Offshore wind farm ship intrusion identification and warning method and system

Abstract

The present invention discloses a method and system for identifying and warning of ship intrusions at offshore wind farms. The method includes: configuring a server and a mobile monitoring device capable of maneuvering in designated waters; configuring the server includes: receiving video / image data uploaded by the mobile monitoring device, performing image recognition, obtaining and transmitting the recognition results; configuring the mobile monitoring device includes: if the recognition result indicates a designated water unit, executing a fixed shooting action, searching a preset database based on the recognition result to obtain the size of the water unit; calculating the pixel size of the real-time image of the water unit to determine the image scale; calculating the estimated distance between the mobile monitoring device and the water unit based on the image scale; and if the estimated distance is greater than a preset tracking threshold, sending a warning message to a designated terminal via the server, controlling the mobile monitoring device to approach the designated water unit, and issuing a fishing interference message. This application can help staff improve the intrusion management effectiveness of offshore wind farms.

Description

Technical Field

[0001] The present application relates to the technical field of offshore wind farm maintenance, and in particular to a method and system for identifying and warning of ship intrusion into an offshore wind farm. Background Art

[0002] In recent years, my country's offshore wind power sector has experienced rapid development, with newly installed capacity ranking first in the world for many consecutive years. However, this rapid growth has also led to frequent accidents related to offshore wind power. Current offshore wind farm accidents include wind turbine accidents, offshore substation accidents, construction accidents, operation and maintenance accidents, and cable accidents.

[0003] Part of the human factor contributing to these accidents is that after the construction of offshore wind farms, the wind turbine foundations, due to their structural characteristics, become reefs, attracting fish. Some fishermen and anglers, driven by vested interests, fish near offshore wind farms. Fishing boats and other vessels are prone to colliding with the foundations, damaging the protective paint coating. Furthermore, fishing boats anchoring near the foundations can easily damage submarine cables. However, manual monitoring of the waters near wind farms is laborious and arduous, and can be prone to oversight.

[0004] Currently, some companies are considering applying AIS technology to intrusion warnings in waters near wind farms. However,

[0005] For some fishing vessels, there are illegal shutdown behaviors, and a few small ships have not chosen to install AIS equipment, so there are still monitoring omissions. Therefore, this application proposes a new technical solution. Summary of the Invention

[0006] In order to improve the intrusion management effect of offshore wind farms, the present application provides an offshore wind farm ship intrusion identification and early warning method and system.

[0007] In a first aspect, the present application provides a method for identifying and warning of ship intrusion in an offshore wind farm, which adopts the following technical solutions:

[0008] A method for identifying and warning of ship intrusion in an offshore wind farm, comprising:

[0009] Step 1: Establish a monitoring foundation, which includes:

[0010] Configure multiple mobile monitoring devices that integrate wireless communication, water mobility, real-time image acquisition, satellite positioning, and release of fishing interference information, and deploy them in designated waters;

[0011] Set up a site server at the offshore wind farm and establish a data connection between the server and the mobile monitoring device;

[0012] Step 2: Establishing a ship intrusion response mechanism, which includes: configuring a server and configuring a mobile monitoring device; wherein, the configuring server includes:

[0013] Receive positioning data uploaded by the mobile monitoring device and mark it on the preset wind farm electronic map to generate a base map;

[0014] Based on the predefined monitoring range of the device, the monitoring area of ​​the mobile monitoring device is updated on the base map to generate a patrol map;

[0015] Monitor patrol maps based on preset patrol dispatch logic and send maneuvering instructions to control the mobile monitoring device to adjust its position;

[0016] Receive video / image data uploaded by mobile monitoring devices, perform image recognition, obtain recognition results and send them back;

[0017] The configuration of the mobile monitoring device includes:

[0018] Receive the recognition result, if the recognition result shows the specified water unit, perform the shooting fixed action, and search the preset database according to the recognition result to obtain the size of the water unit;

[0019] Calculate the pixel size of the water unit image captured in real time, and find the image scale based on the size of the water unit;

[0020] Calculate the estimated distance between the mobile monitoring device and the surface unit based on the image scale;

[0021] If the estimated distance is greater than the preset following threshold, an early warning message is sent to the designated terminal through the server, and the mobile monitoring device is controlled to approach the designated water unit and send out a fishing interference message.

[0022] Optionally, the mobile monitoring device is provided with a device for dropping an interference unit underwater via a rope, and the rope is configured to be retracted and released by an automatic rope reel;

[0023] The configuration of the mobile monitoring device also includes:

[0024] Receiving a time correction instruction and checking the time; wherein the time includes the date and the 24-hour time;

[0025] Get the current time and record it as the condition parameter;

[0026] Search the preset database based on the conditional parameters to obtain the current active fish population information in the current water area;

[0027] Identify whether there are pre-stored fish suitable for fishing or economically catching fish in the current active fish population information. If so, execute the interference release process.

[0028] Optionally, the interference delivery process includes:

[0029] Search the preset database based on the current suitable fishing fish or economically catching fish to obtain the matching fish active water depth data;

[0030] The automatic rope reel is ordered to release the interference unit, and the rope release length is determined according to the water depth data where the fish school is active.

[0031] Optionally, the patrol scheduling logic includes:

[0032] Determine whether each mobile monitoring device is actively approaching the water unit. If not, add monitoring point spacing monitoring; the monitoring point monitoring includes:

[0033] Calculate the distance between any two mobile monitoring devices based on the patrol map;

[0034] If the distance is less than the preset optimized distance, one mobile device is made to move in a direction away from the other mobile device, and the closer to the center of the patrol map, the lower the movement priority.

[0035] Optionally, the configuration server further includes:

[0036] T1 is the anti-interference duration;

[0037] If the video / image data uploaded by two or more mobile monitoring devices within the T1 duration is identified as a designated water unit, and the feature comparison similarity exceeds the similarity threshold, the single follow logic is executed;

[0038] The single following logic includes: the mobile monitoring device that subsequently detects the designated water unit remains silent.

[0039] Optionally, the recognition result includes the ship model and bow features;

[0040] The single follow-up logic includes:

[0041] If multiple mobile monitoring devices detect an invading water unit at the same time, then:

[0042] Estimating the ship's heading based on bow characteristics;

[0043] Predicting the vessel's position based on the estimated distance between the mobile monitoring device and the surface unit;

[0044] Predict the intrusion location after T2 time based on the ship's position and heading;

[0045] Calculate the real-time tracking distance between the intrusion point and the mobile monitoring device monitoring the vessel;

[0046] Determine the mobile monitoring device with the smallest real-time tracking distance to follow the current water unit.

[0047] In a second aspect, the present application provides an offshore wind farm ship intrusion identification and warning system, which adopts the following technical solutions:

[0048] An offshore wind farm ship intrusion identification and warning system, comprising:

[0049] A mobile monitoring device that integrates wireless communication, water mobility, real-time image acquisition, satellite positioning, and release of fishing interference information, and is deployed in designated waters; and

[0050] A server establishes a data connection with the mobile monitoring device;

[0051] Wherein, the server is configured as follows:

[0052] Receive positioning data uploaded by the mobile monitoring device and mark it on the preset wind farm electronic map to generate a base map;

[0053] Based on the predefined monitoring range of the device, the monitoring area of ​​the mobile monitoring device is updated on the base map to generate a patrol map;

[0054] Monitor patrol maps based on preset patrol dispatch logic and send maneuvering instructions to control the mobile monitoring device to adjust its position;

[0055] Receive video / image data uploaded by mobile monitoring devices, perform image recognition, obtain recognition results and send them back;

[0056] The mobile monitoring device is configured as follows:

[0057] Receive the recognition result, if the recognition result shows the specified water unit, perform the shooting fixed action, and search the preset database according to the recognition result to obtain the size of the water unit;

[0058] Calculate the pixel size of the water unit image captured in real time, and find the image scale based on the size of the water unit;

[0059] Calculate the estimated distance between the mobile monitoring device and the surface unit based on the image scale;

[0060] If the estimated distance is greater than a preset following threshold, the mobile monitoring device is controlled to approach the designated water unit and a fishing interference message is issued.

[0061] In summary, the present application includes at least one of the following beneficial technical effects: deploying mobile monitoring devices that can maneuver in designated waters, and discovering invading water level units based on real-time images collected by the mobile monitoring devices; after determining the invading water units, sending early warning information to the designated terminal, and the mobile monitoring device follows and approaches to collect evidence; at the same time, fishing interference information can also be released to guide and drive away fishing boats and the like from the wind farm; since the wind farm actively discovers the invading ships at this time and no one is continuously monitoring, the intrusion management effect of the offshore wind farm is better. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Figure 1 It is a schematic diagram of the main process of the method of the present application;

[0063] Figure 2 It is a schematic diagram of the main structure of the device of the present application;

[0064] Figure 3 is a schematic diagram of the control architecture of the device of the present application;

[0065] Figure 4 It is another structural schematic diagram of the device of the present application.

[0066] Explanation of the accompanying reference numerals: 1. Water platform; 11. Cabin; 111. Launching tube; 12. Upper frame; 13. Camera module; 14. Distance sensing unit; 2. Interference unit; 3. Launching action module; 31. Automatic rope reel; 32. Upper air pipe; 33. Blowing unit; 34. Side air pipe; 4. Master control module; 5. Solar cell. DETAILED DESCRIPTION

[0067] The following is combined with Figure 1-4 This application is described in further detail.

[0068] The embodiment of the present application discloses a method for identifying and warning of ship intrusion into an offshore wind farm.

[0069] Reference Figure 1 ,The offshore wind farm ship intrusion identification and early warning methods include:

[0070] Step 1: Establish a monitoring foundation, which includes:

[0071] Configure multiple mobile monitoring devices that integrate wireless communication, water mobility, real-time image acquisition, satellite positioning, and release of fishing interference information, and deploy them in designated waters;

[0072] Set up a site server at the offshore wind farm and establish a data connection between the server and the mobile monitoring device;

[0073] Step 2: Establish a ship intrusion response mechanism, which includes: configuring a server and configuring a mobile monitoring device.

[0074] The contents involved in step one and step two are explained separately below. Considering that the characteristics of the mobile monitoring device are helpful for understanding the method, the mobile monitoring device is first described in detail.

[0075] For mobile monitoring devices, see Figure 2 and Figure 3 It includes: a water platform 1, a power unit, an interference unit 2, a delivery action module 3, a master control module 4 and a power supply module.

[0076] Floating platform 1 is a comprehensive integrated platform, its hull material similar to buoys, possessing a certain degree of corrosion resistance to meet the requirements of offshore operations. It collects environmental information within a planned area (the user-defined monitoring range of the device), generates positioning data, and floats in a designated area as a carrier. The power unit, jamming unit 2, launch module 3, master control module 4, and power supply module are all installed on floating platform 1, and the power supply module provides power.

[0077] When in use, the general control module 4 serves as the control core of the device, communicates with the server as the site and exchanges data, and is used to control the power unit to drive the water platform 1 to follow the designated water unit, control the release action module to release the interference unit 2, and control the interference unit 2 to send fishing interference information.

[0078] The above is explained in detail below.

[0079] In one embodiment of the present device, the above-mentioned water platform 1 includes a cabin 11, an upper frame 12, a camera module 13 and a positioning module.

[0080] The cabin 11 is divided into two parts, the upper part being cylindrical and containing a mounting cavity. Electrical components, such as the aforementioned master control module 4, are housed within this cavity. The mounting cavity has at least one opening, which is sealed with a fixed door. The lower part of the cabin 11 is funnel-shaped, hollow, and disconnected from the mounting cavity. This cavity is called the water tank.

[0081] The upper frame 12 is fixed to the upper surface of the cabin 11, similar to a round stool structure with four legs and the upper parts of the four legs are close to each other. The camera module 13 is installed on the top of the upper frame 12 to obtain a better shooting height and a larger shooting angle.

[0082] It should be noted that, in order to protect the camera module 13 and reduce the probability of damaging the camera module 13 when the water platform 1 tilts, a protective ring is formed by surrounding the top of the upper frame 12 with a connecting rod.

[0083] Since the use of this device is somewhat dependent on images (to be explained in the following content), and the water platform 1 is inevitably shaken when placed in the sea near the wind turbine platform, it is better to install a stabilizer on the top of the upper frame 12. The stabilizer can be a handheld gimbal or a camera gimbal, which can reduce the shooting shake of the camera module 13 to ensure the subsequent utilization of the image.

[0084] Camera module 13, or camera, is preferably equipped with night vision and 180° rotatable technology in this embodiment. The night vision function is used to meet 24-hour monitoring requirements, while the 180° rotatable technology reduces the need for rotation of the water platform 1, allowing the camera to rotate and monitor the surrounding area. Camera module 13 is connected to the master control module 4.

[0085] It is understandable that this device is not used alone when used in the sea area, but multiple devices are used together to form a large area monitoring area. In fact, it is not necessary to continuously rotate the camera in the circumference, but more about the angle when shooting the target.

[0086] The positioning module, ie, Beidou or GPS positioning module, is mainly built into the upper part of the cabin 11 . If an antenna is configured, the antenna is placed on the top of the cabin 11 . The positioning module is connected to the master control module 4 .

[0087] In one embodiment of the present application, the water tank is divided into an equipment area and other areas by a sealing structure, and the delivery action module 3 includes an automatic rope reel and a tank pressure balancing mechanism.

[0088] The automatic rope reel 31 is connected to the master control module 4 and can be an electric rope reel. Its motor is built into the equipment area, and the rope reel structure is located at the top of the water tank, close to the central axis of the cabin 11. The interference unit 2 is tied to the free end of the rope head of the automatic rope reel 31 and falls by gravity. The automatic rope reel 31 reels it up, thereby realizing the retraction and release of the interference unit 2.

[0089] In one embodiment of the present application, the interference unit 2 includes a columnar body and an acoustic / optical jammer embedded and mounted on the columnar body, wherein the acoustic / optical jammer is connected to the master control module 4 and can be, for example, a lamp or an acoustic wave generator (probe, the main body is built into the cabin 11). A delivery tube 111 is formed at the bottom center of the cabin 11, and the upper end of the delivery tube 111 is connected to the water tank of the cabin 11. The columnar body is adapted to the inner diameter of the delivery tube 111, and when in use, it is separated from the delivery tube 111 and enters the water. The wires of the acoustic / optical jammer are bundled, woven, and embedded in the traction rope of the automatic rope reel 31.

[0090] In order to guide the interference unit 2 when it is recovered, the lower end of the delivery tube 111 is configured to expand outwards in a trumpet shape, so as to guide the interference unit 2 by utilizing the outwardly expanding oblique edge.

[0091] Reference Figure 4 In one embodiment of the present application, the above-mentioned chamber pressure balancing mechanism includes:

[0092] There are at least two upper air pipes 32, both of which pass through the upper portion of the cabin 11 and extend into the water tank at their lower ends;

[0093] The blower unit 33 is fixed to the top of the cabin 11. If it is installed hidden in the cabin 11, the air outlet pipe passes through the top surface of the cabin 11 and then bends downward.

[0094] The side air pipe 34 is provided through the side of the cabin 11 and has one end connected to the water tank and the other end downwardly entering the water.

[0095] Assuming that there are two upper air pipes 32 , a one-way valve is installed at the upper end of one upper air pipe 32 , and a solenoid valve is installed at the upper end of the other upper air pipe 32 , which is then connected to the air supply port of the blower unit 33 .

[0096] The air blowing unit 33 and the solenoid valve are respectively connected to the master control module 4 .

[0097] There are multiple side air pipes 34 evenly distributed around the lower part of the cabin 11. The side air pipes 34 are also equipped with solenoid valves; the solenoid valves are also connected to the main control module 4 for control.

[0098] For this application, the pressure balancing mechanism in the bin has multiple features to cooperate with other components. The following is an explanation of the usage process:

[0099] 1) When jamming is required, the automatic rope reel 31 releases the traction rope, and the jamming unit 2 falls down the delivery tube 111 under the action of gravity, leaving the cabin 11 until it reaches the specified depth and stops. The master control module 4 then controls the jamming unit 2 to release the jamming signal to disrupt the fish in the sea area.

[0100] It should be noted that after the drooping interference unit 2 enters the water, it will sway due to the influence of the seawater flow, which will interfere with the stability of the device body. Therefore, the main control module 4: opens the solenoid valve of the blower unit 33 and opens the solenoid valve of the side air pipe 34 to allow seawater to flow into the water tank; uses seawater to counterweight the cabin 11, reduces the impact of the center of gravity offset caused by the drooping interference unit 2, and enhances stability.

[0101] 2) When the interference operation is no longer needed, the automatic rope reel 31 retracts the traction rope, pulls the interference unit 2 to retract the delivery tube 111, and the lower end stops in the upper end of the delivery tube 111.

[0102] It should be noted that when recovering the interference unit 2, in addition to stopping the interference unit 2, the water tank of the cabin 11 also needs to be emptied. Specifically, the main control module 4 controls the blower unit 33 to supply air into the water tank, and uses the air to discharge the seawater from the delivery pipe 111 or the side air pipe 34.

[0103] When the interference unit 2 returns to standby mode, the solenoid valve of the side air pipe 34 is closed, and the solenoid valve of the other upper air pipe 32 is opened. When this mode is in effect, the blower unit 33 continuously supplies air to the water tank, and the gas is then discharged from the aforementioned upper air pipe 32. The flowing air can dry the water tank, thereby extending the service life of the device.

[0104] It is understood that the cessation of the air-drying process can be timed or determined by a humidity sensor. When the air-drying process is complete, the solenoid valves of the side air pipe 34 and the upper air pipe 32 are closed. To ensure the dryness of the water tank, the lower end of the columnar body of the interference unit 2 is preferably equipped with a sealing ring.

[0105] In one embodiment of the present application, the power supply module of the device includes a battery and a solar cell 5, wherein the battery is built into the cabin 11 and serves as the main power supply unit; there are multiple solar cells 5, which are fixed around the upper frame 12 and connected to the battery with a matching controller to utilize solar energy to charge the battery, thereby improving the endurance of the device.

[0106] It is understandable that in addition to regular manual charging of batteries, based on the current background of wireless charging technology, wireless charging stations can also be established in the sea area of ​​wind farms.

[0107] In one embodiment of the present application, the power unit can be composed of the same electric propeller as the current unmanned boat; the power unit is connected to the master control module 4 to control the movement of the water platform 1.

[0108] It should be noted that in order to better meet the device's needs for following and monitoring water units, the steering of the power unit is no longer achieved using a traditional rudder, but is achieved through two symmetrical sets of electric propellers. The two propellers are not in a face-to-face mode, but are in an eight-shaped or parallel shape when viewed from above, so as to utilize the differential speed of the two sets of propellers to achieve rapid direction changes.

[0109] In one embodiment of the present application, the master control module 4 (i.e., a control circuit board integrating a processor, a memory, a conversion circuit, a drive controller and other units) exchanges data with the server through a configured communication unit (GPRS, etc.); at the same time, the server establishes a connection with the terminal of the established shore-based master control center through the communication facilities to realize intrusion warning and shore-based supervision functions.

[0110] The video / images of the designated waters captured by the camera module 13 are transmitted to the server, which performs image recognition and obtains the recognition results. Recognition here mainly refers to ship recognition, such as marine ship target classification detection based on YOLOv3 and SORT. When used, the server can load the corresponding software.

[0111] In this application, the master control module 4 is configured as:

[0112] 1) Receive the recognition result of the camera module 13 on the data collected by the server.

[0113] The recognition results include the types of element features present in the image, the categories of ship features, and the completeness of the features.

[0114] 2) If the recognition result shows a specified water unit, the camera module 13 takes a fixed shot and searches a preset database based on the recognition result to obtain the size of the water unit;

[0115] Regarding designated waterborne units: designated as vessels in this application.

[0116] Regarding fixed camera: Knowing that every image has a center, ensuring that the ship's characteristic elements are always centered in the image is considered fixed camera. This can be achieved by adjusting the camera to the right once, using the minimum rotation, if the feature is to the right in the image. Repeat this adjustment until the condition is met.

[0117] About the database: The database contains various types of ships and matching actual size data, and the size data at least includes the length, width or height of the ship.

[0118] 3) Calculate the pixel size of the water unit image captured in real time, and calculate the image scale based on the size of the water unit.

[0119] It is known that a key point of image recognition is to demarcate and extract the contours of target features; at the same time, any position in the image has corresponding pixel coordinates, from which the pixel size of the water unit can be obtained.

[0120] Assume that the target vessel is a Type A fishing vessel, the actual size obtained from the database search is 100m in length, and the pixel size is 100p in length of the feature contour pixel, so the image scale is 1m / p.

[0121] 4) Calculate the estimated distance between the water platform 1 and the water unit based on the image scale.

[0122] It is understandable that, with the shooting lens unchanged, the sizes of the ship features in the images obtained by shooting an A-type ship from a position of 300 meters and from a position of 100 meters are different, and each corresponds to an image scale.

[0123] Therefore, based on the image scale obtained in 3), the scale-distance relationship table verified in the database is searched to obtain the estimated distance between the water platform 1 and the water unit.

[0124] It should be noted that if the camera module is variable-focus, the changes in shooting parameters need to be included in the above process for correction. For example, if the camera is zoomed in 20 times, the scale should be added with the corresponding parameter.

[0125] 5) If the estimated distance is greater than the preset following threshold, the power unit is controlled to drive the water platform to approach the designated water unit.

[0126] In this embodiment, the following threshold is preferably 20m-35m, which can effectively follow and ensure the safety of evidence collection and interference implementation, and can also prevent anglers from intentionally damaging the equipment to a certain extent.

[0127] In one embodiment of the present device, considering that when the water platform 1 approaches the ship to a certain distance, it may be impossible to fully display the outline of the ship in the image, the following settings are made:

[0128] The platform 1 also includes a distance sensing unit 14 , which can be an ultrasonic sensor or a laser ranging sensor. This unit is attached to the camera module 13 (next to or on top of the lens) to ensure it is facing the vessel using the aforementioned camera tracking function. The distance sensing unit 14 is connected to the master control module 4 .

[0129] Correspondingly, the master control module 4 is configured as follows:

[0130] 1) If the recognition result is determined to be an incomplete water unit, the distance sensing unit is awakened and the distance detection value fed back by the distance sensing unit is received, and the image scale calculation is terminated.

[0131] It is understandable that, in order to save energy, sleep standby is often used in electronic devices; since this device is not powered by a trailing cable, it is relatively necessary to have a sleep design to extend the battery life of this device.

[0132] 2) If the distance detection value is greater than the preset following threshold, the power unit is controlled to drive the water platform 1 to approach the designated water unit.

[0133] 3) If the distance detection value is less than the risk threshold, the power unit is controlled to drive the water platform 1 away from the designated water unit.

[0134] The risk threshold, in this embodiment, refers to a collision risk threshold, which may be 5 m, rather than 0, because the water platform 1 needs a buffer distance for turning and braking.

[0135] According to the above settings, when the captured image is not sufficient to cover the entire outline of the ship, the device automatically uses the distance sensing unit 14 suitable for close distances to achieve the following function.

[0136] In one embodiment of the present method, based on the features of the mobile monitoring device described above, the configuration server in step 2 includes:

[0137] 1) Receive the positioning data uploaded by the mobile monitoring device and calibrate it on the preset wind farm electronic map to generate a base map.

[0138] It can be understood that the map is an electronic map with dot distribution, and each mobile monitoring device is marked on the base map in the form of a point. As the position of the mobile monitoring device changes, the position of the point on the electronic map changes accordingly.

[0139] 2) Based on the predefined monitoring range of the device, the monitoring area of ​​the mobile monitoring device is updated on the base map to generate a patrol map.

[0140] Based on the aforementioned characteristics of the mobile monitoring device, it can be seen that it uses a camera to collect environmental information. In theory, the camera can capture extremely distant targets. However, any target beyond a certain range becomes relatively blurred, and the collected image is difficult to use for subsequent water level unit identification. Therefore, users need to select a moderate and stable shooting range, i.e., the monitoring range, according to the recommendations provided by the manufacturer.

[0141] 3) Monitor the patrol map based on the preset patrol dispatch logic, and send maneuvering instructions to control the mobile monitoring device to adjust the position.

[0142] Regarding patrol dispatch logic, it includes:

[0143] Determine whether each mobile monitoring device is actively approaching the water unit. If yes, end the process; if not, add monitoring point spacing monitoring. Monitoring of monitoring points includes:

[0144] Calculate the distance between any two mobile monitoring devices based on the patrol map, that is, calculate the distance between any two marked points on the electronic map;

[0145] If the distance is less than the optimal distance preset by the user, one mobile device is moved in a direction away from the other mobile device until the distance exceeds the optimal distance, and the closer to the center of the patrol map, the lower the movement priority.

[0146] The above patrol dispatch logic setting can prevent the mobile monitoring devices from floating on the sea surface from being too close to each other due to the influence of wind, waves and ocean currents, thereby affecting the overall deployment effect of the wind farm; and the above priority setting is to achieve: when two mobile monitoring devices are determined to be closer than the optimized spacing, the mobile monitoring device closer to the center of the deployment map is silenced, and the other mobile monitoring device closer to the periphery is maneuvered and moved away.

[0147] This maneuvering optimization mode is mainly to avoid the inner mobile monitoring device from causing too many other mobile monitoring devices to adjust their positions in a chain reaction after the mobile monitoring device moves.

[0148] It's important to note that for any mobile monitoring device, staff should define a maximum maneuverability boundary to prevent it from straying too far from a charging station and potentially losing power. Similarly, in severe weather such as storms, the device can be configured to send a return-to-station command, moving the device to a safe area to mitigate the risk of loss.

[0149] 4) Receive the video / image data uploaded by the mobile monitoring device for image recognition, obtain the recognition results and send them back.

[0150] Correspondingly, the configuration of the mobile monitoring device in step 2 includes:

[0151] 1) Receive the recognition result. If the recognition result shows a specified water unit, perform a fixed shooting action and search the preset database based on the recognition result to obtain the size of the water unit.

[0152] 2) Calculate the pixel size of the water unit image captured in real time, and calculate the image scale based on the size of the water unit;

[0153] 3) Calculate the estimated distance between the mobile monitoring device and the water unit based on the image scale;

[0154] 4) If the estimated distance is greater than the preset following threshold, an early warning message is sent to the designated terminal through the server, and the mobile monitoring device is controlled to approach the designated water unit and send a fishing interference message.

[0155] The above content has been explained in the mobile monitoring device, so it will not be repeated here.

[0156] In one embodiment of the present application, the deployment of the interference unit 2 does not start after the mobile monitoring device approaches the water unit to a specified preset distance, but the mobile monitoring device is configured to:

[0157] Receive (user input) time correction instructions and check the time; wherein the time includes the date and 24-hour time;

[0158] Get the current time and record it as the condition parameter;

[0159] Search the preset database based on the conditional parameters to obtain the current active fish population information in the current water area;

[0160] Identify whether there is any pre-stored fish suitable for fishing or economically catching in the current active fish population information. If so, execute the interference release process; if not, do not perform any interference behavior.

[0161] Fish have different habits and habitats, especially migratory fish, which are not fixed to a single area. Fishing boats and anglers travel to wind farms specifically to catch specific species. This information can be used to assess unsuitable waters for fishing and fishing, by simply conducting contact and evidence collection rather than blindly interfering, thus reducing energy consumption.

[0162] Regarding the above interference delivery process, specifically:

[0163] Search the preset database based on the current suitable fishing fish or economically catching fish to obtain the matching fish active water depth data;

[0164] The automatic rope reel 31 is ordered to release the interference unit 2, and the rope release length is determined according to the active water depth data of the fish school. For example, if the active water depth of the fish school is 10-15m, the release depth of the interference unit 2 is 12m. The specific release plan is pre-stored in the storage unit of the device and is waiting to be called.

[0165] As for the automatic rope reel 31, it is known that it is driven by a motor, so the length of the lowered rope can be controlled by controlling the rotation amount of the motor. According to the location of the living water layer of the fish school, the interference unit 2 is released in a directional manner to effectively improve the interference effect.

[0166] In one embodiment of the present application, the method also considers the impact caused by multiple mobile monitoring devices successively and simultaneously discovering an intruding ship. Specifically, the server is configured to:

[0167] T1 is the anti-interference time length; T1 can be 10 minutes;

[0168] If the video / image data uploaded by two or more mobile monitoring devices within the T1 duration is identified as a designated water unit, and the feature comparison similarity exceeds the preset similarity threshold, the single follow-up logic is executed.

[0169] The above-mentioned feature comparison is image comparison, but it does not refer to original image comparison. Instead, it refers to comparing the ships extracted during the image recognition process, such as contour comparison.

[0170] The above-mentioned single following logic includes: the mobile monitoring device that subsequently detects the designated water unit remains silent.

[0171] Based on the above content, it is possible to prevent multiple mobile monitoring devices from repeatedly following water units, causing problems such as excessive monitoring loopholes and waste of resources.

[0172] The above is actually aimed at the case where the same invading ship is discovered first and then later. However, when two mobile monitoring devices discover an invading water unit at the same time, then:

[0173] 1) Estimate the ship's heading based on the bow feature (one of the recognition results).

[0174] 2) Predicting the ship's position based on the estimated distance between the mobile monitoring device and the surface unit;

[0175] The above means that the position of the mobile monitoring device + the estimated distance + the current camera direction are used to estimate the position of the ship.

[0176] 3) Predict the intrusion location after T2 time (e.g. 5 minutes) based on the ship's position and heading;

[0177] The above is to estimate the intrusion location by adding the ship position + the observed change per unit time * T2 + the ship heading.

[0178] 4) Calculate the real-time tracking distance between the intrusion point and the mobile monitoring device monitoring the ship.

[0179] 5) Determine the mobile monitoring device with the smallest real-time tracking distance to follow the current water unit.

[0180] According to the above arrangement, on the one hand, it is possible to avoid multiple mobile monitoring devices from following the target ship at the same time, and on the other hand, the maneuvering distance is optimized, which can reduce the energy consumption of the mobile monitoring devices.

[0181] The embodiment of the present application also discloses an offshore wind farm ship intrusion identification and warning system.

[0182] An offshore wind farm ship intrusion identification and early warning system includes a mobile monitoring device and a server.

[0183] The settings and effects of the mobile monitoring device and the server have been described in the embodiments of the method, so they will not be repeated here.

[0184] In summary, this application can:

[0185] 1. Use mobile monitoring devices as water monitoring units and deploy them around offshore wind turbines;

[0186] 2. Use mobile monitoring devices to collect real-time images of the sea surface, providing basic data for detecting intruding ships using image recognition technology;

[0187] 3. After discovering and confirming the intruding ship, the mobile monitoring device is ordered to follow and collect evidence. After the fish school information analysis in the current sea area shows that there is fishing or angling value, the interference unit 2 is deployed underwater to generate fishing interference information;

[0188] 4. The deployment of interference unit 2 is targeted according to the habitat information of fish schools to improve the interference effect.

[0189] The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A method for identifying and warning of ship intrusion in an offshore wind farm, characterized in that: include: Step 1: Establish a monitoring foundation, which includes: Configure multiple mobile monitoring devices that integrate wireless communication, water mobility, real-time image acquisition, satellite positioning, and release of fishing interference information, and deploy them in designated waters; Set up a site server at the offshore wind farm and establish a data connection between the server and the mobile monitoring device; Step 2: Establishing a ship intrusion response mechanism, which includes: configuring a server and configuring a mobile monitoring device; wherein, the configuring server includes: Receive positioning data uploaded by the mobile monitoring device and mark it on the preset wind farm electronic map to generate a base map; Based on the predefined monitoring range of the device, the monitoring area of ​​the mobile monitoring device is updated on the base map to generate a patrol map; Monitor patrol maps based on preset patrol dispatch logic and send maneuvering instructions to control the mobile monitoring device to adjust its position; Receive video / image data uploaded by mobile monitoring devices, perform image recognition, obtain recognition results and send them back; The configuration of the mobile monitoring device includes: Receive the recognition result, if the recognition result shows the specified water unit, perform the shooting fixed action, and search the preset database according to the recognition result to obtain the size of the water unit; Calculate the pixel size of the water unit image captured in real time, and find the image scale based on the size of the water unit; Calculate the estimated distance between the mobile monitoring device and the surface unit based on the image scale; If the estimated distance is greater than the preset following threshold, an early warning message is sent to the designated terminal through the server, and the mobile monitoring device is controlled to approach the designated water unit and send a fishing interference message; The mobile monitoring device is provided with an interference unit (2) that is deployed underwater via a rope, and the rope is configured to be retracted and released by an automatic rope reel (31); The configuration of the mobile monitoring device also includes: Receiving a time correction instruction and checking the time; wherein the time includes the date and the 24-hour time; Get the current time and record it as the condition parameter; Search the preset database based on the conditional parameters to obtain the current active fish population information in the current water area; Identify whether there are pre-stored fish suitable for fishing or economically catching fish in the current active fish population information. If so, execute the interference release process.

2. The offshore wind farm ship intrusion identification and early warning method according to claim 1 is characterized in that: The interference delivery process includes: Search the preset database based on the current suitable fishing fish or economically catching fish to obtain the matching fish active water depth data; The automatic rope reel (31) is ordered to release the interference unit (2), and the rope release length is determined according to the active water depth data of the fish school.

3. The offshore wind farm ship intrusion identification and early warning method according to claim 1 is characterized in that: The patrol dispatch logic includes: Determine whether each mobile monitoring device is actively approaching the water unit. If not, add monitoring point spacing monitoring; the monitoring point monitoring includes: Calculate the distance between any two mobile monitoring devices based on the patrol map; If the distance is less than the preset optimized distance, one mobile device is made to move in a direction away from the other mobile device, and the closer to the center of the patrol map, the lower the movement priority.

4. The offshore wind farm ship intrusion identification and early warning method according to claim 1 is characterized in that: The configuration server further includes: T1 is the anti-interference duration; If the video / image data uploaded by two or more mobile monitoring devices within the T1 duration is identified as a designated water unit, and the feature comparison similarity exceeds the similarity threshold, the single follow logic is executed; The single following logic includes: the mobile monitoring device that subsequently detects the designated water unit remains silent.

5. The method for identifying and warning of ship intrusion in an offshore wind farm according to claim 4, characterized in that: The identification result includes the ship model and bow features; The single follow-up logic includes: If multiple mobile monitoring devices detect an invading water unit at the same time, then: Estimating the ship's heading based on bow characteristics; Predicting the vessel's position based on the estimated distance between the mobile monitoring device and the surface unit; Predict the intrusion location after T2 time based on the ship's position and heading; Calculate the real-time tracking distance between the intrusion point and the mobile monitoring device monitoring the vessel; Determine the mobile monitoring device with the smallest real-time tracking distance to follow the current water unit.

6. An offshore wind farm ship intrusion identification and warning system, characterized by: include: A mobile monitoring device, which integrates wireless communication, water area maneuvering, real-time image acquisition, satellite positioning, and release of fishing interference information, and is deployed in a designated water area; the mobile monitoring device is provided with an interference unit (2) that is deployed underwater via a rope, and the rope is configured to be retracted and released by an automatic rope reel (31); as well as, A server establishes a data connection with the mobile monitoring device; Wherein, the server is configured as follows: Receive positioning data uploaded by the mobile monitoring device and mark it on the preset wind farm electronic map to generate a base map; Based on the predefined monitoring range of the device, the monitoring area of ​​the mobile monitoring device is updated on the base map to generate a patrol map; Monitor patrol maps based on preset patrol dispatch logic and send maneuvering instructions to control the mobile monitoring device to adjust its position; Receive video / image data uploaded by mobile monitoring devices, perform image recognition, obtain recognition results and send them back; The mobile monitoring device is configured as follows: Receiving a time correction instruction and checking the time; wherein the time includes the date and the 24-hour time; Get the current time and record it as the condition parameter; Search the preset database based on the conditional parameters to obtain the current active fish population information in the current water area; Identify whether there are pre-stored fish species suitable for fishing or economically catching in the current active fish population information. If so, execute the interference release process; Receive the recognition result, if the recognition result shows the specified water unit, perform the shooting fixed action, and search the preset database according to the recognition result to obtain the size of the water unit; Calculate the pixel size of the water unit image captured in real time, and find the image scale based on the size of the water unit; Calculate the estimated distance between the mobile monitoring device and the surface unit based on the image scale; If the estimated distance is greater than a preset following threshold, the mobile monitoring device is controlled to approach the designated water unit and a fishing interference message is issued.

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