A method for monitoring and warning the mooring state of a ship

Abstract

The present invention relates to the technical field of ship warning, and discloses a method for monitoring and warning the mooring state of a ship. During a first preset time period, environmental characteristic data, stability data and cable winching data of ships in a target mooring water area are collected at fixed time intervals; a stability score is calculated for the moored ships in the target mooring water area according to the stability data; a feng shui topology is constructed based on all the ships in the target mooring water area, and corresponding standard environmental data is generated for each moored ship based on the feng shui topology and the environmental characteristic data; a stability prediction model is trained based on the standard environmental data, cable winching data and corresponding stability scores of each moored ship during the first preset time period; during a second preset time period, the length and tension of each cable winching are dynamically managed based on the stability prediction model in combination with an optimization algorithm.

Description

Technical Field

[0001] The present invention relates to the technical field of ship warning, and more specifically, it relates to a method for monitoring and warning the mooring state of a ship. Background Art

[0002] Ship mooring means that after a ship berths at a dock, buoy or anchorage, the hull is fixed by means of cables, mooring equipment, etc. to maintain its stability and prevent drifting or accidental movement.

[0003] However, ship mooring is jointly affected by various factors such as the rise and fall of the tide, wind speed and direction, water flow velocity and direction, etc., resulting in dynamic changes in the ship mooring state. Existing technologies are difficult to cope with complex and non-linear dynamic changes, resulting in unstable states when ships are moored, affecting transportation operations. Summary of the Invention

[0004] The present invention provides a method for monitoring and warning the mooring state of a ship to solve the technical problems raised in the background art.

[0005] The present invention provides a method for monitoring and warning the mooring state of a ship, including:

[0006] A data acquisition module, configured to collect environmental characteristic data, stability data of the ships in the target mooring waters, and mooring cable data at fixed time intervals within a first preset time period for the target mooring waters;

[0007] The environmental characteristic data includes: water flow direction and water flow velocity, wind direction and wind speed, and water surface height;

[0008] The stability data includes: acceleration parameters, angular velocity parameters, inclination parameters, GPS parameters, traveling speed, draft depth, and traveling direction;

[0009] The mooring cable data includes: the lengths and tensions of the head and tail cables, the bow and stern back cables, and the bow and stern spring cables;

[0010] A data analysis module, configured to calculate a stability score for the moored ships in the target mooring waters according to the stability data;

[0011] A data correction module, configured to construct a feng shui topology based on all the ships in the target mooring waters, and generate corresponding standard environmental data for each moored ship based on the feng shui topology and the environmental characteristic data;

[0012] A model construction module, configured to train a stability prediction model based on the standard environmental data, mooring cable data, and corresponding stability scores of each moored ship within a first preset time period;

[0013] The mooring cable management module is used to dynamically manage the length and tension of each mooring cable based on the stability prediction model combined with the optimization algorithm within the second preset time period.

[0014] Furthermore, calculate the stability score, and the calculation formula is as follows:

[0015] ;

[0016] where, represents the stability score of the moored vessel, , and represent the first stability weight, the second stability weight and the third stability weight of the vessel, , and are all not zero, and the sum value is 1, represents the acceleration parameter of the moored vessel, represents the angular velocity parameter of the moored vessel, represents the inclination angle parameter of the moored vessel.

[0017] Furthermore, construct the feng shui topology, including:

[0018] Load a simulated water surface, and the simulated water surface includes a water surface boundary and a water area;

[0019] Configure the water area based on the environmental characteristic data: the water flow direction and velocity, as well as the wind direction and wind speed;

[0020] Configure the water surface boundary based on the target mooring water area: shape, size and the first hydraulic rigidity function;

[0021] Obtain the position coordinates of each vessel based on the GPS parameters, and map each vessel as a topological point into the water area based on the position coordinates;

[0022] Configure each topological point: the rigidity influence range, and configure the corresponding rigidity influence range based on the traveling speed, draft and traveling direction of the vessel: the wind rigidity function and the second hydraulic rigidity function to obtain the feng shui topology.

[0023] Furthermore, configuring the water area based on the environmental characteristic data includes:

[0024] The simulated water surface is constructed based on a matrix structure, and the matrix structure includes a first channel and a second channel, and both the first channel and the second channel include the same number of collision sub-elements;

[0025] The same water surface boundary is defined for both the first channel and the second channel of the matrix structure, and the water surface boundary is divided into a power source boundary and a rigidity source boundary; among them, both the power source boundary and the rigidity source boundary are composed of several collision sub-elements, and the water area is composed of the remaining collision sub-elements;

[0026] For each collision element on the boundary of the power source in the first channel, configure the hydraulic collision direction and hydraulic collision velocity based on the water flow direction and water flow velocity; for each collision element on the boundary of the power source in the second channel, configure the wind collision direction and wind collision velocity based on the wind direction and wind speed.

[0027] In the first channel or the second channel, if collision element i is adjacent to any collision element with a collision direction and a collision velocity and is located in the collision direction of the corresponding collision element, then obtain the first updated collision direction and the first updated collision velocity of collision element i. The calculation formulas are as follows:

[0028] ;

[0029] ;

[0030] Wherein, represents the first updated collision direction of collision element i, represents the first updated collision velocity of collision element i, represents the collision velocity of collision element i, represents the collision direction of collision element i, represents the collision velocity of collision element i + 1, represents the collision direction of collision element i + 1;

[0031] Wherein, both i and i + 1 are indices of collision elements in the first channel or the second channel. The initial collision velocity and initial collision direction of collision elements in the water area of the first channel and the second channel are both 0.

[0032] Further, the configuration of the water surface boundary based on the target mooring water area includes:

[0033] Obtain the shapes and sizes of the dock boundary and the water area boundary of the target mooring water area. Based on the shapes and sizes of the dock boundary and the water area boundary, and at a preset scaling ratio , map them into a rigid source boundary and a power source boundary in the first channel and the second channel of the matrix structure respectively, > 0;

[0034] Wherein, configure the first hydraulic rigidity function for the collision elements in the rigid source boundary;

[0035] In the first channel, if the collision direction and the collision velocity of collision element i are both not 0, collision element i is adjacent to any collision element in the rigid source boundary, and the corresponding collision element is located in the collision direction of collision element i, then obtain the second updated collision direction and the second updated collision velocity of collision element i based on the first hydraulic rigidity function. The calculation formula of the first hydraulic rigidity function is as follows:

[0036] ;

[0037] ;

[0038] Among them, represents the second updated collision direction of the collider i, represents the second updated collision velocity of the collider i, represents the angle between the collision direction of the collider i and the dock boundary, represents the first velocity decay coefficient.

[0039] Furthermore, each vessel is mapped as a topological point in the water area based on the position coordinates, including: obtaining the GPS coordinates of each vessel and calculating the relative coordinates of the GPS coordinates with respect to the target mooring water area , and mapping the corresponding vessel through the first and second channels of the matrix structure based on the relative coordinates. Specifically: replacing the colliders at the th row and the th column in the first and second channels of the matrix structure with topological points.

[0040] Furthermore, each node in the water area is configured with a rigid influence range, including defining the rigid influence range as an ellipse:

[0041] The center point of the ellipse is: the topological point;

[0042] The semi-major axis of the ellipse is: ; Among them, represents the length of the semi-major axis of the ellipse, represents the empirical coefficient, , represents the preset scaling ratio, represents the draft of the vessel, represents the traveling speed of the vessel;

[0043] The semi-minor axis of the ellipse is: ; Among them, represents the length of the semi-minor axis of the ellipse;

[0044] The inclination angle of the semi-major axis of the ellipse is: the traveling direction of the vessel;

[0045] Based on the coverage area of the corresponding ellipse in the first and second channels of the matrix structure, the colliders in the corresponding areas in the first and second channels are used as the rigid influence range of the corresponding topological points;

[0046] A second hydraulic rigidity function is configured for the rigid influence range in the first channel, and a wind rigidity function is configured for the rigid influence range in the second channel;

[0047] In the first channel, if the collision direction and collision velocity of collider i are both non-zero, collider i is adjacent to any one of the colliders within the rigid influence range, and the corresponding collider is located in the collision direction of collider i, then the third updated collision direction and the third updated collision velocity of collider i are obtained based on the second hydraulic rigidity function. The calculation formula of the second hydraulic rigidity function is as follows:

[0048] ;

[0049] ;

[0050] Among them, represents the third updated collision direction, represents the third updated collision velocity, represents the angle between the water flow direction and the semi-major axis of the ellipse, represents the second velocity attenuation coefficient;

[0051] In the second channel, if the collision direction and collision velocity of collider i are both non-zero, collider i is adjacent to any one of the colliders within the rigid influence range, and the corresponding collider is located in the collision direction of collider i, then the fourth updated collision direction and the fourth updated collision velocity of collider i are obtained based on the wind rigidity function. The calculation formula of the wind rigidity function is as follows:

[0052] ;

[0053] ;

[0054] Among them, represents the fourth updated collision direction, represents the fourth updated collision velocity, represents the angle between the wind direction and the semi-major axis of the ellipse, represents the third velocity attenuation coefficient.

[0055] Furthermore, corresponding standard environmental data is generated, including:

[0056] Step 81, at each moment of the first preset time period, construct the corresponding feng shui topology at that moment;

[0057] Step 82, input the corresponding water flow direction, water flow velocity, wind direction, and wind speed at the corresponding moment into the power source boundaries of the first channel and the second channel with matrix structures in the feng shui topology, obtain the collision directions and collision velocities of the adjacent colliders within the rigid influence range of the topological points corresponding to the moored ship in the first channel and the second channel, and calculate the corrected water flow direction and corrected water flow velocity. The calculation formula is as follows:

[0058] ;

[0059] ;

[0060] Among them, represents correcting the water flow direction, represents correcting the water flow velocity, represents the Euclidean distance between the m-th collision sub and the corresponding topological point adjacent to the rigid influence range in the first channel, represents the collision velocity of the m-th collision sub adjacent to the rigid influence range in the first channel, represents the collision direction of the m-th collision sub adjacent to the rigid influence range in the first channel, where m represents the index of the collision sub adjacent to the rigid influence range in the first channel;

[0061] Step 83, repeat Step 82 in the second channel to obtain the corrected wind direction and corrected wind speed;

[0062] Step 84, replace the environmental characteristic data based on the corrected water flow direction, corrected water flow velocity, corrected wind direction, and corrected wind speed to obtain the standard environmental data of the corresponding moored vessel.

[0063] Furthermore, train a stability prediction model, including:

[0064] Within the first preset time period, normalize and process the standard environmental data and mooring cable data of the j-th vessel at the k-th moment to construct a feature vector, use the feature vector as sample data, and use the stability score of the j-th vessel at the k-th moment as the sample label to train a stability prediction model;

[0065] Among them, the stability prediction model is constructed based on a 1D convolutional neural network, and the weight parameters and bias parameters of the 1D convolutional neural network are updated backward through a mean squared error loss function.

[0066] Furthermore, dynamic management includes:

[0067] Step 101, at the s-th moment of the second preset time period, obtain the environmental characteristic data at the s-th moment and generate the standard environmental data of the target moored vessel;

[0068] Step 102, initialize and generate several individual populations that meet the constraint conditions;

[0069] Step 103, the encoding of the individual is constructed based on the lengths and tensions of the head and tail cables, bow and stern back cables, and bow and stern spring cables, expressed as: ; Among them, respectively represent the lengths of the head and tail cables, bow and stern back cables, and bow and stern spring cables, respectively represent the tensions of the head and tail cables, bow and stern back cables, and bow and stern spring cables;

[0070] Step 104, the constraint conditions are: the lengths of the head and tail cables, the bow and stern breast lines, and the bow and stern spring lines are all less than or equal to the corresponding cable lengths, and the tensions of the head and tail cables, the bow and stern breast lines, and the bow and stern spring lines are all less than or equal to the preset tension threshold;

[0071] Step 105, merge the standard environmental data with the encoding of each individual and perform normalization processing to obtain the genetic vector of the individual;

[0072] Step 106, obtain the stability score of each genetic vector based on the stability prediction model;

[0073] Step 107, if the stability score is greater than or equal to the preset stability threshold, retain the encoding of the corresponding individual, otherwise use the encoding of the corresponding individual as the parent generation for crossover and mutation;

[0074] Step 108, repeat Step 105, Step 106, and Step 107 for a preset number of times, then output the encoding of the individual corresponding to the highest stability score;

[0075] If the highest stability score is less than the preset stability threshold, activate the mooring warning of the target ship and stop the transportation work;

[0076] Otherwise, based on the encoding of the corresponding individual, obtain the length and tension of each mooring cable at the s-th moment.

[0077] The beneficial effects of the present invention are as follows:

[0078] 1. By collecting environmental and ship status data in real time and dynamically optimizing each mooring cable in combination with the genetic algorithm, scientific management and control of the mooring state are achieved, ensuring that the ship remains stable in a dynamic environment, or giving a danger warning, significantly improving the mooring safety and transportation efficiency of the ship, and reducing the risks caused by environmental fluctuations.

[0079] 2. By quantifying the mutual influence between ships in the mooring waters, a standard environmental data generation model based on feng shui topology is constructed, enabling each ship to obtain targeted standard environmental parameters based on global environmental parameters. The stability prediction model trained based on these corrected data provides a reliable basis for the dynamic optimization and warning of the ship's mooring cables. BRIEF DESCRIPTION OF THE DRAWINGS

[0080] Figure 1 is a flowchart of a method for monitoring and warning the mooring state of a ship according to the present invention;

[0081] Figure 2 is a schematic diagram of the simulated water surface according to the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0082] Reference will now be made to example embodiments to discuss the subject matter described herein. It should be understood that discussing these embodiments is only to enable those skilled in the art to better understand and thus implement the subject matter described herein, and that changes can be made to the functions and arrangements of the elements discussed without departing from the scope of protection of the content of this specification. Each example can omit, substitute, or add various processes or components as needed. Additionally, features described relative to some examples can also be combined in other examples.

[0083] As Figures 1 to 2 shown, a method for monitoring and warning the mooring state of a ship includes:

[0084] A data acquisition module, configured to collect environmental characteristic data, stability data, and mooring cable data of ships in the target mooring waters at fixed time intervals within a first preset time period;

[0085] The environmental characteristic data includes: water flow direction and water flow velocity, wind direction and wind speed, and water surface height;

[0086] The stability data includes: acceleration parameters, angular velocity parameters, inclination parameters, GPS parameters, traveling speed, draft, and traveling direction;

[0087] The mooring cable data includes: the lengths and tensions of the head and tail cables, the bow and stern back cables, and the bow and stern spring cables;

[0088] A data analysis module, configured to calculate a stability score for the moored ships in the target mooring waters based on the stability data;

[0089] A data correction module, configured to construct a wind-water topology based on all the ships in the target mooring waters, and generate corresponding standard environmental data for each moored ship based on the wind-water topology and the environmental characteristic data;

[0090] A model construction module, configured to train a stability prediction model based on the standard environmental data, mooring cable data, and corresponding stability scores of each moored ship within a first preset time period;

[0091] A mooring cable management module, configured to dynamically manage the lengths and tensions of each mooring cable based on the stability prediction model in combination with an optimization algorithm within a second preset time period.

[0092] In an embodiment of the present invention, calculating the stability score, the calculation formula is as follows:

[0093] ;

[0094] Wherein, represents the stability score of the moored ship, , and represent the first stability weight, the second stability weight, and the third stability weight of the vessel, , and none of them is zero, and their sum is 1, represent the acceleration parameter of the moored vessel, represent the angular velocity parameter of the moored vessel, represent the inclination angle parameter of the moored vessel.

[0095] Specifically, by calculating the stability score of the vessel, the key stability data collected by the vessel within the first preset time period are weighted and integrated. Specifically, this score reflects the stability of the vessel in the dynamic state through the acceleration parameter, the angular velocity parameter, and the inclination angle parameter at a certain moment. Each parameter corresponds to a weight (the first, second, and third stability weights), and these weights are all non-zero and their sum is 1, thus ensuring that each parameter contributes to the comprehensive score and avoiding the situation where a certain parameter is ignored due to a zero weight. This method accurately quantifies the stability of the vessel. The acceleration represents the severity of the vessel's movement, the angular velocity represents the steering and swaying characteristics of the vessel, and the inclination angle represents the overall tilting state of the hull. By reasonably weighted averaging these three indicators, the obtained stability score reflects the stability of the vessel under complex sea conditions.

[0096] In an embodiment of the present invention, a feng shui topology is constructed, including:

[0097] Load a simulated water surface, and the simulated water surface includes a water surface boundary and a water area;

[0098] Configure the water area based on the environmental characteristic data: the water flow direction and velocity, as well as the wind direction and wind speed;

[0099] Configure the water surface boundary based on the target mooring water area: shape, size, and the first hydraulic rigidity function;

[0100] Obtain the position coordinates of each vessel based on the GPS parameters, and map each vessel as a topological point into the water area based on the position coordinates;

[0101] Configure each topological point: the rigidity influence range, and configure the corresponding rigidity influence range based on the vessel's traveling speed, draft, and traveling direction: the wind rigidity function and the second hydraulic rigidity function, to obtain the feng shui topology.

[0102] Specifically, the simulation environment is used to accurately reflect the interaction of vessels for correcting subsequent environmental data. First, this method loads a simulated water surface, which consists of a water surface boundary and internal waters. Then, the flow direction and velocity of the water flow and the direction and speed of the wind are configured for the waters using environmental feature data. Meanwhile, the water surface boundary is configured according to the actual situation of the target mooring waters (such as the shape and size of the dock or shoreline), and a first hydraulic rigidity function is introduced to reflect the physical characteristics of the boundary. Subsequently, the method uses GPS data to obtain the position information of each vessel and maps each vessel to a topological point in the waters. For each topological point, the rigid influence range is further configured according to the traveling speed, draft, and traveling direction of the vessel. A wind force rigidity function and a second hydraulic rigidity function are set within the rigid influence range to quantify the influence of the environmental forces on the vessel. Through this method, the wind-water topological model can clearly describe the dynamic interaction between each vessel and the environment under complex sea conditions, which provides a basis for subsequent correction of environmental data.

[0103] In an embodiment of the present invention, the configuration of the waters based on environmental feature data includes:

[0104] The simulated water surface is constructed based on a matrix structure, and the matrix structure includes a first channel and a second channel. Both the first channel and the second channel include the same number of collision sub-elements;

[0105] The same water surface boundary is defined for both the first channel and the second channel of the matrix structure, and the water surface boundary is divided into a power source boundary and a rigid source boundary; among them, both the power source boundary and the rigid source boundary are composed of several collision sub-elements, and the waters are composed of the remaining collision sub-elements;

[0106] For each collision sub-element of the power source boundary in the first channel, the hydraulic collision direction and hydraulic collision speed are configured based on the water flow direction and water flow velocity; for each collision sub-element of the power source boundary in the second channel, the wind force collision direction and wind force collision speed are configured based on the wind direction and wind speed;

[0107] In the first channel or the second channel, if collision sub-element i is adjacent to any collision sub-element with a collision direction and a collision speed and is located in the collision direction of the corresponding collision sub-element, then the first updated collision direction and the first updated collision speed of collision sub-element i are obtained, and the calculation formulas are as follows:

[0108] ;

[0109] ;

[0110] Among them, represents the first updated collision direction of collision sub-element i, represents the first updated collision speed of collision sub-element i, Represents the collision velocity of collider i, Represents the collision direction of collider i, Represents the collision velocity of collider i + 1, Represents the collision direction of collider i + 1;

[0111] where both i and i + 1 are indices of colliders in the first channel or the second channel, and the initial collision velocity and initial collision direction of colliders in the water area of the first channel and the second channel are both 0.

[0112] Specifically, this method proposes to use a matrix structure to construct a simulated water surface. The matrix consists of two channels (the first channel and the second channel), and each channel is composed of several colliders. In these two channels, the same water surface boundary is defined, and the water surface boundary is further divided into a power source boundary and a rigid source boundary. Both of these two types of boundaries are composed of multiple colliders, while the water area itself is composed of the remaining colliders. Then, for each collider on the power source boundary in the first channel, a hydraulic collision direction and a hydraulic collision velocity are configured according to the collected water flow direction and velocity; in the second channel, a wind collision direction and a wind collision velocity are configured for the corresponding colliders using the wind direction and wind speed, so as to introduce the characteristics of water flow and wind flow in the actual environment into the simulated environment.

[0113] It should be noted that this method stipulates an interaction update mechanism for colliders in the matrix structure: in the first channel or the second channel, if a certain collider i is adjacent to any collider with a defined collision direction and collision velocity, and this adjacent collider is in the collision direction of collider i, then according to a preset calculation formula, collider i will obtain a first updated collision direction and a first updated collision velocity. This method enables the simulated water surface to gradually form a dynamic state that reflects the propagation of actual physical forces by simulating the influence of water flow or wind force on the surrounding environment during the transmission process. It should be noted that the initial collision velocity and collision direction of all colliders are set to 0, and only under the action of external parameters and after continuous updates can a collision state that conforms to the actual situation be gradually established.

[0114] In an embodiment of the present invention, the configuration of the water surface boundary based on the target mooring water area includes:

[0115] Obtain the shapes and sizes of the dock boundary and the water area boundary of the target mooring water area, and based on the shapes and sizes of the dock boundary and the water area boundary, and at a preset scaling ratio , they are respectively mapped as a rigid source boundary and a power source boundary in the first channel and the second channel of the matrix structure, > 0;

[0116] where, a first hydraulic rigidity function is configured for the colliders in the rigid source boundary;

[0117] In the first channel, if the collision direction and collision velocity of collision particle i are both non-zero, collision particle i is adjacent to a collision particle in any rigid source boundary, and the corresponding collision particle is located in the collision direction of collision particle i, then based on the first hydraulic rigidity function, the second updated collision direction and second updated collision velocity of collision particle i are obtained. The calculation formula of the first hydraulic rigidity function is as follows:

[0118] ;

[0119] ;

[0120] Among them, represents the second updated collision direction of collision particle i, represents the second updated collision velocity of collision particle i, represents the angle between the collision direction of collision particle i and the dock boundary, represents the first velocity attenuation coefficient.

[0121] Specifically, by obtaining the shapes and sizes of the dock boundary and water area boundary in the target mooring water area, and mapping these actual boundaries to the first channel and second channel in the simulated water surface matrix structure at a preset scaling ratio, a rigid source boundary and a dynamic source boundary are respectively formed. For each collision particle in the rigid source boundary, a first hydraulic rigidity function is also configured to reflect the influence of the boundary on the water flow and its propagation characteristics. In the first channel, if the collision direction and collision velocity of a certain collision particle i are both non-zero, and this collision particle is adjacent to any collision particle in the rigid source boundary and the collision particle of this rigid boundary is located in the collision direction of collision particle i, then the first hydraulic rigidity function is used to update collision particle i, and its second updated collision direction and second updated collision velocity are calculated. The included angle between the original collision direction of collision particle i and the dock boundary and the first velocity attenuation coefficient are considered in the update formula. This method helps to more accurately transmit and reflect the influence of the dock boundary on the water flow, enabling the feng shui topology to realistically simulate the environment.

[0122] In an embodiment of the present invention, each ship is mapped as a topological point in the water area based on the position coordinates, including: obtaining the GPS coordinates of each ship, and calculating the relative coordinates of the GPS coordinates with respect to the target mooring water area , and mapping the corresponding ship through the first channel and second channel of the matrix structure based on the relative coordinates. Specifically: replacing the collision particle at the th row and the th column in the first channel and second channel of the matrix structure with the topological point.

[0123] Specifically, by obtaining the GPS coordinates of each ship and calculating its relative coordinates with respect to the target mooring waters (prior art), the actual position information is converted into accurate position data in the simulated environment. Thus, the distribution of each ship in the actual mooring waters can be reflected in the simulated waters. Next, using these relative coordinates, the collision elements at the corresponding row and column positions in the first and second channels of the matrix structure are replaced with topological points, thereby constructing the real-space distribution of the ships on the simulated water surface.

[0124] In an embodiment of the present invention, each node in the waters is configured with: a rigid influence range, including defining the rigid influence range as an ellipse:

[0125] The center point of the ellipse is: the topological point;

[0126] The semi-major axis of the ellipse is: ; where represents the length of the semi-major axis of the ellipse, represents the empirical coefficient, , represents the preset scaling ratio, represents the draft of the ship, represents the traveling speed of the ship;

[0127] The semi-minor axis of the ellipse is: ; where represents the length of the semi-minor axis of the ellipse;

[0128] The inclination angle of the semi-major axis of the ellipse is: the traveling direction of the ship;

[0129] Based on the coverage area of the corresponding ellipse in the first and second channels of the matrix structure, the collision elements in the corresponding areas in the first and second channels are used as the rigid influence range of the corresponding topological points;

[0130] A second hydraulic rigid function is configured in the first channel for the rigid influence range, and a wind rigid function is configured in the second channel for the rigid influence range;

[0131] In the first channel, if the collision direction and collision speed of collision element i are both non-zero, collision element i is adjacent to any one of the collision elements in the rigid influence range, and the corresponding collision element is located in the collision direction of collision element i, then the third updated collision direction and third updated collision speed of collision element i are obtained based on the second hydraulic rigid function. The calculation formula of the second hydraulic rigid function is as follows:

[0132] ;

[0133] ;

[0134] Where Indicates the third update collision direction Indicates the third update collision speed Indicates the angle between the water flow direction and the semi-major axis of the ellipse Indicates the second velocity decay coefficient

[0135] In the second channel, if the collision direction and collision speed of collision particle i are both non-zero, collision particle i is adjacent to any one of the collision particles in the rigid influence range, and the corresponding collision particle is located in the collision direction of collision particle i, then the fourth update collision direction and the fourth update collision speed of collision particle i are obtained based on the wind rigid function. The calculation formula of the wind rigid function is as follows:

[0136] ;

[0137] ;

[0138] Wherein, Indicates the fourth update collision direction Indicates the fourth update collision speed Indicates the angle between the wind direction and the semi-major axis of the ellipse Indicates the third velocity decay coefficient

[0139] Specifically, first, a rigid influence range is configured for each node in the water area. The rigid influence range is defined as an ellipse. The center point of the ellipse is the topological point mapped previously, which reflects the actual position of the ship in the water area. The length of the semi-major axis of the ellipse is jointly determined by factors such as the empirical coefficient, the preset scaling ratio, the draft depth and the traveling speed of the ship, while the semi-minor axis provides the size parameter in the other direction of the ellipse; in addition, the tilt angle of the ellipse is set to the traveling direction of the ship, so that the rigid influence range can accurately reflect the dynamic influence of the ship in a specific direction. Based on the area covered by this ellipse, in the first channel and the second channel of the matrix structure, the corresponding collision particles are used as the rigid influence range of this topological point, and the second hydraulic rigid function is configured in the first channel and the wind rigid function is configured in the second channel.

[0140] Specifically, the update process of the surrounding collision particles based on the rigid influence range. In the first channel, if the initial collision direction and collision velocity of a certain collision particle i are both non-zero, and a neighboring collision particle is located in this direction, the system calculates the third updated collision direction and the third updated collision velocity of the collision particle i based on the second hydraulic rigidity function. This update takes into account the angle between the water flow direction and the semi-major axis of the ellipse, as well as a preset second velocity attenuation coefficient. Similarly, in the second channel, if the collision particle i meets the corresponding conditions, then based on the wind rigidity function, the fourth updated collision direction and the fourth updated collision velocity of the collision particle i are obtained. This process combines the angle between the wind direction and the semi-major axis of the ellipse, as well as the third velocity attenuation coefficient. In this way, the feng shui topology can more precisely simulate the changes in mechanical parameters in the environment around the ship to obtain standard environmental data.

[0141] In an embodiment of the present invention, generating corresponding standard environmental data includes:

[0142] Step 81, at each moment of the first preset time period, construct the feng shui topology corresponding to the moment;

[0143] Step 82, input the water flow direction and water flow velocity as well as the wind direction and wind speed corresponding to the moment into the power source boundaries of the first channel and the second channel of the matrix structure in the feng shui topology respectively, obtain the collision directions and collision velocities of the collision particles adjacent to the rigid influence range of the corresponding topological points of the moored ship in the first channel and the second channel, and calculate the corrected water flow direction and the corrected water flow velocity. The calculation formulas are as follows:

[0144] ;

[0145] ;

[0146] Wherein, represents the corrected water flow direction, represents the corrected water flow velocity, represents the Euclidean distance between the m-th collision particle adjacent to the rigid influence range in the first channel and the corresponding topological point, represents the collision velocity of the m-th collision particle adjacent to the rigid influence range in the first channel, represents the collision direction of the m-th collision particle adjacent to the rigid influence range in the first channel, and m represents the index of the collision particles adjacent to the rigid influence range in the first channel;

[0147] Step 83, repeat Step 82 in the second channel to obtain the corrected wind direction and the corrected wind speed;

[0148] Step 84, replace the environmental characteristic data based on the corrected water flow direction, the corrected water flow velocity, the corrected wind direction, and the corrected wind speed to obtain the standard environmental data of the corresponding moored ship.

[0149] Specifically, the constructed feng shui topology is utilized to generate the standard environmental data corresponding to each ship, providing accurate input for the subsequent stability prediction model. Specifically, within the first preset time period (step 81), the system constructs the current feng shui topology at each moment, reflecting the dynamic interaction between the ship and its surrounding environment. Then, in step 82, by inputting the current water flow direction and velocity into the first channel of the matrix structure in the feng shui topology, and inputting the wind direction and speed into the second channel, the collision direction and collision speed of the adjacent collision sub-objects within the rigid influence range around the topological points corresponding to each moored ship are obtained, and the original water flow data is corrected using a preset calculation formula, thereby obtaining the corrected water flow direction and water flow velocity. Subsequently, in step 83, a method similar to that of the first channel is adopted to process the wind direction and speed in the second channel, obtaining the corrected wind direction and speed. Finally, in step 84, the corrected parameters are used to replace the original environmental characteristic data, generating the standard environmental data of each moored ship at the current moment.

[0150] In an embodiment of the present invention, a test ship is established in the target mooring waters to carry dedicated detection devices for water flow direction, water flow velocity, wind direction, and wind speed to detect a local area of the test ship, obtaining the corresponding parameters. Then, by calculating the loss (such as mean square error loss) between the actually collected parameters and the corrected parameters of the feng shui topology, the attenuation coefficient in the feng shui topology is optimized in reverse.

[0151] In an embodiment of the present invention, the stability prediction model obtained through training includes:

[0152] Within the first preset time period, the standard environmental data and mooring cable data of the j-th ship at the k-th moment are combined and normalized to construct a feature vector. The feature vector is used as sample data, and the stability score of the j-th ship at the k-th moment is used as the sample label to train the stability prediction model;

[0153] Among them, the stability prediction model is constructed based on a 1D convolutional neural network, and the weight parameters and bias parameters of the 1D convolutional neural network are updated in reverse through the mean square error loss function.

[0154] Specifically, a stability prediction model is constructed based on the standard environmental data and cable winding data collected within the first preset time period. Specifically, at each moment, for each moored vessel, the standard environmental data processed by the data correction module is merged with the corresponding cable winding data and normalized to generate a feature vector. This feature vector reflects the environmental state and cable winding condition of the vessel at that time. Meanwhile, the system uses the stability score of the vessel at that moment as a sample label, thus constituting a complete set of input-output data pairs. Subsequently, these sample data are used to train a stability prediction model based on a 1D convolutional neural network. During the training process, the mean squared error is used as the loss function, and the weights and bias parameters in the convolutional neural network are continuously updated through backpropagation, enabling the model to capture the mapping relationship between environmental changes, cable winding states, and vessel stability.

[0155] In an embodiment of the present invention, the dynamic management includes:

[0156] Step 101, at the s-th moment of the second preset time period, obtain the environmental feature data at the s-th moment and generate the standard environmental data of the target moored vessel;

[0157] Step 102, initialize and generate a number of individual populations that meet the constraint conditions;

[0158] Step 103, the encoding of an individual is constructed based on the lengths and tensions of the head and tail cables, the bow and stern back cables, and the bow and stern spring cables, and is expressed as: ; where respectively represent the lengths of the head and tail cables, the bow and stern back cables, and the bow and stern spring cables, respectively represent the tensions of the head and tail cables, the bow and stern back cables, and the bow and stern spring cables;

[0159] Step 104, the constraint conditions are: for the lengths of the head and tail cables, the bow and stern back cables, and the bow and stern spring cables, they are all less than or equal to the corresponding cable lengths, and for the tensions of the head and tail cables, the bow and stern back cables, and the bow and stern spring cables, they are all less than or equal to the preset tension threshold;

[0160] Step 105, merge the standard environmental data with the encoding of each individual and perform normalization processing to obtain the genetic vector of the individual;

[0161] Step 106, obtain the stability score of each genetic vector based on the stability prediction model;

[0162] Step 107, if the stability score is greater than or equal to the preset stability threshold, retain the encoding of the corresponding individual, otherwise use the encoding of the corresponding individual as the parent for crossover and mutation;

[0163] Step 108, repeat Step 105, Step 106, and Step 107 for a preset number of times, and then output the encoding of the individual corresponding to the highest stability score;

[0164] If the highest stability score is less than the preset stability threshold, start the mooring warning of the target ship and stop the transportation work;

[0165] Otherwise, based on the encoding of the corresponding individual, obtain the length and tension of each mooring line at the sth moment.

[0166] Specifically, through the dynamic management process, use the stability prediction model to optimize the ship mooring state in real time, so as to determine the optimal length and tension of each mooring line (including head and tail lines, bow and stern breast lines, and bow and stern spring lines) at each moment. First, in step 101, after collecting the environmental characteristic data at each moment, use the previously constructed data correction method to generate the standard environmental data of the target ship; next, in step 102, the system initializes and generates a population of individuals that meet a number of physical constraint conditions (such as the mooring line length not exceeding the actual cable length, and the tension not exceeding the preset threshold). Each individual, through the encoding in step 103, expresses the specific length and tension parameters of all mooring lines. On this basis, step 105 combines and normalizes the encoding of each individual with the current standard environmental data to form the genetic vector of the individual; then through step 106, use the trained stability prediction model to score each genetic vector to reflect the stability of the ship under the corresponding parameter combination. The system screens out the individuals whose stability scores reach or exceed the preset threshold in step 107, and the individuals that do not meet the requirements are used as parents for crossover and mutation, and iteratively optimized (step 108) until the preset number of times is reached, so as to output the encoding of the individual with the highest stability score. If the highest score is still lower than the stability threshold, the system will trigger a mooring warning and stop the transportation operation; otherwise, determine the optimal length and tension of each mooring line at the current moment according to the final individual encoding. The whole process realizes the real-time regulation and risk warning of the mooring state in a complex dynamic environment, ensuring the safety and operation stability of the ship in the mooring state.

[0167] The above describes the embodiments of this embodiment, but this embodiment is not limited to the above specific implementation manners. The above specific implementation manners are only illustrative and not restrictive. Under the inspiration of this embodiment, those of ordinary skill in the art can also make many forms, all of which fall within the protection scope of this embodiment.

Claims

1. A ship mooring status monitoring and early warning method, characterized in that: include: A data collection module, used to collect environmental characteristic data, stability data of the vessel in the target mooring waters and cable winch data of the target mooring waters at fixed time intervals within a first preset time period; Environmental characteristic data include: water flow direction and velocity, wind direction and velocity, and water surface height; Stability data include: acceleration parameters, angular velocity parameters, inclination parameters, GPS parameters, driving speed, draft depth and driving direction; Cable laying data include: length and tension of bow and stern cables, bow and stern return cables and bow and stern spring cables; A data analysis module for calculating a stability score for a moored vessel in a target mooring water area based on the stability data; The data correction module is used to construct a Feng Shui topology based on all the ships in the target mooring waters, and generate corresponding standard environmental data for each moored ship based on the Feng Shui topology and environmental characteristic data to construct the Feng Shui topology, including: loading a simulated water surface, the simulated water surface includes a water surface boundary and a water area; configuring the water area based on the environmental characteristic data: the direction and velocity of the water flow, as well as the wind direction and wind speed; configuring the water surface boundary based on the target mooring waters: the shape, size and the first hydraulic rigidity function; obtaining the position coordinates of each ship based on GPS parameters, and mapping each ship as a topological point in the waters based on the position coordinates; configuring each topological point: a rigid influence range, configuring the corresponding rigid influence range based on the ship's speed, draft and direction: a wind rigidity function and a second hydraulic rigidity function, and obtaining the Feng Shui topology; A model building module, used for training a stability prediction model based on standard environmental data, cable-twisting data and corresponding stability scores of each moored vessel within a first preset time period; The cable management module is used to dynamically manage the length and tension of each cable based on the stability prediction model combined with the optimization algorithm within a second preset time period.

2. A ship mooring status monitoring and early warning method according to claim 1, characterized in that: Calculate the stability score using the following formula: ； in, represents the stability score of the moored vessel, , and represents the first stability weight, the second stability weight and the third stability weight of the ship, , and All are not 0, and the sum is 1. represents the acceleration parameter of the moored vessel, represents the angular velocity parameter of the moored vessel, Represents the inclination parameter of a moored vessel.

3. A ship mooring status monitoring and early warning method according to claim 1, characterized in that: Water area configuration based on environmental characteristic data, including: The simulated water surface is constructed based on a matrix structure, the matrix structure includes a first channel and a second channel, and the first channel and the second channel both include the same number of colliders; The first channel and the second channel of the matrix structure are both defined with the same water surface boundary, and the water surface boundary is divided into a power source boundary and a rigid source boundary; wherein the power source boundary and the rigid source boundary are both composed of a number of colliders, and the water area is composed of the remaining colliders; For each collider at the boundary of the power source in the first channel, the collision direction and collision speed are configured based on the water flow direction and water flow speed; for each collider at the boundary of the power source in the second channel, the collision direction and collision speed are configured based on the wind direction and wind speed; In the first channel or the second channel, if collider i is adjacent to any collider with a collision direction and a collision speed, and is located in the collision direction of the corresponding collider, the first updated collision direction and the first updated collision speed of collider i are obtained, and the calculation formula is as follows: ； ； in, represents the first updated collision direction of collider i, represents the first updated collision velocity of collider i, represents the collision velocity of collider i, represents the collision direction of collider i, represents the collision speed of collider i+1, Indicates the collision direction of collider i+1; Among them, i and i+1 are the indexes of the colliders in the first channel or the second channel, and the initial collision speed and initial collision direction of the colliders in the water area in the first channel and the second channel are both 0.

4. A ship mooring status monitoring and early warning method according to claim 3, characterized in that: The water surface boundary configuration based on the target mooring waters includes: Get the shape and size of the dock boundary and water boundary of the target mooring waters, based on the shape and size of the dock boundary and water boundary, and at a preset scale , which are mapped as rigid source boundaries and dynamic source boundaries in the first channel and the second channel of the matrix structure, respectively. >0; Wherein, the first hydraulic rigidity function is configured for the collider in the rigid source boundary; In the first channel, if the collision direction and collision speed of collider i are not 0, collider i is adjacent to a collider in any rigid source boundary, and the corresponding collider is located in the collision direction of collider i, then the second updated collision direction and second updated collision speed of collider i are obtained based on the first hydraulic rigidity function. The calculation formula of the first hydraulic rigidity function is as follows: ； ； in, represents the second updated collision direction of collider i, represents the second updated collision velocity of collider i, represents the angle between the collision direction of collider i and the dock boundary, Represents the first velocity attenuation coefficient.

5. A ship mooring status monitoring and early warning method according to claim 4, characterized in that: Map each ship as a topological point in the waters based on the location coordinates, including: obtaining the GPS coordinates of each ship, calculating the relative coordinates of the GPS coordinates and the target mooring waters , based on the relative coordinates, the corresponding ship is mapped to the first channel and the second channel of the matrix structure, specifically: replace the first channel and the second channel in the matrix structure Line The colliders of a column are topological points.

6. A ship mooring status monitoring and early warning method according to claim 5, characterized in that: For each node in the water area, configure the rigid sphere of influence, including defining the rigid sphere of influence as an ellipse: The center point of the ellipse is: the topological point; The semi-major axis of the ellipse is: ;in, represents the length of the semi-major axis of the ellipse, represents the empirical coefficient, , Indicates the preset zoom ratio. Indicates the draft of the vessel. Indicates the speed of the vessel; The semi-minor axis of the ellipse is: ;in, represents the length of the semi-minor axis of the ellipse; The inclination angle of the semi-major axis of the ellipse is: the direction of travel of the ship; Based on the coverage area of ​​the corresponding ellipse in the first channel and the second channel of the matrix structure, the colliders of the corresponding areas in the first channel and the second channel are used as the rigid influence range of the corresponding topological point; The rigid influence range is configured with a second hydraulic rigidity function in the first channel, and the rigid influence range is configured with a wind rigidity function in the second channel; In the first channel, if the collision direction and collision speed of collider i are not 0, collider i is adjacent to any collider in the rigid influence range, and the corresponding collider is located in the collision direction of collider i, then the third updated collision direction and the third updated collision speed of collider i are obtained based on the second hydraulic rigidity function. The calculation formula of the second hydraulic rigidity function is as follows: ； ； in, Indicates the third updated collision direction, represents the third updated collision velocity, Represents the angle between the water flow direction and the semi-major axis of the ellipse, represents the second speed attenuation coefficient; In the second channel, if the collision direction and collision speed of collider i are not 0, collider i is adjacent to any collider in the rigid influence range, and the corresponding collider is located in the collision direction of collider i, then the fourth updated collision direction and fourth updated collision speed of collider i are obtained based on the wind rigidity function. The calculation formula of the wind rigidity function is as follows: ； ； in, Indicates the fourth updated collision direction, represents the fourth updated collision velocity, represents the angle between the wind direction and the semi-major axis of the ellipse, Indicates the third speed attenuation coefficient.

7. A ship mooring status monitoring and early warning method according to claim 6, characterized in that: Generate corresponding standard environment data, including: Step 81, at each moment in the first preset time period, construct a Feng Shui topology of the corresponding moment; Step 82, input the water flow direction and water flow velocity and wind direction and wind speed at the corresponding time for the power source boundaries of the first channel and the second channel of the matrix structure in the Feng Shui topology, obtain the collision direction and collision velocity of the adjacent collision sub-regions of the rigid influence range of the topological point corresponding to the moored vessel in the first channel and the second channel, and calculate the corrected water flow direction and corrected water flow velocity. The calculation formula is as follows: ； ； in, Indicates the corrected water flow rate. Indicates the correction of water flow direction. It represents the Euclidean distance between the mth collider adjacent to the rigid influence range in the first channel and the corresponding topological point. It represents the collision velocity of the mth collider adjacent to the rigid influence range in the first channel. Indicates the collision direction of the mth collider adjacent to the rigid influence range in the first channel, where m represents the index of the collider adjacent to the rigid influence range in the first channel; Step 83, repeating step 82 in the second channel to obtain a corrected wind direction and a corrected wind speed; Step 84, replacing the environmental characteristic data based on the corrected water flow direction and corrected water flow velocity as well as the corrected wind direction and corrected wind velocity, to obtain the corresponding standard environmental data of the moored vessel.

8. A ship mooring status monitoring and early warning method according to claim 7, characterized in that: The stability prediction model obtained by training includes: In the first preset time period, the standard environment data and the cable-twisting data of the j-th ship at the k-th moment are combined and normalized to construct a feature vector, the feature vector is used as sample data, and the stability score of the j-th ship at the k-th moment is used as a sample label to train a stability prediction model; Among them, the stability prediction model is constructed based on a 1D convolutional neural network, and the weight parameters and bias parameters of the 1D convolutional neural network are reversely updated through the mean square error loss function.

9. A ship mooring status monitoring and early warning method according to claim 8, characterized in that: Dynamic management, including: Step 101, at the s-th moment in the second preset time period, obtaining environmental characteristic data at the s-th moment, and generating standard environmental data of the target moored vessel; Step 102, initializing and generating a number of individual populations that meet the constraint conditions; Step 103, the individual codes are constructed based on the length and tension of the bow and stern cables, the bow and stern return cables, and the bow and stern spring cables, and are expressed as: ;in, Respectively represent the lengths of bow and stern cables, bow and stern return cables, and bow and stern spring cables. Respectively represent the tension of bow and stern cables, bow and stern return cables and bow and stern spring cables; Step 104, the constraint conditions are: the lengths of the bow and stern cables, the bow and stern return cables and the bow and stern spring cables are all less than or equal to the corresponding cable lengths, and the tensions of the bow and stern cables, the bow and stern return cables and the bow and stern spring cables are all less than or equal to the preset tension thresholds; Step 105, merging the standard environment data with the code of each individual and normalizing them to obtain the genetic vector of the individual; Step 106, obtaining a stability score of each genetic vector based on the stability prediction model; Step 107, if the stability score is greater than or equal to the preset stability threshold, the code of the corresponding individual is retained, otherwise the code of the corresponding individual is used as the parent generation for crossover and mutation; Step 108, repeating steps 105, 106 and 107 for a preset number of times, then outputting the code of the individual corresponding to the highest stability score; If the highest stability score is less than the preset stability threshold, the mooring warning of the target vessel is activated and the transportation work is stopped; Otherwise, based on the corresponding individual code, the length and tension of each stranded cable at the sth moment are obtained.

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