CN104061865A - System and method for measuring height of navigation ship - Google Patents
System and method for measuring height of navigation ship Download PDFInfo
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Abstract
The invention discloses a system and method for measuring the height of a navigation ship. The system comprises a position information measurement module, a camera, a computer, a wireless receiving and dispatching module and a water level measurement module, wherein a console control module, an image processing module, a ship GPS calculation module, a ship height measurement module and a fixed point parameter calculation module are installed in the computer. On the basis of an image processing machine vision method and the space geometry relation, only the camera, a fixed object and the computer need to be connected relatively in the installation process, installation is convenient, large equipment is not required, and maintenance is convenient; in addition, for an algorithm, the height of the ship above water is calculated out according to GPS information of the ship, angle information obtained through the console control module, background fixed point information and relative spatial position information. By means of the system and method for measuring the height of the navigation ship, design difficulty is reduced, and the requirement for measurement of height of the ship can be well met; the sight range of the camera is allowed to be adjusted, so that practicability is better.
Description
Technical field
The present invention relates to machine vision technique and GPS location technology, navigating ship height detection method, relates in particular to a kind of navigating ship altitude measurement system and measuring method thereof.
Background technology
Development along with Chinese national economy, needs to transport development are more and more higher, this just makes the demand that constructs a bridge on navigable river increasing, the huge facility that newly-built bridge brings to the traffic of two sides, but simultaneously, some bridges are when designing originally, bridge is high, bridge is wide, addressing does not fully take into account following shipping needs, make some bridges cannot meet the navigation requirement of spot ship, affluence is highly reserved not enough, the accident that makes boats and ships collide bridge because of height superelevation happens occasionally, once and boats and ships superelevation is through bridge, tend to cause serious consequence, not only threatening the navigation safety of boats and ships self, jeopardize crewman's life, also can affect the safety of the unimpeded of whole navigation channel and other navigation boats and ships, its harm is huge.At present domestic boats and ships superelevation detection technique is comparatively backward, superelevation detection system and equipment mainly with Introduced From Abroad is main greatly, and in these equipment, great majority concentrate on the superelevation detection method of research based on laser, but laser detecting method is actual, it is a kind of limit for height method, can be to reporting to the police higher than the boats and ships of certain height, but cannot obtain the true altitude of boats and ships, and limit for height method need to change limit for height height according to SEA LEVEL VARIATION, and in the situation that riverbank distance is larger, effect is not fine.
Also have at present a kind of method that high method is the processing of employing image of surveying, utilize machine vision to obtain the height of target, the method itself is to be mainly applied to measure spatial positional information, be not high for boats and ships survey, and technical difficulty is large, and equipment requirement is high.And the method itself is not surveyed high for boats and ships, survey height also have problems for boats and ships, be after video camera need to be demarcated, just can carry out height and measure, and after demarcating, each parameter of video camera can not change, and makes the requirement to video camera, and installation has higher requirement.
Summary of the invention
The problems referred to above that exist for solving prior art, the present invention will design and a kind ofly can measure boats and ships height, and low, the algorithm of installation requirements is realized simple navigating ship altitude measurement system and measuring method thereof again.
To achieve these goals, technical scheme of the present invention is as follows: a kind of navigating ship altitude measurement system, comprise demarcation thing, positional information is measured module, The Cloud Terrace, video camera, computing machine, radio receiving transmitting module and water stage measurement module, cradle head control module is installed in described computing machine, image processing module, Ship GPS computing module, boats and ships elevation measurement module and calibration point parameter calculating module, described positional information is measured module and is measured the GPS information of thing and the relevant angular distance information of demarcating, and measurement result is input to Ship GPS computing module, described calibration point parameter calculating module respectively with Ship GPS computing module, boats and ships elevation measurement module is connected, described radio receiving transmitting module is connected with Ship GPS computing module, water stage measurement module information is connected with boats and ships elevation measurement module by radio receiving transmitting module.Described cradle head control module is connected with calibration point parameter calculating module; Described radio receiving transmitting module is connected with Ship GPS computing module; Described video camera is arranged on The Cloud Terrace top, and video camera is connected with image processing module; Described The Cloud Terrace is connected with Ship GPS computing module with cradle head control module respectively, and cradle head control module is connected with video camera by controlling The Cloud Terrace, and described The Cloud Terrace is arranged on the riverbank of range observation boats and ships certain position.
The Cloud Terrace of the present invention is arranged on the riverbank of range observation boats and ships 300m with external position.
A measuring method for navigating ship altitude measurement system, comprises the following steps:
Initialization before A, measurement
A1, background calibration point are set
In the background that will take at video camera, select many places background as demarcating thing, and number and the position of demarcating thing are determined according to the field angle of video camera and the waters scope that needs to monitor, finally meeting video camera rotates to where all having and only have a complete demarcation thing in visual field; After determining the position of demarcating thing, on demarcation thing, select specific position that calibration point is installed;
A2, video camera initial position setting
After calibration point location positioning, adjust the position of video camera, determine the initial position of video camera, and set presetting bit by cradle head control module; Calibration point parameter calculating module measures by positional information GPS information and the range information that module is measured each calibration point, calculates the volume coordinate of each calibration point and the position relationship of each calibration point and video camera;
A3, initial position message are measured and are calculated
When the initial position setting of video camera after, by positional information measure module to the relative distance relation of calibration point, each calibration point apart from the distance of video camera and and video camera primary optical axis between angle measure.
B, formally measurement
B1, boats and ships are processed and found to GPS information
Radio receiving transmitting module receives the Ship GPS information at VTS center, be sent to Ship GPS computing module, Ship GPS computing module simultaneously goes out boats and ships, video camera and angulation information between video camera primary optical axis now in conjunction with the positional information of calibration point parameter calculating module and the positional information calculation of video camera, angle information is sent to the rotation of cradle head control module controls The Cloud Terrace, makes video camera find target boats and ships.
B2, The Cloud Terrace rotation and information acquisition
According to the angle information obtaining, cradle head control module controls The Cloud Terrace completes the rotation of level and vertical direction both direction, the angle information that cradle head control module records The Cloud Terrace rotates simultaneously, and control The Cloud Terrace rotation.
B3, obtain photo site
Video camera is varifocal video camera, by with the interval set time, scene being taken pictures after setting, and picture is sent to image processing module.
B4, image recognition
Image processing module is responsible for the collection of image, the identification of the identification of target, calibration point, the coordinate information of each calibration point in picture.
B5, extraction water level information
The water level information of water stage measurement module to section, place, carries out instant measurement.
B6, metrical information is processed to Ship ' height
Boats and ships elevation measurement module, the instant water level information of the angle information of cradle head control module, water stage measurement module, calculates the height of boats and ships according to the information of image processing module and the vessel position information of calibration point parameter calculating module and Ship GPS computing module.
Compared with prior art, the present invention has following beneficial effect:
1, the present invention is with the machine vision method based on image processing and space geometry relation, only need video camera, The Cloud Terrace, demarcation thing, computer and relevant connection installing, easy for installation, do not need main equipment, be convenient to safeguard, and on algorithm, angle information, background calibration dot information and the correlation space positional information of utilizing the GPS information, cradle head control module of boats and ships to obtain, calculate height on the water surface of boats and ships.The method is to utilize space geometry relation, and basic image processing algorithm, has avoided complicated calibration algorithm, and binocular recognizer, thereby has reduced design difficulty, can well meet again boats and ships and survey high demand simultaneously.And the field range of permission adjustment video camera, simpler than additive method, practicality is better.
2, the present invention proposes a kind of not only can fixation measuring but also can be that The Cloud Terrace horizontal vertical direct rotary turn by controlling, boats and ships height-finding system and construction method in the large visual field and varifocal situation.
3, the present invention utilizes thing this feature in background of demarcating, in conjunction with relevant GPS information and the positional information of calibration point, realized the zoom of video camera and demarcated, overcome the shortcoming that original method can only focus measurement, the large visual field that utilizes The Cloud Terrace to realize video camera is surveyed high.
Accompanying drawing explanation
11, the total accompanying drawing of the present invention, wherein:
Fig. 1: the position addressing figure of camera calibration thing.
Fig. 2: the floor map at video camera place.
Fig. 3: video camera vertical direction is demarcated and boats and ships are surveyed high schematic diagram.
Fig. 4: the desired location schematic diagram of calibration point.
Fig. 5: CCD imaging plane coordinate system.
Fig. 6: video camera initialization vertical direction is adjusted schematic diagram.
Fig. 7: the possible error schematic diagram producing when video camera is installed.
Fig. 8: the schematic diagram that affects on the generation of CCD each point when video camera tilts.
Fig. 9: initialization flowchart.
Figure 10: measurement procedure figure.
Figure 11: height-finding system block diagram.
In figure: 1, The Cloud Terrace, 2, cradle head control module, 3, video camera, 4, image processing module, 5, Ship GPS computing module, 6, calibration point parameter calculating module, 7, boats and ships elevation measurement module, 8, radio receiving transmitting module, 9, water stage measurement module, 10, computing machine, 11, demarcate thing, 12, positional information measures module.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described further.As shown in figure 11, a kind of navigating ship altitude measurement system, comprise and demarcate thing 11, positional information is measured module 12, The Cloud Terrace 1, video camera 3, computing machine 10, radio receiving transmitting module 8 and water stage measurement module 9, in described computing machine 10, cradle head control module 2 is installed, image processing module 4, Ship GPS computing module 5, boats and ships elevation measurement module 7 and calibration point parameter calculating module 6, described positional information is measured module 12 and is measured the GPS information of thing 11 and the relevant angular distance information of demarcating, and measurement result is input to Ship GPS computing module 5, described calibration point parameter calculating module 6 respectively with Ship GPS computing module 5, boats and ships elevation measurement module 7 is connected, described radio receiving transmitting module 8 is connected with Ship GPS computing module 5, water stage measurement module 9 information exchanges are crossed radio receiving transmitting module 8 and are connected with boats and ships elevation measurement module 7.Described cradle head control module 2 is connected with calibration point parameter calculating module 6; Described radio receiving transmitting module 8 is connected with Ship GPS computing module 5; Described video camera 3 is arranged on The Cloud Terrace 1 top, and video camera 3 is connected with image processing module 4; Described The Cloud Terrace 1 is connected with Ship GPS computing module 5 with cradle head control module 2 respectively, and cradle head control module 2 is connected with video camera 3 by controlling The Cloud Terrace 1, and described The Cloud Terrace 1 is arranged on the riverbank of range observation boats and ships certain position.Described The Cloud Terrace 1 is arranged on the riverbank of range observation boats and ships 300m with external position.
Fig. 9 is initialization flowchart, the process flow diagram of Figure 10 for measuring.
Concrete measurement procedure is, in Fig. 9, it is mainly that the suitable background selected in the background that will take at video camera 3 is as demarcating thing 11 that background calibration point is set, as the background of demarcating thing 11, should meet and have comparatively smooth plane, during video camera 3 initial setting up, right demarcation face is basic demarcation face, and on the demarcation face of basis according to the set positions calibration point that indicates circle shown in Fig. 4, wherein 3 points are on same vertical direction, and intermediate point is the mid point between upper and lower two points, two other point with 3 in a point at sustained height, and intermediate point is the mid point between the point of two of left and right.Demarcate the number of thing 11 and determine it is mainly the scope of scanning that requires according to actual video camera 3, the field angle of video camera 3 and determine, as shown in Figure 1, condition is to guarantee video camera 3 when rotated, has and only have a demarcation thing 11 to appear in visual field.For the demarcation thing 11 of non-basic demarcation face, only need in the vertical direction to select two points as calibration point.
After calibration point setting completes, need to video camera 3, carry out the initialization setting of position, before initialization, first need the plane at video camera 3 places to describe, as shown in Figure 2, in figure, a is video camera 3 camera lens place planes, and in figure, b is the CCD plane of video camera 3, and in figure, c is for demarcating thing 11 planes, generally, video camera 3 camera lens place planes should be parallel to the CCD plane of video camera 3, and therefore, video camera 3 planes are the plane at video camera 3CCD place.Due to reasons such as installations, the horizontal positioned even if video camera 3 is tried one's best when mounted, but be difficult to meet the demands completely when mounted, this just requires to need after installation video camera 3 is carried out to initialization setting, as shown in Figure 7, in figure, A is ideal situation, B, C, for there is the situation of skew in D, Figure 6 shows that video camera 3 rectifications on vertical direction, the mid point that in figure, J is AE, A, J, E is 3 points on same vertical direction, in figure, C point is primary optical axis and the intersection point of demarcating thing 11, when video camera 3 when mounted, on vertical direction, there is the rotation of angle θ, antidote is by adjusting the angle of The Cloud Terrace 1 vertical direction, by image processing module 4, calculate J point and in picture, arrive A, the distance of E, adjust The Cloud Terrace 1 until two distances while equating, the vertical leveling of video camera 3.In Fig. 7, D situation has produced rotation in the horizontal direction while occurring.Method of adjustment is with vertically method is similar, and making 3 calibration points of horizontal direction on same straight line in CCD, meet intermediate point is that the mid point of left-right dots has been horizontal leveling.When in Fig. 7, B situation occurs, because video camera 3 tilts, by adjusting The Cloud Terrace 1, cannot reach rectification object, when guaranteeing level as far as possible, can be by shown in Fig. 8, the corresponding relation according to calibration point and video camera 3, calculates the level line in picture, and then can in subsequent calculations, according to level line, find impact point at the contour point of calibration point position, by calculating contour point and then trying to achieve object height.After video camera 3 each parameters are determined, record each parameter the presetting bit using this state as The Cloud Terrace 1, during reset, The Cloud Terrace 1 is directly got back to initial position, and whether the intermediate point by horizontal direction and vertical direction in inspection picture is mid point, determine that whether The Cloud Terrace 1 or video camera 3 are in correct position, if not at mid point, need manually to reset.
After adjust video camera 3 positions, calibration point parameter calculating module 66 need to be measured the positional information of calibration point, the positional information of these 5 points of basis demarcation face does not need whole understandings, but in 3 points of in the vertical direction, need to understand the wherein positional information of two calibration points, the positional information of calibration point comprises 2 height apart from ground and GPS information at 2, and video camera 3 initial positions are to the angle information of basic calibration point, measuring method is by controlling The Cloud Terrace 1, video camera 3 to be horizontally rotated until 3 of basic calibration point are positioned at the vertical curve position primary optical axis at place, center of video camera 3 planes not necessarily at photocentre from initial position, but one fixes near photocentre, fine-adjustment tripod head 1, the distance of the air line distance that makes 3 lines in CCD is minimum, found the position at photocentre place, the angle that horizontally rotates of then reading The Cloud Terrace 1 is video camera 3 initial positions to the angle of basic calibration point.And for 2 calibration points of non-basic demarcation face, the information of measurement is identical with basic demarcation face, by total powerstation, records and be placed in video camera 3 places, position and have the level angle information of demarcating calibration point corresponding on thing 11 simultaneously.Level measuring module also will obtain instant water level information by ultrasonic water level surveying instrument simultaneously, and calculates video camera 3 to the distance of the water surface, and demarcates the ground at thing 11 places to the distance of the water surface.In order to realize continual measurement in 24 hours, a light source that penetration power is stronger can be installed in calibration point position, and this light source goes out with continuous sudden strain of a muscle the in regular time interval.
When there being boats and ships to arrive after measured zone, receive the GPS information of boats and ships, and in conjunction with the positional information of video camera 3, and the GPS information of respectively demarcating thing 11, pass through the cosine law, calculate ∠ ABC, wherein A represents each demarcation thing 11, B represents video camera 3, C represents boats and ships, by relatively finding out angle minimum in ∠ ABC, and then can determine boats and ships position with apart from the angulation of its nearest demarcation thing 11, by calculating, just can obtain the position at boats and ships place and the angle of video camera 3 primary optical axis now, control The Cloud Terrace 1 and rotate corresponding angle, make video camera 3 find boats and ships to be measured.
When video camera 3 rotates to after assigned address, according to the rotation information of The Cloud Terrace 1, recalculate the spatial positional information of postrotational each calibration point of video camera 3 and boats and ships, there is variation to the vertical range of video camera 3 in each calibration point causing due to rotation and boats and ships, this distance is in Fig. 3 video camera 3 planes to the horizontal range H that demarcates thing 11.Meanwhile, also there is variation with the angle of boats and ships, calibration point in video camera 3, also need to calculate this position video camera 3 and each calibration point angle and with the angle of boats and ships.
After each spatial positional information is determined, by video camera 3, read in the picture of acquisition, utilize background differential technique to process picture, find the boats and ships in image, and the coordinate in the peak place CCD coordinate system of boats and ships, identify calibration point simultaneously, record the coordinate figure of calibration point in CCD coordinate system, and coordinate information is sent to boats and ships elevation measurement module 7.
In boats and ships elevation measurement module 7, utilize the spatial information of known calibration point and boats and ships, coordinate information and the water level information in CCD picture, can try to achieve the height of boats and ships, concrete grammar is as follows:
Owing to only needing to measure elevation information, so only need demarcate vertical direction, but the horizontal rotary change of team affects boats and ships and demarcates thing 11 to the distance of the place plane of video camera 3, therefore when occurred level rotates, to try to achieve range information by angle information, then shown in Fig. 3, when there is vertically rotation in video camera 3, in 4 calibration points, select vertical direction two calibration points point-blank, in figure, C point is primary optical axis and the intersection point of demarcating thing 11, A, E point is respectively calibration point, height apart from ground is known, in horizontal direction, distance apart from video camera 3 is known, the angle of rotating on video camera 3 vertical directions can obtain by The Cloud Terrace 1, be known as θ, video camera 3 and boats and ships peak line are handed over and are demarcated thing 11 in G point, due to the optical axis center of general video camera 3 CCD center not necessarily, so need to first try to achieve photocentre in the position of CCD, owing to only needing measuring height, so only need to try to achieve the position of photocentre in Y direction.Fig. 5 is CCD coordinate system, initial point WeiCCD center wherein, i.e. and intermediate point in picture, X-axis is parallel to horizontal direction, and Y-axis is perpendicular to horizontal direction.In figure, circle o represents in the position circle a presentation graphs 3 of photocentre that calibration point A is in the position of CCD, the projection that in circle e presentation graphs 3, E is ordered, and y1, y2 represents the Y-axis coordinate of calibration point, y3 represents the Y-axis coordinate (the unknown) of photocentre.
θ and H are known as seen from Figure 3, can be in the hope of the length of OC and CF, because AE length is known, and then can be in the hope of the length of AC and AB, crosses A point and do the vertical line of primary optical axis OC and meet at B, and ∠ BAC=∠ θ, can, in the hope of the length of BC, finally obtain the length of OB.Cross the vertical line that e is OC, meet at D, in like manner can obtain the length of ED and OD.Due to
AB/BO＝(y1-y3)*dy/f，
ED/DO＝(y3-y2)*dy/f，
Two formulas are added (f represents focal length, and dy represents the size of single CCD), and because (y1-y2) * dy/f=k is because AB, BO, ED, DO length are known, the result of addition is a constant, is made as k; Can in the hope of f, (comprise dy unknown constant, in ensuing calculating, can approximately be fallen.And can and then try to achieve the Y-axis value at photocentre place.Read the Y-axis value of boats and ships peak in picture in picture, be designated as y4, cross the vertical line that G point is done primary optical axis, meet at I, known,
GI/IO＝|y4-y3|*dy/f
Because calculating above can be known f, y3, y4 is known, and dy can approximately fall, and establishes
| y4-y3|*dy/f=K is a constant,
GI/IO＝GI/(tanθ*GI+CO)＝K
Can obtain GI, and then obtain GC, therefore can calculate G point to the distance of the water surface, according to GPS information, can know that boats and ships, to the distance of video camera 3 place planes, are designated as H1, according to leg-of-mutton similar △ OGF ∽ △ OLM, H1/H=LM/GF, can, in the hope of the length of LM, because video camera 3 is to the height of the water surface, can records and be designated as H2 by water level information, the height of boats and ships is LM+H2, has obtained the height of boats and ships.
Claims (3)
1. a navigating ship altitude measurement system, it is characterized in that: comprise and demarcate thing (11), positional information is measured module (12), The Cloud Terrace (1), video camera (3), computing machine (10), radio receiving transmitting module (8) and water stage measurement module (9), cradle head control module (2) is installed in described computing machine (10), image processing module (4), Ship GPS computing module (5), boats and ships elevation measurement module (7) and calibration point parameter calculating module (6), described positional information is measured module (12) and is measured the GPS information of thing (11) and the relevant angular distance information of demarcating, and measurement result is input to Ship GPS computing module (5), described calibration point parameter calculating module (6) respectively with Ship GPS computing module (5), boats and ships elevation measurement module (7) is connected, described radio receiving transmitting module (8) is connected with Ship GPS computing module (5), water stage measurement module (9) information exchange is crossed radio receiving transmitting module (8) and is connected with boats and ships elevation measurement module (7), described cradle head control module (2) is connected with calibration point parameter calculating module (6), described radio receiving transmitting module (8) is connected with Ship GPS computing module (5), described video camera (3) is arranged on The Cloud Terrace (1) top, and video camera (3) is connected with image processing module (4), described The Cloud Terrace (1) is connected with Ship GPS computing module (5) with cradle head control module (2) respectively, cradle head control module (2) is connected with video camera (3) by controlling The Cloud Terrace (1), and described The Cloud Terrace (1) is arranged on the riverbank of range observation boats and ships certain position.
2. a kind of navigating ship altitude measurement system according to claim 1, is characterized in that: described The Cloud Terrace (1) is arranged on the riverbank of range observation boats and ships 300m with external position.
3. a measuring method for navigating ship altitude measurement system, is characterized in that: comprise the following steps:
Initialization before A, measurement
A1, background calibration point are set
In the background that will take at video camera (3), select many places background as demarcating thing (11), and number and the position of demarcating thing (11) are determined according to the field angle of video camera (3) and the waters scope that needs to monitor, finally meeting video camera (3) rotates to where all having and only have a complete demarcation thing (11) in visual field; After determining the position of demarcating thing (11), demarcating the upper specific position installation calibration point of selecting of thing (11);
A2, video camera (3) initial position setting
After calibration point location positioning, adjust the position of video camera (3), determine the initial position of video camera (3), and set presetting bit by cradle head control module (2); Calibration point parameter calculating module (6) measures by positional information GPS information and the range information that module (12) is measured each calibration point, calculates the volume coordinate of each calibration point and the position relationship of each calibration point and video camera (3);
A3, initial position message are measured and are calculated
When the initial position setting of video camera (3) after, by positional information measure module (12) to the relative distance relation of calibration point, each calibration point apart from the distance of video camera (3) and and video camera (3) primary optical axis between angle measure;
B, formally measurement
B1, boats and ships are processed and found to GPS information
Radio receiving transmitting module (8) receives the Ship GPS information at VTS center, be sent to Ship GPS computing module (5), Ship GPS computing module (5) simultaneously goes out boats and ships, video camera (3) and angulation information between video camera (3) primary optical axis now in conjunction with the positional information of calibration point parameter calculating module (6) and the positional information calculation of video camera (3), angle information is sent to the rotation that cradle head control module (2) is controlled The Cloud Terrace (1), makes video camera (3) find target boats and ships;
B2, The Cloud Terrace (1) rotation and information acquisition
According to the angle information obtaining, cradle head control module (2) is controlled the rotation that The Cloud Terrace (1) completes level and vertical direction both direction, cradle head control module (2) records the angle information of The Cloud Terrace (1) rotation simultaneously, and controls The Cloud Terrace (1) rotation;
B3, obtain photo site
Video camera (3) is varifocal video camera (3), by with the interval set time, scene being taken pictures after setting, and picture is sent to image processing module (4);
B4, image recognition
Image processing module (4) is responsible for the collection of image, the identification of the identification of target, calibration point, the coordinate information of each calibration point in picture;
B5, extraction water level information
The water level information of water stage measurement module (9) to section, place, carries out instant measurement;
B6, metrical information is processed to Ship ' height
Boats and ships elevation measurement module (7), the instant water level information of the angle information of cradle head control module (2), water stage measurement module (9), calculates the height of boats and ships according to the information of image processing module (4) and the vessel position information of calibration point parameter calculating module (6) and Ship GPS computing module (5).
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