A linkage tracking method and device for a card slot monitoring point

Abstract

The application discloses a kind of bay monitoring point's linkage tracking method and device, the method includes: when any target ship to be tracked passes through any bay monitoring point, the ship position parameter set of target ship at the bay monitoring point is collected;For each ship position parameter, from the all ship monitoring equipment of the bay monitoring point corresponding to the ship position parameter, the target monitoring equipment matched with the ship position parameter is screened out;Based on all target monitoring equipment in all bay monitoring points passed by target ship, linkage tracking operation is carried out to target ship, and the linkage tracking result of target ship is obtained.

Description

Technical Field

[0001] This invention relates to the field of ship monitoring technology, and in particular to a linkage tracking method and device for checkpoint monitoring points. Background Technology

[0002] Currently, ship tracking generally uses satellite AIS technology (i.e., ship positioning technology). Specifically, a low-orbit satellite receives AIS message information sent by the ship. The satellite then receives and decodes the AIS message information and forwards it to the corresponding earth station, allowing land-based management agencies to grasp the relevant dynamic information of the ship and achieve tracking of the ship.

[0003] However, in real-world scenarios, when ships transmit AIS signals to satellites, and / or satellites transmit decoded signals to corresponding earth stations, various factors hinder signal transmission, such as magnetic field interference in the navigation waters and signal quality in those waters. If the AIS signal is affected by magnetic field interference and changes in signal quality, or if poor signal quality in the navigation waters prevents timely transmission and reception of the AIS signal, it can easily lead to low accuracy in tracking ships. Therefore, proposing a technical solution to improve the accuracy of ship tracking is particularly important. Summary of the Invention

[0004] This invention provides a linkage tracking method and device for checkpoint monitoring points, which can improve the accuracy of linkage tracking of target ships, thereby helping management agencies to improve the accuracy of tracking results of target ships during navigation.

[0005] To address the aforementioned technical problems, the first aspect of this invention discloses a linkage tracking method for checkpoint monitoring points, the method comprising:

[0006] When any target vessel to be tracked passes through any checkpoint monitoring point, a set of vessel position parameters of the target vessel at that checkpoint monitoring point is collected. The set of vessel position parameters includes multiple vessel position parameters of the target vessel in the waterway at the corresponding checkpoint monitoring point.

[0007] For each of the aforementioned ship position parameters, a target monitoring device that matches the ship position parameter is selected from all ship monitoring devices at the checkpoint monitoring point corresponding to that ship position parameter.

[0008] Based on all the target monitoring devices within all the checkpoint monitoring points through which the target vessel passes, a coordinated tracking operation is performed on the target vessel to obtain the coordinated tracking result of the target vessel.

[0009] As an optional implementation, in the first aspect of the present invention, the step of selecting a target monitoring device matching the ship position parameter from all ship monitoring devices at the checkpoint monitoring point corresponding to the ship position parameter for each ship position parameter includes:

[0010] For each of the ship position parameters, obtain the device position parameters of each of the ship monitoring devices in all the ship monitoring devices at the checkpoint monitoring point corresponding to the ship position parameter;

[0011] For each of the ship position parameters, the monitoring distance of each ship monitoring device to the target ship is calculated based on the ship position parameter and the device position parameter of each ship monitoring device at the corresponding checkpoint monitoring point;

[0012] For each of the vessel position parameters, at least one vessel monitoring device whose monitoring distance to the target vessel is less than or equal to a preset distance is selected from all the vessel monitoring devices at the corresponding checkpoint monitoring point, and this device is used as the target monitoring device that matches the vessel position parameter.

[0013] As an optional implementation, in the first aspect of the invention, after collecting the set of vessel position parameters of the target vessel at the checkpoint monitoring point, and before selecting a target monitoring device matching the vessel position parameter from all vessel monitoring devices at the checkpoint monitoring point corresponding to the vessel position parameter for each vessel position parameter, the method further includes:

[0014] For each of the ship position parameters, obtain the monitoring data of each of the ship monitoring devices at the checkpoint monitoring point corresponding to the ship position parameter for the target ship, and obtain the ship monitoring data corresponding to each ship monitoring device;

[0015] Based on the ship monitoring data corresponding to each of the ship monitoring devices, the monitoring integrity of each ship monitoring device for the target ship hull is determined, and the hull monitoring integrity corresponding to each ship monitoring device is obtained;

[0016] Based on the hull monitoring integrity corresponding to all the ship monitoring devices, all ship monitoring devices that meet the preset device screening conditions are selected from all the ship monitoring devices as candidate monitoring devices corresponding to the ship position parameter, and the operation of selecting the target monitoring device that matches the ship position parameter from all the ship monitoring devices at the checkpoint monitoring point corresponding to the ship position parameter is triggered. The ship monitoring device in this operation is the candidate monitoring device.

[0017] As an optional implementation, in the first aspect of the present invention, the ship monitoring data includes ship image data of the target ship;

[0018] And, the step of determining the monitoring integrity of each ship monitoring device for the target ship's hull based on the ship monitoring data corresponding to each ship monitoring device, and obtaining the hull monitoring integrity corresponding to each ship monitoring device, includes:

[0019] For each of the aforementioned ship monitoring devices, the ship type and hull data of the target ship are determined based on the ship image data of the target ship included in the ship monitoring data of the ship monitoring device.

[0020] Based on the target vessel's vessel type, standard hull data matching the target vessel's vessel type are selected from a pre-set vessel hull database;

[0021] Based on the hull data of the target vessel and the standard hull data, the integrity of the target vessel's hull is calculated, which is used as the hull monitoring integrity corresponding to the vessel monitoring equipment.

[0022] As an optional implementation, in the first aspect of the present invention, the step of selecting all ship monitoring devices that meet preset equipment selection criteria from all the ship monitoring devices based on the hull monitoring integrity corresponding to all the ship monitoring devices, and using them as candidate monitoring devices corresponding to the ship position parameters, includes:

[0023] Based on the hull monitoring integrity corresponding to all the aforementioned ship monitoring devices, select all ship monitoring devices whose corresponding hull monitoring integrity is greater than or equal to a preset integrity level, and use them as candidate monitoring devices for the ship's position parameters; or...

[0024] Multiple hull monitoring combination results are obtained by combining the hull monitoring integrity corresponding to at least two of the ship monitoring devices. From all the hull monitoring combination results, the hull monitoring combination result that meets the preset combination result is selected as the target combination result. All ship monitoring devices corresponding to the target combination result are determined as candidate monitoring devices corresponding to the ship's position parameters. Each hull monitoring combination result is used to represent the hull integrity of the target ship in the corresponding ship monitoring device.

[0025] As an optional implementation, in the first aspect of the present invention, the ship monitoring data corresponding to each of the target monitoring devices has a corresponding monitoring time;

[0026] And, the step of performing a coordinated tracking operation on the target vessel based on all the target monitoring devices within all the checkpoint monitoring points through which the target vessel passes, to obtain the coordinated tracking result of the target vessel, includes:

[0027] For each target monitoring device at each checkpoint monitoring point, the ship image data of the target ship contained in the ship monitoring data corresponding to the target monitoring device is analyzed to obtain the ship parameters of the target monitoring device for the target ship. The ship parameters include one or more combinations of the target ship's identification, the target ship's part, the target ship's orientation, and the target ship's altitude. When the ship parameters include the target ship's part, the ship parameters also include the area and / or volume of the ship part.

[0028] Based on the ship parameters of the target vessel obtained by all the target monitoring devices and the monitoring time corresponding to all the ship monitoring data, the ship navigation parameters of the target vessel are determined. The ship navigation parameters of the target vessel include one or more combinations of the target vessel's speed, direction of travel, and route.

[0029] The linkage tracking results of the target vessel are used to represent the results of the vessel's navigation parameters at different monitoring times and / or different vessel position parameters.

[0030] As an optional implementation, in the first aspect of the present invention, after performing coordinated tracking of the target vessel on all the target monitoring devices at all the checkpoint monitoring points to obtain the coordinated tracking result of the target vessel, the method further includes:

[0031] Obtain the standard navigation parameters in the navigation waters where the target vessel is located;

[0032] Calculate the degree of difference between the target vessel's navigation parameters and the standard navigation parameters;

[0033] Determine whether the difference between the target vessel's navigation parameters and the standard navigation parameters is less than or equal to a preset difference.

[0034] If it is determined that the difference between the target vessel's navigation parameters and the standard navigation parameters is less than or equal to the preset difference, then the target vessel's navigation parameters are determined to be normal.

[0035] If it is determined that the difference between the target vessel's navigation parameters and the standard navigation parameters is greater than the preset difference, then the target vessel's navigation parameters are determined to be abnormal, and a corresponding behavior abnormality prompt is generated for the target vessel. The behavior abnormality prompt is used to indicate that the target vessel has a navigation behavior abnormality problem.

[0036] A second aspect of the present invention discloses a linkage tracking device for checkpoint monitoring points, the device comprising:

[0037] The data acquisition module is used to collect a set of vessel position parameters of the target vessel at any checkpoint monitoring point when any target vessel to be tracked passes through any checkpoint monitoring point. The set of vessel position parameters includes multiple vessel position parameters of the target vessel in the waterway at the corresponding checkpoint monitoring point.

[0038] The filtering module is used to filter out target monitoring devices that match the ship position parameter from all ship monitoring devices at the checkpoint monitoring point corresponding to the ship position parameter for each ship position parameter.

[0039] The linkage module is used to perform linkage tracking operations on the target vessel based on all target monitoring devices within all the checkpoint monitoring points through which the target vessel passes, and to obtain the linkage tracking results of the target vessel.

[0040] As an optional implementation, in the second aspect of the present invention, the filtering module, for each ship position parameter, specifically filters out target monitoring equipment matching the ship position parameter from all ship monitoring equipment at the checkpoint monitoring point corresponding to that ship position parameter, including:

[0041] For each of the ship position parameters, obtain the device position parameters of each of the ship monitoring devices in all the ship monitoring devices at the checkpoint monitoring point corresponding to the ship position parameter;

[0042] For each of the ship position parameters, the monitoring distance of each ship monitoring device to the target ship is calculated based on the ship position parameter and the device position parameter of each ship monitoring device at the corresponding checkpoint monitoring point;

[0043] For each of the vessel position parameters, at least one vessel monitoring device whose monitoring distance to the target vessel is less than or equal to a preset distance is selected from all the vessel monitoring devices at the corresponding checkpoint monitoring point, and this device is used as the target monitoring device that matches the vessel position parameter.

[0044] As an optional implementation, in a second aspect of the invention, the apparatus further includes:

[0045] The acquisition module is used to acquire the monitoring data of each of the ship monitoring devices at the checkpoint monitoring point corresponding to the ship position parameter after the acquisition module acquires the set of ship position parameters of the target ship at the checkpoint monitoring point, and before the filtering module filters out the target monitoring device that matches the ship position parameter from all ship monitoring devices at the checkpoint monitoring point corresponding to the ship position parameter for each ship position parameter, so as to obtain the ship monitoring data corresponding to each ship monitoring device;

[0046] The determination module is used to determine the monitoring integrity of each ship monitoring device for the target ship hull based on the ship monitoring data corresponding to each ship monitoring device, and to obtain the hull monitoring integrity corresponding to each ship monitoring device;

[0047] The filtering module is further configured to, based on the hull monitoring integrity corresponding to all the ship monitoring devices, filter out all ship monitoring devices that meet the preset equipment filtering conditions from all the ship monitoring devices, as candidate monitoring devices corresponding to the ship position parameter, and trigger the filtering module to perform the operation of filtering out the target monitoring device that matches the ship position parameter from all ship monitoring devices at the checkpoint monitoring point corresponding to the ship position parameter for each ship position parameter, wherein the ship monitoring device in this operation is the candidate monitoring device.

[0048] As an optional implementation, in a second aspect of the present invention, the ship monitoring data includes ship image data of the target ship;

[0049] Furthermore, the determining module determines the monitoring integrity of each ship monitoring device for the target ship's hull based on the ship monitoring data corresponding to each ship monitoring device. The specific methods for obtaining the hull monitoring integrity of each ship monitoring device include:

[0050] For each of the aforementioned ship monitoring devices, the ship type and hull data of the target ship are determined based on the ship image data of the target ship included in the ship monitoring data of the ship monitoring device.

[0051] Based on the target vessel's vessel type, standard hull data matching the target vessel's vessel type are selected from a pre-set vessel hull database;

[0052] Based on the hull data of the target vessel and the standard hull data, the integrity of the target vessel's hull is calculated, which is used as the hull monitoring integrity corresponding to the vessel monitoring equipment.

[0053] As an optional implementation, in the second aspect of the present invention, the screening module selects all ship monitoring devices that meet preset equipment screening conditions from all the ship monitoring devices based on the hull monitoring integrity corresponding to all the ship monitoring devices, and uses these as candidate monitoring devices corresponding to the ship position parameters. Specifically, this includes:

[0054] Based on the hull monitoring integrity corresponding to all the aforementioned ship monitoring devices, select all ship monitoring devices whose corresponding hull monitoring integrity is greater than or equal to a preset integrity level, and use them as candidate monitoring devices for the ship's position parameters; or...

[0055] Multiple hull monitoring combination results are obtained by combining the hull monitoring integrity corresponding to at least two of the ship monitoring devices. From all the hull monitoring combination results, the hull monitoring combination result that meets the preset combination result is selected as the target combination result. All ship monitoring devices corresponding to the target combination result are determined as candidate monitoring devices corresponding to the ship's position parameters. Each hull monitoring combination result is used to represent the hull integrity of the target ship in the corresponding ship monitoring device.

[0056] As an optional implementation, in the second aspect of the present invention, the ship monitoring data corresponding to each of the target monitoring devices has a corresponding monitoring time;

[0057] Furthermore, the linkage module performs a linkage tracking operation on the target vessel based on all target monitoring devices within all the checkpoint monitoring points the target vessel passes through, and the specific methods for obtaining the linkage tracking result of the target vessel include:

[0058] For each target monitoring device at each checkpoint monitoring point, the ship image data of the target ship contained in the ship monitoring data corresponding to the target monitoring device is analyzed to obtain the ship parameters of the target monitoring device for the target ship. The ship parameters include one or more combinations of the target ship's identification, the target ship's part, the target ship's orientation, and the target ship's altitude. When the ship parameters include the target ship's part, the ship parameters also include the area and / or volume of the ship part.

[0059] Based on the ship parameters of the target vessel obtained by all the target monitoring devices and the monitoring time corresponding to all the ship monitoring data, the ship navigation parameters of the target vessel are determined. The ship navigation parameters of the target vessel include one or more combinations of the target vessel's speed, direction of travel, and route.

[0060] The linkage tracking results of the target vessel are used to represent the results of the vessel's navigation parameters at different monitoring times and / or different vessel position parameters.

[0061] As an optional implementation, in the second aspect of the present invention, the acquisition module is further configured to acquire standard navigation parameters in the navigation waters where the target vessel is located after the linkage module performs linkage tracking of all target monitoring devices at all checkpoint monitoring points for the target vessel and obtains the linkage tracking result of the target vessel.

[0062] The device also includes:

[0063] A calculation module is used to calculate the degree of difference between the target vessel's navigation parameters and the standard navigation parameters;

[0064] The judgment module is used to determine whether the difference between the target vessel's navigation parameters and the standard navigation parameters is less than or equal to a preset difference.

[0065] The determining module is further configured to determine that the navigation parameters of the target vessel are normal if the difference between the target vessel's navigation parameters and the standard navigation parameters is less than or equal to the preset difference.

[0066] The determining module is further configured to determine that the navigation parameters of the target vessel are abnormal if it is determined that the difference between the navigation parameters of the target vessel and the standard navigation parameters is greater than the preset difference.

[0067] The generation module is used to generate a behavior anomaly prompt corresponding to the target vessel, which is used to indicate that the target vessel has a problem with abnormal navigation behavior.

[0068] A third aspect of the present invention discloses another linkage tracking device for checkpoint monitoring points, the device comprising:

[0069] Memory containing executable program code;

[0070] A processor coupled to the memory;

[0071] The processor calls the executable program code stored in the memory to execute the linkage tracking method for checkpoint monitoring points disclosed in the first aspect of the present invention.

[0072] The fourth aspect of the present invention discloses a computer storage medium storing computer instructions, which, when invoked, are used to execute the linkage tracking method for checkpoint monitoring points disclosed in the first aspect of the present invention.

[0073] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0074] In this embodiment of the invention, when any target vessel to be tracked passes through any checkpoint monitoring point, a set of vessel position parameters of the target vessel at that checkpoint monitoring point is collected. This set of vessel position parameters includes multiple vessel position parameters of the target vessel in the channel at the corresponding checkpoint monitoring point. For each vessel position parameter, a target monitoring device matching that vessel position parameter is selected from all vessel monitoring devices at the checkpoint monitoring point corresponding to that vessel position parameter. Based on all target monitoring devices at all checkpoint monitoring points passed by the target vessel, a coordinated tracking operation is performed on the target vessel to obtain the coordinated tracking result. It is evident that implementing this invention can select target monitoring devices matching each vessel position parameter from all vessel monitoring devices at the checkpoint monitoring points corresponding to that vessel position parameter, improving the accuracy of target monitoring device selection and thus improving the coordinated tracking accuracy of the target monitoring devices. Furthermore, performing a coordinated tracking operation on the target vessel based on all accurately selected target monitoring devices at all checkpoint monitoring points passed by the target vessel is beneficial for improving the accuracy and efficiency of coordinated tracking, thereby improving the management agency's control accuracy over the tracking results of the target vessel during navigation. Attached Figure Description

[0075] 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.

[0076] Figure 1 This is a flowchart illustrating a linkage tracking method for checkpoint monitoring points disclosed in an embodiment of the present invention;

[0077] Figure 2 This is a flowchart illustrating another method for linkage tracking of checkpoint monitoring points disclosed in an embodiment of the present invention;

[0078] Figure 3This is a schematic diagram of the structure of a linkage tracking device for a checkpoint monitoring point disclosed in an embodiment of the present invention;

[0079] Figure 4 This is a schematic diagram of the structure of another linkage tracking device for checkpoint monitoring points disclosed in an embodiment of the present invention;

[0080] Figure 5 This is a schematic diagram of the structure of another linkage tracking device for checkpoint monitoring points disclosed in an embodiment of the present invention. Detailed Implementation

[0081] 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.

[0082] 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.

[0083] 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.

[0084] This invention discloses a method and apparatus for linkage tracking at checkpoint monitoring points. It can filter out target monitoring devices matching the vessel's position parameters from all vessel monitoring devices at each checkpoint monitoring point corresponding to the collected vessel position parameters. This improves the accuracy of target monitoring device selection, thereby enhancing the linkage accuracy of the target monitoring devices. Based on all accurately selected target monitoring devices at all checkpoint monitoring points passed by the target vessel, linkage tracking operations are performed on the target vessel. This improves the accuracy and efficiency of linkage tracking, thereby enhancing the management agency's control over the tracking results of the target vessel during navigation. This, in turn, helps reduce property losses caused by safety hazards of the target vessel and protects the personal safety of personnel on board. Detailed descriptions follow.

[0085] Example 1

[0086] Please see Figure 1 , Figure 1 This is a flowchart illustrating a linkage tracking method for checkpoint monitoring points disclosed in an embodiment of the present invention. Figure 1 The described linkage tracking method for checkpoint monitoring points can be applied to linkage tracking devices at checkpoint monitoring points. These devices may include linkage tracking equipment or linkage tracking servers, where the linkage tracking server may include a cloud server or a local server; this embodiment of the invention does not impose limitations. Figure 1 As shown, the linkage tracking method for this checkpoint monitoring point can include the following operations:

[0087] 101. When any target vessel to be tracked passes through any checkpoint monitoring point, collect the set of vessel position parameters at that checkpoint monitoring point.

[0088] In this embodiment of the invention, the set of vessel position parameters includes multiple vessel position parameters of the target vessel in the waterway at the corresponding checkpoint monitoring point. Optionally, the vessel position parameters may include the vessel coordinates of the target vessel. Optionally, the vessel coordinates of the target vessel may include two-dimensional coordinates or three-dimensional coordinates of the target vessel; this embodiment of the invention does not impose any limitation.

[0089] 102. For each ship position parameter, select the target monitoring device that matches the ship position parameter from all ship monitoring devices at the checkpoint monitoring point corresponding to that ship position parameter.

[0090] In this embodiment of the invention, the ship monitoring equipment may be a camera, a video recorder, or any other device capable of monitoring the target ship; this embodiment of the invention does not impose any limitations.

[0091] In this embodiment of the invention, optionally, each target vessel to be tracked has a unique corresponding vessel identifier. The vessel identifier can be a single vessel feature or a combination of multiple vessel features. Specifically, when the vessel identifier is a single vessel feature (e.g., a vessel identification code), this feature can uniquely correspond to the target vessel; when the vessel identifier is a combination of multiple vessel features (e.g., a combination of vessel shape and color features), the combination of these multiple vessel features is used to uniquely identify the target vessel, and this embodiment of the invention does not impose limitations. For each vessel position parameter, selecting a target monitoring device matching the vessel position parameter from all vessel monitoring devices at the checkpoint monitoring point corresponding to that vessel position parameter can specifically be a target monitoring device that matches the vessel position parameter and is capable of monitoring the target vessel. Being able to monitor the target vessel can specifically mean directly detecting the unique vessel identifier corresponding to the target vessel, or it can mean obtaining the unique vessel identifier corresponding to the target vessel after processing the vessel monitoring data, for example, obtaining the unique vessel identifier corresponding to the target vessel after image processing of the monitored vessel image data.

[0092] 103. Based on all target monitoring devices within all checkpoint monitoring points through which the target vessel passes, perform a coordinated tracking operation on the target vessel to obtain the coordinated tracking results of the target vessel.

[0093] In this embodiment of the invention, optionally, the linkage tracking result can be used to represent the target vessel's navigation parameters at different monitoring times, the target vessel's navigation parameters at different vessel position parameters, or the target vessel's navigation parameters at different monitoring times and with different vessel position parameters. This embodiment of the invention does not impose any limitations. Furthermore, performing linkage tracking on the target vessel can be based on the unique vessel identifier corresponding to the target vessel.

[0094] For example, suppose there are ship monitoring devices 1, 2, and 3. Ship monitoring device 1 monitors information about ship A, ship B, and ship C; ship monitoring device 2 monitors information about ship A, ship C, and ship D; and ship monitoring device 3 monitors information about ship E, ship F, and ship B. When the target ship to be tracked is ship A, based on the unique ship identifier corresponding to ship A, ship monitoring devices 1 and 2 are identified as capable of performing linked tracking operations on ship A. Therefore, the linked tracking of ship A is specifically achieved using ship monitoring devices 1 and 2. Similarly, when the target ship to be tracked is ship B, the linked tracking of ship B can be achieved using ship monitoring devices 1 and 3.

[0095] As can be seen, the linkage tracking method for checkpoint monitoring points described in this embodiment of the invention can filter out target monitoring devices that match the ship's position parameters from all ship monitoring devices at the checkpoint monitoring points corresponding to each ship position parameter of the target ship. This improves the accuracy of target monitoring device selection, thereby improving the linkage accuracy of target monitoring devices. Based on all the accurately selected target monitoring devices at all checkpoint monitoring points passed by the target ship, linkage tracking operations are performed on the target ship. This is beneficial to improving the linkage tracking accuracy and efficiency of the target ship, thereby improving the management agency's control accuracy over the tracking results of the target ship during navigation. This, in turn, helps to reduce property losses caused by safety hazards of the target ship, and also helps to protect the personal safety of ship personnel.

[0096] In an optional embodiment, after step 103 above, where all target monitoring devices at all checkpoint monitoring points passed by the target vessel perform a coordinated tracking operation on the target vessel to obtain the coordinated tracking result, the method may further include:

[0097] Obtain the target vessel's set navigation route in the current navigation waters. The set navigation route is the route required by the target vessel for this voyage, and the set navigation route has a corresponding route tolerance range.

[0098] Based on the target vessel's set navigation route in the current navigation waters, determine whether the target vessel's current navigation route, as contained in the linked tracking result, is within the route tolerance range corresponding to the set navigation route.

[0099] If it is determined that the target vessel's current navigation route is not within the route tolerance range corresponding to the set navigation route, then the target vessel's current navigation route is determined to be abnormal, and a route abnormality prompt corresponding to the target vessel is generated.

[0100] If it is determined that the target vessel's current navigation route is within the route tolerance range corresponding to the set navigation route, then the target vessel's current navigation route is considered normal.

[0101] In this embodiment of the invention, the route tolerance range for setting a navigation route may include the ranges corresponding to multiple sub-navigation routes within the set navigation route. Route anomaly alerts are used to indicate that the target vessel's current navigation route deviates from the set navigation route; this embodiment of the invention does not impose limitations on this.

[0102] As can be seen, this optional embodiment can determine whether the current navigation route of the target vessel is within the route tolerance range corresponding to the set navigation route based on the obtained target vessel's set navigation route. When it is determined that the current navigation route of the target vessel is not within the route tolerance range corresponding to the set navigation route, it accurately determines that the current navigation route of the target vessel is abnormal. When it is determined that the current navigation route of the target vessel is within the route tolerance range corresponding to the set navigation route, it accurately determines that the current navigation route of the target vessel is normal. This can improve the accuracy of determining whether the current navigation route of the target vessel is normal. Furthermore, when it is determined that the current navigation route of the target vessel is abnormal, it generates a route abnormality prompt corresponding to the target vessel, which can improve the accuracy of the route abnormality prompt generation. It can also help improve the efficiency of obtaining and processing the abnormality of the vessel's navigation route.

[0103] Example 2

[0104] Please see Figure 2 , Figure 2 This is a flowchart illustrating a linkage tracking method for checkpoint monitoring points disclosed in an embodiment of the present invention. Figure 2 The described linkage tracking method for checkpoint monitoring points can be applied to linkage tracking devices at checkpoint monitoring points. These devices may include linkage tracking equipment or linkage tracking servers, where the linkage tracking server may include a cloud server or a local server; this embodiment of the invention does not impose limitations. Figure 2 As shown, the linkage tracking method for this checkpoint monitoring point can include the following operations:

[0105] 201. When any target vessel to be tracked passes through any checkpoint monitoring point, collect the set of vessel position parameters at that checkpoint monitoring point.

[0106] 202. For each ship position parameter, obtain the monitoring data of each ship monitoring device at the checkpoint monitoring point corresponding to the ship position parameter for the target ship, and obtain the ship monitoring data corresponding to each ship monitoring device.

[0107] In this embodiment of the invention, optionally, the ship monitoring data may include ship image data of the target ship. The ship image data of the target ship may be video recording data, photographic data, or a combination of video recording data and photographic data; this embodiment of the invention does not impose any limitation.

[0108] 203. Based on the ship monitoring data corresponding to each ship monitoring device, determine the monitoring integrity of each ship monitoring device for the target ship's hull, and obtain the hull monitoring integrity corresponding to each ship monitoring device.

[0109] In this embodiment of the invention, optionally, the hull of the target vessel may include one or more of the following: the bow, the body, and the stern of the target vessel. This embodiment of the invention does not impose any limitation on these aspects.

[0110] 204. Based on the hull monitoring integrity corresponding to all ship monitoring equipment, select all ship monitoring equipment that meets the preset equipment selection criteria from all ship monitoring equipment and use them as candidate monitoring equipment corresponding to the ship's position parameters.

[0111] In this embodiment of the invention, optionally, the preset equipment screening conditions can be the preset screening conditions corresponding to the integrity of the ship hull monitoring, or the preset screening conditions corresponding to the combined results. This embodiment of the invention does not limit the specific conditions.

[0112] 205. For each ship position parameter, select the target monitoring device that matches the ship position parameter from all the candidate monitoring devices at the checkpoint monitoring point corresponding to that ship position parameter.

[0113] 206. Based on all target monitoring devices within all checkpoint monitoring points through which the target vessel passes, perform a coordinated tracking operation on the target vessel to obtain the coordinated tracking results of the target vessel.

[0114] In this embodiment of the invention, the specific technical details and explanations of technical terms for steps 201, 205 and 206 can be found in the description of steps 101-103 in Embodiment 1, and will not be repeated here.

[0115] As can be seen, the linkage tracking method for checkpoint monitoring points described in this embodiment of the invention can filter out target monitoring devices that match the ship's position parameters from all ship monitoring devices at the checkpoint monitoring points corresponding to each ship position parameter of the target ship. This improves the accuracy of target monitoring device selection, thereby improving the linkage accuracy of target monitoring devices. Based on all the accurately selected target monitoring devices at all checkpoint monitoring points passed by the target ship, linkage tracking operations are performed on the target ship. This is beneficial to improving the linkage tracking accuracy and efficiency of the target ship, thereby improving the management agency's control accuracy over the tracking results of the target ship during navigation. This, in turn, helps to reduce property losses caused by safety hazards of the target ship, and also helps to protect the personal safety of ship personnel. Furthermore, based on the monitoring data of each ship monitoring device corresponding to each ship position parameter, the completeness of the monitoring of the target ship's hull by each ship monitoring device can be accurately determined. Based on the accurately determined completeness of the hull monitoring of all ship monitoring devices, all ship monitoring devices that meet the preset equipment screening conditions can be selected as candidate monitoring devices corresponding to the ship position parameter. This can improve the accuracy and reliability of the candidate monitoring device selection, thereby reducing the occurrence of processing ship monitoring devices that do not need further screening, and thus improving the speed and accuracy of selecting target monitoring devices.

[0116] In an optional embodiment, step 205 above, which involves selecting a target monitoring device that matches the ship's position parameter from all candidate monitoring devices at the checkpoint monitoring point corresponding to that ship's position parameter, may include:

[0117] For each ship position parameter, obtain the device position parameter of each ship monitoring device among all ship monitoring devices at the checkpoint monitoring point corresponding to that ship position parameter;

[0118] For each vessel position parameter, the monitoring distance of each vessel monitoring device to the target vessel is calculated based on the vessel position parameter and the device position parameter of each vessel monitoring device at the corresponding checkpoint monitoring point.

[0119] For each vessel position parameter, at least one vessel monitoring device whose monitoring distance to the target vessel is less than or equal to a preset distance is selected from all vessel monitoring devices at the corresponding checkpoint monitoring point, and this device is used as the target monitoring device that matches the vessel position parameter.

[0120] In this embodiment of the invention, optionally, the device position parameter of each ship monitoring device can be the device coordinates of each ship monitoring device. The device coordinates of the ship monitoring device can be two-dimensional coordinates or three-dimensional coordinates; this embodiment of the invention does not impose any limitation.

[0121] As can be seen, this optional embodiment can accurately calculate the monitoring distance of each ship monitoring device to the target ship based on the device position parameters of each ship monitoring device among all ship monitoring devices at the checkpoint monitoring point corresponding to each ship position parameter. It can also select at least one target monitoring device from all ship monitoring devices at the checkpoint monitoring point corresponding to the ship position parameter whose monitoring distance to the target ship is less than or equal to a preset distance. This can improve the accuracy and reliability of target monitoring device selection, thereby facilitating the handling of ship monitoring devices that do not require linkage, and further improving the linkage tracking speed and accuracy of the target ship.

[0122] In another optional embodiment, the ship monitoring data may include ship image data of the target ship. Furthermore, step 203 above, which determines the monitoring integrity of each ship monitoring device for the target ship's hull based on the ship monitoring data corresponding to each ship monitoring device, to obtain the hull monitoring integrity corresponding to each ship monitoring device, may include:

[0123] For each of the aforementioned ship monitoring devices, the ship type and hull data of the target ship are determined based on the ship image data of the target ship included in the ship monitoring data of the ship monitoring device.

[0124] Based on the target vessel's vessel type, standard hull data matching the target vessel's vessel type are selected from a pre-set vessel hull database;

[0125] Based on the hull data of the target vessel and the standard hull data, the integrity of the target vessel's hull is calculated, which is used as the hull monitoring integrity corresponding to the vessel monitoring equipment.

[0126] In this embodiment of the invention, the target vessel may be categorized by the following: hull material (wooden boats, steel boats, cement boats, etc.); navigation area (ocean-going vessels, near-ocean vessels, coastal vessels, and inland / lake vessels, etc.); power plant (internal combustion engine vessels, electric vessels, and nuclear-powered vessels, etc.); propeller (propeller vessels, rotary propeller vessels, and sail-assisted vessels, etc.); navigation mode (self-propelled vessels and non-self-propelled vessels); navigation state (displacement vessels and non-displacement vessels); and function (tankers, chemical tankers, gas carriers, container ships, timber carriers, landing ships, barge carriers, and refrigerated ships, etc.). This embodiment of the invention does not impose any limitations on these categories.

[0127] In this embodiment of the invention, optionally, a preset ship hull database stores data on multiple ship hulls. The ship hull may include one or more combinations of the bow, hull, and stern, etc., and this embodiment of the invention does not impose any limitation.

[0128] As can be seen, this optional embodiment can accurately determine the ship type and hull data of the target ship based on the ship image data of the target ship included in the ship monitoring data of each ship monitoring device. Based on the accurately determined ship type, it can accurately filter standard hull data that matches the target ship type from a preset ship hull database. Based on the accurately determined hull data of the target ship and the accurately filtered standard hull data, it can calculate the hull monitoring integrity corresponding to the ship monitoring device. This can improve the accuracy and reliability of the hull monitoring integrity calculation, thereby helping to improve the selection accuracy of alternative monitoring devices through the accurately calculated hull monitoring integrity.

[0129] In another optional embodiment, step 204 above, which involves selecting all ship monitoring devices that meet preset equipment selection criteria based on the hull monitoring integrity corresponding to all ship monitoring devices, as candidate monitoring devices corresponding to the ship position parameters, may include:

[0130] Based on the hull monitoring integrity corresponding to all ship monitoring equipment, select all ship monitoring equipment whose hull monitoring integrity is greater than or equal to a preset integrity level, and use them as candidate monitoring equipment for the ship's position parameters; or...

[0131] Based on the hull monitoring integrity corresponding to at least two of the ship monitoring devices, multiple hull monitoring combination results are obtained; and from all the hull monitoring combination results, the hull monitoring combination result that meets the preset combination result is selected as the target combination result; and all ship monitoring devices corresponding to the target combination result are determined as the alternative monitoring devices corresponding to the ship's position parameters.

[0132] In this embodiment of the invention, optionally, each hull monitoring combination result can be used to represent the hull integrity of the target vessel in the corresponding vessel monitoring equipment. A preset combination result can be used to represent the aforementioned preset integrity. The preset integrity can be 70%, 80%, or any other value; this embodiment of the invention does not limit the specific value.

[0133] As can be seen, this optional embodiment can intelligently select and accurately screen out candidate monitoring devices from ship monitoring devices whose hull monitoring integrity is greater than or equal to a preset integrity, or intelligently select and screen out target combination results that meet preset combination results from multiple combined hull monitoring results, and determine all ship monitoring devices corresponding to the target combination results as candidate monitoring devices, thereby improving the diversity and flexibility of the method for screening candidate monitoring devices, and thus improving the accuracy of screening candidate monitoring devices.

[0134] In another optional embodiment, the ship monitoring data corresponding to each target monitoring device has a corresponding monitoring time. Furthermore, step 206 above, which involves performing a coordinated tracking operation on the target ship based on all target monitoring devices within all checkpoint monitoring points passed by the target ship to obtain the coordinated tracking result of the target ship, may include:

[0135] For each target monitoring device at each checkpoint, the ship image data of the target ship contained in the ship monitoring data corresponding to the target monitoring device is analyzed to obtain the ship parameters of the target monitoring device for the target ship.

[0136] Based on the ship parameters of the target vessel from all target monitoring devices and the monitoring time corresponding to all ship monitoring data, the ship navigation parameters of the target vessel are determined.

[0137] In this embodiment of the invention, the linkage tracking result of the target vessel can be used to represent the result of the vessel's navigation parameters at different monitoring times and / or different vessel position parameters. Optionally, the vessel parameters may include one or more combinations of the target vessel's vessel identification, vessel location, vessel orientation, and altitude. When the vessel parameters include the vessel location, they may further include the area and / or volume of the vessel location. Optionally, the target vessel's navigation parameters may include one or more combinations of the target vessel's speed, direction, and route. The target vessel's route may include one or more combinations of the target vessel's current route, its already navigated route, and its future route; this embodiment of the invention does not limit this.

[0138] As can be seen, this optional embodiment can accurately analyze the ship image data of the target ship contained in the ship monitoring data corresponding to each target monitoring device, obtain the ship parameters of the target monitoring device for the target ship, and determine the ship navigation parameters of the target ship based on the accurately analyzed ship parameters of all target monitoring devices for the target ship and the monitoring time corresponding to all ship monitoring data. This can improve the accuracy and reliability of determining the ship navigation parameters of the target ship, thereby helping to improve the accuracy of management agencies in controlling the ship navigation parameters of the target ship.

[0139] In this optional embodiment, as an optional implementation method, after step 206 above, where all target monitoring devices at all checkpoint monitoring points perform coordinated tracking of the target vessel to obtain the coordinated tracking result of the target vessel, the method may further include:

[0140] Obtain standard navigation parameters in the navigation waters where the target vessel is located;

[0141] Calculate the degree of difference between the target vessel's navigation parameters and standard navigation parameters;

[0142] Determine whether the difference between the target vessel's navigation parameters and the standard navigation parameters is less than or equal to the preset difference.

[0143] If it is determined that the difference between the target vessel's navigation parameters and the standard navigation parameters is less than or equal to the preset difference, then the target vessel's navigation parameters are determined to be normal.

[0144] If it is determined that the difference between the target vessel's navigation parameters and the standard navigation parameters is greater than the preset difference, then the target vessel's navigation parameters are determined to be abnormal, and a corresponding abnormal behavior prompt is generated for the target vessel.

[0145] In this embodiment of the invention, the abnormal behavior prompt is used to indicate that the target vessel has an abnormal navigation behavior. Optionally, the first parameter content of the standard navigation parameters in the navigation waters where the target vessel is located corresponds one-to-one with the second parameter content of the target vessel's navigation parameters. Specifically, when the target vessel's navigation parameters include its speed, the standard navigation parameters in the navigation waters where the target vessel is located may include the target vessel's standard speed; when the target vessel's navigation parameters include its direction, the standard navigation parameters in the navigation waters where the target vessel is located may include the target vessel's standard direction; when the target vessel's navigation parameters include its route, the standard navigation parameters in the navigation waters where the target vessel is located may include the target vessel's standard route. Optionally, the preset difference degree may be 5%, 10%, or any other pre-set value; this embodiment of the invention does not limit this.

[0146] As can be seen, this optional implementation can calculate the difference between the target vessel's navigation parameters and the standard navigation parameters obtained in the target vessel's navigation waters. When the difference is determined to be less than or equal to a preset difference, the target vessel's navigation parameters are determined to be normal. When the difference is determined to be greater than the preset difference, the target vessel's navigation parameters are determined to be abnormal. This can improve the accuracy of determining whether the target vessel's navigation parameters are abnormal, and accurately generate corresponding behavioral abnormality prompts for the target vessel when the navigation parameters are abnormal. It can also help improve the efficiency of obtaining and processing abnormal behavior of the target vessel.

[0147] Example 3

[0148] Please see Figure 3 , Figure 3 This is a schematic diagram of the structure of a linkage tracking device for a checkpoint monitoring point disclosed in an embodiment of the present invention. Wherein, Figure 3 The described linkage tracking device for checkpoint monitoring points may include linkage tracking equipment or linkage tracking server, wherein the linkage tracking server may include a cloud server or a local server, and this embodiment of the invention is not limited thereto. Figure 3 As shown, the linkage tracking device at this checkpoint monitoring point may include:

[0149] The data acquisition module 301 is used to acquire a set of ship position parameters of the target ship at any checkpoint monitoring point when any target ship to be tracked passes through any checkpoint monitoring point. The set of ship position parameters includes multiple ship position parameters of the target ship in the waterway at the corresponding checkpoint monitoring point.

[0150] The filtering module 302 is used to filter out target monitoring equipment that matches the ship position parameter from all ship monitoring equipment at the checkpoint monitoring point corresponding to the ship position parameter for each ship position parameter.

[0151] The linkage module 303 is used to perform linkage tracking operations on the target vessel based on all target monitoring devices within all checkpoint monitoring points through which the target vessel passes, and obtain the linkage tracking results of the target vessel.

[0152] As can be seen, the linkage tracking device for checkpoint monitoring points described in this embodiment of the invention can filter out target monitoring devices that match the ship's position parameters from all ship monitoring devices at the checkpoint monitoring points corresponding to each ship's position parameters of the target ship. This improves the accuracy of target monitoring device filtering, thereby improving the linkage accuracy of target monitoring devices. Based on all the target monitoring devices accurately selected from all checkpoint monitoring points passed by the target ship, linkage tracking operations are performed on the target ship. This is beneficial to improving the linkage tracking accuracy and efficiency of the target ship, thereby improving the management agency's control accuracy over the tracking results of the target ship during navigation. This, in turn, helps to reduce property losses caused by safety hazards of the target ship, and also helps to protect the personal safety of ship personnel.

[0153] In an optional embodiment, the filtering module 302, for each ship position parameter, may specifically filter out target monitoring devices that match the ship position parameter from all ship monitoring devices at the checkpoint monitoring point corresponding to that ship position parameter in the following ways:

[0154] For each ship position parameter, obtain the device position parameter of each ship monitoring device among all ship monitoring devices at the checkpoint monitoring point corresponding to that ship position parameter;

[0155] For each vessel position parameter, the monitoring distance of each vessel monitoring device to the target vessel is calculated based on the vessel position parameter and the device position parameter of each vessel monitoring device at the corresponding checkpoint monitoring point.

[0156] For each vessel position parameter, at least one vessel monitoring device whose monitoring distance to the target vessel is less than or equal to a preset distance is selected from all vessel monitoring devices at the corresponding checkpoint monitoring point, and this device is used as the target monitoring device that matches the vessel position parameter.

[0157] As can be seen, this optional embodiment can accurately calculate the monitoring distance of each ship monitoring device to the target ship based on the device position parameters of each ship monitoring device among all ship monitoring devices at the checkpoint monitoring point corresponding to each ship position parameter. It can also select at least one target monitoring device from all ship monitoring devices at the checkpoint monitoring point corresponding to the ship position parameter whose monitoring distance to the target ship is less than or equal to a preset distance. This can improve the accuracy and reliability of target monitoring device selection, thereby facilitating the handling of ship monitoring devices that do not require linkage, and further improving the linkage tracking speed and accuracy of the target ship.

[0158] In another alternative embodiment, such as Figure 4 As shown, the device may further include:

[0159] The acquisition module 304 is used to acquire the monitoring data of each ship monitoring device for the target ship at the checkpoint monitoring point after the acquisition module 301 acquires the set of ship position parameters of the target ship at the checkpoint monitoring point, and before the filtering module 302 filters out the target monitoring device that matches the ship position parameter from all ship monitoring devices at the checkpoint monitoring point corresponding to the ship position parameter for each ship position parameter, so as to obtain the ship monitoring data corresponding to each ship monitoring device.

[0160] The determination module 305 is used to determine the monitoring integrity of each ship monitoring device for the target ship hull based on the ship monitoring data corresponding to each ship monitoring device, and obtain the hull monitoring integrity corresponding to each ship monitoring device;

[0161] The screening module 302 is also used to screen all ship monitoring devices that meet the preset equipment screening conditions from all ship monitoring devices according to the ship hull monitoring integrity corresponding to all ship monitoring devices, as candidate monitoring devices corresponding to the ship position parameter, and trigger the screening module 302 to perform the operation of screening target monitoring devices that match the ship position parameter from all ship monitoring devices at the checkpoint monitoring point corresponding to the ship position parameter for each ship position parameter, wherein the ship monitoring devices in this operation are candidate monitoring devices.

[0162] As can be seen, this optional embodiment can accurately determine the monitoring integrity of each ship monitoring device for the target ship based on the monitoring data of each ship monitoring device for the target ship corresponding to each ship position parameter. Based on the accurately determined hull monitoring integrity of all ship monitoring devices, it can select all ship monitoring devices that meet the preset device selection conditions from all ship monitoring devices as candidate monitoring devices corresponding to the ship position parameter. This can improve the accuracy and reliability of the candidate monitoring device selection, thereby reducing the occurrence of processing ship monitoring devices that do not need further selection, and thus improving the speed and accuracy of selecting target monitoring devices.

[0163] In this optional embodiment, as an optional implementation, the ship monitoring data includes ship image data of the target ship. Furthermore, the determining module 305 determines the monitoring integrity of the target ship's hull for each ship monitoring device based on the ship monitoring data corresponding to each ship monitoring device. The specific method for obtaining the hull monitoring integrity corresponding to each ship monitoring device may include:

[0164] For each ship monitoring device, the ship type and hull data of the target ship are determined based on the ship image data of the target ship contained in the ship monitoring data of the ship monitoring device.

[0165] Based on the target vessel's type, standard hull data matching the target vessel's type are selected from a pre-set hull database.

[0166] Based on the target vessel's hull data and standard hull data, the integrity of the target vessel's hull is calculated, which is then used as the hull monitoring integrity corresponding to the vessel's monitoring equipment.

[0167] As can be seen, this optional implementation can accurately determine the ship type and hull data of the target ship based on the ship image data of the target ship included in the ship monitoring data of each ship monitoring device. Based on the accurately determined ship type, it can accurately filter standard hull data that matches the target ship type from a preset ship hull database. Based on the accurately determined hull data of the target ship and the accurately filtered standard hull data, it can calculate the hull monitoring integrity corresponding to the ship monitoring device. This can improve the accuracy and reliability of the hull monitoring integrity calculation, thereby helping to improve the selection accuracy of alternative monitoring devices through the accurately calculated hull monitoring integrity.

[0168] In this optional embodiment, as another optional implementation, the screening module 302 selects all ship monitoring devices that meet the preset equipment screening conditions from all ship monitoring devices based on the hull monitoring integrity corresponding to all ship monitoring devices, and the specific methods for selecting these devices as candidate monitoring devices corresponding to the ship position parameters include:

[0169] Based on the hull monitoring integrity corresponding to all ship monitoring equipment, select all ship monitoring equipment whose hull monitoring integrity is greater than or equal to a preset integrity level, and use them as candidate monitoring equipment for the ship's position parameters; or...

[0170] Multiple hull monitoring combination results are obtained by combining the hull monitoring integrity corresponding to at least two of the ship monitoring devices. The hull monitoring combination results that meet the preset combination results are selected from all the hull monitoring combination results as the target combination result. All ship monitoring devices corresponding to the target combination result are determined as the candidate monitoring devices corresponding to the ship's position parameters. Each hull monitoring combination result is used to represent the hull integrity of the target ship in the corresponding ship monitoring device.

[0171] As can be seen, this optional implementation can intelligently select and accurately screen out candidate monitoring devices from ship monitoring equipment whose hull monitoring integrity is greater than or equal to a preset integrity, or intelligently select and screen out target combination results that meet preset combination results from multiple combined hull monitoring results, and determine all ship monitoring devices corresponding to the target combination results as candidate monitoring devices, thereby improving the diversity and flexibility of the method for screening candidate monitoring devices, and thus improving the accuracy of screening candidate monitoring devices.

[0172] In this optional embodiment, as another optional implementation, the ship monitoring data corresponding to each target monitoring device has a corresponding monitoring time. Furthermore, the linkage module 303 performs a linkage tracking operation on the target ship based on all target monitoring devices within all checkpoint monitoring points passed by the target ship. The specific method for obtaining the linkage tracking result of the target ship may include:

[0173] For each target monitoring device at each checkpoint, the ship image data of the target ship contained in the ship monitoring data corresponding to the target monitoring device is analyzed to obtain the ship parameters of the target ship for the target monitoring device. The ship parameters include one or more combinations of the target ship's identification, the target ship's location, the target ship's orientation, and the target ship's altitude. When the ship parameters include the target ship's location, the ship parameters also include the area and / or volume of the ship's location.

[0174] Based on the ship parameters of the target vessel from all target monitoring devices and the monitoring time corresponding to all ship monitoring data, the ship navigation parameters of the target vessel are determined. The ship navigation parameters of the target vessel include one or more combinations of the target vessel's speed, direction of travel, and route.

[0175] The results of the target vessel's linkage tracking are used to represent the results of the target vessel's navigation parameters at different monitoring times and / or different vessel position parameters.

[0176] As can be seen, this optional implementation can accurately analyze the ship image data of the target ship contained in the ship monitoring data corresponding to each target monitoring device, obtain the ship parameters of the target monitoring device for the target ship, and determine the ship navigation parameters of the target ship based on the accurately analyzed ship parameters of all target monitoring devices for the target ship and the monitoring time corresponding to all ship monitoring data. This can improve the accuracy and reliability of determining the ship navigation parameters of the target ship, thereby helping to improve the accuracy of management agencies in controlling the ship navigation parameters of the target ship.

[0177] In this optional implementation, the acquisition module 304 is optionally used to acquire standard navigation parameters in the navigation waters where the target vessel is located after the linkage module 303 performs linkage tracking of all target monitoring devices at all checkpoint monitoring points for the target vessel and obtains the linkage tracking result of the target vessel.

[0178] And, such as Figure 4 As shown, the device may further include:

[0179] Calculation module 306 is used to calculate the degree of difference between the target vessel's navigation parameters and standard navigation parameters;

[0180] The judgment module 307 is used to determine whether the difference between the target vessel's navigation parameters and the standard navigation parameters is less than or equal to a preset difference.

[0181] The determination module 305 is also used to determine that the ship navigation parameters of the target ship are normal if the difference between the ship navigation parameters of the target ship and the standard navigation parameters is less than or equal to a preset difference.

[0182] The determination module 305 is also used to determine that the target ship's navigation parameters are abnormal if the difference between the target ship's navigation parameters and the standard navigation parameters is greater than a preset difference.

[0183] The generation module 308 is used to generate a behavior anomaly prompt for the target vessel. The behavior anomaly prompt is used to indicate that the target vessel has a problem with abnormal navigation behavior.

[0184] As can be seen, this optional implementation can also calculate the difference between the target vessel's navigation parameters and the standard navigation parameters in the target vessel's navigation waters. When the difference is determined to be less than or equal to a preset difference, the target vessel's navigation parameters are determined to be normal. When the difference is determined to be greater than the preset difference, the target vessel's navigation parameters are determined to be abnormal. This can improve the accuracy of determining whether the target vessel's navigation parameters are abnormal, and accurately generate corresponding behavioral abnormality prompts for the target vessel when the navigation parameters are abnormal. It can also help improve the efficiency of obtaining and processing abnormal behavior of the target vessel.

[0185] Example 4

[0186] Please see Figure 5 , Figure 5 This is a schematic diagram of the structure of another linkage tracking device for checkpoint monitoring points disclosed in an embodiment of the present invention. For example... Figure 5 As shown, the linkage tracking device at this checkpoint monitoring point may include:

[0187] Memory 401 storing executable program code;

[0188] Processor 402 coupled to memory 401;

[0189] The processor 402 calls the executable program code stored in the memory 401 to execute the steps in the linkage tracking method of checkpoint monitoring points described in Embodiment 1 or Embodiment 2 of the present invention.

[0190] Example 5

[0191] 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 linkage tracking method for checkpoint monitoring points described in Embodiment 1 or Embodiment 2 of this invention.

[0192] Example 6

[0193] 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 linkage tracking method for checkpoint monitoring points described in Embodiment 1 or Embodiment 2.

[0194] 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.

[0195] 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.

[0196] Finally, it should be noted that the linkage tracking method and device for checkpoint monitoring points 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; and these 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. A linkage tracking method of a card access monitoring point, characterized by, The method comprises: when any target ship to be tracked passes through any checkpoint monitoring point, collecting a set of ship position parameters of the target ship at the checkpoint monitoring point, the set of ship position parameters comprising a plurality of ship position parameters of the target ship in a channel at the corresponding checkpoint monitoring point; for each ship position parameter, screening a target monitoring device matching the ship position parameter from all ship monitoring devices of the checkpoint monitoring point corresponding to the ship position parameter; based on all target monitoring devices within all checkpoint monitoring points passed through by the target ship, performing a linkage tracking operation on the target ship to obtain a linkage tracking result of the target ship; wherein, for each ship position parameter, screening a target monitoring device matching the ship position parameter from all ship monitoring devices of the checkpoint monitoring point corresponding to the ship position parameter comprises: for each ship position parameter, obtaining a device position parameter of each ship monitoring device in all ship monitoring devices of the checkpoint monitoring point corresponding to the ship position parameter; for each ship position parameter, calculating a monitoring distance of each ship monitoring device to the target ship according to the ship position parameter and the device position parameter of each ship monitoring device at the corresponding checkpoint monitoring point; for each ship position parameter, screening at least one ship monitoring device having a monitoring distance to the target ship less than or equal to a preset distance from all ship monitoring devices at the corresponding checkpoint monitoring point as the target monitoring device matching the ship position parameter; and, after the collection of the set of ship position parameters of the target ship at the checkpoint monitoring point and before the screening of the target monitoring device matching each ship position parameter from all ship monitoring devices of the checkpoint monitoring point corresponding to the ship position parameter, the method further comprises: for each ship position parameter, obtaining monitoring data of each ship monitoring device in all ship monitoring devices of the checkpoint monitoring point corresponding to the ship position parameter for the target ship to obtain ship monitoring data corresponding to each ship monitoring device; determining a monitoring completeness of each ship monitoring device for the hull of the target ship according to the ship monitoring data corresponding to each ship monitoring device to obtain a hull monitoring completeness corresponding to each ship monitoring device; screening all ship monitoring devices satisfying a preset device screening condition from all ship monitoring devices as alternative monitoring devices corresponding to the ship position parameter according to the hull monitoring completenesses corresponding to all ship monitoring devices, and triggering the performance of the operation of screening the target monitoring device matching each ship position parameter from all ship monitoring devices of the checkpoint monitoring point corresponding to the ship position parameter, wherein, in the operation, the ship monitoring device is the alternative monitoring device. The ship monitoring data of each target monitoring device corresponds to a monitoring time. The ship monitoring data of each target monitoring device corresponds to a monitoring time.

2. The linkage tracking method of the bayonet monitoring point according to claim 1, characterized in that, The ship monitoring data of each target monitoring device corresponds to a monitoring time. The ship monitoring data of each target monitoring device corresponds to a monitoring time. The ship monitoring data of each target monitoring device corresponds to a monitoring time. The ship monitoring data of each target monitoring device corresponds to a monitoring time. The ship monitoring data of each target monitoring device corresponds to a monitoring time. 3.The linkage tracking method of the bayonet monitoring point according to claim 1, characterized in that, The ship monitoring data of each target monitoring device corresponds to a monitoring time. The ship monitoring data of each target monitoring device corresponds to a monitoring time.

4. The linkage tracking method of a card hole monitoring point according to claim 2 or 3, characterized in that, The ship monitoring data of each target monitoring device corresponds to a monitoring time. The ship monitoring data of each target monitoring device corresponds to a monitoring time. The ship monitoring data of each target monitoring device corresponds to a monitoring time. The ship monitoring data of each target monitoring device corresponds to a monitoring time. The ship monitoring data of each target monitoring device corresponds to a monitoring time. The ship monitoring data of each target monitoring device corresponds to a monitoring time. The ship monitoring data of each target monitoring device corresponds to a monitoring time. The ship monitoring data of each target monitoring device corresponds to a monitoring time. The ship monitoring data of each target monitoring device corresponds to a monitoring time. 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The ship monitoring data of each target monitoring device corresponds to a monitoring time. The ship monitoring data of each target monitoring device corresponds to a monitoring time. The ship monitoring data of each target monitoring device corresponds to a monitoring time. The ship monitoring data of each target monitoring device corresponds to a monitoring time. The ship monitoring data of each target monitoring device corresponds to a monitoring time. The ship monitoring data of each target monitoring device corresponds to a monitoring time. The ship monitoring data of each target monitoring device corresponds to a monitoring time. The ship monitoring data of each target monitoring device corresponds to a monitoring time. The ship monitoring data of each target monitoring For each target monitoring device of each said card mouth monitoring point, the ship image data of the target ship contained in the ship monitoring data corresponding to the target monitoring device is analyzed to obtain the ship parameters of the target monitoring device for the target ship, the ship parameters including one or more combinations of the ship identification of the target ship, the ship part of the target ship, the ship orientation of the target ship, and the altitude of the target ship, wherein when the ship parameters include the ship part of the target ship, the ship parameters further include the area of the ship part and / or the volume of the ship part; According to the ship parameters of the target ship by all said target monitoring devices and the monitoring time corresponding to all said ship monitoring data, the ship navigation parameters of the target ship are determined, including one or more combinations of the navigation speed of the target ship, the navigation direction of the target ship, and the navigation route of the target ship. The linkage tracking result of the target ship is used to represent the results of the ship navigation parameters of the target ship at different monitoring times and / or different ship position parameters.

5. The bayonet monitoring point linkage tracking method according to claim 4, characterized in that, After performing linkage tracking on all said target monitoring devices of all said card mouth monitoring points for the target ship to obtain the linkage tracking result of the target ship, the method further comprises: Obtaining the standard navigation parameters in the navigation water area where the target ship is located; Calculating the difference between the ship navigation parameters of the target ship and the standard navigation parameters; Judging whether the difference between the ship navigation parameters of the target ship and the standard navigation parameters is less than or equal to the preset difference; If it is judged that the difference between the ship navigation parameters of the target ship and the standard navigation parameters is less than or equal to the preset difference, it is determined that the ship navigation parameters of the target ship are normal; If it is judged that the difference between the ship navigation parameters of the target ship and the standard navigation parameters is greater than the preset difference, it is determined that the ship navigation parameters of the target ship are abnormal, and an abnormal behavior prompt corresponding to the target ship is generated, which is used to prompt that the target ship has the problem of abnormal navigation behavior.

6. A linkage tracking device for a card access monitoring point, characterized by, The device is used to perform the linkage tracking method of the card mouth monitoring point as claimed in any one of claims 1-5; and the device comprises: The acquisition module is used to acquire the ship position parameter set of the target ship at the card mouth monitoring point when any target ship to be tracked passes through any card mouth monitoring point, the ship position parameter set including multiple ship position parameters of the target ship in the channel at the corresponding card mouth monitoring point; The screening module is used to screen out the target monitoring device matching the ship position parameter from all ship monitoring devices of the card mouth monitoring point corresponding to each said ship position parameter; The linkage module is used to perform linkage tracking operation on the target ship based on all said target monitoring devices in all said card mouth monitoring points passed through by the target ship to obtain the linkage tracking result of the target ship.

7. A linkage tracking device for a card access monitoring point, characterized by, The device comprises: a memory storing executable program codes; a processor coupled with the memory; the processor invokes the executable program codes stored in the memory to execute the linkage tracking method of the monitoring point of the card slot as claimed in any one of claims 1-5.

8. A computer storage medium, characterized in that, The computer storage medium stores computer instructions, which are invoked to execute the linkage tracking method of the monitoring point of the card slot as claimed in any one of claims 1-5.

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