A smart early warning method and device for ships passing under bridges

Abstract

This invention discloses an intelligent early warning method and device for ships passing under bridges. The method includes: acquiring altitude influence parameters of a target ship, wherein the target ship's navigation direction is towards the bridge, and the altitude influence parameters represent parameters that affect the altitude of the target ship; predicting the target altitude of the target ship when it passes under the bridge based on the altitude influence parameters; determining whether the target altitude meets the pre-determined conditions for ship passage under bridges; if it is determined that the target altitude does not meet the conditions for ship passage under bridges, generating a ship early warning prompt for the target ship, which indicates that the target ship has a risk of colliding with the bridge. Therefore, implementing this invention can accurately warn ships when it is determined that there is a risk of collision with the bridge, thereby helping to reduce the occurrence of ship-bridge collision accidents, and thus helping to protect the personal safety of relevant personnel and reduce property damage.

Description

Technical Field

[0001] This invention relates to the field of marine technology, and in particular to an intelligent early warning method and device for ships passing under bridges. Background Technology

[0002] In recent years, due to various factors such as tidal levels and ship cargo conditions, the clearance height of bridges for passage has changed. This makes it difficult for ship operators to accurately judge the passage conditions of ships, resulting in frequent ship-bridge collisions, which can easily endanger personal safety and cause serious property damage.

[0003] Therefore, it is particularly important to propose a technical solution that provides intelligent early warning to ships when they are about to pass under a bridge, in order to reduce the occurrence of ship-bridge collision accidents. Summary of the Invention

[0004] This invention provides an intelligent early warning method and device for ships passing under bridges. It can accurately warn ships when it is determined that there is a risk of collision with the bridge, thereby helping to reduce the occurrence of ship-bridge collision accidents.

[0005] To address the aforementioned technical problems, the first aspect of this invention discloses an intelligent early warning method applied to ships passing under bridges, the method comprising:

[0006] Obtain the altitude impact parameters of the target vessel, whose sailing direction is toward the bridge, and the altitude impact parameters are used to represent the parameters that affect the altitude of the target vessel;

[0007] Based on the altitude influence parameters of the target vessel, predict the target altitude of the target vessel when it passes the bridge;

[0008] Determine whether the target altitude meets the pre-determined conditions for a ship to pass under the bridge;

[0009] If it is determined that the target altitude does not meet the conditions for the ship to pass the bridge, a ship warning message is generated for the target ship. The ship warning message is used to indicate that the target ship is at risk of colliding with the bridge.

[0010] As an optional implementation, in the first aspect of the present invention, predicting the target altitude of the target vessel when it passes the bridge based on the altitude influence parameters of the target vessel includes:

[0011] Obtain the water area parameters of each of the multiple sub-water areas within the target water area, wherein the target water area is the water area between the current position of the target vessel in the current navigation direction and the position of the bridge;

[0012] For each sub-water area, determine the initial altitude of the target vessel in that sub-water area to obtain the corresponding initial altitude of that sub-water area;

[0013] Based on the initial elevation of all the sub-water areas, the water parameters of all the sub-water areas, and the elevation influence parameters of the target vessel, the target elevation of the target vessel when passing the bridge is predicted.

[0014] As an optional implementation, in the first aspect of the present invention, the altitude influence parameters of the target vessel include the bridge waterway parameters of the bridge and the vessel parameters of the target vessel.

[0015] And, the step of predicting the target altitude of the target vessel when it passes the bridge based on the initial altitude of all the sub-water areas, the water parameters of all the sub-water areas, and the altitude influence parameters of the target vessel includes:

[0016] Based on the initial elevation of all the sub-water areas and the water parameters of all the sub-water areas, determine the relationship coefficient between elevation and water parameters;

[0017] Based on the relationship coefficient between the altitude and water parameters, and the bridge water parameters, the first altitude of the target vessel when passing the bridge is predicted.

[0018] Based on the bridge water parameters and the target vessel parameters, predict the target draft of the target vessel when it passes the bridge;

[0019] The difference between the obtained hull height of the target vessel and the target draft is calculated to obtain the second altitude.

[0020] The first altitude and the second altitude are fused to obtain the target altitude of the target vessel when it passes the bridge.

[0021] As an optional implementation, in the first aspect of the present invention, determining the initial altitude of the target vessel in each sub-water area to obtain the initial altitude corresponding to that sub-water area includes:

[0022] For each sub-water area, when it is detected that the target vessel has not yet reached the location of the sub-water area and the distance between the current location of the target vessel and the nearest location in the sub-water area to the current location of the target vessel is less than or equal to a preset distance, the current position parameters of the positioning altimeter and the flight environment parameters above the sub-water area are collected.

[0023] Based on the ship parameters of the target vessel, the current position parameters of the altimeter, and the flight environment parameters of each sub-water area, the working route of the altimeter when the target vessel arrives at the sub-water area and at least one mapping point corresponding to the sub-water area are generated.

[0024] Based on the mapping points corresponding to the sub-water area and the equipment working route corresponding to the sub-water area, the flight control parameters corresponding to the sub-water area are generated.

[0025] Based on the flight control parameters corresponding to the sub-water area, an altimetry task corresponding to the sub-water area is generated; and the altimetry task corresponding to the sub-water area is sent to the altimetry equipment. The altimetry task is used to trigger the altimetry equipment to measure the backup altitude of each of the mapping points corresponding to the target vessel in the sub-water area based on the flight control parameters contained in the altimetry task after receiving the altimetry task.

[0026] The system receives all the backup altitudes of the target vessel in the sub-water area sent by the altimeter, and calculates the initial altitude of the sub-water area based on all the backup altitudes.

[0027] As an optional implementation, in the first aspect of the present invention, generating the equipment operating route corresponding to the altimeter's operation over the sub-water area when the target vessel arrives at that sub-water area, based on the vessel parameters of the target vessel, the current position parameters of the altimeter, and the flight environment parameters of each sub-water area, includes:

[0028] For each sub-water area, based on the ship parameters of the target ship, the current position parameters of the altimeter, and the flight environment parameters of the sub-water area, an initial working route is generated for the altimeter when the target ship arrives at the sub-water area and the altimeter operates in the airspace above the sub-water area, thus obtaining the initial working route corresponding to the sub-water area.

[0029] Obtain the route parameters of the initial working route corresponding to the sub-water area. The route parameters of the initial working route include one or more combinations of the obstacle parameters of the initial working route, the air velocity of the initial working route, and the communication quality status of the initial working route.

[0030] Based on the route parameters of the initial working route corresponding to the sub-water area, the initial working route corresponding to the sub-water area is adjusted to obtain the equipment working route corresponding to the altimeter when the target vessel arrives at the sub-water area and the altimeter is working in the airspace above the sub-water area.

[0031] As an optional implementation, in the first aspect of the present invention, determining whether the target altitude meets the predetermined conditions for a ship to pass under a bridge includes:

[0032] Obtain the bridge clearance height;

[0033] Calculate the difference between the bridge clearance height and the target elevation height to obtain the corresponding height difference;

[0034] Determine whether the corresponding height difference is within a preset height difference range; any value between the minimum and maximum values ​​of the preset height difference range is used to indicate that the target vessel does not pose a risk of colliding with the bridge;

[0035] If it is determined that the corresponding height difference is within the preset height difference range, then the target altitude is determined to meet the predetermined conditions for the ship to pass under the bridge.

[0036] If it is determined that the corresponding height difference is not within the preset height difference range, then it is determined that the target altitude does not meet the conditions for the ship to pass the bridge.

[0037] As an optional implementation, in the first aspect of the present invention, the ship warning prompt is further used to prompt the target ship to adjust its navigation route, and / or to prompt the target ship to adjust its draft; wherein the draft of the target ship is negatively correlated with its altitude.

[0038] The bridge's water parameters include one or more combinations of bridge water buoyancy, bridge water density, and bridge water navigation conditions.

[0039] The target vessel's parameters include one or more combinations of the following: the target vessel's speed, shape, volume, bottom contact area with water, load capacity, and position.

[0040] The water parameters for each sub-water area include one or more combinations of the water density, water area, and obstacle parameters of each sub-water area;

[0041] The flight environment parameters for each sub-water area include one or more combinations of the following: air temperature, air humidity, air velocity, and particulate matter density of each sub-water area.

[0042] A second aspect of the present invention discloses an intelligent early warning device for ships passing under bridges, the device comprising:

[0043] The acquisition module is used to acquire the altitude influence parameters of the target vessel, wherein the target vessel is sailing towards the bridge, and the altitude influence parameters are used to represent the parameters that affect the altitude of the target vessel.

[0044] The prediction module is used to predict the target altitude of the target vessel when it passes the bridge, based on the altitude influence parameters of the target vessel.

[0045] The judgment module is used to determine whether the target altitude meets the predetermined conditions for the ship to cross the bridge;

[0046] The generation module is used to generate a ship warning prompt for the target ship if the judgment module determines that the target altitude does not meet the conditions for the ship to pass the bridge. The ship warning prompt is used to indicate that the target ship is at risk of colliding with the bridge.

[0047] As an optional implementation, in a second aspect of the invention, the prediction module includes:

[0048] The acquisition submodule is used to acquire the water parameters of each of the multiple sub-water areas within the target water area, wherein the target water area is the water area between the current position of the target vessel in the current navigation direction and the position of the bridge.

[0049] The determination submodule is used to determine the initial altitude of the target vessel in each sub-water area, thereby obtaining the initial altitude corresponding to that sub-water area;

[0050] The prediction submodule is used to predict the target altitude of the target vessel when it passes the bridge, based on the initial altitude of all the sub-water areas, the water parameters of all the sub-water areas, and the altitude influence parameters of the target vessel.

[0051] As an optional implementation, in a second aspect of the present invention, the altitude influence parameters of the target vessel include the bridge waterway parameters of the bridge and the vessel parameters of the target vessel.

[0052] Furthermore, the prediction submodule predicts the target altitude of the target vessel when it passes the bridge based on the initial altitude of all the sub-water areas, the water parameters of all the sub-water areas, and the altitude influence parameters of the target vessel. Specifically, this includes:

[0053] Based on the initial elevation of all the sub-water areas and the water parameters of all the sub-water areas, determine the relationship coefficient between elevation and water parameters;

[0054] Based on the relationship coefficient between the altitude and water parameters, and the bridge water parameters, the first altitude of the target vessel when passing the bridge is predicted.

[0055] Based on the bridge water parameters and the target vessel parameters, predict the target draft of the target vessel when it passes the bridge;

[0056] The difference between the obtained hull height of the target vessel and the target draft is calculated to obtain the second altitude.

[0057] The first altitude and the second altitude are fused to obtain the target altitude of the target vessel when it passes the bridge.

[0058] As an optional implementation, in the second aspect of the present invention, the determining submodule determines the initial altitude of the target vessel in each sub-water area, and the method for obtaining the initial altitude corresponding to the sub-water area specifically includes:

[0059] For each sub-water area, when it is detected that the target vessel has not yet reached the location of the sub-water area and the distance between the current location of the target vessel and the nearest location in the sub-water area to the current location of the target vessel is less than or equal to a preset distance, the current position parameters of the positioning altimeter and the flight environment parameters above the sub-water area are collected.

[0060] Based on the ship parameters of the target vessel, the current position parameters of the altimeter, and the flight environment parameters of each sub-water area, the working route of the altimeter when the target vessel arrives at the sub-water area and at least one mapping point corresponding to the sub-water area are generated.

[0061] Based on the mapping points corresponding to the sub-water area and the equipment working route corresponding to the sub-water area, the flight control parameters corresponding to the sub-water area are generated.

[0062] Based on the flight control parameters corresponding to the sub-water area, an altimetry task corresponding to the sub-water area is generated; and the altimetry task corresponding to the sub-water area is sent to the altimetry equipment. The altimetry task is used to trigger the altimetry equipment to measure the backup altitude of each of the mapping points corresponding to the target vessel in the sub-water area based on the flight control parameters contained in the altimetry task after receiving the altimetry task.

[0063] The system receives all the backup altitudes of the target vessel in each sub-water area from the altimeter and calculates the initial altitude of the sub-water area based on all the backup altitudes.

[0064] As an optional implementation, in a second aspect of the invention, the method by which the determining submodule generates the equipment operating route corresponding to the altimeter's operation over the sub-water area when the target vessel arrives at that sub-water area, based on the vessel parameters of the target vessel, the current position parameters of the altimeter, and the flight environment parameters of each sub-water area, specifically includes:

[0065] For each sub-water area, based on the ship parameters of the target ship, the current position parameters of the altimeter, and the flight environment parameters of the sub-water area, an initial working route is generated for the altimeter when the target ship arrives at the sub-water area and the altimeter operates in the airspace above the sub-water area, thus obtaining the initial working route corresponding to the sub-water area.

[0066] Obtain the route parameters of the initial working route corresponding to the sub-water area. The route parameters of the initial working route include one or more combinations of the obstacle parameters of the initial working route, the air velocity of the initial working route, and the communication quality status of the initial working route.

[0067] Based on the route parameters of the initial working route corresponding to the sub-water area, the initial working route corresponding to the sub-water area is adjusted to obtain the equipment working route corresponding to the altimeter when the target vessel arrives at the sub-water area and the altimeter is working in the airspace above the sub-water area.

[0068] As an optional implementation, in the second aspect of the present invention, the method by which the determining module determines whether the target altitude meets the predetermined conditions for a ship to cross the bridge specifically includes:

[0069] Obtain the bridge clearance height;

[0070] Calculate the difference between the bridge clearance height and the target elevation height to obtain the corresponding height difference;

[0071] Determine whether the corresponding height difference is within a preset height difference range; any value between the minimum and maximum values ​​of the preset height difference range is used to indicate that the target vessel does not pose a risk of colliding with the bridge;

[0072] If it is determined that the corresponding height difference is within the preset height difference range, then the target altitude is determined to meet the predetermined conditions for the ship to pass under the bridge.

[0073] If it is determined that the corresponding height difference is not within the preset height difference range, then it is determined that the target altitude does not meet the conditions for the ship to pass the bridge.

[0074] As an optional implementation, in a second aspect of the invention, the ship warning prompt is further used to prompt the target ship to adjust its navigation route, and / or to prompt the target ship to adjust its draft; wherein the draft of the target ship is negatively correlated with its altitude.

[0075] The bridge's water parameters include one or more combinations of bridge water buoyancy, bridge water density, and bridge water navigation conditions.

[0076] The target vessel's parameters include one or more combinations of the following: the target vessel's speed, shape, volume, bottom contact area with water, load capacity, and position.

[0077] The water parameters for each sub-water area include one or more combinations of the water density, water area, and obstacle parameters of each sub-water area;

[0078] The flight environment parameters for each sub-water area include one or more combinations of the following: air temperature, air humidity, air velocity, and particulate matter density of each sub-water area.

[0079] A third aspect of the present invention discloses another intelligent early warning device for use when a ship passes under a bridge, the device comprising:

[0080] Memory containing executable program code;

[0081] A processor coupled to the memory;

[0082] The processor calls the executable program code stored in the memory to execute the intelligent early warning method for ships passing under bridges disclosed in the first aspect of the present invention.

[0083] The fourth aspect of the present invention discloses a computer storage medium storing computer instructions, which, when invoked, are used to execute the intelligent early warning method for ships passing under bridges disclosed in the first aspect of the present invention.

[0084] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0085] In this embodiment of the invention, the altitude influence parameters of the target vessel are obtained. The target vessel's navigation direction is towards the bridge, and the altitude influence parameters represent the parameters that affect the altitude of the target vessel. Based on the altitude influence parameters, the target altitude of the target vessel when passing the bridge is predicted. It is then determined whether the target altitude meets the pre-determined conditions for the vessel to pass the bridge. If it is determined that the target altitude does not meet the conditions for the vessel to pass the bridge, a corresponding vessel warning is generated. This vessel warning is used to indicate that the target vessel has a risk of colliding with the bridge. Therefore, implementing this invention can accurately predict the target altitude of the target vessel when passing the bridge by obtaining the altitude influence parameters, and determine whether the target vessel has a risk of colliding with the bridge based on the target altitude. When a risk of colliding with the bridge is determined, a precise warning is issued to the vessel, thereby helping to reduce the occurrence of ship-bridge collision accidents, and thus helping to protect the personal safety of relevant personnel and reduce property damage. Attached Figure Description

[0086] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0087] Figure 1 This is a flowchart illustrating an intelligent early warning method for ships passing under bridges, as disclosed in an embodiment of the present invention.

[0088] Figure 2 This is a flowchart illustrating another intelligent early warning method for ships passing under bridges, as disclosed in an embodiment of the present invention.

[0089] Figure 3 This is a schematic diagram of the structure of an intelligent early warning device for ships passing under bridges, as disclosed in an embodiment of the present invention.

[0090] Figure 4 This is a schematic diagram of another intelligent early warning device for ships passing under bridges, as disclosed in an embodiment of the present invention.

[0091] Figure 5 This is a schematic diagram of the structure of another intelligent early warning device for ships passing under bridges, as disclosed in an embodiment of the present invention. Detailed Implementation

[0092] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0093] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, apparatus, product, or end that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or ends.

[0094] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0095] This invention discloses an intelligent early warning method and device for ships passing under bridges. It can accurately predict the target altitude of a target ship when passing under a bridge by acquiring the target ship's altitude influence parameters. Based on the target ship's altitude, it can determine whether there is a risk of collision with the bridge. When a collision risk is determined, it accurately issues an early warning to the ship, thereby reducing the occurrence of ship-bridge collision accidents and helping to protect the personal safety of relevant personnel and reduce property damage. Detailed descriptions follow.

[0096] Example 1

[0097] Please see Figure 1 , Figure 1 This is a flowchart illustrating an intelligent early warning method for ships passing under bridges, as disclosed in an embodiment of the present invention. Figure 1 The described intelligent early warning method for ships passing under bridges can be applied to intelligent early warning devices for ships passing under bridges. These devices may include early warning equipment (e.g., equipment on the ship itself or equipment communicating with the ship) or an early warning server. The early warning server may include a cloud server or a local server; this embodiment of the invention is not limited to any particular type. Figure 1 As shown, the intelligent early warning method applied to ships passing under bridges may include the following operations:

[0098] 101. Obtain the altitude influence parameters of the target ship.

[0099] In this embodiment of the invention, the target vessel's navigation direction is toward the bridge, and the altitude influence parameter is used to represent the parameter that affects the altitude of the target vessel.

[0100] In this embodiment of the invention, optionally, there are multiple bridge waterways in the area where the bridge is located, and each bridge waterway allows one vessel to pass through at the same time. Optionally, each bridge waterway may be equipped with a corresponding gate. When the gate of the bridge waterway is open, the vessel is allowed to pass through the bridge; when the gate of the bridge waterway is closed, the vessel is prohibited from passing through the bridge. This embodiment of the invention does not impose any limitations.

[0101] 102. Based on the altitude influence parameters of the target vessel, predict the target altitude when the target vessel passes over the bridge.

[0102] Optionally, the prediction method for the target altitude can be to directly predict the target altitude when the target vessel passes the bridge, or to first predict the target draft when the target vessel passes the bridge based on the altitude influence parameters of the target vessel, and then calculate the target altitude based on the target draft and the hull height of the target vessel, or to combine the above two prediction methods to obtain the target altitude. The embodiments of the present invention are not limited to this.

[0103] 103. Determine whether the target altitude meets the pre-determined conditions for the ship to pass under the bridge.

[0104] If the judgment result of step 103 indicates that the target altitude does not meet the pre-determined conditions for the ship to cross the bridge, then step 104 is triggered; if the judgment result of step 103 indicates that the target altitude meets the pre-determined conditions for the ship to cross the bridge, then step 105 is triggered.

[0105] 104. If it is determined that the target altitude does not meet the conditions for a ship to pass under the bridge, a ship warning message corresponding to the target ship will be generated.

[0106] In this embodiment of the invention, the ship early warning prompt is used to alert the target ship to the risk of colliding with a bridge. 105. Determine that the target ship does not pose a risk of colliding with a bridge.

[0107] In this embodiment of the invention, the target vessel can pass through the bridge when there is no risk of collision with the bridge.

[0108] As can be seen, the intelligent early warning method for ships passing under bridges disclosed in this embodiment of the invention can accurately predict the target altitude of the target ship when it passes under the bridge by acquiring the altitude influence parameters of the target ship, and determine whether there is a risk of collision with the bridge based on the target altitude of the target ship. When the risk of collision with the bridge is determined, the ship is accurately warned, which helps to reduce the occurrence of ship-bridge collision accidents, thereby helping to protect the personal safety of relevant personnel and reduce property losses.

[0109] In an optional embodiment, the method may further include:

[0110] Multiple monitoring points of the target vessel are acquired. Each monitoring point requires corresponding personnel to be on duty, and each monitoring point has a monitor for collecting parameters at that point.

[0111] The detection parameters of each monitoring point are collected by the monitor at each monitoring point. The detection parameters include video parameters and / or image parameters.

[0112] For each monitoring point, the monitoring point is detected according to its detection parameters and the predetermined network detection method to obtain the detection result of the monitoring point.

[0113] If the detection result of the monitoring point indicates that there are no personnel on the vessel corresponding to the monitoring point, or if the personnel on the vessel corresponding to the monitoring point exhibit abnormal behavior, then the monitoring point is determined to be abnormal; and a notification of the abnormality of the monitoring point is sent to the bridge control platform; the notification of the abnormality of the monitoring point is used to trigger the bridge control platform to perform control operations on the target vessel;

[0114] If the detection results of the monitoring point indicate that the vessel personnel corresponding to the monitoring point exist at the monitoring point and that the vessel personnel corresponding to the monitoring point do not exhibit any abnormal behavior, then the monitoring point is determined to be normal.

[0115] In this embodiment of the invention, optionally, a pre-determined network detection method can detect human behavior. The detection of human behavior mainly adopts a bottom-up approach, first identifying key points of all people in the image, such as the head, legs, and knees, and then combining these key points into a person using a certain method.

[0116] Specifically, human behavior detection mainly consists of three parts. The first part is the backbone network, used to extract the feature map of the human body. The second part is the keypoint confidence network, used to detect whether each point in the feature map is a human keypoint, mainly referring to limb joints. The third part is the keypoint affinity vector prediction network, where points on limbs are represented by the unit vector connecting two keypoints, and otherwise by a zero vector. The joint affinity field represents the skeleton position and the orientation of pixels on the skeleton. The closer the predicted affinity field of a skeleton is to the true affinity field, the closer the connection between the two joints. Finally, the keypoints are clustered to form the human skeleton.

[0117] After obtaining the human body key point data of each person in the cockpit, the human body key point data of each person is normalized and standardized through a linear classification model, and then classified to obtain the probability of occurrence of each abnormal behavior, and the one with the highest probability is taken as the result.

[0118] In this embodiment of the invention, the specific content of the bridge control platform performing control operations on the target vessel may include the bridge control platform closing the gate of the waterway where the target vessel is currently located, and / or the bridge control platform sending a violation warning to the target vessel. This embodiment of the invention does not limit the scope of the violation.

[0119] As can be seen, this optional embodiment can monitor each monitoring point within the target vessel, and determine that the monitoring point is normal when the corresponding vessel personnel are detected at the monitoring point; and determine that the monitoring point is abnormal when the corresponding vessel personnel are not detected at the monitoring point. At the same time, the bridge control platform performs control operations on the target vessel, which can improve the accuracy of monitoring the target vessel, thereby facilitating accurate control of the target vessel when the monitoring points within the target vessel are abnormal, and thus helping to reduce the occurrence of ship-bridge collision accidents.

[0120] In another optional embodiment, in step 102 above, after predicting the target altitude of the target vessel when it passes the bridge based on the altitude influence parameters of the target vessel, the method may further include:

[0121] The target vessel sends a corresponding ship signal to the bridge via a signal transmitting device on its top.

[0122] When the signal receiving device on top of the target vessel receives the feedback signal corresponding to the vessel's signal, it determines the target vessel's current altitude and the distance between the target vessel and the bridge based on the feedback signal; the feedback signal is the signal reflected back after the vessel's signal sent by the signal transmitting device collides with the bridge.

[0123] The target altitude is calibrated based on the current altitude and the distance between the target ship and the bridge to obtain the calibrated target altitude.

[0124] In this embodiment of the invention, the ship signal transmitted by the signal transmitting device can be an AIS signal, a radar signal, or a communication signal; this embodiment of the invention does not impose any limitations.

[0125] As can be seen, this optional embodiment can accurately determine the current altitude of the target vessel and the distance between the target vessel and the bridge through the signal transmitting and receiving devices of the target vessel, and accurately calibrate the target altitude based on the current altitude and the distance between the target vessel and the bridge, which can improve the accuracy of the calibration of the target altitude, thereby improving the accuracy of the judgment of the calibrated target altitude.

[0126] Example 2

[0127] Please see Figure 2 , Figure 2 This is a flowchart illustrating an intelligent early warning method for ships passing under bridges, as disclosed in an embodiment of the present invention. Figure 2 The described intelligent early warning method for ships passing under bridges can be applied to intelligent early warning devices for ships passing under bridges. These devices may include early warning equipment (e.g., equipment on the ship itself or equipment communicating with the ship) or an early warning server. The early warning server may include a cloud server or a local server; this embodiment of the invention is not limited to any particular type. Figure 2 As shown, the intelligent early warning method applied to ships passing under bridges may include the following operations:

[0128] 201. Obtain the altitude influence parameters of the target vessel.

[0129] 202. Obtain the water parameters of the target vessel in each of the multiple sub-water areas within the target water area.

[0130] In this embodiment of the invention, the target water area is the water area between the current position of the target vessel in the current navigation direction and the position of the bridge.

[0131] In this embodiment of the invention, optionally, the water range of each sub-water area in all sub-water areas within the target water area can be determined by a pre-set range or by a specific object (e.g., port, dock, bridge, etc.) within the target water area. This embodiment of the invention does not impose any limitation.

[0132] 203. For each sub-water area, determine the initial altitude of the target vessel in that sub-water area to obtain the corresponding initial altitude of that sub-water area.

[0133] In this embodiment of the invention, optionally, the initial altitude of the target vessel in each sub-water area can be obtained by measuring with an altimeter, by analyzing the signals sent by the target vessel's own sensors (e.g., AIS signals), or by analyzing various parameters (e.g., vessel parameters, water area parameters, bridge parameters, etc.). This embodiment of the invention does not impose any limitations.

[0134] 204. Based on the initial elevation of all sub-water areas, the water parameters of all sub-water areas, and the elevation influence parameters of the target vessel, predict the target elevation of the target vessel when it passes the bridge.

[0135] 205. Determine whether the target altitude meets the pre-determined conditions for the ship to pass under the bridge.

[0136] If the result of step 205 indicates that the target altitude does not meet the pre-determined conditions for the ship to cross the bridge, then step 206 is triggered; if the result of step 205 indicates that the target altitude meets the pre-determined conditions for the ship to cross the bridge, then step 207 is triggered.

[0137] 206. Generate ship early warning prompts corresponding to the target ship.

[0138] 207. Confirm that the target vessel does not pose a risk of hitting the bridge.

[0139] In this embodiment of the invention, the specific technical details and explanations of technical terms for steps 201 and 205-207 can be found in the description of steps 101 and 103-105 in Embodiment 1, and will not be repeated here.

[0140] As can be seen, the intelligent early warning method for ships passing under bridges disclosed in this invention can accurately predict the target altitude of a target ship when it passes under a bridge by acquiring the target ship's altitude influence parameters. Based on the target ship's target altitude, it can determine whether there is a risk of collision with the bridge. When a risk of collision is identified, it provides a precise early warning to the ship, thereby reducing the occurrence of ship-bridge collision accidents and thus helping to protect the personal safety of relevant personnel and reduce property damage. Furthermore, it can determine the initial altitude of the target ship in each sub-water area, and based on the initial altitude of each sub-water area, the acquired water parameters of the target ship in each sub-water area, and the target ship's altitude influence parameters, it improves the accuracy of predicting the target altitude of the target ship when it passes under a bridge.

[0141] In an optional embodiment, the elevation impact parameters of the target vessel include the bridge water parameters of the bridge and the vessel parameters of the target vessel.

[0142] Furthermore, in step 204 above, predicting the target altitude of the target vessel when it passes the bridge, based on the initial altitude of all sub-water areas, the water parameters of all sub-water areas, and the altitude influence parameters of the target vessel, may include:

[0143] Based on the initial elevation of all sub-water areas and the water parameters of all sub-water areas, determine the relationship coefficient between elevation and water parameters;

[0144] Based on the relationship coefficient between altitude and water parameters, as well as the bridge's water parameters, the first altitude of the target vessel when passing the bridge is predicted.

[0145] Based on the bridge water parameters and the target vessel's parameters, predict the target draft of the target vessel when it passes the bridge.

[0146] The difference between the target vessel's hull height and the target draft is calculated to obtain the second altitude.

[0147] The first and second altitudes are merged to obtain the target altitude of the target ship when it passes the bridge.

[0148] Optionally, the relationship coefficient between altitude and water parameters can be determined based on the degree of influence of all sub-parameters in the water parameters of each sub-water area on altitude.

[0149] For example, based on the initial elevation of all sub-water areas, the water parameters of all sub-water areas, and the relationship coefficient between elevation and water parameters, the formula for calculating elevation can be determined. By inputting the relationship system between elevation and water parameters, as well as the bridge water parameters, into the above-mentioned formula for calculating elevation and performing inverse calculation, the first elevation of the target vessel when passing the bridge can be obtained.

[0150] Specifically, the fusion processing of the first altitude and the second altitude can be a weighted average of the first altitude and the second altitude, which is not limited in the embodiments of the present invention.

[0151] As can be seen, this optional embodiment can predict the first altitude of the target vessel when it passes the bridge based on the determined relationship coefficient between altitude and water parameters and the bridge water parameters, and predict the second altitude of the target vessel when it passes the bridge based on the bridge water parameters and the target vessel's parameters. The first altitude and the second altitude are then fused to accurately obtain the target altitude of the target vessel when it passes the bridge, thereby improving the accuracy and reliability of the target altitude prediction.

[0152] In another optional embodiment, step 203 above, for each sub-water area, determining the initial altitude of the target vessel in that sub-water area to obtain the initial altitude corresponding to that sub-water area, may include:

[0153] For each sub-water area, when it is detected that the target vessel has not yet reached the location of the sub-water area and the distance between the current location of the target vessel and the nearest location in the sub-water area is less than or equal to a preset distance, the current position parameters of the positioning altimeter and the flight environment parameters above the sub-water area are collected.

[0154] Based on the target vessel's parameters, the current position parameters of the altimeter, and the flight environment parameters of each sub-water area, generate the working route of the altimeter when the target vessel arrives at the sub-water area and at least one mapping point corresponding to the sub-water area.

[0155] Based on the mapping points corresponding to the sub-water area and the equipment working route corresponding to the sub-water area, the flight control parameters corresponding to the sub-water area are generated.

[0156] Based on the flight control parameters corresponding to the sub-water area, generate the altimetry task corresponding to the sub-water area; and send the altimetry task corresponding to the sub-water area to the altimetry equipment. The altimetry task is used to trigger the altimetry equipment to measure the backup altitude of each mapping point corresponding to the target ship in the sub-water area according to the flight control parameters contained in the altimetry task after receiving the altimetry task.

[0157] The system receives all available altitudes for the target vessel in the sub-water area from the altimeter and calculates the initial altitude for that sub-water area based on all available altitudes.

[0158] Optionally, the current position parameters of the altimeter (e.g., drone) can be obtained by the altimeter itself or by the ship monitoring platform through a combination of 4G mobile signals and / or BeiDou short message communication.

[0159] Optionally, the water surface coordinates of all survey points corresponding to each sub-water area can be the coordinates of the altimeter when the distance between the altimeter and the target vessel is a preset distance (e.g., 5 meters). Specifically, the altimeter can measure the backup altitude for each survey point by hovering the altimeter at the survey point and performing a ray scan towards the target vessel. When the ray scan indicates that the target vessel's body is present at that altitude, the altimeter continues to perform the ray scan while climbing until the ray scan no longer indicates the vessel's body. The altimeter's altitude at this point is recorded by a barometric pressure sensor and used as the backup altitude for that survey point. This embodiment of the invention is not limited.

[0160] Specifically, based on all available altitudes for each sub-water area, the initial altitude for that sub-water area is calculated, which may include:

[0161] For each sub-water area, assign a weight coefficient to each mapping point within that sub-water area;

[0162] The initial elevation of the sub-water area is calculated based on the weight coefficients of all survey points within the sub-water area and the backup elevation of all survey points.

[0163] As can be seen, this optional embodiment can accurately generate flight control parameters for any sub-water area based on the generated equipment working route and all survey points corresponding to that sub-water area when the target vessel is about to arrive at any sub-water area. Based on the flight control parameters for that sub-water area, it can generate an altimeter task for that sub-water area and send the altimeter task to the altimeter equipment. This allows the altimeter equipment to accurately measure the backup altitude of each survey point through the flight control parameters. Based on the accurately measured backup altitudes of all sub-water areas, it can accurately calculate the initial altitude of that sub-water area.

[0164] In this optional embodiment, as an optional implementation, based on the target vessel's ship parameters, the current position parameters of the altimeter, and the flight environment parameters of each sub-water area, a working route is generated for the altimeter when the target vessel arrives at that sub-water area and the altimeter operates in the airspace above that sub-water area. This may include:

[0165] For each sub-water area, based on the target vessel's ship parameters, the current position parameters of the altimeter, and the flight environment parameters of that sub-water area, the initial working route corresponding to the altimeter's operation in the airspace above that sub-water area when the target vessel arrives at that sub-water area is generated, thus obtaining the initial working route corresponding to that sub-water area.

[0166] Obtain the route parameters of the initial working route corresponding to this sub-water area;

[0167] Based on the route parameters of the initial working route corresponding to the sub-water area, the initial working route corresponding to the sub-water area is adjusted to obtain the equipment working route corresponding to the altimeter when the target vessel arrives at the sub-water area and works in the airspace above the sub-water area.

[0168] In this embodiment of the invention, optionally, the route parameters of the initial working route may include one or more combinations of obstacle parameters of the initial working route, air velocity of the initial working route, and communication quality status of the initial working route. Optionally, the air velocity may be detected by a pre-set gas velocity detection device, the communication quality status may be determined by the communication base station corresponding to the route, and the obstacle parameters may be parameters recorded in a historical route database or parameters collected in real time during the flight of the altimeter; this embodiment of the invention does not impose any limitations.

[0169] As can be seen, this optional implementation can accurately generate the initial working route corresponding to the sub-water area based on the target vessel's ship parameters, the current position parameters of the altimeter, and the flight environment parameters of each sub-water area. Furthermore, it can adjust the initial working route based on the obtained route parameters to obtain the equipment working route corresponding to the sub-water area, thereby improving the accuracy and reliability of the equipment working route generation.

[0170] In another optional embodiment, step 205 above, determining whether the target altitude meets the predetermined conditions for the ship to cross the bridge, may include:

[0171] Obtain the bridge clearance height;

[0172] Calculate the difference between the bridge clearance height and the target elevation height to obtain the corresponding height difference;

[0173] Determine whether the corresponding height difference is within the preset height difference range;

[0174] If it is determined that the corresponding height difference is within the preset height difference range, then the target altitude is determined to meet the predetermined conditions for the ship to pass under the bridge.

[0175] If it is determined that the corresponding height difference is not within the preset height difference range, then the target altitude does not meet the conditions for the ship to pass under the bridge.

[0176] In this embodiment of the invention, any value between the minimum and maximum values ​​of the preset height difference interval is used to indicate that the target vessel does not pose a risk of colliding with the bridge. Optionally, the maximum value of the preset height difference interval can be infinity, and the minimum value can be 1 meter, 2 meters, or other preset values; this embodiment of the invention does not impose any limitations.

[0177] As can be seen, this optional embodiment can calculate the difference between the obtained bridge clearance height and the target altitude, obtain the corresponding height difference, and intelligently determine whether the corresponding height difference is within a preset height difference range. When it is determined that it is within the preset height difference range, it is determined that the target altitude meets the predetermined conditions for ship passage. When it is determined that it is not within the preset height difference range, it is determined that the target altitude does not meet the conditions for ship passage. This can improve the accuracy and intelligence of the judgment on whether the target altitude meets the conditions for ship passage.

[0178] In another optional embodiment, the ship warning prompt may also be used to prompt the target ship to adjust its navigation route and / or to prompt the target ship to adjust its draft; wherein the draft of the target ship is negatively correlated with its altitude; specifically, by adjusting the draft of the target ship, the target draft of the target ship is increased, thereby lowering the target altitude of the target ship, and thus bringing the height difference between the bridge clearance height and the target altitude of the target ship within a preset height range.

[0179] Optionally, the bridge waterway parameters may include one or more combinations of bridge waterway buoyancy, bridge waterway density, and bridge waterway navigation conditions; wherein, bridge waterway navigation conditions may include one or more combinations of the number of waterways in the bridge waterway, the congestion of vessels in the corresponding waterways, the number of vessels, the vessel density, and the vessel speed.

[0180] Optionally, the target vessel's parameters may include one or more combinations of the target vessel's speed, shape, volume, bottom contact area with water, load, and position.

[0181] Optionally, the water parameters for each sub-water area may include one or more combinations of water density, water area, and barrier parameters for each sub-water area.

[0182] Optionally, the flight environment parameters for each sub-water area may include one or more combinations of the following: air temperature, air humidity, air velocity, and particulate matter density of each sub-water area.

[0183] As can be seen, this optional embodiment can acquire diverse initial parameters (bridge water parameters, ship parameters, water parameters, and flight environment parameters), and process these diverse initial parameters in diverse ways to obtain diverse processing results (the relationship coefficient between altitude and water parameters, draft, flight control parameters, etc.), thereby accurately predicting the target altitude based on the diverse processing results.

[0184] Example 3

[0185] Please see Figure 3 , Figure 3 This is a schematic diagram of the structure of an intelligent early warning device for ships passing under bridges, as disclosed in an embodiment of the present invention. Figure 3 The described intelligent early warning device for ships passing under bridges may include early warning equipment (e.g., equipment on the ship itself or equipment communicating with the ship) or an early warning server. The early warning server may include a cloud server or a local server; this embodiment of the invention is not limited thereto. Figure 3 As shown, the intelligent early warning device applied to ships passing under bridges may include:

[0186] The acquisition module 301 is used to acquire the altitude influence parameters of the target ship. The target ship is sailing towards the bridge, and the altitude influence parameters are used to represent the parameters that affect the altitude of the target ship.

[0187] The prediction module 302 is used to predict the target altitude of the target vessel when it passes the bridge, based on the altitude influence parameters of the target vessel.

[0188] The judgment module 303 is used to determine whether the target altitude meets the pre-determined conditions for the ship to pass under the bridge.

[0189] The generation module 304 is used to generate a ship warning prompt for the target ship if the judgment module determines that the target altitude does not meet the conditions for the ship to pass the bridge. The ship warning prompt is used to indicate that the target ship is at risk of colliding with the bridge.

[0190] As can be seen, the intelligent early warning device for ships passing under bridges disclosed in this embodiment of the invention can accurately predict the target altitude of the target ship when it passes under the bridge by acquiring the altitude influence parameters of the target ship, and determine whether there is a risk of collision with the bridge based on the target altitude of the target ship. When the risk of collision with the bridge is determined, the device can accurately warn the ship, thereby helping to reduce the occurrence of ship-bridge collision accidents, and thus helping to protect the personal safety of relevant personnel and reduce property losses.

[0191] In an optional embodiment, such as Figure 4 As shown, the prediction module 302 may include:

[0192] The acquisition submodule 3021 is used to acquire the water parameters of each of the multiple sub-water areas within the target water area. The target water area is the water area between the current position of the target vessel in the current navigation direction and the position of the bridge.

[0193] The determination submodule 3022 is used to determine the initial altitude of the target vessel in each sub-water area and obtain the corresponding initial altitude of the sub-water area.

[0194] The prediction submodule 3023 is used to predict the target altitude of the target vessel when it passes the bridge, based on the initial altitude of all sub-water areas, the water area parameters of all sub-water areas, and the altitude influence parameters of the target vessel.

[0195] As can be seen, this optional embodiment can determine the initial altitude of the target vessel in each sub-water area, and improve the prediction accuracy of the target vessel's altitude when passing a bridge by using the initial altitude of each sub-water area, the water parameters of the target vessel in each sub-water area, and the altitude influence parameters of the target vessel.

[0196] In this optional embodiment, as an optional implementation method, the altitude influence parameters of the target vessel include the bridge waterway parameters of the bridge and the vessel parameters of the target vessel.

[0197] Furthermore, the prediction submodule 3023, based on the initial elevation of all sub-water areas, the water parameters of all sub-water areas, and the elevation influence parameters of the target vessel, can specifically predict the target elevation of the target vessel when it passes the bridge in the following ways:

[0198] Based on the initial elevation of all sub-water areas and the water parameters of all sub-water areas, determine the relationship coefficient between elevation and water parameters;

[0199] Based on the relationship coefficient between altitude and water parameters, as well as the bridge's water parameters, the first altitude of the target vessel when passing the bridge is predicted.

[0200] Based on the bridge water parameters and the target vessel's parameters, predict the target draft of the target vessel when it passes the bridge.

[0201] The difference between the target vessel's hull height and the target draft is calculated to obtain the second altitude.

[0202] The first and second altitudes are merged to obtain the target altitude of the target ship when it passes the bridge.

[0203] As can be seen, this optional implementation can predict the first altitude of the target vessel when it passes the bridge based on the determined relationship coefficient between altitude and water parameters and the bridge water parameters, and predict the second altitude of the target vessel when it passes the bridge based on the bridge water parameters and the target vessel's parameters. The first altitude and the second altitude are then fused to accurately obtain the target altitude of the target vessel when it passes the bridge, thereby improving the accuracy and reliability of the target altitude prediction.

[0204] In this optional embodiment, as another optional implementation, the determining submodule 3022 determines the initial altitude of the target vessel in each sub-water area. The specific method for obtaining the initial altitude corresponding to the sub-water area may include:

[0205] For each sub-water area, when it is detected that the target vessel has not yet reached the location of the sub-water area and the distance between the current location of the target vessel and the nearest location in the sub-water area is less than or equal to a preset distance, the current position parameters of the positioning altimeter and the flight environment parameters above the sub-water area are collected.

[0206] Based on the target vessel's parameters, the current position parameters of the altimeter, and the flight environment parameters of each sub-water area, generate the working route of the altimeter when the target vessel arrives at the sub-water area and at least one mapping point corresponding to the sub-water area.

[0207] Based on the mapping points corresponding to the sub-water area and the equipment working route corresponding to the sub-water area, the flight control parameters corresponding to the sub-water area are generated.

[0208] Based on the flight control parameters corresponding to the sub-water area, generate the altimetry task corresponding to the sub-water area; and send the altimetry task corresponding to the sub-water area to the altimetry equipment. The altimetry task is used to trigger the altimetry equipment to measure the backup altitude of each mapping point corresponding to the target ship in the sub-water area according to the flight control parameters contained in the altimetry task after receiving the altimetry task.

[0209] The system receives all available altitudes for the target vessel in each sub-water area from the altimeter and calculates the initial altitude for that sub-water area based on all available altitudes.

[0210] As can be seen, this optional implementation can accurately generate flight control parameters for any sub-water area based on the generated equipment working route and all survey points corresponding to that sub-water area when the target vessel is about to arrive at any sub-water area. Based on the flight control parameters for that sub-water area, it can generate an altimeter task for that sub-water area and send the altimeter task to the altimeter equipment. This allows the altimeter equipment to accurately measure the backup altitude of each survey point through the flight control parameters. Based on the accurately measured backup altitudes of all sub-water areas, it can accurately calculate the initial altitude of that sub-water area.

[0211] In this optional implementation, the method by which the determining submodule 3022 generates the equipment working route corresponding to the altimeter's operation in the airspace above the target vessel when it arrives at the sub-water area, based on the target vessel's ship parameters, the current position parameters of the altimeter, and the flight environment parameters of each sub-water area, may specifically include:

[0212] For each sub-water area, based on the target vessel's ship parameters, the current position parameters of the altimeter, and the flight environment parameters of that sub-water area, the initial working route corresponding to the altimeter's operation in the airspace above that sub-water area when the target vessel arrives at that sub-water area is generated, thus obtaining the initial working route corresponding to that sub-water area.

[0213] Obtain the route parameters of the initial working route corresponding to the sub-water area. The route parameters of the initial working route include one or more of the following: obstacle parameters of the initial working route, air velocity of the initial working route, and communication quality status of the initial working route.

[0214] Based on the route parameters of the initial working route corresponding to the sub-water area, the initial working route corresponding to the sub-water area is adjusted to obtain the equipment working route corresponding to the altimeter when the target vessel arrives at the sub-water area and works in the airspace above the sub-water area.

[0215] As can be seen, this optional implementation can also accurately generate the initial working route corresponding to the sub-water area based on the target vessel's ship parameters, the current position parameters of the altimeter, and the flight environment parameters of each sub-water area. Furthermore, it can adjust the initial working route based on the obtained route parameters to obtain the equipment working route corresponding to the sub-water area, thereby improving the accuracy and reliability of the equipment working route generation.

[0216] In another optional embodiment, the method by which the determination module 303 determines whether the target altitude meets the predetermined conditions for the ship to cross the bridge may specifically include:

[0217] Obtain the bridge clearance height;

[0218] Calculate the difference between the bridge clearance height and the target elevation height to obtain the corresponding height difference;

[0219] Determine whether the corresponding height difference is within the preset height difference range; any value between the minimum and maximum values ​​of the preset height difference range is used to indicate that the target vessel does not pose a risk of colliding with the bridge;

[0220] If it is determined that the corresponding height difference is within the preset height difference range, then the target altitude is determined to meet the predetermined conditions for the ship to pass under the bridge.

[0221] If it is determined that the corresponding height difference is not within the preset height difference range, then the target altitude does not meet the conditions for the ship to pass under the bridge.

[0222] As can be seen, this optional embodiment can calculate the difference between the obtained bridge clearance height and the target altitude, obtain the corresponding height difference, and intelligently determine whether the corresponding height difference is within a preset height difference range. When it is determined that it is within the preset height difference range, it is determined that the target altitude meets the predetermined conditions for ship passage. When it is determined that it is not within the preset height difference range, it is determined that the target altitude does not meet the conditions for ship passage. This can improve the accuracy and intelligence of the judgment on whether the target altitude meets the conditions for ship passage.

[0223] In another optional embodiment, the ship warning prompt is also used to prompt the target ship to adjust its navigation route, and / or to prompt the target ship to adjust its draft; wherein the target ship's draft and the target ship's altitude are negatively correlated.

[0224] The parameters of a bridge in the water area include one or more of the following: buoyancy of the bridge water area, density of the bridge water area, and navigation conditions of the bridge water area.

[0225] The target vessel's parameters include one or more combinations of the following: the target vessel's speed, shape, volume, bottom contact area with water, load, and position.

[0226] The water parameters for each sub-water area include one or more combinations of the water density, water area, and obstacle parameters of each sub-water area.

[0227] The flight environment parameters for each sub-water area include one or more combinations of the following: air temperature, air humidity, air velocity, and particulate matter density.

[0228] As can be seen, this optional embodiment can acquire diverse initial parameters (bridge water parameters, ship parameters, water parameters, and flight environment parameters), and process these diverse initial parameters in diverse ways to obtain diverse processing results (the relationship coefficient between altitude and water parameters, draft, flight control parameters, etc.), thereby accurately predicting the target altitude based on the diverse processing results.

[0229] Example 4

[0230] Please see Figure 5 , Figure 5 This is a schematic diagram of another intelligent early warning device for ships passing under bridges, as disclosed in an embodiment of the present invention. Figure 5 As shown, the intelligent early warning device applied to ships passing under bridges may include:

[0231] Memory 401 storing executable program code;

[0232] Processor 402 coupled to memory 401;

[0233] The processor 402 calls the executable program code stored in the memory 401 to execute the steps in the intelligent early warning method for ships passing under bridges as described in Embodiment 1 or Embodiment 2 of the present invention.

[0234] Example 5

[0235] This invention discloses a computer storage medium storing computer instructions. When these computer instructions are invoked, they are used to execute the steps in the intelligent early warning method for ships passing under bridges described in Embodiment 1 or Embodiment 2 of this invention.

[0236] Example 6

[0237] This invention discloses a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to perform the steps in the intelligent early warning method for ships passing under bridges described in Embodiment 1 or Embodiment 2.

[0238] The device embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0239] Through the detailed description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, including read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-Erasable Programmable Read-Only Memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0240] Finally, it should be noted that the intelligent early warning method and device for ships passing under bridges disclosed in the embodiments of the present invention are merely preferred embodiments of the present invention and are only used to illustrate the technical solutions of the present invention, not to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent early warning method applied to ships passing under bridges, characterized in that, The method includes: Obtain the altitude impact parameters of the target vessel, whose sailing direction is toward the bridge, and the altitude impact parameters are used to represent the parameters that affect the altitude of the target vessel; Based on the altitude influence parameters of the target vessel, predict the target altitude of the target vessel when it passes the bridge; Determine whether the target altitude meets the pre-determined conditions for a ship to pass under the bridge; If it is determined that the target altitude does not meet the conditions for the ship to pass the bridge, a ship warning message is generated for the target ship. The ship warning message is used to indicate that the target ship is at risk of colliding with the bridge. The step of predicting the target altitude of the target vessel when it passes the bridge based on the altitude influence parameters of the target vessel includes: Obtain the water area parameters of each of the multiple sub-water areas within the target water area, wherein the target water area is the water area between the current position of the target vessel in the current navigation direction and the position of the bridge; For each sub-water area, determine the initial altitude of the target vessel in that sub-water area to obtain the corresponding initial altitude of that sub-water area; Based on the initial elevation of all the sub-water areas, the water area parameters of all the sub-water areas, and the elevation influence parameters of the target vessel, the target elevation of the target vessel when it passes the bridge is predicted. The elevation influence parameters of the target vessel include the bridge water area parameters and the vessel parameters of the target vessel. And, the step of predicting the target altitude of the target vessel when it passes the bridge based on the initial altitude of all the sub-water areas, the water parameters of all the sub-water areas, and the altitude influence parameters of the target vessel includes: Based on the initial elevation of all the sub-water areas and the water parameters of all the sub-water areas, determine the relationship coefficient between elevation and water parameters; Based on the relationship coefficient between the altitude and water parameters, and the bridge water parameters, the first altitude of the target vessel when passing the bridge is predicted. Based on the bridge water parameters and the target vessel parameters, predict the target draft of the target vessel when it passes the bridge; The difference between the obtained hull height of the target vessel and the target draft is calculated to obtain the second altitude. The first altitude and the second altitude are fused to obtain the target altitude of the target vessel when it passes the bridge.

2. The intelligent early warning method for ships passing under bridges according to claim 1, characterized in that, For each of the sub-water areas, determining the initial altitude of the target vessel within that sub-water area, and obtaining the corresponding initial altitude for that sub-water area, includes: For each sub-water area, when it is detected that the target vessel has not yet reached the location of the sub-water area and the distance between the current location of the target vessel and the nearest location in the sub-water area to the current location of the target vessel is less than or equal to a preset distance, the current position parameters of the positioning altimeter and the flight environment parameters above the sub-water area are collected. Based on the ship parameters of the target vessel, the current position parameters of the altimeter, and the flight environment parameters of each sub-water area, the working route of the altimeter when the target vessel arrives at the sub-water area and at least one mapping point corresponding to the sub-water area are generated. Based on the mapping points corresponding to the sub-water area and the equipment working route corresponding to the sub-water area, the flight control parameters corresponding to the sub-water area are generated. Based on the flight control parameters corresponding to the sub-water area, an altimetry task corresponding to the sub-water area is generated; and the altimetry task corresponding to the sub-water area is sent to the altimetry equipment. The altimetry task is used to trigger the altimetry equipment to measure the backup altitude of each of the mapping points corresponding to the target vessel in the sub-water area based on the flight control parameters contained in the altimetry task after receiving the altimetry task. The system receives all the backup altitudes of the target vessel in the sub-water area sent by the altimeter, and calculates the initial altitude of the sub-water area based on all the backup altitudes.

3. The intelligent early warning method for ships passing under bridges according to claim 2, characterized in that, The step of generating the equipment operating route for the altimeter when the target vessel arrives at a sub-water area, based on the vessel parameters, the current position parameters of the altimeter, and the flight environment parameters of each sub-water area, includes: For each sub-water area, based on the ship parameters of the target ship, the current position parameters of the altimeter, and the flight environment parameters of the sub-water area, an initial working route is generated for the altimeter when the target ship arrives at the sub-water area and the altimeter operates in the airspace above the sub-water area, thus obtaining the initial working route corresponding to the sub-water area. Obtain the route parameters of the initial working route corresponding to the sub-water area. The route parameters of the initial working route include one or more combinations of the obstacle parameters of the initial working route, the air velocity of the initial working route, and the communication quality status of the initial working route. Based on the route parameters of the initial working route corresponding to the sub-water area, the initial working route corresponding to the sub-water area is adjusted to obtain the equipment working route corresponding to the altimeter when the target vessel arrives at the sub-water area and the altimeter is working in the airspace above the sub-water area.

4. The intelligent early warning method for ships passing under bridges according to any one of claims 1-3, characterized in that, The determination of whether the target altitude meets the predetermined conditions for ship passage across the bridge includes: Obtain the bridge clearance height; Calculate the difference between the bridge clearance height and the target elevation height to obtain the corresponding height difference; Determine whether the corresponding height difference is within a preset height difference range; any value between the minimum and maximum values ​​of the preset height difference range is used to indicate that the target vessel does not pose a risk of colliding with the bridge; If it is determined that the corresponding height difference is within the preset height difference range, then the target altitude is determined to meet the predetermined conditions for the ship to pass under the bridge. If it is determined that the corresponding height difference is not within the preset height difference range, then it is determined that the target altitude does not meet the conditions for the ship to cross the bridge.

5. The intelligent early warning method for ships passing under bridges according to any one of claims 1-3, characterized in that, The ship warning prompt is also used to prompt the target ship to adjust its navigation route, and / or to prompt the target ship to adjust its draft; wherein the draft of the target ship is negatively correlated with its altitude; The bridge water parameters include one or more combinations of bridge water buoyancy, bridge water density, and bridge water navigation conditions. The target vessel's parameters include one or more combinations of the following: the target vessel's speed, shape, volume, bottom contact area with water, load capacity, and position. The water parameters for each sub-water area include one or more combinations of the water density, water area, and obstacle parameters of each sub-water area; The flight environment parameters for each sub-water area include one or more combinations of the following: air temperature, air humidity, air velocity, and particulate matter density of each sub-water area.

6. An intelligent early warning device for ships passing under bridges, characterized in that, The device is used to perform the intelligent early warning method for ships passing under bridges as described in any one of claims 1-5, and the device comprises: The acquisition module is used to acquire the altitude influence parameters of the target vessel, wherein the target vessel is sailing towards the bridge, and the altitude influence parameters are used to represent the parameters that affect the altitude of the target vessel. The prediction module is used to predict the target altitude of the target vessel when it passes the bridge, based on the altitude influence parameters of the target vessel. The judgment module is used to determine whether the target altitude meets the predetermined conditions for the ship to cross the bridge; The generation module is used to generate a ship warning prompt for the target ship if the judgment module determines that the target altitude does not meet the conditions for the ship to pass the bridge. The ship warning prompt is used to indicate that the target ship is at risk of colliding with the bridge.

7. An intelligent early warning device for ships passing under bridges, characterized in that, The device includes: Memory containing executable program code; A processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the intelligent early warning method for ships passing under bridges as described in any one of claims 1-5.

8. A computer storage medium, characterized in that, The computer storage medium stores computer instructions, which, when invoked, are used to execute the intelligent early warning method for ships passing under bridges as described in any one of claims 1-5.

Images