A load monitoring method, device and equipment of a transport ship and a storage medium

Abstract

The application provides a load monitoring method, device and equipment of a transport ship and a storage medium. The method comprises the following steps: before a target transport ship is loaded with goods, a drone is called to perform relevant measurement on the target transport ship, so as to obtain empty load measurement process data of the target transport ship; the drone is called to shoot digital media information of the empty load measurement process of the target transport ship; after the target transport ship is loaded with goods, the drone is called to perform relevant measurement on the target transport ship, so as to obtain full load measurement process data of the target transport ship; the drone is called to shoot digital media information of the full load measurement process of the target transport ship; based on the empty load measurement process data and the full load measurement process data, the current load of the target transport ship is calculated; and the empty load measurement process digital media information, the full load measurement process digital media information and the current load are associated with the target transport ship and are archived. The application can effectively supervise the weighing and measurement link of the target transport ship.

Description

Technical Field

[0001] This application relates to the field of ship load detection technology, and more particularly to a method, device, equipment and storage medium for monitoring the load of transport ships. Background Technology

[0002] In the water-based sand mining and transportation operation model of rivers and lakes, the weighing and measurement of sand transport vessels is a crucial link and a key aspect of river and lake sand mining supervision. The accuracy of the weighing and measurement of sand transport vessels has a direct impact on river and lake sand mining supervision, relates to the hidden loss of state-owned sand and gravel resources, and poses a potential threat to economic benefits and the regional ecological environment balance.

[0003] Currently, the weighing of sand-carrying vessels is mostly carried out manually on-site using methods such as hand measurement and visual inspection. Although some mining areas have undergone technological upgrades, these only optimize certain aspects (such as drone photography and drone modeling). The final weighing measurement still requires manual calculation, for example, by manually calculating the weighing measurement of sand-carrying vessels using a grid sampling algorithm.

[0004] In summary, at the current stage, the measurement of sand-carrying vessels during their transport from mining areas relies on manual assistance, as automatic weighing and measurement cannot be performed. Manual measurement requires on-site personnel, which carries inherent risks. Furthermore, manual measurement and calculation are inevitably prone to errors and procedural loopholes, resulting in inaccurate weighing and measurement results and hindering effective supervision of the weighing and measurement process for sand-carrying vessels. Summary of the Invention

[0005] This application provides a method, apparatus, equipment, and storage medium for monitoring the load of a transport vessel, in order to solve the problems existing in related technologies. The technical solution is as follows: In a first aspect, embodiments of this application provide a method for monitoring the load of a transport vessel, comprising: Before the target transport vessel loads cargo, a drone is used to conduct relevant measurements on the target transport vessel to obtain empty load measurement data of the target transport vessel; The drone was used to capture digital media information about the empty metering process of the target transport vessel. After the target transport vessel is loaded with cargo, the UAV is invoked to perform relevant measurements on the target transport vessel to obtain the full load measurement process data of the target transport vessel; The drone was used to capture digital media information about the full-load measurement process of the target transport vessel. Based on the empty load metering process data and the full load metering process data, the current load of the target transport vessel is calculated. The digital media information of the empty load measurement process, the digital media information of the full load measurement process, and the current load are associated with and archived with the target transport vessel.

[0006] In one embodiment, the empty-load measurement process data includes: bow vertical distance Hb, stern vertical distance Ha, aircraft elevation Ya, and empty-load water level elevation Sa. The bow vertical distance Hb is the vertical distance between the bow of the target transport vessel and the UAV, the stern vertical distance Ha is the vertical distance between the stern of the target transport vessel and the UAV, the aircraft elevation Ya is the flight elevation of the UAV when the target transport vessel is being measured empty, and the empty-load water level elevation Sa is the average water level elevation when the target transport vessel is being measured empty. The data from the full-load measurement process includes: bow vertical distance Hd, stern vertical distance Hc, aircraft elevation Yb, and full-load water level elevation Sb. The bow vertical distance Hd is the vertical distance between the bow of the target transport vessel and the UAV; the stern vertical distance Hc is the vertical distance between the stern of the target transport vessel and the UAV; the aircraft elevation Yb is the flight elevation of the UAV when the target transport vessel is fully loaded; and the full-load water level elevation Yb is the average water level elevation when the target transport vessel is fully loaded.

[0007] In one embodiment, the target transport vessel has unique QR codes at its bow and stern, denoted as the bow QR code and stern QR code, respectively; a drone is invoked to perform relevant measurements on the target transport vessel, obtaining empty-load measurement data of the target transport vessel, including: The drone is invoked to fly above the bow QR code and the stern QR code respectively to measure the distance, and the vertical distance Hb of the bow and the vertical distance Ha of the stern are obtained. The drone is invoked to perform flight and water level elevation measurement, and the aircraft elevation Ya and the empty water level elevation Sa are obtained.

[0008] In one embodiment, the bow QR code and the stern QR code contain the vessel identification number of the target transport vessel; the drone is invoked to fly above the bow QR code and the stern QR code respectively to measure the distance, obtaining the bow vertical distance Hb and the stern vertical distance Ha, including: An empty load measurement request is initiated using a terminal device. The empty load measurement request is used to request that the target transport vessel be weighed before loading cargo. The empty load measurement request carries the vessel identification number of the target transport vessel. The terminal device is the terminal device of the crew of the target transport vessel. Based on the empty measurement request, the drone is invoked to fly to the location of the target transport vessel and identify the bow QR code or the stern QR code to confirm whether the target transport vessel is the transport vessel to be measured. Once it is confirmed that the target transport vessel is the one to be measured, the drone is invoked to fly above the bow QR code and the stern QR code respectively, and the vertical distance between the drone and the target transport vessel is measured to obtain the bow vertical distance Hb and the stern vertical distance Ha.

[0009] In one implementation, the drone is invoked to perform relevant measurements on the target transport vessel to obtain full-load measurement data of the target transport vessel, including: The drone is invoked to perform relevant measurements on the target transport vessel using the same method as the measurements taken before the target transport vessel was loaded with cargo, thereby obtaining the full-load measurement process data.

[0010] In one implementation, the current load of the target transport vessel is calculated based on the empty load metering data and the full load metering data, including: Based on the vertical distance Hb from the bow, the vertical distance Ha from the stern, the aircraft elevation Ya, and the empty water level elevation Sa from the empty metering process data, the empty draft X1 of the target transport vessel is calculated. Based on the vertical distance Hd from the bow, the vertical distance Hc from the stern, the aircraft elevation Yb, and the empty water level elevation Sb in the full-load measurement process data, the full-load draft X2 of the target transport vessel is calculated. Based on the unloaded draft X1 and the fully loaded draft X2, the current load of the target transport vessel is calculated.

[0011] In one implementation, calling the drone to capture digital media information of the empty metering process of the target transport vessel includes: calling the drone to fly to the port side, starboard side and directly above the target transport vessel respectively, and then taking pictures of the target transport vessel at a specified pitch angle to obtain the digital media information of the empty metering process; The process of calling the drone to capture digital media information of the full-load measurement process of the target transport vessel includes: calling the drone to capture images of the target transport vessel using the same shooting method as the method used to obtain the digital media information of the empty-load measurement process, thereby obtaining the digital media information of the full-load measurement process.

[0012] Secondly, embodiments of this application also provide a load monitoring device for transport vessels, comprising: The measurement unit calls upon a drone to conduct relevant measurements on the target transport vessel before it loads cargo, thereby obtaining empty-load measurement data of the target transport vessel. The camera unit is used to access digital media information about the empty metering process of the target transport vessel captured by the drone. The measurement unit is also used to call the UAV to perform relevant measurements on the target transport vessel after the target transport vessel has loaded cargo, so as to obtain the full load measurement process data of the target transport vessel; The shooting unit is also used to call up digital media information of the full load measurement process of the target transport vessel captured by the drone; The calculation unit is used to calculate the current load of the target transport vessel based on the empty load measurement process data and the full load measurement process data; An archiving unit is used to associate and archive the digital media information of the empty load measurement process, the digital media information of the full load measurement process, and the current load with the target transport vessel.

[0013] In one embodiment, the empty-load measurement process data includes: bow vertical distance Hb, stern vertical distance Ha, aircraft elevation Ya, and empty-load water level elevation Sa. The bow vertical distance Hb is the vertical distance between the bow of the target transport vessel and the UAV, the stern vertical distance Ha is the vertical distance between the stern of the target transport vessel and the UAV, the aircraft elevation Ya is the flight elevation of the UAV when the target transport vessel is being measured empty, and the empty-load water level elevation Sa is the average water level elevation when the target transport vessel is being measured empty. The data from the full-load measurement process includes: bow vertical distance Hd, stern vertical distance Hc, aircraft elevation Yb, and full-load water level elevation Sb. The bow vertical distance Hd is the vertical distance between the bow of the target transport vessel and the UAV; the stern vertical distance Hc is the vertical distance between the stern of the target transport vessel and the UAV; the aircraft elevation Yb is the flight elevation of the UAV when the target transport vessel is fully loaded; and the full-load water level elevation Yb is the average water level elevation when the target transport vessel is fully loaded.

[0014] In one embodiment, the target transport vessel has unique QR codes at its bow and stern, denoted as the bow QR code and stern QR code, respectively. When the measurement unit is used to invoke a drone to perform relevant measurements on the target transport vessel and obtain the empty-load measurement process data of the target transport vessel, it is specifically used for: The drone is invoked to fly above the bow QR code and the stern QR code respectively to measure the distance, and the vertical distance Hb of the bow and the vertical distance Ha of the stern are obtained. The drone is invoked to perform flight and water level elevation measurement, and the aircraft elevation Ya and the empty water level elevation Sa are obtained.

[0015] In one embodiment, the bow QR code and the stern QR code contain the vessel identification number of the target transport vessel; when the measurement unit is used to call the drone to fly above the bow QR code and the stern QR code respectively to perform distance measurements and obtain the bow vertical distance Hb and the stern vertical distance Ha, it is specifically used for: An empty load measurement request is initiated using a terminal device. The empty load measurement request is used to request that the target transport vessel be weighed before loading cargo. The empty load measurement request carries the vessel identification number of the target transport vessel. The terminal device is the terminal device of the crew of the target transport vessel. Based on the empty measurement request, the drone is invoked to fly to the location of the target transport vessel and identify the bow QR code or the stern QR code to confirm whether the target transport vessel is the transport vessel to be measured. Once it is confirmed that the target transport vessel is the one to be measured, the drone is invoked to fly above the bow QR code and the stern QR code respectively, and the vertical distance between the drone and the target transport vessel is measured to obtain the bow vertical distance Hb and the stern vertical distance Ha.

[0016] In one implementation, when the measurement unit is used to invoke the UAV to perform relevant measurements on the target transport vessel and obtain the full-load measurement process data of the target transport vessel, it is specifically used for: The drone is invoked to perform relevant measurements on the target transport vessel using the same method as the measurements taken before the target transport vessel was loaded with cargo, thereby obtaining the full-load measurement process data.

[0017] In one embodiment, when the calculation unit calculates the current load of the target transport vessel based on the empty load measurement process data and the full load measurement process data, it is specifically used for: Based on the vertical distance Hb from the bow, the vertical distance Ha from the stern, the aircraft elevation Ya, and the empty water level elevation Sa from the empty metering process data, the empty draft X1 of the target transport vessel is calculated. Based on the vertical distance Hd from the bow, the vertical distance Hc from the stern, the aircraft elevation Yb, and the empty water level elevation Sb in the full-load measurement process data, the full-load draft X2 of the target transport vessel is calculated. Based on the unloaded draft X1 and the fully loaded draft X2, the current load of the target transport vessel is calculated.

[0018] In one embodiment, when the shooting unit is used to call the drone to capture digital media information of the empty metering process of the target transport vessel, it is specifically used to: call the drone to fly to the port side, starboard side and directly above the target transport vessel respectively, and then take pictures of the target transport vessel at a specified pitch angle to obtain the digital media information of the empty metering process; When the shooting unit is used to call the drone to capture digital media information of the full-load metering process of the target transport vessel, it is specifically used to: call the drone to capture the target transport vessel using the same shooting method as the method used to obtain the digital media information of the empty-load metering process, and obtain the digital media information of the full-load metering process.

[0019] Thirdly, embodiments of this application also provide an electronic device, which includes: a memory and a processor, wherein the memory stores instructions, and the instructions are loaded and executed by the processor to implement the methods in any of the above embodiments, wherein the memory and the processor communicate with each other through an internal connection path.

[0020] Fourthly, embodiments of this application also provide a computer-readable storage medium storing a computer program that, when run on a computer, implements the methods in any of the above-described embodiments.

[0021] The advantages or beneficial effects of the above technical solutions include at least the following: This application utilizes drones to automatically complete measurements before and after loading cargo onto the target transport vessel. Based on the data from both measurements (empty and full load), the current load of the target transport vessel is automatically calculated. This solves the problems of manual measurement requiring proximity to the vessel, safety concerns, and subjective errors in human calculation. It avoids errors and procedural loopholes caused by manual measurement and calculation. It also effectively addresses measurement errors and operational safety issues caused by weather factors (wind, rain, water surface fluctuations, etc.) and provides accurate weighing results. Furthermore, by photographing the two measurement processes and archiving the data (digital media information from the empty and full load weighing processes) with the target transport vessel, subsequent evidence collection is facilitated. This provides strong assurance for the safety of weighing operations on transport vessels and enables effective supervision of the weighing process.

[0022] The above overview is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of this application will become readily apparent from the accompanying drawings and the following detailed description. Attached Figure Description

[0023] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the various drawings denote the same or similar parts or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings depict only some embodiments disclosed in this application and should not be construed as limiting the scope of this application.

[0024] Figure 1 A flowchart illustrating a method for monitoring the load of a transport vessel, provided as an embodiment of this application; Figure 2 A top view of a target transport vessel provided in an embodiment of this application; Figure 3 An example diagram illustrating the measurement of a target transport vessel when it is unloaded, provided as an embodiment of this application; Figure 4 An example diagram illustrating the measurement of a target transport vessel when fully loaded, provided as an embodiment of this application; Figure 5 A structural block diagram of a load monitoring device for a transport vessel provided in this application embodiment; Figure 6 This is a structural block diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0025] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of this application. Therefore, the drawings and description are considered to be exemplary in nature and not restrictive.

[0026] Figure 1 A flowchart illustrating a method for monitoring the load of a transport vessel according to an embodiment of this application is provided. The entity executing this method can be a server for weighing and monitoring the transport vessel, or other devices connected to the server; this embodiment does not specifically limit the specific implementation. Figure 1 As shown, the method may include the following steps: S110. Before the target transport vessel loads cargo, a drone is used to conduct relevant measurements on the target transport vessel to obtain empty load measurement data of the target transport vessel.

[0027] In one embodiment, the target transport vessel can be any vessel that carries cargo in rivers, lakes, or seas, such as a sand transport vessel that transports sand on rivers or lakes. This application does not specifically limit this.

[0028] In one implementation, a vessel metering zone can be planned on a river, lake, or sea area, and this vessel metering zone can be located within the coverage area of ​​an unmanned aerial vehicle (UAV) airport. This vessel metering zone can include an empty metering zone and a fully loaded metering zone. When the target transport vessel enters the river, lake, or sea area and reaches the empty metering zone, step S110 is executed.

[0029] In one embodiment, the data from the empty-load measurement process may include, but is not limited to: the vertical distance from the bow to the ship Hb, the vertical distance from the stern to the ship Ha, the aircraft elevation Ya, and the empty-load water level elevation Sa, wherein the vertical distance from the bow to the ship Hb is the vertical distance between the bow of the target transport vessel and the UAV, the vertical distance from the stern to the ship Ha is the vertical distance between the stern of the target transport vessel and the UAV, the aircraft elevation Ya is the flight elevation of the UAV when the target transport vessel is being measured empty, and the empty-load water level elevation Sa is the average water level elevation when the target transport vessel is being measured empty.

[0030] In one implementation, to facilitate statistical measurement, combined with Figure 2 As shown, the target transport vessel can have its own unique QR code at the bow and stern, respectively, referred to as the bow QR code and the stern QR code. It can be understood that the bow QR code and the stern QR code are the same, only their positions are different.

[0031] As an example, the bow and stern QR codes can consist of the target transport vessel's ship identification number (i.e., vessel number) and a special code. Specifically, the bow and stern QR codes include the target transport vessel's ship identification number. This special code can be a drone verification code, used by the drone to identify and confirm that the bow and stern QR codes are for its own use.

[0032] In conjunction with the above embodiments, the process of using a drone to perform relevant measurements on the target transport vessel and obtaining the empty load measurement data of the target transport vessel may include the following steps: S111. Call the drone to fly above the QR codes at the bow and stern of the ship to measure the distances, and obtain the vertical distance Hb at the bow and the vertical distance Ha at the stern.

[0033] In practice, a no-load measurement request can be initiated using a terminal device. This no-load measurement request is used to request that the target transport vessel be weighed before loading cargo. The no-load measurement request carries the identification number of the target transport vessel, and the terminal device is the terminal device of the crew of the target transport vessel.

[0034] For example, the terminal device may be equipped with an application (hereinafter referred to as the monitoring APP) for weighing and monitoring transport vessels. When the target transport vessel is located and determined to have arrived at the empty weighing area, the crew of the target transport vessel initiates the empty weighing request through the monitoring APP on the mobile terminal, such as by initiating the empty weighing request to the aforementioned server.

[0035] In practice, based on the empty measurement request, a drone can be called to fly to the location of the target transport vessel and identify the QR code on the bow or stern to confirm whether the target transport vessel is the one to be measured.

[0036] For example, upon receiving the empty measurement request initiated by the mobile terminal, a takeoff command can be sent to the drone airport. This takeoff command instructs the drone to fly to the empty measurement zone, causing the drone to automatically take off from the drone airport and fly to the empty measurement zone upon receiving the command. Once the drone reaches the empty measurement zone, it uses its onboard optical sensors to obtain its current altitude, ensuring it doesn't exceed a specified safe altitude, and then guides the drone to approach the target transport vessel. Then, based on proximity, the drone can fly to the bow or stern of the target transport vessel, identify the bow or stern QR code, and obtain the target transport vessel's identification number (IIN). Finally, the IIN obtained by the drone is compared with the IIN carried in the empty measurement request. If they match, the target transport vessel is confirmed as the vessel to be measured; otherwise, if they do not match, the target transport vessel is confirmed as not the vessel to be measured.

[0037] In practice, once the target transport vessel is confirmed to be the one to be measured, a drone is deployed to fly above the QR codes at the bow and stern of the vessel, respectively, and the vertical distance between the drone and the target transport vessel is measured to obtain the vertical distance Hb at the bow and the vertical distance Ha at the stern.

[0038] For example, in combination Figure 3 As shown, a drone can first be flown above the QR code on the bow of the ship. The drone's laser rangefinder can then be used to repeatedly measure the vertical distance between the center point of the QR code and the drone, and the average value can be taken as the bow vertical distance Hb. Then, the drone can be flown above the QR code on the stern of the ship, and the drone's laser rangefinder can be used to repeatedly measure the vertical distance between the center point of the QR code and the drone, and the average value can be taken as the stern vertical distance Ha.

[0039] S112. Call the drone to perform flight and water level elevation measurement to obtain the aircraft elevation Ya and the empty water level elevation Sa.

[0040] In practice, drones can be deployed to the port and starboard sides of the target transport vessel to take measurements and obtain the vertical distances He and Hf. The vertical distance He is the vertical distance between the water surface on the port side and the drone, and the vertical distance Hf is the vertical distance between the water surface on the starboard side and the drone.

[0041] For example, the drone can be invoked to fly to the port side of the target transport vessel, and then use the laser rangefinder mounted on the drone to measure the vertical distance between the drone and the water surface on the port side at multiple points. The average value is then taken as the vertical distance He. Then, the drone can be invoked to fly to the starboard side of the target transport vessel, and then use the laser rangefinder mounted on the drone to measure the vertical distance between the drone and the water surface on the starboard side at multiple points. The average value is then taken as the vertical distance Hf.

[0042] In practice, the PTK equipment mounted on the drone can be used to measure the drone's altitude Ya and the angle of depression between the drone and the water surface.

[0043] In practice, one can first take the average distance between the vertical distances He and Hf, and then calculate the empty water level elevation Sa based on this average distance and the angle of depression using trigonometric functions. Alternatively, one can first calculate the empty water level elevation S1 based on the vertical distance He and the angle of depression using trigonometric functions, and then calculate the empty water level elevation S2 based on the vertical distance Hf and the angle of depression using trigonometric functions. Finally, the average of the empty water level elevations S1 and S2 is taken as the empty water level elevation Sa.

[0044] In another implementation, a water level monitoring device (such as a water level radar) can be installed in the unloaded metering area, and the average water level elevation during the measurement period of the water level detection device can be used as the unloaded water level elevation Sa.

[0045] In another implementation, in order to adapt to the large wind volume on rivers, lakes, and seas, the empty water level elevation Sa can be measured by using a laser rangefinder mounted on a drone in combination with RTK equipment as a base, and then calibrated by using the empty water level elevation Sa measured by a water level detection device, so that the final empty water level elevation Sa is more accurate.

[0046] That is, by executing step S110, errors caused by unstable water surface fluctuations during manual asynchronous photography / reading can be avoided during the no-load metering process, thus solving the problem of technical errors in meter reading.

[0047] S120: Use drones to capture digital media information about the empty weighing process of the target transport vessel.

[0048] In one implementation, a drone can be deployed to the port side, starboard side, and directly above the target transport vessel, and then take pictures of the target transport vessel at a specified pitch angle to obtain digital media information on the empty load measurement process. The specified pitch angle can be set according to actual needs, as long as it clearly captures the Class B freeboard on the side of the target transport vessel; this application does not impose specific limitations on this.

[0049] For example, a high-definition camera can be equipped on a drone. After the drone flies to the port side, starboard side, and directly above the target transport vessel, the high-definition camera can capture and record images at a specified pitch angle, thus obtaining digital media information about the empty-load metering process. That is, the digital media information about the empty-load metering process includes photos and video recordings.

[0050] That is, by executing step S120, evidence data can be archived for the no-load metering process.

[0051] S130. After the target transport vessel is loaded with cargo, a drone is used to conduct relevant measurements on the target transport vessel to obtain the full load measurement process data of the target transport vessel.

[0052] In one implementation, after the target transport vessel has loaded its cargo, step S130 is initiated when the target transport vessel arrives at the full load metering area by positioning.

[0053] In one embodiment, the data for the full-load measurement process may include, but is not limited to: the vertical distance from the bow to the ship Hd, the vertical distance from the stern to the ship Hc, the aircraft elevation Yb, and the full-load water level elevation Sb, wherein the vertical distance from the bow to the ship Hd is the vertical distance between the bow of the target transport vessel and the UAV, the vertical distance from the stern to the ship Hc is the vertical distance between the stern of the target transport vessel and the UAV, the aircraft elevation Yb is the flight elevation of the UAV when the target transport vessel is fully loaded, and the full-load water level elevation Yb is the average water level elevation when the target transport vessel is fully loaded.

[0054] In one implementation, a drone can be invoked to perform relevant measurements on the target transport vessel using the same method as the measurements taken before loading cargo, thereby obtaining the full-load measurement process data. This can be understood as performing step S130 in the same manner as performing step S110 above.

[0055] That is, by executing step S130, errors caused by unstable water surface fluctuations during manual asynchronous photography / reading can be avoided during the full-load metering process, thus solving the problem of technical errors in meter reading.

[0056] S140. Use drones to capture digital media information about the full-load measurement process of the target transport vessel.

[0057] In one implementation, combined with Figure 4 As shown, a drone can be used to photograph the target transport vessel using the same shooting method as for obtaining the digital media information of the empty load metering process, thus obtaining the digital media information of the full load metering process. This can be understood as executing step S140 in the same way as executing step S120 above. Correspondingly, the digital media information of the full load metering process also includes photos and video recordings.

[0058] That is, by executing step S140, the data for the full-load metering process can be archived.

[0059] S150. Based on the empty load measurement process data and the full load measurement process data, the current load of the target transport vessel is calculated.

[0060] In one implementation, the process of step S150 may include the following steps: S151. Based on the vertical distance Hb from the bow, the vertical distance Ha from the stern, the aircraft elevation Ya, and the empty water level elevation Sa from the empty metering process data, the empty draft X1 of the target transport vessel is calculated.

[0061] As an example, combined Figure 3As shown, the empty draft X1 of the target transport vessel can be calculated based on the vertical distance Hb from the bow, the vertical distance Ha from the stern, the aircraft elevation Ya, and the empty water level elevation Sa in the empty metering process data, according to the following formula (1).

[0062] X1=(Ya-Sa)-(Ha+Hb) / 2(1) S152. Based on the vertical distance Hd from the bow, vertical distance Hc from the stern, aircraft elevation Yb, and empty water level elevation Sb from the full-load measurement process data, the full-load draft X2 of the target transport vessel is calculated.

[0063] As an example, combined Figure 4 As shown, the full-load draft X2 of the target transport vessel can be calculated using the following formula (2) based on the vertical distance Hd from the bow, the vertical distance Hc from the stern, the aircraft elevation Yb, and the empty water level elevation Sb from the full-load metering process data.

[0064] X2=(Yb-Sb)-(Hc+Hd) / 2(2) S153. Based on the unloaded draft X1 and the full-loaded draft X2, the current load of the target transport vessel is calculated.

[0065] In practice, the difference in draft between the target transport vessel before and after loading cargo can be calculated based on the unloaded draft X1 and the fully loaded draft X2.

[0066] In practice, the displacement volume can be calculated based on the draft difference X, and then the current load of the target transport vessel can be calculated based on the displacement volume and displacement density.

[0067] That is, by executing step S150, the current load of the target transport vessel can be automatically calculated, thus solving the problem of subjective errors in human calculation.

[0068] S160. The digital media information of the empty load measurement process, the digital media information of the full load measurement process, and the current load are associated with and archived with the target transport vessel.

[0069] In one implementation, the digital media information of the empty load metering process, the digital media information of the full load metering process, and the current load can be associated with the vessel identification number of the target transport vessel and archived over time.

[0070] In the implementation of this application, by executing step S160, the empty-load metering process and the full-load metering process of the target transport vessel can be stored, which facilitates subsequent evidence collection.

[0071] In one applicable scenario provided by the embodiments of this application, the method for monitoring the load of transport vessels provided by the embodiments of this application may further include: if it is determined that the drone has sufficient power, the drone is called to fly to the next transport vessel to be measured to increase the efficiency of load monitoring; if it is determined that the drone has insufficient power or there is no transport vessel to be measured temporarily, the drone is called to return to the drone airport and is instructed to charge autonomously and standby. If measurement is required again while the drone is charging, a backup drone is called to take off and measure the transport vessel to be measured according to steps S110-S160 above. It should be noted that the measurement data of the backup drone and the drone are archived in the same set of servers.

[0072] To achieve comprehensive and intelligent monitoring and management of the metering process of transport vessels, stable power supply devices and high-speed network transmission equipment can be deployed on the management platform of the UAV airport.

[0073] In practical applications, the positioning of the target transport vessel mentioned above can be obtained using one of the following three positioning methods: The first positioning method: The monitoring APP sends the mobile terminal's positioning information to the server, and the server obtains the positioning of the target transport vessel based on the positioning information; The second positioning method: The server connects to the AIS (Automatic Identification System) for ships and obtains the positioning of the target transport vessel based on the system. The third positioning method involves setting up QR codes on the bow and stern of the target transport vessel that contain ship information and image visual positioning information used by drones. This information is then transmitted to a server via wireless signals, and the server uses the ship information and image visual positioning information from the drones to determine the location of the target transport vessel.

[0074] In summary, the load monitoring method for transport vessels provided in this application automatically completes measurements using a drone before and after the target transport vessel loads cargo. Based on the data from the two measurement processes (i.e., empty load measurement data and full load measurement data), the current load of the target transport vessel is automatically calculated. This solves the problems of manual measurement requiring proximity to the transport vessel, safety issues, and subjective errors in human calculation. It avoids errors and process loopholes caused by manual measurement and calculation. It also effectively addresses measurement errors and operational safety issues caused by meteorological factors (wind, rain, water surface fluctuations, etc.) and obtains accurate weighing results. Furthermore, by taking photos during the two measurement processes and archiving the data (i.e., digital media information from the empty load measurement process and digital media information from the full load measurement process) with the target transport vessel, subsequent evidence collection is facilitated. Therefore, it provides strong protection for the safety of weighing operations on transport vessels and enables effective supervision of the weighing process of the target transport vessel.

[0075] Figure 5 A structural block diagram of a load monitoring device for a transport vessel according to an embodiment of this application is shown. Figure 5 As shown, the device may include: Measurement unit 210, before the target transport vessel loads cargo, calls on a drone to conduct relevant measurements on the target transport vessel and obtains empty-load measurement process data of the target transport vessel; The shooting unit 220 is used to retrieve digital media information on the empty metering process of the target transport vessel captured by the drone; The measurement unit 210 is also used to call a drone to perform relevant measurements on the target transport vessel after the target transport vessel has been loaded with cargo, so as to obtain the full load measurement process data of the target transport vessel. The camera unit 220 is also used to access digital media information about the full-load measurement process of the target transport vessel captured by the drone. The calculation unit 230 is used to calculate the current load of the target transport vessel based on the empty load metering process data and the full load metering process data; The archiving unit 240 is used to archive digital media information of the empty load metering process, digital media information of the full load metering process, and the current load weight associated with the target transport vessel.

[0076] In one embodiment, the data for the empty measurement process includes: the vertical distance between the bow and the stern Hb, the vertical distance between the stern Ha, the aircraft elevation Ya, and the empty water level elevation Sa. The vertical distance between the bow and the stern Hb is the vertical distance between the bow of the target transport vessel and the UAV, the vertical distance between the stern Ha is the vertical distance between the stern of the target transport vessel and the UAV, the aircraft elevation Ya is the flight elevation of the UAV when the target transport vessel is being measured empty, and the empty water level elevation Sa is the average water level elevation when the target transport vessel is being measured empty. The data for the full-load measurement process includes: the vertical distance between the bow and the stern (Hd), the vertical distance between the stern and the drone, the aircraft elevation (Yb), and the full-load water level elevation (Sb). The vertical distance between the bow and the drone is the vertical distance between the bow of the target transport vessel and the drone. The vertical distance between the stern and the drone is the vertical distance between the stern of the target transport vessel and the drone. The aircraft elevation (Yb) is the flight elevation of the drone when the target transport vessel is fully loaded. The full-load water level elevation (Yb) is the average water level elevation when the target transport vessel is fully loaded.

[0077] In one embodiment, the bow and stern of the target transport vessel are respectively equipped with unique QR codes, referred to as the bow QR code and the stern QR code; when the measurement unit 210 is used to call the drone to perform relevant measurements on the target transport vessel and obtain the empty-load measurement process data of the target transport vessel, it is specifically used for: The drone was used to fly over the QR codes at the bow and stern of the ship to measure the distances, thus obtaining the vertical distance Hb at the bow and the vertical distance Ha at the stern. The drone was used to conduct flight and water level elevation measurements, and the aircraft elevation Ya and the empty water level elevation Sa were obtained.

[0078] In one embodiment, the bow QR code and the stern QR code contain the vessel identification number of the target transport vessel; when the measurement unit 210 is used to call the drone to fly above the bow QR code and the stern QR code respectively to measure the distance and obtain the bow vertical distance Hb and the stern vertical distance Ha, it is specifically used for: The empty measurement request is initiated using a terminal device. The empty measurement request is used to request that the target transport vessel be weighed before loading cargo. The empty measurement request carries the vessel identification number of the target transport vessel. The terminal device is the terminal device of the crew of the target transport vessel. Based on the request for empty measurement, the drone is called to fly to the location of the target transport vessel and identify the QR code on the bow or stern to confirm whether the target transport vessel is the transport vessel to be measured. Once the target transport vessel is confirmed to be the one to be measured, a drone is deployed to fly above the QR codes at the bow and stern of the vessel, respectively, and the vertical distance between the drone and the target transport vessel is measured to obtain the vertical distance Hb at the bow and the vertical distance Ha at the stern.

[0079] In one embodiment, when the measurement unit 210 is used to invoke the UAV to perform relevant measurements on the target transport vessel and obtain the full-load measurement process data of the target transport vessel, it is specifically used for: The drone is used to perform relevant measurements on the target transport vessel in the same way as the measurements were taken before the target transport vessel was loaded with cargo, and the full load measurement process data is obtained.

[0080] In one embodiment, when calculating the current load of the target transport vessel based on empty load metering process data and full load metering process data, the calculation unit 230 is specifically used for: Based on the vertical distance Hb from the bow, vertical distance Ha from the stern, aircraft elevation Ya, and empty water level elevation Sa from the empty metering process data, the empty draft X1 of the target transport vessel is calculated. Based on the vertical distance Hd from the bow, vertical distance Hc from the stern, aircraft elevation Yb, and empty water level elevation Sb from the full-load measurement process data, the full-load draft X2 of the target transport vessel is calculated. The current load of the target transport vessel is calculated based on the unloaded draft X1 and the fully loaded draft X2.

[0081] In one embodiment, when the shooting unit 220 is used to call up the digital media information of the empty metering process of the target transport vessel captured by the drone, it is specifically used to: call the drone to fly to the port side, starboard side and directly above the target transport vessel respectively, and then take pictures of the target transport vessel at a specified pitch angle to obtain the digital media information of the empty metering process. When the shooting unit 220 is used to call up the digital media information of the full-load measurement process of the target transport vessel taken by the drone, it is specifically used to: call the drone to take pictures of the target transport vessel using the same shooting method as the one used to obtain the digital media information of the empty-load measurement process, so as to obtain the digital media information of the full-load measurement process.

[0082] The functions of each unit in the load monitoring device for transport vessels in this embodiment can be found in the corresponding descriptions in the above methods, and will not be repeated here.

[0083] Figure 6 A structural block diagram of an electronic device according to an embodiment of this application is shown. Figure 6 As shown, the electronic device includes a memory 310 and a processor 320. The memory 310 stores instructions, which are loaded and executed by the processor 320 to implement the load monitoring method for transport vessels in the above embodiments. The number of memories 310 and processors 320 can be one or more.

[0084] The electronic device also includes: The communication interface 330 is used to communicate with external devices and perform data exchange and transmission.

[0085] If the memory 310, processor 320, and communication interface 330 are implemented independently, they can be interconnected via a bus to communicate with each other. This bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. This bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 6 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0086] Optionally, in a specific implementation, if the memory 310, processor 320 and communication interface 330 are integrated on a single chip, the memory 310, processor 320 and communication interface 330 can communicate with each other through an internal interface.

[0087] This application provides a computer-readable storage medium storing a computer program. When the computer program is run on a computer, it implements the method provided in this application.

[0088] This application also provides a chip, which includes a processor for calling and executing instructions stored in a memory, causing a communication device with the chip installed to perform the method provided in this application.

[0089] This application also provides a chip, including: an input interface, an output interface, a processor, and a memory. The input interface, output interface, processor, and memory are connected through an internal connection path. The processor is used to execute code in the memory. When the code is executed, the processor is used to execute the method provided in the application embodiment.

[0090] It should be understood that the aforementioned processor can be a Central Processing Unit (CPU), or other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate Arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. General-purpose processors can be microprocessors or any conventional processor. It is worth noting that the processor can be a processor supporting Advanced Reduced Instruction Set Machines (ARM) architecture.

[0091] Further, optionally, the aforementioned memory may include read-only memory and random access memory, and may also include non-volatile random access memory. The memory may be volatile or non-volatile, or may include both. Non-volatile memory may include read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory may include random access memory (RAM), which serves as an external cache. Many forms of RAM are available by way of example, but not limitation. Examples include static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM).

[0092] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the flow or function according to this application is generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another.

[0093] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of those different embodiments or examples.

[0094] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0095] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process. Furthermore, the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functionality involved.

[0096] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus or device (such as a computer-based system, a processor-included system or other system that can fetch and execute instructions from, an instruction execution system, apparatus or device).

[0097] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. All or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware, the program being stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiments.

[0098] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. This storage medium can be a read-only memory, a disk, or an optical disk, etc.

[0099] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various variations or substitutions within the technical scope disclosed in this application, and these should all be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for monitoring the load of a transport vessel, characterized in that, include: Before the target transport vessel loads cargo, a drone is used to conduct relevant measurements on the target transport vessel to obtain empty load measurement data of the target transport vessel; The drone was used to capture digital media information about the empty metering process of the target transport vessel. After the target transport vessel is loaded with cargo, the UAV is invoked to perform relevant measurements on the target transport vessel to obtain the full load measurement process data of the target transport vessel; The drone was used to capture digital media information about the full-load measurement process of the target transport vessel. Based on the empty load metering process data and the full load metering process data, the current load of the target transport vessel is calculated; The digital media information of the empty load measurement process, the digital media information of the full load measurement process, and the current load are associated with and archived with the target transport vessel.

2. The method according to claim 1, characterized in that, The data from the empty measurement process includes: the vertical distance between the bow and the stern (Hb), the vertical distance between the stern and the UAV, the aircraft elevation (Ya), and the empty water level elevation (Sa). The vertical distance between the bow and the stern (Hb) is the vertical distance between the bow of the target transport vessel and the UAV; the vertical distance between the stern and the stern (Ha) is the vertical distance between the stern of the target transport vessel and the UAV; the aircraft elevation (Ya) is the flight elevation of the UAV when the target transport vessel is being measured empty; and the empty water level elevation (Sa) is the average water level elevation when the target transport vessel is being measured empty. The data from the full-load measurement process includes: bow vertical distance Hd, stern vertical distance Hc, aircraft elevation Yb, and full-load water level elevation Sb. The bow vertical distance Hd is the vertical distance between the bow of the target transport vessel and the UAV; the stern vertical distance Hc is the vertical distance between the stern of the target transport vessel and the UAV; the aircraft elevation Yb is the flight elevation of the UAV when the target transport vessel is fully loaded; and the full-load water level elevation Yb is the average water level elevation when the target transport vessel is fully loaded.

3. The method according to claim 2, characterized in that, The target transport vessel has unique QR codes at its bow and stern, respectively, designated as the bow QR code and stern QR code. A drone is used to perform relevant measurements on the target transport vessel, obtaining empty-load measurement data including: The drone is invoked to fly above the bow QR code and the stern QR code respectively to measure the distance, and the vertical distance Hb of the bow and the vertical distance Ha of the stern are obtained. The drone is invoked to perform flight and water level elevation measurement, and the aircraft elevation Ya and the empty water level elevation Sa are obtained.

4. The method according to claim 3, characterized in that, The bow QR code and the stern QR code contain the vessel identification number of the target transport vessel; the drone is invoked to fly above the bow QR code and the stern QR code respectively to measure the distance, and the vertical distance Hb from the bow and the vertical distance Ha from the stern are obtained, including: An empty load measurement request is initiated using a terminal device. The empty load measurement request is used to request that the target transport vessel be weighed before loading cargo. The empty load measurement request carries the vessel identification number of the target transport vessel. The terminal device is the terminal device of the crew of the target transport vessel. Based on the empty measurement request, the drone is invoked to fly to the location of the target transport vessel and identify the bow QR code or the stern QR code to confirm whether the target transport vessel is the transport vessel to be measured. Once it is confirmed that the target transport vessel is the one to be measured, the drone is invoked to fly above the bow QR code and the stern QR code respectively, and the vertical distance between the drone and the target transport vessel is measured to obtain the bow vertical distance Hb and the stern vertical distance Ha.

5. The method according to claim 3, characterized in that, The drone is invoked to perform relevant measurements on the target transport vessel, and the full-load measurement data of the target transport vessel is obtained, including: The drone is invoked to perform relevant measurements on the target transport vessel using the same method as the measurements taken before the target transport vessel was loaded with cargo, thereby obtaining the full-load measurement process data.

6. The method according to claim 2, characterized in that, Based on the empty load measurement data and the full load measurement data, the current load of the target transport vessel is calculated as follows: Based on the vertical distance Hb from the bow, the vertical distance Ha from the stern, the aircraft elevation Ya, and the empty water level elevation Sa from the empty metering process data, the empty draft X1 of the target transport vessel is calculated. Based on the vertical distance Hd from the bow, the vertical distance Hc from the stern, the aircraft elevation Yb, and the empty water level elevation Sb in the full-load measurement process data, the full-load draft X2 of the target transport vessel is calculated. Based on the unloaded draft X1 and the fully loaded draft X2, the current load of the target transport vessel is calculated.

7. The method according to any one of claims 1-6, characterized in that, The process of calling the drone to capture digital media information of the empty metering process of the target transport vessel includes: calling the drone to fly to the port side, starboard side and directly above the target transport vessel respectively, and then taking pictures of the target transport vessel at a specified pitch angle to obtain the digital media information of the empty metering process; The process of calling the drone to capture digital media information of the full-load measurement process of the target transport vessel includes: calling the drone to capture images of the target transport vessel using the same shooting method as the method used to obtain the digital media information of the empty-load measurement process, thereby obtaining the digital media information of the full-load measurement process.

8. A load monitoring device for a transport vessel, characterized in that, include: The measurement unit calls upon a drone to conduct relevant measurements on the target transport vessel before it loads cargo, thereby obtaining empty-load measurement data of the target transport vessel. The shooting unit is used to call up digital media information of the empty metering process of the target transport vessel captured by the drone; The measurement unit is also used to call the UAV to perform relevant measurements on the target transport vessel after the target transport vessel has loaded cargo, so as to obtain the full load measurement process data of the target transport vessel; The shooting unit is also used to call up digital media information of the full load measurement process of the target transport vessel captured by the drone; The calculation unit is used to calculate the current load of the target transport vessel based on the empty load measurement process data and the full load measurement process data; An archiving unit is used to associate and archive the digital media information of the empty load measurement process, the digital media information of the full load measurement process, and the current load with the target transport vessel.

9. An electronic device, characterized in that, include: A memory and a processor, wherein the memory stores instructions which are loaded and executed by the processor to implement the method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when run on a computer, implements the method as described in any one of claims 1-7.

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