WO2024114102A1 - Offshore wind power alarm system and method based on linkage among ais, radar and pan-tilt - Google Patents

Offshore wind power alarm system and method based on linkage among ais, radar and pan-tilt Download PDF

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Publication number
WO2024114102A1
WO2024114102A1 PCT/CN2023/123413 CN2023123413W WO2024114102A1 WO 2024114102 A1 WO2024114102 A1 WO 2024114102A1 CN 2023123413 W CN2023123413 W CN 2023123413W WO 2024114102 A1 WO2024114102 A1 WO 2024114102A1
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Prior art keywords
ship
information
alarm
ais
radar
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PCT/CN2023/123413
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French (fr)
Chinese (zh)
Inventor
周兴政
李智
罗仑博
庄炜焕
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长江三峡集团福建能源投资有限公司
中国长江三峡集团有限公司福建分公司
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Publication of WO2024114102A1 publication Critical patent/WO2024114102A1/en

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D17/00—Monitoring or testing of wind motors, e.g. diagnostics
    • 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
    • G01S13/66—Radar-tracking systems; Analogous systems
    • G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B13/00—Burglar, theft or intruder alarms
    • G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B15/00—Identifying, scaring or incapacitating burglars, thieves or intruders, e.g. by explosives

Definitions

  • This document relates to the field of offshore wind farm alarm technology, and in particular to an offshore wind farm alarm system and method based on AIS, radar and pan-tilt linkage.
  • Offshore wind farms are an emerging renewable energy power generation technology.
  • offshore wind farms involve a certain area. Due to the particularity of the ocean, if inspections are not timely, ships may accidentally enter the area, affecting the safety of offshore wind farms. Relying on manual inspections consumes a lot of manpower and material resources.
  • the present invention provides an offshore wind farm alarm system and method based on AIS, radar and pan/tilt linkage, aiming to solve the above problems.
  • the present invention provides an offshore wind farm alarm system based on AIS, radar and PTZ linkage, including: a radar system, an AIS system, a PTZ system, a main control system, a display device and an alarm system;
  • a radar system interactively connected with the main control system, for acquiring the distance and direction of the ship entering the early warning area of the wind farm, and sending the distance and direction of the ship to the main control system;
  • AIS system is interactively connected with the main control system to obtain ship information, including static information, dynamic information, voyage information and safety information, and send the ship information to the main control system;
  • the pan/tilt system is interactively connected with the main control system and is used to track the target ship under the drive of the main control system;
  • the main control system is connected to the radar system, AIS system, PTZ system, display device and alarm system, and is used to receive the distance and direction of the ship sent by the radar system, receive the ship information sent by the AIS system, drive the PTZ system to track the ship according to the distance and direction of the ship and the ship information, and generate alarm information for the ship entering the wind farm and send it to the alarm system according to the distance and direction of the ship and the ship information;
  • a display device connected to the main control system, for displaying the movement trajectory of the ship;
  • the alarm system is connected to the main control system and is used to warn the ship according to the alarm information.
  • the present invention provides an offshore wind farm alarm method based on AIS, radar and PTZ linkage, comprising:
  • AIS system Obtain ship information through the AIS system, including static information, dynamic information, voyage information and safety information, and send the ship information to the main control system;
  • the main control system receives the distance and direction of the ship sent by the radar system, receives the ship information sent by the AIS system, drives the PTZ system to track the ship according to the distance and direction of the ship and the ship information, generates alarm information for the ship entering the wind farm and sends it to the alarm system according to the distance and direction of the ship and the ship information; and warns the ship through the alarm system;
  • the motion track of the ship is displayed through a display device.
  • the distance and direction of the ship are obtained by radar
  • the ship information is obtained by AIS
  • the pan-tilt head is driven to track the intruding ship according to the distance and direction of the ship and the ship information, so as to realize the linkage of AIS, radar and pan-tilt head, increase the monitoring accuracy of the system, and warn and drive away the ships that intrude into the wind farm through the alarm system, thereby improving the safety of the offshore wind farm.
  • FIG1 is a schematic diagram of an offshore wind farm alarm system based on AIS, radar and PTZ linkage according to an embodiment of the present invention.
  • FIG1 is a schematic diagram of an offshore wind farm alarm system based on AIS, radar and pan-tilt linkage according to an embodiment of the present invention.
  • the offshore wind farm alarm system based on AIS, radar and pan-tilt linkage according to an embodiment of the present invention specifically includes:
  • Radar system 12 AIS system 11, PTZ system 13, main control system 10, display device 14 and alarm system 15;
  • the radar system 12 is interactively connected with the main control system 10 and is used to obtain the distance and direction of the ship entering the warning area of the wind farm, and send the distance and direction of the ship to the main control system 10;
  • the system is connected to two types of radars: shore-based radar and ship-borne radar.
  • the shore-based radar has the characteristics of long detection range, large detection area and high recognition accuracy, and can provide the system with the precise distance and direction of the ship targets entering the wind farm warning area; while the ship-borne radar has a shorter range than the shore-based radar and can be installed in the wind farm as a blind spot compensation device for the shore-based radar, and together provide the system with information such as the distance and direction of the ship targets entering the wind farm warning area.
  • the AIS system 11 is interactively connected with the main control system 10, and is used to obtain ship information, which includes: static information, dynamic information, voyage information and safety information, and sends the ship information to the main control system 10;
  • the static information of the ship obtained by the AIS system 11 includes: ship name, MMSI, length, ship width, and ship type;
  • the dynamic information of the ship obtained by the AIS system 11 includes: heading, speed, latitude, longitude, and heading status.
  • the PTZ system 13 is interactively connected with the main control system 10 and is used to track the target ship under the drive of the main control system 10;
  • the main control system 10 is connected to the radar system 12, the AIS system 11, the PTZ system 13, the display device 14 and the alarm system 15, and is used to receive the distance and direction of the ship sent by the radar system 12, receive the ship information sent by the AIS system, drive the PTZ system 13 to track the ship according to the distance and direction of the ship and the ship information, and generate alarm information for the ship entering the wind farm according to the distance and direction of the ship and the ship information and send it to the alarm system 15;
  • a display device 14 connected to the main control system 10, for displaying a picture of the movement track of the ship;
  • the alarm system 15 is connected to the main control system 10 and is used to warn the ship according to the alarm information.
  • the marine alarm system based on the linkage of AIS radar and PTZ system further includes: a voice alarm device 16, connected to the main control system 10, for giving voice alarm to ships entering the wind farm according to the alarm information.
  • a voice alarm device 16 connected to the main control system 10, for giving voice alarm to ships entering the wind farm according to the alarm information.
  • the duty personnel can use VHF very high frequency voice to warn the ships entering the warning area, and the VHF system automatically saves the VHF voice as one of the means of evidence collection.
  • the marine alarm system based on the linkage of AIS radar and PTZ system further includes: a sea sweeping light 17, connected to the main control system 10, for performing strong light sweeping on ships approaching the wind farm according to the alarm information.
  • the AIS target information obtained by the AIS access software and the radar target information obtained by the radar acquisition, tracking and processing software are uniformly calibrated in time and space and then processed accordingly to achieve the fusion of radar targets and AIS targets, and the fused data are comprehensively displayed on the situation display subsystem.
  • the intelligent alarm software can alarm illegal ships according to the preset area and ship navigation rules, alarm people falling into the sea in distress, and alarm key tracking ships.
  • the alarm type can be selected from sound, color, text and pop-up window prompts.
  • the operator can choose a variety of alarms according to the set danger type. Alarm method.
  • the system can automatically calculate the angle of the pan/tilt rotation according to the target position information, and drive the pan/tilt to track the target.
  • the dynamic information of each ship mainly the position information of the ship's longitude and latitude coordinates
  • the pan/tilt monitoring point system information mainly the position information of the longitude and latitude coordinates of the monitoring point
  • the linkage tracking algorithm to drive the pan/tilt and lens movements (the pan/tilt drives its speed and steering; the lens drives its focal length), thereby realizing the linkage of AIS, radar and pan/tilt.
  • the video analysis linkage function does not rely on AIS or radar signals.
  • the system can automatically zoom in on the target ship and display it in the center.
  • the target ship can be tracked throughout the entire process without the intervention of the operator, and the target ship will automatically always be in the center of the monitoring screen.
  • the target When the target enters the defense zone and is detected by the system, an early warning will be issued immediately, and the target's longitude and latitude information will be fed back to the system.
  • the system calculates the distance between the target and the supervision area based on the target's longitude and latitude information. When the distance is less than 1,000 meters, the system will alarm, and the PTZ will track the entire process and take photos and record videos for evidence collection. The on-duty personnel will use VHF voice to warn the incoming ship. If the alarm fails, the sea-sweeping light can be used to sweep the incoming ship away.
  • the distance and direction of the ship are obtained through radar, and the ship information is obtained through AIS.
  • the pan-tilt head is driven to track the intruding ship based on the distance and direction of the ship and the ship information, realizing the linkage of AIS, radar and pan-tilt head, increasing the monitoring accuracy of the system, and using the alarm system to warn and drive away ships that intrude into the wind farm, thereby improving the safety of the offshore wind farm.
  • an offshore wind farm alarm method based on AIS, radar and PTZ linkage is provided.
  • the offshore wind farm alarm method based on AIS, radar and PTZ linkage according to an embodiment of the present invention specifically includes:
  • the ship information is obtained through the AIS system, including static information, dynamic information, voyage information and safety information, and the ship information is sent to the main control system; static information includes: ship name, MMSI, captain, ship width, ship type, dynamic information includes: heading, speed, latitude, longitude, heading status.
  • the main control system receives the distance and direction of the ship sent by the radar system, receives the ship information sent by the AIS system, drives the PTZ system to track the ship according to the distance and direction of the ship and the ship information, generates alarm information for the ship entering the wind farm and sends it to the alarm system according to the distance and direction of the ship and the ship information; and alarms the ship through the alarm system;
  • the motion track of the ship is displayed through a display device.
  • the offshore wind farm alarm method based on AIS, radar and pan-tilt linkage further includes: using a voice alarm device to give a voice alarm to ships entering the wind farm according to the alarm information, and using a sea sweeping light to perform a strong light sweep on the ships entering the wind farm according to the alarm information.
  • the AIS target information obtained by the AIS access software and the radar target information obtained by the radar acquisition, tracking and processing software are uniformly calibrated in time and space and then processed accordingly to achieve the fusion of radar targets and AIS targets, and the fused data are comprehensively displayed on the situation display subsystem.
  • the intelligent alarm software can alarm illegal ships according to the preset area and ship navigation rules, alarm people falling into the sea in distress, and alarm key tracking ships.
  • the alarm type can be selected from sound, color, text and pop-up window prompts.
  • the operator can choose a variety of alarm methods according to the set danger type.
  • the system can automatically calculate the PTZ rotation angle according to the target position information, and drive the PTZ to track the target.
  • the dynamic information of each ship mainly the position information of the ship's longitude and latitude coordinates
  • the PTZ monitoring point system information mainly the position information of the longitude and latitude coordinates of the monitoring point
  • the linkage tracking algorithm to drive the PTZ and lens actions (the PTZ drives its speed and steering; the lens drives its focal length), thereby realizing the linkage of AIS, radar and PTZ. move.
  • the video analysis linkage function does not rely on AIS or radar signals.
  • the system can automatically zoom in on the target ship and display it in the center.
  • the target ship can be tracked throughout the entire process without the intervention of the operator, and the target ship will automatically always be in the center of the monitoring screen.
  • the target When the target enters the defense zone and is detected by the system, an early warning will be issued immediately, and the target's longitude and latitude information will be fed back to the system.
  • the system calculates the distance between the target and the supervision area based on the target's longitude and latitude information. When the distance is less than 1,000 meters, the system will alarm, and the PTZ will track the entire process and take photos and record videos for evidence collection. The on-duty personnel will use VHF voice to warn the incoming ship. If the alarm fails, the sea-sweeping light can be used to sweep the incoming ship away.
  • the distance and direction of the ship are obtained through radar, and the ship information is obtained through AIS.
  • the pan-tilt head is driven to track the intruding ship based on the distance and direction of the ship and the ship information, realizing the linkage of AIS, radar and pan-tilt head, increasing the monitoring accuracy of the system, and using the alarm system to warn and drive away ships that intrude into the wind farm, thereby improving the safety of the offshore wind farm.

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Abstract

An offshore wind power plant alarm system and method based on a linkage among an AIS, a radar and a pan-tilt. The system comprises: a radar system (12), an AIS system (11), a pan-tilt system (13), a main control system (10), a display device (14) and an alarm system (15); the radar system (12) is used for acquiring distances to and positions of vessels entering a pre-warning zone of a wind farm, and sending the distances to and positions of the vessels to the main control system (10); the AIS system (11) is used for acquiring vessel information and sending the vessel information to the main control system (10); the pan-tilt system (13) is used for tracking a target vessel under the drive of the main control system (10); the main control system (10) drives, according to the distances to and positions of the vessels and the vessel information, the pan-tilt system (13) to track the vessels, generates alarm information for the vessels entering the wind farm, and sends same to the alarm system (15) so as to give, by means of the alarm system (15), an alarm to the vessels entering the wind farm.

Description

基于AIS、雷达及云台联动的海上风电报警系统及方法Offshore wind power alarm system and method based on AIS, radar and PTZ linkage
本申请要求于2022年11月28日提交中国专利局、申请号为202211506090.2、申请名称为“基于AIS、雷达及云台联动的海上风电场报警系统及方法”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。This application claims priority to a Chinese patent application filed with the Chinese Patent Office on November 28, 2022, with application number 202211506090.2 and application name “Offshore wind farm alarm system and method based on AIS, radar and pan-tilt linkage”, the entire contents of which are incorporated by reference in this application.
技术领域Technical Field
本文件涉及海上风电场报警技术领域，尤其涉及一种基于AIS、雷达及云台联动的海上风电场报警系统及方法。This document relates to the field of offshore wind farm alarm technology, and in particular to an offshore wind farm alarm system and method based on AIS, radar and pan-tilt linkage.
背景技术Background technique
海上风电场为新兴的新能源发电技术，然而海上风电场涉及一定范围，由于海洋的特殊性，巡检不及时会出现船舶误闯的情况，影响海上风电场的安全，而依靠人力巡查，耗费大量人力物力。Offshore wind farms are an emerging renewable energy power generation technology. However, offshore wind farms involve a certain area. Due to the particularity of the ocean, if inspections are not timely, ships may accidentally enter the area, affecting the safety of offshore wind farms. Relying on manual inspections consumes a lot of manpower and material resources.
发明内容Summary of the invention
本发明提供一种基于AIS、雷达及云台联动的海上风电场报警系统及方法，旨在解决上述问题。The present invention provides an offshore wind farm alarm system and method based on AIS, radar and pan/tilt linkage, aiming to solve the above problems.
本发明提供了一种基于AIS、雷达及云台联动的海上风电场报警系统，包括：雷达系统、AIS系统、云台系统、主控系统、显示设备以及报警系统；The present invention provides an offshore wind farm alarm system based on AIS, radar and PTZ linkage, including: a radar system, an AIS system, a PTZ system, a main control system, a display device and an alarm system;
雷达系统，与主控系统交互连接，用于获取进入风电场预警区域的船舶的距离与方位，将船舶的距离与方位发送到所述主控系统；A radar system, interactively connected with the main control system, for acquiring the distance and direction of the ship entering the early warning area of the wind farm, and sending the distance and direction of the ship to the main control system;
AIS系统，与主控系统交互连接，用于获取船舶信息，船舶信息包括：静态信息、动态信息、航次信息以及安全信息，并将船舶信息发送到主控系统；AIS system is interactively connected with the main control system to obtain ship information, including static information, dynamic information, voyage information and safety information, and send the ship information to the main control system;
云台系统，与主控系统交互连接，用于在主控系统的驱动下追踪目标船舶； The pan/tilt system is interactively connected with the main control system and is used to track the target ship under the drive of the main control system;
主控系统，与雷达系统、AIS系统、云台系统、显示设备以及报警系统连接，用于接收雷达系统发送的船舶的距离与方位、接收AIS系统发送的船舶信息，根据船舶的距离与方位以及船舶信息驱动云台系统对船舶进行追踪，根据船舶的距离与方位以及船舶信息，对进入风电场的船舶生成告警信息发送到报警系统；The main control system is connected to the radar system, AIS system, PTZ system, display device and alarm system, and is used to receive the distance and direction of the ship sent by the radar system, receive the ship information sent by the AIS system, drive the PTZ system to track the ship according to the distance and direction of the ship and the ship information, and generate alarm information for the ship entering the wind farm and send it to the alarm system according to the distance and direction of the ship and the ship information;
显示设备，与主控系统连接，用于显示船舶的运动轨迹的画面；A display device, connected to the main control system, for displaying the movement trajectory of the ship;
报警系统，与主控系统连接，用于根据告警信息对所述船舶进行告警。The alarm system is connected to the main control system and is used to warn the ship according to the alarm information.
本发明提供了一种于基于AIS、雷达及云台联动的海上风电场报警方法，包括：The present invention provides an offshore wind farm alarm method based on AIS, radar and PTZ linkage, comprising:
通过雷达系统获取进入风电场预警区域的船舶的距离与方位，将船舶的距离与方位发送到所述主控系统；Acquire the distance and direction of the ship entering the early warning area of the wind farm through the radar system, and send the distance and direction of the ship to the main control system;
通过AIS系统获取船舶信息，船舶信息包括：静态信息、动态信息、航次信息以及安全信息，并将船舶信息发送到主控系统；Obtain ship information through the AIS system, including static information, dynamic information, voyage information and safety information, and send the ship information to the main control system;
主控系统接收雷达系统发送的船舶的距离与方位，接收AIS系统发送的船舶信息，根据船舶的距离与方位以及船舶信息驱动云台系统对船舶进行追踪，根据船舶的距离与方位以及船舶信息，对进入风电场的船舶生成告警信息发送到报警系统；通过报警系统对船舶进行告警；The main control system receives the distance and direction of the ship sent by the radar system, receives the ship information sent by the AIS system, drives the PTZ system to track the ship according to the distance and direction of the ship and the ship information, generates alarm information for the ship entering the wind farm and sends it to the alarm system according to the distance and direction of the ship and the ship information; and warns the ship through the alarm system;
通过显示设备显示所述船舶的运动轨迹的画面。The motion track of the ship is displayed through a display device.
采用本发明实施例，通过雷达获取船舶的距离与方位，通过AIS获取船舶信息，根据船舶的距离与方位以及船舶信息驱动云台对闯入船舶进行追踪，实现AIS、雷达以及云台的联动，增加了系统的监控精确度，并通过告警系统对闯入风电场船舶进行告警并驱离，从而提高了海上风电场的安全度。By adopting the embodiment of the present invention, the distance and direction of the ship are obtained by radar, the ship information is obtained by AIS, and the pan-tilt head is driven to track the intruding ship according to the distance and direction of the ship and the ship information, so as to realize the linkage of AIS, radar and pan-tilt head, increase the monitoring accuracy of the system, and warn and drive away the ships that intrude into the wind farm through the alarm system, thereby improving the safety of the offshore wind farm.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
为了更清楚地说明本说明书一个或多个实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本说明书中记载的一些实施例，对于本领域 普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate one or more embodiments of this specification or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments recorded in this specification. For ordinary technicians, other drawings can be obtained based on these drawings without any creative work.
图1为本发明实施例的基于AIS、雷达及云台联动的海上风电场报警系统的示意图。FIG1 is a schematic diagram of an offshore wind farm alarm system based on AIS, radar and PTZ linkage according to an embodiment of the present invention.
具体实施方式Detailed ways
为了使本技术领域的人员更好地理解本说明书一个或多个实施例中的技术方案，下面将结合本说明书一个或多个实施例中的附图，对本说明书一个或多个实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本说明书的一部分实施例，而不是全部的实施例。基于本说明书一个或多个实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都应当属于本文件的保护范围。In order to enable those skilled in the art to better understand the technical solutions in one or more embodiments of this specification, the technical solutions in one or more embodiments of this specification will be clearly and completely described below in conjunction with the drawings in one or more embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this specification, not all of them. Based on one or more embodiments of this specification, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of this document.
系统实施例System Example
根据本发明实施例，提供了一种基于AIS、雷达及云台联动的海上风电场报警系统，图1是本发明实施例的基于AIS、雷达及云台联动的海上风电场报警系统的示意图，如图1所示，根据本发明实施例的基于AIS、雷达及云台联动的海上风电场报警系统具体包括：According to an embodiment of the present invention, an offshore wind farm alarm system based on AIS, radar and pan-tilt linkage is provided. FIG1 is a schematic diagram of an offshore wind farm alarm system based on AIS, radar and pan-tilt linkage according to an embodiment of the present invention. As shown in FIG1 , the offshore wind farm alarm system based on AIS, radar and pan-tilt linkage according to an embodiment of the present invention specifically includes:
雷达系统12、AIS系统11、云台系统13、主控系统10、显示设备14以及报警系统15；Radar system 12, AIS system 11, PTZ system 13, main control system 10, display device 14 and alarm system 15;
雷达系统12，与主控系统10交互连接，用于获取进入风电场预警区域的船舶的距离与方位，将船舶的距离与方位发送到主控系统10；The radar system 12 is interactively connected with the main control system 10 and is used to obtain the distance and direction of the ship entering the warning area of the wind farm, and send the distance and direction of the ship to the main control system 10;
其中，系统接入两种类型的雷达：岸基雷达与船载雷达。岸基雷达具备检测量程远、探测面积大、识别精度高的特点，可为系统提供进入风电场预警区域的船舶目标的精确距离与方位；而船载雷达较岸基雷达量程短范围小，可作为岸基雷达的补盲设备安装在风电场内，共同为系统提供进入风电场预警区域内的船舶目标的距离与方位等信息。 The system is connected to two types of radars: shore-based radar and ship-borne radar. The shore-based radar has the characteristics of long detection range, large detection area and high recognition accuracy, and can provide the system with the precise distance and direction of the ship targets entering the wind farm warning area; while the ship-borne radar has a shorter range than the shore-based radar and can be installed in the wind farm as a blind spot compensation device for the shore-based radar, and together provide the system with information such as the distance and direction of the ship targets entering the wind farm warning area.
AIS系统11，与主控系统10交互连接，用于获取船舶信息，船舶信息包括：静态信息、动态信息、航次信息以及安全信息，并将船舶信息发送到主控系统10；AIS系统11获取的船舶的静态信息包括：船名、MMSI、船长、船宽、船舶类型，AIS系统11获取的船舶的动态信息包括：航向、航速、纬度、经度、航向状态。The AIS system 11 is interactively connected with the main control system 10, and is used to obtain ship information, which includes: static information, dynamic information, voyage information and safety information, and sends the ship information to the main control system 10; the static information of the ship obtained by the AIS system 11 includes: ship name, MMSI, length, ship width, and ship type; the dynamic information of the ship obtained by the AIS system 11 includes: heading, speed, latitude, longitude, and heading status.
云台系统13，与主控系统10交互连接，用于在主控系统10的驱动下追踪目标船舶；The PTZ system 13 is interactively connected with the main control system 10 and is used to track the target ship under the drive of the main control system 10;
主控系统10，与雷达系统12、AIS系统11、云台系统13、显示设备14以及报警系统15连接，用于接收雷达系统12发送的船舶的距离与方位、接收AIS系统发送的船舶信息，根据船舶的距离与方位以及船舶信息驱动云台系统13对船舶进行追踪，根据船舶的距离与方位以及船舶信息，对进入风电场的船舶生成告警信息发送到报警系统15；The main control system 10 is connected to the radar system 12, the AIS system 11, the PTZ system 13, the display device 14 and the alarm system 15, and is used to receive the distance and direction of the ship sent by the radar system 12, receive the ship information sent by the AIS system, drive the PTZ system 13 to track the ship according to the distance and direction of the ship and the ship information, and generate alarm information for the ship entering the wind farm according to the distance and direction of the ship and the ship information and send it to the alarm system 15;
显示设备14，与主控系统10连接，用于显示船舶的运动轨迹的画面；A display device 14, connected to the main control system 10, for displaying a picture of the movement track of the ship;
报警系统15，与主控系统10连接，用于根据告警信息对船舶进行告警。The alarm system 15 is connected to the main control system 10 and is used to warn the ship according to the alarm information.
基于AIS雷达和云台系统联动的海上报警系统进一步包括：语音告警装置16，与主控系统10连接，用于根据告警信息对进入风电场的船舶进行语音告警。在发现报警时，值班人员可通过VHF甚高频语音对进入警戒区域的船只进行告警，VHF系统自动保存VHF语音，作为取证手段之一。The marine alarm system based on the linkage of AIS radar and PTZ system further includes: a voice alarm device 16, connected to the main control system 10, for giving voice alarm to ships entering the wind farm according to the alarm information. When an alarm is found, the duty personnel can use VHF very high frequency voice to warn the ships entering the warning area, and the VHF system automatically saves the VHF voice as one of the means of evidence collection.
基于AIS雷达和云台系统联动的海上报警系统进一步包括：扫海灯17，与主控系统10连接，用于根据告警信息对进行风电场的船舶进行强光扫射。The marine alarm system based on the linkage of AIS radar and PTZ system further includes: a sea sweeping light 17, connected to the main control system 10, for performing strong light sweeping on ships approaching the wind farm according to the alarm information.
将由AIS接入软件获取的AIS目标信息与雷达采集跟踪处理软件获取的雷达目标信息，在时间、空间上进行统一校准后再作相关处理，实现雷达目标与AIS目标的融合，将融合后数据在态势显示子系统上综合显示。The AIS target information obtained by the AIS access software and the radar target information obtained by the radar acquisition, tracking and processing software are uniformly calibrated in time and space and then processed accordingly to achieve the fusion of radar targets and AIS targets, and the fused data are comprehensively displayed on the situation display subsystem.
智能报警软件能够按照预设的区域和船舶航行规则对违规船舶报警，对人员海上落水遇险报警，对重点跟踪船舶的报警。告警型式可以有声音、颜色、文字及弹出窗口提示选择，操作员根据设定的险情种类可自主选择多种 的告警方式。The intelligent alarm software can alarm illegal ships according to the preset area and ship navigation rules, alarm people falling into the sea in distress, and alarm key tracking ships. The alarm type can be selected from sound, color, text and pop-up window prompts. The operator can choose a variety of alarms according to the set danger type. Alarm method.
目标视频联动跟踪时，系统能够根据目标位置信息自动计算云台旋转的角度，并驱动云台联动跟踪目标。利用AIS/雷达系统获取的各船舶的动态信息(主要为船舶经纬度坐标的位置信息)，云台监控点系统信息(主要为监控点经纬度坐标的位置信息)，经过联动追踪算法计算，驱动云台与镜头动作(云台驱动其转速及转向；镜头驱动其焦距大小)，从而实现AIS、雷达与云台联动。When the target video is linked to track, the system can automatically calculate the angle of the pan/tilt rotation according to the target position information, and drive the pan/tilt to track the target. The dynamic information of each ship (mainly the position information of the ship's longitude and latitude coordinates) obtained by the AIS/radar system and the pan/tilt monitoring point system information (mainly the position information of the longitude and latitude coordinates of the monitoring point) are calculated through the linkage tracking algorithm to drive the pan/tilt and lens movements (the pan/tilt drives its speed and steering; the lens drives its focal length), thereby realizing the linkage of AIS, radar and pan/tilt.
视频分析联动功能不依赖于AIS或雷达信号，操作人员在显示系统的视频画面上点击目标船舶，系统便可以将目标船舶自动放大并居中显示，在目标船舶航行过程中，无需操作人员干预即可实现对目标船舶的全程跟踪，目标船舶会自动始终处于监控画面中心。The video analysis linkage function does not rely on AIS or radar signals. When the operator clicks on the target ship on the video screen of the display system, the system can automatically zoom in on the target ship and display it in the center. During the navigation of the target ship, the target ship can be tracked throughout the entire process without the intervention of the operator, and the target ship will automatically always be in the center of the monitoring screen.
当目标进入防区后，被系统检测到后，第一时间预警，同时将目标经纬度信息反馈给系统。系统根据目标经纬度信息计算出目标与监管区域的距离，当距离小于1000米时，系统报警，同时联动云台全程跟踪并进行抓拍和录像取证。值班人员通过VHF甚高频语音对进入船只进行语音告警，在告警未果时，可用扫海灯强光扫射对进入船只进行驱离。When the target enters the defense zone and is detected by the system, an early warning will be issued immediately, and the target's longitude and latitude information will be fed back to the system. The system calculates the distance between the target and the supervision area based on the target's longitude and latitude information. When the distance is less than 1,000 meters, the system will alarm, and the PTZ will track the entire process and take photos and record videos for evidence collection. The on-duty personnel will use VHF voice to warn the incoming ship. If the alarm fails, the sea-sweeping light can be used to sweep the incoming ship away.
采用本发明实施例，具备如下有益效果：The embodiments of the present invention have the following beneficial effects:
通过雷达获取船舶的距离与方位，通过AIS获取船舶信息，根据船舶的距离与方位以及船舶信息驱动云台对闯入船舶进行追踪，实现AIS、雷达以及云台的联动，增加了系统的监控精确度，并通过告警系统对闯入风电场船舶进行告警并驱离，从而提高了海上风电场的安全度。The distance and direction of the ship are obtained through radar, and the ship information is obtained through AIS. The pan-tilt head is driven to track the intruding ship based on the distance and direction of the ship and the ship information, realizing the linkage of AIS, radar and pan-tilt head, increasing the monitoring accuracy of the system, and using the alarm system to warn and drive away ships that intrude into the wind farm, thereby improving the safety of the offshore wind farm.
方法实施例Method Embodiment
根据本发明实施例，提供了一种基于AIS、雷达及云台联动的海上风电场报警方法，根据本发明实施例的基于AIS、雷达及云台联动的海上风电场报警方法具体包括： According to an embodiment of the present invention, an offshore wind farm alarm method based on AIS, radar and PTZ linkage is provided. The offshore wind farm alarm method based on AIS, radar and PTZ linkage according to an embodiment of the present invention specifically includes:
通过雷达系统获取进入风电场预警区域的船舶的距离与方位，将船舶的距离与方位发送到所述主控系统；Acquire the distance and direction of the ship entering the early warning area of the wind farm through the radar system, and send the distance and direction of the ship to the main control system;
通过AIS系统获取船舶信息，船舶信息包括：静态信息、动态信息、航次信息以及安全信息，并将船舶信息发送到主控系统；静态信息包括：船名、MMSI、船长、船宽、船舶类型，动态信息包括：航向、航速、纬度、经度、航向状态。The ship information is obtained through the AIS system, including static information, dynamic information, voyage information and safety information, and the ship information is sent to the main control system; static information includes: ship name, MMSI, captain, ship width, ship type, dynamic information includes: heading, speed, latitude, longitude, heading status.
主控系统接收雷达系统发送的船舶的距离与方位，接收AIS系统发送的船舶信息，根据船舶的距离与方位以及船舶信息驱动云台系统对船舶进行追踪，根据船舶的距离与方位以及船舶信息，对进入风电场的船舶生成告警信息发送到所述报警系统；通过报警系统对所述船舶进行告警；The main control system receives the distance and direction of the ship sent by the radar system, receives the ship information sent by the AIS system, drives the PTZ system to track the ship according to the distance and direction of the ship and the ship information, generates alarm information for the ship entering the wind farm and sends it to the alarm system according to the distance and direction of the ship and the ship information; and alarms the ship through the alarm system;
通过显示设备显示所述船舶的运动轨迹的画面。The motion track of the ship is displayed through a display device.
基于AIS、雷达及云台联动的海上风电场报警方法进一步包括：通过语音告警装置根据告警信息对进入风电场的船舶进行语音告警，通过扫海灯根据告警信息对进行风电场的船舶进行强光扫射。The offshore wind farm alarm method based on AIS, radar and pan-tilt linkage further includes: using a voice alarm device to give a voice alarm to ships entering the wind farm according to the alarm information, and using a sea sweeping light to perform a strong light sweep on the ships entering the wind farm according to the alarm information.
将由AIS接入软件获取的AIS目标信息与雷达采集跟踪处理软件获取的雷达目标信息，在时间、空间上进行统一校准后再作相关处理，实现雷达目标与AIS目标的融合，将融合后数据在态势显示子系统上综合显示。The AIS target information obtained by the AIS access software and the radar target information obtained by the radar acquisition, tracking and processing software are uniformly calibrated in time and space and then processed accordingly to achieve the fusion of radar targets and AIS targets, and the fused data are comprehensively displayed on the situation display subsystem.
智能报警软件能够按照预设的区域和船舶航行规则对违规船舶报警，对人员海上落水遇险报警，对重点跟踪船舶的报警。告警型式可以有声音、颜色、文字及弹出窗口提示选择，操作员根据设定的险情种类可自主选择多种的告警方式。The intelligent alarm software can alarm illegal ships according to the preset area and ship navigation rules, alarm people falling into the sea in distress, and alarm key tracking ships. The alarm type can be selected from sound, color, text and pop-up window prompts. The operator can choose a variety of alarm methods according to the set danger type.
目标视频联动跟踪时，系统能够根据目标位置信息自动计算云台旋转的角度，并驱动云台联动跟踪目标。利用AIS/雷达系统获取的各船舶的动态信息(主要为船舶经纬度坐标的位置信息)，云台监控点系统信息(主要为监控点经纬度坐标的位置信息)，经过联动追踪算法计算，驱动云台与镜头动作(云台驱动其转速及转向；镜头驱动其焦距大小)，从而实现AIS、雷达与云台联 动。When the target video is linked to track, the system can automatically calculate the PTZ rotation angle according to the target position information, and drive the PTZ to track the target. The dynamic information of each ship (mainly the position information of the ship's longitude and latitude coordinates) obtained by the AIS/radar system and the PTZ monitoring point system information (mainly the position information of the longitude and latitude coordinates of the monitoring point) are calculated through the linkage tracking algorithm to drive the PTZ and lens actions (the PTZ drives its speed and steering; the lens drives its focal length), thereby realizing the linkage of AIS, radar and PTZ. move.
视频分析联动功能不依赖于AIS或雷达信号，操作人员在显示系统的视频画面上点击目标船舶，系统便可以将目标船舶自动放大并居中显示，在目标船舶航行过程中，无需操作人员干预即可实现对目标船舶的全程跟踪，目标船舶会自动始终处于监控画面中心。The video analysis linkage function does not rely on AIS or radar signals. When the operator clicks on the target ship on the video screen of the display system, the system can automatically zoom in on the target ship and display it in the center. During the navigation of the target ship, the target ship can be tracked throughout the entire process without the intervention of the operator, and the target ship will automatically always be in the center of the monitoring screen.
当目标进入防区后，被系统检测到后，第一时间预警，同时将目标经纬度信息反馈给系统。系统根据目标经纬度信息计算出目标与监管区域的距离，当距离小于1000米时，系统报警，同时联动云台全程跟踪并进行抓拍和录像取证。值班人员通过VHF甚高频语音对进入船只进行语音告警，在告警未果时，可用扫海灯强光扫射对进入船只进行驱离。When the target enters the defense zone and is detected by the system, an early warning will be issued immediately, and the target's longitude and latitude information will be fed back to the system. The system calculates the distance between the target and the supervision area based on the target's longitude and latitude information. When the distance is less than 1,000 meters, the system will alarm, and the PTZ will track the entire process and take photos and record videos for evidence collection. The on-duty personnel will use VHF voice to warn the incoming ship. If the alarm fails, the sea-sweeping light can be used to sweep the incoming ship away.
采用本发明实施例，具备如下有益效果：The embodiments of the present invention have the following beneficial effects:
通过雷达获取船舶的距离与方位，通过AIS获取船舶信息，根据船舶的距离与方位以及船舶信息驱动云台对闯入船舶进行追踪，实现AIS、雷达以及云台的联动，增加了系统的监控精确度，并通过告警系统对闯入风电场船舶进行告警并驱离，从而提高了海上风电场的安全度。The distance and direction of the ship are obtained through radar, and the ship information is obtained through AIS. The pan-tilt head is driven to track the intruding ship based on the distance and direction of the ship and the ship information, realizing the linkage of AIS, radar and pan-tilt head, increasing the monitoring accuracy of the system, and using the alarm system to warn and drive away ships that intrude into the wind farm, thereby improving the safety of the offshore wind farm.
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。 Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims (10)

  1. 一种基于AIS、雷达及云台联动的海上风电场报警系统，包括：雷达系统、AIS系统、云台系统、主控系统、显示设备以及报警系统；An offshore wind farm alarm system based on AIS, radar and PTZ linkage, comprising: a radar system, an AIS system, a PTZ system, a main control system, a display device and an alarm system;
    雷达系统，与所述主控系统交互连接，用于获取进入风电场预警区域的船舶的距离与方位，将所述船舶的距离与方位发送到所述主控系统；A radar system, interactively connected with the main control system, for acquiring the distance and direction of the ship entering the early warning area of the wind farm, and sending the distance and direction of the ship to the main control system;
    AIS系统，与所述主控系统交互连接，用于获取船舶信息，所述船舶信息包括：静态信息、动态信息、航次信息以及安全信息，并将所述船舶信息发送到所述主控系统；An AIS system is interactively connected with the main control system to obtain ship information, including static information, dynamic information, voyage information and safety information, and sends the ship information to the main control system;
    云台系统，与所述主控系统交互连接，用于在主控系统的驱动下追踪目标船舶；A pan/tilt system, interactively connected to the main control system, and used for tracking the target ship under the drive of the main control system;
    主控系统，与所述雷达系统、AIS系统、云台系统、显示设备以及报警系统连接，用于接收所述雷达系统发送的船舶的距离与方位、接收所述AIS系统发送的船舶信息，根据所述船舶的距离与方位以及船舶信息驱动所述云台系统对所述船舶进行追踪，根据所述船舶的距离与方位以及船舶信息，对进入风电场的船舶生成告警信息发送到所述报警系统；A main control system is connected to the radar system, the AIS system, the PTZ system, the display device and the alarm system, and is used to receive the distance and direction of the ship sent by the radar system, receive the ship information sent by the AIS system, drive the PTZ system to track the ship according to the distance and direction of the ship and the ship information, and generate alarm information for the ship entering the wind farm according to the distance and direction of the ship and the ship information, and send it to the alarm system;
    显示设备，与所述主控系统连接，用于显示所述船舶的运动轨迹的画面；A display device, connected to the main control system, for displaying a picture of the motion trajectory of the ship;
    报警系统，与所述主控系统连接，用于根据所述告警信息对所述船舶进行告警。An alarm system is connected to the main control system and is used to alarm the ship according to the alarm information.
  2. 根据权利要求1所述的系统，其特征在于，所述雷达系统部署在岸基以及风电场内。The system according to claim 1 is characterized in that the radar system is deployed on shore and in a wind farm.
  3. 根据权利要求1所述的系统，其特征在于，所述AIS系统获取的船舶的静态信息包括：船名、MMSI、船长、船宽、船舶类型。The system according to claim 1 is characterized in that the static information of the ship acquired by the AIS system includes: ship name, MMSI, length, width, and ship type.
  4. 根据权利要求1所述的系统，其特征在于，所述AIS系统获取的船舶的动态信息包括：航向、航速、纬度、经度、航向状态。The system according to claim 1 is characterized in that the dynamic information of the ship acquired by the AIS system includes: heading, speed, latitude, longitude, and heading status.
  5. 根据权利要求1所述的系统，其特征在于，所述云台系统具体包括：The system according to claim 1, characterized in that the pan/tilt system specifically comprises:
    云台和镜头，所述云台用于根据所述船舶信息调整转速及转向；所述镜头根据所述船舶信息调整聚焦大小。A pan/tilt and a lens, wherein the pan/tilt is used to adjust the rotation speed and the steering according to the ship information; and the lens adjusts the focus size according to the ship information.
  6. 根据权利要求1所述的系统，其特征在于，所述显示设备进一步用于对所述船舶的运动轨迹的画面进行放大。The system according to claim 1 is characterized in that the display device is further used to enlarge the image of the motion trajectory of the ship.
  7. 根据权利要求1所述的系统，其特征在于，所述基于AIS雷达和云台 系统联动的海上报警系统进一步包括：语音告警装置，与所述主控系统连接，用于根据告警信息对所述进入风电场的船舶进行语音告警。The system according to claim 1, characterized in that the AIS radar and PTZ based The system-linked marine alarm system further comprises: a voice alarm device, connected to the main control system, for giving a voice alarm to the ship entering the wind farm according to the alarm information.
  8. 根据权利要求1所述的系统，其特征在于，所述基于AIS雷达和云台系统联动的海上报警系统进一步包括：扫海灯，与所述主控系统连接，用于根据所述告警信息对所述进行风电场的船舶进行强光扫射。The system according to claim 1 is characterized in that the marine alarm system based on the linkage of AIS radar and PTZ system further comprises: a sea sweeping light connected to the main control system, which is used to perform strong light sweep on the ship operating the wind farm according to the alarm information.
  9. 一种基于AIS、雷达及云台联动的海上风电场报警方法，其特征在于，基于权利要求1-8所述的任意一项基于AIS、雷达及云台联动的海上风电场报警系统，包括：An offshore wind farm alarm method based on AIS, radar and PTZ linkage, characterized in that the offshore wind farm alarm system based on AIS, radar and PTZ linkage according to any one of claims 1 to 8 comprises:
    通过雷达系统获取进入风电场预警区域的船舶的距离与方位，将所述船舶的距离与方位发送到所述主控系统；Acquire the distance and direction of the ship entering the warning area of the wind farm through the radar system, and send the distance and direction of the ship to the main control system;
    通过AIS系统获取船舶信息，所述船舶信息包括：静态信息、动态信息、航次信息以及安全信息，并将所述船舶信息发送到所述主控系统；Acquire ship information through the AIS system, the ship information including: static information, dynamic information, voyage information and safety information, and send the ship information to the main control system;
    主控系统接收所述雷达系统发送的船舶的距离与方位，接收所述AIS系统发送的船舶信息，根据所述船舶的距离与方位以及船舶信息驱动所述云台系统对所述船舶进行追踪，根据所述船舶的距离与方位以及船舶信息，对进入风电场的船舶生成告警信息发送到所述报警系统；通过报警系统对所述船舶进行告警；The main control system receives the distance and direction of the ship sent by the radar system, receives the ship information sent by the AIS system, drives the PTZ system to track the ship according to the distance and direction of the ship and the ship information, generates alarm information for the ship entering the wind farm and sends it to the alarm system according to the distance and direction of the ship and the ship information; and alarms the ship through the alarm system;
    通过显示设备显示所述船舶的运动轨迹的画面。The motion track of the ship is displayed through a display device.
  10. 根据权利要求9所述的方法，其特征在于，所述基于AIS、雷达及云台联动的海上风电场报警方法进一步包括：通过语音告警装置根据告警信息对所述进入风电场的船舶进行语音告警，通过扫海灯根据所述告警信息对所述进行风电场的船舶进行强光扫射。 The method according to claim 9 is characterized in that the offshore wind farm alarm method based on AIS, radar and pan-tilt linkage further includes: using a voice alarm device to give a voice alarm to the ship entering the wind farm according to the alarm information, and using a sea-sweeping light to perform a strong light sweep on the ship entering the wind farm according to the alarm information.
PCT/CN2023/123413 2022-11-28 2023-10-08 Offshore wind power alarm system and method based on linkage among ais, radar and pan-tilt WO2024114102A1 (en)

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