Ship assisted berthing method, system and terminal based on video monitoring

Abstract

The application relates to a ship auxiliary berthing method and system based on video monitoring and a terminal, and relates to the field of ship berthing technology. The application comprises the following steps: acquiring initial ship berthing information of a ship; controlling a tugboat to assist the ship to berth according to the initial ship berthing information; acquiring real-time ship berthing speed information; judging whether the real-time ship berthing speed information exceeds a corresponding berthing speed of preset reference berthing speed information; if the real-time ship berthing speed information does not exceed the reference berthing speed information, continuously acquiring the real-time ship berthing speed information; and if the real-time ship berthing speed information exceeds the reference berthing speed information, outputting brake information and starting a preset hydraulic brake device to brake the ship according to the brake information. The application has the effect of reducing the risk of ship collision with a wharf.

Description

Technical Field

[0001] This application relates to the field of ship berthing technology, and in particular to ship berthing assistance methods, systems and terminals based on video surveillance. Background Technology

[0002] A dock is a structure built on the water's edge for ships to moor, usually in commercial cities with convenient water transportation.

[0003] In related technologies, the specific details of a ship's berthing at the dock are communicated by the ship's crew to the dock's dispatch center. The dispatch center then sends specific berthing information to the ship based on its details and controls tugboats to assist the ship in docking, thus enabling the ship to berth at the dock according to the berthing information.

[0004] Regarding the aforementioned technologies, when a ship docks at a pier according to berthing information, a tugboat assists the ship in changing direction and reducing speed. However, the braking speed of the tugboat is subject to certain permissible ranges. During the docking process, the ship's speed is unstable due to the complex water environment. Even with the assistance of a tugboat in braking, there is still a certain risk of collision with the pier, and there is room for improvement. Summary of the Invention

[0005] To reduce the risk of ships colliding with docks, this application provides a method, system, and terminal for assisting ships in berthing based on video surveillance.

[0006] In the first aspect, this application provides a method, system, and terminal for ship assisted berthing based on video surveillance, employing the following technical solution:

[0007] Video surveillance-based methods for assisting ships in berthing include:

[0008] Obtain initial vessel berthing information;

[0009] Based on the initial vessel berthing information, control tugboats to assist the vessel in berthing.

[0010] Obtain real-time ship berthing speed information;

[0011] Determine whether the real-time ship berthing speed information exceeds the berthing speed corresponding to the preset benchmark berthing speed information;

[0012] If the speed does not exceed the baseline berthing speed information, continue to acquire real-time ship berthing speed information;

[0013] If the speed exceeds the baseline berthing speed, braking information is output, and a preset hydraulic braking device is activated to brake the vessel based on the braking information.

[0014] By adopting the above technical solution, the initial ship berthing information is detected, and the tugboat is controlled to tow the ship to shore based on the initial ship berthing information. The real-time ship berthing speed information is also detected. When the real-time ship berthing speed information exceeds the benchmark berthing speed information, braking information is output. Based on the braking information, the hydraulic braking device is controlled to brake the ship, thereby reducing the ship's berthing speed and thus reducing the risk of the ship colliding with the dock.

[0015] Optionally, methods for braking the vessel by activating a preset hydraulic braking device based on braking information include:

[0016] Real-time vessel docking direction information is obtained based on braking information;

[0017] The direction of hydraulic braking is determined based on real-time vessel berthing direction information.

[0018] The hydraulic braking power information is determined based on real-time ship berthing speed information.

[0019] The hydraulic braking device is controlled to adjust its direction based on the hydraulic braking direction information, and the hydraulic braking device is controlled to generate a countercurrent based on the hydraulic braking power information to brake the ship approaching the shore.

[0020] By adopting the above technical solution, real-time ship berthing direction information is detected, and hydraulic braking direction information is determined based on the real-time ship berthing direction information. Hydraulic braking power information is determined based on the real-time ship berthing speed information. The hydraulic braking device is then controlled to generate a countercurrent using the hydraulic braking direction information and hydraulic braking power information to consume the momentum of the approaching ship, thereby reducing the ship's speed and thus reducing the risk of the ship colliding with the dock.

[0021] Optionally, methods for obtaining real-time ship berthing speed information include:

[0022] Obtain video information of ship movement from the shore-based side;

[0023] Each frame of the shore-based vessel's navigation video information is analyzed to determine the vessel's speed information on the shore.

[0024] Obtain video information of the ship's movement from the ship's side;

[0025] Analyze each frame of the ship's movement video information to determine the ship's speed information.

[0026] Determine the speed difference between shore-based and ship-based vessel speed information to output vessel speed comparison difference information;

[0027] Determine whether the ship speed difference information is within the speed range corresponding to the preset reference speed difference range information;

[0028] If not, an alarm will be issued based on the difference in ship speed information;

[0029] If so, the shore-based ship speed information or the ship-side ship speed information is defined as the real-time ship berthing speed information.

[0030] By adopting the above technical solution, the images of shore-based ship travel video information and ship-side ship travel video information are analyzed to determine the shore-based ship speed information and ship-side ship speed information respectively. The ship speed comparison difference information between the shore-based ship speed information and the ship-side ship speed information is calculated. When the ship speed comparison difference information is within the reference speed difference range, the shore-based ship speed information or the ship-side ship speed information is defined as the real-time ship berthing speed information, thereby improving the accuracy of the real-time ship berthing speed information.

[0031] Optionally, auxiliary buffering methods for berthing vessels may also be included, specifically:

[0032] Obtain video information of the ship berthing on the side of the vessel;

[0033] Each frame of the video information of the ship docking is analyzed to determine the ship's docking location.

[0034] Each frame of the video information of the ship docking is analyzed to determine the ship's lateral speed information.

[0035] The system controls a pre-set buffer device to buffer the ship's berthing during docking, based on the ship's berthing position information and its lateral speed information.

[0036] By adopting the above technical solution, the video information of the ship docking is analyzed to determine the ship's docking position and lateral speed. Based on the ship's docking position and lateral speed, the buffer device is controlled to buffer the ship when it docks, so as to avoid the ship from colliding with the dock as much as possible, thereby reducing the risk of the ship colliding with the dock.

[0037] Optionally, methods for controlling a preset buffer device to buffer the berthing of a ship based on its berthing position information and its berthing cross-line speed information include:

[0038] Determine whether the vessel's berthing position information meets the requirements of the preset benchmark vessel berthing position information corresponding to the berthing position;

[0039] If the requirements are met, continue to obtain video information of the ship berthing on the ship's side;

[0040] If the requirements are not met, the difference in berthing position information will be determined based on the vessel's berthing position information and the benchmark vessel berthing position information.

[0041] The control buffer device is moved to the position corresponding to the difference in the ship's berthing position information;

[0042] Based on the preset linear velocity difference information, the linear velocity information of the ship on the shore side is divided into regions to form the ship buffer zone information;

[0043] The number of buffer devices is determined based on the ship's lateral speed information at shore corresponding to the ship's buffer zone information.

[0044] The control buffer device moves to the buffer area corresponding to the ship's buffer area information according to the number of buffer devices.

[0045] By adopting the above technical solution, when there is a difference in berthing position information between the ship's berthing position information and the reference ship berthing position information, the buffer device is controlled to move to the position corresponding to the difference in berthing position information. The ship's berthing side linear velocity information is divided according to the linear velocity difference information to form a ship buffer zone information. The number of buffer devices is determined according to the ship's berthing side linear velocity information corresponding to the ship buffer zone information. The buffer devices are then controlled to move to the buffer zone information according to the number of buffer devices to buffer the ship, thereby reducing the risk of ship collision with the dock.

[0046] Optionally, methods for obtaining initial vessel berthing information include:

[0047] Obtain vessel pre-berthing information;

[0048] Obtain the corresponding vessel status information based on the vessel's pre-berthing information;

[0049] Determine whether the ship status information meets the requirements of the preset benchmark ship berthing status information;

[0050] If the conditions are not met, output the ship is prohibited from stopping information;

[0051] If the conditions are met, the wharf water environment information and real-time vessel travel distance information are obtained, and the initial vessel berthing information is determined based on the wharf water environment information, real-time vessel travel distance information and vessel status information.

[0052] By adopting the above technical solution, when the pre-berthing information of a ship is detected, the ship's status information is detected, and it is determined whether the ship's status information meets the requirements of the benchmark ship berthing status information. If it does, the dock water environment information and real-time ship travel distance information are detected, and the initial ship berthing information is determined based on the dock water environment information, real-time ship travel distance information and ship status information. This allows the ship to berth at the dock according to the water environment, thereby improving the safety of ships berthing at the dock.

[0053] Optionally, methods for determining initial vessel berthing information based on wharf water environment information, real-time vessel travel distance information, and vessel status information include:

[0054] The ship's docking speed is determined by analyzing real-time ship travel distance information.

[0055] The ship status information is analyzed to determine the ship's berthing area information and the ship's real-time location information.

[0056] The ship's real-time location information and berthing area information are analyzed to determine the ship's berthing route information;

[0057] Determine whether the vessel berthing route information meets the requirements of the wharf waterway environmental information;

[0058] If the requirements are met, the ship berthing route information and ship berthing speed information are linked to form the initial ship berthing information;

[0059] If the requirements are not met, the corrected vessel berthing route information that meets the requirements of the wharf waterway environment information is obtained. The berthing route corresponding to the corrected vessel berthing route information is selected to form the actual vessel berthing route information. The actual vessel berthing route information and the vessel berthing speed information are associated to form the initial vessel berthing information.

[0060] By adopting the above technical solution, the ship's berthing speed information is determined based on real-time ship travel distance information, and the ship's berthing area information and real-time ship position information are determined based on ship status information. Then, the ship's berthing route information is determined based on the ship's berthing area information and real-time ship position information. When the ship's berthing route information does not meet the requirements of the wharf water area environment information, the corrected ship's berthing route information that meets the requirements of the wharf water area environment information is detected, and the berthing route corresponding to the corrected ship's berthing route information is selected to form the actual ship's berthing route information. After associating the actual ship's berthing route information and the ship's berthing speed information, the initial ship's berthing information is formed, thereby improving the rationality of the initial ship's berthing information.

[0061] Optionally, methods for obtaining vessel pre-berthing information include:

[0062] Obtain real-time vessel information within the preset dock area;

[0063] Real-time vessel navigation direction information relative to the dock area is obtained based on real-time vessel navigation information.

[0064] Determine whether the real-time vessel direction information matches the preset berthing and driving direction information.

[0065] If not, continue to obtain real-time ship direction information;

[0066] If the conditions are met, the preset ship berthing inquiry information will be output, and the inquiry feedback information will be obtained based on the ship berthing inquiry information.

[0067] The vessel's pre-berthing information will be determined based on the feedback from the inquiry.

[0068] By adopting the above technical solution, real-time vessel navigation direction information is detected based on real-time vessel navigation information. When the real-time vessel navigation direction information matches the berthing navigation direction information, vessel berthing inquiry information is output. The inquiry feedback information is then detected, and the vessel pre-berthing information is determined based on the inquiry feedback information, thereby improving the efficiency of obtaining vessel pre-berthing information.

[0069] Secondly, this application provides a ship berthing system based on video surveillance, which adopts the following technical solution:

[0070] A video surveillance-based ship berthing assistance system includes:

[0071] The acquisition module is used to acquire initial ship berthing information and real-time ship docking speed information;

[0072] A memory for storing programs for a video surveillance-based ship assisted docking method as described in any of the preceding claims;

[0073] The processor and the program in the memory can be loaded and executed by the processor to implement the video surveillance-based ship assisted docking method as described in any of the above.

[0074] By adopting the above technical solution, a series of data related to ship berthing are acquired through the acquisition module, and the processor loads and executes the program of the ship assisted berthing method based on video monitoring stored in the memory, thereby analyzing and processing the acquired data to complete the assisted berthing of the ship, thereby reducing the risk of the ship colliding with the dock when berthing.

[0075] Thirdly, this application provides a smart terminal, which adopts the following technical solution:

[0076] A smart terminal includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed as described above for a video surveillance-based ship assisted docking method.

[0077] By adopting the above technical solution, and by operating the smart terminal, the processor records and executes the computer program of the video monitoring-based ship assisted docking method stored in the memory, thereby completing the assisted docking of the ship and reducing the risk of the ship colliding with the dock when docking.

[0078] Fourthly, this application provides a computer storage medium capable of storing corresponding programs, which facilitates the reduction of the risk of ship collisions with docks, and adopts the following technical solution:

[0079] A computer-readable storage medium storing a computer program that can be loaded by a processor and executed any of the above-described video surveillance-based ship assisted docking methods.

[0080] By adopting the above technical solution, a computer program for a video-monitored assisted docking method is stored in a computer-readable storage medium, and the processor loads and executes the computer program to assist the ship in docking, thereby reducing the risk of the ship colliding with the dock when docking.

[0081] In summary, this application includes at least one of the following beneficial technical effects:

[0082] 1. By detecting the initial ship berthing information, and controlling the tugboat to tow the ship to shore based on the initial ship berthing information, the real-time ship berthing speed information is detected. When the real-time ship berthing speed information exceeds the benchmark berthing speed information, braking information is output. Based on the braking information, the hydraulic braking device is controlled to brake the ship, thereby reducing the ship's berthing speed and thus reducing the risk of the ship colliding with the dock.

[0083] 2. By detecting real-time ship berthing direction information, the hydraulic braking direction information is determined based on the real-time ship berthing direction information, and the hydraulic braking power information is determined based on the real-time ship berthing speed information. The hydraulic braking device is then controlled to generate a countercurrent using the hydraulic braking direction information and hydraulic braking power information to consume the momentum of the approaching ship, thereby reducing the ship's speed and thus reducing the risk of the ship colliding with the dock.

[0084] 3. By analyzing the images of shore-based and ship-side vessel travel video information, the ship speed information on the shore and ship sides is determined respectively. The ship speed comparison difference information between the shore-based and ship-side vessel speed information is calculated. When the ship speed comparison difference information is within the reference speed difference range, the shore-based or ship-side vessel speed information is defined as the real-time ship berthing speed information, thereby improving the accuracy of the real-time ship berthing speed information. Attached Figure Description

[0085] Figure 1 This is a flowchart of a video surveillance-based ship assisted docking method in an embodiment of this application.

[0086] Figure 2 This is a flowchart of a method for braking a ship by activating a preset hydraulic braking device based on braking information, as described in this application embodiment.

[0087] Figure 3 This is a flowchart of a method for obtaining real-time ship berthing speed information in an embodiment of this application.

[0088] Figure 4 This is a flowchart of an auxiliary buffering method for docked vessels in an embodiment of this application.

[0089] Figure 5 This is a flowchart of a method for controlling a preset buffer device to buffer a ship's berthing based on the ship's berthing position information and the ship's berthing lateral speed information in an embodiment of this application.

[0090] Figure 6 This is a flowchart of a method for obtaining initial ship berthing information in an embodiment of this application.

[0091] Figure 7 This is a flowchart illustrating the method for determining initial vessel berthing information based on wharf water environment information, real-time vessel travel distance information, and vessel status information in this application embodiment.

[0092] Figure 8 This is a flowchart of a method for obtaining ship pre-berthing information in an embodiment of this application. Detailed Implementation

[0093] To make the purpose, technical solution, and advantages of this application clearer, the following description is provided in conjunction with the appendix. Figure 1-8 The present application will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the application.

[0094] This application discloses a shore-based monitoring camera, a ship-based monitoring camera, a monitoring terminal platform, a hydraulic braking device, and a buffer device. Both the shore-based and ship-based monitoring cameras are connected to the monitoring terminal platform via the internet to transmit video data. The monitoring terminal platform analyzes and processes the video information and the data transmitted by the ship to obtain processing methods related to ship berthing at the dock and outputs instructions. The hydraulic braking device and the buffer device are both connected to the monitoring terminal platform via the internet to receive instructions, thereby assisting the ship in berthing within the designated area of ​​the dock.

[0095] Reference Figure 1 This application discloses a method for assisting a ship to dock based on video surveillance, comprising the following steps:

[0096] Step S100: Obtain the initial vessel berthing information.

[0097] Initial vessel berthing information refers to the berthing instructions given by the terminal dispatch center to vessels based on their specific tonnage, draft, cargo, and the terminal's water environment. The specific method for obtaining initial vessel berthing information is described in [reference needed]. Figure 6 The steps.

[0098] Step S101: Control the tugboat to assist the vessel in docking based on the initial vessel berthing information.

[0099] The specific method for controlling tugboats to assist vessels in berthing based on initial vessel berthing information is as follows: After receiving the initial vessel berthing information, the tugboat sets off to approach the vessel and tows it along the berthing route corresponding to the initial vessel berthing information, thereby causing the vessel to berth at the dock along the berthing route. During the towing process, if the vessel's speed is too high, the tugboat tows the vessel in the opposite direction of the vessel's travel to brake the vessel. After the vessel enters the berthing area, the tugboat pushes the vessel into the berthing area so that the side of the vessel is close to the shoreline of the dock.

[0100] Step S102: Obtain real-time ship docking speed information.

[0101] Among them, the vessel berthing speed information refers to the speed at which a vessel approaches the dock area, obtained through analysis of images captured by shore-based and vessel-side monitoring cameras. Specific analysis methods are detailed in [reference needed]. Figure 3 The steps.

[0102] Step S103: Determine whether the real-time ship berthing speed information exceeds the berthing speed corresponding to the preset benchmark berthing speed information.

[0103] Among them, the benchmark berthing speed information refers to the maximum berthing speed that a vessel is allowed to reach when approaching the dock area. The benchmark berthing speed information is set by those skilled in the art based on the actual situation and uploaded and stored to the monitoring terminal platform.

[0104] By determining whether the real-time berthing speed of a vessel exceeds the benchmark berthing speed, it can be determined whether the vessel's real-time berthing speed is too fast, thus posing an excessive risk of collision with the dock.

[0105] Step S1031: If the speed does not exceed the baseline berthing speed information, continue to acquire real-time ship berthing speed information.

[0106] If the berthing speed corresponding to the real-time berthing speed information does not exceed the berthing speed corresponding to the baseline berthing speed information, it indicates that the berthing speed corresponding to the real-time berthing speed information during the berthing process is within the allowable approach speed range. When the ship berths at the berthing speed corresponding to the real-time berthing speed information, the wind direction at the berthing dock is low. Therefore, the real-time berthing speed information is continuously monitored to prevent sudden changes in the real-time berthing speed information.

[0107] Step S1032: If the speed exceeds the reference berthing speed information, output braking information and activate the preset hydraulic braking device to brake the ship according to the braking information.

[0108] Among them, braking information refers to the electromagnetic signal that activates the hydraulic braking device, which is set by those skilled in the art according to the actual situation, and is sent by the monitoring terminal platform and received by the hydraulic braking device.

[0109] The hydraulic braking device includes a control circuit board, a motor, a hydraulic rod, and a paddle. The control circuit board receives braking information to start the motor and hydraulic rod, thereby causing the hydraulic rod to adjust the direction of the paddle and causing the motor to drive the paddle to fan the water flow to create a countercurrent to brake the ship.

[0110] If the real-time berthing speed information corresponds to a berthing speed exceeding the baseline berthing speed information, it indicates that the berthing speed during the berthing process exceeds the permissible approach speed range, posing a significant risk of collision with the dock. Therefore, braking information is output, and the hydraulic braking system is activated to brake the vessel. The braking method of the hydraulic braking system refers to... Figure 2 The steps.

[0111] Reference Figure 2 A method for braking a vessel by activating a preset hydraulic braking device based on braking information includes the following steps:

[0112] Step S200: Obtain real-time ship docking direction information based on braking information.

[0113] Among them, the real-time ship docking direction information refers to the direction in which the ship approaches the dock. In one embodiment, the ship's staff can directly send the real-time ship docking direction information to the monitoring terminal platform. In another embodiment, the shore-based monitoring camera can capture video of the ship's movement, and the monitoring terminal platform can analyze the position of the ship and the reference object in each frame of the video in sequence to obtain the real-time ship docking direction information. The analysis method is as follows: if the ship is east of the reference object in the current frame and west of the reference object in a subsequent frame, then the ship docking direction information corresponding to the real-time ship docking direction information is from east to west.

[0114] Step S201: Determine the hydraulic braking direction information based on the real-time ship docking direction information.

[0115] Among them, the hydraulic braking direction information refers to the direction in which the hydraulic braking device brakes the ship. The hydraulic braking direction information is obtained by the monitoring terminal platform after analyzing the direction corresponding to the real-time ship docking direction information, and then sent to the hydraulic braking device. The direction corresponding to the hydraulic braking direction information is opposite to the direction corresponding to the real-time ship docking direction information. The analysis method is as follows: if the direction corresponding to the real-time ship docking direction information is from east to west, then the direction corresponding to the hydraulic braking direction information is from west to east.

[0116] Step S202: Determine the hydraulic braking power information based on the real-time ship docking speed information.

[0117] Among them, the hydraulic braking power information refers to the power value of the hydraulic braking device for braking the ship. The monitoring terminal platform calls the speed corresponding to the real-time ship docking speed information, and analyzes the relationship between the real-time ship docking speed information and the hydraulic braking power information to obtain the hydraulic braking power information. Specifically, the larger the speed value corresponding to the real-time ship docking speed information, the higher the power value corresponding to the hydraulic braking power information.

[0118] Step S203: Control the hydraulic braking device to adjust its direction according to the hydraulic braking direction information, and control the hydraulic braking device to generate a countercurrent according to the hydraulic braking power information to brake the ship approaching the shore.

[0119] Specifically, the hydraulic braking device is controlled to adjust to the direction corresponding to the hydraulic braking direction information, and the hydraulic braking device is controlled to generate a countercurrent with the power value corresponding to the hydraulic braking power information. This causes the countercurrent to collide with the ship in the direction corresponding to the hydraulic braking direction information, thereby consuming the ship's momentum and reducing the ship's speed to achieve braking.

[0120] Reference Figure 3 The method for obtaining real-time ship berthing speed information includes the following steps:

[0121] Step S300: Obtain video information of the ship's movement on the shore-based side.

[0122] Among them, shore-based vessel navigation video information refers to video footage of vessels in motion taken from the shore-based side. This footage is captured by shore-based monitoring cameras and sent to the monitoring terminal platform.

[0123] Step S301: Analyze each frame of the video information of the ship's movement on the shore-based side to determine the ship's speed information on the shore-based side.

[0124] Among them, the shore-based ship speed information refers to the speed of the ship detected by the shore-based monitoring camera. It is obtained by the monitoring terminal platform after calling the shore-based ship movement video information for analysis. The analysis method is as follows: capture the distance difference between the ship movement in two adjacent frames of the shore-based ship movement video information, and calculate the quotient of the distance difference and the corresponding time of the two adjacent frames to obtain the shore-based ship speed information.

[0125] Step S302: Obtain video information of the ship's movement from the ship's side.

[0126] Among them, the ship-side ship movement video information refers to the video taken by the ship side of the movement process, which is captured by the ship-side monitoring camera and sent to the monitoring terminal platform.

[0127] Step S303: Analyze each frame of the video information on the ship's movement on the ship side to determine the ship's speed information on the ship side.

[0128] Among them, the ship speed information refers to the speed of the ship detected by the ship-side monitoring camera. It is obtained by the monitoring terminal platform calling the ship-side ship movement video information for video analysis. The analysis method is as follows: capture the distance difference between the ship movement in two adjacent frames of the ship movement video information, and calculate the quotient of the distance difference and the corresponding time of the two adjacent frames to obtain the ship speed information.

[0129] Step S304: Determine the speed difference between the shore-based ship speed information and the ship speed information on the ship side, and output the ship speed comparison difference information.

[0130] Among them, the ship speed comparison difference information refers to the difference between the speed corresponding to the shore-based ship speed information and the speed corresponding to the ship speed information on the ship side. It is obtained by the monitoring terminal platform by subtracting the speed corresponding to the shore-based ship speed information and the speed corresponding to the ship speed information on the ship side.

[0131] Step S305: Determine whether the ship speed comparison difference information is within the speed range corresponding to the preset benchmark speed difference range information.

[0132] Among them, the reference speed difference range information refers to the range of differences between the speed corresponding to the normal shore-based ship speed information and the speed corresponding to the ship speed information on the ship side. This range is set by those skilled in the art based on the actual situation and uploaded and stored to the monitoring terminal platform.

[0133] By determining whether the speed difference value corresponding to the ship speed comparison difference information exceeds the speed difference value range corresponding to the benchmark speed difference range information, it is possible to determine whether the difference between the shore-based ship speed information and the ship-side ship speed information is too large, resulting in inaccurate real-time ship berthing speed information.

[0134] Step S3051: If not, issue an alarm based on the ship speed comparison difference information.

[0135] If the speed difference value corresponding to the ship speed comparison difference information exceeds the speed difference value range corresponding to the benchmark speed difference range information, it indicates that the difference between the ship speed information on the shore side and the ship speed information on the ship side is too large, resulting in inaccurate real-time ship berthing speed information. Therefore, the speed difference value corresponding to the ship speed comparison difference information is displayed to issue an alarm.

[0136] Step S3052: If in the current state, the shore-based ship speed information or the ship-side ship speed information is defined as the real-time ship berthing speed information.

[0137] If the speed difference value corresponding to the ship speed comparison difference information does not exceed the speed difference value range corresponding to the benchmark speed difference range information, it indicates that the difference between the shore-based ship speed information and the ship-side ship speed information is within the normal range. Therefore, both the shore-based ship speed information and the ship-side ship speed information are correct, and either the shore-based ship speed information or the ship-side ship speed information can be defined as real-time ship berthing speed information.

[0138] Reference Figure 4 The video surveillance-based ship assisted berthing method also includes an auxiliary buffering method for berthing ships, specifically including the following steps:

[0139] Step S400: Obtain video information of the ship berthing on the ship side.

[0140] Among them, the ship-side berthing video information refers to the video of the ship berthing process taken by the ship-side monitoring camera on the berthing side and uploaded to the monitoring terminal platform.

[0141] Step S401: Analyze each frame of the video information of the ship docking on the ship side to determine the ship's docking position information.

[0142] Among them, the ship berthing location information refers to the specific location of the ship at the dock when it berths. It is obtained by the monitoring terminal platform after calling the ship berthing video information on the ship side and analyzing it. The analysis method is as follows: the shore features in each frame of the ship berthing video information on the ship side are selected, and then the shore features are compared with all the shore features of the dock. The location where the shore features in the ship berthing video information on the ship side are the same as the shore features of the dock is determined, thus obtaining the ship berthing location information.

[0143] Step S402: Analyze each frame of the video information of the ship docking on the ship side to determine the ship's lateral speed information.

[0144] Among them, the ship's berthing side linear velocity information refers to the linear velocity of the ship on the berthing side. When the ship berths, it rotates around the bow as the axis to approach the shore. The angular velocity of the ship on the berthing side is the same, but the linear velocity of the ship on the berthing side gradually increases in the direction away from the bow. The ship's berthing side linear velocity information is detected by the ship-side monitoring camera on the berthing side. The detection direction is: to capture the difference distance between the ship in two adjacent frames of the ship's berthing video information on the ship side, and to calculate the quotient between the difference distance and the time corresponding to the two adjacent frames, so as to obtain the ship's berthing side linear velocity information.

[0145] Step S403: Control the preset buffer device to buffer the ship's berthing during berthing based on the ship's berthing position information and the ship's berthing side speed information.

[0146] Among them, the buffer device refers to the device that pushes the ship to the shore side when it approaches the shore to reduce the ship's momentum and thus prevent the ship from hitting the shore base. It can be a rubber fender or a hydraulic cylinder driving a hydraulic rod to attach a rubber plate to the ship's shore side to slow down the ship's approach speed.

[0147] The buffer device is controlled by the ship's berthing position information and its lateral speed information to cushion the ship as it approaches the shore, thereby reducing the risk of collision with the shoreline. Specific control directions are as follows: Figure 5 The steps.

[0148] Reference Figure 5 A method for buffering a ship's berthing by controlling a pre-set buffer device based on the ship's berthing position information and its berthing lateral speed information includes the following steps:

[0149] Step S500: Determine whether the vessel's berthing position information meets the requirements of the preset benchmark vessel berthing position information.

[0150] Among them, the reference vessel berthing position information refers to the correct vessel berthing position. The vessel berthing position corresponding to the reference vessel berthing position information is marked on the shore. It is set by those skilled in the art according to the actual situation, and the reference vessel berthing position information is uploaded and stored to the monitoring terminal platform.

[0151] By determining whether the location corresponding to the vessel's berthing position information is within the marked area of ​​the reference vessel berthing position information, it can be determined whether the vessel is berthed in the correct berthing position, and thus determine whether the location of the buffer device needs to be moved.

[0152] Step S501: If the requirements are met, continue to obtain the ship's docking video information from the ship's side.

[0153] If the location corresponding to the vessel's berthing position information is within the marker of the berthing position corresponding to the baseline vessel berthing position information, it indicates that the vessel is berthing in the correct position. Therefore, the vessel's berthing video information is continuously monitored to prevent the vessel from shifting its position after berthing in the baseline vessel berthing position information.

[0154] Step S502: If the requirements are not met, determine the vessel berthing position difference information based on the vessel berthing position information and the benchmark vessel berthing position information.

[0155] Among them, the vessel berthing position difference information refers to the deviation between the vessel's berthing position information and the benchmark vessel berthing position information when the vessel's berthing position information does not meet the requirements of the benchmark vessel berthing position information. This information is obtained by the monitoring terminal platform through analysis of the vessel's berthing position information and the benchmark vessel berthing position information. The analysis method is as follows: the berthing position image corresponding to the vessel's berthing position information is compared with the berthing position image corresponding to the benchmark vessel berthing position information by feature comparison, thereby selecting the position image between the bow and the marker or the position image between the stern and the marker.

[0156] Step S503: Control the buffer device to move to the position corresponding to the ship berthing position difference information.

[0157] Specifically, the control buffer device is moved to the berthing position corresponding to the berthing position difference information, so that the buffer device can buffer the ship within the berthing position corresponding to the berthing position difference information, thereby making up for the deficiency of no buffer device within the berthing position corresponding to the berthing position difference information.

[0158] Step S504: Divide the ship's berthing side linear velocity information into regions based on the preset linear velocity difference information to form ship buffer zone information.

[0159] Among them, the linear velocity difference information refers to the dividing linear velocity value of the corresponding linear velocity area of ​​the ship's berthing side linear velocity information. This value is set by those skilled in the art according to the actual situation and uploaded and stored to the monitoring terminal platform.

[0160] Ship buffer zone information refers to the area that is buffered by buffer devices after dividing the linear velocity information of the ship's shore side according to the linear velocity difference information. The specific division method is as follows: starting from the linear velocity of the stern or bow, the linear velocity of the ship's shore side is divided into intervals based on the divided linear velocity values. Thus, the divided linear velocity intervals are the buffer zones corresponding to the ship buffer zone information.

[0161] Step S505: Determine the number of buffer devices based on the ship's lateral speed information corresponding to the ship's buffer zone information.

[0162] The number of buffer devices refers to the number of buffer devices within the buffer area corresponding to the ship's buffer area information. This information is obtained by analyzing the ship's berthing lateral speed information corresponding to the ship's buffer area information through the monitoring terminal platform. The specific analysis method is as follows: the maximum ship berthing lateral speed information corresponding to the ship's buffer area information is retrieved. Each buffer device corresponds to a certain baseline speed value. The quotient between the lateral speed information corresponding to the ship's berthing lateral speed information and the baseline speed value is calculated to obtain the number of buffer devices.

[0163] Step S506: Control the buffer device to move to the buffer area corresponding to the ship's buffer area information according to the number of buffer devices corresponding to the number of buffer devices information in order to buffer the ship as it approaches the shore.

[0164] Specifically, the control buffer device moves to the corresponding number of buffer devices within the ship's buffer zone information based on the number of buffer devices. This allows a smaller number of buffer devices to buffer areas with low lateral speeds near the shore, while a larger number of buffer devices buffer areas with high lateral speeds near the shore, thus making reasonable use of the buffer devices to buffer the ship.

[0165] In another embodiment, while controlling the buffer device to buffer the ship, the hydraulic braking device can be controlled to generate a countercurrent with increasing power values ​​according to the lateral speed approaching the shore, thereby buffering the ship when it approaches the shore.

[0166] Reference Figure 6 The method for obtaining initial ship berthing information includes the following steps:

[0167] Step S600: Obtain the vessel's pre-berthing information.

[0168] Among them, vessel pre-berthing information refers to the confirmation that a vessel is about to berth at the dock, which is obtained by the vessel from the dock dispatch center. For specific methods of obtaining this information, please refer to [link / reference needed]. Figure 8 The steps.

[0169] Step S601: Obtain the corresponding vessel status information based on the vessel pre-berthing information.

[0170] Among them, the ship status information refers to specific data such as the ship's tonnage, the weight of the cargo, the type of cargo, and the draft. After sending the reply corresponding to the ship's pre-berthing information, the ship's staff will send it to the terminal dispatch center.

[0171] Step S602: Determine whether the ship status information meets the requirements of the preset benchmark ship berthing status information.

[0172] Among them, the baseline vessel berthing status information refers to specific data such as the tonnage of the vessel that the terminal can accept, the weight of the cargo loaded, the type of cargo loaded, and the draft, which are set by those skilled in the art according to the actual situation.

[0173] By determining whether the specific data corresponding to the ship's status information, such as the ship's tonnage, the weight of the cargo, the type of cargo, and the draft, meet the requirements of the specific data corresponding to the benchmark ship berthing status information, it can be determined whether the ship about to berth at the dock can enter the dock.

[0174] Step S6021: If it does not meet the requirements, output the ship no-stopping information.

[0175] Among them, the "vessel no-stopping information" refers to the reply sent by the terminal dispatch center to the vessel prohibiting it from entering when the specific data such as the tonnage, weight of the cargo, type of cargo, and draft of the vessel status information do not meet the requirements of the specific data such as the tonnage, weight of the cargo, type of cargo, and draft of the vessel corresponding to the benchmark vessel berthing status information.

[0176] If the specific data such as the tonnage, weight of cargo, type of cargo, and draft of the vessel status information do not meet the requirements of the specific data such as the tonnage, weight of cargo, type of cargo, and draft of the vessel berthing status information corresponding to the baseline vessel berthing status information, it indicates that the vessel is not allowed to enter the dock. Therefore, a vessel no-berthing information is output and sent to the vessel as a reminder.

[0177] Step S6022: If the conditions are met, obtain the wharf water environment information and real-time vessel travel distance information, and determine the initial vessel berthing information based on the wharf water environment information, real-time vessel travel distance information and vessel status information.

[0178] Among them, the water environment information of the wharf refers to the details of the water area within the wharf, including data such as the navigation of ships in the wharf water area, water depth, and the presence of reefs in the water area. This data is captured by shore-based monitoring cameras and detected by radar and then sent to the monitoring terminal platform.

[0179] Real-time vessel travel distance information refers to the distance between a vessel and the dock, which is detected by shore-based monitoring cameras or radar and sent to the monitoring terminal platform.

[0180] After detecting the wharf water environment information and real-time vessel travel distance information, initial vessel berthing information is generated by analyzing the wharf water environment information, real-time vessel travel distance information, and vessel status information, thereby improving the safety of vessel berthing. Specific analysis methods are described in [reference needed]. Figure 7 The steps.

[0181] Reference Figure 7 The method for determining initial vessel berthing information based on wharf water environment information, real-time vessel travel distance information, and vessel status information includes the following steps:

[0182] Step S700: Analyze the real-time ship travel distance information to determine the ship docking speed information.

[0183] Among them, the ship berthing speed information refers to the maximum speed that a ship should have at the distance corresponding to the real-time ship travel distance information. It is obtained by the monitoring terminal platform after analyzing the real-time ship travel distance information. The analysis method is as follows: at different distances from the dock, those skilled in the art set the corresponding maximum speed according to the distance. As the distance approaches, the speed continuously decreases. After inputting the distance corresponding to the real-time ship travel distance information, the speed corresponding to the distance is matched to obtain the ship berthing speed information.

[0184] Step S701: Analyze the ship status information to determine the ship berthing area information and the ship's real-time location information.

[0185] Among them, the ship berthing area information refers to the specific area of ​​the dock where a ship should berth. It is obtained by the monitoring terminal platform after calling the ship status information for analysis. The analysis method is as follows: the area within the dock where the ship can berth is determined based on the ship's tonnage, cargo weight, and draft corresponding to the ship status information. The higher the ship's tonnage, cargo weight, and draft, the larger the range and depth of the berthing area. Then, the berthing area is specifically selected according to the type of cargo corresponding to the ship status information, so as to obtain the area suitable for that type of cargo. For example, flammable and explosive materials and hazardous chemicals should berth in the designated hazardous materials area.

[0186] Real-time vessel location information refers to the specific position of a vessel relative to the dock. It is included in the vessel status information. When the crew on board sends the vessel status information to the dock dispatch center, the operators at the dock dispatch center can directly obtain the real-time vessel location information from the vessel status information.

[0187] Step S702: Analyze the real-time location information and berthing area information of the vessel to determine the berthing route information.

[0188] Among them, the berthing route information refers to the shortest route for a ship to travel from the location corresponding to the ship's real-time location information to the berthing area corresponding to the ship's berthing area information. This route is obtained by personnel at the terminal dispatch center who mark the real-time location information of the ship and the berthing area information on the map of the terminal area and then connect them.

[0189] Step S703: Determine whether the vessel berthing route information meets the requirements of the wharf waterway environmental information.

[0190] Among them, the requirement for information on the water environment of the wharf means that there are no vessels anchored, reefs, or shallow water in the water environment of the wharf.

[0191] By determining whether there are any wharf water environment conditions such as ships stopping, reefs, or shallow water along the berthing route information, it can be determined whether a ship will collide with or run aground with other ships when berthing according to the berthing route information.

[0192] Step S7031: If the requirements are met, associate the ship berthing route information and the ship berthing speed information to form the initial ship berthing information.

[0193] In this step, the initial vessel berthing information refers to the method of assisting vessels to dock when there is no information about the dock water environment such as vessels stopping, reefs, or shallow waters corresponding to the vessel berthing route information. The specific association method is as follows: based on the berthing route corresponding to the vessel berthing route information, the tugboat is controlled to adjust the speed and direction of the vessel at different distances between the berthing route and the dock, thereby assisting the vessel to dock in the berthing area corresponding to the vessel berthing area information.

[0194] Step S7032: If the requirements are not met, obtain the corrected vessel berthing route information that meets the requirements of the wharf waterway environment information, select the berthing route corresponding to the corrected vessel berthing route information to form the actual vessel berthing route information, and associate the actual vessel berthing route information and the vessel berthing speed information to form the initial vessel berthing information.

[0195] Among them, correcting the vessel berthing route information refers to adjusting the berthing route corresponding to the vessel berthing route information in the dock water environment information when there are vessel stops, reefs, and shallow water depths, so that the vessel can berth in the berthing area corresponding to the vessel berthing area information after avoiding vessel stops, reefs, and shallow water depths. The staff of the dock dispatch center adjusts the berthing route corresponding to the vessel berthing route information on the map according to the dock water environment information such as vessel stops, reefs, and shallow water depths, so that the berthing route avoids vessel stops, reefs, and shallow water depths.

[0196] Actual vessel berthing route information refers to the shortest route among the corrected vessel berthing route information, which is selected by the staff of the terminal dispatch center after comparing route distances.

[0197] The initial vessel berthing information in this step refers to the tugboat-assisted vessel berthing route obtained by associating the actual vessel berthing route information and the vessel berthing speed information. The association method is as follows: based on the berthing route corresponding to the actual vessel berthing route information, at different distances from the dock on the berthing route, the tugboat is controlled to adjust the vessel's speed according to the vessel berthing speed information, so that the vessel can safely enter the berthing area corresponding to the vessel berthing area information.

[0198] Reference Figure 8 The method for obtaining vessel pre-berthing information includes the following steps:

[0199] Step S800: Obtain real-time vessel information within the preset dock area.

[0200] Among them, the wharf area information refers to the actual area and water area of ​​the wharf, which is set by those skilled in the art according to the actual situation and uploaded and stored to the monitoring terminal platform.

[0201] Real-time vessel information refers to the information on vessels currently sailing within the dock area corresponding to the dock area information. This information is obtained by comparing the positions of vessels in each frame of the video captured by shore-based monitoring cameras. The comparison method is as follows: if the position of the vessel does not change in different frames, it indicates that the vessel is not sailing; if the position of the vessel is different in different frames, it indicates that the vessel is sailing. Thus, real-time vessel information is obtained.

[0202] Step S801: Obtain real-time vessel direction information relative to the dock area information based on real-time vessel information.

[0203] Among them, the real-time vessel direction information refers to the direction of the vessel relative to the location of the dock area information corresponding to the real-time vessel information. It is obtained by capturing video from the shore-based monitoring camera and analyzing each frame of the video. The analysis method is as follows: the position of the vessel relative to the dock area in each frame is captured and the positions are compared according to the order of each frame. Thus, the vessel's direction of travel is obtained based on the vessel's position relative to the dock area.

[0204] Step S802: Determine whether the real-time ship driving direction information meets the direction requirements corresponding to the preset docking and driving direction information.

[0205] Among them, the berthing and driving direction information refers to the direction in which the vessel approaches the dock area. This information is set by those skilled in the art based on the actual situation and then uploaded and stored on the monitoring terminal platform.

[0206] By determining whether the real-time vessel travel direction information corresponds to the same travel direction as the docking travel direction information, it can be determined whether the vessel is about to dock at the pier.

[0207] Step S8021: If not, continue to obtain real-time ship direction information.

[0208] If the real-time vessel direction information does not match the docking direction information, it indicates that the vessel is passing through or leaving the dock area and is not about to dock. Therefore, the real-time vessel direction information is continuously monitored to prevent the vessel from suddenly turning and approaching the dock area.

[0209] Step S8022: If the conditions are met, output the preset ship berthing inquiry information and obtain the inquiry feedback information based on the ship berthing inquiry information.

[0210] Among them, the vessel berthing inquiry information refers to the inquiry information sent by the terminal dispatch center to the vessel regarding whether to berth when the real-time vessel driving direction information corresponds to the driving direction and the berthing direction information corresponds to the berthing driving direction information.

[0211] Inquiry feedback information refers to the response a vessel gives to a berthing inquiry after receiving such an inquiry. The vessel's staff then sends the inquiry feedback information to the terminal dispatch center.

[0212] Step S803: Determine the vessel's pre-berthing information based on the inquiry feedback.

[0213] Specifically, by identifying the responses to the inquiry feedback information, it is determined whether the vessel should dock at the pier. If the response to the inquiry feedback information is to enter the pier to dock, the vessel's pre-dock information is confirmed.

[0214] Based on the same inventive concept, embodiments of the present invention provide a ship berthing assistance system based on video surveillance, comprising:

[0215] The acquisition module is used to acquire initial vessel berthing information, real-time vessel berthing speed information, real-time vessel berthing direction information, shore-based vessel travel video information, vessel-side vessel travel video information, vessel-side vessel berthing video information, vessel pre-berthing information, vessel status information, wharf water environment information, real-time vessel travel distance information, corrected vessel berthing route information, real-time vessel travel information, real-time vessel travel direction information, and query feedback information.

[0216] Memory, used to store such as Figure 1-8 The procedure of any one of the video surveillance-based ship assisted berthing methods;

[0217] The processor and memory can load and execute programs to achieve the following: Figure 1-8 The video surveillance-based ship assisted docking method described in any one of the following.

[0218] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0219] This invention provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executed as a video surveillance-based ship assisted docking method.

[0220] Computer storage media include, for example, USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media that can store program code.

[0221] Based on the same inventive concept, embodiments of the present invention provide a smart terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded and executed by the processor for a video surveillance-based ship assisted docking method.

[0222] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0223] The above are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Any feature disclosed in this specification (including the abstract and drawings) may be replaced by other equivalent or similar features unless specifically stated otherwise. That is, unless specifically stated otherwise, each feature is only one example of a series of equivalent or similar features.

Claims

1. A method for assisting ships in berthing based on video surveillance, characterized in that: include: Obtain initial vessel berthing information; Based on the initial vessel berthing information, control tugboats to assist the vessel in berthing. Obtain real-time ship berthing speed information; Determine whether the real-time ship berthing speed information exceeds the berthing speed corresponding to the preset benchmark berthing speed information; If the speed does not exceed the baseline berthing speed information, continue to acquire real-time ship berthing speed information; If the speed exceeds the baseline berthing speed, braking information is output, and the preset hydraulic braking device is activated to brake the ship according to the braking information. It also includes auxiliary buffering methods for ships docking at shore, specifically including: Obtain video information of the ship berthing on the side of the vessel; Each frame of the video information of the ship docking is analyzed to determine the ship's docking location. Each frame of the video information of the ship docking is analyzed to determine the ship's lateral speed information. The system controls a pre-set buffer device to buffer the ship's berthing during docking based on the ship's berthing position information and its berthing speed along the lateral line. The methods for buffering a ship's berthing by controlling a pre-set buffer device based on the ship's berthing position information and its berthing cross-line speed information include: Determine whether the vessel's berthing position information meets the requirements of the preset benchmark vessel berthing position information corresponding to the berthing position; If the requirements are met, continue to obtain video information of the ship berthing on the ship's side; If the requirements are not met, the difference in berthing position information will be determined based on the vessel's berthing position information and the benchmark vessel berthing position information. The control buffer device is moved to the position corresponding to the difference in the ship's berthing position information; Based on the preset linear velocity difference information, the linear velocity information of the ship on the shore side is divided into regions to form the ship buffer zone information; The number of buffer devices is determined based on the ship's lateral speed information at shore corresponding to the ship's buffer zone information. The control buffer device moves to the buffer area corresponding to the ship's buffer area information according to the number of buffer devices.

2. The method for assisting ship berthing based on video surveillance according to claim 1, characterized in that, Methods for braking a ship by activating a preset hydraulic braking device based on braking information include: Real-time vessel docking direction information is obtained based on braking information; The direction of hydraulic braking is determined based on real-time vessel berthing direction information. The hydraulic braking power information is determined based on real-time ship berthing speed information. The hydraulic braking device is controlled to adjust its direction based on the hydraulic braking direction information, and the hydraulic braking device is controlled to generate a countercurrent based on the hydraulic braking power information to brake the ship approaching the shore.

3. The video surveillance-based ship assisted berthing method according to claim 1, characterized in that, Methods for obtaining real-time ship berthing speed information include: Obtain video information of ship movement from the shore-based side; Each frame of the shore-based vessel's navigation video information is analyzed to determine the vessel's speed information on the shore. Obtain video information of the ship's movement from the ship's side; Analyze each frame of the ship's movement video information to determine the ship's speed information. Determine the speed difference between shore-based and ship-based vessel speed information to output vessel speed comparison difference information; Determine whether the ship speed difference information is within the speed range corresponding to the preset reference speed difference range information; If not, an alarm will be issued based on the difference in ship speed information; If so, the shore-based ship speed information or the ship-side ship speed information is defined as the real-time ship berthing speed information.

4. The method for assisting ship berthing based on video surveillance according to claim 1, characterized in that, Methods for obtaining initial ship berthing information include: Obtain vessel pre-berthing information; Obtain the corresponding vessel status information based on the vessel's pre-berthing information; Determine whether the ship status information meets the requirements of the preset benchmark ship berthing status information; If the conditions are not met, output the ship is prohibited from stopping information; If the conditions are met, the wharf water environment information and real-time vessel travel distance information are obtained, and the initial vessel berthing information is determined based on the wharf water environment information, real-time vessel travel distance information and vessel status information.

5. The video surveillance-based ship assisted berthing method according to claim 4, characterized in that, Methods for determining initial vessel berthing information based on wharf water environment information, real-time vessel travel distance information, and vessel status information include: The ship's docking speed is determined by analyzing real-time ship travel distance information. The ship status information is analyzed to determine the ship's berthing area information and the ship's real-time location information. The ship's real-time location information and berthing area information are analyzed to determine the ship's berthing route information; Determine whether the vessel berthing route information meets the requirements of the wharf waterway environmental information; If the requirements are met, the ship berthing route information and ship berthing speed information are linked to form the initial ship berthing information; If the requirements are not met, the corrected vessel berthing route information that meets the requirements of the wharf waterway environment information is obtained. The berthing route corresponding to the corrected vessel berthing route information is selected to form the actual vessel berthing route information. The actual vessel berthing route information and the vessel berthing speed information are associated to form the initial vessel berthing information.

6. The video surveillance-based ship assisted berthing method according to claim 4, characterized in that, Methods for obtaining vessel pre-berthing information include: Obtain real-time vessel information within the preset dock area; Real-time vessel navigation direction information relative to the dock area is obtained based on real-time vessel navigation information. Determine whether the real-time vessel direction information matches the preset berthing and driving direction information. If not, continue to obtain real-time ship direction information; If the conditions are met, the preset ship berthing inquiry information will be output, and the inquiry feedback information will be obtained based on the ship berthing inquiry information. The vessel's pre-berthing information will be determined based on the feedback from the inquiry.

7. A ship berthing assistance system based on video surveillance, characterized in that, include: The acquisition module is used to acquire initial ship berthing information and real-time ship docking speed information; A memory for storing the program of the video surveillance-based ship assisted docking method as described in any one of claims 1 to 6; The processor and memory can load and execute the program to implement the video surveillance-based ship assisted docking method.

8. A smart terminal, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed as described in any one of claims 1 to 6, which is a video surveillance-based ship assisted docking method.

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