Monitoring method based on Yangtze River trunk line ship crossing behavior supervision

Abstract

The invention discloses a monitoring method based on Yangtze River trunk line ship crossing behavior supervision, and relates to the field of water transportation safety and risk assessment. Obtaining the ship density of the management and control area; obtaining a critical value of ship density; judging whether the ship has a crossing behavior or not, if yes, judging whether the ship density of the management and control area where the characteristic ship is located exceeds a critical value of the ship density or not, and if yes, giving out an early warning and forbidding the characteristic ship to cross; if not, obtaining a cross prediction trajectory; obtaining a navigation prediction trajectory; obtaining feature points; obtaining characteristic time; obtaining non-characteristic time; and forming safety marginal time and safety marginal distance. According to the method, the critical value of the ship density is obtained, whether the ship has a crossing behavior and the safe marginal time and the safe marginal distance are formed or not is judged, and during crossing, the non-crossing ship is controlled, so that the crossing ship is ensured not to collide with other ships.

Description

Technical Field

[0001] The present invention relates to the field of water transport safety and risk assessment, and in particular to a monitoring method based on the supervision of ship crossing behavior on the Yangtze River trunk line. Background Art

[0002] Crossing refers to the process and behavior of a ship passing through the designated navigation lane or recommended route horizontally or obliquely, or crossing the bow direction of a ship traveling along the navigation lane or recommended route horizontally. Ships need to cross the channel when berthing or leaving the dock, entering or leaving the anchorage, water service area, Han River estuary and tributary estuary, etc. Especially in the case of high traffic density, if the crossing ship neglects to look around, fails to actively avoid the ships traveling along the channel, or changes its intention without authorization, it will easily lead to an emergency situation and even cause a water traffic accident.

[0003] However, existing supervision is usually carried out manually. Shipping on the Yangtze River main channel is busy and very long. Using manual methods to make judgments can easily lead to underestimate the situation and cause unnecessary dangers. Summary of the invention

[0004] In order to solve the above technical problems, a monitoring method based on the supervision of ship crossing behavior on the Yangtze River main line is provided. This technical solution solves the problem proposed in the above background technology that the existing supervision is usually carried out manually. The Yangtze River main line has busy shipping and a long length. Using manual methods to make judgments is prone to underestimate the situation and cause unnecessary dangers.

[0005] In order to achieve the above purpose, the technical solution adopted by the present invention is:

[0006] A monitoring method based on the supervision of ship crossing behavior on the Yangtze River main line, comprising:

[0007] Divide the main line of the Yangtze River into regions and obtain at least one control area;

[0008] Conduct ship analysis on the control area to obtain the ship density in the control area;

[0009] Based on historical data, obtain the critical value of ship density;

[0010] Monitor at least one ship in the Yangtze River main line to determine whether the ship has crossed. If the ship has crossed, the ship is regarded as a characteristic ship. Then determine whether the ship density in the control area where the characteristic ship is located exceeds the critical value of the ship density. If so, issue an early warning to prohibit the characteristic ship from crossing.

[0011] If not, the crossing of the characteristic ship is predicted to obtain the predicted crossing trajectory;

[0012] The control area where the characteristic ship is located and the control area adjacent to the control area where the characteristic ship is located are regarded as the characteristic area;

[0013] Treat at least one ship in the characteristic area as at least one non-characteristic ship;

[0014] Predict the navigation of non-feature ships and obtain the predicted navigation trajectory;

[0015] The intersection of the predicted navigation track and the predicted crossing track is calculated to obtain a characteristic point, and the characteristic point is paired with a non-characteristic ship corresponding to the predicted navigation track;

[0016] Calculate the time it takes for the characteristic ship to sail to the characteristic point to obtain the characteristic time;

[0017] Calculate the time it takes for a non-feature ship to sail to a feature point to obtain the non-feature time;

[0018] Based on historical data, form safety margin time and safety margin distance;

[0019] When the difference between the characteristic time and the non-characteristic time is less than the safety margin time, when the distance from the non-characteristic ship to the characteristic point is less than the safety margin distance, a stop navigation instruction is issued to the non-characteristic ship;

[0020] When the difference between the characteristic time and the non-characteristic time is greater than the safety margin time, no processing is performed.

[0021] Preferably, the division of the Yangtze River trunk line into regions to obtain at least one control area comprises the following steps:

[0022] Based on the big data, at least one crossing behavior of a ship is obtained, and the time consumed by the crossing behavior of the ship is counted;

[0023] Obtaining the sailing speed of at least one ship and taking the average value to obtain the average sailing speed;

[0024] The control length is obtained by multiplying the mean speed by the time taken for the ship to cross.

[0025] The Yangtze River main line is divided into regions according to the control length to obtain at least one control area, the length of the control area is equal to the control length, and the width of the control area is equal to the width of the Yangtze River main line.

[0026] Preferably, performing ship analysis on the control area to obtain the ship density of the control area includes the following steps:

[0027] The number of ships in the control area is counted in real time and the number of ships counted in real time is used as the ship density of the control area. When more than half of the ship's hull is not in the control area, the ship will not be counted.

[0028] Preferably, the step of obtaining the critical value of ship density based on historical data comprises the following steps:

[0029] Based on the historical data, obtaining the historical ship density in the control area where the historical ship crossing behavior occurred when at least one historical ship crossing behavior occurred;

[0030] The historical ship crossing behaviors corresponding to the historical ship density with a gap smaller than the preset density are summarized as a historical ship crossing behavior set;

[0031] The historical ship density of the historical ship crossing behaviors in the historical ship crossing behavior set is averaged to obtain the historical ship mean density;

[0032] Count the proportion of accidents caused by historical ship crossing behaviors in the historical ship crossing behavior set as the characteristic proportion;

[0033] Based on historical data, the permissible accident rate is obtained, and the historical ship crossing behavior set with a characteristic ratio greater than the permissible accident rate is taken as the characteristic historical ship crossing behavior set;

[0034] The minimum value of the historical ship mean density of the characteristic historical ship crossing behavior set is taken as the critical value of the ship density.

[0035] Preferably, the determining whether the ship has a crossing behavior comprises the following steps:

[0036] Obtain the straight line where the ship's hull is located as the characteristic straight line;

[0037] Take one of the banks of the Yangtze River as the characteristic river bank and build a coordinate model for the characteristic river bank;

[0038] Uniformly select at least one sampling point on the characteristic river bank, fit the at least one sampling point, and obtain a river bank fitting function;

[0039] Draw an identification line through the center of the ship's hull perpendicular to the characteristic straight line;

[0040] Obtain the intersection point between the identification line and the characteristic river bank as the determination point;

[0041] Deriving the riverbank fitting function, we get the riverbank derivative function, and substituting the horizontal coordinate of the decision point into the riverbank derivative function to get the characteristic slope;

[0042] When the difference between the characteristic slope and the slope of the characteristic straight line is less than a preset value, the ship does not have a crossing behavior; otherwise, the ship has a crossing behavior.

[0043] Preferably, predicting the crossing of the characteristic ship to obtain the predicted crossing trajectory comprises the following steps:

[0044] Acquire the initial position of the characteristic ship at the beginning of the crossing, and acquire the target position of the characteristic ship at the end of the crossing, wherein the target position is the position on the river bank where the characteristic ship refuels or exchanges material supplies;

[0045] Obtain the water velocity one hour before the characteristic ship begins crossing as the sample water velocity;

[0046] Based on the historical data, obtaining at least one historical crossing trajectory data, the historical crossing trajectory data consisting of a historical crossing trajectory, a distance between a historical initial position and a historical target position, and a historical water flow speed;

[0047] Using the gap formula, calculate the gap coefficient of the historical traverse trajectory data;

[0048] Selecting a historical traversing trajectory from the historical traversing trajectory data with the smallest gap coefficient as the traversing prediction trajectory;

[0049] The gap formula is as follows:

[0050] C=(mn) 2 +(st) 2

[0051] Among them, C is the gap coefficient, m is the distance between the historical initial position and the historical target position, n is the distance between the initial position and the target position, s is the sample water flow velocity, and t is the historical water flow velocity.

[0052] Preferably, predicting the navigation of the non-feature ship to obtain the predicted navigation trajectory comprises the following steps:

[0053] The predicted navigation trajectory is obtained, and it is satisfied that the predicted navigation trajectory is parallel to the characteristic river bank and passes through the non-characteristic ship.

[0054] Preferably, the step of calculating the time taken for the characteristic ship to sail to the characteristic point to obtain the characteristic time comprises the following steps:

[0055] The sailing speed of the characteristic ship in one hour is counted as the characteristic speed;

[0056] Taking at least one test point on the traverse prediction trajectory, fitting the at least one test point to obtain a traverse prediction fitting function;

[0057] Use the first path formula to calculate the trajectory distance from the initial position to the feature point as the feature distance;

[0058] The characteristic distance is divided by the characteristic speed to obtain the characteristic time;

[0059] The first path formula is as follows:

[0060]

[0061] Among them, A is the non-feature distance, c is the horizontal coordinate of the initial position, d is the horizontal coordinate of the feature point, g(x) is the derivative of the traverse prediction fitting function, and x is the integral variable.

[0062] Preferably, the step of calculating the time taken for a non-feature ship to sail to a feature point to obtain the non-feature time comprises the following steps:

[0063] Taking at least one identification point on the navigation prediction trajectory, fitting the at least one identification point, and obtaining a navigation prediction fitting function;

[0064] Count the sailing speed of the non-characteristic ship for one hour as the non-characteristic speed;

[0065] Get the originating position of the non-characteristic ship when the characteristic ship crosses;

[0066] Use the second path formula to calculate the trajectory distance from the starting position to the feature point as the non-feature distance;

[0067] The non-characteristic distance divided by the non-characteristic speed gives the non-characteristic time;

[0068] The second path formula is as follows:

[0069]

[0070] Among them, B is the non-feature distance, a is the horizontal coordinate of the starting position, b is the horizontal coordinate of the feature point, f(x) is the derivative of the navigation prediction fitting function, and x is the integral variable.

[0071] Preferably, forming the safety margin time and the safety margin distance based on historical data comprises the following steps:

[0072] Based on historical data, at least one safe distance between two ships to avoid collision is obtained;

[0073] The minimum value of at least one safety distance is used as the safety margin distance;

[0074] The average speed of the ship is calculated, and the safety margin distance is divided by the average speed of the ship to obtain the safety margin time.

[0075] Compared with the prior art, the present invention has the following beneficial effects:

[0076] By obtaining the critical value of ship density, judging whether a ship has crossing behavior, calculating the intersection of the predicted navigation trajectory and the predicted crossing trajectory, and forming a safety margin time and a safety margin distance, it is possible to make an autonomous judgment on whether crossing is possible, and when crossing is possible, control the non-crossing ships, thereby ensuring that the crossing ships will not collide with other ships, thereby ensuring the safe operation of the entire process. In addition, when judging the crossing behavior, the present invention takes into account the curvature of the Yangtze River path, thereby avoiding incorrect crossing judgments. BRIEF DESCRIPTION OF THE DRAWINGS

[0077] Figure 1 It is a flow chart of the monitoring method based on the supervision of the crossing behavior of ships on the Yangtze River main line of the present invention;

[0078] Figure 2 A schematic diagram of a process for dividing the Yangtze River trunk line into regions to obtain at least one control area according to the present invention;

[0079] Figure 3 A schematic diagram of a critical process of obtaining ship density based on historical data of the present invention;

[0080] Figure 4 It is a schematic diagram of a process of judging whether a ship has crossed behavior according to the present invention;

[0081] Figure 5 A schematic diagram of a flow chart of predicting a crossing of a characteristic ship and obtaining a predicted crossing trajectory according to the present invention;

[0082] Figure 6 A flow chart of calculating the time consumed by a characteristic ship to sail to a characteristic point and obtaining the characteristic time according to the present invention;

[0083] Figure 7 A schematic diagram of a process of calculating the time consumed by a non-characteristic ship to sail to a characteristic point and obtaining the non-characteristic time according to the present invention;

[0084] Figure 8 The present invention is a flow chart of forming a safety margin time and a safety margin distance based on historical data. DETAILED DESCRIPTION

[0085] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are only examples, and those skilled in the art may think of other obvious variations.

[0086] Reference Figure 1 As shown, a monitoring method based on the supervision of ship crossing behavior on the Yangtze River main line includes:

[0087] Divide the main line of the Yangtze River into regions and obtain at least one control area;

[0088] Conduct ship analysis on the control area to obtain the ship density in the control area;

[0089] Based on historical data, obtain the critical value of ship density;

[0090] Monitor at least one ship in the Yangtze River main line to determine whether the ship has crossed. If the ship has crossed, the ship is regarded as a characteristic ship. Then determine whether the ship density in the control area where the characteristic ship is located exceeds the critical value of the ship density. If so, issue an early warning to prohibit the characteristic ship from crossing.

[0091] If not, the crossing of the characteristic ship is predicted to obtain the predicted crossing trajectory;

[0092] The control area where the characteristic ship is located and the control area adjacent to the control area where the characteristic ship is located are regarded as the characteristic area;

[0093] Treat at least one ship in the characteristic area as at least one non-characteristic ship;

[0094] Predict the navigation of non-feature ships and obtain the predicted navigation trajectory;

[0095] The intersection of the predicted navigation track and the predicted crossing track is calculated to obtain a characteristic point, and the characteristic point is paired with a non-characteristic ship corresponding to the predicted navigation track;

[0096] Calculate the time it takes for the characteristic ship to sail to the characteristic point to obtain the characteristic time;

[0097] Calculate the time it takes for a non-feature ship to sail to a feature point to obtain the non-feature time;

[0098] Based on historical data, form safety margin time and safety margin distance;

[0099] When the difference between the characteristic time and the non-characteristic time is less than the safety margin time, when the distance from the non-characteristic ship to the characteristic point is less than the safety margin distance, a stop navigation instruction is issued to the non-characteristic ship;

[0100] When the difference between the characteristic time and the non-characteristic time is greater than the safety margin time, no processing is performed.

[0101] In this scheme, the critical value of ship density is first obtained, so that when the ship density is large, the early warning operation can be directly carried out. Because when the ship density is large, the control space left is small. In this case, collision is easy to occur. Even if no collision occurs, the waiting time of other ships is too long, which will cause serious blockage of the waterway. In order to avoid this situation, an early warning is issued and crossing is prohibited;

[0102] On the other hand, when crossing is allowed, it does not mean that there will be no collision when crossing in this case, but it can be avoided by regulation and control, and then the crossing can be completed. It mainly depends on the prediction of the crossing prediction trajectory and the navigation prediction trajectory, and the regulation and control are performed according to the intersection of the two. In this way, it can ensure that the distance between the characteristic ship and the non-characteristic ship is sufficient and no collision occurs;

[0103] The intersection point of the predicted navigation trajectory and the predicted traverse trajectory is calculated because the equations of the predicted navigation trajectory and the predicted traverse trajectory can be solved later, so the simultaneous equations can complete the acquisition of the intersection point.

[0104] Reference Figure 2 As shown, dividing the Yangtze River trunk line into regions to obtain at least one control area includes the following steps:

[0105] Based on the big data, at least one crossing behavior of a ship is obtained, and the time consumed by the crossing behavior of the ship is counted;

[0106] Obtaining the sailing speed of at least one ship and taking the average value to obtain the average sailing speed;

[0107] The control length is obtained by multiplying the mean speed by the time taken for the ship to cross.

[0108] The Yangtze River main line is divided into regions according to the control length to obtain at least one control area, the length of the control area is equal to the control length, and the width of the control area is equal to the width of the Yangtze River main line.

[0109] The division of control areas is mainly to exclude other ships in the Yangtze River main line that will not affect the crossing from consideration, thereby reducing the complexity of regulation.

[0110] The following steps are involved in analyzing the ships in the control area and obtaining the ship density in the control area:

[0111] The number of ships in the control area is counted in real time and the number of ships counted in real time is used as the ship density of the control area. When more than half of the ship's hull is not in the control area, the ship will not be counted.

[0112] Reference Figure 3 As shown in Figure 2, based on historical data, obtaining the critical value of ship density includes the following steps:

[0113] Based on the historical data, obtaining the historical ship density in the control area where the historical ship crossing behavior occurred when at least one historical ship crossing behavior occurred;

[0114] The historical ship crossing behaviors corresponding to the historical ship density with a gap smaller than the preset density are summarized as a historical ship crossing behavior set;

[0115] The historical ship density of the historical ship crossing behaviors in the historical ship crossing behavior set is averaged to obtain the historical ship mean density;

[0116] Count the proportion of accidents caused by historical ship crossing behaviors in the historical ship crossing behavior set as the characteristic proportion;

[0117] Based on historical data, the permissible accident rate is obtained, and the historical ship crossing behavior set with a characteristic ratio greater than the permissible accident rate is taken as the characteristic historical ship crossing behavior set;

[0118] The minimum value of the historical ship mean density of the characteristic historical ship crossing behavior set is taken as the critical value of the ship density.

[0119] The greater the ship density, the greater the probability of collision. Based on this, when the historical ship mean density of the historical ship crossing behavior set is greater, the corresponding characteristic ratio will also be greater. Therefore, for the characteristic historical ship crossing behavior set corresponding to the characteristic ratio that exceeds the allowable accident rate, the historical ship mean density of the characteristic historical ship crossing behavior set must have a minimum value. Let this value be the critical value. According to the analysis just now, when the ship density is less than the critical value, the probability of collision will also be smaller, and thus it will be less than the characteristic ratio of the characteristic historical ship crossing behavior set. Since the characteristic ratio of the characteristic historical ship crossing behavior set is large, it can be infinitely close to the allowable accident rate. Therefore, when the ship density is less than the critical value, the probability of collision will also be less than the allowable accident rate. Therefore, it is reasonable to form the critical value in this way.

[0120] Reference Figure 4 As shown, judging whether a ship has crossed includes the following steps:

[0121] Obtain the straight line where the ship's hull is located as the characteristic straight line;

[0122] Take one of the banks of the Yangtze River as the characteristic river bank and build a coordinate model for the characteristic river bank;

[0123] Uniformly select at least one sampling point on the characteristic river bank, fit the at least one sampling point, and obtain a river bank fitting function;

[0124] Draw an identification line through the center of the ship's hull perpendicular to the characteristic straight line;

[0125] Obtain the intersection point between the identification line and the characteristic river bank as the determination point;

[0126] Deriving the riverbank fitting function, we get the riverbank derivative function, and substituting the horizontal coordinate of the decision point into the riverbank derivative function to get the characteristic slope;

[0127] When the difference between the characteristic slope and the slope of the characteristic straight line is less than a preset value, the ship does not have a crossing behavior; otherwise, the ship has a crossing behavior.

[0128] The judgment of whether a ship is crossing mainly depends on the relationship between the hull and the direction of the river bank. When crossing, it will inevitably be non-parallel, but this is the case when the river channel is straight. The main line of the Yangtze River is curved when viewed from a high altitude. Therefore, the ship will follow the turn at the bend, and the previous method cannot be used to judge. Therefore, the above method is used to judge. By comparing the slope of the tangent at the judgment point with the slope of the hull, it can be judged that the ship is performing a normal turning operation at this point, rather than crossing.

[0129] Reference Figure 5 As shown, predicting the crossing of the characteristic ship to obtain the crossing prediction trajectory includes the following steps:

[0130] Acquire the initial position of the characteristic ship at the beginning of the crossing, and acquire the target position of the characteristic ship at the end of the crossing, wherein the target position is the position on the river bank where the characteristic ship refuels or exchanges material supplies;

[0131] Obtain the water velocity one hour before the characteristic ship begins crossing as the sample water velocity;

[0132] Based on the historical data, obtaining at least one historical crossing trajectory data, the historical crossing trajectory data consisting of a historical crossing trajectory, a distance between a historical initial position and a historical target position, and a historical water flow speed;

[0133] Using the gap formula, calculate the gap coefficient of the historical traverse trajectory data;

[0134] Selecting a historical crossing trajectory from the historical crossing trajectory data with the smallest gap coefficient as the predicted crossing trajectory;

[0135] The gap formula is as follows:

[0136] C=(mn) 2 +(st) 2

[0137] Among them, C is the gap coefficient, m is the distance between the historical initial position and the historical target position, n is the distance between the initial position and the target position, s is the sample water flow velocity, and t is the historical water flow velocity.

[0138] There are two main factors that affect the crossing of a characteristic ship. One is the water flow, and the other is the distance between the initial position and the target position. When the two are determined, the trajectory can be determined. Therefore, in order to obtain the predicted crossing trajectory, the historical crossing trajectory data is obtained in advance. When the historical crossing trajectory data is sufficient, the predicted crossing trajectory selected using the gap coefficient is small enough from the actual required real trajectory to meet the accuracy requirements.

[0139] Predicting the navigation of non-feature ships and obtaining the predicted navigation trajectory includes the following steps:

[0140] The predicted navigation trajectory is obtained, and it is satisfied that the predicted navigation trajectory is parallel to the characteristic river bank and passes through the non-characteristic ship.

[0141] The navigation of non-characteristic ships is not a straight line, as the river channel may be curved, and therefore, the trajectory is parallel to the characteristic river bank.

[0142] Reference Figure 6 As shown, calculating the time it takes for a characteristic ship to sail to a characteristic point and obtaining the characteristic time includes the following steps:

[0143] The sailing speed of the characteristic ship in one hour is counted as the characteristic speed;

[0144] Taking at least one test point on the traverse prediction trajectory, fitting the at least one test point to obtain a traverse prediction fitting function;

[0145] Use the first path formula to calculate the trajectory distance from the initial position to the feature point as the feature distance;

[0146] The characteristic distance is divided by the characteristic speed to obtain the characteristic time;

[0147] The first path formula is as follows:

[0148]

[0149] Among them, A is the non-feature distance, c is the horizontal coordinate of the initial position, d is the horizontal coordinate of the feature point, g(x) is the derivative of the traverse prediction fitting function, and x is the integral variable.

[0150] During the crossing process, the direction of the ship is constantly adjusted in order to reach the target position, so its path is a curve. Therefore, in order to obtain the characteristic time, it is necessary to calculate the characteristic distance. The characteristic distance is the trajectory distance from the initial position of the predicted crossing trajectory to the characteristic point. Similarly, the non-characteristic time is calculated according to the same principle. The purpose of the calculation is to determine the time relationship between the two at the characteristic point, because the only place where the two may collide is the characteristic point. When the time difference between the two passing the characteristic point is large, no collision will occur at all. Therefore, it does not need to be considered. When the difference is small, non-characteristic ships need to wait, but non-characteristic ships do not need to wait from a far distance, but can wait after approaching, and this distance is the safety margin distance. This distance is sufficient for the ship to make timely adjustments when most unexpected situations occur.

[0151] Reference Figure 7 As shown, calculating the time consumption of a non-feature ship sailing to a feature point and obtaining the non-feature time includes the following steps:

[0152] Taking at least one identification point on the navigation prediction trajectory, fitting the at least one identification point, and obtaining a navigation prediction fitting function;

[0153] Count the sailing speed of the non-characteristic ship for one hour as the non-characteristic speed;

[0154] Get the originating position of the non-characteristic ship when the characteristic ship crosses;

[0155] Use the second path formula to calculate the trajectory distance from the starting position to the feature point as the non-feature distance;

[0156] The non-characteristic distance divided by the non-characteristic speed gives the non-characteristic time;

[0157] The second path formula is as follows:

[0158]

[0159] Among them, B is the non-feature distance, a is the horizontal coordinate of the starting position, b is the horizontal coordinate of the feature point, f(x) is the derivative of the navigation prediction fitting function, and x is the integral variable.

[0160] Reference Figure 8 As shown, based on historical data, forming the safety margin time and safety margin distance includes the following steps:

[0161] Based on historical data, at least one safe distance between two ships to avoid collision is obtained;

[0162] The minimum value of at least one safety distance is used as the safety margin distance;

[0163] The average speed of the ship is calculated, and the safety margin distance is divided by the average speed of the ship to obtain the safety margin time.

[0164] Furthermore, the present solution also proposes a storage medium on which a computer-readable program is stored, and when the computer-readable program is called, the above-mentioned monitoring method based on the supervision of ship crossing behavior on the Yangtze River main line is executed.

[0165] It is understandable that the storage medium may be a magnetic medium, such as a floppy disk, a hard disk, or a magnetic tape; an optical medium, such as a DVD; or a semiconductor medium, such as a solid state drive (SSD).

[0166] In summary, the advantages of the present invention are: by obtaining the critical value of ship density, judging whether the ship has crossing behavior, calculating the intersection of the predicted navigation trajectory and the predicted crossing trajectory, and forming the safety margin time and safety margin distance, it is possible to make an autonomous judgment on whether crossing is possible, and when crossing is possible, control the non-crossing ships, thereby ensuring that the crossing ships will not collide with other ships, thereby ensuring the safe operation of the entire process. In addition, when judging the crossing behavior, the present invention takes into account the curvature of the Yangtze River path, thereby avoiding incorrect crossing judgments.

[0167] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions only describe the principles of the present invention. The present invention may be subject to various changes and improvements without departing from the spirit and scope of the present invention. These changes and improvements fall within the scope of the present invention. The scope of protection claimed by the present invention is defined by the attached claims and their equivalents.

Claims

1. A monitoring method based on the supervision of ship crossing behavior on the Yangtze River main line, characterized in that: include: Divide the main line of the Yangtze River into regions and obtain at least one control area; Conduct ship analysis on the control area to obtain the ship density in the control area; Based on historical data, obtain the critical value of ship density; Monitor at least one ship in the Yangtze River main line to determine whether the ship has crossed. If the ship has crossed, the ship is regarded as a characteristic ship. Then determine whether the ship density in the control area where the characteristic ship is located exceeds the critical value of the ship density. If so, issue an early warning to prohibit the characteristic ship from crossing. If not, the crossing of the characteristic ship is predicted to obtain the predicted crossing trajectory; The control area where the characteristic ship is located and the control area adjacent to the control area where the characteristic ship is located are regarded as the characteristic area; Treat at least one ship in the characteristic area as at least one non-characteristic ship; Predict the navigation of non-feature ships and obtain the predicted navigation trajectory; The intersection of the predicted navigation track and the predicted crossing track is calculated to obtain a characteristic point, and the characteristic point is paired with a non-characteristic ship corresponding to the predicted navigation track; Calculate the time it takes for the characteristic ship to sail to the characteristic point to obtain the characteristic time; Calculate the time it takes for a non-feature ship to sail to a feature point to obtain the non-feature time; Based on historical data, form safety margin time and safety margin distance; When the difference between the characteristic time and the non-characteristic time is less than the safety margin time, when the distance from the non-characteristic ship to the characteristic point is less than the safety margin distance, a stop navigation instruction is issued to the non-characteristic ship; When the difference between the characteristic time and the non-characteristic time is greater than the safety margin time, no processing is performed.

2. A monitoring method based on the supervision of ship crossing behavior on the Yangtze River main line according to claim 1, characterized in that: The division of the Yangtze River trunk line into regions to obtain at least one control area comprises the following steps: Based on the big data, at least one crossing behavior of a ship is obtained, and the time consumed by the crossing behavior of the ship is counted; Obtaining the sailing speed of at least one ship and taking the average value to obtain the average sailing speed; The control length is obtained by multiplying the mean speed by the time taken for the ship to cross. The Yangtze River main line is divided into regions according to the control length to obtain at least one control area, the length of the control area is equal to the control length, and the width of the control area is equal to the width of the Yangtze River main line.

3. A monitoring method based on the supervision of ship crossing behavior on the Yangtze River main line according to claim 2, characterized in that: The ship analysis of the control area to obtain the ship density of the control area includes the following steps: The number of ships in the control area is counted in real time and the number of ships counted in real time is used as the ship density of the control area. When more than half of the ship's hull is not in the control area, the ship will not be counted.

4. A monitoring method based on the supervision of ship crossing behavior on the Yangtze River main line according to claim 3, characterized in that: The method of obtaining the critical value of ship density based on historical data comprises the following steps: Based on the historical data, obtaining the historical ship density in the control area where the historical ship crossing behavior occurred when at least one historical ship crossing behavior occurred; The historical ship crossing behaviors corresponding to the historical ship density with a gap smaller than the preset density are summarized as a historical ship crossing behavior set; The historical ship density of the historical ship crossing behaviors in the historical ship crossing behavior set is averaged to obtain the historical ship mean density; Count the proportion of accidents caused by historical ship crossing behaviors in the historical ship crossing behavior set as the characteristic proportion; Based on historical data, the permissible accident rate is obtained, and the historical ship crossing behavior set with a characteristic ratio greater than the permissible accident rate is taken as the characteristic historical ship crossing behavior set; The minimum value of the historical ship mean density of the characteristic historical ship crossing behavior set is taken as the critical value of the ship density.

5. A monitoring method based on the supervision of ship crossing behavior on the Yangtze River main line according to claim 4, characterized in that: The determination of whether a ship has crossed comprises the following steps: Obtain the straight line where the ship's hull is located as the characteristic straight line; Take one of the banks of the Yangtze River as the characteristic river bank and build a coordinate model for the characteristic river bank; Uniformly select at least one sampling point on the characteristic river bank, fit the at least one sampling point, and obtain a river bank fitting function; Draw an identification line through the center of the ship's hull perpendicular to the characteristic straight line; Obtain the intersection point between the identification line and the characteristic river bank as the determination point; Deriving the riverbank fitting function, we get the riverbank derivative function, and substituting the horizontal coordinate of the decision point into the riverbank derivative function to get the characteristic slope; When the difference between the characteristic slope and the slope of the characteristic straight line is less than a preset value, the ship does not have a crossing behavior; otherwise, the ship has a crossing behavior.

6. A monitoring method based on the supervision of ship crossing behavior on the Yangtze River main line according to claim 5, characterized in that: The step of predicting the crossing of the characteristic ship to obtain the predicted crossing trajectory comprises the following steps: Acquire the initial position of the characteristic ship at the beginning of the crossing, and acquire the target position of the characteristic ship at the end of the crossing, wherein the target position is the position on the river bank where the characteristic ship refuels or exchanges material supplies; Obtain the water velocity one hour before the characteristic ship begins crossing as the sample water velocity; Based on the historical data, obtaining at least one historical crossing trajectory data, the historical crossing trajectory data consisting of a historical crossing trajectory, a distance between a historical initial position and a historical target position, and a historical water flow speed; Using the gap formula, calculate the gap coefficient of the historical traverse trajectory data; Selecting a historical traversing trajectory from the historical traversing trajectory data with the smallest gap coefficient as the traversing prediction trajectory; The gap formula is as follows: C= ( m-n ) 2 + ( s-t ) 2 Among them, C is the gap coefficient, m is the distance between the historical initial position and the historical target position, n is the distance between the initial position and the target position, s is the sample water flow velocity, and t is the historical water flow velocity.

7. A monitoring method based on the supervision of ship crossing behavior on the Yangtze River main line according to claim 6, characterized in that: The process of predicting the navigation of the non-feature ship to obtain the predicted navigation trajectory comprises the following steps: The predicted navigation trajectory is obtained, and it is satisfied that the predicted navigation trajectory is parallel to the characteristic river bank and passes through the non-characteristic ship.

8. A monitoring method based on the supervision of ship crossing behavior on the Yangtze River main line according to claim 7, characterized in that: The method of calculating the time consumed by the characteristic ship to sail to the characteristic point to obtain the characteristic time comprises the following steps: The sailing speed of the characteristic ship in one hour is counted as the characteristic speed; Taking at least one test point on the traverse prediction trajectory, fitting the at least one test point to obtain a traverse prediction fitting function; Use the first path formula to calculate the trajectory distance from the initial position to the feature point as the feature distance; The characteristic distance is divided by the characteristic speed to obtain the characteristic time; The first path formula is as follows: Among them, A is the non-feature distance, c is the horizontal coordinate of the initial position, d is the horizontal coordinate of the feature point, g(x) is the derivative of the traverse prediction fitting function, and x is the integral variable.

9. A monitoring method based on the supervision of ship crossing behavior on the Yangtze River main line according to claim 8, characterized in that: The method of calculating the time consumed by the non-feature ship to sail to the feature point to obtain the non-feature time comprises the following steps: Taking at least one identification point on the navigation prediction trajectory, fitting the at least one identification point, and obtaining a navigation prediction fitting function; Count the sailing speed of the non-characteristic ship for one hour as the non-characteristic speed; Get the originating position of the non-characteristic ship when the characteristic ship crosses; Use the second path formula to calculate the trajectory distance from the starting position to the feature point as the non-feature distance; The non-characteristic distance divided by the non-characteristic speed gives the non-characteristic time; The second path formula is as follows: Among them, B is the non-feature distance, a is the horizontal coordinate of the starting position, b is the horizontal coordinate of the feature point, f(x) is the derivative of the navigation prediction fitting function, and x is the integral variable.

10. A monitoring method based on the supervision of ship crossing behavior on the Yangtze River main line according to claim 9, characterized in that: The forming of the safety margin time and safety margin distance based on historical data comprises the following steps: Based on historical data, at least one safe distance between two ships to avoid collision is obtained; The minimum value of at least one safety distance is used as the safety margin distance; The average speed of the ship is calculated, and the safety margin distance is divided by the average speed of the ship to obtain the safety margin time.

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