received or not;

if the first confirmation information is received, judging whether the ship generates departure action or not based on the first confirmation information;

if the ship is in the harbor area, determining that the ship does not generate a departure action;

if the ship is not in the harbor area, determining that the ship generates the departure action, or determining that the ship generates the departure action after a preset condition is met, wherein the preset condition is that the first confirmation information sent by the target equipment is received.

In one possible implementation manner of this embodiment of the present application, when the second determining module 203 determines whether the ship is in the port after the preset time, the second determining module is specifically configured to:

acquiring a polygonal area selected by a user in an electronic map, wherein the polygonal area comprises a harbor area;

acquiring longitude and latitude of the latest positioning point of the ship;

judging whether the latest positioning point is in the polygon area or not according to the judging rule of the point in the polygon;

In one possible implementation manner of the embodiment of the present application, the third determining module 204 is specifically configured to, when determining whether the ship generating the pre-harbor action generates the harbor action:

judging whether the latest Beidou positioning moment is earlier than the latest report departure time;

if the time is earlier than the latest report departure time, determining that the ship does not generate the departure action;

if the time is not earlier than the latest report departure time, second confirmation information about whether the ship generates the departure action or not sent by the target equipment is obtained, whether the ship generates the departure action or not is judged based on the second confirmation information, if yes, the ship generates the departure action is determined, and if not, the ship does not generate the departure action.

In one possible implementation manner of this embodiment of the present application, when obtaining the second confirmation information about whether the ship generates the port-keeping action sent by the target device, the third determining module 204 is specifically configured to:

sending a second message to the target equipment;

judging whether second confirmation information sent by target equipment is received or not;

and if the second confirmation information is received, judging whether the ship generates a port-keeping action or not based on the second confirmation information.

In this embodiment of the present application, the first judging module 202, the second judging module 203, and the third judging module 204 may be the same judging module, or may be different judging modules, or may be partially the same judging module.

It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein.

In an embodiment of the present application, as shown in fig. 3, an electronic device 30 shown in fig. 3 includes: a processor 301 and a memory 303. Wherein the processor 301 is coupled to the memory 303, such as via a bus 302. Optionally, the electronic device 30 may also include a transceiver 304. It should be noted that, in practical applications, the transceiver 304 is not limited to one, and the structure of the electronic device 30 is not limited to the embodiment of the present application.

The processor 301 may be a CPU (Central Processing Unit ), general purpose processor, DSP (Digital Signal Processor, data signal processor), ASIC (Application Specific Integrated Circuit ), FPGA (Field Programmable Gate Array, field programmable gate array) or other programmable logic device, transistor logic device, hardware components, or any combination thereof. Which may implement or perform the various exemplary logic blocks, modules, and circuits described in connection with this disclosure. Processor 301 may also be a combination of implementing computing functions. For example, comprising one or more combinations of microprocessors, a combination of a DSP and a microprocessor, and the like.

Bus 302 may include a path to transfer information between the components. Bus 302 may be a PCI (Peripheral Component Interconnect, peripheral component interconnect Standard) bus or an EISA (Extended Industry Standard Architecture ) bus, or the like. Bus 302 may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown in fig. 3, but not only one bus or one type of bus.

The Memory 303 may be, but is not limited to, ROM (Read Only Memory) or other type of static storage device that can store static information and instructions, RAM (Random Access Memory ) or other type of dynamic storage device that can store information and instructions, EEPROM (Electrically Erasable Programmable Read Only Memory ), CD-ROM (Compact Disc Read Only Memory, compact disc Read Only Memory) or other optical disk storage, optical disk storage (including compact discs, laser discs, optical discs, digital versatile discs, blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired application code in the form of instructions or data structures and that can be accessed by a computer.

The memory 303 is used for storing application program codes for executing the present application and is controlled to be executed by the processor 301. The processor 301 is configured to execute the application code stored in the memory 303 to implement what is shown in the foregoing method embodiments.

Among them, electronic devices include, but are not limited to: mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and the like, and stationary terminals such as digital TVs, desktop computers, and the like. But may also be a server or the like. The electronic device shown in fig. 3 is merely an example and should not be construed to limit the functionality and scope of use of the disclosed embodiments.

The present application provides a computer readable storage medium having a computer program stored thereon, which when run on a computer, causes the computer to perform the corresponding method embodiments described above. Compared with the related art, in the embodiment of the application, the electronic equipment acquires the current state and the current navigational speed of the ship, judges whether the ship in the harbor state generates the preliminary harbor action or not based on the current navigational speed, and whether the ship in the navigational state generates the preliminary harbor action or not, and screens the ship through the current state and the current navigational speed, so that the data quantity of part of the data is reduced. The electronic equipment updates the current state of the ship by judging whether the ship generating the preliminary departure motion generates the departure motion and judging whether the ship generating the preliminary departure motion generates the departure motion. The method can monitor the state of the ship and timely update the current state of the ship, and meanwhile, the electronic equipment screens the ship to ensure that the efficiency is higher and the calculation speed is higher when judging whether the ship generates the departure action or the departure action.

It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited in order and may be performed in other orders, unless explicitly stated herein. Moreover, at least some of the steps in the flowcharts of the figures may include a plurality of sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, the order of their execution not necessarily being sequential, but may be performed in turn or alternately with other steps or at least a portion of the other steps or stages.

The foregoing is only a partial embodiment of the present application, and it should be noted that, for a person skilled in the art, several improvements and modifications can be made without departing from the principle of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.

Claims

1. A ship monitoring method based on Beidou positioning system is characterized by comprising the following steps:

judging whether the ship generating the pre-harbor-keeping action generates a harbor-keeping action, and if the harbor-keeping action is generated, updating the current state of the ship into the harbor-keeping state;

the judging whether the ship generating the preliminary departure motion generates the departure motion comprises the following steps:

if the latest report departure time is later than the latest report departure time, acquiring first confirmation information which is sent by target equipment and is about whether the ship generates the departure action or not, judging whether the ship generates the departure action or not based on the first confirmation information, if so, determining that the ship generates the departure action, and if not, determining that the ship does not generate the departure action;

if the current speed of the ship is greater than the first preset speed, the electronic equipment can acquire positioning points of a plurality of ships within a specified time period, extract the positioning point with the earliest time and the positioning point with the latest time, and judge whether the two positioning points are both in a ship stopping area of a harbor area.

2. The method for monitoring a ship based on the Beidou positioning system according to claim 1, wherein said determining whether the ship in the harbor state generates a preliminary departure action and whether the ship in the harbor state generates a preliminary departure action based on the current navigational speed includes:

3. The method for monitoring a ship based on the Beidou positioning system according to claim 1, wherein the acquiring the first confirmation information about whether the ship generates the departure motion sent by the target equipment, and judging whether the ship generates the departure motion based on the first confirmation information includes:

sending the first message to the target equipment;

4. A method for monitoring a ship based on a Beidou positioning system according to claim 3, wherein the determining whether the ship is in a harbor after a preset time has elapsed includes:

5. The method for monitoring a ship based on the Beidou positioning system according to claim 1, wherein the determining whether the ship generating the pre-harbor action generates a harbor action comprises:

6. The method for monitoring a ship based on the Beidou positioning system according to claim 5, wherein said obtaining the second confirmation information about whether the ship generates the port-keeping action sent by the target equipment, and judging whether the ship generates the port-keeping action based on the second confirmation information, comprises:

sending the second message to the target equipment;

7. Ship monitoring device based on implementation of big dipper positioning system, its characterized in that includes:

the system comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring the current state and the current navigational speed of the ship, and the current state comprises an on-board navigational state and an on-board harbor state;

the second acquisition module is used for acquiring the latest Beidou positioning moment and the latest report port-keeping time of the ship generating the preliminary departure action;

The third judging module is used for judging whether the ship generating the pre-harbor-keeping action generates a harbor-keeping action, and if the harbor-keeping action is generated, updating the current state of the ship into the harbor-keeping state;

a fourth judging module, configured to judge whether the latest beidou positioning moment is later than the latest report port-keeping time, if not, determine that the ship does not generate the departure motion, and if so, transfer to a third acquiring module;

the third acquisition module is used for acquiring first confirmation information about whether the ship generates the departure action or not, which is sent by target equipment;

a fifth judging module for judging whether the ship generates the departure motion based on the first confirmation information, if yes, determining that the ship generates the departure motion, and if no, determining that the ship does not generate the departure motion;

and a sixth judging module, configured to obtain positioning points of multiple ships within a specified time period when the current speed of the ship is greater than a first preset speed, extract the positioning point with the earliest time and the positioning point with the latest time, and judge whether both positioning points are in the ship stopping area of the harbor area.

8. An electronic device, comprising:

one or more processors;

a memory;

one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, the one or more applications configured to: a method of monitoring a vessel based on a beidou positioning system according to any one of claims 1 to 6 is performed.

9. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements a vessel monitoring method implemented on the basis of a beidou positioning system as claimed in any one of claims 1 to 6.