Intelligent monitoring method and system for diversified cooperation ship based on VTS system

Abstract

The application discloses a kind of diversified cooperation ship intelligent monitoring method and system based on VTS system, when camera can monitor the graphic area, obtain ship behavior information data;Obtain the position data of ship relative camera;Through the voice broadcast of very high frequency system VHF simultaneously, the mapping relationship between the position data of ship relative camera and graphic area and camera is visualized, and the camera of graphic area is rotated and positioned to ship simultaneously controlled.This application breaks through the connection between each isolated system of VTS, realizes the intelligent supervision of VTS, makes full use of the diversified data in existing resource VTS system, intercommunication, prompts each communication terminal, better and more convenient auxiliary traffic control personnel to make work decision, makes traffic control terminal display more vivid and more intuitive, simplifies the operation steps of on-duty staff, improves work efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of ship traffic management system, and particularly relates to a diversified cooperation ship intelligent monitoring method and system based on a VTS system. BACKGROUND

[0002] The ship traffic management system (hereinafter referred to as "VTS") is an information management system for managing waterway ship traffic, mainly used for ensuring navigation safety and improving shipping efficiency, and applicable to various waterways such as ports, channels, straits, and canals. The system uses radar systems, very high frequency systems (hereinafter referred to as "VHF"), video monitoring systems (hereinafter referred to as "CCTV"), AIS systems, MIS systems, and other management monitoring systems and communication facilities to monitor ships in designated areas and provide the required information services for safe navigation of ships in the area.

[0003] In most of the VTS provided by domestic and international manufacturers at present, each monitoring facility and communication facility is provided by different professional manufacturers and forms a system by itself, each carrying independent operation software and management software. The traffic control personnel on duty need to manually switch systems to operate and confirm information, which is not only inconvenient but also consumes a lot of energy. Such a large number of important information systems exist independently as islands, which is contrary to the integration of VTS information. In addition, such a rich system and resource, most of the facilities and systems only use their single basic function, and fail to design and connect intelligently, resulting in low resource utilization and a treasure trove that has not been explored. SUMMARY

[0004] The present application provides a method and system for diversified cooperation ship intelligent monitoring in a VTS system to overcome the above technical problems.

[0005] To achieve the above purpose, the technical scheme of the present application is as follows:

[0006] A diversified cooperation ship intelligent monitoring method based on a VTS system, comprising the following steps:

[0007] S1: obtaining the coordinates of the inflection points of the region of interest on the sea chart according to the traffic display and control system to obtain the graphic region formed by sequentially connecting the inflection points; wherein the inflection points include linear region inflection points and polygon region inflection points, and the graphic region includes a linear region and a polygon region;

[0008] S2: obtaining the spatial position coordinates and the maximum observation distance of the camera of the video monitoring system to determine the mapping relationship between the graphic region and the camera according to the inflection point coordinates on the sea chart, wherein the mapping relationship between the graphic region and the camera includes that the camera can monitor the graphic region and the camera cannot monitor the graphic region;

[0009] S3: if the camera can monitor the graphic region; then perform S4;

[0010] S4: obtain the position coordinates of the ship at the last time and the position coordinates of the ship at the current time, to obtain the ship behavior information data according to the graphic region; the ship behavior information data is any one of the ship entering the polygon region data, the ship leaving the polygon region data, the ship crossing the linear region in the forward direction data, and the ship crossing the linear region in the reverse direction data;

[0011] S5: according to the ship behavior information data, obtain the position data of the ship relative to the camera;

[0012] S6: according to the ship behavior information data, voice broadcast is performed through the very high frequency system VHF; according to the traffic display control system, the position data of the ship relative to the camera and the mapping relationship between the graphic region and the camera are visualized, and the camera of the graphic region is controlled to rotate and the ship is positioned.

[0013] Further, in S2, the method for determining whether the camera can monitor the graphic region is as follows:

[0014] S21: obtain the spatial position coordinates of the camera of the video monitoring system;

[0015] S22: according to the coordinates of the fold point and the spatial position coordinates of the camera, obtain the distance between the camera and the fold point, that is, obtain the distance between the camera and the fold point of the linear region and the distance between the camera and the fold point of the polygon region;

[0016] S23: when the distance between the camera and the fold point of the linear region is less than the maximum observation distance of the camera, the camera can monitor the linear region, otherwise, the camera cannot monitor the linear region;

[0017] When the distance between the camera and the fold point of the polygon region is less than the maximum observation distance of the camera, the camera can monitor the polygon region; otherwise, the camera cannot monitor the polygon region.

[0018] Further, the method for obtaining the distance between the camera and the fold point is as follows:

[0019]

[0020] In the formula: is the distance between the camera and the fold point; is the coordinate of the camera in the space rectangular coordinate system x axis; is the coordinate of the camera in the space rectangular coordinate system y axis; for the camera in the spatial rectangular coordinate system z the coordinates of the axis; for the fold in the spatial rectangular coordinate system x the coordinates of the axis; for the fold in the spatial rectangular coordinate system y the coordinates of the axis; for the fold in the spatial rectangular coordinate system z the coordinates of the axis.

[0021] Further, in the S4, the method for obtaining the ship entering the polygon region data and the ship leaving the polygon region data is:

[0022] When the position coordinate of the last time of the ship is outside the polygon region, and the position coordinate of the current time of the ship is inside the polygon region or on the boundary of the polygon region, the ship behavior information data is the ship entering the polygon region data;

[0023] When the position coordinate of the last time of the ship is inside the polygon region or on the boundary of the polygon region, and the position coordinate of the current time of the ship is outside the polygon region, the ship behavior information data is the ship leaving the polygon region data.

[0024] Further, in the S4, the method for obtaining the ship entering the polygon region data and the ship leaving the polygon region data is:

[0025] S41: Determine whether the ship crosses the linear region; the method is as follows:

[0026] When ,

[0027] and

[0028] , the ship crosses the linear region;

[0029] In the formula, is the horizontal coordinate of the position of the ship at the last time; is the vertical coordinate of the position of the ship at the last time; is the horizontal coordinate of the position of the ship at the current time; is the vertical coordinate of the position of the ship at the current time; is the horizontal coordinate of the first end point of the line segment intersecting with the ship track in the linear region; is the vertical coordinate of the first end point of the line segment intersecting with the ship track in the linear region; is the horizontal coordinate of the second end point of the line segment intersecting with the ship track in the linear region; is the vertical coordinate of the second end point of the line segment intersecting with the ship track in the linear region;

[0030] S42: When the ship crosses the linear region, the method for obtaining the ship forward crossing linear region data and the ship reverse crossing linear region data is as follows:

[0031] When the reporting line behavior direction of the linear region is forward, that is, the linear region is sequentially connected by the linear region fold points in a counterclockwise direction:

[0032] When θ is in the interval [0, 180], and the COG is outside the interval [θ, 180+θ], the ship forward crosses the linear region;

[0033] θ is in the interval [0, 180], and the COG is in the interval [θ, 180+θ], then the ship reverses the linear region;

[0034] θ is in the interval [180, 360], and the COG is in the interval [θ-180, θ], then the ship forward crosses the linear region;

[0035] θ is in the interval [180, 360], and the COG is outside the interval [θ-180, θ], then the ship reverses the linear region;

[0036] When the reporting line behavior direction of the linear region is reverse, that is, the linear region is sequentially connected by the linear region fold points in a clockwise direction:

[0037] θ is in the interval [0, 180], and the COG is in the interval [θ, 180+θ], then the ship forward crosses the linear region;

[0038] θ is in the interval [0, 180], and the COG is outside the interval [θ, 180+θ], then the ship reverses the linear region;

[0039] θ is in the interval [180, 360], and the COG is outside the interval [θ-180, θ], then the ship forward crosses the linear region;

[0040] θ is in the interval [180, 360], and the COG is in the interval [θ-180, θ], then the ship reverses the linear region;

[0041] Wherein, θ is the included angle from the north direction to the fold point connecting line in a clockwise direction; COG is the included angle from the north direction to the ship's previous track and the current track connecting line in a clockwise direction.

[0042] Further, in S5, the position data of the ship relative to the camera is as follows:

[0043]

[0044]

[0045] In the formula, is the angle between the line connecting the ship and the position of the camera and the XY plane of the space rectangular coordinate system; is the angle between the line connecting the ship and the position of the camera and the Z axis of the space rectangular coordinate system; is the coordinate of the y-axis direction of the position of the ship; is the coordinate of the x-axis direction of the position of the ship; is the coordinate of the space rectangular coordinate system of the camera; x is the coordinate of the space rectangular coordinate system of the camera; is the coordinate of the space rectangular coordinate system of the camera; y is the coordinate of the space rectangular coordinate system of the camera; is the coordinate of the space rectangular coordinate system of the camera. z is the coordinate of the space rectangular coordinate system of the camera.

[0046] A monitoring system for implementing a diversified cooperative ship intelligent monitoring method based on a VTS system, comprising a traffic display control system, a ship monitoring module, a data processing module, a very high frequency system, and a diversified cooperative control module.

[0047] The traffic display control system is configured to obtain the coordinates of the turning points of the region of interest on the chart to obtain a graphic region, and visualize the mapping relationship between the graphic region and the camera, the ship behavior information data, and the position data of the ship relative to the camera.

[0048] The ship monitoring module is configured to obtain the position coordinates of the ship at the previous time and the position coordinates of the ship at the current time.

[0049] The video monitoring module is configured to obtain the spatial position coordinates of the camera and the maximum observation distance of the camera.

[0050] The data processing module is configured to obtain the mapping relationship between the graphic region and the camera, the ship behavior information data, and the position data of the ship relative to the camera based on the coordinates of the turning points, the position coordinates of the ship at the previous time, the position coordinates of the ship at the current time, the spatial position coordinates of the camera, and the maximum observation distance of the camera.

[0051] The very high frequency system is configured to perform voice broadcast based on the ship behavior information data.

[0052] The diversified cooperative control module is configured to control the camera capable of monitoring the graphic region to rotate and position the ship based on the position data of the ship relative to the camera.

[0053] Beneficial effects:

[0054] This invention discloses a diversified collaborative intelligent vessel monitoring method and system based on a VTS system. By acquiring inflection point coordinates, drawing graphic areas, obtaining the spatial position coordinates and maximum observation distance of cameras, as well as the previous and current position coordinates of the vessel, it establishes connections between various isolated VTS systems, achieving intelligent VTS supervision. It acquires the mapping relationship between the graphic area and the camera through diversified data acquisition, obtains vessel behavior information data and the vessel's position data relative to the camera, and broadcasts this information via VHF. Simultaneously, it visualizes this data through a traffic display and control system, and controls the cameras, reducing the workload of traffic management personnel. It fully utilizes the diversified data in the existing VTS system, enabling interconnection and providing prompts to various communication terminals. It also better and more conveniently assists traffic management personnel in making work decisions, making the traffic management duty terminal display more vivid and intuitive, simplifying the duty officer's operation steps, and improving work efficiency. Attached Figure Description

[0055] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0056] Figure 1 This is a flowchart of the diversified collaborative intelligent ship monitoring method of the present invention;

[0057] Figure 2 This is a schematic diagram of a multi-cooperative ship intelligent control system in an embodiment of the present invention;

[0058] Figure 3 This is an explanation of the graphic area and regulatory rules in the embodiments of the present invention;

[0059] Figure 4 This is a schematic diagram of the reporting line behavior direction in an embodiment of the present invention;

[0060] Figure 5 This is a schematic diagram illustrating ship behavior in an embodiment of the present invention;

[0061] Figure 6 This is a schematic diagram for reference when a ship crosses the reporting line in an embodiment of the present invention;

[0062] Figure 7 This is a schematic diagram illustrating the mapping relationship between camera parameters and regional cameras in an embodiment of the present invention;

[0063] Figure 8The schematic diagram for calculating the relationship between the camera and the area and the ship position in the embodiment of the present application is shown in the figure.

[0064] Figure 9 The schematic diagram for automatically generating the information in the embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0065] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0066] The embodiment discloses a diversified cooperative ship intelligent monitoring method and system based on a VTS system, as shown in the figure, comprising the following steps: Figure 1

[0067] S1: Obtain the coordinates of the inflection points of the area of interest on the sea chart according to the traffic display and control system in the existing VTS system to obtain a graphic area; wherein the inflection points include linear region inflection points and polygon region inflection points, and the graphic area includes a linear region and a polygon region,

[0068] Specifically, the area of interest is an area that is practically meaningful for navigation safety and marine management when managing the water area, such as a no-navigation zone, a port area, a reef area, etc. The linear region and the polygon region are drawn by using the layer editing function in the traffic display and control system in the VTS system. The polygon region refers to a closed region formed by sequentially connecting the inflection point array in the drawing order, and the linear region refers to a non-closed region formed by sequentially connecting the inflection point array in the drawing order. The inflection point is a point on the sea chart in the geographic coordinate system containing longitude and latitude information. On the sea chart, various graphics for displaying the no-navigation zone, the port area, etc. are defined according to the needs, such as Figure 3 As shown in the figure. The linear region and the polygon region drawn on the sea chart are both prior art and will not be described in detail here.

[0069] ​S2: using the video monitoring system (CCTV) in the existing VTS system, obtaining the spatial position coordinates of the camera of the video monitoring system and the maximum observation distance of the camera, so as to determine the mapping relationship between the graphic region and the camera according to the inflection point coordinates on the chart, the mapping relationship between the graphic region and the camera including that the camera can monitor the graphic region and that the camera cannot monitor the graphic region; wherein the maximum observation distance of the camera is an inherent parameter of the camera. Specifically, the mapping relationship between the linear region and the polygonal region and all the cameras capable of observing the linear region and the polygonal region range is established, and this mapping relationship is taken as a static data dictionary to provide data support for the control processing and the CCTV linkage in the diversified cooperation, as shown in Figure 7

[0070] Preferably, in the S2, the method for judging whether there is a mapping relationship between the graphic region and the camera is as follows:

[0071] S21: obtaining the spatial position coordinates of all the cameras contained in the video monitoring system CCTV in the VTS system as the preparation data for establishing the mapping relationship between the linear region and the polygonal region and the camera;

[0072] S22: according to the inflection point coordinates and the spatial position coordinates of the camera, obtaining the distance between the camera and the inflection point, that is, obtaining the distance between the camera and the inflection point of the linear region and the distance between the camera and the inflection point of the polygonal region;

[0073] S23: when the distance between the camera and the inflection point of the linear region is less than the maximum observation distance of the camera, the camera can monitor the linear region, otherwise, the camera cannot monitor the linear region;

[0074] When the distance between the camera and the inflection point of the polygonal region is less than the maximum observation distance of the camera, the camera can monitor the polygonal region, that is, the camera and the polygonal region have a mapping relationship; otherwise, the camera cannot monitor the polygonal region, that is, the camera and the polygonal region do not have a mapping relationship.

[0075] Specifically, according to the inflection point coordinates on the chart, the distance between the camera and each inflection point in the spatial rectangular coordinate system is calculated, as shown in Figure 8 The calculation is as follows:

[0076] The method for obtaining the distance between the camera and the inflection point is as follows:

[0077]

[0078] In the formula: is the distance between the camera and the inflection point; is the spatial rectangular coordinate system of the camera​x coordinates of the axes; coordinates of the axes for the camera in the spatial rectangular coordinate system y coordinates of the axes; coordinates of the axes for the camera in the spatial rectangular coordinate system z coordinates of the axes; coordinates of the axes for the fold in the spatial rectangular coordinate system x coordinates of the axes; coordinates of the axes for the fold in the spatial rectangular coordinate system y coordinates of the axes; coordinates of the axes for the fold in the spatial rectangular coordinate system z coordinates of the axes; wherein the calculation is based on the water surface, the z-axis coordinate of the region fold point is 0.

[0079] Specifically, when there is a mapping relationship between the graphic region and the camera, the graphic region is stored in the region and camera mapping relationship dictionary as necessary preparation data, which is provided to the diversified collaboration control processing;

[0080] S3: if the camera can monitor the graphic region; then execute S4;

[0081] S4: use the existing VTS system to obtain the position coordinates of the ship at the previous time and the position coordinates of the ship at the current time, join the multicast network of the existing VTS system through the UDP multicast protocol, obtain the real-time ship data of the VTS system as the input data of the diversified collaboration, and provide it to the ship monitoring module, as shown in Figure 2 the ship behavior information data is any one of the ship entering the polygonal region data, the ship leaving the polygonal region data, the ship forward crossing the linear region data, and the ship reverse crossing the linear region data;

[0082] Preferably, in the S4, the method for obtaining the ship entering the polygonal region data and the ship leaving the polygonal region data is:

[0083] when the position coordinates of the ship at the previous time are outside the polygonal region, and the position coordinates of the ship at the current time are inside the polygonal region or on the boundary of the polygonal region, the ship behavior information data is the ship entering the polygonal region data; that is, the ship sails from outside the polygonal region to inside the polygonal region;

[0084] when the position coordinates of the ship at the previous time are inside the polygonal region or on the boundary of the polygonal region, and the position coordinates of the ship at the current time are outside the polygonal region, the ship behavior information data is the ship leaving the polygonal region data; that is, the ship sails from inside the polygonal region to outside the polygonal region;

[0085] Specifically, the judgment method of the ship outside the polygon region and the ship inside the polygon region is as follows:

[0086] When the ship is not on the boundary of the polygon region, the positional relationship between the ship and the polygon region is judged by the injection line method, specifically, a ray is injected from the ship position to an arbitrary direction, the intersection number of the line segment formed by the ray and the polygon fold points in turn is judged, when the intersection number is odd, it indicates that the ship is located in the region, otherwise, the ship is located outside the region, the change of the positional relationship between the ship and the region is judged twice, when the positional relationship meets the condition:

[0087] Preferably, the method for obtaining the ship forward crossing linear region data and the ship reverse crossing linear region data is as follows:

[0088] S41: determining whether the ship crosses the linear region; the method is as follows:

[0089] When ,

[0090] and

[0091] , the ship crosses the linear region; otherwise, the ship does not cross the linear region;

[0092] In the formula, is the horizontal coordinate of the position of the ship at the last time; is the vertical coordinate of the position of the ship at the last time; is the horizontal coordinate of the current position of the ship; is the vertical coordinate of the current position of the ship; is the horizontal coordinate of the first end point of the line segment intersecting with the ship track in the linear region; is the vertical coordinate of the first end point of the line segment intersecting with the ship track in the linear region; is the horizontal coordinate of the second end point of the line segment intersecting with the ship track in the linear region; is the vertical coordinate of the second end point of the line segment intersecting with the ship track in the linear region; the end points of the line segment intersecting with the ship track in the linear region are the fold points of the linear region connected in turn.

[0093] S42: when the ship crosses the linear region, the method for obtaining the ship forward crossing linear region data and the ship reverse crossing linear region data is as follows:

[0094] When the report line behavior direction of the linear region is forward (counterclockwise):

[0095] If θ is in the interval [0, 180], COG is outside the interval [θ, 180+θ], the ship forward crosses the linear region;

[0096] When θ is in the interval [0, 180], and the COG is in the interval [θ, 180+θ], the ship traverses the linear region in the forward direction;

[0097] When θ is in the interval [180, 360], and the COG is in the interval [θ-180, θ], the ship traverses the linear region in the reverse direction;

[0098] When θ is in the interval [180, 360], and the COG is in the interval [θ-180, θ], the ship traverses the linear region in the reverse direction;

[0099] When the reporting line behavior direction of the linear region is in the reverse direction (clockwise):

[0100] When θ is in the interval [0, 180], and the COG is in the interval [θ, 180+θ], the ship traverses the linear region in the forward direction;

[0101] When θ is in the interval [0, 180], and the COG is in the interval [θ, 180+θ], the ship traverses the linear region in the forward direction;

[0102] When θ is in the interval [180, 360], and the COG is in the interval [θ-180, θ], the ship traverses the linear region in the reverse direction;

[0103] When θ is in the interval [180, 360], and the COG is in the interval [θ-180, θ], the ship traverses the linear region in the reverse direction;

[0104] Wherein, θ is the included angle from the north direction to the fold point connecting line ray in the clockwise direction; COG is the included angle from the north direction to the connecting line of the previous track and the current track of the ship in the clockwise direction;

[0105] In the embodiment, the present application uses the layer editing function of the traffic display and control system in the existing VTS to make a layer region, uses the monitoring editing function to edit rule information in the selected graphic region, forms a supervision rule containing region information and rule information, and acquires ship behavior information data; the ship monitoring is used for diversified cooperation; the existing ship data of the comprehensive processing system in the existing VTS is combined with the supervision rule, the position relationship change of the graphic region and the ship is judged by the ship monitoring module according to the supervision rule, the ship behavior information data is formed as one of the monitoring prompt data, and then the specific identification and distribution processing are performed by the diversified cooperation control processing module; through the multi-thread processing technology, an independent thread is started for each supervision rule to perform ship behavior screening analysis, the computer performance is fully utilized, and the calculation efficiency is improved.

[0106] Specifically, the "reporting line behavior direction" of the linear region refers to the definition when the linear region judges the direction of the ship traversing the linear region, such as Figure 4As shown, specifically, the coordinates of several folding points on the chart form a folding point array, when the direction of the folding point array sequentially connecting the rays is clockwise, the direction of the report limit is defined as "reverse", when the direction of the folding point array sequentially connecting the rays is counterclockwise, the direction of the report limit is defined as "forward", and the arrow group arranged on the folding point connecting line in the figure indicates that the direction angle is "crossing trend direction", that is, the perpendicular line of the folding point connecting ray on the "report line behavior direction" side and the clockwise angle with the north direction;

[0107] Specifically, the ship reverse crossing linear region and the ship forward crossing linear region in the embodiment are as shown in Figure 4 、 Figure 5 and Figure 6 , combined with the analysis according to the report line behavior direction, under the necessary condition that the track connecting line intersects with the region folding point connecting line, as shown in Figure 5 and Figure 6 , when the ship heading angle and the "crossing trend direction" of the folding point connecting line are generally consistent in the trend, it is a ship forward crossing linear region, and when the two angles are not generally consistent in the trend, it is a ship reverse crossing linear region. According to the judgment method of the embodiment, whether the ship is crossing the report line is judged, as shown in Figure 6 , on the other hand, according to the report line behavior direction, the direction of the ship crossing the linear region is determined, the angles between the folding point array sequentially connecting and the north direction in the embodiment are as follows: the angle between the folding point 1 and the folding point 2 connecting line is θ1, the angle between the folding point 2 and the folding point 3 connecting line is θ2, and so on, the angle between the folding point n-1 and the folding point n connecting line is θn-1, according to these angles, the ship forward crossing linear region data or the ship reverse crossing linear region data can be obtained when the ship crosses the linear region between every two folding points.

[0108] S5: obtaining the position data of the ship relative to the camera according to the mapping relationship between the graphic region and the camera and the ship behavior information data; as shown in Figure 8 ,

[0109] Preferably, the position data of the ship relative to the camera is obtained as follows:

[0110]

[0111]

[0112] In the formula, is the angle between the connecting line of the ship and the camera and the XY plane of the space rectangular coordinate system; is the angle between the connecting line of the ship and the camera and the Z axis of the space rectangular coordinate system; is the coordinate of the ship in the y axis direction; is the coordinate of the ship in the x axis direction; the coordinates of the axes of the camera in the spatial rectangular coordinate system x the coordinates of the axes of the camera in the spatial rectangular coordinate system the coordinates of the axes of the camera in the spatial rectangular coordinate system y the coordinates of the axes of the camera in the spatial rectangular coordinate system the coordinates of the axes of the camera in the spatial rectangular coordinate system z the coordinates of the axes of the camera in the spatial rectangular coordinate system

[0113] S6: According to the ship behavior information data, voice broadcast is performed through the very high frequency system VHF; according to the ship position data relative to the camera and the mapping relationship between the graphic area and the camera, the traffic management personnel are assisted in decision-making to control the camera and position the ship.

[0114] Specifically, according to the ship behavior information data, the voice broadcast method through the very high frequency system VHF is as follows:

[0115] First, an automatic broadcast information text is generated, as shown in Tables 1 and Figure 9 According to the ship behavior information data, the ship position and the graphic area information are combined, and the automatic broadcast information text is generated through sequential logical combination and keyword transformation;

[0116] Table 1 Voice broadcast information generation reference table

[0117]

[0118] Second, the generated automatic broadcast information text is converted into audio by using the text-to-speech conversion technology (TTS technology), the converted audio is interacted through the existing very high frequency system "VHF" interface, and the broadcast information text is broadcasted by voice through the very high frequency system "VHF";

[0119] At the same time, the position data of the ship relative to the camera is processed through data network transmission, and the monitoring prompt data is transmitted to the traffic display control system in the form of TCP communication protocol by using the existing network resources of the VTS system;

[0120] In the traffic display control system, the indicator light flickers and the information is displayed in the form of a list for the traffic management personnel to check and confirm, and the specific operation forms include:

[0121] Positioning the ship: by submitting the real-time position coordinates of the ship to the chart interface through the existing interface of the traffic display control system, the chart roaming method is executed, so that the chart center can be quickly roamed to the ship position, and the ship can be displayed in the center of the chart view;

[0122] Controlling the camera: according to the mapping relationship between the graphic area and the camera, any camera in the CCTV linkage information list in the monitoring prompt data is controlled in linkage, and the camera is controlled through the camera holder according to the position data of the ship relative to the camera. This embodiment only provides an interactive interface of the existing video monitoring system (CCTV) in the VTS, and submits the distance of the ship relative to the camera and the position data of the ship relative to the camera in the CCTV linkage information list to the corresponding camera holder, so as to control the holder to rotate and position to the specified angle, and multiple camera screens can be opened at the same time to monitor the ship from multiple angles.

[0123] The embodiment also discloses a monitoring system for realizing the diversified cooperative ship intelligent monitoring method based on the VTS system, which comprises a traffic display control system, a ship monitoring module, a data processing module, a very high frequency system and a diversified cooperative control module.

[0124] The traffic display control system is used for acquiring the coordinates of the inflection points of the region of interest on the chart to acquire the graphic area, and visualizing the mapping relationship between the graphic area and the camera, the ship behavior information data and the position data of the ship relative to the camera.

[0125] The ship monitoring module is used for acquiring the position coordinates of the ship at the last moment and the position coordinates of the ship at the current moment.

[0126] The video monitoring module is used for acquiring the spatial position coordinates of the camera and the maximum observation distance of the camera.

[0127] The data processing module is used for acquiring the mapping relationship between the graphic area and the camera, the ship behavior information data and the position data of the ship relative to the camera according to the coordinates of the inflection points, the position coordinates of the ship at the last moment, the position coordinates of the ship at the current moment, the spatial position coordinates of the camera and the maximum observation distance of the camera.

[0128] The very high frequency system is used for voice broadcasting according to the ship behavior information data.

[0129] The diversified cooperative control module is used for controlling the camera according to the position data of the ship relative to the camera.

[0130] The traffic display control system, the ship monitoring module, the data processing module, the very high frequency system and the diversified cooperative control module are all modules in the VTS system, and the ship intelligent monitoring method is constructed on the basis of the modules, so that the systems and modules are not described in detail.

[0131] The audio of the formed monitoring prompt data is converted by using a text-to-speech conversion technology (TTS technology), the converted audio is transmitted through an interactive interface with a very high frequency system (VHF), and the prompt data is automatically broadcast by the VHF in a voice mode; the present application uses the existing network resources of the VTS system, and transmits the mapping relationship between a graphic area and a camera, position data of a ship relative to the camera and behavior information data of the ship to the traffic control system as monitoring prompt data, the traffic control system is used for flickering indication light prompting and list-form information display, and the traffic management personnel can check and confirm the information, meanwhile, the interactive interface of the video monitoring system (CCTV) and the related information of the linkage control of the video monitoring system (CCTV) are transmitted, the on-duty personnel can select an effective camera to send the position of the ship, the distance and angle information of the ship relative to the camera to the camera holder through the interactive interface of the video monitoring system (CCTV), so that the ship is monitored in a directional mode.

[0132] The present application is actually a diversified cooperation mode for monitoring the dynamic of a ship, according to the personalized setting rules, the sailing dynamic of the ship, such as the entering and exiting area of the ship, the crossing report line and the navigation avoidance, is calculated, the ship driver is reminded by voice broadcast and other modes, the traffic management personnel are assisted to make decision confirmation and subsequent operation in the form of prompt information list, voice linkage assistance, video linkage assistance and the like, and the system and the implementation method.

[0133] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the above embodiments, or make equivalent replacement to part or all of the technical features; and 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 application.

Claims

1. A diversified collaborative intelligent monitoring method for ships based on a VTS system, characterized in that, Includes the following steps: S1: Obtain the coordinates of the inflection points of the region of interest on the nautical chart according to the traffic display and control system, so as to obtain the graphic region formed by connecting the inflection points in sequence; wherein, the inflection points include linear region inflection points and polygonal region inflection points, and the graphic region includes linear region and polygonal region; S2: Obtain the spatial position coordinates and maximum observation distance of the camera in the video surveillance system, so as to determine the mapping relationship between the graphic area and the camera based on the inflection point coordinates on the nautical chart. The mapping relationship between the graphic area and the camera includes the areas that the camera can monitor and the areas that the camera cannot monitor. S3: If the camera can monitor the graphic area, then execute S4; S4: Obtain the ship's position coordinates at the previous moment and the ship's current position coordinates, so as to obtain ship behavior information data based on the graphic area; the ship behavior information data is any one of the following: ship entering the polygonal area, ship leaving the polygonal area, ship crossing the linear area in the forward direction, and ship crossing the linear area in the reverse direction. S5: Based on the ship behavior information data, obtain the ship's position data relative to the camera; S6: Based on the ship behavior information data, a voice broadcast is made via a VHF system; the position data of the ship relative to the camera and the mapping relationship between the graphic area and the camera are visualized by the traffic display and control system, and the camera in the graphic area is controlled to rotate and the ship is positioned.

2. The method for multi-faceted collaborative intelligent monitoring of ships based on a VTS system according to claim 1, characterized in that, In step S2, the method for determining whether the camera can monitor the graphic area is as follows: S21: Obtain the spatial coordinates of the camera in the video surveillance system; S22: Based on the coordinates of the inflection point and the spatial position coordinates of the camera, obtain the distance between the camera and the inflection point, that is, obtain the distance between the camera and the inflection point of the linear region and the distance between the camera and the inflection point of the polygonal region; S23: When the distance between the camera and the inflection point of the linear region is less than the maximum observation distance of the camera, the camera can monitor the linear region; otherwise, the camera cannot monitor the linear region. When the distance between the camera and the inflection point of the polygonal region is less than the camera's maximum observation distance, the camera is able to monitor the polygonal region. Otherwise, the camera cannot monitor the polygonal region.

3. The method for multi-faceted collaborative intelligent monitoring of ships based on a VTS system according to claim 2, characterized in that, The method for obtaining the distance between the camera and the inflection point is as follows: In the formula: The distance between the camera and the inflection point; For the camera in a spatial rectangular coordinate system x The coordinates of the axis; For the camera in a spatial rectangular coordinate system y The coordinates of the axis; For the camera in a spatial rectangular coordinate system z The coordinates of the axis; The inflection point in the spatial rectangular coordinate system x The coordinates of the axis; The inflection point in the spatial rectangular coordinate system y The coordinates of the axis; The inflection point in the spatial rectangular coordinate system z The coordinates of the axis.

4. The method for multi-faceted collaborative intelligent monitoring of ships based on a VTS system according to claim 1, characterized in that, In step S4, the method for obtaining data on the ship entering the polygonal region and data on the ship leaving the polygonal region is as follows: When the ship's previous position coordinates indicate that the ship is outside the polygonal region, and the ship's current position coordinates indicate that the ship is inside the polygonal region or on the boundary of the polygonal region, the ship behavior information data is the ship entering the polygonal region data. When the ship's previous position coordinates indicate that the ship is inside or on the boundary of the polygonal region, and the ship's current position coordinates indicate that the ship is outside the polygonal region, the ship behavior information data is the ship leaving the polygonal region.

5. The method for multi-faceted collaborative intelligent monitoring of ships based on a VTS system according to claim 1, characterized in that, In step S4, the method for obtaining data on the forward crossing of the alignment area and the reverse crossing of the alignment area is as follows: S41: Determine whether the vessel has crossed the linear area; the method is as follows: when , and At that time, the ship crossed the linear area; In the formula, The x-coordinate of the ship's position at the previous moment; The vertical coordinate of the ship's position at the previous moment; The x-coordinate represents the ship's current position. The vertical coordinate represents the ship's current position. The x-coordinate of the first endpoint of the line segment intersecting with the ship's track in the linear region; The ordinate of the first endpoint of the line segment intersecting with the ship's track in the linear region; The x-coordinate of the second endpoint of the line segment intersecting with the ship's track in the linear region; The ordinate of the second endpoint of the line segment intersecting with the ship's track in the linear region; S42: The method for obtaining data on the forward and reverse crossings of a vessel through a linear area is as follows: When the reporting line direction of the linear region is positive, that is, when the linear region is formed by connecting the inflection points of the linear region sequentially in a counterclockwise direction: When θ is in the interval [0, 180] and COG is outside the interval [θ, 180+θ], the ship is crossing the linear region in the forward direction; If θ is in the interval [0, 180] and COG is in the interval [θ, 180+θ], then the ship crosses the linear region in the opposite direction. If θ is in the interval [180, 360] and COG is in the interval [θ-180, θ], then the ship is crossing the linear region in the forward direction. If θ is within the interval [180, 360] and COG is outside the interval [θ-180, θ], then the ship crosses the linear region in the opposite direction. When the reporting line direction of the linear region is reversed, that is, when the linear region is formed by connecting the inflection points of the linear region sequentially in a clockwise direction: If θ is in the interval [0, 180] and COG is in the interval [θ, 180+θ], then the ship is crossing the linear region in the forward direction. If θ is in the interval [0, 180] and COG is outside the interval [θ, 180+θ], then the ship crosses the linear region in the opposite direction. If θ is within the interval [180, 360] and COG is outside the interval [θ-180, θ], then the ship is crossing the linear region in the forward direction. If θ is in the interval [180, 360] and COG is in the interval [θ-180, θ], then the ship crosses the linear region in the opposite direction. Where θ is the angle between the ray from due north in a clockwise direction to the inflection point; COG is the angle between the ray from due north in a clockwise direction to the line connecting the ship's previous track and current track.

6. The method for multi-faceted collaborative intelligent monitoring of ships based on a VTS system according to claim 1, characterized in that, In step S5, the position data of the ship relative to the camera is obtained as follows: In the formula, The angle between the line connecting the ship and the camera and the XY plane of the Cartesian coordinate system; The angle between the line connecting the ship and the camera and the Z-axis of the Cartesian coordinate system; This represents the coordinate of the ship's position along the y-axis. This represents the coordinate of the ship's position along the x-axis. For the camera in a spatial rectangular coordinate system x The coordinates of the axis; For the camera in a spatial rectangular coordinate system y The coordinates of the axis; For the camera in a spatial rectangular coordinate system z The coordinates of the axis.

7. A monitoring system for implementing the diversified collaborative intelligent ship monitoring method based on a VTS system as described in any one of claims 1 to 6, characterized in that, It includes traffic display and control systems, ship monitoring modules, data processing modules, VHF systems, and diversified collaborative control modules; The traffic display and control system is used to obtain the coordinates of the inflection points of the region of interest on the nautical chart to obtain the graphic region; and to visualize the mapping relationship between the graphic region and the camera, ship behavior information data, and ship position data relative to the camera. The ship monitoring module is used to obtain the ship's position coordinates at the previous moment and the ship's current position coordinates. The video surveillance module is used to obtain the spatial location coordinates of the camera and the maximum observation distance of the camera; The data processing module is used to obtain the mapping relationship between the graphic area and the camera, ship behavior information data, and ship position data relative to the camera based on the coordinates of the inflection point, the ship's position coordinates at the previous moment, the ship's current position coordinates, the camera's spatial position coordinates, and the camera's maximum observation distance. The VHF system is used to broadcast voice messages based on the ship behavior information data. The diversified collaborative control module is used to control the camera that can monitor the graphic area to rotate and position the ship based on the position data of the ship relative to the camera.

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