River-sea combined transportation channel operation state three-dimensional monitoring method, device and equipment

Abstract

The invention discloses a river-sea combined transportation channel operation state three-dimensional monitoring method, device and equipment, relates to the technical field of water transportation informatization, and is used for solving the problems of poor water traffic safety and low efficiency caused by single monitoring dimension and high data integration difficulty of a channel monitoring technology in the prior art. Comprising the following steps: constructing a land-water-air-space three-dimensional monitoring system based on the sensing elements; the land, water, air and space three-dimensional monitoring system comprises a landside dimension monitoring network, a water surface dimension monitoring network, an underwater dimension monitoring network and an air dimension monitoring network; monitoring a target area based on the land-water-air-space three-dimensional monitoring system to obtain target monitoring data; the target area comprises a landside area, a water surface area, an underwater area and an air area; constructing a channel digital twinborn scene for monitoring the running state of the river-sea combined transportation channel by adopting the target monitoring data; according to the invention, multiple dimensions can be monitored, data integration can be carried out, and the water traffic safety and efficiency are improved.

Description

Technical Field

[0001] The present invention relates to the field of water transport information technology, and in particular to a method, device and equipment for three-dimensionally monitoring the operating status of a river-sea combined transport waterway. Background Art

[0002] As an important part of water transportation, the operation status of river-sea transport channels is directly related to the safety and efficiency of water transportation. At present, waterway monitoring technology has made certain progress. High-tech means including various sensors, remote sensing technology, and drone inspections are widely used in waterway monitoring. However, these technologies often operate independently and lack a unified monitoring system and data integration capabilities, resulting in incomplete and inaccurate monitoring results. In addition, with the rise of digital twin technology, mapping the waterway operation status of the physical world into the digital world and realizing the digital and intelligent management of waterways has become an important development direction of waterway monitoring technology. Although the existing waterway monitoring technology has achieved certain results, it still has the following shortcomings: (1) Single monitoring dimension: Traditional monitoring methods often only focus on monitoring one aspect, such as water surface status, ship traffic, etc., and lack all-round monitoring capabilities. (2) Difficulty in data integration: Due to the independent operation of various monitoring technologies, it is difficult to integrate and analyze monitoring data, and it is impossible to form a comprehensive picture of the waterway operation status. Summary of the invention

[0003] The purpose of the present invention is to provide a three-dimensional monitoring method, device and equipment for the operation status of a river-sea combined transport channel, so as to solve the problem that the channel monitoring technology in the prior art has a single monitoring dimension and is difficult to integrate data, resulting in poor water traffic safety and low efficiency.

[0004] In order to achieve the above object, the present invention provides the following technical solutions:

[0005] In a first aspect, the present invention provides a method for three-dimensionally monitoring the operation status of a river-sea combined transport channel, the method comprising:

[0006] Acquire perception elements of the river-sea combined transport waterway; the perception elements at least include waterway navigation elements, waterway navigation operation status elements, waterway infrastructure operation status elements and navigation aids elements;

[0007] Based on the sensing elements, a three-dimensional monitoring system for land, water, air and space is constructed; the three-dimensional monitoring system for land, water, air and space includes a monitoring network in the land side dimension, the water surface dimension, the underwater dimension and the air dimension;

[0008] Based on the land, water, air and space three-dimensional monitoring system, the target area is monitored to obtain target monitoring data; the target area includes a landside area, a water surface area, an underwater area and an air area;

[0009] The target monitoring data is used to construct a waterway digital twin scene; the waterway digital twin scene is used to monitor the operating status of the river-sea combined transport waterway.

[0010] Optionally, in the above-mentioned river-sea combined transport channel operation status monitoring method, the land-water-air-space three-dimensional monitoring system is constructed based on the sensing elements, specifically including:

[0011] Based on the sensing elements, determining monitoring equipment; the monitoring equipment at least includes land-side monitoring equipment, surface monitoring equipment, underwater monitoring equipment and aerial monitoring equipment;

[0012] Based on the monitoring equipment, the three-dimensional monitoring system for land, water, air and space is constructed.

[0013] Optionally, in the above-mentioned river-sea combined transport channel operation status monitoring method, the monitoring of the target area based on the land, water, air and space three-dimensional monitoring system to obtain target monitoring data specifically includes:

[0014] Based on the landside monitoring equipment, the landside area is monitored to obtain first target monitoring data of the landside area; the landside area at least includes a channel revetment, a high bank slope and a water service area;

[0015] Based on the water surface monitoring equipment, the water surface area is monitored to obtain second target monitoring data of the water surface area; the water surface area at least includes a ship navigation area;

[0016] Based on the underwater monitoring equipment, the underwater area is monitored to obtain third target monitoring data of the underwater area; the underwater area at least includes the underwater structure area of ​​the channel and the water depth and siltation area of ​​the channel;

[0017] Based on the aerial monitoring equipment, the aerial area is monitored to obtain fourth target monitoring data of the aerial area; the aerial area at least includes the air area above the waterway and its surroundings and the air area above the ship navigation area.

[0018] Optionally, in the above-mentioned method for monitoring the operation status of the river-sea combined transport channel, the monitoring of the landside area based on the landside monitoring equipment to obtain the first target monitoring data of the landside area specifically includes:

[0019] By pre-embedding a displacement meter, an inclinometer or an accelerometer in the high slope on the bank side, the displacement of the high slope on the bank side is monitored to obtain displacement data of the high slope on the bank side;

[0020] Regularly collect data on the integrity of the channel revetment by regularly inspecting along a fixed route with a first unmanned aerial vehicle, and obtain abnormal state data of the channel revetment in combination with an abnormality recognition algorithm;

[0021] Regularly capture high-resolution image data of important areas of the waterway, conduct macro-situation monitoring of the important areas of the waterway through data comparison and analysis, and obtain data on situation changes in the important areas of the waterway; the important areas of the waterway at least include the water service area.

[0022] Optionally, in the above-mentioned river-sea combined transport channel operation status monitoring method, the monitoring of the water surface area based on the water surface monitoring equipment to obtain the second target monitoring data of the water surface area specifically includes:

[0023] By deploying a smart card entry system in the ship navigation area, combined with three-dimensional laser scanning equipment, radio frequency identification equipment and video acquisition terminal equipment, basic ship data at key sections of the ship navigation area are obtained; the basic ship data at least includes ship flow data;

[0024] By deploying target monitoring equipment in the section between the two smart card access systems, the ship navigation area is monitored to obtain ship status data of the ship navigation area; the target monitoring equipment at least includes a very high frequency data exchange system base station, a radar system and a video monitoring system; the status data at least includes the water flow conditions, the ship position and the navigation status of the ship navigation area;

[0025] Based on the basic ship data, the ship flow data is fused with the three-dimensional video data monitored by the video surveillance system to obtain a flight segment video fusion scene;

[0026] The very high frequency data exchange system and the flight segment video fusion scene are synchronously calibrated.

[0027] Optionally, in the above-mentioned method for monitoring the operation status of a river-sea combined transport channel, the monitoring of the underwater area based on the underwater monitoring equipment to obtain the third target monitoring data of the underwater area specifically includes:

[0028] The unmanned boat regularly cruises the navigation area of ​​the ship, and uses the ship-borne radar to monitor the underwater structure and the siltation state to obtain underwater basic data; the underwater basic data at least includes underwater structure data and siltation state data;

[0029] Determining whether the underwater structure or the silting state is abnormal based on the underwater basic data of the waterway;

[0030] If the underwater structure or the silting state is abnormal, triggering an underwater terrain scanning device to perform underwater monitoring and obtain abnormal data;

[0031] Analyze the abnormal data to obtain abnormal analysis results, and issue an early warning based on the abnormal analysis results;

[0032] The step of monitoring the aerial area based on the aerial monitoring device to obtain fourth target monitoring data of the aerial area specifically includes:

[0033] The airspace above the waterway and its surroundings and the airspace above the ship's navigation area are monitored by a second UAV or a low-orbit satellite to obtain fourth target monitoring data of the airspace.

[0034] Optionally, in the above-mentioned river-sea combined transport waterway operation status monitoring method, the use of the target monitoring data to construct a waterway digital twin scene specifically includes:

[0035] Obtain waterway construction and maintenance data;

[0036] Based on the waterway construction and maintenance data, geometric modeling is performed on the target object to obtain a basic model of the waterway environment;

[0037] Based on the first target monitoring data and the waterway environment basic model, construct a shore high slope network model;

[0038] Based on the second target monitoring data, the third target monitoring data, the fourth target detection data and the waterway environment basic model, construct a waterway traffic flow simulation model fused with real-scene video and a waterway area physical field model;

[0039] The waterway digital twin scene is constructed based on the shore high slope network model, the waterway traffic flow simulation model fused with the real-life video, and the waterway area physical field model.

[0040] Compared with the prior art, the present invention provides a three-dimensional monitoring method for the operation status of a river-sea combined transport channel, which obtains the perception elements of the river-sea combined transport channel; based on the perception elements of the river-sea combined transport channel that have been obtained, a land-water-air-space three-dimensional monitoring system consisting of land-side dimension, water surface dimension, underwater dimension and air dimension is constructed; based on the constructed land-water-air-space three-dimensional monitoring system, the land-side area, water surface area, underwater area and air area are monitored to obtain target monitoring data; based on the target monitoring area, a waterway digital twin scene is constructed to monitor the operation status of the river-sea combined transport channel. The present invention breaks through the limitations of the single or insufficient dimension of the prior art by constructing a more complete and three-dimensional land-water-air-space three-dimensional monitoring system, monitors the status of the waterway in a multi-dimensional manner, and improves the monitoring accuracy and reliability; the digital twin scene constructed based on the monitored target detection data can reflect the dynamics of the waterway in real time, and conduct simulation analysis to comprehensively improve the level of waterway management, enhance the safety of ship passage, and optimize operational efficiency, reasonably arrange ship scheduling and resource utilization, which is conducive to the planning and maintenance of the waterway.

[0041] In a second aspect, the present invention provides a three-dimensional monitoring device for the operation status of a river-sea combined transport channel, the device comprising:

[0042] A sensing element acquisition module is used to acquire sensing elements of the river-sea combined transport channel; the sensing elements at least include channel navigation elements, channel navigation operation status elements, channel infrastructure operation status elements and navigation aids elements;

[0043] A land, water, air and space three-dimensional monitoring system construction module is used to construct a land, water, air and space three-dimensional monitoring system based on the sensing elements; the land, water, air and space three-dimensional monitoring system includes a monitoring network of land side dimension, water surface dimension, underwater dimension and air dimension;

[0044] A monitoring module, used to monitor the target area based on the land, water, air and space three-dimensional monitoring system to obtain target monitoring data; the target area includes a landside area, a water surface area, an underwater area and an air area;

[0045] The waterway digital twin scene construction module is used to construct the waterway digital twin scene based on the target monitoring data; the waterway digital twin scene is used to monitor the operating status of the river-sea combined transport channel.

[0046] In a third aspect, the present invention provides a three-dimensional monitoring device for the operation status of a river-sea combined transport channel, the device comprising:

[0047] A memory, a processor, and a communication interface coupled to the processor; the memory stores a computer program that can be executed by the processor; when the processor runs the computer program, it executes a three-dimensional monitoring method for the operating status of a river-sea transport channel provided in the first aspect.

[0048] The technical effects achieved by the device-type solutions provided in the second aspect and the equipment-type solutions provided in the third aspect are the same as those of the method-type solutions provided in the first aspect, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0050] Figure 1 A schematic flow chart of a method for three-dimensional monitoring of the operation status of a river-sea combined transport channel provided by the present invention;

[0051] Figure 2 A schematic diagram of the association diagram of the sensing elements and monitoring facilities of a three-dimensional monitoring method for the operation status of a river-sea combined transport channel provided by the present invention;

[0052] Figure 3A schematic diagram of a land-water-air-space three-dimensional monitoring system and a correlation diagram of monitoring facilities for a three-dimensional monitoring method for the operation status of a river-sea combined transport channel provided in an embodiment of the present invention;

[0053] Figure 4 A schematic diagram of a three-dimensional monitoring device for the operation status of a river-sea combined transport channel provided by an embodiment of the present invention;

[0054] Figure 5 A schematic diagram of a three-dimensional monitoring device for the operation status of a river-sea combined transport channel provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0055] In order to clearly describe the technical solutions of the embodiments of the present invention, in the embodiments of the present invention, words such as "first" and "second" are used to distinguish the same items or similar items with basically the same functions and effects. For example, the first threshold and the second threshold are only used to distinguish different thresholds, and their order is not limited. Those skilled in the art can understand that words such as "first" and "second" do not limit the quantity and execution order, and words such as "first" and "second" do not necessarily limit them to be different.

[0056] It should be noted that, in the present invention, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the present invention should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0057] In the present invention, "at least one" means one or more, and "plurality" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the associated objects before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, the combination of a and b, the combination of a and c, the combination of b and c, or the combination of a, b and c, where a, b, c can be single or multiple.

[0058] Next, the solution provided by the embodiments of this specification is described in conjunction with the accompanying drawings:

[0059] like Figure 1 As shown, the process may include the following steps:

[0060] Step 110: Acquire perception elements of the river-sea transport channel; the perception elements at least include channel navigation elements, channel navigation operation status elements, channel infrastructure operation status elements and navigation aids elements.

[0061] When this step is implemented, various perception elements closely related to the operation of the waterway are clearly obtained. These perception elements reflect the status of the waterway from different angles and provide a basic data source for subsequent monitoring of the waterway. Among them, the navigation elements of the waterway refer to various conditions and information directly related to the passage of ships in the waterway, including the physical characteristics of the waterway itself (such as the water level, water flow, wind speed and direction, visibility, water depth, navigation bridge clearance, and underwater siltation); the navigation operation status elements of the waterway focus on the real-time dynamic information of ships sailing in the waterway, which is used to evaluate whether the ship's navigation is normal and safe and the traffic smoothness of the waterway, including the ship's operation trajectory and water traffic flow, specifically, the ship's real-time speed, heading, acceleration and other motion parameters. By analyzing these data, it is possible to predict whether there is a risk of collision between ships and ensure the traffic safety of the waterway; the operation status elements of the waterway infrastructure involve the integrity and operation of various infrastructures around the waterway and underwater, specifically, including waterway revetments, high slopes on the shore, water service areas, anchorages, and underwater structures of the waterway. The status of these infrastructures is the key to ensuring the normal use of the waterway; the navigation aids elements include navigation marks, which are related information of facilities that provide guidance and auxiliary information for ships navigating in the waterway, helping ships determine their own positions and navigation rules.

[0062] Step 120: Based on the sensing elements, a three-dimensional monitoring system for land, water, air and space is constructed; the three-dimensional monitoring system for land, water, air and space includes monitoring networks in land side dimension, water surface dimension, underwater dimension and air dimension.

[0063] The purpose of this step is to build a comprehensive, multi-dimensional land, water, air and space three-dimensional monitoring system. This system covers all areas of the waterway and its surroundings, including land, water, water surface and air, forming an all-round monitoring network to achieve a more accurate and comprehensive grasp of the operating status of the river-sea combined transport waterway. The construction of the land, water, air and space three-dimensional monitoring system is based on perception elements. Among them, based on the navigation elements of the waterway, detailed monitoring of the navigation conditions of ships on the water surface and underwater is carried out. For the acquisition of information such as water level, water flow, wind speed and direction, visibility, clearance of navigable bridges, water depth and underwater siltation status of the waterway, it is necessary to arrange appropriate monitoring equipment on the water surface and underwater dimensions (the monitoring equipment are: hydrological station, flow velocity and direction meter, meteorological instrument, visibility meter, radar level gauge, depth sounder, unmanned ship and underwater robot) to ensure that the waterway meets the navigation conditions; based on Regarding the waterway navigation operation status factor, since it is necessary to grasp the navigation dynamics of ships in real time, including speed, heading and relative positions between ships, etc., this requires corresponding monitoring methods in both water and air dimensions; based on the waterway infrastructure operation status factor, the demand for monitoring the operation status of land-side infrastructure (such as revetments and high slopes on the shore) determines the need to deploy appropriate sensors and monitoring methods in the land-side dimension; based on the aids to navigation factor, in order to ensure the normal operation of aids to navigation (such as beacons, lighthouses, etc.), they need to be monitored from the air and water dimensions.

[0064] Step 130: Monitor the target area based on the land, water, air and space three-dimensional monitoring system to obtain target monitoring data; the target area includes a landside area, a water surface area, an underwater area and an air area.

[0065] The land, water, air and space three-dimensional monitoring system constructed by step 120 is used to comprehensively monitor different target areas (landside area, water surface area, underwater area and air area) of the river-sea combined transport waterway, so as to obtain detailed target monitoring data of each area. These data provide basic support for the subsequent in-depth understanding of the waterway operation dynamics, the construction of the waterway digital twin scene and the decision-making analysis.

[0066] Step 140: construct a waterway digital twin scene using the target monitoring data; the waterway digital twin scene is used to monitor the operating status of the river-sea transport waterway.

[0067] The target monitoring data obtained in step 130 is used to construct a waterway digital twin scene. This digital twin scene is an accurate mapping of the actual waterway in the virtual space, which can reflect the operating status of the river-sea transport waterway in real time and provide strong support for the management, maintenance and decision-making of the waterway.

[0068] Figure 1The method in the paper obtains the sensing elements of the river-sea combined transport channel; based on the sensing elements, a three-dimensional monitoring system of land, water, air and space is constructed; based on the three-dimensional monitoring system of land, water, air and space, the target area is monitored to obtain the target monitoring data; and a digital twin scene is constructed based on the target monitoring data. By constructing a more complete and three-dimensional three-dimensional monitoring system of land, water, air and space, the limitations of the single or insufficient dimensions of the existing technology are broken through, the status of the waterway is monitored in a multi-dimensional manner, and the monitoring accuracy and reliability are improved. The digital twin scene constructed based on the monitored target monitoring data can dynamically reflect the status of the waterway in real time, conduct simulation analysis, comprehensively improve the level of waterway management, enhance the guarantee of safe passage of ships, optimize operational efficiency, and reasonably arrange ship scheduling and resource utilization, which is conducive to the planning and maintenance of the waterway.

[0069] based on Figure 1 The method in this specification also provides some specific implementation methods of the method, which are described below.

[0070] like Figure 2 As shown in the figure, the three-dimensional monitoring of the operation status of river-sea transport channels is carried out by monitoring four elements: channel navigation elements, channel navigation operation status elements, channel infrastructure operation status elements and navigation aids elements. Typical elements of channel navigation elements include:

[0071] Water level, which is monitored by hydrological stations;

[0072] Water flow, the monitoring facility of which is a flow velocity and direction meter;

[0073] Wind speed and direction, which are monitored by meteorological instruments;

[0074] Visibility, the monitoring facility is a visibility meter;

[0075] Water depth, which is monitored by a water depth detector;

[0076] Navigation bridge clearance, the monitoring facility is a radar level gauge;

[0077] Underwater siltation is monitored by unmanned boats and underwater robots.

[0078] Typical elements of waterway navigation status include:

[0079] The ship's trajectory is monitored by the Very High Frequency Data Exchange System (VDES);

[0080] The water traffic volume is monitored by the Very High Frequency Data Exchange System (VDES), video surveillance system and intelligent checkpoint system.

[0081] Typical elements of waterway infrastructure operating status elements include:

[0082] Channel revetment, whose monitoring facilities are high-resolution satellites, the first UAV and video surveillance systems;

[0083] The high slope on the shore side is monitored by high-resolution satellites, the first UAV and pre-buried displacement sensors;

[0084] The water service area, whose monitoring facilities are high-resolution satellites, the first drone and video surveillance system;

[0085] Anchorage, whose monitoring facilities are high-resolution satellite, No. 1 UAV and video surveillance system;

[0086] The underwater structure of the channel is monitored by an underwater robot. Typical elements of the aids to navigation include: navigation marks, whose monitoring facilities are telemetry and remote control navigation marks.

[0087] Optionally, based on the sensing elements, a three-dimensional monitoring system for land, water, air and space is constructed, which may specifically include:

[0088] Based on the sensing elements, determining monitoring equipment; the monitoring equipment at least includes land-side monitoring equipment, surface monitoring equipment, underwater monitoring equipment and aerial monitoring equipment;

[0089] Based on the monitoring equipment, the three-dimensional monitoring system for land, water, air and space is constructed.

[0090] The land-side monitoring equipment includes: high slope displacement sensors such as displacement meters or inclinometers or accelerometers for monitoring high slopes on the shore, the first drone for waterway bank inspection, and high-resolution satellites for macro-situation monitoring of water service areas and anchorages. Among them, the displacement meter is installed at different key positions in the high slope on the shore. Based on its high-precision displacement sensing mechanism, when the high slope on the shore is displaced, the displacement meter can obtain accurate displacement data and realize real-time monitoring of tiny displacements of the high slope; the inclinometer uses the principle of gravity and high-precision angle measurement technology to accurately measure the inclination angle. By real-time monitoring of angle changes, it can determine whether the high slope has a tendency to become unstable; the accelerometer reflects its motion state by monitoring the acceleration changes during the vibration of the high slope. These sensors together constitute a slope stability monitoring network, which can grasp the displacement of the high slope in real time and provide key data for subsequent stability assessment.

[0091] The first drone is used to regularly inspect the channel revetment along a fixed route. The first drone is equipped with monitoring equipment. By taking images of the surface of the channel revetment, it can identify damage such as cracks, collapse or erosion in the revetment. Combined with the anomaly recognition algorithm, the collected images are analyzed and processed. For example, the algorithm can compare the revetment images at the same location in different periods, and through the analysis of the texture, color and other features in the revetment images, it can timely detect the abnormal state of the revetment and realize regular monitoring of the integrity of the channel revetment.

[0092] By using high-resolution satellites and other equipment to obtain high-resolution image data, and by regularly taking image data of water service areas or anchorages and other areas, and using data comparison and analysis technology, we can promptly discover macro-situation changes in water service areas or anchorages and other areas, such as the increase or decrease in the number of ships docked, the construction or demolition of facilities, and achieve macro-monitoring.

[0093] Finally, the above-mentioned multiple monitoring devices also constitute a joint monitoring and analysis mechanism, which is reflected in that when the monitoring sensor embedded in the high slope on the shore detects an abnormal state, an early warning is issued immediately, and then the first drone is linked to confirm the alarm and collect data in the abnormal area. In this process, the data collected by the first drone (such as damaged images of the revetment, appearance images of the high slope, etc.), remote sensing image data (regional macro image data obtained by high-resolution satellites) and embedded sensor monitoring data (high slope displacement data, inclination angle, acceleration, etc.) are jointly analyzed to comprehensively evaluate the stability of the slope and give accurate evaluation results. This joint monitoring and analysis mechanism fully utilizes the advantages of different monitoring equipment and improves the accuracy and reliability of overall monitoring of the landside area.

[0094] Optionally, in step 130, the target area is monitored based on the land, water, air and space three-dimensional monitoring system to obtain target monitoring data, which specifically includes:

[0095] Based on the landside monitoring equipment, the landside area is monitored to obtain first target monitoring data of the landside area; the landside area at least includes a channel revetment, a high bank slope and a water service area;

[0096] Based on the water surface monitoring equipment, the water surface area is monitored to obtain second target monitoring data of the water surface area; the water surface area at least includes a ship navigation area;

[0097] Based on the underwater monitoring equipment, the underwater area is monitored to obtain third target monitoring data of the underwater area; the underwater area at least includes the underwater structure area of ​​the channel and the water depth and siltation area of ​​the channel;

[0098] Based on the aerial monitoring equipment, the aerial area is monitored to obtain fourth target monitoring data of the aerial area; the aerial area at least includes the air area above the waterway and its surroundings and the air area above the ship navigation area.

[0099] like Figure 3As shown, the three-dimensional monitoring system for land, water, air and space includes monitoring facilities applied in four dimensions, among which the monitoring facilities applied in the air dimension may include a second UAV and a low-orbit satellite; the monitoring facilities applied in the land side dimension may include a high slope displacement sensor and a shore side video monitoring system; the monitoring facilities applied in the water surface dimension may include a very high frequency data exchange system (VDES), a meteorological instrument, an intelligent card-entry system, a visibility meter, a radar level gauge and a telemetry and remote control beacon; the monitoring equipment applied in the underwater dimension includes an underwater robot, a depth sounder, an unmanned boat, a hydrological station and a flow velocity and direction meter.

[0100] In step 130, comprehensive monitoring work is carried out on different target areas using the completed land, water, air and space three-dimensional monitoring system, so as to obtain detailed monitoring data corresponding to each target area, further analyze the waterway operation status and construct a digital twin scene based on the detailed monitoring data.

[0101] Specifically: Based on the land-side monitoring equipment, the land-side area is monitored to obtain the first target monitoring data of the land-side area. The land-side area covers the channel revetment, the high slope on the shore, and the water service area or anchorage. The displacement meter, inclinometer, accelerometer and other sensors are embedded in the high slope on the shore to sense the displacement, inclination angle, vibration acceleration and other physical quantities of the high slope in real time, thereby obtaining relevant data on the state of the high slope on the shore; the first unmanned aerial vehicle is used to conduct regular inspections along a fixed route on the channel revetment to obtain data such as the integrity and damage of the revetment; for the water service area or anchorage, high-resolution image data comparison can be used to obtain image data through high-resolution satellites. Combining these monitoring methods, the first target monitoring data of the land-side area is obtained, including the displacement, inclination angle, vibration acceleration data of the high slope on the shore, the damage data of the channel revetment, and the macroscopic change data of the water service area or anchorage.

[0102] Based on the water surface monitoring equipment, the water surface area is monitored to obtain the second target monitoring data of the water surface area. The core of the water surface area is the ship navigation area, which is the main activity range of ships in the waterway. By deploying a smart card system at the key sections of the ship navigation area, the system integrates a variety of monitoring technologies. Among them, the three-dimensional laser scanning equipment performs three-dimensional shape scanning on passing ships at a high frequency, and can accurately obtain the ship's size (length, width, height, etc.), shape and other physical characteristics; the radio frequency identification (RFID) equipment reads the ship's number, type and other information within a certain range; the video acquisition terminal equipment uses a high-definition camera to record the ship's navigation picture in real time, and can count the ship flow and identify the ship's navigation status (such as normal driving, docking, turning, etc.) through the intelligent image analysis algorithm, thereby obtaining the basic ship data at the key sections of the ship's navigation area. In addition, target monitoring equipment is deployed in the section between the two smart card access systems, such as the VDES base station for communication between ships and between ships and shore bases and obtaining ship dynamic information; the radar system monitors ships and water flow in the section with high resolution and high refresh rate, and can accurately measure the position, speed and heading of the ship and other parameters, while also monitoring the speed and direction of the water flow; the video monitoring system uses multiple high-definition cameras to cover the water surface of the section from different angles, and forms three-dimensional video data through video fusion technology, which is fused with the ship flow data to obtain the section video fusion scene, which is used to intuitively observe the position and status of the ship and the water flow conditions in the section. Through these monitoring methods, the second target monitoring data of the water surface area is obtained, including the basic data of the ship at the key section of the ship's navigation area, as well as the ship's position, speed, heading, water flow conditions of the section and the section video fusion scene data.

[0103] Based on the underwater monitoring equipment, the underwater area is monitored to obtain the third target monitoring data of the underwater area. The underwater area involves the underwater structure area of ​​the waterway, the water depth of the waterway and the silting area. The underwater area is monitored by underwater monitoring equipment. Specifically, the unmanned ship regularly cruises the navigation area of ​​the ship. The ship-borne radar can scan the underwater structure (such as reefs, shipwrecks, underwater buildings, etc.) to obtain the location, shape and other information of the underwater structure. At the same time, it can monitor the silting state of the waterway, including the thickness and range of the silting, and obtain the underwater basic data. When the unmanned ship detects that the underwater structure or silting state is abnormal, it triggers the underwater terrain scanning equipment (such as an underwater robot) to perform more detailed underwater monitoring and obtain more accurate abnormal data. Combining the above monitoring process, the third target monitoring data of the underwater area is obtained, including underwater basic data and underwater abnormal data when abnormalities occur.

[0104] Based on the aerial monitoring equipment, the aerial area is monitored to obtain the fourth target monitoring data of the aerial area. The aerial area includes the air area above the waterway and its surroundings and the air area above the ship navigation area. It is monitored by the aerial monitoring equipment, and the above-mentioned aerial area is monitored by the second UAV or low-orbit satellite. The second UAV is equipped with optical cameras, meteorological sensors and other equipment. The optical camera can take high-resolution images to monitor the macroscopic conditions of the waterway, such as the overall shape of the waterway, the surrounding landforms, the distribution of ships in the waterway, etc.; the meteorological sensor can measure meteorological parameters such as wind speed, wind direction, temperature, humidity, etc. These meteorological data are of great significance for analyzing the impact of wind on ship navigation and predicting the impact of weather changes on the waterway. Low-orbit satellites can provide more macroscopic and large-area waterway monitoring. The radar remote sensing equipment they carry can obtain images and data of the waterway and its surrounding areas. Radar remote sensing can monitor the water surface of the waterway, ships, etc., and obtain information such as the approximate location of the ship and the water accumulation of the waterway after the water accumulates. Through these monitoring methods, the fourth target monitoring data of the aerial area is obtained, including image data of the waterway and surrounding areas, meteorological data, and ship positions above the ship navigation area (approximate positions obtained by satellite monitoring) and other related data.

[0105] It should be noted that the first UAV used for land-side dimension monitoring and the second UAV used for air-side dimension monitoring may be the same UAV or different UAVs.

[0106] Exemplarily, based on the water surface monitoring device, monitoring the water surface area to obtain second target monitoring data of the water surface area further includes:

[0107] Based on the acquired basic ship data, especially the ship flow data, it is fused with the three-dimensional video data monitored by the video surveillance system. The ship flow data reflects the changes in the number of ships on the waterway, while the three-dimensional video data intuitively displays the visual information such as the specific position, shape and relationship of the ships in the section. Through a specific data fusion algorithm, the integration of these two types of data can enable managers to more clearly and comprehensively understand the actual distribution of ships and traffic flow in the section, and generate a section video fusion scene. Specifically, in the fusion process, the number of ships, passing time and other information in the ship flow data are used to correspond to the individual ships in the three-dimensional video data, and the relevant attributes of each ship in the flow statistics are marked. At the same time, the information such as the spatial position of the ship in the three-dimensional video data is fed back to the analysis of the ship flow data, so that the flow data is no longer an abstract number, but combined with the intuitive video screen, forming a section video fusion scene that contains both accurate data and visualization effects, which is more conducive to real-time monitoring and analysis of waterway traffic conditions.

[0108] Next, the VDES and the flight segment video fusion scene are synchronously calibrated. In actual operation, the ship dynamic information (such as position, speed, heading, etc.) obtained by the VDES is updated in real time based on communication and data exchange, while the flight segment video fusion scene shows the ship status in the intuitive video screen. The purpose of synchronous calibration is to find the corresponding relationship between the two, so that each ship information point in the VDES data can accurately find the corresponding ship image in the flight segment video fusion scene, and vice versa. After calibration, the system can realize the real-time linkage display function in the form of a small window, that is, while displaying the two-dimensional AIS status information of the ship, it also presents the corresponding video fusion scene screen, so that relevant personnel can intuitively combine the abstract data information with the actual ship image and understand the real status of the ship more clearly.

[0109] At the same time, in order to facilitate the viewing and analysis of information with different levels of detail, the system also supports interactive functions such as synchronous zooming, point-to-point viewing, and sliding switching of AIS and real-life video fusion scenes. For example, when you need to view detailed information about a ship, you can accurately locate and display the detailed parameters of the ship in the AIS information window by clicking, and the video fusion scene can also zoom in or out the entire section or local area through the synchronous zoom function. The sliding switching function allows relevant personnel to flexibly switch to view ship information and video images at different locations or time periods according to the direction of the channel or time sequence, greatly improving the efficiency and convenience of information query and analysis.

[0110] In addition, the system has an efficient abnormal state alarm mechanism and allows fusion annotation display. For abnormal states that occur during radar monitoring, ship draft monitoring, etc., the system has an efficient alarm mechanism, and can perform intuitive three-dimensional fusion annotation and alarm message display in the real-life video fusion scene, while supporting the synchronous linkage viewing of video, radar, and AIS data related to the abnormal area. Specifically, once an abnormal annotation is found, the relevant personnel only need to perform simple operations (such as clicking on the annotation point or selecting the relevant abnormal record) to see the video surveillance screen (displaying the actual situation of the abnormal scene) at the corresponding time or location in different display windows, radar monitoring data (presenting dynamic information of targets such as ships and water flows around the abnormal area) and AIS data (providing the identity and status information of the ship involved), realizing the integration and synchronous display of multi-source data, ensuring that the relevant personnel can discover abnormal situations in the first time and fully grasp the relevant information to make correct decisions and countermeasures.

[0111] At the same time, the navigation section sliding window viewing method is adopted, with the standard window unit that maximizes the effective vertical display of the real-life video fusion screen and the entire navigation section direction as the coordinate axis, to build a flexible, convenient and efficient channel monitoring viewing mode, which enables the mobile viewing of the real-life video fusion channel through the left and right sliding window, and ensures the synchronous interactive display window area in the radar system and AIS system, so as to achieve the real-time dynamic monitoring and tracking of ships with the integration of three perception methods, and comprehensively improve the monitoring ability and management efficiency of the operation status of navigation vessels. Under this viewing method, with the entire navigation section direction as the coordinate axis, through the left and right sliding window operation, the navigation conditions at different locations can be viewed section by section, and a comprehensive coverage view of the entire navigation section can be achieved. During the window sliding viewing process, the radar system and AIS system will realize synchronous interactive display with the video fusion window, that is, no matter where the window slides to in the section, the radar system will update and display the radar monitoring data of ships, water currents and other targets in the window area in real time. The AIS system will also present the identity information and other data of the ships in the corresponding area, and the display of these data will keep corresponding relationship with the ship images in the video fusion screen, so that relevant personnel can grasp the dynamic changes of the ship in real time from different angles and levels, realize the refined management and efficient command and dispatch of the waterway ships, and ensure the safe and smooth operation of the waterway.

[0112] Optionally, the target monitoring data is used to construct a waterway digital twin scene, specifically including:

[0113] Obtain waterway construction and maintenance data;

[0114] Based on the waterway construction and maintenance data, geometric modeling is performed on the target object to obtain a basic model of the waterway environment;

[0115] Based on the first target monitoring data and the waterway environment basic model, construct a shore high slope network model;

[0116] Based on the second target monitoring data, the third target monitoring data, the fourth target detection data and the waterway environment basic model, construct a waterway traffic flow simulation model fused with real-scene video and a waterway area physical field model;

[0117] The waterway digital twin scene is constructed based on the shore high slope network model, the waterway traffic flow simulation model fused with the real-life video, and the waterway area physical field model.

[0118] The construction of the waterway digital twin scene is based on the multi-dimensional target monitoring data obtained in the early stage through the three-dimensional monitoring system of land, water, air and space. It aims to create a virtual digital model that is highly matched with the operation status of the waterway. Through this model, the actual situation of the waterway can be reflected in real time, intuitively and comprehensively, providing strong support for waterway management, maintenance and decision-making.

[0119] The specific steps are as follows: obtain the waterway construction and maintenance data, which covers all kinds of key information generated in the process from waterway planning and construction to daily maintenance. Based on the acquired waterway construction and maintenance data, use computers to perform geometric modeling, including the waterway and surrounding terrain but navigation buildings, waterway infrastructure and navigation aids, etc., and finally form a basic model of the waterway environment, which constitutes the basic architecture of the waterway digital twin scene; next, integrate the first target monitoring data monitored in the landside area (such as displacement data, inclination angle data and vibration acceleration data of the high slope on the shore) into the constructed basic model of the waterway environment, and use data-driven modeling technology to construct a network model of the high slope on the shore. Through the analysis of displacement monitoring data and the dynamic calculation of the model, it supports the dynamic expression of five types of slope states: creep deformation, constant speed deformation, accelerated deformation, impending slide and landslide;

[0120] Based on the coordinated monitoring of ship traffic operation at the water surface segment-level video fusion, a waterway traffic flow simulation model with real-scene video fusion is constructed. Specifically, the ship-related data collected by the smart card system deployed in the ship navigation area and the segment-level video fusion data generated by the video surveillance system deployed on the segment are used to construct a waterway traffic flow simulation model through computer simulation technology. For those ships whose AIS (Automatic Identification System) is not turned on or installed or has equipment failure, the distance between two adjacent smart card gates and the time difference between the ship's appearance at these two card gates are used to reversely calculate the ship's speed through a simple speed calculation formula. The running speed is combined with the AIS data of other normal ships (such as the real-time position, heading, speed, etc. of the ship) to reproduce the overall simulation scene of the channel ship operation as completely and accurately as possible. After reproducing the trajectories of all ships that cannot be recognized by the AIS system, they are coupled with the data on the AIS system, and the overlap of the data of ships traveling normally in the AIS system is avoided. The corrected AIS data is obtained and synchronized with the real-life video fusion scene to make the navigation status of the ship in the model consistent with the actual situation in the real channel, presenting the dynamic traffic flow distribution, navigation trajectory and interaction relationship between ships, etc.

[0121] Based on the monitoring data of water surface navigation elements, a multi-physical field model and intuitive expression of the waterway area are constructed. Specifically, based on the monitoring data of water surface navigation elements, such as wind speed, wind direction and other data obtained by meteorological sensors, and the water flow velocity and other data of the waterway obtained by the radar system, the physical modeling method is used to construct the wind field, fluid field (water body), participating medium field (visibility), and bottom silt fluid field models of the waterway area respectively. These models can convert abstract physical field data into intuitive graphics or animations in a visual way, so that relevant personnel can understand the status and changes of these key physical factors in the waterway area at a glance, which is convenient for making reasonable decisions in waterway management, ship navigation scheduling and waterway maintenance.

[0122] Optionally, after the target monitoring data is used to construct the waterway digital twin scene, the method further includes:

[0123] Based on the land, water, air and space three-dimensional monitoring system, real-time monitoring is performed to obtain real-time monitoring data of the target;

[0124] Based on the target real-time monitoring data, the variable elements in the waterway infrastructure, the parameters of the waterway physical field, the status of ship traffic flow, and the ship mark and navigation rules information are updated; the variable elements in the waterway infrastructure include at least the damage of the waterway revetment, the changes in the high slope on the shore side and the damage of the underwater structure, and the waterway physical field includes at least the waterway fluid field, wind field and non-uniform participating medium field.

[0125] It should be noted that after the digital twin scene of the waterway is constructed, in order to enable it to reflect the actual operating status of the actual waterway in real time and accurately, it needs to be dynamically updated based on the continuously acquired monitoring data. This update process is based on the target real-time monitoring data obtained by the three-dimensional monitoring system of land, water, air and space, involving multiple key aspects of the waterway, including infrastructure, navigation elements, operating status and navigation aids, etc. Through targeted update steps of each part, a cycle mechanism is formed to achieve continuous updating and iteration of the digital twin scene of the waterway, ensuring that the digital twin scene and the actual waterway always maintain a high degree of consistency and synchronization, providing a reliable basis for waterway management and decision-making.

[0126] Specifically, based on the infrastructure monitoring data obtained by land-side monitoring equipment and underwater monitoring equipment in the land, water, air and space three-dimensional monitoring system, the variable elements in the waterway infrastructure are updated, specifically covering the damage of the waterway revetment, changes in the high slopes on the shore, and damage to the underwater structure; based on the changes in the waterway navigation element monitoring data collected by the land, water, air and space three-dimensional monitoring system, the key parameters such as the waterway fluid field (including water fluid field, silt field), wind field, and non-uniform participating medium field (such as visibility-related medium field) are updated, so that the entire digital twin scene can accurately map the waterway navigation elements. changes; based on the waterway operation status monitoring data obtained through the three-dimensional monitoring system of land, water, air and space, the status of ship traffic flow in the digital twin scene is updated, so that the distribution and navigation trajectory of ships in the virtual scene change synchronously with the actual situation in the real waterway, and support a certain degree of ship traffic flow simulation prediction; use the monitoring data fed back by navigation marks to update the ship marks and navigation rules information in the digital twin scene, update the guidance rules for ship passage in the digital twin scene and other contents, ensure that the navigation aids information in the digital twin scene is consistent with the actual situation in the real waterway, and provide a reliable basis for accurate navigation of ships.

[0127] Through the above steps of updating the waterway infrastructure, navigation elements, operating status and navigation aids in sequence, a complete cycle process is formed. This cycle will be repeated as the land, water, air and space three-dimensional monitoring system continuously obtains real-time monitoring data of the target, so that the waterway digital twin scene can always keep up with the changes in the actual waterway, achieve continuous updates and iterations, and ensure the timeliness and practicality of the digital twin scene.

[0128] like Figure 4 As shown, the present invention also provides a three-dimensional monitoring device for the operation status of a river-sea combined transport channel, and the device may include:

[0129] The sensing element acquisition module 410 is used to acquire the sensing elements of the river-sea combined transport channel; the sensing elements at least include channel navigation elements, channel navigation operation status elements, channel infrastructure operation status elements and navigation aids elements;

[0130] A land, water, air and space three-dimensional monitoring system construction module 420 is used to construct a land, water, air and space three-dimensional monitoring system based on the sensing elements; the land, water, air and space three-dimensional monitoring system includes a monitoring network of land side dimension, water surface dimension, underwater dimension and air dimension;

[0131] A monitoring module 430 is used to monitor the target area based on the land, water, air and space three-dimensional monitoring system to obtain target monitoring data; the target area includes a landside area, a water surface area, an underwater area and an air area;

[0132] The waterway digital twin scene construction module 440 is used to construct a waterway digital twin scene based on target monitoring data; the waterway digital twin scene is used to monitor the operating status of the river-sea combined transport channel.

[0133] Based on the three-dimensional monitoring device for the operation status of the river-sea combined transport channel, some specific implementation units may also be included:

[0134] Optionally, the land, water, air and space three-dimensional monitoring system construction module 420 may specifically include:

[0135] A monitoring device determining unit, configured to determine a monitoring device based on the sensing element;

[0136] The land, water, air and space monitoring system construction unit is used to construct the land, water, air and space three-dimensional monitoring system based on the monitoring equipment.

[0137] Optionally, the monitoring module 430 further includes:

[0138] A landside area monitoring unit monitors the landside area based on the landside monitoring equipment to obtain first target monitoring data of the landside area;

[0139] A water surface area monitoring unit, configured to monitor the water surface area based on the water surface monitoring device to obtain second target monitoring data of the water surface area;

[0140] An underwater area monitoring unit, configured to monitor the underwater area based on the underwater monitoring device to obtain third target monitoring data of the underwater area;

[0141] The air area monitoring unit is used to monitor the air area based on the air monitoring equipment to obtain fourth target monitoring data of the air area.

[0142] Optionally, the landside area monitoring unit further includes:

[0143] A bank side high slope monitoring subunit is used to monitor the displacement of the bank side high slope based on the pre-buried displacement meter, inclinometer or accelerometer of the bank side high slope to obtain the displacement data of the bank side high slope;

[0144] The revetment integrity monitoring subunit is used to collect data on the integrity of the channel revetment during regular inspections along a fixed route, and obtain abnormal status data of the channel revetment in combination with an abnormality recognition algorithm;

[0145] The macro-situation monitoring subunit of important waterway areas is used to regularly capture high-resolution image data of important waterway areas, conduct macro-situation monitoring of the important waterway areas through data comparison and analysis, and obtain data on situation changes in the important waterway areas.

[0146] Optionally, the water surface area monitoring unit further comprises:

[0147] The ship basic data acquisition subunit is used to acquire the ship basic data at the key sections of the ship navigation area based on the deployment of the smart card system in the ship navigation area, combined with the three-dimensional laser scanning equipment, the radio frequency identification equipment and the video acquisition terminal equipment;

[0148] A ship status data acquisition subunit, configured to monitor the ship navigation area based on the target monitoring equipment deployed in the section between the two smart card access systems, and obtain the ship status data of the ship navigation area;

[0149] A flight segment video fusion scene acquisition subunit is used to fuse the ship flow data with the three-dimensional video data monitored by the video monitoring system based on the ship basic data to obtain a flight segment video fusion scene;

[0150] The synchronous calibration subunit is used to synchronously calibrate the very high frequency data exchange system and the flight segment video fusion scene.

[0151] Optionally, the underwater area monitoring unit further includes:

[0152] An underwater basic data acquisition subunit is used to monitor underwater structures and siltation status using a ship-borne radar based on regular patrols of the ship navigation area by an unmanned ship to obtain underwater basic data;

[0153] A judgment subunit, configured to judge whether the underwater structure or the silting state is abnormal based on the underwater basic data of the waterway;

[0154] An abnormal data acquisition subunit is used to trigger the underwater terrain scanning equipment to perform underwater monitoring and acquire abnormal data;

[0155] The abnormal data analysis subunit and the early warning subunit are used to analyze the abnormal data, obtain abnormal analysis results, and issue an early warning based on the abnormal analysis results.

[0156] Optionally, the air area monitoring unit further comprises:

[0157] The fourth target monitoring data acquisition subunit is used to monitor the airspace above the waterway and its surroundings and the airspace above the ship's navigation area through a second UAV or a low-orbit satellite to obtain fourth target monitoring data of the airspace.

[0158] Optionally, the waterway digital twin scene construction module 440 further includes:

[0159] Channel data acquisition unit, used to acquire channel construction and maintenance data;

[0160] A geometric modeling unit, used to perform geometric modeling on a target object based on the waterway construction and maintenance data to obtain a basic model of the waterway environment;

[0161] A shore high slope network model construction unit, used to construct a shore high slope network model based on the first target monitoring data and the waterway environment basic model;

[0162] A waterway traffic flow simulation model construction unit and a waterway area physical field model construction unit, used to construct a waterway traffic flow simulation model and a waterway area physical field model fused with real-scene video based on the second target monitoring data, the third target monitoring data, the fourth target detection data and the waterway environment basic model;

[0163] A waterway digital twin scene construction unit is used to construct the waterway digital twin scene based on the shore high slope network model, the waterway traffic flow simulation model fused with the real-life video, and the waterway area physical field model.

[0164] Based on the same idea, the embodiment of this specification also provides a three-dimensional monitoring device for the operation status of the river-sea combined transport channel. Figure 5 As shown, the device includes:

[0165] A memory, a processor and a communication interface coupled to the processor; the memory stores a computer program that can be run by the processor; when the processor runs the computer program, it executes the aforementioned method for identifying meteorological disaster warnings at any point.

[0166] like Figure 5 As shown, the processor may be a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the present invention. The communication interface may be one or more. The communication interface may use any transceiver-like device for communicating with other devices or communication networks.

[0167] like Figure 5 As shown, the terminal device may further include a communication line. The communication line may include a path to transmit information between the components.

[0168] Optional, such as Figure 5As shown, the terminal device may further include a memory. The memory stores a computer program that can be executed by the processor; when the processor executes the computer program, the method provided by the embodiment of the present invention is implemented.

[0169] Optionally, the computer-executable instructions in the embodiment of the present invention may also be referred to as application program codes, which is not specifically limited in the embodiment of the present invention.

[0170] In a specific implementation, as an example, Figure 5 As shown, the processor may include one or more CPUs, such as Figure 5 CPU0 and CPU1 in.

[0171] In a specific implementation, as an example, Figure 5 As shown, the terminal device may include multiple processors, such as Figure 5 Each of these processors can be a single-core processor or a multi-core processor.

[0172] The above mainly introduces the solution provided by the embodiment of the present invention from the perspective of the interaction between the various modules. It is understandable that, in order to realize the above functions, each module includes a hardware structure and / or software unit corresponding to the execution of each function. It should be easily appreciated by those skilled in the art that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the present invention can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0173] The embodiment of the present invention can divide the functional modules according to the above method example. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiment of the present invention is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0174] The processor in this specification may also have the function of a memory. The memory is used to store computer-executable instructions for executing the solution of the present invention, and the execution is controlled by the processor. The processor is used to execute the computer-executable instructions stored in the memory, thereby implementing the method provided by the embodiment of the present invention.

[0175] The memory may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory may exist independently and be connected to the processor through a communication line. The memory may also be integrated with the processor.

[0176] Although the present invention is described herein in conjunction with various embodiments, in the process of implementing the claimed invention, those skilled in the art may understand and implement other variations of the disclosed embodiments by viewing the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other components or steps, and "one" or "an" does not exclude multiple situations. A single processor or other unit may implement several functions listed in the claims. Certain measures are recorded in different dependent claims, but this does not mean that these measures cannot be combined to produce good results.

[0177] Although the present invention has been described in conjunction with specific features and embodiments thereof, it is apparent that various modifications and combinations may be made thereto without departing from the spirit and scope of the present invention. Accordingly, this specification and the accompanying drawings are merely exemplary illustrations of the present invention as defined by the appended claims and are deemed to cover any and all modifications, variations, combinations or equivalents within the scope of the present invention. Obviously, those skilled in the art may make various modifications and variations to the present invention without departing from the spirit and scope of the present invention. Thus, the present invention is intended to include such modifications and variations if they fall within the scope of the claims of the present invention and their equivalents.

Claims

1. A three-dimensional monitoring method for the operation status of a river-sea combined transport channel, characterized in that the method include: Obtain the perceptual elements of river-sea transport channels; The perception elements at least include waterway navigation elements, waterway navigation operation status elements, waterway infrastructure operation status elements and navigation aids elements; Based on the sensing elements, a three-dimensional monitoring system for land, water, air and space is constructed; the three-dimensional monitoring system for land, water, air and space includes a monitoring network in the land side dimension, the water surface dimension, the underwater dimension and the air dimension; Based on the land, water, air and space three-dimensional monitoring system, the target area is monitored to obtain target monitoring data; the target area includes a landside area, a water surface area, an underwater area and an air area; The target monitoring data is used to construct a waterway digital twin scene; the waterway digital twin scene is used to monitor the operating status of the river-sea combined transport waterway.

2. The three-dimensional monitoring method for the operation status of the river-sea combined transport channel according to claim 1 is characterized in that: The three-dimensional monitoring system of land, water, air and space is constructed based on the sensing elements, specifically including: Based on the sensing elements, determining monitoring equipment; the monitoring equipment at least includes land-side monitoring equipment, surface monitoring equipment, underwater monitoring equipment and aerial monitoring equipment; Based on the monitoring equipment, the three-dimensional monitoring system for land, water, air and space is constructed.

3. The three-dimensional monitoring method for the operation status of the river-sea combined transport channel according to claim 2 is characterized in that: The target area is monitored based on the land, water, air and space three-dimensional monitoring system to obtain target monitoring data, specifically including: Based on the landside monitoring equipment, the landside area is monitored to obtain first target monitoring data of the landside area; the landside area at least includes a channel revetment, a high bank slope and a water service area; Based on the water surface monitoring equipment, the water surface area is monitored to obtain second target monitoring data of the water surface area; the water surface area at least includes a ship navigation area; Based on the underwater monitoring equipment, the underwater area is monitored to obtain third target monitoring data of the underwater area; the underwater area at least includes the underwater structure area of ​​the channel and the water depth and siltation area of ​​the channel; Based on the aerial monitoring equipment, the aerial area is monitored to obtain fourth target monitoring data of the aerial area; the aerial area at least includes the air area above the waterway and its surroundings and the air area above the ship navigation area.

4. The three-dimensional monitoring method for the operation status of the river-sea combined transport channel according to claim 3 is characterized in that: The monitoring of the landside area based on the landside monitoring equipment to obtain the first target monitoring data of the landside area specifically includes: By pre-embedding a displacement meter, an inclinometer or an accelerometer in the high slope on the bank side, the displacement of the high slope on the bank side is monitored to obtain displacement data of the high slope on the bank side; Regularly collect data on the integrity of the channel revetment by regularly inspecting along a fixed route with a first unmanned aerial vehicle, and obtain abnormal state data of the channel revetment in combination with an abnormality recognition algorithm; Regularly capture high-resolution image data of important areas of the waterway, conduct macro-situation monitoring of the important areas of the waterway through data comparison and analysis, and obtain data on situation changes in the important areas of the waterway; the important areas of the waterway at least include the water service area.

5. The three-dimensional monitoring method for the operation status of the river-sea combined transport channel according to claim 3 is characterized in that: The monitoring of the water surface area based on the water surface monitoring device to obtain second target monitoring data of the water surface area specifically includes: By deploying a smart card entry system in the ship navigation area, combined with three-dimensional laser scanning equipment, radio frequency identification equipment and video acquisition terminal equipment, basic ship data at key sections of the ship navigation area are obtained; the basic ship data at least includes ship flow data; By deploying target monitoring equipment in the section between the two smart card access systems, the ship navigation area is monitored to obtain ship status data of the ship navigation area; the target monitoring equipment at least includes a very high frequency data exchange system base station, a radar system and a video monitoring system; the status data at least includes the water flow conditions, the ship position and the navigation status of the ship navigation area; Based on the basic ship data, the ship flow data is fused with the three-dimensional video data monitored by the video surveillance system to obtain a flight segment video fusion scene; The very high frequency data exchange system and the flight segment video fusion scene are synchronously calibrated.

6. The three-dimensional monitoring method for the operation status of the river-sea combined transport channel according to claim 3 is characterized in that: The monitoring of the underwater area based on the underwater monitoring device to obtain the third target monitoring data of the underwater area specifically includes: The unmanned boat regularly cruises the navigation area of ​​the ship, and uses the ship-borne radar to monitor the underwater structure and the siltation state to obtain underwater basic data; the underwater basic data at least includes underwater structure data and siltation state data; Determining whether the underwater structure or the silting state is abnormal based on the underwater basic data of the waterway; If the underwater structure or the silting state is abnormal, triggering an underwater terrain scanning device to perform underwater monitoring and obtain abnormal data; Analyze the abnormal data to obtain abnormal analysis results, and issue an early warning based on the abnormal analysis results; The step of monitoring the aerial area based on the aerial monitoring device to obtain fourth target monitoring data of the aerial area specifically includes: The airspace above the waterway and its surroundings and the airspace above the ship's navigation area are monitored by a second UAV or a low-orbit satellite to obtain fourth target monitoring data of the airspace.

7. The three-dimensional monitoring method for the operation status of the river-sea combined transport channel according to claim 3 is characterized in that: The use of the target monitoring data to construct a waterway digital twin scene specifically includes: Obtain waterway construction and maintenance data; Based on the waterway construction and maintenance data, geometric modeling is performed on the target object to obtain a basic model of the waterway environment; Based on the first target monitoring data and the waterway environment basic model, construct a shore high slope network model; Based on the second target monitoring data, the third target monitoring data, the fourth target detection data and the waterway environment basic model, construct a waterway traffic flow simulation model fused with real-scene video and a waterway area physical field model; The waterway digital twin scene is constructed based on the shore high slope network model, the waterway traffic flow simulation model fused with the real-life video, and the waterway area physical field model.

8. The three-dimensional monitoring method for the operation status of the river-sea combined transport channel according to claim 3 is characterized in that: After the target monitoring data is used to construct the waterway digital twin scene, the method further includes: Based on the land, water, air and space three-dimensional monitoring system, real-time monitoring is performed to obtain real-time monitoring data of the target; Based on the target real-time monitoring data, the variable elements in the waterway infrastructure, the parameters of the waterway physical field, the status of ship traffic flow, and the ship mark and navigation rules information are updated; the variable elements in the waterway infrastructure include at least the damage of the waterway revetment, the changes in the high slope on the shore side and the damage of the underwater structure, and the waterway physical field includes at least the waterway fluid field, wind field and non-uniform participating medium field.

9. A three-dimensional monitoring device for the operation status of a river-sea combined transport channel, characterized in that: The device includes: A sensing element acquisition module is used to acquire sensing elements of the river-sea combined transport channel; the sensing elements at least include channel navigation elements, channel navigation operation status elements, channel infrastructure operation status elements and navigation aids elements; A land, water, air and space three-dimensional monitoring system construction module is used to construct a land, water, air and space three-dimensional monitoring system based on the sensing elements; the land, water, air and space three-dimensional monitoring system includes a monitoring network of land side dimension, water surface dimension, underwater dimension and air dimension; A monitoring module, used to monitor the target area based on the land, water, air and space three-dimensional monitoring system to obtain target monitoring data; the target area includes a landside area, a water surface area, an underwater area and an air area; The waterway digital twin scene construction module is used to construct the waterway digital twin scene based on the target monitoring data; the waterway digital twin scene is used to monitor the operating status of the river-sea combined transport channel.

10. A three-dimensional monitoring device for the operation status of a river-sea combined transport channel, characterized in that the device include: A memory, a processor, and a communication interface coupled to the processor; The memory stores a computer program executable by the processor; When the processor runs the computer program, it executes a three-dimensional monitoring method for the operation status of a river-sea combined transport channel as described in any one of claims 1 to 8.

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