CN116935699A - Intelligent seaport channel integrated monitoring system and method - Google Patents
Intelligent seaport channel integrated monitoring system and method Download PDFInfo
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G3/00—Traffic control systems for marine craft
- G08G3/02—Anti-collision systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/91—Radar or analogous systems specially adapted for specific applications for traffic control
- G01S13/917—Radar or analogous systems specially adapted for specific applications for traffic control for marine craft or other waterborne vessels
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/937—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of marine craft
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G3/00—Traffic control systems for marine craft
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Abstract
The invention provides a system and a method for integrated monitoring of a harbor intelligent channel, wherein the system comprises the following steps: a shore-based server and at least two buoy monitoring devices; each buoy monitoring device collects channel information, first radar monitoring data of a target ship and second radar monitoring data of adjacent buoy monitoring devices; the buoy monitoring device inverts wave clutter near the target ship according to the channel information, the first radar monitoring data and the second radar monitoring data to obtain wave interference data so as to correct the first radar monitoring data; according to the channel information and the corrected first radar monitoring data, calculating navigation monitoring data of the target ship and reporting the navigation monitoring data to the shore-based server; the shore-based server determines the risk of collision of the individual vessels in this way. The sea wave clutter is inverted by combining the monitoring data measured from different angles by the two buoy monitoring devices and the channel information, so that sea wave interference in the monitoring data is accurately removed, and the precision of ship navigation monitoring is ensured.
Description
Technical Field
The invention belongs to the technical field of sea surface traffic control, and particularly relates to a system and a method for integrated monitoring of a harbor intelligent channel.
Background
The navigation capacity of the channel is a limited resource, and restricts the maximum ship transportation traffic flow in the sea area or the harbor area. The ship traffic refers to information such as the number, direction, type, speed, total tonnage, and real cargo amount of all ships passing through a certain place in a water area in a unit time. Is the most basic quantity for representing the water traffic condition of a water area. On the premise that the navigation capacity of the channel of the port is limited, the ship in the channel needs to be monitored, so that the condition of congestion or ship collision is avoided.
Currently, radar imaging systems are widely used in ship traffic management systems (vessel traffic service, VTS), and become an important method in ship detection methods. The radar imaging technology has the main advantages of large observation range, active measurement, easy acquisition of ship position information and flow information, no influence of weather conditions, and capability of working under any visibility conditions. However, radar imaging technology is easily affected by sea surface waves during monitoring, so that the monitored ship data has lower accuracy.
Disclosure of Invention
In view of the above, the invention provides a system and a method for integrated monitoring of a seaport intelligent channel, which aim to solve the problem of lower accuracy of ship data monitored in the prior art.
A first aspect of an embodiment of the present invention provides a system for integrated monitoring of a seaport smart channel, including: a shore-based server and at least two buoy monitoring devices;
each buoy monitoring device is used for collecting channel information, first radar monitoring data of a target ship in a channel and second radar monitoring data of adjacent buoy monitoring devices; wherein the target ship is any ship in the channel;
the buoy monitoring device is further used for inverting wave clutter near the target ship according to the channel information, the first radar monitoring data and the second radar monitoring data to obtain wave interference data; correcting the first radar monitoring data according to the sea wave interference data; according to the channel information and the corrected first radar monitoring data, calculating navigation monitoring data of the target ship and reporting the navigation monitoring data to the shore-based server;
the shore-based server is used for determining collision risks of the ships according to navigation monitoring data of the ships.
In some possible implementations, the buoy monitoring device is specifically configured to:
calculating a theoretical sea wave speed vector matrix of the channel according to the channel information;
calculating a first speed vector matrix according to the first radar monitoring data and the theoretical sea wave speed vector matrix;
calculating a second speed vector matrix according to the second radar monitoring data and the theoretical sea wave speed vector matrix;
and calculating wave interference data according to the first speed vector matrix, the second speed vector matrix and the theoretical wave speed vector matrix.
In some possible implementations, the sea wave disturbance data is calculated according to the following equation:
wherein ,the two-dimensional velocity vector of the sea wave interference data, in particular the sea wave detected by the interference radar,v x andv y is thatComponents in both directions of the horizontal plane,λfor the wavelength of radar, < >>，/>，θ 1 For the horizontal monitoring angle of the buoy monitoring device,θ 2 for the horizontal monitoring angle of the adjacent buoy monitoring device,φfor the vertical monitoring angle of the buoy monitoring device,V 0 for a theoretical sea wave velocity vector matrix,V 1 for the first matrix of velocity vectors,V 2 for the second velocity vector matrix,ω 1 andω 2 is a preset weight.
In some possible implementations, the buoy monitoring device is specifically configured to:
determining a gray level segmentation threshold according to a two-dimensional speed vector of sea waves detected by the interference radar;
and carrying out noise segmentation on the first radar monitoring data according to the gray segmentation threshold value to obtain corrected first radar monitoring data.
In some possible implementations, the channel information includes at least one of: wind speed, wind direction, tide level, flow speed, flow direction, wave height, wave direction, wavelength and wave period in the channel;
the theoretical sea wave velocity vector matrix is calculated according to the following formula:
wherein ,v x ’andv y ’is thatV 0 Components in both directions of the horizontal plane,Athe wind factor matrix is determined by wind speed and wind direction;Bis a tide matrix, and is determined by tide level, flow speed and flow direction;Cis a wave matrix, and is determined by wave height, wave direction, wave length and wave period;，/>，μ 1 is the included angle between the wind direction and the tide,μ 2 is the angle between the wind direction and the wave.
In some possible implementations, the buoy monitoring device is further configured to:
unloading sea wave inversion data, first radar monitoring data and navigation monitoring tasks to a target node under a preset condition to instruct the target node to finish the navigation monitoring tasks of the target ship so as to obtain the navigation monitoring data of the target ship;
the preset condition is insufficient computing resources or too low battery energy of the buoy monitoring device; the target node is an adjacent buoy monitoring device of the buoy monitoring device or a shore-based server;
the remaining computing resources of the target node are greater than the computing resources corresponding to the voyage monitoring task, and the battery energy of the target node is greater than a preset value.
In some possible implementations, a shore-based server is used for each buoy monitoring device channel information to establish a harbor BIM model;
the shore-based server is also used for establishing a dynamic ship model in the harbor BIM model according to navigation monitoring data of each ship and determining collision risk of each ship motion model according to the dynamic ship model.
In some possible implementations, the buoy monitoring device includes: the system comprises a plurality of sensors, a radar, a control calculation module and a wireless transmission module;
the sensors, the radar and the wireless transmission module are all connected with the control calculation module;
the plurality of sensors are used for collecting channel information;
the radar is used for monitoring the target ship to obtain first radar monitoring data;
the control calculation module is communicated with the shore-based server and the adjacent buoy monitoring device through the wireless transmission module.
In some possible implementations, the buoy monitoring device includes a surface buoy platform and an underwater bottoming platform; the water surface buoy platform is connected with the underwater bottom-sitting platform through an anchor chain; the sensors, the radar and the wireless transmission module are all arranged in the water surface buoy platform; the control calculation module is arranged in the underwater bottom-sitting platform; the water surface buoy platform is also provided with a solar panel; and a power supply module is also arranged in the underwater bottom-sitting platform.
A second aspect of the embodiments of the present invention provides a method for integrally monitoring a harbor smart channel, which is applied to the harbor smart channel integrally monitoring system of the first aspect, and the method includes:
at least two buoy monitoring devices acquire channel information and first radar monitoring data of a target ship in a channel; wherein the target ship is any ship in the channel;
the buoy monitoring device inverts wave clutter near the target ship according to the channel information, the first radar monitoring data and the second radar monitoring data to obtain wave interference data; correcting the first radar monitoring data according to the sea wave interference data; according to the channel information and the corrected first radar monitoring data, calculating navigation monitoring data of the target ship and reporting the navigation monitoring data to the shore-based server;
and the shore-based server determines collision risks of the ships according to the navigation monitoring data of the ships.
The embodiment of the invention provides a harbor intelligent channel integrated monitoring system and a method, wherein the system comprises the following steps: a shore-based server and at least two buoy monitoring devices; each buoy monitoring device is used for collecting channel information, first radar monitoring data of a target ship in a channel and second radar monitoring data of adjacent buoy monitoring devices; wherein the target ship is any ship in the channel; the buoy monitoring device is further used for inverting wave clutter near the target ship according to the channel information, the first radar monitoring data and the second radar monitoring data to obtain wave interference data; correcting the first radar monitoring data according to the sea wave interference data; according to the channel information and the corrected first radar monitoring data, calculating navigation monitoring data of the target ship and reporting the navigation monitoring data to the shore-based server; the shore-based server is used for determining collision risks of the ships according to navigation monitoring data of the ships. The sea wave clutter is inverted by combining the monitoring data measured from different angles by the two buoy monitoring devices and the channel information, so that sea wave interference in the monitoring data is accurately removed, and the precision of ship navigation monitoring is ensured.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a system for monitoring the intelligent navigation system of a harbor according to an embodiment of the present invention;
fig. 2 is a flowchart of an implementation of the method for integrated monitoring of intelligent navigation channels in harbor according to an embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
Fig. 1 is a schematic structural diagram of a system for monitoring a harbor intelligent channel. As shown in fig. 1, in some embodiments, the seaport smart channel integrated monitoring system comprises: a shore-based server 11 and at least two buoy monitoring devices 12; each buoy monitoring device 12 is configured to collect channel information, first radar monitoring data of a target vessel within the channel, and second radar monitoring data of an adjacent buoy monitoring device 12; wherein the target ship is any ship in the channel; the buoy monitoring device 12 is further configured to invert wave clutter near the target ship according to the channel information, the first radar monitoring data and the second radar monitoring data, so as to obtain wave interference data; correcting the first radar monitoring data according to the sea wave interference data; calculating navigation monitoring data of the target ship according to the channel information and the corrected first radar monitoring data, and reporting the navigation monitoring data to the shore-based server 11; the shore-based server 11 is used for determining collision risk of each ship based on navigation monitoring data of each ship.
In the embodiment of the present invention, the shore-based server 11 may be a server having an independent IP address, or may be a cloud server, for receiving and on-line publishing monitoring data to each ship in real time. A plurality of buoy monitoring devices 12 are arranged on the sea surface and are respectively distributed in each area of the port, and each buoy monitoring device 12 monitors ships in the area and adjacent areas. The adjacent area and the adjacent buoy monitoring device 12 depend on the monitoring range of the radar, and if the radar of the buoy monitoring device a can monitor the ship in the area where the buoy monitoring devices B and C are located, the buoy monitoring devices B and C are both adjacent buoy monitoring devices of the buoy monitoring device a.
In some embodiments, the buoy monitoring device 12 includes: the system comprises a plurality of sensors, a radar, a control calculation module and a wireless transmission module; the sensors, the radar and the wireless transmission module are all connected with the control calculation module; the plurality of sensors are used for collecting channel information; the radar is used for monitoring the target ship to obtain first radar monitoring data; the control calculation module communicates with the shore-based server 11 and the adjacent buoy monitoring device 12 via wireless transmission modules.
In an embodiment of the present invention, the channel information may include, but is not limited to, at least one of: wind speed, wind direction, temperature, air pressure, tide level, flow speed, flow direction, wave height, wave direction, wavelength, wave period, sand content and water depth. The channel information can be acquired through equipment such as a multi-element integrated meteorological sensor, a tide level meter, a wave current meter, a sand content meter, a depth meter and the like.
In an embodiment of the present invention, the first radar monitoring data collected by the radar may include at least one of: the vessel type, vessel profile characteristics, vessel heading, vessel speed, vessel load tonnage, etc., are not limited herein. The ship profile features may specifically include: ship length, ship width, and water height.
In the embodiment of the invention, the cable cannot be erected in offshore data transmission, so that the data is transmitted in real time by adopting a wireless transmission module; the wireless transmission module integrates two modes of mobile network transmission and Beidou three-generation message transmission, the mobile grid transmission part supports 2/3/4G network automatic switching, and is suitable for offshore areas (20-30 km offshore), the bandwidth is relatively high, and the higher sampling frequency can be supported; the transmission distance of the Beidou three-generation message transmission module is not limited by the sea area, and the Beidou three-generation message transmission module is suitable for the open sea area, but has limited data bandwidth and only supports lower sampling frequency. The control calculation module can obtain the network state of the wireless transmission module, so that the sampling frequency of the sensor is automatically adjusted to adapt to the network bandwidth.
In the embodiment of the invention, the control calculation module is used for controlling each sensor to collect data at fixed time, sending an acquisition instruction to each sensor device, reading the data from each sensor register, and setting an independent control thread for each sensor by adopting a multithreading mechanism so as to avoid the phenomena of data delay and thread Dunalization; the module comprises a memory for caching monitoring data in a certain period, so that the data in a period of time can not be lost when the network fails, and breakpoint continuous transmission can be realized after the network is recovered. Because the original observation data of the sensors and the radar contains a large amount of redundant information, the data volume is huge, the offshore wireless bandwidth can not meet the data transmission requirement, and therefore the control calculation module is required to process the original data collected by each sensor, then the processed data is subjected to operations such as data decoding, compression and the like, and then the processed data is transmitted to the shore-based server 12, so that the data transmission volume is reduced, and the transmission efficiency is improved.
In some embodiments, the buoy monitoring device 12 includes a surface buoy platform and a subsea base platform; the water surface buoy platform is connected with the underwater bottom-sitting platform through an anchor chain; the sensors, the radar and the wireless transmission module are all arranged in the water surface buoy platform; the control calculation module is arranged in the underwater bottom-sitting platform; the water surface buoy platform is also provided with a solar panel; and a power supply module is also arranged in the underwater bottom-sitting platform.
In the embodiment of the invention, the marine buoy is transformed into a platform suitable for carrying monitoring equipment, the conventional marine buoy body is transformed, the solar cell panel is integrally installed on the part of the outer shell, which is exposed out of the water surface, the waterproof and anti-collision foam layer is filled in the inner shell, and a storage battery, a signal receiver (namely a wireless transmission module), a radar and various sensors are placed in the inner shell.
An underwater bottom-sitting platform: the underwater bottom-sitting platform is of a double-layer trapezoid structure, is made of stainless steel, is provided with a lead counterweight at the bottom, and is ensured to be fixed on the seabed without drifting. The upper layer uses the cardan shaft structure to carry sensor equipment, and can also enable the wave current meter and the depth finder to be in a natural vertical state when the seabed is uneven, so that the effectiveness of monitoring data is ensured. The underwater bottom-sitting platform is connected with the storage battery and the control calculation module in the buoy body through the power supply cable and the data cable, so that power supply and data acquisition are realized.
The anchor chains are made of stainless steel, one end of each anchor chain is fixed on the sea floor, the other end of each anchor chain is fixed on the buoy body, the buoy body is guaranteed to be fixed in a limited range, at least three anchor chains are generally used for fixing the buoy, and the thickness of each anchor chain can be adjusted according to the stress load of the sea area in an extreme hydrologic state. The power supply module consists of a solar panel outside the buoy body, a storage battery inside the buoy body and a watertight cable, and is responsible for supplying power to each sensor, the control calculation module and the wireless transmission module. Under the conditions of counterweight and space permission, the high-capacity storage battery should be used as much as possible, thereby increasing the running time and reducing the maintenance frequency.
In some embodiments, the buoy monitoring device 12 is specifically configured to: calculating a theoretical sea wave speed vector matrix of the channel according to the channel information; calculating a first speed vector matrix according to the first radar monitoring data and the theoretical sea wave speed vector matrix; calculating a second speed vector matrix according to the second radar monitoring data and the theoretical sea wave speed vector matrix; and calculating wave interference data according to the first speed vector matrix, the second speed vector matrix and the theoretical wave speed vector matrix.
In an embodiment of the present invention, the channel information includes at least one of: wind speed, wind direction, tide level, flow speed, flow direction, wave height, wave direction, wavelength and wave period in the channel;
the theoretical sea wave velocity vector matrix is calculated according to the following formula:
(1)
wherein ,v x ’andv y ’is thatV 0 Components in both directions of the horizontal plane,Athe wind factor matrix is determined by wind speed and wind direction;Bis a tide matrix, and is determined by tide level, flow speed and flow direction;Cis a wave matrix, and is determined by wave height, wave direction, wave length and wave period;，/>，μ 1 is the included angle between the wind direction and the tide,μ 2 is the angle between the wind direction and the wave.
In the embodiment of the invention, the theoretical sea wave velocity vector matrixIn particular the influence of the acquired environmental values (channel information) on the wave velocity vector, wherein,A=[a 1 ，a 2 ] T ，a 1 for the wind speed of the wind,a 2 in order for the wind to be in the direction of the wind,，b 1 in order to be at the tide level,b 2 in order for the flow rate to be the same,b 3 in order for the flow direction to be in the same direction,k 1 for a first preset coefficient, < >>，c 1 In the form of a wave height,c 2 in the direction of the wave, the wave is in the form of a direction,c 3 as a function of the wavelength(s),c 4 is the wave period.
In some embodiments, the sea wave disturbance data is calculated according to the following equation:
(1)
wherein ,the two-dimensional velocity vector of the sea wave interference data, in particular the sea wave detected by the interference radar,v x andv y is thatComponents in both directions of the horizontal plane,λfor the wavelength of radar, < >>，/>，θ 1 For the horizontal monitoring angle of the buoy monitoring device 12,θ 2 for the horizontal monitoring angle of adjacent buoy monitoring devices 12,φfor the vertical monitoring angle of the buoy monitoring device 12,V 0 for a theoretical sea wave velocity vector matrix,V 1 for the first matrix of velocity vectors,V 2 for the second velocity vector matrix,ω 1 andω 2 is a preset weight.
In some embodiments, the buoy monitoring device 12 is specifically configured to: determining a gray level segmentation threshold according to a two-dimensional speed vector of sea waves detected by the interference radar; and carrying out noise segmentation on the first radar monitoring data according to the gray segmentation threshold value to obtain corrected first radar monitoring data.
In the embodiment of the invention, after the radar image is processed, an image with different gray gradients is obtained, wherein the gray of a ship body is completely different from the gray of a background, but a great amount of noise exists in the gray image due to waves.
In some embodiments, the buoy monitoring device 12 is further configured to: unloading sea wave inversion data, first radar monitoring data and navigation monitoring tasks to a target node under a preset condition to instruct the target node to finish the navigation monitoring tasks of the target ship so as to obtain the navigation monitoring data of the target ship; wherein the preset condition is insufficient computing resources or too low battery energy of the buoy monitoring device 12; the target node is an adjacent buoy monitoring device of the buoy monitoring device 12 or a shore-based server 11; the remaining computing resources of the target node are greater than the computing resources corresponding to the voyage monitoring task, and the battery energy of the target node is greater than a preset value.
In the embodiment of the invention, when a large number of ships are concentrated in a partial area, all the ships in the area are shielded and influenced, the buoy monitoring device 12 needs to monitor a plurality of ships and consumes a large amount of computing resources, and when the computing resources are insufficient, a navigation monitoring task can be used for correcting the first radar monitoring data according to sea wave interference data; and calculates the navigation monitoring data of the target ship according to the navigation information and the corrected first radar monitoring data, and unloads the navigation monitoring data to other nodes, such as an adjacent buoy monitoring device or a shore-based server 11.
Likewise, in the event that the battery power is too low, the unloading operation described above may also be performed in order to reduce the energy burden on the buoy monitoring device 12.
In some embodiments, a shore-based server 11 is used for each buoy monitoring device 12 channel information to build a harbor BIM model; the shore-based server 11 is further configured to establish a dynamic ship model in the harbor BIM model according to the navigation monitoring data of each ship, and determine collision risk of each ship motion model according to the dynamic ship model.
In the embodiment of the invention, each buoy monitoring device 12 can be used as a key node to establish a sea surface two-dimensional harbor BIM model, the data of the key node is used as the basis, and the related data of other plane points are obtained by linear interpolation of the data of the key node. Likewise, after the navigation monitoring data of the ships are monitored, a dynamic ship model is built in the harbor BIM model to display the motion state of each ship in the harbor and the expected motion curve of each ship at the future moment, and the motion curves are sent to each ship to instruct the ships to travel according to the requirements, so that collision or route congestion among the ships is avoided.
In addition, the minimum water depth of each position of the harbor can be marked on the harbor BIM model, and the green area, the yellow area and the red area corresponding to each ship are defined for prompting by taking 2 times, 1.5 times and 1.2 times of the water outlet height of each ship as threshold values, so that reef contact is avoided.
Fig. 2 is a flowchart of an implementation of the method for integrated monitoring of intelligent navigation channels in harbor according to an embodiment of the present invention. As shown in fig. 2, in some embodiments, the method for integrated monitoring of a seaport smart channel includes:
s210, at least two buoy monitoring devices acquire channel information and first radar monitoring data of a target ship in a channel; wherein the target ship is any ship in the channel;
s220, inverting the wave clutter near the target ship by the buoy monitoring device according to the channel information, the first radar monitoring data and the second radar monitoring data to obtain wave interference data; correcting the first radar monitoring data according to the sea wave interference data; according to the channel information and the corrected first radar monitoring data, calculating navigation monitoring data of the target ship and reporting the navigation monitoring data to the shore-based server;
s230, the shore-based server determines collision risks of the ships according to the navigation monitoring data of the ships.
In summary, the beneficial effects of the invention are as follows:
1. the sea wave clutter is inverted by combining the monitoring data measured from different angles by the two buoy monitoring devices and the channel information, so that sea wave interference in the monitoring data is accurately removed, and the precision of ship navigation monitoring is ensured.
2. By unloading part of tasks to adjacent nodes or shore-based servers under preset conditions, each buoy monitoring device can be ensured to run as stably as possible, and each area in the port can be effectively monitored.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention.
Claims (10)
1. The utility model provides a harbor wisdom channel integration monitoring system which characterized in that includes: a shore-based server and at least two buoy monitoring devices;
each buoy monitoring device is used for collecting channel information, first radar monitoring data of a target ship in a channel and second radar monitoring data of adjacent buoy monitoring devices; wherein the target ship is any ship in a channel;
the buoy monitoring device is further used for inverting wave clutter near the target ship according to the channel information, the first radar monitoring data and the second radar monitoring data to obtain wave interference data; correcting the first radar monitoring data according to the sea wave interference data; calculating navigation monitoring data of the target ship according to the channel information and the corrected first radar monitoring data, and reporting the navigation monitoring data to the shore-based server;
the shore-based server is used for determining collision risks of all ships according to navigation monitoring data of all ships.
2. The integrated seaport intelligent channel monitoring system of claim 1, wherein the buoy monitoring device is specifically configured to:
calculating a theoretical sea wave speed vector matrix of the channel according to the channel information;
calculating a first speed vector matrix according to the first radar monitoring data and the theoretical sea wave speed vector matrix;
calculating a second velocity vector matrix according to the second radar monitoring data and the theoretical sea wave velocity vector matrix;
and calculating the sea wave interference data according to the first speed vector matrix, the second speed vector matrix and the theoretical sea wave speed vector matrix.
3. The seaport intelligent channel integrated monitoring system of claim 2, wherein the sea wave disturbance data is calculated according to the following formula:
wherein ,for the wave disturbance data, in particular a two-dimensional velocity vector of the wave detected by a disturbance radar,v x andv y is->Components in both directions of the horizontal plane,λfor the wavelength of radar, < >>，/>，θ 1 For the horizontal monitoring angle of the buoy monitoring device,θ 2 for the horizontal monitoring angle of the adjacent buoy monitoring device,φfor the vertical monitoring angle of the buoy monitoring device,V 0 for the theoretical sea wave velocity vector matrix,V 1 for the first velocity vector matrix,V 2 for the second velocity vector matrix,ω 1 andω 2 is a preset weight.
4. The integrated seaport intelligent channel monitoring system of claim 3, wherein the buoy monitoring device is specifically configured to:
determining a gray level segmentation threshold according to the two-dimensional velocity vector of the sea wave detected by the interference radar;
and carrying out noise segmentation on the first radar monitoring data according to the gray segmentation threshold value to obtain corrected first radar monitoring data.
5. The seaport intelligent channel integrated monitoring system of claim 3, wherein the channel information comprises at least one of: wind speed, wind direction, tide level, flow speed, flow direction, wave height, wave direction, wavelength and wave period in the channel;
the theoretical sea wave velocity vector matrix is calculated according to the following formula:
wherein ,v x ’andv y ’is thatV 0 Components in both directions of the horizontal plane,Athe wind factor matrix is determined by wind speed and wind direction;Bis a tide matrix, and is determined by tide level, flow speed and flow direction;Cis a wave matrix, and is determined by wave height, wave direction, wave length and wave period;，/>，μ 1 is the included angle between the wind direction and the tide,μ 2 is the angle between the wind direction and the wave.
6. The seaport intelligent channel integrated monitoring system of claim 1, wherein the buoy monitoring device is further configured to:
unloading the sea wave inversion data, the first radar monitoring data and the navigation monitoring task to a target node under a preset condition to instruct the target node to complete the navigation monitoring task of the target ship so as to obtain the navigation monitoring data of the target ship;
the preset condition is insufficient computing resources or too low battery energy of the buoy monitoring device; the target node is an adjacent buoy monitoring device of the buoy monitoring device or the shore-based server;
and the residual computing resources of the target node are larger than the computing resources corresponding to the navigation monitoring task, and the battery energy of the target node is larger than a preset value.
7. The integrated seaport intelligent channel monitoring system according to claim 1, wherein the shore-based server is used for each buoy monitoring device to monitor the channel information and establish a seaport BIM model;
the shore-based server is further used for establishing a dynamic ship model in the harbor BIM model according to navigation monitoring data of each ship, and determining collision risk of each ship motion model according to the dynamic ship model.
8. The integrated seaport smart channel monitoring system of claim 1, wherein the buoy monitoring device comprises: the system comprises a plurality of sensors, a radar, a control calculation module and a wireless transmission module;
the sensors, the radar and the wireless transmission module are all connected with the control calculation module;
the sensors are used for collecting channel information;
the radar is used for monitoring a target ship to obtain first radar monitoring data;
the control calculation module is communicated with the shore-based server and the adjacent buoy monitoring device through the wireless transmission module.
9. The integrated seaport intelligent channel monitoring system of claim 8, wherein the buoy monitoring device comprises a water surface buoy platform and an underwater bottoming platform; the water surface buoy platform is connected with the underwater bottom-sitting platform through an anchor chain; the sensors, the radar and the wireless transmission module are all arranged in the water surface buoy platform; the control calculation module is arranged in the underwater bottom-sitting platform; the water surface buoy platform is also provided with a solar panel; and a power supply module is further arranged in the underwater bottom-sitting platform.
10. A method for integrated monitoring of a seaport smart channel, applied to the integrated monitoring system of a seaport smart channel as claimed in any one of claims 1 to 9, the method comprising:
at least two buoy monitoring devices acquire channel information and first radar monitoring data of a target ship in a channel; wherein the target ship is any ship in a channel;
the buoy monitoring device inverts wave clutter near the target ship according to the channel information, the first radar monitoring data and the second radar monitoring data to obtain wave interference data; correcting the first radar monitoring data according to the sea wave interference data; calculating navigation monitoring data of the target ship according to the channel information and the corrected first radar monitoring data, and reporting the navigation monitoring data to the shore-based server;
and the shore-based server determines collision risks of the ships according to the navigation monitoring data of the ships.
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