Ship state recognition and behavior graph construction method and device

Abstract

The application provides a ship in-port state recognition and behavior graph construction method and device, and the method comprises the following steps: defining port information classes based on port characteristics and preset definition rules; obtaining port information, and analyzing the port information based on the port information classes to obtain port data; obtaining AIS data, and determining a ship trajectory based on the AIS data; recognizing a ship in-port state based on the ship trajectory and the port data; and constructing a ship in-port behavior graph based on the port data and the ship in-port state. The application can not only comprehensively and holographically understand and master the global state and behavior of a ship in port, but also can recognize a ship in-port state based on a ship behavior graph, and can predict a ship arrival rule, thereby improving the rationality of port safety management and optimized scheduling.

Description

Technical Field

[0001] This invention relates to the field of waterway transportation technology, specifically to a method and apparatus for identifying the status of ships in port and constructing behavior maps. Background Technology

[0002] Current research on port or restricted waters based on AIS data mainly focuses on ship trajectory data preprocessing, ship traffic characteristic parameter distribution, ship encounter distribution and ship domain, ship trajectory similarity calculation, trajectory clustering, etc. It mainly starts from data features or regional features, without considering the full state of ships in port. At the same time, ship behavior prediction is mainly based on speed, heading, turning rate, rotation speed, etc., ignoring the relationship between ship behavior states and ship behavior semantics, so the research results are local and one-sided and cannot cover the full range of ship behavior characteristics in port.

[0003] Therefore, there is an urgent need to provide a method and device for identifying the status of ships in port and constructing behavior maps, so as to grasp the status of ships in port across the entire chain, and construct ship behavior maps to identify the status of ships in port and the arrival patterns of ships. Summary of the Invention

[0004] In view of this, it is necessary to provide a method and apparatus for identifying the status of ships in port and constructing behavior maps, so as to solve the technical problems in the prior art that do not consider all the statuses of ships in port and cannot cover the full range of behavioral characteristics of ships in port, resulting in low rationality of port safety management and port scheduling.

[0005] On the one hand, the present invention provides a method for identifying the port status and constructing a behavior map of a ship, including:

[0006] Port information classes are defined based on port characteristics and preset definition rules;

[0007] Obtain port information, and parse the port information based on the port information class to obtain port data;

[0008] Acquire AIS data and determine the ship's trajectory based on the AIS data;

[0009] The vessel's port status is identified based on the vessel trajectory and the port data;

[0010] A ship behavior map in port is constructed based on the port data and the ship's status in port.

[0011] In some possible implementations, the port features include berths, channels, VTS reporting lines, anchorages, and coastlines; the port information classes include port berth information, port channel information, port VTS reporting line information, port anchorage information, and port coastline information; the port berth information includes berth name and berth location, the port channel information includes channel name, channel radius, and key point locations, the port VTS reporting line information includes VTS reporting line name, VTS reporting line radius, and key point locations, the port anchorage information includes anchorage name, anchorage radius, and key point locations, and the port coastline information includes coastline name and key point locations.

[0012] In some possible implementations, determining the ship's trajectory based on the AIS data includes:

[0013] Based on the AIS data, multiple trajectory points of the ship are determined, and these multiple trajectory points are sorted in chronological order to obtain the initial ship trajectory.

[0014] Identify invalid trajectory points in the initial ship trajectory and remove the invalid trajectory points to obtain the ship trajectory, which includes multiple valid trajectory points.

[0015] In some possible implementations, the vessel's port status includes the vessel being within the VTS reporting line; identifying the vessel's port status based on the vessel's trajectory and the port data includes:

[0016] Obtain the trajectory point coordinates of each of the aforementioned valid trajectory points;

[0017] When the VTS reporting line is circular, the coordinates of the center point of the VTS reporting line are obtained, and the distance between the effective trajectory point and the center point of the VTS reporting line is determined based on the coordinates of the trajectory point and the coordinates of the center point of the VTS reporting line. When the distance between the effective trajectory point and the center point of the VTS reporting line is less than or equal to the radius of the VTS reporting line, the vessel is within the VTS reporting line.

[0018] When the VTS reporting line is a polygon, the coordinates of the key points of the VTS reporting line are obtained, and the cross product of the valid trajectory points and the key points of the VTS reporting line is determined based on the coordinates of the trajectory points and the coordinates of the key points of the VTS reporting line. When the cross products are in the same direction, the vessel is within the VTS reporting line.

[0019] In some possible implementations, the vessel's port status also includes the vessel being in the channel, the vessel navigating in the channel, and the vessel remaining in the channel; the identification of the vessel's port status based on the vessel's trajectory and the port data further includes:

[0020] Obtain the trajectory point coordinates of each of the aforementioned valid trajectory points;

[0021] When the waterway is circular, the coordinates of the center point of the waterway are obtained, and the distance between the effective trajectory point and the center point of the waterway is determined based on the coordinates of the trajectory point and the coordinates of the center point of the waterway. When the distance between the effective trajectory point and the center point of the waterway is less than or equal to the radius of the waterway, the vessel is within the waterway.

[0022] When the waterway is a polygon, the coordinates of the key points of the waterway are obtained, and the cross product of the effective trajectory points and the key points of the waterway is determined based on the coordinates of the trajectory points and the coordinates of the key points of the waterway. When the cross products are in the same direction, the ship is in the waterway.

[0023] Determine whether the speed of the vessel is less than a preset speed. If the speed of the vessel is less than the preset speed, the vessel stays in the channel. If the speed of the vessel is greater than or equal to the preset speed, the vessel navigates in the channel.

[0024] In some possible implementations, the vessel's port status also includes the vessel being in anchorage, the vessel navigating in anchorage, and the vessel remaining in anchorage; the identification of the vessel's port status based on the vessel's trajectory and the port data further includes:

[0025] Obtain the trajectory point coordinates of each of the aforementioned valid trajectory points;

[0026] When the anchorage is circular, the coordinates of the anchorage center point are obtained, and the distance between the effective trajectory point and the anchorage center point is determined based on the coordinates of the trajectory point and the anchorage center point. When the distance between the effective trajectory point and the anchorage center point is less than or equal to the anchorage radius, the vessel is within the anchorage.

[0027] When the anchorage is a polygon, the coordinates of the key points of the anchorage are obtained, and the cross product of the effective trajectory points and the key points of the anchorage is determined based on the coordinates of the trajectory points and the coordinates of the key points of the anchorage. When the cross products are in the same direction, the ship is in the anchorage.

[0028] Determine whether the speed of the vessel is less than a preset speed. If the speed of the vessel is less than the preset speed, the vessel stays in the anchorage. If the speed of the vessel is greater than or equal to the preset speed, the vessel sails in the anchorage.

[0029] In some possible implementations, the vessel's port status includes the vessel being located at the target berth; the identification of the vessel's port status based on the vessel's trajectory and the port data further includes:

[0030] Obtain the trajectory point coordinates of each of the aforementioned valid trajectory points;

[0031] Based on the coordinates of the trajectory points and the locations of the key points on the coastline, it is determined whether the ship is located within the buffer zone of the coastline.

[0032] When the vessel is located within the buffer zone of the coastline, the berth position coordinates of each berth are obtained, and the distance between the effective trajectory point and each berth is determined based on the trajectory point coordinates and the berth position coordinates. The berth closest to the effective trajectory point is then taken as the target berth.

[0033] In some possible implementations, the vessel's port status also includes the vessel being in other waters, the vessel navigating in other waters, and the vessel remaining in other waters; the identification of the vessel's port status based on the vessel's trajectory and the port data further includes:

[0034] Determine whether the vessel's port status is as follows: the vessel is in the channel, the vessel is in the anchorage, or the vessel is at the target berth.

[0035] If the vessel's port status is not in the channel, in the anchorage, or at the target berth, then the vessel's port status is in other waters.

[0036] The system determines whether the ship's speed is less than a preset speed. If the ship's speed is less than the preset speed, the ship stays in other waters. If the ship's speed is greater than or equal to the preset speed, the ship sails in other waters.

[0037] In some possible implementations, constructing a ship behavior map based on the port data and the ship's port status includes:

[0038] The VTS reporting line, channel, anchorage and berth in the port data are treated as multiple nodes;

[0039] Determine at least one edge of the plurality of nodes based on the ship's port status;

[0040] Obtain the ship's navigation parameters, determine the weight of at least one edge based on the navigation parameters, and generate the ship's behavior graph in port.

[0041] On the other hand, the present invention also provides a device for identifying the status of a ship in port and constructing a behavior map, comprising:

[0042] The port information class definition unit is used to define port information classes based on port characteristics and preset definition rules.

[0043] The port information parsing unit is used to acquire port information and parse the port information based on the port information class to obtain port data.

[0044] A ship trajectory determination unit is used to acquire AIS data and determine the ship trajectory based on the AIS data;

[0045] A vessel port status identification unit is used to identify the vessel's port status based on the vessel trajectory and the port data.

[0046] The vessel in port behavior map construction unit is used to construct a vessel in port behavior map based on the port data and the vessel's in port status.

[0047] The beneficial effects of adopting the above embodiments are as follows: The ship port status identification and behavior map construction method provided by the present invention defines port information classes based on port characteristics and preset definition rules, realizing the effective expression and organization of port information. Furthermore, it identifies the ship port status based on ship trajectories and port data, enabling full-domain and full-chain monitoring of the ship's port status. Further, the present invention constructs a ship port behavior map based on port data and ship port status. This ship port behavior map not only provides a comprehensive and holistic understanding and grasp of the ship's overall port status and behavior, but also identifies the ship's port congestion status and predicts ship arrival patterns. In addition, combining the behavior maps of all vessels stopping in the port allows for the evaluation of port efficiency and improves the rationality of port safety management and optimized scheduling. Attached Figure Description

[0048] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0049] Figure 1 A schematic flowchart of an embodiment of the ship port status identification and behavior graph construction method provided by the present invention;

[0050] Figure 2 For the present invention Figure 1 A schematic diagram of an embodiment of S103;

[0051] Figure 3 For the present invention Figure 1 A flowchart illustrating the first embodiment of S104;

[0052] Figure 4 For the present invention Figure 1 A schematic diagram of the second embodiment of S104;

[0053] Figure 5 For the present invention Figure 1 A schematic diagram of the third embodiment of S104;

[0054] Figure 6 For the present invention Figure 1 A flowchart illustrating the fourth embodiment of S104;

[0055] Figure 7 For the present invention Figure 1 A flowchart illustrating the fifth embodiment of S104;

[0056] Figure 8 For the present invention Figure 1 A schematic diagram of an embodiment of S105;

[0057] Figure 9 This is a schematic diagram of the first embodiment of the ship behavior diagram in port provided by the present invention;

[0058] Figure 10 This is a schematic diagram of a second embodiment of the ship behavior diagram in port provided by the present invention;

[0059] Figure 11 This is a schematic diagram of the third embodiment of the ship behavior diagram in port provided by the present invention;

[0060] Figure 12 This is a schematic diagram of an embodiment of the ship port status identification and behavior map construction device provided by the present invention. Detailed Implementation

[0061] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0062] It should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this invention illustrate operations implemented according to some embodiments of the invention. It should be understood that the operations in the flowcharts may be implemented out of order, and steps without logical contextual relationships may be reversed or performed simultaneously. Furthermore, those skilled in the art, guided by the content of this invention, may add one or more other operations to the flowcharts, or remove one or more operations from the flowcharts. Some block diagrams shown in the drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities may be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor systems and / or microcontroller systems.

[0063] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0064] This invention provides a method and apparatus for identifying the status of a ship in port and constructing a behavior map, which will be described below.

[0065] Before demonstrating the implementation examples, VTS and AIS will be introduced.

[0066] VTS (Vessel Traffic Service) is a system established by the competent authority to implement traffic control and provide consultation services for vessels in order to ensure vessel traffic safety, improve vessel traffic efficiency, and protect the aquatic environment. AIS (Automatic Identification System) is a new type of digital navigation aid system and equipment that integrates network technology, modern communication technology, computer technology, and electronic information display technology, consisting of shore-based (base station) facilities and shipboard equipment.

[0067] Figure 1 This is a schematic flowchart of an embodiment of the ship port status identification and behavior graph construction method provided by the present invention, as shown below. Figure 1 As shown, the methods for identifying the status of ships in port and constructing behavior maps include:

[0068] S101. Define port information classes based on port characteristics and preset definition rules;

[0069] S102. Obtain port information and parse the port information based on the port information class to obtain port data;

[0070] S103. Obtain AIS data and determine the ship's trajectory based on the AIS data;

[0071] S104. Identify the port status of ships based on ship trajectories and port data;

[0072] S105. Construct a ship behavior map in port based on port data and ship status in port.

[0073] Compared with existing technologies, the ship port status identification and behavior map construction method provided in this invention defines port information classes based on port characteristics and preset definition rules, achieving effective expression and organization of port information. Furthermore, it identifies the ship port status based on ship trajectories and port data, enabling comprehensive monitoring of the ship's status throughout the entire port process. Further, this invention constructs a ship port behavior map based on port data and ship port status. This behavior map not only provides a comprehensive and holistic understanding of the ship's overall port status and behavior but also identifies ship congestion and predicts arrival patterns. Moreover, combining the behavior maps of all vessels stopping in the port allows for the evaluation of port efficiency, improving the rationality of port safety management and optimized scheduling.

[0074] Port features include berths, waterways, VTS reporting lines, anchorages, and coastlines.

[0075] It should be noted that step S101 specifically involves: determining port characteristics based on historical port data to ensure that the port information class includes all port characteristics, thereby improving the comprehensiveness of the defined port information class.

[0076] For example, if the port characteristics of the first port include VTS reporting lines, coastline, channel, and berths, the port characteristics of the second port include VTS reporting lines, coastline, channel, berths, and anchorage, and the port characteristics of the third port only include VTS reporting lines, coastline, and berths, then the port characteristics are the union of the port characteristics of the above three ports.

[0077] In some embodiments of the present invention, the specific method for obtaining port information in step S102 is as follows: Information about various ports is viewed through a shipping information website, and then the corresponding berth is located on Google Earth. Port information is obtained by drawing points to depict the edges of the waterway, anchorage, coastline, VTS reporting lines, etc. The port information is in CSV format.

[0078] In some embodiments of the present invention, the port information class includes port berth information, port channel information, port VTS reporting line information, port anchorage information, and port coastline information; the port berth information includes berth name and berth location, the port channel information includes channel name, channel radius, and key point location of the channel, the port VTS reporting line information includes VTS reporting line name, VTS reporting line radius, and key point location of the VTS reporting line, the port anchorage information includes anchorage name, anchorage radius, and key point location of the anchorage, and the port coastline information includes coastline name and key point location of the coastline.

[0079] In a specific embodiment of the present invention, the specific form of port berth information is: Berth{Berth Name; public List <point>BerthPoint}, where Berth Name is the berth name, public List <point>BerthPoint represents the berth location, which is specifically described using coordinates.

[0080] The specific form of port and waterway information is: Fairway{FairwayName; FairwayR; public List <point>FairwayPoint}, where FairwayName is the channel name, FairwayR is the channel radius, and publicList <point>FairwayPoint represents the location of a key point in the waterway, specifically described using coordinates.

[0081] The waterway can be circular or polygonal. When the waterway is circular, the waterway radius is the actual value, and the key points of the waterway are the coordinates of the center of the circle. When the waterway is polygonal, the waterway radius is zero, and the key points of the waterway are the coordinates of each vertex of the polygon.

[0082] The specific format for port VTS reporting line information is: VTS {VTS Name; VTS R; public List} <point>VTS Point}, VTS Name is the name of the VTS reporting line, VTS R is the radius of the VTS reporting line, public List <point>VTS Point refers to the location of a key point on the VTS reporting line. Specifically, the location of a key point on the VTS reporting line is described using coordinates.

[0083] The VTS reporting line can be a circle or a polygon. When the VTS reporting line is a circle, the radius of the VTS reporting line is the actual value, and the key points of the VTS reporting line are the center coordinates of the circle. When the VTS reporting line is a polygon, the radius of the VTS reporting line is zero, and the key points of the VTS reporting line are the coordinates of each vertex of the polygon.

[0084] The specific form of port anchorage information is: Anchorage{AnchorageName; AnchorageR; public List <point>AnchoragePoint}, AnchorageName is the anchorage name, AnchorageR is the anchorage radius, public List <point>AnchoragePoint represents the location of the anchorage key point, which is specifically described using coordinates.

[0085] The anchorage can be circular or polygonal. When the anchorage is circular, the anchorage radius is the actual value, and the anchorage key point is the center coordinate of the circle. When the anchorage is polygonal, the anchorage radius is zero, and the anchorage key point is the coordinate of each vertex of the polygon.

[0086] The specific representation of port coastline information is: CoastLine{CoastLineName; public List <point>CoastLinePoint}, CoastLineName is the name of the coastline, public List <point>CoastLinePoint represents the location of a key point on the coastline. Specifically, the location of a key point on the coastline is described using coordinates.

[0087] In some embodiments of the present invention, such as Figure 2 As shown, step S103 includes:

[0088] S201. Based on AIS data, determine multiple trajectory points of the ship and sort them in chronological order to obtain the initial ship trajectory.

[0089] S202. Determine invalid trajectory points in the initial ship trajectory and remove invalid trajectory points to obtain the ship trajectory, which includes multiple valid trajectory points.

[0090] By identifying and eliminating invalid trajectory points, the embodiments of the present invention can improve the rationality and accuracy of the determined ship trajectories.

[0091] Specifically, the method for determining multiple trajectory points of a vessel based on AIS data in step S201 is as follows: AIS data is decoded using basic AIS message knowledge, AIS message type, and message description to obtain decoded data. The decoded data is then parsed using the Maritime Mobile Service Identifier (MMSI) or the International Maritime Organization (IMO) encoding to obtain multiple trajectory points of the vessel.

[0092] In step S202, invalid trajectory points refer to trajectory points with a heading greater than 360°, a speed greater than the ship's maximum speed, or a coordinate jump. A coordinate jump means that the distance between two adjacent trajectory points is greater than the maximum distance that can be traveled under the ship's maximum speed limit.

[0093] In some embodiments of the present invention, the vessel's port status includes the vessel being within the VTS reporting line, such as... Figure 3 As shown, step S104 includes:

[0094] S301. Obtain the coordinates of each valid trajectory point;

[0095] S302. When the VTS reporting line is circular, obtain the coordinates of the center point of the VTS reporting line, and determine the distance between the effective trajectory point and the center point of the VTS reporting line based on the coordinates of the trajectory point and the center point of the VTS reporting line. When the distance between the effective trajectory point and the center point of the VTS reporting line is less than or equal to the radius of the VTS reporting line, the vessel is within the VTS reporting line.

[0096] S303. When the VTS reporting line is a polygon, obtain the coordinates of the key points of the VTS reporting line, and determine the cross product of the valid trajectory points and the key points of the VTS reporting line based on the coordinates of the trajectory points and the coordinates of the key points of the VTS reporting line. When the cross products are in the same direction, the vessel is within the VTS reporting line.

[0097] The formula for calculating the distance between a valid trajectory point and the center point of the VTS reporting line is as follows:

[0098]

[0099] In the formula, (x t y t (x) represents the coordinates of the trajectory point; Cen,VTS y Cen,VTS () represents the coordinates of the center point of the VTS reporting line.

[0100] When the VTS reporting line is a polygon, its vertices are as follows, in clockwise order:

[0101]

[0102] The formula for calculating the cross product of the trajectory points and the key points of the VTS reporting line is:

[0103] d1=(x 2,VTS -x 1,VTS )*(y t -y 1,VTS )-(x t -x 1,VTS )*(y 2,VTS -y 1,VTS )

[0104] d i =(x i+1,VTS -x i,VTS )*(y t -y i,VTS )-(x t -x i,VTS )*(y i+1,VTS -y i,VTS )

[0105] d n =(x 1,VTS -x n,VTS )*(y t -y n,VTS )-(x t -x n,VTS )*(y 1,VTS -y n,VTS )

[0106] In the formula, d1 is the cross product of the vector formed by connecting the first vertex and the second vertex and the vector formed by connecting the first vertex and the valid trajectory points; d i d is the cross product of the vector formed by connecting the i-th vertex and the (i+1)-th vertex, and the vector formed by connecting the i-th vertex and the valid trajectory points; n Let x be the cross product of the vector formed by connecting the nth vertex to the first vertex and the vector formed by connecting the nth vertex to the valid trajectory points; i,VTS y i,VTS ) represents the coordinates of the i-th key point on the VTS reporting line; * represents the vector cross product operator.

[0107] It should be understood that: if d1, d i ,…,d n If they are in the same direction, it indicates that they are within the VTS reporting line; d1*d i *…*d n =0 indicates that it is on the VTS reporting line; otherwise, it indicates that it is outside the VTS reporting line.

[0108] In some embodiments of the present invention, the port status of a vessel also includes the vessel being in a waterway, the vessel navigating in a waterway, and the vessel remaining in a waterway; then, as... Figure 4 As shown, step S104 further includes:

[0109] S401. Obtain the coordinates of each valid trajectory point;

[0110] S402. When the waterway is circular, obtain the coordinates of the center point of the waterway, and determine the distance between the effective trajectory point and the center point of the waterway based on the coordinates of the trajectory point and the coordinates of the center point of the waterway. When the distance between the effective trajectory point and the center point of the waterway is less than or equal to the waterway radius, the vessel is within the waterway.

[0111] S403. When the waterway is a polygon, obtain the coordinates of the key points of the waterway, and determine the cross product of the valid trajectory points and the key points of the waterway based on the coordinates of the trajectory points and the coordinates of the key points of the waterway. When the cross products are in the same direction, the ship is in the waterway.

[0112] S404. Determine whether the ship's speed is less than the preset speed. When the ship's speed is less than the preset speed, the ship stays in the channel. When the ship's speed is greater than or equal to the preset speed, the ship navigates in the channel.

[0113] It should be noted that the formulas for calculating the distance between the valid trajectory point and the center point of the channel, as well as the formulas for calculating the cross product of the valid trajectory point and the key point of the channel, can be found in step S302 (calculation formula for the distance between the valid trajectory point and the center point of the VTS reporting line) and step S303 (calculation formula for the cross product of the valid trajectory point and the key point of the VTS reporting line), respectively, and will not be repeated here.

[0114] It should also be noted that the preset speed can be set or adjusted according to the actual application scenario and experience value. In a specific embodiment of the present invention, the preset speed for determining whether the ship is sailing in the waterway or staying in the waterway is 1 kn.

[0115] In some embodiments of the present invention, the port status of a vessel also includes the vessel being in anchorage, the vessel navigating in anchorage, and the vessel remaining in anchorage; then, as... Figure 5 As shown, step S104 further includes:

[0116] S501. Obtain the coordinates of each valid trajectory point;

[0117] S502. When the anchorage is circular, obtain the coordinates of the anchorage center point, and determine the distance between the effective trajectory point and the anchorage center point based on the trajectory point coordinates and the anchorage center point coordinates. When the distance between the effective trajectory point and the anchorage center point is less than or equal to the anchorage radius, the vessel is within the anchorage.

[0118] S503. When the anchorage is a polygon, obtain the coordinates of the key points of the anchorage, and determine the cross product of the effective trajectory points and the key points of the anchorage based on the coordinates of the trajectory points and the coordinates of the key points of the anchorage. When the cross products are in the same direction, the ship is in the anchorage.

[0119] S504. Determine whether the ship's speed is less than the preset speed. When the ship's speed is less than the preset speed, the ship stays in the anchorage. When the ship's speed is greater than or equal to the preset speed, the ship sails in the anchorage.

[0120] It should be noted that the formulas for calculating the distance between the valid trajectory point and the center point of the anchorage, as well as the formulas for calculating the cross product of the valid trajectory point and the key point of the channel, can be found in step S302 (calculation formula for the distance between the valid trajectory point and the center point of the VTS reporting line) and step S303 (calculation formula for the cross product of the valid trajectory point and the key point of the VTS reporting line), respectively, and will not be repeated here.

[0121] It should also be noted that the preset speed can be set or adjusted according to the actual application scenario and experience value. In a specific embodiment of the present invention, the preset speed for determining whether the ship is sailing in the anchorage or staying in the anchorage is 0.2kn.

[0122] In some embodiments of the present invention, the port status of a vessel includes the vessel being located at a target berth; then, as follows: Figure 6 As shown, step S104 further includes:

[0123] S601. Obtain the coordinates of each valid trajectory point;

[0124] S602. Determine whether a ship is located within the buffer zone of the coastline based on the coordinates of the trajectory points and the location of key points on the coastline.

[0125] S603. When the vessel is located within the buffer zone of the coastline, obtain the berth position coordinates of each berth, determine the distance between the effective trajectory point and each berth based on the trajectory point coordinates and the berth position coordinates, and take the berth closest to the effective trajectory point as the target berth.

[0126] Specifically, step S602 involves the following judgment process: the coastline includes the coordinates of multiple key points. For any key point coordinate (x...) on the coastline... i,CoastLine ,y i,CoastLine If satisfied Therefore, it is assumed that the ship is within the buffer zone of the coastline at that moment.

[0127] In some embodiments of the present invention, the state of a vessel in port also includes the vessel being in other waters, the vessel navigating in other waters, and the vessel remaining in other waters; for example... Figure 7 As shown, step S104 further includes:

[0128] S701. Determine whether the vessel's port status is as follows: the vessel is in the channel, the vessel is in the anchorage, or the vessel is at the target berth.

[0129] S702. When a vessel's port status is not in the channel, in the anchorage, or at the target berth, then the vessel's port status is in other waters.

[0130] S703. Determine whether the ship's speed is less than the preset speed. When the ship's speed is less than the preset speed, the ship stays in other waters. When the ship's speed is greater than or equal to the preset speed, the ship sails in other waters.

[0131] The embodiments of the present invention take into account the port status of ships in other waters, thereby improving the comprehensiveness of the port status of ships.

[0132] It should be noted that the preset speed can be set or adjusted according to the actual application scenario and experience value. In a specific embodiment of the present invention, the preset speed for determining whether the ship is sailing in other waters or staying in other waters is 1 kn.

[0133] In some embodiments of the present invention, such as Figure 8 As shown, step S105 includes:

[0134] S801, treat the VTS reporting line, channel, anchorage and berth in the port data as multiple nodes;

[0135] S802. Determine at least one edge for multiple nodes based on the ship's port status;

[0136] S803. Obtain the ship's navigation parameters and determine the weight of at least one edge based on the navigation parameters to generate a ship behavior graph in port.

[0137] This invention, by determining the weight of at least one edge based on navigation parameters, can further improve the parameter diversity of the generated ship behavior graph in port, providing further data support for port safety management and port scheduling, thereby enhancing the rationality of port safety management and port scheduling. Furthermore, based on the constructed ship behavior graph in port, the temporal and spatial differentiation characteristics of ship arrival patterns can be analyzed, port efficiency can be evaluated, and ship arrival patterns can be predicted by further combining the ship behavior graph with other methods.

[0138] The edges of the diagram showing ship behavior in port can be represented as:

[0139]

[0140] in, This indicates whether the i-th vessel entered the first channel, Fair1, via the VTS reporting line. If so, then... =1, otherwise The value is 0. Other parameters follow the same principle and will not be elaborated upon here.

[0141] In specific embodiments of the present invention, navigation parameters include, but are not limited to, ship sailing time, average sailing speed, ship waiting time, ship maximum speed, ship minimum speed, ship average acceleration, ship maximum acceleration, ship minimum acceleration, ship average turning rate, ship maximum turning rate, and ship minimum turning rate.

[0142] In a specific embodiment of the present invention, the entry and exit of ships in ports are mainly divided into three scenarios: direct entry and exit of ships, entry and exit of ships including anchoring, and cross-flow of ships entering and exiting ports. The corresponding ship behavior diagrams in port for these three scenarios are as follows: Figure 9 , Figure 10 and Figure 11 ,Depend on Figure 9 It can be seen that: upon entering the port, the target berth is available, and after passing the VTS reporting line, the vessel directly enters the port basin via the channel to berth; upon leaving the port, weather conditions, channel depth, and other conditions meet the departure requirements, and the vessel leaves the berth directly via the channel and the VTS reporting line. Figure 10 It can be seen that: when entering the port, vessels with busy target berths need to pass the VTS reporting line and then enter the anchorage via the channel to wait until the berth becomes available before entering the harbor basin to berth; when leaving the port, if weather conditions, channel depth, and other conditions do not meet the requirements for leaving, vessels need to enter the anchorage after leaving the berth and wait until the requirements for leaving are met before passing through the channel via the VTS reporting line to leave the port. Figure 11 It can be seen that when multiple waterways converge into one waterway, a warning zone will be set up. This area has a high density of ships and dense intersections of inbound and outbound routes.

[0143] To better implement the ship port status identification and behavior map construction method in this embodiment of the invention, based on the ship port status identification and behavior map construction method, this embodiment of the invention also provides a ship port status identification and behavior map construction device, such as... Figure 12 As shown, the vessel port status identification and behavior mapping device 1200 includes:

[0144] Port information class definition unit 1201 is used to define port information classes based on port characteristics and preset definition rules;

[0145] The port information parsing unit 1202 is used to acquire port information and parse the port information based on the port information class to obtain port data;

[0146] The ship trajectory determination unit 1203 is used to acquire AIS data and determine the ship trajectory based on the AIS data;

[0147] The vessel in port status identification unit 1204 is used to identify the vessel's in port status based on the vessel's trajectory and port data.

[0148] The vessel behavior map construction unit 1205 is used to construct a vessel behavior map in port based on port data and vessel status in port.

[0149] The vessel port status identification and behavior map construction device 1200 provided in the above embodiments can realize the technical solutions described in the above embodiments of the vessel port status identification and behavior map construction method. The specific implementation principles of each module or unit can be found in the corresponding content in the above embodiments of the vessel port status identification and behavior map construction method, which will not be repeated here.

[0150] Those skilled in the art will understand that all or part of the processes of the methods described in the above embodiments can be implemented by a computer program instructing related hardware (such as a processor, controller, etc.), and the computer program can be stored in a computer-readable storage medium. The computer-readable storage medium may be a disk, optical disk, read-only memory, or random access memory, etc.

[0151] The above provides a detailed description of the method and apparatus for identifying the ship's port status and constructing a behavior map provided by the present invention. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.< / point> < / point> < / point> < / point> < / point> < / point> < / point> < / point> < / point> < / point>

Claims

1. A method for identifying the port status and constructing a behavior map of ships, characterized in that, include: Port information classes are defined based on port characteristics and preset definition rules; Obtain port information, and parse the port information based on the port information class to obtain port data; Acquire AIS data and determine the ship's trajectory based on the AIS data; The vessel's port status is identified based on the vessel trajectory and the port data; A ship behavior map in port is constructed based on the port data and the ship's port status. The port features include berths, channels, VTS reporting lines, anchorages, and coastlines; the port information categories include port berth information, port channel information, port VTS reporting line information, port anchorage information, and port coastline information; the port berth information includes berth name and berth location, the port channel information includes channel name, channel radius, and key point locations, the port VTS reporting line information includes VTS reporting line name, VTS reporting line radius, and key point locations, the port anchorage information includes anchorage name, anchorage radius, and key point locations, and the port coastline information includes coastline name and key point locations. The method of constructing a vessel behavior map based on the port data and the vessel's port status includes: using the VTS reporting line, channel, anchorage and berth in the port data as multiple nodes; Based on the ship's port status, at least one edge of the plurality of nodes is determined; the ship's navigation parameters are obtained, and the weight of the at least one edge is determined based on the navigation parameters to generate the ship's port behavior graph.

2. The method for identifying the port status and constructing a behavior map of a ship according to claim 1, characterized in that, The process of determining the ship's trajectory based on the AIS data includes: Based on the AIS data, multiple trajectory points of the ship are determined, and these multiple trajectory points are sorted in chronological order to obtain the initial ship trajectory. Identify invalid trajectory points in the initial ship trajectory and remove the invalid trajectory points to obtain the ship trajectory, which includes multiple valid trajectory points.

3. The method for identifying the port status and constructing a behavior map of a ship according to claim 2, characterized in that, The vessel's port status includes the vessel being within the VTS reporting line; the identification of the vessel's port status based on the vessel's trajectory and the port data includes: Obtain the trajectory point coordinates of each of the aforementioned valid trajectory points; When the VTS reporting line is circular, the coordinates of the center point of the VTS reporting line are obtained, and the distance between the effective trajectory point and the center point of the VTS reporting line is determined based on the coordinates of the trajectory point and the coordinates of the center point of the VTS reporting line. When the distance between the effective trajectory point and the center point of the VTS reporting line is less than or equal to the radius of the VTS reporting line, the vessel is within the VTS reporting line. When the VTS reporting line is a polygon, the coordinates of the key points of the VTS reporting line are obtained, and the cross product of the valid trajectory points and the key points of the VTS reporting line is determined based on the coordinates of the trajectory points and the coordinates of the key points of the VTS reporting line. When the cross products are in the same direction, the vessel is within the VTS reporting line.

4. The method for identifying the port status and constructing a behavior map of a ship according to claim 2, characterized in that, The vessel's port status also includes the vessel being in the waterway, the vessel navigating in the waterway, and the vessel remaining in the waterway; the method of identifying the vessel's port status based on the vessel's trajectory and the port data further includes: Obtain the trajectory point coordinates of each of the aforementioned valid trajectory points; When the waterway is circular, the coordinates of the center point of the waterway are obtained, and the distance between the effective trajectory point and the center point of the waterway is determined based on the coordinates of the trajectory point and the coordinates of the center point of the waterway. When the distance between the effective trajectory point and the center point of the waterway is less than or equal to the radius of the waterway, the vessel is within the waterway. When the waterway is a polygon, the coordinates of the key points of the waterway are obtained, and the cross product of the effective trajectory points and the key points of the waterway is determined based on the coordinates of the trajectory points and the coordinates of the key points of the waterway. When the cross products are in the same direction, the ship is in the waterway. Determine whether the speed of the vessel is less than a preset speed. If the speed of the vessel is less than the preset speed, the vessel stays in the channel. If the speed of the vessel is greater than or equal to the preset speed, the vessel navigates in the channel.

5. The method for identifying the port status and constructing a behavior map of a ship according to claim 2, characterized in that, The vessel's port status also includes the vessel being in anchorage, the vessel navigating in anchorage, and the vessel remaining in anchorage; the method of identifying the vessel's port status based on the vessel's trajectory and the port data further includes: Obtain the trajectory point coordinates of each of the aforementioned valid trajectory points; When the anchorage is circular, the coordinates of the anchorage center point are obtained, and the distance between the effective trajectory point and the anchorage center point is determined based on the coordinates of the trajectory point and the anchorage center point. When the distance between the effective trajectory point and the anchorage center point is less than or equal to the anchorage radius, the vessel is within the anchorage. When the anchorage is a polygon, the coordinates of the key points of the anchorage are obtained, and the cross product of the effective trajectory points and the key points of the anchorage is determined based on the coordinates of the trajectory points and the coordinates of the key points of the anchorage. When the cross products are in the same direction, the ship is in the anchorage. Determine whether the speed of the vessel is less than a preset speed. If the speed of the vessel is less than the preset speed, the vessel stays in the anchorage. If the speed of the vessel is greater than or equal to the preset speed, the vessel sails in the anchorage.

6. The method for identifying the port status and constructing a behavior map of a ship according to claim 2, characterized in that, The vessel's port status includes the vessel being located at the target berth; the identification of the vessel's port status based on the vessel's trajectory and the port data further includes: Obtain the trajectory point coordinates of each of the aforementioned valid trajectory points; Based on the coordinates of the trajectory points and the locations of the key points on the coastline, it is determined whether the ship is located within the buffer zone of the coastline. When the vessel is located within the buffer zone of the coastline, the berth position coordinates of each berth are obtained, and the distance between the effective trajectory point and each berth is determined based on the trajectory point coordinates and the berth position coordinates. The berth closest to the effective trajectory point is then taken as the target berth.

7. The method for identifying the port status and constructing a behavior map of a ship according to claim 2, characterized in that, The vessel's port status also includes the vessel being in other waters, the vessel navigating in other waters, and the vessel remaining in other waters; the method of identifying the vessel's port status based on the vessel's trajectory and the port data also includes: Determine whether the vessel's port status is as follows: the vessel is in the channel, the vessel is in the anchorage, or the vessel is at the target berth. If the vessel's port status is not in the channel, in the anchorage, or at the target berth, then the vessel's port status is in other waters. Determine whether the speed of the vessel is less than a preset speed. If the speed of the vessel is less than the preset speed, the vessel stays in other waters. If the speed of the vessel is greater than or equal to the preset speed, the vessel sails in other waters.

8. A device for identifying the status of a ship in port and constructing a behavior map, characterized in that, The apparatus for identifying and constructing a vessel's port status and behavior map according to any one of claims 1-7, comprising: The port information class definition unit is used to define port information classes based on port characteristics and preset definition rules. The port information parsing unit is used to acquire port information and parse the port information based on the port information class to obtain port data. A ship trajectory determination unit is used to acquire AIS data and determine the ship trajectory based on the AIS data; A vessel port status identification unit is used to identify the vessel's port status based on the vessel trajectory and the port data. The vessel in port behavior map construction unit is used to construct a vessel in port behavior map based on the port data and the vessel's in port status.

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