Intelligent management and control method and device for abnormal ship

Abstract

The invention relates to the technical field of ship management and control, and discloses an intelligent management and control method and device for an abnormal ship, and the method comprises the steps: determining the ship configuration information of a target ship when the abnormal phenomenon of the target ship is detected, and obtaining the real-time ship condition information of the target ship; establishing a navigation route calling table corresponding to the target ship according to the ship configuration information and the real-time ship condition information; according to the navigation route calling table, corresponding ship management and control operation is executed on the target ship and the target rescue ship, so that ship abnormity rescue of the target rescue ship on the target ship and self abnormity response of the target ship are achieved. Therefore, the ship management and control accuracy, reliability, timeliness, efficiency and convenience of the abnormal ship and the rescue ship can be improved by implementing the ship management and control method and system, so that the abnormal processing real-time performance and timeliness and the driving safety and stability of the abnormal ship are improved, and the rescue timeliness, accuracy and rationality of the rescue ship are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of ship control, and in particular to an intelligent control method and device for abnormal ships. Background Art

[0002] In the era of global economic globalization, trade between countries and regions is increasing, and the water transportation industry is also booming. Due to the many unstable factors in water navigation, it is necessary to conduct abnormal control of ships sailing on the water to improve the safety of people and ships involved in water navigation.

[0003] At present, the abnormal control method for ships sailing on the water is mostly for monitoring personnel to monitor and control the abnormalities of ships sailing on the water by observing the monitoring images in the background. The subjective control judgment will be affected by many factors, such as the monitoring personnel are conducting abnormal monitoring of ships sailing on the water, the mental state is not good during the control, and different monitoring personnel have different considerations and focuses on the same type of abnormality. To a certain extent, even under the same conditions, the monitoring and judgment results and control strategy plans for the same type of abnormality will be biased. Therefore, the existing abnormal control method for ships sailing on the water has the problem of low accuracy and efficiency of abnormal control. It can be seen that it is particularly important to provide a ship abnormal control method that improves the accuracy and efficiency of abnormal control. Summary of the invention

[0004] The present invention provides an intelligent control method and device for abnormal ships, which can improve the accuracy and efficiency of abnormal control.

[0005] In order to solve the above technical problems, the first aspect of the present invention discloses an intelligent control method for abnormal ships, characterized in that the method comprises: When an abnormal phenomenon is detected in the target ship, the ship configuration information of the target ship is determined, and the real-time ship status information of the target ship is obtained; According to the ship configuration information and the real-time ship status information, a navigation route call table corresponding to the target ship is established, wherein the navigation route call table is used to indicate the passable waters and / or reliable berthing positions of the target ship; According to the navigation route calling table, corresponding ship control operations are performed on the target ship and the target rescue ship to achieve the abnormal rescue of the target ship by the target rescue ship and the abnormal response of the target ship itself.

[0006] As an optional implementation manner, in the first aspect of the present invention, establishing a navigation route call table corresponding to the target ship according to the ship configuration information and the real-time ship status information includes: Determine the navigation route information of other ships in the current waters where the target ship is located, and determine the idle route plan and the adjustable route plan in the current waters according to the navigation route information; Determine the original navigation route plan of the target ship, and determine the set of free berthing positions and the set of occupied berthing positions corresponding to the current waters; Determine the passable waters and berthing positions of the target ship according to the idle berthing position set, the occupied berthing position set, the original navigation route plan, the idle route plan and the adjustable route plan; A navigation route call table corresponding to the target ship is established according to the passable waters and the reliable berthing position.

[0007] As an optional implementation, in the first aspect of the present invention, the determining the passable waters and the berthing position of the target ship according to the idle berthing position set, the occupied berthing position set, the original navigation route plan, the idle route plan and the adjustable route plan includes: Determining, according to the idle berthing position set, first berthing characteristic information corresponding to the idle berthing position set and a pre-configured first processable exception content; Determining, according to the occupied berthing position set, second berthing characteristic information, expected occupation cancellation time information, and pre-configured second processable exception content corresponding to the occupied berthing position set; Determining a first target berthing position that meets preset berthing characteristic requirements from the set of free berthing positions and the set of occupied berthing positions according to the ship configuration information, the first berthing characteristic information and the second berthing characteristic information; Determine the current abnormal information of the target ship according to the real-time ship status information, and determine the duration for which the target ship can maintain safety according to the current abnormal information, wherein the current abnormal information includes the current abnormal type and specific abnormal situation; Determine, from all the first target berthing positions, a second target berthing position that meets a preset exception handling requirement according to the first processable exception content, the second processable exception content and the current exception information; Determine the required travel time information corresponding to traveling from the current position of the target ship to each of the second target berthing positions, and determine a third target berthing position that meets the preset berthing time node requirements from all the second target berthing positions according to the required travel time information, the available duration and the expected occupation cancellation time information; The reliable berthing position of the target ship is determined according to all the third target berthing positions, and the passable waters of the target ship are determined according to the original navigation route plan, the idle route plan, the adjustable route plan and the reliable berthing position.

[0008] As an optional implementation, in the first aspect of the present invention, performing corresponding ship control operations on the target ship and the target rescue ship according to the navigation route call table includes: Determine a target rescue ship from a rescue ship set according to the navigation route call table and the determined current abnormal information of the target ship; Determine the abnormality self-handling status of the target ship according to the ship configuration information and the current abnormality information, and determine the function type implemented by the reliable berthing position for the target ship according to the processable abnormality content corresponding to the reliable berthing position and the current abnormality information, wherein the function type includes a berthing function type and / or an abnormality handling function type; Determine the rescue urgency of the target rescue ship according to the abnormal self-processing situation, the function type and the current abnormal information, and determine the impact requirements of the current water area on the water order of the target rescue ship according to the rescue urgency; Determine the rescue route plan corresponding to the target rescue ship according to the water order impact requirements and the passable waters, and control the target rescue ship to travel to the target rescue position and perform corresponding rescue operations on the target ship according to the rescue route plan and the current abnormal information; According to the abnormal self-processing situation and the navigation route call table, the target ship is controlled to perform corresponding ship driving and abnormal response operations.

[0009] As an optional implementation, in the first aspect of the present invention, the determining the target rescue ship from the rescue ship set according to the navigation route call table and the determined current abnormal information of the target ship comprises: According to the determined current abnormal information of the target ship, judging whether there is a first rescue ship in the rescue ship set that meets a preset abnormal processing type condition and an idle condition; When it is determined that the first rescue ship exists in the rescue ship set, determining a target rescue ship according to all the first rescue ships; When it is determined that the first rescue ship does not exist in the rescue ship set, a second rescue ship that meets the preset abnormal processing type condition and the working condition is selected from the rescue ship set; and according to the determined current working progress and remaining work processing nature of each second rescue ship, the ship dispatching status corresponding to all the second rescue ships is determined; When the ship dispatching situation is used to indicate that there is a target second rescue ship that meets the preset ship dispatching condition among all the second rescue ships, determining the target rescue ship according to the target second rescue ship; When the ship dispatching situation is used to indicate that there is no target second rescue ship that meets the preset ship dispatching condition among all the second rescue ships, the target rescue ship is determined according to the current abnormal information and the preset emergency rescue ship.

[0010] As an optional implementation manner, in the first aspect of the present invention, determining a target rescue ship according to all the first rescue ships comprises: When the number of ships corresponding to all the first rescue ships is 1, determining the first rescue ship as a target rescue ship; When the number of ships corresponding to all the first rescue ships is greater than 1, determining the required time for each of the first rescue ships to meet the target ship according to the navigation route call table; determining the first rescue ship that meets the preset time screening condition from all the first rescue ships according to all the required time, and determining the first rescue ship as the target rescue ship; And, determining the ship dispatching conditions corresponding to all the second rescue ships according to the determined current work progress and remaining work processing nature of each second rescue ship, includes: According to the determined current working progress of each second rescue ship, judging whether all the second rescue ships are in a preset unchangeable working link; When it is determined that all the second rescue ships are in the unchangeable working link, determining the ship dispatching situation is used to indicate that there is no target second rescue ship that meets the preset ship dispatching condition among all the second rescue ships; When it is determined that not all of the second rescue ships are in the unchangeable working link, a third rescue ship that is not in the unchangeable working link is determined from all of the second rescue ships; and according to the nature of the remaining work processing of each of the second rescue ships, whether all of the third rescue ships meet the preset exclusive processing object conditions; When it is determined that not all of the third rescue ships meet the exclusive processing object condition, determining the ship dispatching situation is used to indicate that there is a target second rescue ship that meets the preset ship dispatching condition among all of the second rescue ships; When it is determined that all the third rescue ships meet the exclusive processing object condition, the ship dispatching situation is determined to indicate that there is no target second rescue ship meeting the preset ship dispatching condition among all the second rescue ships.

[0011] As an optional embodiment, in the first aspect of the present invention, the method further comprises: According to the monitored real-time driving information of the target ship, whether the target ship meets the preset abnormal berthing condition is determined to obtain a first judgment result; when the first judgment result is yes, it is determined that the target ship has an abnormal phenomenon; when the first judgment result is no, it is determined that the target ship has no abnormal phenomenon; and / or, According to the monitored real-time driving information of the target ship, determine whether the target ship meets the preset abnormal heading and speed conditions to obtain a second judgment result; when the second judgment result is yes, determine that the target ship has an abnormal phenomenon; when the second judgment result is no, determine that the target ship has no abnormal phenomenon; and / or, According to the collected real-time hull information of the target ship, determine whether the target ship meets the preset abnormal hull damage condition to obtain a third judgment result; when the third judgment result is yes, determine that the target ship has an abnormal phenomenon; when the third judgment result is no, determine that the target ship has no abnormal phenomenon; and / or, According to the received ship driving feedback information of the target ship, it is judged whether the target ship meets the preset abnormal help condition to obtain a fourth judgment result; when the fourth judgment result is yes, it is determined that the target ship has an abnormal phenomenon; when the fourth judgment result is no, it is determined that the target ship has no abnormal phenomenon.

[0012] The second aspect of the present invention discloses an intelligent control device for abnormal ships, characterized in that the device comprises: A ship information determination module is used to determine the ship configuration information of the target ship and obtain the real-time ship status information of the target ship when an abnormal phenomenon is detected in the target ship; A route calling table establishing module, used to establish a navigation route calling table corresponding to the target ship according to the ship configuration information and the real-time ship status information, wherein the navigation route calling table is used to indicate the passable waters and / or reliable berthing positions of the target ship; The ship control module is used to perform corresponding ship control operations on the target ship and the target rescue ship according to the navigation route call table, so as to realize the abnormal rescue of the target ship by the target rescue ship and the abnormal response of the target ship itself.

[0013] As an optional implementation, in the second aspect of the present invention, the route calling table establishing module establishes the navigation route calling table corresponding to the target ship according to the ship configuration information and the real-time ship status information in a manner specifically including: Determine the navigation route information of other ships in the current waters where the target ship is located, and determine the idle route plan and the adjustable route plan in the current waters according to the navigation route information; Determine the original navigation route plan of the target ship, and determine the set of free berthing positions and the set of occupied berthing positions corresponding to the current waters; Determine the passable waters and berthing positions of the target ship according to the idle berthing position set, the occupied berthing position set, the original navigation route plan, the idle route plan and the adjustable route plan; A navigation route call table corresponding to the target ship is established according to the passable waters and the reliable berthing position.

[0014] As an optional implementation, in the second aspect of the present invention, the route calling table establishing module determines the passable waters and reliable berthing positions of the target ship according to the idle berthing position set, the occupied berthing position set, the original navigation route plan, the idle route plan and the adjustable route plan, specifically including: Determining, according to the idle berthing position set, first berthing characteristic information corresponding to the idle berthing position set and a pre-configured first processable exception content; Determining, according to the occupied berthing position set, second berthing characteristic information, expected occupation cancellation time information, and pre-configured second processable exception content corresponding to the occupied berthing position set; Determining a first target berthing position that meets preset berthing characteristic requirements from the set of free berthing positions and the set of occupied berthing positions according to the ship configuration information, the first berthing characteristic information and the second berthing characteristic information; Determine the current abnormal information of the target ship according to the real-time ship status information, and determine the duration for which the target ship can maintain safety according to the current abnormal information, wherein the current abnormal information includes the current abnormal type and specific abnormal situation; Determine, from all the first target berthing positions, a second target berthing position that meets a preset exception handling requirement according to the first processable exception content, the second processable exception content and the current exception information; Determine the required travel time information corresponding to traveling from the current position of the target ship to each of the second target berthing positions, and determine a third target berthing position that meets the preset berthing time node requirements from all the second target berthing positions according to the required travel time information, the available duration and the expected occupation cancellation time information; The reliable berthing position of the target ship is determined according to all the third target berthing positions, and the passable waters of the target ship are determined according to the original navigation route plan, the idle route plan, the adjustable route plan and the reliable berthing position.

[0015] As an optional implementation, in the second aspect of the present invention, the ship control module performs corresponding ship control operations on the target ship and the target rescue ship according to the navigation route call table, specifically including: Determine a target rescue ship from a rescue ship set according to the navigation route call table and the determined current abnormal information of the target ship; Determine the abnormality self-handling status of the target ship according to the ship configuration information and the current abnormality information, and determine the function type implemented by the reliable berthing position for the target ship according to the processable abnormality content corresponding to the reliable berthing position and the current abnormality information, wherein the function type includes a berthing function type and / or an abnormality handling function type; Determine the rescue urgency of the target rescue ship according to the abnormal self-processing situation, the function type and the current abnormal information, and determine the impact requirements of the current water area on the water order of the target rescue ship according to the rescue urgency; Determine the rescue route plan corresponding to the target rescue ship according to the water order impact requirements and the passable waters, and control the target rescue ship to travel to the target rescue position and perform corresponding rescue operations on the target ship according to the rescue route plan and the current abnormal information; According to the abnormal self-processing situation and the navigation route call table, the target ship is controlled to perform corresponding ship driving and abnormal response operations.

[0016] As an optional implementation, in the second aspect of the present invention, the ship control module determines the target rescue ship from the rescue ship set according to the navigation route call table and the determined current abnormal information of the target ship, specifically including: According to the determined current abnormal information of the target ship, judging whether there is a first rescue ship in the rescue ship set that meets a preset abnormal processing type condition and an idle condition; When it is determined that the first rescue ship exists in the rescue ship set, determining a target rescue ship according to all the first rescue ships; When it is determined that the first rescue ship does not exist in the rescue ship set, a second rescue ship that meets the preset abnormal processing type condition and the working condition is selected from the rescue ship set; and according to the determined current working progress and remaining work processing nature of each second rescue ship, the ship dispatching status corresponding to all the second rescue ships is determined; When the ship dispatching situation is used to indicate that there is a target second rescue ship that meets the preset ship dispatching condition among all the second rescue ships, determining the target rescue ship according to the target second rescue ship; When the ship dispatching situation is used to indicate that there is no target second rescue ship that meets the preset ship dispatching condition among all the second rescue ships, the target rescue ship is determined according to the current abnormal information and the preset emergency rescue ship.

[0017] As an optional implementation, in the second aspect of the present invention, the ship control module determines the target rescue ship according to all the first rescue ships in a manner that specifically includes: When the number of ships corresponding to all the first rescue ships is 1, determining the first rescue ship as a target rescue ship; When the number of ships corresponding to all the first rescue ships is greater than 1, determining the required time for each of the first rescue ships to meet the target ship according to the navigation route call table; determining the first rescue ship that meets the preset time screening condition from all the first rescue ships according to all the required time, and determining the first rescue ship as the target rescue ship; And, the ship control module determines the ship dispatching conditions corresponding to all the second rescue ships according to the determined current work progress and remaining work processing nature of each second rescue ship, specifically including: According to the determined current working progress of each second rescue ship, judging whether all the second rescue ships are in a preset unchangeable working link; When it is determined that all the second rescue ships are in the unchangeable working link, determining the ship dispatching situation is used to indicate that there is no target second rescue ship that meets the preset ship dispatching condition among all the second rescue ships; When it is determined that not all of the second rescue ships are in the unchangeable working link, a third rescue ship that is not in the unchangeable working link is determined from all of the second rescue ships; and according to the nature of the remaining work processing of each of the second rescue ships, whether all of the third rescue ships meet the preset exclusive processing object conditions; When it is determined that not all of the third rescue ships meet the exclusive processing object condition, determining the ship dispatching situation is used to indicate that there is a target second rescue ship that meets the preset ship dispatching condition among all of the second rescue ships; When it is determined that all the third rescue ships meet the exclusive processing object condition, the ship dispatching situation is determined to indicate that there is no target second rescue ship meeting the preset ship dispatching condition among all the second rescue ships.

[0018] As an optional implementation, in the second aspect of the present invention, the device further includes: an abnormality detection module, used to determine whether the target ship meets the preset abnormal berthing conditions according to the real-time driving information of the monitored target ship, and obtain a first judgment result; when the first judgment result is yes, it is determined that the target ship has an abnormal phenomenon; when the first judgment result is no, it is determined that the target ship has no abnormal phenomenon; and / or, According to the monitored real-time driving information of the target ship, determine whether the target ship meets the preset abnormal heading and speed conditions to obtain a second judgment result; when the second judgment result is yes, determine that the target ship has an abnormal phenomenon; when the second judgment result is no, determine that the target ship has no abnormal phenomenon; and / or, According to the collected real-time hull information of the target ship, determine whether the target ship meets the preset abnormal hull damage condition to obtain a third judgment result; when the third judgment result is yes, determine that the target ship has an abnormal phenomenon; when the third judgment result is no, determine that the target ship has no abnormal phenomenon; and / or, According to the received ship driving feedback information of the target ship, it is judged whether the target ship meets the preset abnormal help condition to obtain a fourth judgment result; when the fourth judgment result is yes, it is determined that the target ship has an abnormal phenomenon; when the fourth judgment result is no, it is determined that the target ship has no abnormal phenomenon.

[0019] The third aspect of the present invention discloses another intelligent control device for abnormal ships, the device comprising: A memory storing executable program code; a processor coupled to the memory; The processor calls the executable program code stored in the memory to execute an intelligent control method for abnormal ships disclosed in the first aspect of the present invention.

[0020] The fourth aspect of the present invention discloses a computer storage medium, which stores computer instructions. When the computer instructions are called, they are used to execute an intelligent management and control method for abnormal ships disclosed in the first aspect of the present invention.

[0021] Compared with the prior art, the embodiments of the present invention have the following beneficial effects: In the embodiment of the present invention, when an abnormal phenomenon is detected in the target ship, the ship configuration information of the target ship is determined, and the real-time ship status information of the target ship is obtained; according to the ship configuration information and the real-time ship status information, a navigation route call table corresponding to the target ship is established, and the navigation route call table is used to indicate the passable waters and / or reliable berthing positions of the target ship; according to the navigation route call table, the target ship and the target rescue ship are subjected to corresponding ship control operations to realize the abnormal rescue of the target ship by the target rescue ship and the abnormal response of the target ship itself. It can be seen that the present invention can establish a navigation route call table according to the ship configuration information and the real-time ship status information, and perform corresponding ship control operations on the abnormal ship and the rescue ship according to the navigation route call table, which is conducive to improving the comprehensiveness and rationality of the ship control mode of the abnormal ship and the rescue ship, and then it is conducive to improving the accuracy and reliability of the ship control of the abnormal ship and the rescue ship, and it is also conducive to improving the timeliness, efficiency and convenience of the ship control of the abnormal ship and the rescue ship, so as to improve the real-time, timeliness and driving safety and stability of the abnormal handling of the abnormal ship, and it is also conducive to improving the timeliness, accuracy and rationality of the rescue ship. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 It is a flow chart of an intelligent control method for abnormal ships disclosed in an embodiment of the present invention; Figure 2 It is a flow chart of another intelligent control method for abnormal ships disclosed in an embodiment of the present invention; Figure 3 It is a structural schematic diagram of an intelligent control device for abnormal ships disclosed in an embodiment of the present invention; Figure 4 It is a structural schematic diagram of another intelligent control device for abnormal ships disclosed in an embodiment of the present invention; Figure 5 It is a structural schematic diagram of another intelligent control device for abnormal ships disclosed in an embodiment of the present invention. DETAILED DESCRIPTION

[0024] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] The terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish different objects rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, device, product or end including a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units inherent to these processes, methods, products or ends.

[0026] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0027] The present invention discloses an intelligent control method and device for abnormal ships, which can establish a navigation route call table according to ship configuration information and real-time ship status information, and perform corresponding ship control operations on abnormal ships and rescue ships according to the navigation route call table, which is conducive to improving the comprehensiveness and rationality of the ship control method of abnormal ships and rescue ships, and further conducive to improving the accuracy and reliability of ship control of abnormal ships and rescue ships, and also conducive to improving the timeliness, efficiency and convenience of ship control of abnormal ships and rescue ships, so as to improve the real-time, timeliness and driving safety and stability of abnormal handling of abnormal ships, and also conducive to improving the timeliness, accuracy and rationality of rescue ships. The following are detailed descriptions.

[0028] Embodiment 1 See also Figure 1 , Figure 1 This is a flow chart of an intelligent control method for abnormal ships disclosed in an embodiment of the present invention. Figure 1 The described method may be applied to an intelligent control device for abnormal ships, wherein the device may include a server, wherein the server includes a local server or a cloud server, which is not limited in the embodiments of the present invention. Figure 1 As shown, the intelligent control method for abnormal ships includes the following operations: 101. When an abnormal phenomenon is detected in the target ship, the ship configuration information of the target ship is determined, and the real-time ship status information of the target ship is obtained.

[0029] Optionally, the ship configuration information of the target ship may include, but is not limited to, one or more of the target ship's ship type information, length and width information, draft information, hull structure information, power plant information, ship system configuration information, ship personnel configuration information, ship special configuration information, ship function configuration information, ship operation configuration information and other configuration information related to the target ship, and is not limited in the embodiments of the present invention.

[0030] Optionally, the real-time ship status information of the target ship may include, but is not limited to, one or more of the target ship's navigation status information, ship damage status information, ship navigation status information, ship navigation position information, ship navigation plan information, ship equipment status information, meteorological information in the ship's navigation area, navigation warning notice information, ship repair and maintenance information, ship's route information, ship's route to be traveled, ship navigation parameter information, ship loading and transporting cargo information and other ship status information related to the target ship, and the embodiments of the present invention are not limited thereto.

[0031] 102. A navigation route call table corresponding to the target ship is established according to the ship configuration information and the real-time ship status information. The navigation route call table is used to indicate the passable waters and / or reliable berthing positions of the target ship.

[0032] 103. According to the navigation route call table, corresponding ship control operations are performed on the target ship and the target rescue ship to achieve the target rescue ship's abnormal rescue of the target ship and the target ship's own abnormal response.

[0033] Optionally, the target rescue ship may include one or more ships that implement a rescue function, which is not limited in this embodiment of the present invention.

[0034] Optionally, the target ship may include one or more ships with abnormal phenomena, which is not limited in this embodiment of the present invention.

[0035] It can be seen that the intelligent control method for abnormal ships described in the embodiment of the present invention can establish a navigation route call table according to the ship configuration information and real-time ship status information, and perform corresponding ship control operations on abnormal ships and rescue ships according to the navigation route call table, which is beneficial to improving the comprehensiveness and rationality of the ship control method of abnormal ships and rescue ships, and further beneficial to improving the accuracy and reliability of ship control of abnormal ships and rescue ships, and also beneficial to improving the timeliness, efficiency and convenience of ship control of abnormal ships and rescue ships, thereby helping to improve the real-time, timeliness and driving safety and stability of abnormal handling of abnormal ships, and also beneficial to improving the timeliness, accuracy and rationality of rescue ships.

[0036] In an optional embodiment, the above-mentioned performing corresponding ship control operations on the target ship and the target rescue ship according to the navigation route calling table may include: According to the navigation route call table and the current abnormal information of the determined target ship, the target rescue ship is determined from the rescue ship set; Determine the abnormal self-handling status of the target ship according to the ship configuration information and the current abnormal information, and determine the function type realized by the reliable berthing position for the target ship according to the processable abnormal content corresponding to the reliable berthing position and the current abnormal information, the function type includes the berthing function type and / or the abnormal handling function type; Determine the rescue urgency of the target rescue ship based on the abnormal self-processing situation, function type and current abnormal information, and determine the impact requirements of the current waters on the water order of the target rescue ship based on the rescue urgency; Determine the rescue route plan corresponding to the target rescue ship according to the requirements for the impact on water order and the passable waters, and control the target rescue ship to the target rescue position and perform corresponding rescue operations on the target ship according to the rescue route plan and current abnormal information; According to the abnormal self-processing situation and the navigation route call table, the target ship is controlled to perform corresponding ship driving and abnormal response operations.

[0037] Optionally, the target ship's self-handling of abnormalities may include, but is not limited to, one or more of whether the target ship can handle the current abnormality by itself, the degree to which the target ship can handle the current abnormality by itself, the specific abnormality that the target ship can handle by itself, the abnormality handling effect brought about by the target ship's self-handling of the abnormality, the specific abnormality that still exists after the target ship performs self-handling of the abnormality, etc., and the embodiments of the present invention are not limited thereto.

[0038] Optionally, the processable exception content corresponding to the berthing position can be understood as some berthing positions can not only provide ship berthing services, but also provide corresponding ship exception processing services for a certain ship abnormality type / phenomenon, which is not limited in the embodiment of the present invention.

[0039] Optionally, the above-mentioned determination of the rescue urgency of the target rescue ship is based on the abnormal self-handling situation, function type and current abnormal information. For example: for example, the abnormal self-handling situation is used to indicate that the target ship can perform abnormal self-handling on most of its own abnormalities, the function type is used to indicate the docking function type and the abnormal handling function type, the current abnormal information is used to indicate that the ship abnormality is relatively minor, and the target ship can stably sail to the target berthing position, etc., then it is determined that the rescue urgency of the target rescue ship is less than a preset rescue urgency threshold; for another example, the abnormal self-handling situation is used to indicate that the target ship cannot perform abnormal self-handling on its own abnormality, the function type is used to indicate the docking function type, the current abnormal information is used to indicate that the ship abnormality is serious, and the target ship cannot stably sail to the target berthing position, etc., then it is determined that the rescue urgency of the target rescue ship is greater than or equal to the preset rescue urgency threshold, and other situations are similarly obtainable, and the embodiments of the present invention are not limited thereto.

[0040] Optionally, the above-mentioned determination of the requirements for the impact of the current waters on the water order of the target rescue ship is based on the rescue urgency, and examples are given: for example, when the rescue urgency of the target rescue ship is less than a preset rescue urgency threshold, the target rescue ship proceeds to rescue the target ship along a route that has less impact on the water order of the current waters (i.e., the water order impact requirement); for another example, when the rescue urgency of the target rescue ship is greater than or equal to a preset rescue urgency threshold, the target rescue ship gives priority to the route with the shortest driving time to rescue the target ship without causing chaos in the water order (i.e., the water order impact requirement), and other situations are similarly obtainable, and the embodiments of the present invention are not limited thereto.

[0041] Optionally, the above-mentioned controlling the target ship to perform corresponding ship driving and abnormal response operations according to the abnormal self-processing situation and the navigation route call table may include: According to the abnormal self-processing situation, the target ship is controlled to perform corresponding abnormal response operations, and according to the navigation route call table, the target ship is controlled to perform corresponding ship driving operations.

[0042] Further optionally, the above-mentioned control of the target ship to perform corresponding abnormal response operations according to the abnormal self-handling situation is described as follows: if the abnormal self-handling situation is used to indicate that the target ship is capable of performing targeted abnormal self-handling, then the target ship can be controlled to perform targeted abnormal handling operations; if the abnormal self-handling situation is used to indicate that the target ship is unable to perform targeted abnormal self-handling, then the target ship can be controlled to perform some basic response operations, such as keeping personnel in the target ship away from dangerous areas in the target ship, etc. Other situations are similarly obtainable and are not limited to the embodiments of the present invention.

[0043] It can be seen that this optional embodiment can control the rescue ship to perform corresponding rescue operations according to the determined rescue route plan of the rescue ship and the current abnormal information of the abnormal ship, and control the abnormal ship to perform corresponding driving and abnormal response operations according to the determined abnormal self-handling situation of the abnormal ship and the navigation route call table, which is beneficial to improving the comprehensiveness, integrity and rationality of the ship control method of abnormal ships and rescue ships, and further beneficial to improving the pertinence, flexibility and rationality of the control reference parameters of abnormal ships, and also beneficial to improving the pertinence, flexibility and rationality of the control reference parameters of rescue ships, so as to improve the control accuracy and reliability of rescue ships to improve the timeliness, accuracy and efficiency of rescue ships, and also beneficial to improve the control accuracy and reliability of abnormal ships to improve the timeliness, accuracy and efficiency of abnormal response of abnormal ships, and further beneficial to improve the driving safety and driving stability of abnormal ships.

[0044] In another optional embodiment, the above-mentioned determining the target rescue ship from the rescue ship set according to the navigation route calling table and the determined current abnormal information of the target ship may include: According to the determined current abnormal information of the target ship, it is judged whether there is a first rescue ship in the rescue ship set that meets the preset abnormal processing type condition and idle condition; When it is determined that there is a first rescue ship in the rescue ship set, determining a target rescue ship based on all the first rescue ships; When it is determined that there is no first rescue ship in the rescue ship set, a second rescue ship that meets the preset abnormal processing type condition and the working condition is selected from the rescue ship set; according to the current working progress and the nature of the remaining work processing of each second rescue ship, the ship dispatching status corresponding to all the second rescue ships is determined; When the ship dispatching situation is used to indicate that there is a target second rescue ship that meets the preset ship dispatching condition among all the second rescue ships, determining the target rescue ship according to the target second rescue ship; When the ship dispatching situation is used to indicate that there is no target second rescue ship satisfying the preset ship dispatching condition among all the second rescue ships, the target rescue ship is determined according to the current abnormal information and the preset emergency rescue ship.

[0045] Optionally, the first rescue ship that meets the exception processing type condition and the idle condition is exemplified as follows: a rescue ship in the rescue ship set that is capable of performing rescue processing and whose configuration exception type matches the current exception type of the target ship and is currently in an idle state (i.e., not in a rescuing state), is used as the first rescue ship, and this embodiment of the present invention does not limit this.

[0046] Optionally, the above-mentioned second rescue ship that meets the preset exception processing type conditions and is working conditions, for example: a rescue ship in the rescue ship set that can perform rescue processing and whose configuration exception type matches the current exception type of the target ship and is currently in a working state, is used as the second rescue ship, and this embodiment of the present invention does not limit this.

[0047] Optionally, a first rescue ship is determined from the rescue ship set and a second rescue ship is determined from the rescue ship set. For example: a target rescue ship that can handle the current abnormality of the target ship, is currently idle, and can meet and rescue the target ship in the shortest time is preferentially screened out from the rescue ship set; further, if there is no rescue ship in an idle state, a rescue ship is dispatched from the rescue ships that can handle the current abnormality of the target ship and are currently on field duty to rescue the target ship, thereby achieving flexible scheduling, which is not limited in the embodiments of the present invention.

[0048] Optionally, the current work progress of the second rescue ship can be understood as the rescue progress of the second rescue ship corresponding to the currently ongoing rescue mission, the work progress of the second rescue ship corresponding to the currently executed work task, etc., which is not limited in the embodiment of the present invention.

[0049] Optionally, the nature of the remaining work processing of the above-mentioned second rescue ship can be understood as the nature of the processing of rescue work that has not been completed by the second rescue ship and the nature of the processing of work tasks that have not been completed; further, the processing nature can be an alternative processing nature or a dedicated object processing nature, which is not limited in the embodiments of the present invention.

[0050] It can be seen that this optional embodiment can determine the target rescue ship from three levels: exception processing type conditions and idle conditions, exception processing type conditions and working conditions, and current work progress and the nature of remaining work processing. This is conducive to improving the progressiveness, comprehensiveness, integrity and rationality of the target rescue ship determination method, and further conducive to improving the diversity and flexibility of considerations used to determine the target rescue ship, thereby helping to improve the accuracy and reliability of the determined target rescue ship, and reducing the impact of dispatching rescue ships on the current ship while ensuring the exception handling effect of abnormal ships.

[0051] In yet another optional embodiment, the above-mentioned determining the target rescue ship based on all the first rescue ships may include: When the number of ships corresponding to all first rescue ships is 1, the first rescue ship is determined as the target rescue ship; When the number of ships corresponding to all the first rescue ships is greater than 1, the required time for each first rescue ship to meet the target ship is determined according to the navigation route call table; according to all the required time lengths, the first rescue ship that meets the preset time screening condition is determined from all the first rescue ships, and the first rescue ship is determined as the target rescue ship.

[0052] Optionally, the above-mentioned first rescue ship that meets the preset time screening condition is determined from all the first rescue ships. For example, for example, the rescue ship with the shortest driving time required to meet the target ship is determined from all the first rescue ships as the first rescue ship; for another example, the rescue ship whose driving time required to meet the target ship matches the set required driving time is determined from all the first rescue ships as the first rescue ship, and the embodiment of the present invention is not limited to this.

[0053] It can be seen that this optional embodiment can match the corresponding target rescue ship determination method for the two situations where the number of ships corresponding to the first rescue ship is 1 or the number of ships is greater than 1, which is beneficial to improving the comprehensiveness, diversity, flexibility and rationality of the target rescue ship determination method, and further helps to improve the accuracy and reliability of the determined target rescue ships.

[0054] In yet another optional embodiment, the above-mentioned determining the ship dispatching conditions corresponding to all the second rescue ships according to the determined current work progress and remaining work processing properties of each second rescue ship may include: According to the determined current working progress of each second rescue ship, judging whether all the second rescue ships are in a preset unchangeable working link; When it is determined that all the second rescue ships are in an unchangeable working link, determining the ship dispatching situation is used to indicate that there is no target second rescue ship that meets the preset ship dispatching condition among all the second rescue ships; When it is determined that not all second rescue ships are in an unchangeable working link, a third rescue ship that is not in an unchangeable working link is determined from all second rescue ships; and according to the nature of the remaining work processing of each second rescue ship, whether all third rescue ships meet the preset exclusive processing object conditions; When it is determined that not all third rescue ships meet the exclusive processing object condition, determining the ship dispatching situation is used to indicate that there is a target second rescue ship that meets the preset ship dispatching condition among all second rescue ships; When it is determined that all third rescue ships meet the exclusive processing object condition, the ship dispatching situation is determined to indicate that there is no target second rescue ship meeting the preset ship dispatching condition among all second rescue ships.

[0055] Optionally, determine whether the second rescue ship is in an unchangeable working link. For example: for example, the working link corresponding to the current working progress of the second rescue ship is the working link of the rescue ship that cannot be changed, and the working link corresponding to the current working progress of the second rescue ship is the working link of the working status that cannot be changed (such as continuous work is required, cannot be interrupted or stopped, etc.), then it is determined that the second rescue ship is in an unchangeable working link, and it is further determined that the second rescue ship cannot perform ship dispatch; for another example, the working link corresponding to the current working progress of the second rescue ship is the working link of the rescue ship that can be changed, and the working link corresponding to the current working progress of the second rescue ship is the working link of the working status that can be changed (such as processing can be suspended), then it is determined that the second rescue ship is not in an unchangeable working link, and other situations are similarly applicable, and the embodiments of the present invention are not limited.

[0056] Optionally, it is determined whether the third rescue ship meets the preset exclusive processing object condition. For example, when the remaining work processing property of the third rescue ship is used to indicate that the current remaining work can be processed by other rescue ships, it is determined that the third rescue ship does not meet the exclusive processing object condition, and other rescue ships can be further dispatched to replace the third rescue ship for processing, and the third rescue ship is dispatched to perform abnormal processing and rescue on the target ship; for example, when the remaining work processing property of the third rescue ship is used to indicate that the current remaining work can only be processed by the third rescue ship, it is determined that the third rescue ship meets the exclusive processing object condition, and the second rescue ship cannot be dispatched at will; in addition, the dispatch status of the third rescue ship can also be determined in combination with the current remaining work and the rescue urgency of the target ship. Other situations are similarly applicable, and the embodiments of the present invention are not limited thereto.

[0057] It can be seen that this optional embodiment can determine the ship dispatch situation corresponding to the second rescue ship by measuring whether it is in an unchangeable working link and whether it meets the exclusive processing object conditions. This is conducive to improving the progressiveness, comprehensiveness, integrity and rationality of the ship dispatch situation determination method, and further helps to improve the accuracy and reliability of the determined ship dispatch situation, thereby helping to improve the accuracy and reliability of the target rescue ship subsequently determined based on the ship dispatch situation.

[0058] In yet another optional embodiment, the method may further include the following operations: According to the monitored real-time driving information of the target ship, whether the target ship meets the preset abnormal berthing conditions is determined to obtain a first judgment result; when the first judgment result is yes, it is determined that the target ship has an abnormal phenomenon; when the first judgment result is no, it is determined that the target ship has no abnormal phenomenon; and / or, According to the monitored real-time driving information of the target ship, determine whether the target ship meets the preset abnormal heading and speed conditions to obtain a second judgment result; when the second judgment result is yes, determine that the target ship has an abnormal phenomenon; when the second judgment result is no, determine that the target ship has no abnormal phenomenon; and / or, According to the collected real-time hull information of the target ship, determine whether the target ship meets the preset abnormal hull damage condition to obtain a third judgment result; when the third judgment result is yes, determine that the target ship has an abnormal phenomenon; when the third judgment result is no, determine that the target ship has no abnormal phenomenon; and / or, According to the received ship driving feedback information of the target ship, it is judged whether the target ship meets the preset abnormal help condition to obtain a fourth judgment result; when the fourth judgment result is yes, it is determined that an abnormal phenomenon occurs in the target ship; when the fourth judgment result is no, it is determined that no abnormal phenomenon occurs in the target ship.

[0059] Optionally, the above judgment on whether the target ship meets the preset abnormal docking conditions is illustrated by, for example: judging whether the current docking position of the target ship is in a preset keeping driving area or a non-docking area; if so, determining that the target ship meets the preset abnormal docking conditions; if not, determining that the target ship does not meet the preset abnormal docking conditions, which is not limited in the embodiments of the present invention.

[0060] Optionally, the above-mentioned judgment of whether the target ship meets the preset abnormal heading and speed conditions is illustrated by, for example: judging whether the current heading of the target ship is in a yaw state, whether the current speed of the target ship is in an abnormal speed change or abnormal speed state; if so, it is determined that the target ship meets the preset abnormal heading and speed conditions; if not, it is determined that the target ship does not meet the preset abnormal heading and speed conditions, which is not limited in the embodiments of the present invention.

[0061] Optionally, the above judgment of whether the target ship meets the preset abnormal hull damage condition is illustrated by an example: judging whether the current hull damage degree and damage type of the target ship are conventional reasonable wear and tear (i.e., wear and tear existing in normal driving and operation); if so, it is determined that the target ship does not meet the abnormal hull damage condition; if not, it is determined that the target ship meets the abnormal hull damage condition, which is not limited in the embodiments of the present invention.

[0062] Optionally, the above judgment of whether the target ship meets the preset abnormal help-seeking conditions is illustrated by, for example: judging whether the crew on board the target ship sends a help-seeking signal, or judging whether the supervisor of the target ship sends a danger warning signal; if so, it is determined that the target ship meets the preset abnormal help-seeking conditions; if not, it is determined that the target ship does not meet the preset abnormal help-seeking conditions, which is not limited to the embodiments of the present invention.

[0063] It can be seen that this optional embodiment can determine whether the target ship has abnormal phenomena by satisfying four aspects: whether the abnormal docking conditions are met, whether the abnormal heading and speed conditions are met, whether the abnormal hull damage conditions are met, and whether the abnormal assistance conditions are met. This is conducive to improving the comprehensiveness, integrity, diversity and flexibility of the method for determining the occurrence of abnormal phenomena of the target ship, and further helps to improve the accuracy and reliability of the determined abnormal phenomenon of the target ship, thereby helping to improve the timeliness, accuracy and efficiency of abnormal handling of the target ship.

[0064] Embodiment 2 See also Figure 2 , Figure 2 It is a flow chart of another intelligent control method for abnormal ships disclosed in an embodiment of the present invention. Figure 2 The described method may be applied to an intelligent control device for abnormal ships, wherein the device may include a server, wherein the server includes a local server or a cloud server, which is not limited in the embodiments of the present invention. Figure 2 As shown, the intelligent control method for abnormal ships includes the following operations: 201. When an abnormal phenomenon is detected on the target ship, the ship configuration information of the target ship is determined, and the real-time ship status information of the target ship is obtained.

[0065] 202. Determine the navigation route information of other ships in the current waters where the target ship is located, and determine the idle route plan and the adjustable route plan in the current waters according to the navigation route information.

[0066] Optionally, the idle route solution in the current waters may be understood as a route in which no other ships are sailing in the current waters and on which the target ship can sail, which is not limited in the embodiment of the present invention.

[0067] Optionally, the adjustable route plan for the current waters can be understood as a route in which there are currently other ships sailing or other ships are about to sail in the current waters but can be adjusted to a route where there are no other ships sailing, and the embodiments of the present invention are not limited thereto.

[0068] 203. Determine the original navigation route plan of the target ship, and determine the set of idle berthing positions and the set of occupied berthing positions corresponding to the current waters.

[0069] Optionally, the set of idle berthing positions corresponding to the current water area may include one or more berthing positions that are currently idle and have no ships berthing in all preset berthing positions corresponding to the current water area, which is not limited in the embodiment of the present invention.

[0070] Optionally, the occupied berthing position set corresponding to the current water area may include one or more berthing positions that are currently in a state where a ship is berthing among all preset berthing positions corresponding to the current water area, which is not limited in the embodiment of the present invention.

[0071] 204. Determine the passable waters and berthing positions of the target ship based on the set of free berthing positions, the set of occupied berthing positions, the original navigation route plan, the free route plan and the adjustable route plan.

[0072] 205. A navigation route call table corresponding to the target ship is established based on the passable waters and reliable berthing positions.

[0073] 206. According to the navigation route call table, corresponding ship control operations are performed on the target ship and the target rescue ship to achieve the target rescue ship's abnormal rescue of the target ship and the target ship's own abnormal response.

[0074] In the embodiment of the present invention, for other descriptions of step 201 to step 206, please refer to other detailed descriptions of step 101 to step 103 in embodiment 1, and the embodiment of the present invention will not be repeated here.

[0075] It can be seen that the embodiment of the present invention can establish a navigation route call table according to the ship configuration information and the real-time ship status information, and perform corresponding ship control operations on abnormal ships and rescue ships according to the navigation route call table, which is conducive to improving the comprehensiveness and rationality of the ship control method of abnormal ships and rescue ships, and thus is conducive to improving the accuracy and reliability of the ship control of abnormal ships and rescue ships, and is also conducive to improving the timeliness, efficiency and convenience of the ship control of abnormal ships and rescue ships, so as to improve the real-time, timeliness and driving safety and stability of abnormal handling of abnormal ships, and is also conducive to improving the timeliness, accuracy and rationality of rescue ships; and, it is also possible to determine the passable waters and reliable berthing positions through the two aspects of berthing positions and navigation routes and then establish a navigation route call table, which is conducive to improving the comprehensiveness, integrity and rationality of the navigation route call table establishment method, and thus is conducive to improving the pertinence, diversity and comprehensiveness of the establishment parameters used to establish the navigation route call table, so as to improve the accuracy and reliability of the established navigation route call table.

[0076] In an optional embodiment, the above-mentioned determination of the passable waters and the reliable berthing position of the target ship according to the idle berthing position set, the occupied berthing position set, the original navigation route plan, the idle route plan and the adjustable route plan may include: Determine, according to the idle berthing position set, first berthing characteristic information corresponding to the idle berthing position set and a pre-configured first processable exception content; Determining, according to the occupied berthing position set, second berthing characteristic information, expected occupation cancellation time information, and pre-configured second processable exception content corresponding to the occupied berthing position set; Determine, according to the ship configuration information, the first berthing characteristic information and the second berthing characteristic information, a first target berthing position that meets the preset berthing characteristic requirements from the set of free berthing positions and the set of occupied berthing positions; According to the real-time ship status information, determine the current abnormal information of the target ship, and according to the current abnormal information, determine the duration for which the target ship can maintain safety. The current abnormal information includes the current abnormal type and specific abnormal situation; Determine, from all first target berthing positions, a second target berthing position that meets preset exception handling requirements according to the first processable exception content, the second processable exception content and the current exception information; Determine the required travel time information corresponding to the travel from the current position of the target ship to each second target berthing position, and determine the third target berthing position that meets the preset berthing time node requirements from all the second target berthing positions according to the required travel time information, the available duration and the expected occupation cancellation time information; According to all the third target berthing positions, the reliable berthing position of the target ship is determined, and according to the original navigation route plan, the idle route plan, the adjustable route plan and the reliable berthing position, the passable waters of the target ship are determined.

[0077] Optionally, the first berthing feature information and the second berthing feature information may include, but are not limited to, one or more of the area information of the berthing location, area shape information, area water depth information, berthing requirement information (such as types of berthing vessels, types of non-berthing vessels, sustainable berthing duration, etc.) and other information related to berthing features, and the embodiments of the present invention are not limited thereto.

[0078] Optionally, the first processable abnormal content and the second processable abnormal content can be understood as the construction facilities equipped in the associated onshore area of ​​the berthing position and the functions that the construction facilities are responsible for implementing. For example, it can handle the abnormal content of the ship being out of diesel, that is, it can provide the function of refueling the ship. For example, it can handle the abnormal content of hull damage and failure of ship parts, that is, it can provide the function of repairing the ship. Other situations are similarly applicable and are not limited to the embodiments of the present invention.

[0079] Optionally, the duration during which the target ship can maintain safety can be understood as the duration during which the target ship can maintain safe and stable operation and driving status, which is not limited in the embodiment of the present invention.

[0080] Optionally, the first target berthing position that meets the preset berthing feature requirements is exemplified as follows: the first target berthing position where a reliable berthing area provided by the berthing position is greater than or equal to a required berthing area of ​​the target ship, the first target berthing position where a shape of a reliable berthing area provided by the berthing position matches a shape of a required berthing area of ​​the target ship, the first target berthing position where the regional water depth of the berthing position meets the water depth requirement of the target ship, the first target berthing position where the berthing requirement of the berthing position does not conflict with the berthing requirement of the target ship, etc., which are not limited in the embodiments of the present invention.

[0081] Optionally, the above-mentioned second target berthing position that meets the preset exception handling requirements includes, for example: a second target berthing position equipped with a handleable exception type that matches the current exception type of the target ship, a second target berthing position where the processing time required for processing the exception at the berthing position is shorter than or equal to the acceptable exception handling time for the target ship, etc., which is not limited in the embodiments of the present invention.

[0082] Optionally, the expected occupancy cancellation time information corresponding to the above-mentioned occupied berthing position can be understood as the time length information required for the ship currently berthed in the occupied berthing position to leave the occupied berthing position, and the time information when the ship currently berthed in the occupied berthing position is expected to leave the occupied berthing position, which is not limited in the embodiment of the present invention.

[0083] Optionally, the third target berthing position that meets the preset berthing time node requirement is exemplified as: the third target berthing position that can perform abnormality handling and rescue on the target ship most quickly, the third target berthing position that is shortest to the target ship, the third target berthing position that the target ship can reach fastest, the third target berthing position that is in an idle berthing state at the same time as or before the target ship reaches the berthing position, the third target berthing position to which the target ship can safely and smoothly travel based on the current abnormality, etc., and the embodiments of the present invention are not limited thereto.

[0084] It can be seen that this optional embodiment can determine the target berthing position from three levels of berthing feature requirements, exception handling requirements and berthing time node requirements to determine the reliable berthing position, and then determine the passable waters for the target ship according to the determined original navigation route plan, idle route plan, adjustable route plan and reliable berthing position, which is conducive to improving the progressiveness, comprehensiveness, integrity and rationality of the method for determining the reliable berthing position, and thus is conducive to improving the accuracy and reliability of the determined reliable berthing position. In addition, it is also conducive to improving the comprehensiveness and rationality of the method for determining the passable waters for the target ship, and thus is conducive to improving the diversity, flexibility and comprehensiveness of the determination parameters of the passable waters, thereby helping to improve the accuracy and reliability of the determined passable waters, and further helping to improve the accuracy and reliability of the subsequent navigation route call table established based on the reliable berthing position and the passable waters.

[0085] Embodiment 3 See also Figure 3 , Figure 3 Schematic diagram of the structure of an intelligent control device for abnormal ships disclosed in an embodiment of the present invention. Figure 3 The described device may include a server, wherein the server includes a local server or a cloud server, which is not limited in the embodiment of the present invention. Figure 3 As shown, the intelligent control device for abnormal ships may include: The ship information determination module 301 is used to determine the ship configuration information of the target ship and obtain the real-time ship status information of the target ship when an abnormal phenomenon is detected in the target ship.

[0086] The route calling table establishing module 302 is used to establish a navigation route calling table corresponding to the target ship according to the ship configuration information and the real-time ship status information. The navigation route calling table is used to indicate the passable waters and / or reliable berthing positions of the target ship.

[0087] The ship control module 303 is used to perform corresponding ship control operations on the target ship and the target rescue ship according to the navigation route call table, so as to realize the target rescue ship's ship abnormal rescue of the target ship and the target ship's own abnormal response.

[0088] It can be seen that the implementation Figure 3 The described intelligent control device for abnormal ships can establish a navigation route call table according to the ship configuration information and real-time ship status information, and perform corresponding ship control operations on abnormal ships and rescue ships according to the navigation route call table, which is beneficial to improving the comprehensiveness and rationality of the ship control method of abnormal ships and rescue ships, and further to improving the accuracy and reliability of ship control of abnormal ships and rescue ships, as well as improving the timeliness, efficiency and convenience of ship control of abnormal ships and rescue ships, thereby improving the real-time and timeliness of abnormal handling of abnormal ships and driving safety and stability, and also to improving the timeliness, accuracy and rationality of rescue of rescue ships.

[0089] In an optional embodiment, the route calling table establishing module 302 establishes the navigation route calling table corresponding to the target ship according to the ship configuration information and the real-time ship status information, specifically including: Determine the navigation route information of other ships in the current waters where the target ship is located, and determine the idle route plan and adjustable route plan in the current waters based on the navigation route information; Determine the original navigation route plan of the target ship, and determine the set of free berthing positions and the set of occupied berthing positions corresponding to the current waters; Determine the passable waters and berthing positions of the target ship according to the set of free berthing positions, the set of occupied berthing positions, the original navigation route plan, the free route plan and the adjustable route plan; According to the passable waters and reliable berthing positions, a navigation route call table corresponding to the target ship is established.

[0090] It can be seen that the implementation Figure 4 The described device can determine the passable waters and reliable berthing positions through the two aspects of berthing positions and navigation routes, and then establish a navigation route calling table, which is beneficial to improving the comprehensiveness, integrity and rationality of the navigation route calling table establishment method, and further beneficial to improving the pertinence, diversity and comprehensiveness of the establishment parameters used to establish the navigation route calling table, thereby helping to improve the accuracy and reliability of the established navigation route calling table.

[0091] In another optional embodiment, the route calling table establishing module 302 determines the passable waters and reliable berthing positions of the target ship according to the idle berthing position set, the occupied berthing position set, the original navigation route plan, the idle route plan and the adjustable route plan, specifically including: Determine, according to the idle berthing position set, first berthing characteristic information corresponding to the idle berthing position set and a pre-configured first processable exception content; Determining, according to the occupied berthing position set, second berthing characteristic information, expected occupation cancellation time information, and pre-configured second processable exception content corresponding to the occupied berthing position set; Determine, according to the ship configuration information, the first berthing characteristic information and the second berthing characteristic information, a first target berthing position that meets the preset berthing characteristic requirements from the set of free berthing positions and the set of occupied berthing positions; According to the real-time ship status information, determine the current abnormal information of the target ship, and according to the current abnormal information, determine the duration for which the target ship can maintain safety. The current abnormal information includes the current abnormal type and specific abnormal situation; Determine, from all first target berthing positions, a second target berthing position that meets preset exception handling requirements according to the first processable exception content, the second processable exception content and the current exception information; Determine the required travel time information corresponding to the travel from the current position of the target ship to each second target berthing position, and determine the third target berthing position that meets the preset berthing time node requirements from all the second target berthing positions according to the required travel time information, the available duration and the expected occupation cancellation time information; According to all the third target berthing positions, the reliable berthing position of the target ship is determined, and according to the original navigation route plan, the idle route plan, the adjustable route plan and the reliable berthing position, the passable waters of the target ship are determined.

[0092] It can be seen that implementation Figure 4The described device can also determine the target berthing position from three levels: berthing feature requirements, exception handling requirements and berthing time node requirements to determine the reliable berthing position, and then determine the passable waters of the target ship according to the determined original navigation route plan, idle route plan, adjustable route plan and reliable berthing position, which is conducive to improving the progressiveness, comprehensiveness, integrity and rationality of the method for determining the reliable berthing position, and thus is conducive to improving the accuracy and reliability of the determined reliable berthing position. In addition, it is also conducive to improving the comprehensiveness and rationality of the method for determining the passable waters of the target ship, and thus is conducive to improving the diversity, flexibility and comprehensiveness of the determination parameters of the passable waters, thereby helping to improve the accuracy and reliability of the determined passable waters, and further helping to improve the accuracy and reliability of the subsequent navigation route call table established based on the reliable berthing position and the passable waters.

[0093] In another optional embodiment, the ship control module 303 performs corresponding ship control operations on the target ship and the target rescue ship according to the navigation route call table, specifically including: According to the navigation route call table and the current abnormal information of the determined target ship, the target rescue ship is determined from the rescue ship set; Determine the abnormal self-handling status of the target ship according to the ship configuration information and the current abnormal information, and determine the function type realized by the reliable berthing position for the target ship according to the processable abnormal content corresponding to the reliable berthing position and the current abnormal information, the function type includes the berthing function type and / or the abnormal handling function type; Determine the rescue urgency of the target rescue ship based on the abnormal self-processing situation, function type and current abnormal information, and determine the impact requirements of the current waters on the water order of the target rescue ship based on the rescue urgency; Determine the rescue route plan corresponding to the target rescue ship according to the requirements for the impact on water order and the passable waters, and control the target rescue ship to the target rescue position and perform corresponding rescue operations on the target ship according to the rescue route plan and current abnormal information; According to the abnormal self-processing situation and the navigation route call table, the target ship is controlled to perform corresponding ship driving and abnormal response operations.

[0094] It can be seen that the implementation Figure 4The described device can also control the rescue ship to perform corresponding rescue operations according to the determined rescue route plan of the rescue ship and the current abnormal information of the abnormal ship, and control the abnormal ship to perform corresponding driving and abnormal response operations according to the determined abnormal self-handling situation of the abnormal ship and the navigation route call table, which is conducive to improving the comprehensiveness, integrity and rationality of the ship control method of the abnormal ship and the rescue ship, and then it is conducive to improving the pertinence, flexibility and rationality of the control reference parameters of the abnormal ship, and it is also conducive to improving the pertinence, flexibility and rationality of the control reference parameters of the rescue ship, so as to improve the control accuracy and reliability of the rescue ship to improve the timeliness, accuracy and efficiency of the rescue of the rescue ship, and it is also conducive to improving the control accuracy and reliability of the abnormal ship to improve the timeliness, accuracy and efficiency of the abnormal response of the abnormal ship, and further conducive to improving the driving safety and driving stability of the abnormal ship.

[0095] In another optional embodiment, the ship control module 303 determines the target rescue ship from the rescue ship set according to the navigation route call table and the determined current abnormal information of the target ship, specifically including: According to the determined current abnormal information of the target ship, it is judged whether there is a first rescue ship in the rescue ship set that meets the preset abnormal processing type condition and idle condition; When it is determined that there is a first rescue ship in the rescue ship set, determining a target rescue ship based on all the first rescue ships; When it is determined that there is no first rescue ship in the rescue ship set, a second rescue ship that meets the preset abnormal processing type condition and the working condition is selected from the rescue ship set; according to the current working progress and the nature of the remaining work processing of each second rescue ship, the ship dispatching status corresponding to all the second rescue ships is determined; When the ship dispatching situation is used to indicate that there is a target second rescue ship that meets the preset ship dispatching condition among all the second rescue ships, determining the target rescue ship according to the target second rescue ship; When the ship dispatching situation is used to indicate that there is no target second rescue ship satisfying the preset ship dispatching condition among all the second rescue ships, the target rescue ship is determined according to the current abnormal information and the preset emergency rescue ship.

[0096] It can be seen that implementation Figure 4The described device can also determine the target rescue ship from three levels: exception processing type conditions and idle conditions, exception processing type conditions and working conditions, and current work progress and the nature of remaining work processing. This is conducive to improving the progressiveness, comprehensiveness, integrity and rationality of the target rescue ship determination method, and further conducive to improving the diversity and flexibility of considerations used to determine the target rescue ship, thereby facilitating improving the accuracy and reliability of the determined target rescue ship, and reducing the impact of dispatching rescue ships on the current ship while ensuring the exception handling effect of the abnormal ship.

[0097] In another optional embodiment, the ship control module 303 determines the target rescue ship according to all the first rescue ships in the following manner: When the number of ships corresponding to all first rescue ships is 1, the first rescue ship is determined as the target rescue ship; When the number of ships corresponding to all the first rescue ships is greater than 1, the required time for each first rescue ship to meet the target ship is determined according to the navigation route call table; according to all the required time lengths, the first rescue ship that meets the preset time screening condition is determined from all the first rescue ships, and the first rescue ship is determined as the target rescue ship.

[0098] It can be seen that the implementation Figure 4 The described device can also match the corresponding target rescue ship determination method for the two situations where the number of ships corresponding to the first rescue ship is 1 or the number of ships is greater than 1, which is beneficial to improving the comprehensiveness, diversity, flexibility and rationality of the target rescue ship determination method, and further helps to improve the accuracy and reliability of the determined target rescue ship.

[0099] In another optional embodiment, the ship control module 303 determines the ship dispatching conditions corresponding to all the second rescue ships according to the current work progress and the nature of the remaining work processing of each second rescue ship, specifically including: According to the determined current working progress of each second rescue ship, judging whether all the second rescue ships are in a preset unchangeable working link; When it is determined that all the second rescue ships are in an unchangeable working link, determining the ship dispatching situation is used to indicate that there is no target second rescue ship that meets the preset ship dispatching condition among all the second rescue ships; When it is determined that not all second rescue ships are in an unchangeable working link, a third rescue ship that is not in an unchangeable working link is determined from all second rescue ships; and according to the nature of the remaining work processing of each second rescue ship, whether all third rescue ships meet the preset exclusive processing object conditions; When it is determined that not all third rescue ships meet the exclusive processing object condition, determining the ship dispatching situation is used to indicate that there is a target second rescue ship that meets the preset ship dispatching condition among all second rescue ships; When it is determined that all third rescue ships meet the exclusive processing object condition, the ship dispatching situation is determined to indicate that there is no target second rescue ship meeting the preset ship dispatching condition among all second rescue ships.

[0100] It can be seen that implementation Figure 4 The described device can also determine the ship dispatch status corresponding to the second rescue ship by measuring whether it is in an unchangeable working link and whether it meets the exclusive processing object conditions. This is conducive to improving the progressiveness, comprehensiveness, integrity and rationality of the ship dispatch status determination method, and further helps to improve the accuracy and reliability of the determined ship dispatch status, thereby helping to improve the accuracy and reliability of the target rescue ship subsequently determined based on the ship dispatch status.

[0101] In yet another optional embodiment, Figure 4 As shown, the device may also include: The abnormality detection module 304 is used to determine whether the target ship meets the preset abnormal berthing conditions according to the real-time driving information of the monitored target ship, and obtain a first judgment result; when the first judgment result is yes, it is determined that the target ship has an abnormal phenomenon; when the first judgment result is no, it is determined that the target ship has no abnormal phenomenon; and / or, According to the monitored real-time driving information of the target ship, determine whether the target ship meets the preset abnormal heading and speed conditions to obtain a second judgment result; when the second judgment result is yes, determine that the target ship has an abnormal phenomenon; when the second judgment result is no, determine that the target ship has no abnormal phenomenon; and / or, According to the collected real-time hull information of the target ship, determine whether the target ship meets the preset abnormal hull damage condition to obtain a third judgment result; when the third judgment result is yes, determine that the target ship has an abnormal phenomenon; when the third judgment result is no, determine that the target ship has no abnormal phenomenon; and / or, According to the received ship driving feedback information of the target ship, it is judged whether the target ship meets the preset abnormal help condition to obtain a fourth judgment result; when the fourth judgment result is yes, it is determined that an abnormal phenomenon occurs in the target ship; when the fourth judgment result is no, it is determined that no abnormal phenomenon occurs in the target ship.

[0102] It can be seen that implementation Figure 4The described device can also determine whether the target ship has abnormal phenomena by satisfying four aspects: whether abnormal docking conditions are met, whether abnormal heading and speed conditions are met, whether abnormal hull damage conditions are met, and whether abnormal assistance conditions are met. This is conducive to improving the comprehensiveness, integrity, diversity and flexibility of the method for determining the occurrence of abnormal phenomena of the target ship, and thus is conducive to improving the accuracy and reliability of the determined occurrence of abnormal phenomena of the target ship, thereby helping to improve the timeliness, accuracy and efficiency of abnormal handling of the target ship.

[0103] Embodiment 4 See also Figure 5 , Figure 5 This is a schematic diagram of the structure of another intelligent control device for abnormal ships disclosed in an embodiment of the present invention. Figure 5 The described device may include a server, wherein the server includes a local server or a cloud server, which is not limited in the embodiment of the present invention. Figure 5 As shown, the device may include: A memory 401 storing executable program codes; a processor 402 coupled to the memory 401; Furthermore, it may also include an input interface 403 and an output interface 404 coupled to the processor 402; The processor 402 calls the executable program code stored in the memory 401 to execute the steps of the intelligent control method for abnormal ships described in the first or second embodiment.

[0104] Embodiment 5 An embodiment of the present invention discloses a computer storage medium storing a computer program for electronic data exchange, wherein the computer program enables a computer to execute the steps of the intelligent management and control method for abnormal ships described in Embodiment 1 or Embodiment 2.

[0105] Embodiment 6 An embodiment of the present 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 enable a computer to execute the steps of the intelligent management and control method for abnormal ships described in Example 1 or Example 2.

[0106] The device embodiments described above are only illustrative, wherein the modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, i.e., they may be located in one place, or they may be distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative work.

[0107] Through the specific 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 a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the above technical solution can be essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, and the storage medium includes a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electronically erasable rewritable read-only memory (EEPROM), a compact disc (CD-ROM) or other optical disc storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0108] Finally, it should be noted that the intelligent control method and device for abnormal ships disclosed in the embodiment of the present invention only discloses the preferred embodiment of the present invention, which is only used to illustrate the technical solution of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, ordinary technicians in this field should understand that it is still possible to modify the technical solutions recorded in the aforementioned embodiments, or to replace some of the technical features therein by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. An intelligent control method for abnormal ships, characterized in that: The method comprises: When an abnormal phenomenon is detected in the target ship, determining the ship configuration information of the target ship and obtaining the real-time ship status information of the target ship; According to the ship configuration information and the real-time ship status information, a navigation route call table corresponding to the target ship is established, wherein the navigation route call table is used to indicate the passable waters and / or reliable berthing positions of the target ship; According to the navigation route calling table, corresponding ship control operations are performed on the target ship and the target rescue ship to achieve the abnormal rescue of the target ship by the target rescue ship and the abnormal response of the target ship itself.

2. The intelligent control method for abnormal ships according to claim 1 is characterized in that: The step of establishing a navigation route call table corresponding to the target ship according to the ship configuration information and the real-time ship status information includes: Determine the navigation route information of other ships in the current waters where the target ship is located, and determine the idle route plan and the adjustable route plan in the current waters according to the navigation route information; Determine the original navigation route plan of the target ship, and determine the set of free berthing positions and the set of occupied berthing positions corresponding to the current waters; Determine the passable waters and berthing positions of the target ship according to the idle berthing position set, the occupied berthing position set, the original navigation route plan, the idle route plan and the adjustable route plan; A navigation route call table corresponding to the target ship is established according to the passable waters and the reliable berthing position.

3. The intelligent control method for abnormal ships according to claim 2 is characterized in that: The determining of the passable waters and the berthing position of the target ship according to the idle berthing position set, the occupied berthing position set, the original navigation route plan, the idle route plan and the adjustable route plan includes: Determining, according to the idle berthing position set, first berthing characteristic information corresponding to the idle berthing position set and a pre-configured first processable exception content; Determining, according to the occupied berthing position set, second berthing characteristic information, expected occupation cancellation time information, and pre-configured second processable exception content corresponding to the occupied berthing position set; Determining a first target berthing position that meets preset berthing characteristic requirements from the set of free berthing positions and the set of occupied berthing positions according to the ship configuration information, the first berthing characteristic information and the second berthing characteristic information; Determine the current abnormal information of the target ship according to the real-time ship status information, and determine the duration for which the target ship can maintain safety according to the current abnormal information, wherein the current abnormal information includes the current abnormal type and specific abnormal situation; Determine, according to the first processable exception content, the second processable exception content and the current exception information, a second target berthing position that meets a preset exception handling requirement from all the first target berthing positions; Determine the required travel time information corresponding to traveling from the current position of the target ship to each of the second target berthing positions, and determine a third target berthing position that meets the preset berthing time node requirements from all the second target berthing positions according to the required travel time information, the available duration and the expected occupation cancellation time information; The reliable berthing position of the target ship is determined according to all the third target berthing positions, and the passable waters of the target ship are determined according to the original navigation route plan, the idle route plan, the adjustable route plan and the reliable berthing position.

4. The intelligent control method for abnormal ships according to claim 1 is characterized in that: The performing corresponding ship control operations on the target ship and the target rescue ship according to the navigation route calling table includes: Determine a target rescue ship from a rescue ship set according to the navigation route call table and the determined current abnormal information of the target ship; Determine the abnormality self-handling status of the target ship according to the ship configuration information and the current abnormality information, and determine the function type implemented by the reliable berthing position for the target ship according to the processable abnormality content corresponding to the reliable berthing position and the current abnormality information, wherein the function type includes a berthing function type and / or an abnormality handling function type; Determine the rescue urgency of the target rescue ship according to the abnormal self-processing situation, the function type and the current abnormal information, and determine the impact requirements of the current water area on the water order of the target rescue ship according to the rescue urgency; Determine the rescue route plan corresponding to the target rescue ship according to the water order impact requirements and the passable waters, and control the target rescue ship to travel to the target rescue position and perform corresponding rescue operations on the target ship according to the rescue route plan and the current abnormal information; According to the abnormal self-processing situation and the navigation route call table, the target ship is controlled to perform corresponding ship driving and abnormal response operations.

5. The intelligent control method for abnormal ships according to claim 4 is characterized in that: The step of determining a target rescue ship from a rescue ship set according to the navigation route calling table and the determined current abnormal information of the target ship comprises: According to the determined current abnormal information of the target ship, judging whether there is a first rescue ship in the rescue ship set that meets a preset abnormal processing type condition and an idle condition; When it is determined that the first rescue ship exists in the rescue ship set, determining a target rescue ship according to all the first rescue ships; When it is determined that the first rescue ship does not exist in the rescue ship set, a second rescue ship that meets the preset abnormal processing type condition and the working condition is selected from the rescue ship set; and according to the determined current working progress and remaining work processing nature of each second rescue ship, the ship dispatching status corresponding to all the second rescue ships is determined; When the ship dispatching situation is used to indicate that there is a target second rescue ship that meets the preset ship dispatching condition among all the second rescue ships, determining the target rescue ship according to the target second rescue ship; When the ship dispatching situation is used to indicate that there is no target second rescue ship that meets the preset ship dispatching condition among all the second rescue ships, the target rescue ship is determined according to the current abnormal information and the preset emergency rescue ship.

6. The intelligent control method for abnormal ships according to claim 5 is characterized in that: The step of determining a target rescue ship according to all the first rescue ships comprises: When the number of ships corresponding to all the first rescue ships is 1, determining the first rescue ship as a target rescue ship; When the number of ships corresponding to all the first rescue ships is greater than 1, determining the required time for each of the first rescue ships to meet the target ship according to the navigation route call table; determining the first rescue ship that meets the preset time screening condition from all the first rescue ships according to all the required time, and determining the first rescue ship as the target rescue ship; And, determining the ship dispatching conditions corresponding to all the second rescue ships according to the determined current work progress and remaining work processing nature of each second rescue ship, includes: According to the determined current working progress of each second rescue ship, judging whether all the second rescue ships are in a preset unchangeable working link; When it is determined that all the second rescue ships are in the unchangeable working link, determining the ship dispatching situation is used to indicate that there is no target second rescue ship that meets the preset ship dispatching condition among all the second rescue ships; When it is determined that not all of the second rescue ships are in the unchangeable working link, a third rescue ship that is not in the unchangeable working link is determined from all of the second rescue ships; and according to the nature of the remaining work processing of each of the second rescue ships, whether all of the third rescue ships meet the preset exclusive processing object conditions; When it is determined that not all of the third rescue ships meet the exclusive processing object condition, determining the ship dispatching situation is used to indicate that there is a target second rescue ship that meets the preset ship dispatching condition among all of the second rescue ships; When it is determined that all the third rescue ships meet the exclusive processing object condition, the ship dispatching situation is determined to indicate that there is no target second rescue ship meeting the preset ship dispatching condition among all the second rescue ships.

7. The intelligent control method for abnormal ships according to any one of claims 1 to 6, characterized in that: The method further comprises: According to the monitored real-time driving information of the target ship, whether the target ship meets the preset abnormal berthing condition is determined to obtain a first judgment result; when the first judgment result is yes, it is determined that the target ship has an abnormal phenomenon; when the first judgment result is no, it is determined that the target ship has no abnormal phenomenon; and / or, According to the monitored real-time driving information of the target ship, determine whether the target ship meets the preset abnormal heading and speed conditions to obtain a second judgment result; when the second judgment result is yes, determine that the target ship has an abnormal phenomenon; when the second judgment result is no, determine that the target ship has no abnormal phenomenon; and / or, According to the collected real-time hull information of the target ship, determine whether the target ship meets the preset abnormal hull damage condition to obtain a third judgment result; when the third judgment result is yes, determine that the target ship has an abnormal phenomenon; when the third judgment result is no, determine that the target ship has no abnormal phenomenon; and / or, According to the received ship driving feedback information of the target ship, it is judged whether the target ship meets the preset abnormal help condition to obtain a fourth judgment result; when the fourth judgment result is yes, it is determined that the target ship has an abnormal phenomenon; when the fourth judgment result is no, it is determined that the target ship has no abnormal phenomenon.

8. An intelligent control device for abnormal ships, characterized in that: The device comprises: A ship information determination module is used to determine the ship configuration information of the target ship and obtain the real-time ship status information of the target ship when an abnormal phenomenon is detected in the target ship; A route calling table establishing module, used to establish a navigation route calling table corresponding to the target ship according to the ship configuration information and the real-time ship status information, wherein the navigation route calling table is used to indicate the passable waters and / or reliable berthing positions of the target ship; The ship control module is used to perform corresponding ship control operations on the target ship and the target rescue ship according to the navigation route call table, so as to realize the abnormal rescue of the target ship by the target rescue ship and the abnormal response of the target ship itself.

9. An intelligent control device for abnormal ships, characterized in that: The device comprises: A memory storing executable program code; a processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the intelligent management and control method for abnormal ships as described in any one of claims 1-7.

10. A computer storage medium, characterized in that: The computer storage medium stores computer instructions, and when the computer instructions are called, they are used to execute the intelligent management and control method for abnormal ships as described in any one of claims 1-7.

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