Intelligent supervision method for ship berthing and leaving in VTS system

Abstract

The application discloses a kind of intelligent supervision methods of ship berthing and unberthing in VTS system, including step 1, import berth data;Step 2, draw berth area;Step 3, determine constraint factor;Step 4, space constraint condition judgment;Step 5, ship berthing and unberthing situation type confirmation: when the judgment result is target ship satisfies space constraint condition, using berthing and unberthing situation constraint factor, confirm the ship berthing and unberthing situation type of target ship;Ship berthing and unberthing situation includes ship pre-berthing situation, berthing state, pre-unberthing situation and unberthing state.The application realizes the intelligent early warning determination and warning of ship berthing and unberthing process in VTS system, and in the realization process, combine ship real-time dynamic declaration data and ship navigation dynamic information, and based on this, calculate multiple berthing and unberthing situation constraint factors, realize multiple early warning determination and display, so as to relieve traffic control shift pressure, achieve better VTS intelligent supervision effect.

Description

Technical Field

[0001] This invention relates to the field of vessel traffic management, and in particular to an intelligent monitoring method for vessel berthing and departure in a VTS system. Background Technology

[0002] The VTS (Vessel Traffic Management System) aims to ensure navigational safety, improve vessel traffic utilization, and reduce traffic accidents. With the development of the shipping industry, traffic flow is becoming increasingly dense, and the number of berths at terminals is also growing rapidly. Vessels are susceptible to environmental uncertainties such as wind, waves, and currents during berthing and unberthing. Therefore, port safety supervision is becoming increasingly stringent, characterized by numerous points of contact, wide coverage, and large volume of operations.

[0003] Currently, the safety supervision of port vessels in the VTS management system mainly relies on the human intervention of duty personnel, who need to monitor the vessels around the clock. This results in significant safety risks, strong reliance on manual labor, and low supervision efficiency.

[0004] In recent years, with the development of ship automation and intelligence, intelligent ships have become a research hotspot in the field of shipbuilding. Therefore, there is an urgent need to study an automatic, efficient, and accurate intelligent monitoring method for ship berthing and departure. Summary of the Invention

[0005] The technical problem to be solved by this invention is to address the shortcomings of the prior art by providing an intelligent monitoring method for vessel berthing and departure in a VTS system. This intelligent monitoring method for vessel berthing and departure in a VTS system can realize intelligent early warning judgment and alerts during the berthing and departure process. In the process of implementation, it combines real-time dynamic declaration data of the vessel and dynamic information of the vessel's navigation, and calculates various berthing and departure status constraint factors based on these data to realize multiple early warning judgments and displays, thereby alleviating the pressure on traffic control duty and achieving a better intelligent monitoring effect of VTS.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0007] A smart monitoring method for vessel berthing and departure in a VTS system includes the following steps.

[0008] Step 1: Import berth data: Obtain all berth data within the sea area to be intelligently monitored from the maritime authorities and import it into the VTS system.

[0009] Step 2: Draw the berth area: The VTS system draws the berth area based on the berth data imported in Step 1, and sets the berth attribute information for the berth area; the berth attribute information includes wharf attributes and port area attributes.

[0010] Step 3: Determine constraint factors: Constraint factors include spatial constraint factors and berthing / departure situation constraint factors;

[0011] Step 4: Determine spatial constraints: Using the spatial constraint factors determined in Step 3, determine whether the target ship meets the spatial constraints.

[0012] Step 5: Confirmation of vessel berthing and departure status type: When the judgment result of step 4 indicates that the target vessel meets the spatial constraint conditions, the berthing and departure status constraint factor determined in step 3 is used to confirm the vessel berthing and departure status type of the target vessel; the vessel berthing and departure status includes the vessel pre-berthing status, berthing state, pre-departure status, and departure state.

[0013] In step 3, the spatial constraint factor includes the average distance from the target vessel to the berth area. The spatial state P of the target vessel located inside or outside the berth area in or P out .

[0014] Step 4, the method for determining whether the target vessel meets the spatial constraints, specifically includes the following steps:

[0015] Step 4-1: Determine the spatial state of the target vessel: Using the ray-drawing method from the target vessel, determine whether the target vessel is within the berth area drawn in Step 2. If it is within the berth area, record the spatial state of the target vessel as P. in Otherwise, denoted as P out .

[0016] Step 4-2, Spatial Constraint First Judgment: When the spatial state of the target ship is P in When the spatial state of the target ship is P, it satisfies the spatial constraints. out If so, proceed to step 4-3.

[0017] Step 4-3, Secondary judgment of spatial constraints, specifically includes the following steps:

[0018] Step 4-3A, Calculation Suppose that the berth area in step 2 has n corner points, and these corner points are P1, P2, ..., Pn. i ... P n ;but The calculation formula is:

[0019]

[0020] In the formula, D i For the target vessel to the corner point P i The distance.

[0021] Step 4-3B, Secondary judgment of spatial constraints: The results calculated in step 4-3A are used to determine the spatial constraints. With the set maximum distance threshold Dmax Compare and judge; when If the target vessel meets the spatial constraints, it is determined that the target vessel does not meet the spatial constraints.

[0022] The constraints on berthing and departure status include navigation status, speed, distance status, and status duration; in step 5, the confirmation of the ship's berthing and departure status type includes confirmation of the ship's pre-berthing status, confirmation of berthing status, confirmation of pre-departure status, and confirmation of departure status.

[0023] Step 5, the method for confirming the ship's pre-berthing posture, includes the following steps:

[0024] Step 5-1A, Pre-berthing Status Arbitration: Set N data collection time periods. Within each data collection time period T0, perform a pre-berthing status arbitration once. The specific arbitration method is as follows:

[0025] For a given space that satisfies the spatial constraints and has a target space state of P out Target vessel A, if V t ≥V pre And V t-1 ≥V pre If the target vessel A is in a pre-berthing state, then it is considered to be gradually berthing; at this time, the cumulative number of pre-berthing states S is incremented by 1; otherwise, S = 0. and These represent the average distances from target vessel A to the berth area in the previous t-1 data collection period and the current t data collection period, respectively; V t-1 and V t These represent the speeds of target vessel A in the previous data collection period t-1 and the current data collection period t, respectively; V pre The pre-berthing speed threshold is set.

[0026] Step 5-1B, Confirmation of the duration of the pre-berthing posture: When the cumulative number of pre-berthing postures S≥S pre At that time, it is considered that target vessel A initially has a pre-berthing posture; among which, T is a positive integer; pre The threshold for the duration of the pre-berthing posture.

[0027] Step 5-1C: Verification and Confirmation of Vessel Dynamic Port Report Data: The VTS system acquires the port entry report data of target vessel A. When the destination port and pre-berth name in the port entry report data of target vessel A are the same as the berth attribute information set at the corner point near the berth area, it is determined that target vessel A is in a pre-berth posture, and its navigation status is set to pre-berth posture. The method for confirming the vessel's berth posture in Step 5 includes the following steps:

[0028] Step 5-2A, Berthing Status Arbitration: Set N data collection time periods. Within each data collection time period T0, perform a pre-berthing status arbitration. The specific arbitration method is as follows:

[0029] For a given space that satisfies the spatial constraints and has a target space state of P in Target vessels B, V t ′≥V berth And V t ′ -1 ≥V berth When the target vessel B is in a gradually approaching position, the cumulative number of times it approaches the berth, S′, is incremented by 1; otherwise, S′ = 0. Where V t ′ -1 and V t ′ represents the speed of target ship B in the previous t-1 data collection period and the current t data collection period, respectively; V berth The set berthing speed threshold.

[0030] Step 5-2B, Confirmation of berthing status duration: When the cumulative number of berthing statuses S′≥S berth When the target vessel B is in a certain state, its navigation status is determined to be berthed, and its berth position is recorded as the anchorage position; where, T is a positive integer; berth The threshold for the duration of the berthing position.

[0031] Step 5, the method for confirming the ship's pre-departure status, includes the following steps:

[0032] Step 5-3A, Pre-departure Status Arbitration: Set N data collection time periods. Within each data collection time period T0, perform a pre-departure status arbitration once. The specific arbitration method is as follows:

[0033] For a target space state P that satisfies spatial constraints out And the target vessel C is in a berthed state, when D>R, and V t ″≥V leave If the target vessel C is in a state of gradually leaving the anchorage, then the cumulative count of pre-departure states S″ is incremented by 1; otherwise, S″ = 0. Where D is the distance from the target vessel C to the anchorage position during the current data collection period t; R is the set anchorage radius; V t "V represents the speed of target vessel C during the current data collection period t; leave The set pre-departure speed threshold.

[0034] Step 5-3B, Confirmation of the duration of the pre-departure situation: When the cumulative number of pre-departure situations S″ ≥ S leave When this happens, it is determined that the target vessel C is ready to depart; at this point, the navigation status of the target vessel C is set to the pre-departure status; where, T is a positive integer; leave The threshold for the duration of the pre-departure status.

[0035] In step 5, the method for confirming the ship's departure status is as follows: within each data collection period, for the target ship D confirmed to be in a pre-departure status, when... And its speed is greater than the pre-departure speed threshold V. leave If so, the target vessel D is considered to be in a state of being unberthed.

[0036] Step 6, Warning: For each type of vessel berthing and departure status confirmed in Step 5, a warning will be issued. The specific warning methods include high-flash warning for berthing, high-flash warning for departure, warning for vessel not reporting entry into port, warning for mismatch between vessel's intended berthing position and vessel not reporting departure, and warning for vessel not reporting departure as required.

[0037] Step 7: Update ship navigation dynamic data: Repeat steps 4 to 7 to achieve intelligent monitoring of ship berthing and departure.

[0038] The present invention has the following beneficial effects:

[0039] By combining real-time dynamic declaration data of vessels and dynamic information on vessel navigation, and taking into account various spatial and situational constraints such as distance, speed, navigation status, distance situation, and situation duration, as well as factors such as berth attributes and actual vessel business scenarios, the system calculates various berthing and departure situations, enabling multiple early warning judgments and displays. This alleviates the pressure on traffic management duty personnel, effectively reduces the workload and duty pressure of duty officers, achieves better intelligent supervision of VTS, and realizes the transformation from passive manual supervision to intelligent assisted supervision. Attached Figure Description

[0040] Figure 1 The diagram shows a flowchart of an intelligent monitoring method for berthing and unberthing of ships in a VTS system according to the present invention.

[0041] Figure 2 It displays the data on the ship's entry into port declaration.

[0042] Figure 3 It displays the ship's departure declaration data.

[0043] Figure 4 This diagram illustrates the classification of the berthing and unberthing status of the target vessel.

[0044] Figure 5 This diagram shows the target vessel's berthing position and anchorage range within the berth.

[0045] Figure 6This diagram shows the target vessel's berthing position and anchorage range outside the berth while it is berthed.

[0046] Figure 7 This diagram illustrates the conditions under which a ship's pre-berthing position mismatch alarm is generated while the target ship is berthed. Detailed Implementation

[0047] The present invention will now be described in further detail with reference to the accompanying drawings and specific preferred embodiments.

[0048] In the description of this invention, it should be understood that the terms "left side," "right side," "upper part," "lower part," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. "First," "second," etc., do not indicate the importance of the components, and therefore should not be construed as a limitation of this invention. The specific dimensions used in this embodiment are only for illustrating the technical solution and do not limit the scope of protection of this invention.

[0049] like Figure 1 As shown, an intelligent monitoring method for berthing and departure of ships in a VTS system includes the following steps.

[0050] Step 1: Import berth data: Obtain all berth data within the sea area to be intelligently monitored from maritime authorities (such as the Maritime Safety Administration) and import it into the VTS system.

[0051] The aforementioned berth data preferably includes information such as berth name, berth code, capacity tonnage, and berthing length.

[0052] Step 2: Draw the berth area: The VTS system (preferably the traffic management subsystem client of the VTS system) draws the berth area based on the berth data imported in Step 1.

[0053] The aforementioned berth area is preferably as follows: Figures 4 to 6 As shown, the berth area is an n-sided polygon, and n ≥ 4. Therefore, the berth area has n corner points, namely corner points P1, P2, ..., P3. i ... P n Where 1≤i≤n.

[0054] Next, berth attribute information is set for the berth area; berth attribute information includes wharf attributes and port area attributes, etc. Among them, wharf attributes indicate that the berth area belongs to a certain wharf, and port area attributes indicate that the berth area belongs to a certain port area, etc.

[0055] In this invention, berth attributes are set for each berth area, such as... Figure 7As shown, different berth areas can belong to the same wharf, and there can be one or more berth areas under the same wharf.

[0056] Step 3: Determine the constraint factors: The constraint factors include spatial constraint factors and berthing and unberthing situation constraint factors.

[0057] In step 3, the spatial constraint factor includes the average distance from the target vessel to the berth area. The spatial state P of the target vessel located inside or outside the berth area in or P out It can also include the anchoring radius R set when the ship is berthed.

[0058] The constraints on berthing and unberthing situations include navigation status, speed, distance situation, and situation duration.

[0059] Step 4: Determine spatial constraints: Using the spatial constraint factors determined in Step 3, determine whether the target ship meets the spatial constraints. This includes the following steps.

[0060] Step 4-1: Determine the spatial state of the target vessel: Using the ray-drawing method from the target vessel, determine whether the target vessel is within the berth area drawn in Step 2. If it is within the berth area, record the spatial state of the target vessel as P. in Otherwise, denoted as P out .

[0061] The preferred method for using the ray-drawing technique described above is as follows: Draw a ray from the target vessel and count the number of intersections between this ray and all edges of the outer contour line of the berth area; if there is an odd number of intersections, it indicates that the target vessel is inside the berth area, and the spatial state is denoted as P. in If there is an even number of intersections, it indicates that the target vessel is outside the berth area, and its spatial state is denoted as P. out .

[0062] Step 4-2, Spatial Constraint First Judgment: When the spatial state of the target ship is P in When the spatial state of the target ship is P, it satisfies the spatial constraints. out If so, proceed to step 4-3.

[0063] Step 4-3, Secondary judgment of spatial constraints: The target space state is P out At that time, constructing such Figure 4 The spatial constraints shown require further determination of the average distance from the target to the berth area in step 52. Specifically, the steps include the following:

[0064] Step 4-3A, Calculation The specific calculation formula is as follows:

[0065]

[0066] In the formula, D i For the target vessel to the corner point P i The distance.

[0067] Step 4-3B, Secondary judgment of spatial constraints: The results calculated in step 4-3A are used to determine the spatial constraints. With the set maximum distance threshold D max Compare and judge; when When the target vessel meets the spatial constraints, it is determined that it does so; otherwise, that is... Greater than D max If the target vessel is considered too far from the berth area, it is determined that the target vessel does not meet the spatial constraints and will not participate in subsequent calculations and analyses. In this embodiment, D max The preferred value is 1 nautical mile.

[0068] Step 5: Confirmation of vessel berthing and departure status type: When the judgment result of step 4 is that the target vessel meets the spatial constraint conditions, the berthing and departure status constraint factor determined in step 3 is used to confirm the vessel berthing and departure status type of the target vessel.

[0069] The berthing and departure status of a vessel includes the pre-berthing status, berthing state, pre-departure status, and departure state. The pre-berthing status is the trend of the target vessel gradually approaching the pre-berthing berth; the berthing state is the state of the target vessel after entering the berth area and finally berthing; the pre-departure status is the trend of the target vessel leaving the berth area and gradually moving away from the berth; and the departure state is the state of the target vessel after it has reached the pre-departure status.

[0070] Therefore, the preferred method for determining the above-mentioned vessel berthing and unberthing status is:

[0071] Step 5-1: Confirm the pre-berthing status of the vessel, preferably including the following steps.

[0072] Step 5-1A, Pre-berthing Status Arbitration: Set N data collection time periods. Within each data collection time period T0, perform a pre-berthing status arbitration once. The specific arbitration method is as follows:

[0073] For a given space that satisfies the spatial constraints and has a target space state of P out Target vessel A, if V t ≥V pre And V t-1 ≥V pre If the target vessel A is in a pre-berthing state, then it is considered to be gradually berthing; at this time, the cumulative number of pre-berthing states S is incremented by 1; otherwise, S = 0. and These represent the average distances from target vessel A to the berth area in the previous t-1 data collection period and the current t data collection period, respectively; V t-1 and V t These represent the speeds of target vessel A in the previous data collection period t-1 and the current data collection period t, respectively; V pre In this embodiment, the preferred pre-berthing speed threshold is 2 knots.

[0074] Step 5-1B, Confirmation of the duration of the pre-berthing posture: When the cumulative number of pre-berthing postures S≥S pre At that time, it is considered that target vessel A initially has a pre-berthing posture; among which, T is a positive integer; pre This is a threshold value set for the duration of the pre-berthing posture. In this embodiment, the duration of the pre-berthing posture is determined by counting the cumulative number of pre-berthing postures, which is simple and convenient.

[0075] Step 5-1C: Verification and confirmation of vessel dynamic port reporting data: The VTS system obtains the port entry report data of the target vessel A; when the destination port and the name of the pre-berth in the port entry report data of the target vessel A are the same as the berth attribute information set at the corner point near the berth area, it is determined that the target vessel A is in a pre-berth state and its navigation status is set to the pre-berth state.

[0076] In this embodiment, the cumulative number of times the target vessel meets the pre-berthing posture reaches the threshold value S. pre Then, based on the accessed ship AIS data, such as MMSI, English name, IMO, call sign, nationality, etc., the ship dynamic declaration report data is obtained in real time.

[0077] In this invention, the vessel dynamic report data is provided by the Maritime Safety Administration's secondary database, which includes real-time vessel dynamic declaration data submitted by shipping companies, including port entry and exit reports submitted by domestic trade vessels, port inspection data submitted by foreign trade vessels, and dangerous goods declaration data. This invention primarily analyzes port entry and exit reports submitted by domestic trade vessels as an example; it does not describe port inspection declarations or dangerous goods declarations for foreign trade vessels, and this is not intended to limit the scope of the invention.

[0078] The vessel dynamic report data mentioned above is consistent with the berth data imported in step 1. The vessel dynamic port entry and exit report data submitted by the shipping company includes the applied berth information and basic information about this berthing and departure.

[0079] like Figure 2 Figure 3As shown, the vessel arrival report includes vessel data such as the name of the berth to be berth declared by the vessel, the berth code, the arrival report time, the port of destination, the previous port, the type of cargo carried by the vessel, the reference deadweight tonnage, and the gross tonnage; the vessel departure report includes vessel data such as the departure time declared by the vessel before departure, the port of origin, the next port, and the name of the berth to be departed from.

[0080] Once the target vessel obtains the vessel arrival report data, if the destination port in the arrival report data is the local port area near the berth, and the name of the berth to be berth in the arrival report data is the same as the actual name of the berth that is gradually approaching, then it can be fully confirmed that the target vessel is approaching the berth to be berth and is in a pre-berthing state.

[0081] 5-2. Confirming the berthing status, preferably including the following steps.

[0082] Step 5-2A, Berthing Status Arbitration: Set N data collection time periods. Within each data collection time period T0, perform a pre-berthing status arbitration. The specific arbitration method is as follows:

[0083] For a given space that satisfies the spatial constraints and has a target space state of P in Target vessels B, V t ′≥V berth And V t ′ -1 ≥V berth When the target vessel B is in a gradually approaching position, the cumulative number of times it approaches the berth, S′, is incremented by 1; otherwise, S′ = 0. Where V t ′ -1 and V t ′ represents the speed of target ship B in the previous t-1 data collection period and the current t data collection period, respectively; V berth In this embodiment, the preferred berthing speed threshold is 0.1 knots.

[0084] Step 5-2B, Confirmation of berthing status duration: When the cumulative number of berthing statuses S′≥S berth When the target vessel B is in a certain state, its navigation status is determined to be berthed, and its berth position is recorded as the anchorage position; where, T is a positive integer; berth The threshold for the duration of the berthing position.

[0085] 5-3. Confirmation of pre-departure status, preferably including the following steps.

[0086] Step 5-3A, Pre-departure Status Arbitration: Set N data collection time periods. Within each data collection time period T0, perform a pre-departure status arbitration once. The specific arbitration method is as follows:

[0087] For a target space state P that satisfies spatial constraintsout And the target vessel C is in a berthed state, when D>R, and V t ″≥V leave If the target vessel C is in a state of gradually leaving the anchorage, then the cumulative count of pre-departure states S″ is incremented by 1; otherwise, S″ = 0. Where D is the distance from the target vessel C to the anchorage position during the current data collection period t; R is the set anchorage radius; V t "V represents the speed of target vessel C during the current data collection period t; leave In this embodiment, the pre-departure speed threshold is preferably 0.2 knots.

[0088] Step 5-3B, Confirmation of the duration of the pre-departure situation: When the cumulative number of pre-departure situations S″ ≥ S leave When this happens, it is determined that the target vessel C is ready to depart; at this point, the navigation status of the target vessel C is set to the pre-departure status; where, T is a positive integer; leave The threshold for the duration of the pre-departure status.

[0089] In this invention, after the ship determines its berthing status, an anchoring range is defined with its berthing position as the center and R as the anchoring radius, such as... Figure 5 and Figure 6 As shown, the positional relationship between the berthing position and anchorage range and the berth area can be divided into two types: the anchorage position is entirely within the berth area, or the vessel is located at the edge of the berth area, with part of the anchorage position located outside the berth area.

[0090] Taking into account the positional relationship between the anchorage location and the berth area, and considering the actual operational scenarios of ships, such as the possibility of drift due to environmental factors like water flow and wind speed while anchored, this invention sets the anchorage radius R to 200 meters as the permissible distance threshold for ship drift. Only when the distance D between the ship and the anchorage location is greater than R can the target ship be considered to have the necessary conditions for pre-departure posture, thereby improving the accuracy and effectiveness of pre-departure posture determination.

[0091] 5-4. Departure Status Confirmation, preferably: Within each data collection period, for the target vessel D confirmed as being in a pre-departure state, when And its speed is greater than the pre-departure speed threshold V. leave If so, the target vessel D is considered to be in a state of being unberthed.

[0092] Step 6, Warning and Display: For each type of vessel berthing and departure status confirmed in Step 5, warnings will be issued separately. Specific warning methods include high-flash warning for berthing, high-flash warning for departure, warning for vessel not reporting entry into port, warning for mismatch between vessel's intended berthing position and vessel not reporting departure, and warning for vessel not reporting departure as required.

[0093] The above-mentioned early warning method is preferably:

[0094] Step 6A, High-flash berthing warning: A high-flash berthing warning is generated after Step 5 confirms that the target vessel is in a pre-berthing state; the high-flash berthing warning is automatically deactivated after the target vessel enters the pre-berthing position and Step 5 confirms that the target is in a berthing state.

[0095] Step 6B, Departure High-Flash Warning: After confirming in Step 5 that the target vessel is in the departure state, a berthing high-flash warning is generated.

[0096] When the distance between the vessel and the berth area exceeds the maximum distance threshold, i.e. Greater than D max The high-flash departure alarm will be automatically deactivated when the ship's speed decreases to below the pre-departure speed threshold V. leave When the distance is no longer far from the berth area, the high-flash alarm for leaving the berth will also be automatically deactivated.

[0097] Step 6C, Vessel Arrival Without Report Alarm: After confirming the target vessel is berthed in Step 5, record the target berthing time. Considering the actual business scenarios after vessel berthing, such as some vessels not submitting vessel arrival declarations in advance but only after berthing, a berthing time threshold T is set after the target vessel has been berthed for a certain period of time. port (T is defined in this article) port Every 2 hours, the vessel's dynamic port declaration data is verified again in real time (domestic trade vessels obtain the vessel dynamic port declaration data, and foreign trade vessels obtain the vessel's entry and exit port inspection data). If the vessel dynamic declaration data is still not obtained at this time, it is considered that the vessel has not made a dynamic declaration, and a vessel entry into port failure alarm is generated.

[0098] Step 6D, Vessel berth mismatch alarm: In step 6C, the vessel dynamic port declaration data is verified and confirmed again in real time. If the vessel entry declaration data is obtained at this time, the berth in the vessel declaration data is compared with the current actual berth. If the berths are inconsistent, and the terminal to which the berth belongs is also different from the terminal to which the current actual berth belongs, a vessel berth mismatch alarm is generated.

[0099] In this invention, the pre-berth mismatch alarm takes into account the actual business scenarios of ship berthing. For example, some ships submit port entry reports, but when they actually berth, it is found that the maximum capacity of the berth is smaller than the deadweight tonnage of the ship, and the ship cannot berth. However, other berths next to it have a larger capacity and meet the berthing conditions. Furthermore, the pre-berth and the adjacent reliable berth belong to the same wharf. In this case, the ship is allowed to berth at the adjacent berth, and no pre-berth mismatch alarm is generated in this situation.

[0100] Step 6E, Vessel Departure Without Report Alarm: After confirming in Step 5 that the target vessel is in the departure state, the vessel dynamic declaration data is retrieved again in real time. If the vessel departure declaration data is not retrieved, a vessel departure without report alarm is generated.

[0101] Step 6F, warning of vessel failure to complete departure report as required: In step 6E, the vessel dynamic port reporting data is queried again in real time. If the vessel departure declaration data is obtained at this time, the pre-departure berth in the vessel declaration data is compared with the actual departure berth to see if they belong to the same terminal. If they do not belong to the same terminal, and the port of origin in the vessel declaration data is not the local port, a warning of vessel failure to complete departure report as required (port of origin is not the local port) is generated.

[0102] Step 6G demonstrates that after the warning information is generated under different heading conditions, it is sent to the traffic management subsystem to provide alarm prompts through flashing special symbols and sound. After receiving the alarm prompts, the VTS duty personnel will focus on monitoring and providing navigation guidance for berthed and departing vessels.

[0103] Step 7: Update ship navigation dynamic data: Repeat steps 4 to 7 to achieve intelligent monitoring of ship berthing and departure.

[0104] In summary, the key point of this invention lies in combining real-time dynamic declaration data of ships with dynamic information on ship navigation. Based on this, it comprehensively considers various spatial and situational constraint factors such as distance, speed, navigation status, distance situation, and situation duration, as well as factors such as berth attributes and actual ship business scenarios. It calculates various berthing and departure situations, realizes multiple early warning judgments and displays, thereby alleviating the pressure on traffic management duty, effectively reducing the workload and duty pressure of duty personnel, achieving a better intelligent supervision effect of VTS, and realizing the transformation from passive manual supervision to intelligent assisted supervision.

[0105] The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the specific details of the above embodiments. Within the scope of the technical concept of the present invention, various equivalent transformations can be made to the technical solutions of the present invention, and these equivalent transformations all fall within the protection scope of the present invention.

Claims

1. A smart monitoring method for vessel berthing and departure in a VTS system, characterized in that: Includes the following steps: Step 1: Import berth data: Obtain all berth data within the sea area to be intelligently monitored from the maritime authorities and import it into the VTS system; Step 2: Draw the berth area: The VTS system draws the berth area based on the berth data imported in Step 1, and sets the berth attribute information for the berth area; the berth attribute information includes wharf attributes and port area attributes; Step 3: Determine constraint factors: Constraint factors include spatial constraint factors and berthing / departure situation constraint factors; Step 4: Determine spatial constraints: Using the spatial constraint factors determined in Step 3, determine whether the target ship meets the spatial constraints. Step 5: Confirmation of Vessel Berthing / Departure Status Type: When the judgment result of Step 4 indicates that the target vessel meets the spatial constraints, the berthing / departure status constraint factor determined in Step 3 is used to confirm the vessel's berthing / departure status type. Vessel berthing / departure status includes pre-berthing status, berthing state, pre-departure status, and departure state. The method for confirming the pre-berthing status includes the following steps: Step 5-1A, Pre-berthing Status Arbitration: Set N data collection time periods. Within each data collection time period T0, perform a pre-berthing status arbitration once. The specific arbitration method is as follows: For conditions that satisfy spatial constraints and the target space state is Target vessel A, if and If the target vessel A is in a pre-berthing state, then it is considered to be gradually berthing; at this time, the cumulative number of pre-berthing states S is incremented by 1; otherwise, S = 0. These represent the average distances from target vessel A to the berth area in the previous t-1 data collection period and the current t data collection period, respectively. These represent the speeds of target vessel A in the previous t-1 data collection period and the current t data collection period, respectively. The pre-berthing speed threshold is set; Step 5-1B, Confirmation of Pre-berthing Status Duration: When the cumulative number of pre-berthing statuses... At that time, it is considered that target vessel A initially has a pre-berthing posture; among which, , where is a positive integer; The threshold for the duration of the pre-berthing posture; Step 5-1C: Verification and confirmation of vessel dynamic port reporting data: The VTS system obtains the port entry report data of the target vessel A; when the destination port and the name of the pre-berth in the port entry report data of the target vessel A are the same as the berth attribute information set at the corner point near the berth area, it is determined that the target vessel A is in a pre-berth state and its navigation status is set to the pre-berth state.

2. The intelligent monitoring method for vessel berthing and departure in the VTS system according to claim 1, characterized in that: In step 3, the spatial constraint factor includes the average distance from the target vessel to the berth area. The spatial state of the target vessel inside or outside the berth area. or .

3. The intelligent monitoring method for ship berthing and departure in the VTS system according to claim 2, characterized in that: Step 4, the method for determining whether the target vessel meets the spatial constraints, specifically includes the following steps: Step 4-1: Determine the spatial status of the target vessel: Using the ray-drawing method from the target vessel, determine whether the target vessel is within the berth area drawn in Step 2. If it is within the berth area, record the spatial status of the target vessel as follows. Otherwise, record as ; Step 4-2, Spatial Constraint First Judgment: When the spatial state of the target ship is When this condition is met, it satisfies the spatial constraints. When the spatial state of the target ship is If so, proceed to step 4-3; Step 4-3, Secondary judgment of spatial constraints, specifically includes the following steps: Step 4-3A, Calculation Suppose that the berth area in step 2 has n corner points, and that each corner point is a corner point. ;but The calculation formula is: ； In the formula, For the target vessel to the corner point The distance; Step 4-3B, Secondary judgment of spatial constraints: The results calculated in step 4-3A are used to determine the spatial constraints. and the set maximum distance threshold Compare and judge; when If the target vessel meets the spatial constraints, it is determined that the target vessel does not meet the spatial constraints.

4. The intelligent monitoring method for vessel berthing and departure in the VTS system according to claim 1 or 3, characterized in that: The constraints on berthing and departure status include navigation status, speed, distance status, and status duration; in step 5, the confirmation of the ship's berthing and departure status type includes confirmation of the ship's pre-berthing status, confirmation of berthing status, confirmation of pre-departure status, and confirmation of departure status.

5. The intelligent monitoring method for vessel berthing and departure in the VTS system according to claim 4, characterized in that: Step 5, the method for confirming the ship's berthing status, includes the following steps: Step 5-2A, Berthing Status Arbitration: Set N data collection time periods. Within each data collection time period T0, perform a pre-berthing status arbitration. The specific arbitration method is as follows: For conditions that satisfy spatial constraints and the target space state is Target vessel B, At this time, the target vessel B has a gradual berthing tendency; at this time, the cumulative number of berthing tendencies is... Add 1, otherwise =0; where, and These are the speeds of target ship B in the previous t-1 data collection period and the current t data collection period, respectively. The set berthing speed threshold; Step 5-2B, Confirmation of berthing status duration: When the cumulative number of berthing statuses... When the target vessel B is in a certain state, its navigation status is determined to be berthed, and its berth position is recorded as the anchorage position; where, , where is a positive integer; The threshold for the duration of the berthing position.

6. The intelligent monitoring method for vessel berthing and departure in the VTS system according to claim 4, characterized in that: Step 5, the method for confirming the ship's pre-departure status, includes the following steps: Step 5-3A, Pre-departure Status Arbitration: Set N data collection time periods. Within each data collection time period T0, perform a pre-departure status arbitration once. The specific arbitration method is as follows: For conditions that satisfy spatial constraints and the target spatial state is And the target vessel C, which is in a berthed state, when ,and If the target vessel C is considered to be in a state of gradually departing from its berth, then the cumulative number of times the pre-departure state is considered to be... Add 1, otherwise, =0; where, D This represents the distance from the target vessel C to its anchorage position during the current data collection period t. R The set anchoring radius; The speed of the target ship C during the current data collection period t; The set pre-departure speed threshold; Step 5-3B, Confirmation of the duration of the pre-departure status: When the cumulative number of pre-departure statuses... When this happens, it is determined that the target vessel C is ready to depart; at this point, the navigation status of the target vessel C is set to the pre-departure status; where, , where is a positive integer; The threshold for the duration of the pre-departure status.

7. The intelligent monitoring method for vessel berthing and departure in the VTS system according to claim 6, characterized in that: In step 5, the method for confirming the ship's departure status is as follows: within each data collection period, for the target ship D confirmed to be in a pre-departure status, when... And its speed is greater than the pre-departure speed threshold. If so, the target vessel D is considered to be in a state of being unberthed.

8. The intelligent monitoring method for ship berthing and departure in the VTS system according to claim 1, characterized in that: It also includes step 6, early warning: For each type of vessel berthing and departure status confirmed in step 5, early warnings are issued separately. The specific early warning methods include high flash warning for berthing, high flash warning for departure, alarm for vessel not reporting entering the port, alarm for mismatch between vessel's pre-berthing berth and vessel not reporting departure as required.

9. The intelligent monitoring method for vessel berthing and departure in the VTS system according to claim 8, characterized in that: It also includes step 7, updating ship navigation dynamic data: repeating steps 4 to 7 to achieve intelligent monitoring of ship berthing and departure.

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