A ship automatic lock passing control method and system

Abstract

The application provides a ship automatic lock control method and system, and mainly relates to the technical field of ship management; the method mainly comprises the following steps: collecting a picture at a ship lock, and recognizing ship information from the picture; judging whether the ship is a to-be-locked ship according to imported lock information and the ship information, if yes, performing lock control through gear detection and boundary line detection, and if no, guiding the ship to return to an anchorage through a broadcast device voice. The application can collect the picture at the ship lock and recognize the ship information, determine the to-be-locked ship through the ship information and the lock information, and automatically control the ship to pass through the lock through the gear detection and the boundary line detection, so as to reduce the pressure of the staff and the error rate.

Description

TECHNICAL FIELD

[0001] The present application mainly relates to the technical field of ship management, and particularly relates to a ship automatic lock passing control method and system. BACKGROUND

[0002] Water conservancy hub construction is very common in various water systems, and inland ships inevitably need to pass through various water conservancy hubs and ship locks when sailing in inland waterways. Generally, a downstream ship sails out from an upstream reservoir area, passes through an upstream gate area and an upstream approach channel to enter a ship lock, and then sails into a downstream channel through a downstream approach channel and a downstream gate area after passing through the ship lock; an upstream ship sails from a downstream channel, passes through a downstream gate area and a downstream approach channel to enter a ship lock, and then sails into an upstream reservoir area through an upstream approach channel and an upstream gate area after passing through the ship lock.

[0003] At present, the operation of domestic ship locks mainly adopts a personnel operation mode. The inspection, management and investigation of ship identities are still completed by personnel through "eye observation" and "manual operation". Long-time hand-eye operation and high concentration of spirit can easily cause double fatigue of the hands and eyes of the operator. In the long run, this not only reduces the work efficiency of personnel, but also brings safety production risks to the operation of the ship lock. SUMMARY

[0004] The present application mainly relates to the technical field of ship management, and particularly relates to a ship automatic lock passing control method and system.

[0005] The technical scheme for solving the above technical problem is as follows: a ship automatic lock passing control method, comprising the following steps:

[0006] Collecting a picture at a ship lock and identifying ship information from the picture;

[0007] According to the imported lock passing information and the ship information, it is judged whether it is a ship to be passed through the lock. If yes, lock passing control is performed through gear detection and boundary line detection. If no, the ship is guided to return to an anchorage through a broadcast device voice.

[0008] On the basis of the above technical scheme, the present application can also be improved as follows.

[0009] Further, the picture at the ship lock is collected, and the ship information is identified from the picture, specifically as follows:

[0010] The picture at the ship lock is collected by an observation ball machine or a boundary line observation device installed at the ship lock, the driving tower pattern of the ship is identified from the picture, the ship information is identified from the driving tower pattern, and the ship information includes a ship nameplate.

[0011] The beneficial effect of the further scheme is that the observation camera or the boundary line observation device can accurately capture the picture of the ship lock, because each ship has a unique identity, which is hung on the pilot house figure of the ship in the form of a ship plate, and the pilot house figure is identified from the picture, and the ship plate is identified from the pilot house figure.

[0012] Further, the ship information includes a ship plate, and the lock passage information includes the queue information.

[0013] The method further includes: determining whether the ship corresponding to the ship plate in the queue information is a ship to be locked, if yes, performing queue detection and boundary line detection to control the lock passage, and if no, guiding the ship to return to the anchorage through the broadcasting device.

[0014] S1: determining whether the ship corresponding to the ship plate in the queue information is a ship to be locked, if yes, determining a virtual berth of the ship to be locked, and performing S2, and if no, performing S8;

[0015] S2: tracking the ship to be locked until the ship to be locked stops;

[0016] S3: if it is detected that the ship to be locked does not stop in the virtual berth, performing queue alarm prompting and performing S4, and if it is detected that the ship to be locked stops in the virtual berth, performing S5;

[0017] S4: detecting whether the ship to be locked exceeds the boundary line, if yes, performing over-line alarm prompting and returning to S2, and if no, directly returning to S2;

[0018] S5: if it is detected that the ship to be locked is docked correctly, performing S7, and if it is detected that the ship to be locked is docked on the dam side of the lock chamber, performing ship post mooring detection, if greater than or equal to two mooring posts are moored, determining that the mooring is completed, and performing S7, otherwise, performing S6;

[0019] S6: performing mooring prompting and returning to S5;

[0020] S7: if all the ships in the current lock are docked, sending a drainage instruction to the ship lock and an opening instruction to the miter gate, otherwise, returning to S1 to continue processing the next ship to be locked.

[0021] S8: guiding the ship to leave the channel and return to the anchorage through the broadcasting device.

[0022] The beneficial effect of the further scheme is that whether the ship to be locked is detected automatically, and then the ship to be locked is detected for exceeding the boundary line and the mooring post mooring, after the detection of all the ships to be locked, the lock control is performed through the gear detection and the boundary line detection, and the ship to be locked is detected, and the ship is guided to leave the channel and return to the anchorage through the voice, so that the automatic lock of the ship is realized.

[0023] Further, the ship post mooring detection is specifically:

[0024] Before the ship to be locked enters the lock, the image of the ship to be locked is collected, and the image of the ship to be locked is collected again at the same angle after the ship to be locked enters the lock, wherein the image of the ship to be locked includes the image of the top of the mooring post and the image of the water surface of the set region around the mooring post.

[0025] The image of the ship to be locked before entering the lock and the image of the ship to be locked before entering the lock are compared, if the image of the water surface of the set region around the mooring post in the image of the ship to be locked after entering the lock is blocked by the ship side, it is determined that the ship has passed, and if the water surface is blocked by the cable, it is determined that the cable is hung on the mooring post.

[0026] The beneficial effect of the further scheme is that the mooring of the mooring post can be detected automatically, and the ship can pass the lock after the detection.

[0027] Another technical solution for solving the above technical problem is as follows: an automatic lock control system for a ship, comprising an observation device, a server and a broadcast device;

[0028] The observation device is used for collecting the image of the ship lock.

[0029] The server is used for identifying the ship information from the image.

[0030] Whether the ship to be locked is determined according to the imported lock information and the ship information, if yes, the lock control is performed through the gear detection and the boundary line detection, and if no, the ship is guided to return to the anchorage through the broadcast device.

[0031] The beneficial effect of the present application is that the image of the ship lock can be collected and the ship information can be identified, the ship to be locked can be determined through the ship information and the lock information, and the ship can be automatically controlled to pass the lock through the gear detection and the boundary line detection, so as to reduce the pressure of the staff and the error rate. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 The flowchart of the automatic lock control method for the ship provided by the embodiment of the present application is shown.

[0033] Figure 2This is a functional block diagram of the automatic lock passage control system for ships provided in an embodiment of the present invention. Detailed Implementation

[0034] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0035] Example 1:

[0036] like Figure 1 As shown, an automatic lock passage control method for ships includes the following steps:

[0037] The system captures images from the lock and identifies ship information from those images.

[0038] Based on the imported lock passage information and the vessel information, it is determined whether the vessel is waiting to pass through the lock. If so, the lock passage control is carried out through gear detection and boundary line detection. If not, the vessel is guided back to the anchorage through the broadcasting equipment.

[0039] In the above embodiments, the system can capture images at the lock and identify ship information. By using the ship information and lock passage information, the system can determine the ship to pass through the lock and automatically control the ship's passage through the lock by using gear detection and boundary line detection, thereby reducing the pressure on staff and reducing the error rate.

[0040] Based on the above embodiments, the process of collecting images from the lock and identifying ship information from those images specifically involves:

[0041] The images of the lock are captured by observation cameras or boundary line observation equipment installed at the lock. The image of the ship's bridge is identified from the image, and the ship information, including the ship's nameplate, is identified from the image of the bridge.

[0042] In the above embodiments, the image at the lock can be accurately captured by observing the PTZ camera or boundary line observation equipment. This is because each ship has a unique identification mark, which is hung on the ship's bridge graphic in the form of a ship nameplate. The bridge graphic can be identified from the image, and then the ship nameplate can be identified from the bridge graphic.

[0043] Based on the above embodiments, the ship information includes the ship nameplate, and the lock passage information includes the gate information;

[0044] The process involves determining whether a vessel is waiting to pass through the lock based on the imported lock passage information and the vessel information. If so, lock passage control is performed through gear shift detection and boundary line detection. If not, the vessel is guided back to anchorage via voice prompts through the broadcasting equipment. Specifically:

[0045] S1: determining from the queuing information whether the ship corresponding to the ship name plate is a to-be-locked ship, if yes, determining a virtual berth of the to-be-locked ship, performing S2, otherwise, performing S8;

[0046] S2: tracking the to-be-locked ship until the to-be-locked ship stops;

[0047] S3: if the to-be-locked ship does not stop in the virtual berth, performing queuing alarm prompting and performing S4, if the to-be-locked ship stops in the virtual berth, performing S5;

[0048] S4: detecting whether the to-be-locked ship exceeds the boundary line, if yes, performing over-line alarm prompting and returning to S2, if no, directly returning to S2;

[0049] S5: if the to-be-locked ship is parked on the dam side, performing ship column mooring detection, if greater than or equal to two mooring columns are moored, determining that the mooring is completed, and performing S7, otherwise, performing S6;

[0050] S6: performing mooring prompting and returning to S5;

[0051] S7: if all the ships in the current lock are finished, sending a drainage instruction to the ship lock and an opening instruction to the miter gate, otherwise, returning to S1 to continue processing the next to-be-locked ship;

[0052] S8: guiding the ship to leave the channel and return to the anchorage through the broadcast device.

[0053] In the above embodiment, it can be automatically detected whether it is a to-be-locked ship, and then the to-be-locked ship is detected for exceeding the boundary line and mooring the ship column. After detecting all the to-be-locked ships, the lock control is performed through the queuing detection and the boundary line detection. If it is detected that it is not a to-be-locked ship, the ship can be guided to leave the channel and return to the anchorage through the voice, so as to realize the automatic lock of the ship.

[0054] On the basis of the above embodiment, the ship column mooring detection is specifically:

[0055] Before the to-be-locked ship enters the lock, a to-be-locked ship picture is collected, and after the to-be-locked ship enters the lock, the to-be-locked ship picture is collected again at the same angle, wherein the to-be-locked ship picture includes a ship column top image and a water surface image of a set region around the ship column;

[0056] Comparing the two images before and after the to-be-locked ship enters the lock, if the water surface image of the set region around the ship column in the image after the to-be-locked ship enters the lock is blocked by the ship side, it is determined that a ship has passed, and if the water surface is blocked by the rope, it is determined that the rope is hung on the ship column.

[0057] At present, the image recognition technology is relatively mature, and the ship nameplate, mooring column, pilot house and other objects mentioned in the application can be recognized by using the image recognition technology.

[0058] In the above embodiment, the mooring column can be automatically detected, and the ship can pass the lock after the detection.

[0059] Embodiment 2:

[0060] As shown in Figure 2 An automatic lock control system for a ship, comprising an observation device, a server and a broadcast device;

[0061] The observation device is used to collect pictures at the ship lock;

[0062] The server is used to identify ship information from the pictures;

[0063] According to the imported lock information and the ship information, it is determined whether it is a ship to be passed through the lock, if yes, the lock control is performed through gear detection and boundary line detection, if not, the ship is guided back to the anchorage through the broadcast device.

[0064] In the above embodiment, the pictures at the ship lock can be collected and the ship information can be identified, the ship to be passed through the lock is determined through the ship information and the lock information, and the ship is automatically controlled to pass through the lock through gear detection and boundary line detection, thereby reducing the pressure of the staff and reducing the error rate.

[0065] On the basis of the above embodiment, the server identifies the ship information from the pictures, specifically:

[0066] The driving tower pattern of the ship is identified from the pictures, and the ship information is identified from the driving tower pattern, and the ship information includes the ship nameplate.

[0067] On the basis of the above embodiment, the ship information includes the ship nameplate, and the lock information includes gear information.

[0068] In the server, according to the imported lock information and the ship information, it is determined whether it is a ship to be passed through the lock, if yes, the lock control is performed through gear detection and boundary line detection, if not, the ship is guided back to the anchorage through the broadcast device, specifically:

[0069] S1: Determine from the queuing information whether the ship corresponding to the ship nameplate is a to-be-locked ship, if yes, determine the virtual berth of the to-be-locked ship, execute S2, otherwise, execute S8; specifically, the following behavior example, when the ship enters the lock chamber through the upstream approach channel, the upstream lock-in observation device installed at the upstream lock-in position observes the ship entering the lock chamber; the upstream boundary line gun machine observes the ship passing through the boundary line; the intelligent server obtains video data and image data from the upstream lock-in observation device and the upstream boundary line gun machine, and identifies the pilot house, the ship nameplate, and performs text recognition of the ship nameplate from the video data and the image data; divided into three sub-steps 1.1, 1.2, 1.3;

[0070] 1.1, identify the pilot house of the ship entering the lock chamber by the upstream lock-in observation ball machine, search and identify the ship nameplate on the front of the pilot house, and identify the ship nameplate;

[0071] 1.2, identify the pilot house of the ship passing by by the upstream boundary line observation device, search and identify the ship nameplate on the side of the pilot house, and identify the ship nameplate;

[0072] 1.3, identify the pilot house of the ship entering the lock chamber by the upstream lock-in observation ball machine, search and identify the ship nameplate on the back of the pilot house, and identify the ship nameplate;

[0073] When one of the three steps 1.1, 1.2, 1.3 completes the ship nameplate text recognition, the current step and the remaining two steps are ended, and the step of determining the virtual berth of the to-be-locked ship is entered;

[0074] S2: Track the to-be-locked ship until the to-be-locked ship stops;

[0075] S3: If the to-be-locked ship does not stop in the virtual berth, perform queuing alarm prompt, and execute S4, if the to-be-locked ship stops in the virtual berth, execute S5;

[0076] S4: Detect whether the to-be-locked ship exceeds the boundary line, if yes, perform overline alarm prompt, and return to S2, if no, directly return to S2;

[0077] S5: If the to-be-locked ship is parked on the side of the lock chamber dam, perform ship column mooring detection, if greater than or equal to two mooring columns are moored, determine that the mooring is completed, and execute S7, otherwise, execute S6;

[0078] S6: Perform mooring prompt and return to S5;

[0079] S7: If all ships in the current lock are finished, send the water release instruction to the ship lock and the opening instruction to the miter gate, otherwise return to S1 to continue processing the next to-be-locked ship;

[0080] S8: The ship is guided to leave the channel and return to the anchorage by the voice broadcast device.

[0081] The hardware components of the system and their main functions are introduced below, which can be specifically:

[0082] The server can include an intelligent server, a decision server, and a ship lock control server.

[0083] The intelligent server is in data communication with the observation device, the decision server, and the dispatch center through communication facilities; the decision server is in data communication with the control server and the broadcast device through communication facilities; and the intelligent server is connected to the dispatch center through communication facilities.

[0084] The observation device is divided into three groups: upstream observation device, downstream observation device, and lock chamber observation device. The observation device uses a gun camera or a ball camera to collect video data and image data.

[0085] The gun camera uses a fixed camera with zoom lens function.

[0086] The ball camera includes a camera, a zoom lens, and a gimbal, and has functions including four-direction movement (up, down, left, and right) and zoom lens function.

[0087] The broadcast device is divided into three groups: upstream broadcast device, downstream broadcast device, and lock chamber broadcast device. The broadcast device uses network voice broadcast to broadcast alarm and prompt voice information.

[0088] The upstream observation device is used to observe the ships in the downstream entrance area and the downstream approach channel.

[0089] The downstream observation device is used to observe the ships in the upstream entrance area and the upstream approach channel.

[0090] The lock chamber observation device is used to observe the lock chamber, mooring posts, boundary lines, and ships entering the lock chamber. The intelligent server has the following functions:

[0091] Obtaining video data and image data from the observation device and sending instructions to the observation device; performing image capture of video data;

[0092] Identifying ships, pilothouses, ship nameplates, mooring posts, boundary lines, cables, and lock chamber state information in video data and image data;

[0093] Identifying the text of the ship nameplate, the actual berthing position of the ship, the mooring state of the mooring post, and the boundary line crossing situation;

[0094] Controlling the movement and zoom of the ball camera; controlling the zoom of the gun camera;

[0095] The recognized ship nameplate text, mooring state of the bollard, overline situation of the boundary line, actual berthing position of the ship, ship queuing information of the dispatch center, lock passing ship dispatch information, and captured image data;

[0096] The ship queuing information of the dispatch center and the lock passing ship dispatch information are received.

[0097] The decision server is configured to receive the output data of the intelligent server, broadcast voice information through the uplink broadcast device, the downlink broadcast device or the lock chamber broadcast device, output a ship lock device control instruction to the ship lock control server according to the output data of the intelligent server, and send a control state of the ship lock device to the intelligent server.

[0098] The ship lock control server is configured to control the ship lock device to perform water filling and draining and miter gate opening and closing operations according to the instruction of the decision server.

[0099] The dispatch center is configured to provide the intelligent server with ship queuing information and lock passing ship dispatch information. The queuing information is the berthing position information arranged by the dispatch center for each lock passing ship in the ship lock chamber. The lock passing ship dispatch information is the ship nameplate text, tonnage, size and lock passing time of each lock passing ship arranged by the dispatch center.

[0100] The intelligent server is connected to the dispatch center and receives the information of each lock passing ship and the ship queuing information after entering the lock sent by the dispatch center.

[0101] When the information of the next lock passing ship is compared, if it is identified that the ship nameplate of the ship heading for the ship lock does not belong to the next lock passing ship, a broadcast instruction is sent to inform the ship to leave the pilot channel and return to the anchorage.

[0102] The decision server broadcasts the following information through the broadcast device: the unmoored ship has completed mooring, the overline ship has adjusted the berthing position, the ship that does not stop according to the queuing information has stopped correctly, and the lock passing ship has left.

[0103] The decision server sends the control state signal of the ship lock device to the intelligent server: the upstream lock chamber miter gate is opened, the upstream lock chamber miter gate is closed, the downstream lock chamber miter gate is opened, and the downstream lock chamber miter gate is closed.

[0104] The following describes the lock passing control method through the functions of the components, specifically as follows:

[0105] In the upstream and downstream approach channels, the intelligent server first acquires video data and image data from the observation device, and identifies the ship, the pilot house, and the ship nameplate from the video data and the image data; the intelligent server then controls the observation device to perform motion and zooming operations by sending instructions to the observation device, so as to track the ship, the pilot house, or the ship nameplate; and captures an image from the video data acquired from the observation device, and identifies the text of the ship nameplate from the captured image;

[0106] In the lock chamber, the intelligent server acquires video data and image data from the observation device, and identifies the ship, the boundary line, the mooring post, the rope, the mooring post and rope state, the ship berthing position, and the boundary line crossing situation from the video data and the image data;

[0107] The intelligent server determines whether the identified ship is a non-passing ship according to the passing ship scheduling information, and determines whether the ship berthing position is consistent with the scheduling information according to the received scheduling information provided by the scheduling center.

[0108] The intelligent server outputs the text of the identified ship nameplate, the mooring post and rope state, the boundary line crossing situation, the consistency of the ship berthing and scheduling information, and the determination result of whether the identified ship is a non-passing ship to the decision server.

[0109] The intelligent server determines the operations of identification, control, determination, or output according to the control state of the ship lock device sent by the decision server to the intelligent server.

[0110] The decision server broadcasts voice information through the broadcasting device, outputs the ship lock device control instruction to the ship lock control server, and sends the control state of the ship lock device to the intelligent server according to the output data of the intelligent server.

[0111] The ship lock control server controls the ship lock device to perform the operations of water filling and draining, and miter gate opening and closing according to the instruction of the decision server.

[0112] The mooring post and rope state is whether the ship berthed beside the mooring post is hung with a rope on the mooring post.

[0113] The boundary line crossing situation is whether the ship in the lock chamber is berthed beyond the boundary line.

[0114] In the above embodiment, it can be automatically detected whether it is a passing ship, and then the passing ship is detected for exceeding the boundary line and the mooring post and rope, after the detection of all the passing ships, the passing control is performed through the scheduling detection and the boundary line detection; if it is detected that it is not a passing ship, the ship can be guided to leave the channel and return to the anchorage through voice, so as to realize the automatic passing of the ship.

[0115] On the basis of the above-mentioned embodiments, a gun is installed on the top of each bollard, and the gun is aimed at the bollard and used for detecting whether a cable is tied to the bollard. Each gun is numbered in turn as ZX1, ZX2, …, ZXb, YX1, YX2, …, YXb, where b is a natural number greater than or equal to 2.

[0116] The bollard tying detection is performed, and specifically:

[0117] Before the to-be-locked ship enters the lock, a to-be-locked ship image is collected, and after the to-be-locked ship enters the lock, the to-be-locked ship image is collected again at the same angle, where the to-be-locked ship image includes a bollard top image and a water surface image of a set region around the bollard.

[0118] The to-be-locked ship image before the to-be-locked ship enters the lock and the to-be-locked ship image after the to-be-locked ship enters the lock are compared. If the water surface image of the set region around the bollard in the to-be-locked ship image after the to-be-locked ship enters the lock is blocked by a ship side, it is determined that a ship has passed, and if the water surface is blocked by a cable, it is determined that a cable is tied to the bollard.

[0119] In the above-mentioned embodiments, the bollard tying detection can be automatically performed, and the to-be-locked ship can pass the lock after the detection.

[0120] It should be noted that the relational terms herein such as first and second and the like are used only to differentiate one entity or operation from another, and do not necessarily require or imply that any such actual relationship or order exists between or among the entities or operations. Also, the terms "comprising", "including", or any other variant are intended to cover non-exclusive inclusions, such that processes, methods, articles, or apparatuses that comprise a list of elements are not required to include only those elements in the list, but can include other elements not expressly listed or inherent to such processes, methods, articles, or apparatuses.

[0121] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and units can refer to the corresponding processes in the foregoing method embodiments, which will not be described here.

[0122] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. The division of units is only a logical function division. There can be another division manner in actual implementation. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed.

[0123] The units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, i.e. may be located in one place, or may also be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment of the present application.

[0124] The above description is only the preferred embodiment of the present application, and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method of automatic control of a ship passing through a lock, characterized in that, It comprises the following steps: Collecting pictures at the ship lock and identifying ship information from the pictures; Determining whether it is a ship to be locked according to the imported lock information and the ship information, if yes, carrying out lock control through gear detection and boundary line detection, if no, guiding the ship to return to the anchorage through the voice of the broadcasting device; The ship information includes a ship nameplate, and the lock information includes gear information; The specific process is as follows: S1: determining whether the ship corresponding to the ship nameplate is a ship to be locked from the gear information, if yes, determining the virtual berth of the ship to be locked, executing S2, otherwise, executing S8; S2: tracking the ship to be locked until the ship to be locked stops; S3: if it is detected that the ship to be locked does not stop in the virtual berth, carrying out gear alarm prompt and executing S4, if it is detected that the ship to be locked stops in the virtual berth, executing S5; S4: detecting whether the ship to be locked exceeds the boundary line, if yes, carrying out over-line alarm prompt and returning to S2, if no, directly returning to S2; S5: if it is detected that the ship to be locked is docked correctly, executing step S7, if it is detected that the ship to be locked is docked on the dam side, carrying out bollard mooring detection, if there are two or more bollards, determining that the mooring is completed and executing S7, otherwise, executing S6; S6: carrying out mooring prompt and returning to S5; S7: if all the ships of the current lock are docked, sending the ship lock a drainage instruction and the miter gate an opening instruction, otherwise, returning to S1 and continuing to process the next ship to be locked; S8: guiding the ship to leave the channel and return to the anchorage through the voice of the broadcasting device.

2. The method of claim 1, wherein, The specific process is as follows: Collecting pictures at the ship lock through an observation ball camera or a boundary line observation device, identifying the driving tower pattern of the ship from the pictures, and identifying the ship information from the driving tower pattern, wherein the ship information includes a ship nameplate.

3. The method of claim 1, wherein, The specific process is as follows: Before the ship to be locked enters the lock, collecting a picture of the ship to be locked, and after the ship to be locked enters the lock, collecting a picture of the ship to be locked again at the same angle, wherein the picture of the ship to be locked includes a bollard top image and a water surface image of a set area around the bollard; Comparing the two images before and after the ship to be locked enters the lock, if the water surface image of the set area around the bollard in the image after the ship to be locked enters the lock is blocked by the ship side, it is determined that a ship has passed, if the water surface is blocked by a rope, it is determined that a rope is hung on the bollard.

4. An automatic transit control system for a marine vessel, characterized in that, It comprises an observation device, a server and a broadcasting device; The observation device is used to collect pictures at the ship lock; The server is used to identify ship information from the pictures; According to the imported gate information and the ship information, it is judged whether the ship is a ship to be gated, if yes, the gate control is performed through the gear detection and the boundary line detection, if no, the ship is guided to return to the anchorage through the broadcasting device; The ship information includes a ship nameplate, and the gate information includes gear information; In the server, according to the imported gate information and the ship information, it is judged whether the ship is a ship to be gated, if yes, the gate control is performed through the gear detection and the boundary line detection, if no, the ship is guided to return to the anchorage through the broadcasting device, specifically: S1: determining from the gear information whether the ship corresponding to the ship nameplate is a ship to be gated, if yes, determining a virtual berth of the ship to be gated, performing S2, otherwise, performing S8; S2: tracking the ship to be gated until the ship to be gated stops; S3: if it is detected that the ship to be gated does not stop in the virtual berth, performing gear alarm prompt and performing S4, if it is detected that the ship to be gated stops in the virtual berth, performing S5; S4: detecting whether the ship to be gated exceeds the boundary line, if yes, performing overline alarm prompt and returning to S2, if no, directly returning to S2; S5: if it is detected that the ship to be gated is docked correctly, performing step S7, if it is detected that the ship to be gated is docked on the dam side of the lock chamber, performing ship column mooring detection, if greater than or equal to two mooring columns are moored, it is determined that the mooring is completed, and S7 is performed, otherwise, S6 is performed; S6: performing mooring prompt and returning to S5; S7: if all the ships of the current lock are completed, a drainage instruction is sent to the ship lock and an opening instruction is sent to the miter gate, otherwise, returning to S1 to continue processing the next ship to be gated; S8: guiding the ship to leave the channel and return to the anchorage through the broadcasting device.

5. The automatic transit control system for a marine vessel of claim 4, wherein, In the server, the ship information is recognized from the picture, specifically: The ship information is recognized from the bridge picture of the ship, and the ship information includes a ship nameplate.

6. The automatic transit control system for a marine vessel of claim 4, wherein, The ship column mooring detection is specifically: Before the ship to be gated enters the lock, a picture of the ship to be gated is collected, and after the ship to be gated enters the lock, the picture of the ship to be gated is collected again at the same angle, wherein the picture of the ship to be gated includes a top image of a mooring column and a water surface image of a set region around the mooring column; Comparing the two images before and after the ship to be gated enters the lock, if the water surface image of the set region around the mooring column in the image after the ship to be gated enters the lock is blocked by a ship side, it is determined that a ship has passed, if the water surface is blocked by a cable, it is determined that the cable is hung on the mooring column.

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