CN113627234A - Ship harbor entry identification method, system, terminal and storage medium - Google Patents
Ship harbor entry identification method, system, terminal and storage medium Download PDFInfo
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Abstract
The application relates to a ship harboring identification method, a system, a terminal and a storage medium, wherein the method comprises the following steps: acquiring ship image information of a ship entering a preset early warning area at a fixed image acquisition point; extracting first feature identification information and second feature identification information according to the ship image information; judging whether the ship is in a state of driving to a wharf or not according to the first characteristic identification information; if yes, inquiring the second characteristic identification information in a preset ship database to obtain corresponding ship information; if the corresponding ship information is inquired in a preset ship database, judging that the ship has the authority of entering the wharf; otherwise, the ship does not have the authority to enter the wharf. This application has can be comparatively high-efficient and convenient effect of judging the permission of entering a port of boats and ships.
Description
Technical Field
The present application relates to the field of ship identity authentication, and in particular, to a ship entry identification method, system, terminal, and storage medium.
Background
A dock is a docking point for vessels to dock temporarily for unloading or stay long to function like a garage, and can typically accommodate a variety of vessels of different sizes. However, unlike a conventional open dock, a part of docks can be docked with various ships, and such a dock that is not open to the outside needs to verify the identity of a ship coming in to judge whether the ship coming in to the dock has the authority to dock.
The traditional verification mode is to verify the authority of the ship through the conversation between a tower and a cockpit of the ship or other wireless verification modes, but the mode needs long-time manual intervention, cannot automatically judge the authority information of the ship, and has an improved space.
Disclosure of Invention
In order to judge the harbor entry authority of a ship more efficiently and conveniently, the application provides a ship harbor entry identification method, a system, a terminal and a storage medium.
In a first aspect, the ship entry identification method provided by the application adopts the following technical scheme:
a ship harboring identification method comprises the following steps:
acquiring ship image information of a ship entering a preset early warning area at a fixed image acquisition point;
extracting first feature identification information and second feature identification information according to the ship image information;
judging whether the ship is in a state of driving to a wharf or not according to the first characteristic identification information;
if yes, inquiring the second characteristic identification information in a preset ship database to obtain corresponding ship information;
if the corresponding ship information is inquired in a preset ship database, judging that the ship has the authority of entering the wharf;
otherwise, the ship does not have the authority to enter the wharf.
By adopting the technical scheme, through the mode, the course wharf and the ship passing through the wharf can be automatically identified, the ship entering the first early warning area but only passing through is effectively eliminated, the detection of the ship not entering the wharf is reduced, then, whether the ship can enter the wharf is judged by judging the authority of the ship running towards the wharf according to the image processing mode, the staff is not required to confirm the authority of the ship through a manual confirmation mode, the efficiency is effectively improved, and the manpower is liberated.
Preferably, the method for determining whether the ship is in a state of driving to the dock through the first feature identification information includes:
constructing a plane map coordinate system and calibrating a judgment area according to the area where the wharf is located;
acquiring judgment point information mapped to a plane map coordinate system by a ship;
acquiring course slope information of a judgment point on a plane map coordinate system through the first feature identification information;
constructing a navigation route equation according to the course slope information and the decision point information;
judging whether the navigation route equation is intersected with the judgment area or not;
if so, judging whether the ship is close to the wharf or far away from the wharf;
and if the ship is in a state close to the wharf, representing that the ship is in a state of driving to the wharf.
By adopting the technical scheme, the course of the ship is acquired through the first characteristic identification information and is corresponding to the plane map coordinate system, namely, a linear equation can be constructed according to the position (namely, the judgment point information) of the ship on the plane map coordinate system and the course slope information, and the linear equation is equivalent to a simulated advancing route of the ship, so that the course of the ship can pass through the wharf as long as the simulated advancing route has an intersection point with the judgment area, and then whether the ship drives to the wharf or not can be judged by judging the course of the ship. The method can judge the information only by shooting one image, is simple, has low cost, does not need a large amount of acquisition equipment, and does not need to modify the existing ship or add various identification equipment.
Preferably, the first feature identification information is an image of a line connecting the head and the tail of the ship, and the method for acquiring the course slope information includes:
acquiring ship image center information of a ship according to the ship image information;
constructing a plane image coordinate system on the ship image information based on the information in the ship image;
acquiring included angle information between the first feature identification information and a coordinate axis on a plane image coordinate system;
acquiring distance information between a ship and an image acquisition point;
and acquiring course slope information according to the included angle information and the distance information.
By adopting the technical scheme, as the shooting point of the image is fixed, when the ship course is different, the included angle of the head-tail line images of the ship can be changed to a certain extent, and course slope information can be obtained by carrying out data processing on the variable.
Preferably, the method of acquiring distance information between a ship and an image acquisition point includes:
dividing ship image information into a plurality of preset distance range intervals, wherein a distance value is mapped in any one distance range interval;
and acquiring corresponding distance information by judging the relation between the ship image center and a plurality of distance range intervals.
Through adopting above-mentioned technical scheme, this kind of mode is mutually supported with slope information, can learn the navigation orbit of boats and ships through carrying out data processing to single image promptly, and efficiency is higher, need not too much collection equipment, and the cost is lower.
Preferably, the method for determining whether the ship is close to the dock or far from the dock includes:
acquiring bow point information of the ship according to the ship image information;
judging the relation between the ship head point information and each quadrant area in a plane image coordinate system;
and if the bow point information is positioned in the second quadrant or the third quadrant of the plane image coordinate system, representing that the ship is in a state close to the wharf.
By adopting the technical scheme, the situation of the ship going can be basically avoided in the process that the ship goes on voyage, particularly in the process of approaching to a wharf, so that the sailing direction of the ship can be approximately represented by judging the direction of the bow. Thus, if the bow point information is in the second and third quadrants with respect to the origin of coordinates (i.e. the vessel center), this is an indication that the vessel is in a state close to the quay.
Preferably, the ship information includes ship size information, and the ship harboring identification method further includes:
acquiring vacant berth information in a wharf;
acquiring the maximum size information of the ships which can be accommodated by each vacant berth;
comparing the maximum size information of each vacant berth with the ship size information to obtain the number information of the vacant berths for the ship to berth;
and if the number information of the vacant berths is more than 0, sending berthable information to the ship, and deleting the vacant berth information which is closest to the size information of the ship and can be used for berthing the ship.
By adopting the technical scheme, when the ship needs to drive to the wharf, whether the vacant berth exists can be planned in advance, if not, the ship can be warned in advance to enable the ship to sail to other wharfs, and if so, the ship can be allowed to enter the wharf. The reason why the vacant berth information is deleted is that sometimes the ship in front does not drive into the wharf, and the ship in the back similar to the ship type may drive into the early warning area, so that the situation can effectively judge whether the ship in the back has a vacant berth, and the situation that the ship in the back enters the wharf and does not have a vacant berth to dock is avoided.
Preferably, the maximum size information includes maximum width information and maximum length information, the ship size information includes ship width information and ship length information, and the method for acquiring vacant berth information that is closest to the ship size information and available for the ship to berth includes:
acquiring intermediate judgment vacant berth information corresponding to maximum length information which is larger than the ship length information and is closest to the ship length information;
and acquiring the vacant berth corresponding to the maximum width information which is larger than the ship width information and is closest to the ship width information from the middle judgment vacant berth information as vacant berth information which is closest to the ship size information and can be used for berthing the ship.
In a second aspect, the ship entry identification system provided by the application adopts the following technical scheme:
a ship harbor-entering identification system comprises,
the image information acquisition module is used for acquiring ship image information of a ship entering a preset first early warning area at a fixed image acquisition point;
the characteristic extraction module is used for extracting first characteristic identification information and second characteristic identification information according to the ship image information;
the first judging module is used for judging whether the ship is in a state of driving to the wharf or not through the first characteristic identification information;
the query module is used for querying the second characteristic identification information in a preset ship database for corresponding ship information if the ship is in a state of driving to the wharf;
and the permission judging module is used for judging that the ship has the permission to enter the wharf if the corresponding ship information is inquired in a preset ship database, and otherwise, the ship does not have the permission to enter the wharf.
In a third aspect, the intelligent terminal provided by the application adopts the following technical scheme:
an intelligent terminal comprises a memory and a processor, wherein the memory is stored with a computer program which can be loaded by the processor and executes the ship harboring identification method.
In a fourth aspect, the present application provides a computer storage medium, which can store corresponding programs, and has a feature of being convenient for realizing efficient and convenient determination of the port entry authority of a ship, and adopts the following technical scheme:
a computer readable storage medium storing a computer program that can be loaded by a processor and executed to perform any of the above-described methods for identifying a ship's arrival at a port.
In summary, the present application includes at least one of the following beneficial technical effects:
1. the authority of the ship does not need to be manually checked, and the authority of the ship does not need to be confirmed in a data intercommunication mode with the ship;
2. the data acquisition end only needs to acquire and process a single image to know whether the ship needs to drive to the wharf or not and can enter the current wharf, so that the cost is lower and the efficiency is higher.
Drawings
Fig. 1 is a schematic flow chart of a ship entry identification method according to an embodiment of the present invention.
Fig. 2 is a flowchart illustrating a method for determining whether a ship is in a driving state to a dock according to first feature identification information according to an embodiment of the present invention.
FIG. 3 is a flowchart illustrating a method for obtaining heading slope information according to an embodiment of the invention.
Fig. 4 is a flowchart illustrating a method for acquiring distance information between a ship and an image acquisition point according to an embodiment of the present invention.
Fig. 5 is a flowchart illustrating a method for determining whether a ship is close to a dock or far from the dock according to an embodiment of the present invention.
Fig. 6 is a flowchart illustrating a method for acquiring vacant berth information available for berthing a ship, which is closest to ship size information, according to an embodiment of the present invention.
Detailed Description
The present application is described in further detail below with reference to figures 1-6.
The embodiment of the application discloses a ship entry identification method, which comprises the following steps: acquiring ship image information of a ship entering a preset early warning area at a fixed image acquisition point; extracting first feature identification information and second feature identification information according to the ship image information; judging whether the ship is in a state of driving to a wharf or not according to the first characteristic identification information; if yes, inquiring the second characteristic identification information in a preset ship database to obtain corresponding ship information; if the corresponding ship information is inquired in a preset ship database, judging that the ship has the authority of entering the wharf; otherwise, the ship does not have the authority to enter the wharf.
According to the embodiment of the invention, the course wharf and the ships passing through the wharf can be automatically identified, the ships entering the first early warning area but only passing through the wharf are effectively eliminated, the detection of the ships which cannot enter the wharf is reduced, then, the judgment of the authority of the ships traveling towards the wharf is carried out according to the image processing mode to judge whether the ships can enter the wharf or not, and the workers do not need to confirm the authority of the ships in a manual confirmation mode, so that the efficiency is effectively improved, and the manpower is liberated.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In addition, the term "and/or" herein is only one kind of association relationship describing an associated object, and means that there may be three kinds of relationships, for example, a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship, unless otherwise specified.
The embodiments of the present invention will be described in further detail with reference to the drawings attached hereto.
Referring to fig. 1, a main flow of a ship entry identification method provided in an embodiment of the present invention is described as follows.
Step S1000: and acquiring ship image information of the ship entering the preset early warning area at the fixed image acquisition point.
The image acquisition point is usually required to have a certain height from the ground, and can be raised by a support rod or other devices, or is arranged at a higher part of the terrain. Usually, this image acquisition point is located inside the quay, but it can also be located outside the quay, as long as the panorama of the quay and the peripheral area can be clearly photographed. The image acquisition device can be various video equipment or equipment for shooting pictures, and parameters such as the shooting angle, the sight distance and the like of the image acquisition device can not be adjusted after the initial debugging is finished. Of course, the image capturing point may not be only one, but a plurality of image capturing points disposed at different positions may be operated separately.
Step S2000: and extracting the first feature identification information and the second feature identification information according to the ship image information.
The first feature identification information is a head-tail line image of the ship, the bow of the ship and the stern of the ship can be identified through a pre-trained convolutional neural network, then a connection line between the bow and the stern is marked on the ship image information, and the connection line is the first feature identification information required by people. The second identification information may be a mark or a pattern that is preset above the ship for identification, but it should be noted that the second identification information of all ships registered at the dock and authorized to be registered is different.
Step S3000: and judging whether the ship is in a state of driving to the wharf or not according to the first characteristic identification information.
Step S4000: if yes, the second feature identification information is inquired into a preset ship database to obtain corresponding ship information.
The second feature identification information can have some special key pattern information, and the image information can be subjected to data processing through a trained convolutional neural network and then compared with data preset in a ship database to realize query. Generally, a ship database stores information such as size information and a maximum load amount of a corresponding ship in advance.
Step S5000: and if the corresponding ship information is inquired in a preset ship database, judging that the ship has the authority of entering the wharf.
If the corresponding ship information is not inquired, the information of the ship is recorded into the ship database in advance, namely the ship has the authority of entering the wharf and meets the requirement of entering the wharf.
Step S5100: and acquiring the vacant berth information in the wharf.
The vacant berth refers to a berth which is not berthed or is being maintained in the designated berth and can be directly berthed by a ship with proper size. The specific acquisition mode can be realized by judging whether a ship exists in the berth or whether the ship is overhauled in an image recognition mode, and can also be realized in a manual switch mode and a sensor triggering mode.
Step S5200: and acquiring the maximum size information of the ships which can be accommodated in each vacant berth.
The maximum size information of each vacant berth is confirmed at the beginning of construction, and the maximum size information can be stored in a corresponding database in advance so as to facilitate automatic calling at a later stage. The maximum size information includes maximum width information and maximum length information, i.e., the maximum width and the maximum length that the berth can accommodate.
Step S5300: and comparing the maximum size information of each vacant berth with the ship size information to obtain the number information of the vacant berths for the ship to berth.
The ship size information comprises ship width information and ship length information, and when the ship can be berthed to a corresponding vacant berth, the ship width information is required to be smaller than the maximum width information, and the ship length information is also required to be smaller than the maximum length information.
Step S5400: and if the number information of the vacant berths is more than 0, sending berthable information to the ship, and deleting the vacant berth information which is closest to the size information of the ship and can be used for berthing the ship.
When the number of the vacant berths is more than 0, the berth is indicated to be available for the ship to berth, and therefore the ship can be informed to berth at the wharf. The purpose of deleting the berth is to eliminate the condition that the vacant berth corresponds to a plurality of ships due to the fact that the ships are not parked in the berth and the ships with similar follow-up sizes enter the early warning area, and effectively monitor the actual number of the vacant berth.
Step S6000: and if the corresponding ship information is not inquired in the preset ship database, the ship does not have the authority of entering the wharf.
Referring to fig. 2, a main flow of the method for determining whether a ship is in a driving state to a dock according to the first feature identification information is described as follows.
Step S3100: and constructing a plane map coordinate system and calibrating a judgment area according to the area where the wharf is located.
The origin of the plane map coordinate system may be an arbitrary position, but for calculation convenience, the origin of the plane map coordinate system is generally selected as the position of the image acquisition point. The ordinate and abscissa are not particularly limited, and may be constructed with a positive half axis in the north-positive direction as the Y-axis and a positive half axis in the east-positive direction as the X-axis. The size of the judged area is slightly larger than the area occupied by the wharf, so that the error caused by the fact that the heading of the driver is completely over against the wharf when the driver enters the early warning area is reduced.
Step S3200: and acquiring the information of the decision point of the ship mapped on the plane map coordinate system.
The judgment point information represents the position of the ship on the plane map coordinate system.
Step S3300: and acquiring course slope information at the judgment point on the plane map coordinate system through the first feature identification information.
Step S3400: and constructing a navigation route equation according to the course slope information and the judgment point information.
The construction method of the navigation route equation can be obtained by adopting a calculation method of a point-oblique linear equation, and the coordinate where the judgment point information is located and the expression of the linear equation at the point are obtained. Generally speaking, the heading of a ship does not change greatly, so the straight line equation can be approximated to replace the navigation route of the ship.
Step S3500: and judging whether the navigation route equation is intersected with the judgment area or not.
If the navigation route equation intersects with the judgment area, the navigation route of the ship is explained to pass through the judgment area.
Step S3600: if so, judging whether the ship is close to the wharf or far away from the wharf.
Step S3700: and if the ship is in a state close to the wharf, representing that the ship is in a state of driving to the wharf.
And if the ship is in a state far away from the wharf, the ship is characterized to be in a state far away from the wharf.
Referring to fig. 3, a method for acquiring heading slope information is described as follows.
Step S3310: and acquiring ship image center information of the ship according to the ship image information.
The ship image center information refers to a geometric center point of a plane area occupied by a ship in the ship image information, and can be one pixel point in the image or a set of a plurality of pixel points.
Step S3320: and constructing a plane image coordinate system on the ship image information based on the information in the ship image.
The X axis and the Y axis of the plane image coordinate system are constructed by taking ship image center information as an origin, taking the vertical upward direction as the positive semi-axis direction of the Y axis, and taking the horizontal rightward direction as the positive semi-axis direction of the X axis.
Step S3330: and acquiring the included angle information between the first characteristic identification information and the coordinate axis on the plane image coordinate system.
The coordinate axis can be an X axis or a Y axis, the acquisition mode of the included angle information can be directly measured through an angle measurement tool, the image recognition mode can also be adopted for processing, the first feature recognition information can also be converted into a linear equation on a plane image coordinate system, and then the angle is measured and calculated through selecting any coordinate point on the linear equation and the cosine theorem calculation mode.
Step S3340: distance information between the ship and the image acquisition point is acquired.
Step S3350: and acquiring course slope information according to the included angle information and the distance information.
Because the image acquisition point and the sea level usually have a certain height, a certain error exists between the included angle information and the actual navigation direction, and the error is mainly determined by the height of the image acquisition point. In order to eliminate this error, the course slope information may be obtained by calculating the angle information observed at the image acquisition point in a stereo geometry calculation manner, which is a conventional technical means in the mathematical stereo geometry and is not described herein again. And in another mode, different distance information and included angle information can be measured and calculated in advance to obtain a plurality of corresponding course slope information and construct a database, and the obtained included angle information and the distance information are directly compared with data stored in the database in the subsequent data processing process to call the corresponding course slope information.
Referring to fig. 4, in order to obtain the distance information between the ship and the image obtaining point, the main flow is described as follows:
step S3341: the ship image information is divided into a plurality of preset distance range intervals, and a distance value is mapped in any one of the distance range intervals.
The divided range intervals are fixed due to the fact that the image acquisition points are fixed, and parameters such as angles and visual distances of the divided range intervals cannot be changed, so that the preset distance range intervals cannot be changed. The dividing lines between the distance range sections are usually obtained by measurement and calculation in advance, and when the ship image information needs to be processed, a plurality of dividing lines are directly superposed on the ship image information. The more distance range sections, the more distance values representing the distance range section pair mapping can be used as the representative value in the distance range section, i.e. the higher precision. The number of the specific partitions can be determined according to the actual data processing efficiency requirement and the execution capacity of the hardware.
Step S3342: and acquiring corresponding distance information by judging the relation between the ship image center and a plurality of distance range intervals.
In the step, the distance range section in which the center of the ship image falls can be judged in an image processing mode, and then the distance information required to be acquired in the step is acquired by acquiring the distance value corresponding to the distance range section.
Referring to fig. 5, in order to determine whether the ship is close to the dock or far from the dock, the main flow of the method is described as follows.
Step S3610: and acquiring the bow point information of the ship according to the ship image information.
The bow point information in this step may directly call the data output by the convolutional neural network in step S2000.
Step S3620: and judging the relation between the ship head point information and each quadrant area in a plane image coordinate system.
Step S3630: and if the bow point information is positioned in the second quadrant or the third quadrant of the plane image coordinate system, representing that the ship is in a state close to the wharf.
Wherein, because the plane image coordinate system is a standard plane coordinate system, and because the image acquisition point is in the dock in the actual distribution of the image, the lower half part in the image is a part close to the dock, and the ship is located above the image, i.e. the ship is farther away from the dock. By analogy, when the bow point information is located in the second quadrant or the third quadrant of the plane image coordinate system, the space between the ship and the wharf is continuously reduced, and the heading is the heading close to the wharf.
Referring to fig. 6, a main flow of a method for acquiring vacant berth information available for berthing a ship, which is closest to ship size information, is described as follows.
Step S5410: and acquiring intermediate judgment vacant berth information corresponding to the maximum length information which is larger than the ship length information and is closest to the ship length information.
The nearest point is that the difference between the ship length information and the maximum length information is minimum, all the maximum length information larger than the ship length information and the ship length information can be subjected to difference in the acquisition process, and then the vacant parking space information corresponding to the maximum length information with the minimum difference is selected as the middle judgment vacant parking space information.
Step S5420: and acquiring the vacant berth corresponding to the maximum width information which is larger than the ship width information and is closest to the ship width information from the middle judgment vacant berth information as vacant berth information which is closest to the ship size information and can be used for berthing the ship.
In practical situations, the ship needs to meet the length requirement first, and therefore the length of the ship is generally matched with the vacant berth closest to the ship, and then the vacant berth is matched according to the width of the ship.
Based on the same inventive concept, the embodiment of the application also discloses a ship harboring identification system, which comprises:
and the image information acquisition module is used for acquiring ship image information of a ship entering the preset first early warning area at a fixed image acquisition point.
And the characteristic extraction module is used for extracting the first characteristic identification information and the second characteristic identification information according to the ship image information.
And the first judging module is used for judging whether the ship is in a state of driving to the wharf or not according to the first characteristic identification information.
And the query module is used for querying the second characteristic identification information in a preset ship database for corresponding ship information if the ship is in a state of driving to the wharf.
And the permission judging module is used for judging that the ship has the permission to enter the wharf if the corresponding ship information is inquired in a preset ship database, and otherwise, the ship does not have the permission to enter the wharf.
Based on the same inventive concept, an embodiment of the present invention provides an intelligent terminal, which includes a memory and a processor, where the memory stores a computer program that can be loaded by the processor and execute any one of the methods of fig. 1 to 6 for identifying a ship entering a port.
It will be clear to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to perform all or part of the above described functions. For the specific working processes of the system, the apparatus and the unit described above, reference may be made to the corresponding processes in the foregoing method embodiments, and details are not described here again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
Embodiments of the present invention further provide a computer-readable storage medium, which is stored with a program and is capable of implementing the steps described in the flowcharts of fig. 1 to 6 when the program is loaded and executed by a processor.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, a network device, or the like) or a processor (processor) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The above embodiments are only used to describe the technical solutions of the present application in detail, but the above embodiments are only used to help understanding the method and the core idea of the present invention, and should not be construed as limiting the present invention. Those skilled in the art should also appreciate that they can easily conceive of various changes and substitutions within the technical scope of the present disclosure.
Claims (10)
1. A ship harboring identification method is characterized by comprising the following steps:
acquiring ship image information of a ship entering a preset early warning area at a fixed image acquisition point;
extracting first feature identification information and second feature identification information according to the ship image information;
judging whether the ship is in a state of driving to a wharf or not according to the first characteristic identification information;
if yes, inquiring the second characteristic identification information in a preset ship database to obtain corresponding ship information;
if the corresponding ship information is inquired in a preset ship database, judging that the ship has the authority of entering the wharf;
otherwise, the ship does not have the authority to enter the wharf.
2. The ship harbor identifying method according to claim 1, wherein the method of determining whether or not a ship is in a state of driving to a dock by using the first feature identification information comprises:
constructing a plane map coordinate system and calibrating a judgment area according to the area where the wharf is located;
acquiring judgment point information mapped to a plane map coordinate system by a ship;
acquiring course slope information of a judgment point on a plane map coordinate system through the first feature identification information;
constructing a navigation route equation according to the course slope information and the decision point information;
judging whether the navigation route equation is intersected with the judgment area or not;
if so, judging whether the ship is close to the wharf or far away from the wharf;
and if the ship is in a state close to the wharf, representing that the ship is in a state of driving to the wharf.
3. The ship harboring identification method according to claim 2, wherein the first feature identification information is an image of a line between the head and the tail of a ship, and the method for acquiring the course slope information comprises:
acquiring ship image center information of a ship according to the ship image information;
constructing a plane image coordinate system on the ship image information based on the information in the ship image;
acquiring included angle information between the first feature identification information and a coordinate axis on a plane image coordinate system;
acquiring distance information between a ship and an image acquisition point;
and acquiring course slope information according to the included angle information and the distance information.
4. The ship harbor identifying method according to claim 3, wherein the method of acquiring distance information between a ship and an image acquisition point comprises:
dividing ship image information into a plurality of preset distance range intervals, wherein a distance value is mapped in any one distance range interval;
and acquiring corresponding distance information by judging the relation between the ship image center and a plurality of distance range intervals.
5. The ship harbor identifying method according to claim 3, wherein the method of determining whether the ship is in a state close to the dock or in a state far from the dock comprises:
acquiring bow point information of the ship according to the ship image information;
judging the relation between the ship head point information and each quadrant area in a plane image coordinate system;
and if the bow point information is positioned in the second quadrant or the third quadrant of the plane image coordinate system, representing that the ship is in a state close to the wharf.
6. The ship harbor identifying method according to claim 1, wherein the ship information includes ship size information, and the ship harbor identifying method further comprises:
acquiring vacant berth information in a wharf;
acquiring the maximum size information of the ships which can be accommodated by each vacant berth;
comparing the maximum size information of each vacant berth with the ship size information to obtain the number information of the vacant berths for the ship to berth;
and if the number information of the vacant berths is more than 0, sending berthable information to the ship, and deleting the vacant berth information which is closest to the size information of the ship and can be used for berthing the ship.
7. The ship harboring identification method according to claim 6, wherein the maximum size information includes maximum width information and maximum length information, the ship size information includes ship width information and ship length information, and the method of acquiring vacant berth information available for berthing a ship closest to the ship size information includes:
acquiring intermediate judgment vacant berth information corresponding to maximum length information which is larger than the ship length information and is closest to the ship length information;
and acquiring the vacant berth corresponding to the maximum width information which is larger than the ship width information and is closest to the ship width information from the middle judgment vacant berth information as vacant berth information which is closest to the ship size information and can be used for berthing the ship.
8. A ship harbor-entering identification system is characterized by comprising,
the image information acquisition module is used for acquiring ship image information of a ship entering a preset first early warning area at a fixed image acquisition point;
the characteristic extraction module is used for extracting first characteristic identification information and second characteristic identification information according to the ship image information;
the first judging module is used for judging whether the ship is in a state of driving to the wharf or not through the first characteristic identification information;
the query module is used for querying the second characteristic identification information in a preset ship database for corresponding ship information if the ship is in a state of driving to the wharf;
and the permission judging module is used for judging that the ship has the permission to enter the wharf if the corresponding ship information is inquired in a preset ship database, and otherwise, the ship does not have the permission to enter the wharf.
9. An intelligent terminal, comprising a memory and a processor, the memory having stored thereon a computer program that can be loaded by the processor and that executes the method according to any one of claims 1 to 7.
10. A computer-readable storage medium, in which a computer program is stored which can be loaded by a processor and which executes the method of any one of claims 1 to 7.
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