Ship expelling method and device in offshore photovoltaic scene, product and equipment

Abstract

The invention relates to the technical field of offshore photovoltaic, and provides a ship expelling method and device in an offshore photovoltaic scene, a product and equipment. The method comprises the following steps: when it is determined that ships exist in an offshore photovoltaic area, classifying the ships, and determining a first ship from the ships according to a classification result; based on the position of the first ship, the position ranges of different functional areas of the offshore photovoltaic area and the passing priorities of the different functional areas, determining a first target leaving path for the first ship to leave the offshore photovoltaic area; and in response to the first target departure path determination success instruction, starting a voice device arranged in the offshore photovoltaic area in advance, and broadcasting the first target departure path to the first ship through the voice device so as to guide the first ship to leave the offshore photovoltaic area according to the first target departure path. The ship can be automatically guided to be away from the offshore photovoltaic area, and the safety of the offshore photovoltaic area is improved.

Description

Technical Field

[0001] The present disclosure relates to the field of offshore photovoltaic technology, and in particular to a method for driving away a ship in an offshore photovoltaic scenario, a device for driving away a ship in an offshore photovoltaic scenario, a computer program product, and an electronic device. Background Art

[0002] In order to ensure normal power generation at the offshore photovoltaic construction site and after the project is completed, general ships, especially foreign ships, are usually prohibited from approaching. On the one hand, this is to ensure that the site is not damaged, and on the other hand, it is also for the safety of the ship and the personnel on board.

[0003] Therefore, there is an urgent need for a method that can drive ships away in offshore photovoltaic scenarios.

[0004] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present disclosure, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0005] The purpose of the present disclosure is to provide a method and device for driving away ships in an offshore photovoltaic scenario, a computer program product and an electronic device, thereby improving the safety of offshore photovoltaic areas at least to a certain extent.

[0006] Other features and advantages of the present disclosure will become apparent from the following detailed description, or may be learned in part by the practice of the present disclosure.

[0007] According to a first aspect of the present disclosure, a method for expelling ships in an offshore photovoltaic scenario is provided, comprising: in a case where it is determined that there are ships in an offshore photovoltaic area, classifying the ships, and determining a first ship from the ships according to the classification result, wherein the first ship includes other ships that are not operating ships in the offshore photovoltaic area; based on the position of the first ship, the position range of different functional areas of the offshore photovoltaic area and the traffic priority of the different functional areas, determining a first target departure path for the first ship to leave the offshore photovoltaic area; in response to an instruction that the first target departure path is successfully determined, turning on a voice device pre-set in the offshore photovoltaic area, and broadcasting the first target departure path to the first ship through the voice device, so as to guide the first ship to leave the offshore photovoltaic area according to the first target departure path.

[0008] According to a second aspect of the present disclosure, a method and apparatus for expelling a ship in an offshore photovoltaic scenario is provided, comprising: a first ship determination module, configured to classify the ships when determining that there are ships in an offshore photovoltaic area, and determine a first ship from the ships according to the classification result, wherein the first ship includes other ships that are not operating ships in the offshore photovoltaic area; a target departure path determination module, configured to determine a first target departure path for the first ship to leave the offshore photovoltaic area based on the position of the first ship, the position range of different functional areas of the offshore photovoltaic area, and the traffic priority of the different functional areas; and an expulsion guidance module, configured to start a voice device pre-set in the offshore photovoltaic area in response to an instruction of successful determination of the first target departure path, and broadcast the first target departure path to the first ship through the voice device, so as to guide the first ship to leave the offshore photovoltaic area according to the first target departure path.

[0009] According to a third aspect of the present disclosure, a computer program product comprising instructions is provided, which, when executed on a computer, enables the computer to execute the steps of the ship driving away method in an offshore photovoltaic scenario as described in the first aspect.

[0010] According to a fourth aspect of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored. When the program is executed by a processor, the method for driving away ships in an offshore photovoltaic scenario as described in the first aspect of the above embodiment is implemented.

[0011] According to a fifth aspect of an embodiment of the present disclosure, an electronic device is provided, comprising: a processor; and a storage device for storing one or more programs, which, when executed by the one or more processors, enables the one or more processors to implement the ship driving away method in the offshore photovoltaic scenario as described in the first aspect of the above embodiment.

[0012] It can be seen from the above technical solutions that the ship driving away method in the offshore photovoltaic scenario, the ship driving away device in the offshore photovoltaic scenario, and the computer program product and electronic device for implementing the ship driving away method in the offshore photovoltaic scenario in the exemplary embodiments of the present disclosure have at least the following advantages and positive effects: In the technical solutions provided by some embodiments of the present disclosure, by classifying the ships in the offshore photovoltaic area, foreign ships can be determined, and based on the location of the foreign ships, the location range of different functional areas of the offshore photovoltaic area and the traffic priority of different functional areas, a first target departure path is determined for the first ship, and then the voice device pre-installed in the offshore photovoltaic area is turned on, and the first target departure path is broadcast to the first ship through the voice device to guide the first ship to leave the offshore photovoltaic area according to the first target departure path. Compared with the related art, the present disclosure does not require human intervention, and can automatically drive foreign ships that mistakenly enter the offshore photovoltaic area away from the offshore photovoltaic area, saving labor costs; on the other hand, the present disclosure can ensure the safety of the offshore photovoltaic area by guiding and driving away foreign ships in the offshore photovoltaic area.

[0013] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The accompanying drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the specification are used to explain the principles of the present disclosure. Obviously, the accompanying drawings described below are only some embodiments of the present disclosure, and for ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without creative work.

[0015] Figure 1 A schematic diagram showing an exemplary system architecture to which the embodiments of the present disclosure can be applied is shown.

[0016] Figure 2 A schematic flow chart of a method for driving away ships in an offshore photovoltaic scenario in an exemplary embodiment of the present disclosure is shown.

[0017] Figure 3 A schematic flow chart of a method for determining a first ship in an exemplary embodiment of the present disclosure is shown.

[0018] Figure 4 A schematic flow chart showing a method for determining a first target departure path in an exemplary embodiment of the present disclosure.

[0019] Figure 5 A flowchart diagram showing another method for determining a first target departure path in an exemplary embodiment of the present disclosure is shown.

[0020] Figure 6 A flowchart of a method for performing a voice drive-away reminder in an exemplary embodiment of the present disclosure is shown.

[0021] Figure 7A schematic diagram showing the composition of a ship-repelling device in an offshore photovoltaic scenario in an exemplary embodiment of the present disclosure.

[0022] Figure 8 A schematic structural diagram of an electronic device in an exemplary embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0023] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as being limited to the examples set forth herein; on the contrary, these embodiments are provided so that the present disclosure will be more comprehensive and complete, and the concepts of the example embodiments are fully conveyed to those skilled in the art. The described features, structures, or characteristics may be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present disclosure. However, those skilled in the art will appreciate that the technical solutions of the present disclosure may be practiced while omitting one or more of the specific details, or other methods, components, devices, steps, etc. may be adopted. In other cases, known technical solutions are not shown or described in detail to avoid obscuring various aspects of the present disclosure.

[0024] The terms "a", "an", "the" and "said" are used in this specification to indicate the presence of one or more elements / components / etc.; the terms "including" and "having" are used to express an open-ended inclusion and mean that additional elements / components / etc. may exist in addition to the listed elements / components / etc.; the terms "first" and "second" etc. are used only as labels and are not intended to limit the quantity of their objects.

[0025] In addition, the accompanying drawings are only schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the figures represent the same or similar parts, and their repeated description will be omitted. Some of the block diagrams shown in the accompanying drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software form, or implemented in one or more hardware modules or integrated circuits, or implemented in different networks and / or processor devices and / or microcontroller devices.

[0026] The present invention provides a method and device for driving away ships in an offshore photovoltaic scenario. The method and device can be applied to Figure 1 In the system architecture of the exemplary application environment shown.

[0027] like Figure 1As shown, the system architecture 100 may include a terminal device 110 and a server 120. The terminal device 110 may be a terminal device such as a smart phone, a tablet computer, a desktop computer, a laptop computer, a smart wearable device, etc. The server 120 generally refers to a background system that provides services related to the ship expulsion method in the offshore photovoltaic scenario in this exemplary embodiment, and may be a server or a cluster formed by multiple servers. The terminal device 110 and the server 120 may be connected via a wired or wireless communication link to perform data exchange.

[0028] In an exemplary embodiment, the above-mentioned ship driving away method in the offshore photovoltaic scenario can be performed by the terminal device 110. Accordingly, the ship driving away device in the offshore photovoltaic scenario can be set in the terminal device 110 to realize the corresponding module functions. For example, the terminal device 110 is used to process the monitoring video of the offshore photovoltaic area to determine the first ship, so as to drive away and guide the first ship according to the method in the present disclosure.

[0029] In an exemplary embodiment, the ship driving away method in the offshore photovoltaic scenario can be executed by the server 120. Accordingly, the ship driving away device in the offshore photovoltaic scenario can be set in the server 120 to realize the corresponding module functions. For example, the server 120 can process the monitoring video of the offshore photovoltaic area, determine the first ship, and then drive away and guide the first ship according to the method in the present disclosure.

[0030] It should be understood that Figure 1 The number of terminal devices and servers in the example is only illustrative. Any number of terminal devices and servers may be provided as required. For example, the server 120 may be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms.

[0031] However, it is easy for those skilled in the art to understand that the above application scenarios are only used as examples and are not limited to this in the present exemplary embodiment.

[0032] Figure 2 A schematic diagram of a method for driving away a ship in an offshore photovoltaic scenario in an exemplary embodiment of the present disclosure is shown. Figure 2 , the method comprising: Step S210, when it is determined that there are ships in the offshore photovoltaic area, classify the ships, and determine a first ship from the ships according to the classification result, where the first ship includes other ships that are not operating ships in the offshore photovoltaic area; Step S220, determining a first target departure path for the first ship to leave the offshore photovoltaic area based on the position of the first ship, the position ranges of different functional areas of the offshore photovoltaic area, and the traffic priorities of the different functional areas; Step S230, in response to the instruction that the first target departure path is successfully determined, a voice device pre-set in the offshore photovoltaic area is turned on, and the first target departure path is broadcast to the first ship through the voice device to guide the first ship to leave the offshore photovoltaic area according to the first target departure path.

[0033] exist Figure 2 In the technical solution provided by the illustrated embodiment, foreign ships can be identified by classifying the ships in the offshore photovoltaic area, and based on the location of the foreign ships, the location range of different functional areas in the offshore photovoltaic area and the traffic priority of different functional areas, a first target departure path is determined for the first ship, and then a voice device pre-installed in the offshore photovoltaic area is turned on, and the first target departure path is broadcast to the first ship through the voice device to guide the first ship to leave the offshore photovoltaic area according to the first target departure path. Compared with the related art, the present disclosure does not require manual intervention, and can automatically drive foreign ships that mistakenly enter the offshore photovoltaic area away from the offshore photovoltaic area, saving labor costs; on the other hand, the present disclosure can ensure the safety of the offshore photovoltaic area by guiding and driving away foreign ships in the offshore photovoltaic area.

[0034] The specific implementation of "step S210, when it is determined that there are ships in the offshore photovoltaic area, classifying the ships, and determining a first ship from the ships according to the classification result" is described in detail below.

[0035] In an exemplary embodiment, the offshore photovoltaic area can be understood as an area in the sea where photovoltaic panels are installed. The offshore photovoltaic area can be monitored to obtain monitoring videos of the offshore photovoltaic area, and ship target detection can be performed on the monitoring videos of the offshore photovoltaic area to determine whether there are ships in the offshore photovoltaic area.

[0036] In an exemplary embodiment, the first ship includes other ships that are not working ships in the offshore photovoltaic area, that is, the first ship includes a foreign ship.

[0037] For example, Figure 3A flow chart showing a method for determining a first ship in an exemplary embodiment of the present disclosure is shown, with reference to Figure 3 , the method may include steps S310 to S340, wherein: in step S310, based on radar, the size characteristics and first position information of the ship are determined; in step S320, through the monitoring video of the offshore photovoltaic area, the ship is detected in the monitoring video, and the contour characteristics of the ship and the second position information of the ship in the monitoring video are determined based on the target detection result; in step S330, based on the matching relationship between the first position information and the second position information, the size characteristics and the contour characteristics are matched, and the size characteristics and contour characteristics of the same ship are obtained according to the matching results; in step S340, the size characteristics and contour characteristics of the same ship are input into the trained ship classification model, and according to the output of the ship classification model, it is determined whether the ship is the first ship.

[0038] For example, the size characteristics and first position information of ships in the offshore photovoltaic area can be detected by radar signals. At the same time, the second position information of ships and ships in the offshore photovoltaic area can be detected by video surveillance information, and the contour characteristics of the ships can be extracted. Ships with the same first position information and second position information are determined to be the same ship, so as to obtain the size characteristics and contour characteristics of the same ship. Since there are obvious differences in the size and contour of foreign ships and working ships in the offshore photovoltaic area, the working ships in the offshore photovoltaic area and foreign ships can be distinguished based on the size characteristics and contour characteristics, and then the first ship that does not belong to the working ship in the offshore photovoltaic area is determined.

[0039] Below, the specific implementation method of "step S220, based on the position of the first ship, the position range of different functional areas of the offshore photovoltaic area and the traffic priority of the different functional areas, determining a first target departure path for the first ship to leave the offshore photovoltaic area" is described in detail.

[0040] In an exemplary embodiment, different functional areas include a prohibited anchoring area, a restricted area, a prohibited intrusion area, a U-turn area, a prohibited overtaking area, a free passage area, etc. Among them, the functional areas can be determined according to the needs and the actual situation of the sea area of ​​the offshore photovoltaic area, each area corresponds to a sea area range, and the sea area range corresponding to each area is determined according to the function and actual situation of the area. Different functional areas have different functions and traffic restrictions. For example, a restricted area is an area where ships are prohibited from passing under certain conditions. For example, when the seawater tidal intensity is greater than a threshold, it is not possible to pass through area A, and it can pass through area A in other cases. Then area A is a restricted area, and a free passage area is an area where ships are allowed to travel under any circumstances. The prohibited intrusion area is an area where all ships (including foreign ships and operating ships in the offshore photovoltaic area) are prohibited from privately driving without professional guidance or professional traffic assessment and without the permission of the manager of the offshore photovoltaic area. The U-turn area is an area where ships can turn around in the area, etc. This exemplary embodiment does not make special restrictions on this.

[0041] For example, Figure 4 A flowchart of a method for determining a first target departure path in an exemplary embodiment of the present disclosure is shown. Figure 4 , the method may include steps S410 to S430. Wherein: in step S410, taking the position of the first ship as the starting point and each exit of the offshore photovoltaic area as the end point, a plurality of candidate departure paths are planned for the first ship based on the path planning algorithm, and each candidate departure path corresponds to an exit; in step S420, based on the position range of different functional areas of the offshore photovoltaic area, the functional area passed by each candidate departure path is determined; in step S430, the sum of the traffic priority indexes of the traffic priority indications of the functional areas passed by each candidate departure path is determined, and the first target departure path is determined from the candidate departure paths according to the sum of the traffic priority indexes.

[0042] Exemplarily, determining the first target exit path from the candidate exit paths based on the sum of the traffic priority indices includes: determining the candidate exit path with the largest sum of the traffic priority indices as the target exit path; or obtaining a first virtual score of the candidate exit path based on the inverse of the driving distance of each candidate exit path; obtaining a second virtual score of the candidate exit path based on the sum of the traffic priority indices of the candidate exit paths; and determining the candidate exit path with the largest sum of the first virtual score and the second virtual score as the first target exit path.

[0043] For example, if there are five exits in the offshore photovoltaic area, five candidate departure paths can be generated based on the existing path planning algorithm, starting from the position of the first ship and ending at each of the five exits. The functional area that each candidate departure path passes through can be determined based on the coincidence relationship between the position ranges of different functional areas in the offshore photovoltaic area and the position coordinates of the candidate departure paths. For different functional areas, a traffic priority index can be configured for them according to their traffic priority, such as the traffic priority index corresponding to the functional area with a high traffic priority is greater than the traffic priority index corresponding to the area with a low traffic priority, and the absolute value of the difference between the traffic priority indexes of adjacent traffic priorities is the same.

[0044] Taking the functional areas including the above-mentioned no-anchoring zone, restricted zone, no-trespassing zone, U-turn zone, no overtaking zone and free travel zone as an example, if the traffic priorities from high to low are free travel zone, no-anchoring zone, U-turn zone, no overtaking zone, restricted zone and no-trespassing zone, then the traffic priority index of the no-trespassing zone may be 1, the traffic priority index of the restricted zone may be 2, the traffic priority index of the no-overtaking zone may be 3, the traffic priority index of the U-turn zone may be 4, the traffic priority index of the no-anchoring zone may be 5, and the traffic priority index of the free travel zone may be 6.

[0045] In an exemplary embodiment, as described above, the sum of the priority indices of the functional areas through which each candidate departure path passes can be calculated, and the candidate departure path with the largest sum of priority indices can be determined as the first target departure path. In the case where the sum of the priority indices of the functional areas through which multiple candidate departure paths pass is the same, one of the candidate departure paths can be randomly designated as the first target departure path. The higher the priority, the less impact the ship has on the entire offshore photovoltaic field when traveling through the area. Therefore, the sum of the priority indices can be used to select the departure path with the least impact on the offshore photovoltaic field from multiple candidate departure paths, thereby ensuring the safety of the sea area during the ship expulsion process.

[0046] In another exemplary embodiment, as described above, the first target departure path can be determined based on the travel distance and the traffic priority. For example, the inverse of the travel distance of each candidate departure path is determined and used as the first virtual score of the candidate departure path, the sum of the traffic priority indexes of the candidate departure paths is used as the second virtual score of the candidate departure path, and then the candidate departure path with the largest sum of the first virtual score and the second virtual score is determined as the first target departure path. In this way, the ship can leave the sea area as quickly as possible while ensuring the safety of the sea area.

[0047] For example, Figure 5A flowchart showing another method for determining a first target departure path in an exemplary embodiment of the present disclosure is shown. Figure 5 , the method may include steps S510 to S530. Wherein: in step S510, the calculation priority of each exit is determined according to the distance between the first ship and each exit of the offshore photovoltaic area; in step S520, the obstacle avoidance priority of the different functional areas when performing path planning is determined based on the passage priority of the different functional areas; in step S530, each exit is traversed according to the order indicated by the calculation priority, and path planning is performed between the position of the first ship and the position of the currently traversed exit based on the obstacle avoidance priority to obtain a candidate departure path corresponding to the currently traversed exit, and when the candidate departure path corresponding to the currently traversed exit meets the preset conditions, the traversal is stopped, and the candidate departure path corresponding to the currently traversed exit is determined as the first target departure path.

[0048] In an exemplary embodiment, the preset condition includes that the candidate departure path does not pass through the prohibited area of ​​the offshore photovoltaic area. The prohibited area can be customized according to needs, such as the prohibited area can be understood as the above-mentioned prohibited intrusion area, which is not particularly limited in this exemplary embodiment.

[0049] For example, the shortest distance between the current position of the first ship and each exit of the offshore photovoltaic area can be calculated, and the exit with a smaller shortest distance has a higher calculation priority, and the higher the calculation priority, the earlier it is traversed in step S530. At the same time, the obstacle avoidance priority of each functional area during path planning can be determined according to the traffic priority of different functional areas, wherein the higher the traffic priority, the lower the obstacle avoidance priority, that is, the higher the traffic priority, the less impact the ship has on the offshore photovoltaic area when passing through the area, so it can be considered to be avoided last, and the functional areas with low traffic priority are given priority, and the areas with low traffic priority are avoided first.

[0050] After determining the calculation priority, the exits with high calculation priority can be traversed first according to the order of calculation priority from high to low. For the traversed exit, the current position of the first ship is used as the starting point, the exit is used as the end point, and the obstacle avoidance priority of each functional area is used as the constraint condition of the existing path planning algorithm. The constraint condition is used to indicate that the existing path planning algorithm should give priority to avoiding the area with high obstacle avoidance priority between the starting point and the end point when performing path planning, so as to obtain the candidate departure path corresponding to the currently traversed exit. If the candidate departure path corresponding to the currently traversed exit does not have a prohibited area of ​​the offshore photovoltaic area, the traversal is stopped, and the candidate departure path corresponding to the currently traversed exit is used as the first target departure path.

[0051] Since the path planning is performed by traversing from the exit closest to the first ship, and the departure path corresponding to the traversed exit does not pass through the prohibited area of ​​the offshore photovoltaic area, the first target departure path finally determined is the shortest pass path while ensuring departure safety. The first ship can leave the offshore photovoltaic area as quickly as possible while ensuring departure safety, thereby improving the departure efficiency.

[0052] Below, the specific implementation method of "step S230, in response to the instruction of successful determination of the first target departure path, starting the voice device pre-set in the offshore photovoltaic area, broadcasting the first target departure path to the first ship through the voice device, so as to guide the first ship to leave the offshore photovoltaic area according to the first target departure path" is described in detail.

[0053] For example, when the first target departure path is successfully determined, a voice device pre-installed in the offshore photovoltaic area can be automatically turned on, and prompt information of the first target departure path can be played to the operator of the first ship through the voice device to guide the operator of the first ship to drive the first ship away from the offshore photovoltaic area according to the first target departure path.

[0054] Among them, the voice equipment may include equipment with broadcasting functions such as speakers, which can be controlled through remote communication, such as transmitting control instructions through remote communication, and controlling it to be turned on or off according to the control instructions. For example, when the departure path of the first target is determined, a control instruction is sent to the voice equipment to control it to be turned on. When it is detected that the first ship leaves the offshore photovoltaic area, a control instruction is sent to the voice equipment to control it to be turned off.

[0055] Multiple voice devices can be set up in the offshore photovoltaic area, and multiple voice devices receive the same control command at the same time, ensuring that the personnel of the first ship can hear the prompt information of the first target leaving the path at any position. The voice device can be installed on the photovoltaic module support pile of the offshore photovoltaic, and of course, it can also be set in other offshore photovoltaic equipment, which is not particularly limited in this exemplary embodiment.

[0056] In an exemplary embodiment, the method of the present disclosure may also include: tracking the real-time position of the first ship during the departure of the first ship; when the real-time position of the first ship deviates from the first target departure path, re-determining the second target departure path for the first ship based on the real-time position of the first ship; broadcasting deviation reminder information and the second target departure path to the first ship through the voice device to guide the first ship to leave the offshore photovoltaic area according to the second target departure path.

[0057] The specific implementation of re-determining the second target departure path for the first ship can refer to the specific implementation of determining the first target departure path mentioned above, which will not be repeated here. The deviation reminder information is used to inform the staff of the first ship that its driving path has deviated and the departure path has been re-planned for it.

[0058] For example, Figure 6 A flow chart showing a method for performing a voice drive-away reminder in an exemplary embodiment of the present disclosure is shown. Figure 6 The method may include steps S610 to S630, wherein: in step S610, during the departure of the first ship, the real-time position of the first ship is tracked; in step S620, when the distance between the real-time position of the first ship and any functional area reaches a distance threshold, the target voice tone and target loudness associated with the functional area are acquired; in step S630, according to the target voice tone and the target loudness, a voice expulsion reminder is performed on the first ship based on the voice device.

[0059] For example, in the present disclosure, foreign ships that may have mistakenly entered the waters can be discovered by radar, video surveillance, etc. And the path of the foreign ship leaving the photovoltaic field area is intelligently determined. In the process of determining the path, the prohibited anchoring area, restricted area, prohibited trespassing area, U-turn area, prohibited overtaking area and other areas in the field are considered. The system automatically turns on the voice assistance function to guide the foreign ship to leave the photovoltaic field area based on the departure path. In the process of the ship's continuous movement, the path of the ship is monitored in real time by radar or video. Once it deviates, the path is replanned in time and voice reminders are given. In addition, when the ship approaches different areas, different reminder levels can be corresponding, such as automatically adjusting the tone and loudness of the voice, so as to make reminders of different degrees, such as the reminder tone and loudness near the area with low traffic priority are greater than the reminder tone and loudness near the area with high traffic priority.

[0060] In addition, it should be noted that the above-mentioned figures are only schematic illustrations of the processes included in the method according to an exemplary embodiment of the present invention, and are not intended to be limiting. It is easy to understand that the processes shown in the above-mentioned figures do not indicate or limit the time sequence of these processes. In addition, it is also easy to understand that these processes can be performed synchronously or asynchronously, for example, in multiple modules.

[0061] Furthermore, the exemplary embodiment of the present disclosure also provides a ship-repelling device in an offshore photovoltaic scenario. Figure 7As shown, the ship driving away device 700 in the offshore photovoltaic scenario includes the following program modules: a first ship determination module 710, configured to classify the ships when determining that there are ships in the offshore photovoltaic area, and determine a first ship from the ships according to the classification result, wherein the first ship includes other ships that are not operating ships in the offshore photovoltaic area; a target departure path determination module 720, configured to determine a first target departure path for the first ship to leave the offshore photovoltaic area based on the position of the first ship, the position range of different functional areas of the offshore photovoltaic area and the traffic priority of the different functional areas; a driving away guidance module 730, configured to respond to the first target departure path determination success instruction, start a voice device pre-set in the offshore photovoltaic area, and broadcast the first target departure path to the first ship through the voice device to guide the first ship to leave the offshore photovoltaic area according to the first target departure path.

[0062] In an exemplary embodiment, the classifying the ships and determining the first ship from the ships according to the classification results includes: determining the size characteristics and first position information of the ship based on radar; performing target detection on the ship in the monitoring video through the monitoring video of the offshore photovoltaic area, and determining the contour characteristics of the ship and the second position information of the ship in the monitoring video based on the target detection result; matching the size characteristics and the contour characteristics based on the matching relationship between the first position information and the second position information, and obtaining the size characteristics and contour characteristics of the same ship according to the matching results; inputting the size characteristics and contour characteristics of the same ship into a trained ship classification model, and determining whether the ship is the first ship according to the output of the ship classification model.

[0063] In an exemplary embodiment, the method of determining a first target departure path for the first ship to leave the offshore photovoltaic area based on the position of the first ship, the position range of different functional areas of the offshore photovoltaic area and the traffic priorities of the different functional areas includes: taking the position of the first ship as a starting point and each exit of the offshore photovoltaic area as an end point, planning multiple candidate departure paths for the first ship based on a path planning algorithm, each candidate departure path corresponding to an exit; determining the functional area passed by each candidate departure path based on the position range of different functional areas of the offshore photovoltaic area; determining the sum of the traffic priority indexes indicated by the traffic priority indicators of the functional areas passed by each candidate departure path, and determining the first target departure path from the candidate departure paths according to the sum of the traffic priority indexes.

[0064] In an exemplary embodiment, determining the first target exit path from the candidate exit paths based on the sum of the traffic priority indices includes: determining the candidate exit path with the largest sum of the traffic priority indices as the target exit path; or obtaining a first virtual score of the candidate exit path based on the inverse of the driving distance of each candidate exit path; obtaining a second virtual score of the candidate exit path based on the sum of the traffic priority indices of the candidate exit paths; and determining the candidate exit path with the largest sum of the first virtual score and the second virtual score as the first target exit path.

[0065] In an exemplary embodiment, the method of determining a first target departure path for the first ship to leave the offshore photovoltaic area based on the position of the first ship, the position ranges of different functional areas of the offshore photovoltaic area and the traffic priorities of the different functional areas includes: determining the calculation priority of each exit according to the distance between the first ship and each exit of the offshore photovoltaic area; determining the obstacle avoidance priority of the different functional areas when performing path planning based on the traffic priorities of the different functional areas; traversing each exit according to the order indicated by the calculation priority, performing path planning between the position of the first ship and the position of the currently traversed exit based on the obstacle avoidance priority, obtaining a candidate departure path corresponding to the currently traversed exit, and stopping the traversal if the candidate departure path corresponding to the currently traversed exit meets a preset condition, and determining the candidate departure path corresponding to the currently traversed exit as the first target departure path; the preset condition includes that the candidate departure path does not pass through a prohibited area of ​​the offshore photovoltaic area.

[0066] In an exemplary embodiment, the above-mentioned device also includes a re-planning module, which can be configured to: track the real-time position of the first ship during the departure of the first ship; when the real-time position of the first ship deviates from the first target departure path, re-determine the second target departure path for the first ship according to the real-time position of the first ship; broadcast deviation reminder information and the second target departure path to the first ship through the voice device to guide the first ship to leave the offshore photovoltaic area according to the second target departure path.

[0067] In an exemplary embodiment, the above-mentioned device also includes an expulsion reminder module, which can be configured to: track the real-time position of the first ship during the departure of the first ship; when the distance between the real-time position of the first ship and any functional area reaches a distance threshold, obtain the target voice tone and target loudness associated with the functional area; according to the target voice tone and the target loudness, based on the voice device, perform a voice expulsion reminder to the first ship.

[0068] The specific details of each part of the above-mentioned device have been described in detail in the implementation method of the method part. The undisclosed details can be found in the implementation method of the method part, so they will not be repeated here.

[0069] It should be noted that, although several modules or units of the device for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the exemplary embodiments of the present disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided into multiple modules or units to be embodied.

[0070] In addition, although the steps of the method in the present disclosure are described in a specific order in the drawings, this does not require or imply that the steps must be performed in this specific order, or that all the steps shown must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps, etc.

[0071] The exemplary embodiments of the present disclosure also provide a computer program product, which includes a computer program, and when the computer program is executed by a processor, the method for driving away a ship in the offshore photovoltaic scenario is implemented.

[0072] In one embodiment, the computer program product may be a tangible product containing a computer program, such as a computer-readable storage medium storing a computer program. The readable storage medium may be a storage medium based on electrical, magnetic, optical, electromagnetic, infrared, or other signals, including but not limited to: random access memory (RAM), read-only memory (ROM), magnetic tape, floppy disk, flash memory (Flash), mechanical hard disk (HDD), solid state drive (SSD), and the like. Exemplarily, the computer program product may be implemented as a non-volatile storage medium storing a computer program, such as a read-only memory, a NAND flash memory (Nand Flash), and the like.

[0073] In one embodiment, the computer program product may be an intangible product including a computer program. Exemplarily, the computer program product may be implemented as a virtual digital product, such as a digital file storing an executable file, an installation package, etc. of the computer program.

[0074] The code of the computer program can be written in one or more programming languages. Programming languages ​​such as C language, Java, C++, Python, etc. The program code can be executed completely on the user computing device, or partially on the user computing device, or as a separate software package, or partially on the user computing device and partially on the remote computing device, or completely on the remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the user computing device through any type of network, such as a local area network (LAN), a wide area network (WAN), etc., or can be connected to an external computing device (for example, through an Internet connection provided by an operator).

[0075] The computer program may be carried or transmitted via electrical, magnetic, optical, electromagnetic, infrared, or other signals. The electronic device may convert the signal carrying the computer program into a digital signal, thereby running the computer program. When the computer program is run on the electronic device, its code is used to enable the electronic device to execute (more specifically, the processor of the electronic device may execute) the method steps of various exemplary embodiments of the present disclosure, such as the ship driving away method in the above-mentioned offshore photovoltaic scenario.

[0076] The exemplary embodiments of the present disclosure also provide an electronic device, such as the terminal device 110 or the server 120 described above. The electronic device may include a processor and a memory. The memory stores executable instructions of the processor, such as a computer program. The processor executes the method steps of various exemplary embodiments of the present disclosure by executing the executable instructions. In addition, the electronic device may also include a display for displaying a graphical user interface.

[0077] Reference below Figure 8 , the electronic device is exemplified in the form of a general-purpose computing device. It should be understood that Figure 8 The electronic device 800 shown is only an example and should not limit the functions and scope of use of the embodiments of the present disclosure.

[0078] like Figure 8 As shown, the electronic device 800 may include: a processor 810 , a memory 820 , a bus 830 , an I / O (input / output) interface 840 , a network adapter 850 , and a display 860 .

[0079] The memory 820 may include a volatile memory, such as a RAM 821, a cache unit 822, and may also include a non-volatile memory, such as a ROM 823. The memory 820 may also include one or more program modules 824, such program modules 824 include but are not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or a combination thereof may include the implementation of a network environment. For example, the program module 824 may include each module in the above-mentioned device.

[0080] The processor 810 may include one or more processing units. For example, the processor 810 may include an AP (Application Processor), a modem processor, a GPU (Graphics Processing Unit), an ISP (Image Signal Processor), a controller, an encoder, a decoder, a DSP (Digital Signal Processor), a baseband processor and / or an NPU (Neural-Network Processing Unit), etc.

[0081] The processor 810 may be used to execute executable instructions stored in the memory 820, such as executing the above-mentioned ship driving away method in the offshore photovoltaic scenario.

[0082] The bus 830 is used to realize the connection between different components of the electronic device 800, and may include a data bus, an address bus, and a control bus.

[0083] The electronic device 800 can communicate with one or more external devices 900 (eg, a keyboard, a mouse, an external controller, etc.) through the I / O interface 840 .

[0084] The electronic device 800 can communicate with one or more networks through the network adapter 850. For example, the network adapter 850 can provide mobile communication solutions such as 3G / 4G / 5G, or wireless communication solutions such as wireless LAN, Bluetooth, near field communication, etc. The network adapter 850 can communicate with other modules of the electronic device 800 through the bus 830.

[0085] The electronic device 800 may display a graphical user interface, such as an interface showing the real-time position of the first ship, through the display 860 .

[0086] although Figure 8Not shown, other hardware and / or software modules may also be provided in the electronic device 800, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0087] In addition, the above-mentioned figures are only schematic illustrations of the processes included in the method according to the exemplary embodiments of the present disclosure, and are not intended to be limiting. It is easy to understand that the processes shown in the above-mentioned figures do not indicate or limit the time sequence of these processes. In addition, it is also easy to understand that these processes can be performed synchronously or asynchronously, for example, in multiple modules.

[0088] As can be seen from the above, the technical solution of the present disclosure can be implemented as a method, an apparatus, a system, a computer program product, a storage medium, an electronic device, etc. Those skilled in the art can understand that various aspects of the present disclosure can be specifically implemented in the following forms, namely: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or an implementation combining hardware and software, such as being respectively referred to as a "circuit", "module" or "system".

[0089] It should be understood that the present disclosure is not limited to the specific method steps or structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from the scope thereof. Those skilled in the art will easily think of other embodiments based on the specific embodiments provided by the present disclosure. Therefore, the specific embodiments provided by the present disclosure are only exemplary, and the scope and spirit of the present disclosure are indicated by the claims, and any variations, uses or adaptive changes of the present disclosure should be covered, which follow the general principles of the present disclosure and include common knowledge or customary technical means in the technical field that are not disclosed in the present disclosure.

Claims

1. A method for driving away ships in an offshore photovoltaic scenario, characterized in that: include: In the case where it is determined that there are ships in the offshore photovoltaic area, the ships are classified, and a first ship is determined from the ships according to the classification result, where the first ship includes other ships that are not operating ships in the offshore photovoltaic area; Based on the position of the first ship, the position ranges of different functional areas of the offshore photovoltaic area and the traffic priorities of the different functional areas, determining a first target departure path for the first ship to leave the offshore photovoltaic area; In response to an instruction that the first target departure path is successfully determined, a voice device pre-set in the offshore photovoltaic area is turned on, and the first target departure path is broadcast to the first ship through the voice device to guide the first ship to leave the offshore photovoltaic area according to the first target departure path.

2. The method according to claim 1, characterized in that The classifying the ships and determining the first ship from the ships according to the classification result comprises: Based on the radar, determining the size characteristics and first position information of the ship; By using the monitoring video of the offshore photovoltaic area, performing target detection on the ship in the monitoring video, and determining the contour features of the ship and second position information of the ship in the monitoring video based on the target detection result; Based on the matching relationship between the first position information and the second position information, the size feature and the contour feature are matched, and the size feature and the contour feature of the same ship are obtained according to the matching result; The size features and contour features of the same ship are input into a trained ship classification model, and based on the output of the ship classification model, it is determined whether the ship is the first ship.

3. The method according to claim 1, characterized in that The determining, based on the position of the first ship, the position ranges of different functional areas of the offshore photovoltaic area, and the traffic priorities of the different functional areas, for the first ship to leave the offshore photovoltaic area comprises: Taking the position of the first ship as a starting point and each exit of the offshore photovoltaic area as an end point, planning a plurality of candidate departure paths for the first ship based on a path planning algorithm, each candidate departure path corresponding to an exit; Based on the location ranges of different functional areas of the offshore photovoltaic area, determining the functional area through which each candidate departure path passes; The sum of the traffic priority indexes of the functional areas through which each candidate exit path passes is determined, and the first target exit path is determined from the candidate exit paths according to the sum of the traffic priority indexes.

4. The method according to claim 3, characterized in that The determining the first target exit path from the candidate exit paths according to the sum of the traffic priority indexes includes: The candidate departure path with the largest sum of the traffic priority indexes is determined as the first target departure path; or a first virtual score of the candidate departure path is obtained according to the inverse of the travel distance of each candidate departure path; a second virtual score of the candidate departure path is obtained according to the sum of the traffic priority indexes of the candidate departure paths; and the candidate departure path with the largest sum of the first virtual score and the second virtual score is determined as the first target departure path.

5. The method according to claim 1, characterized in that The determining, based on the position of the first ship, the position ranges of different functional areas of the offshore photovoltaic area, and the traffic priorities of the different functional areas, for the first ship to leave the offshore photovoltaic area comprises: Determining the calculation priority of each exit according to the distance between the first ship and each exit of the offshore photovoltaic area; Determining the obstacle avoidance priorities of the different functional areas when performing path planning based on the traffic priorities of the different functional areas; traversing each exit according to the order indicated by the calculation priority, performing path planning between the position of the first ship and the position of the currently traversed exit based on the obstacle avoidance priority, obtaining a candidate exit path corresponding to the currently traversed exit, and stopping the traversal if the candidate exit path corresponding to the currently traversed exit meets a preset condition, and determining the candidate exit path corresponding to the currently traversed exit as the first target exit path; The preset condition includes that the candidate departure path does not pass through a prohibited area of ​​the offshore photovoltaic area.

6. The method according to claim 1, characterized in that The method further comprises: Tracking the real-time position of the first ship during the departure of the first ship; When the real-time position of the first ship deviates from the first target departure path, re-determining a second target departure path for the first ship according to the real-time position of the first ship; The deviation warning information and the second target departure path are broadcasted to the first ship through the voice device to guide the first ship to leave the offshore photovoltaic area according to the second target departure path.

7. The method according to claim 1, characterized in that The method further comprises: Tracking the real-time position of the first ship during its departure; When the distance between the real-time position of the first ship and any functional area reaches a distance threshold, obtaining a target voice tone and a target loudness associated with the functional area; According to the target voice tone and the target loudness, a voice reminder is given to the first ship based on the voice device.

8. A ship-repelling device in an offshore photovoltaic scenario, characterized in that: include: A first ship determination module is configured to classify the ships when determining that there are ships in the offshore photovoltaic area, and determine a first ship from the ships according to the classification result, wherein the first ship includes other ships that are not operating ships in the offshore photovoltaic area; a target departure path determination module, configured to determine a first target departure path for the first ship to leave the offshore photovoltaic area based on the position of the first ship, the position ranges of different functional areas of the offshore photovoltaic area, and the traffic priorities of the different functional areas; The driving away guidance module is configured to, in response to the instruction of successful determination of the first target driving away path, start a voice device pre-set in the offshore photovoltaic area, and broadcast the first target driving away path to the first ship through the voice device to guide the first ship to leave the offshore photovoltaic area according to the first target driving away path.

9. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

10. An electronic device, characterized in that: include: one or more processors; A storage device for storing one or more programs, which, when executed by the one or more processors, enables the one or more processors to implement the method according to any one of claims 1 to 7.

Images