CN104071311B - A kind of boats and ships method for early warning - Google Patents
A kind of boats and ships method for early warning Download PDFInfo
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- CN104071311B CN104071311B CN201410337112.6A CN201410337112A CN104071311B CN 104071311 B CN104071311 B CN 104071311B CN 201410337112 A CN201410337112 A CN 201410337112A CN 104071311 B CN104071311 B CN 104071311B
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Abstract
The present invention relates to a kind of boats and ships method for early warning, the method includes providing a kind of boats and ships peripheral object detection warning system, described warning system includes camera assembly, sensor cluster, image-preprocessing device, target identification equipment, target's feature-extraction equipment, To Template storage device and processing equipment, camera assembly, image-preprocessing device, target identification equipment and target's feature-extraction equipment are sequentially connected with to obtain the feature of boats and ships peripheral object, processing equipment is connected to identify target type with target's feature-extraction equipment and To Template storage device respectively, the target range that processing equipment is additionally based upon target's feature-extraction equipment and sensor cluster detects respectively realizes target detection and reports to the police.By means of the invention it is possible to facilitate boats and ships to detect the existence of hull surrounding objects in time, and further it is carried out type identification, simultaneously can also be according to the relative situation of target with hull, it is provided that corresponding warning message.
Description
Technical field
The present invention relates to boats and ships early warning field, particularly relate to a kind of boats and ships method for early warning.
Background technology
Along with development and the sustainable growth of foreign trade of World Economics, maritime traffic is transported day by day
Busy, maximize, modernize ships quantity and be continuously increased so that the most hard up navigation channel, port
Mouthful and nearshore waters become more crowded, vehicle accident constantly occurs, simultaneously the increasing of marine refuse,
Some nearly ship targets and the frequent impact of hull, also bring potential safety hazard for normally travelling of boats and ships.
During when boats and ships because collide with other ships or nearly ship target and cause hull impaired, not only give boats and ships
Operator bring no small economic loss, and great collision accident can cause people to ship's staff
Body injures and deaths, if oilburg, result even in crude oil leakage, make the ecological environment of ocean be subject to
Serious harm, the possible several years all cannot return to original state.
The accident collided in order to avoid boats and ships and other objects marine occurs, in computer technology and
Today that naval technology is fast-developing, people also develop target detection near some boats and ships and report to the police and are
System, is arranged on boats and ships, detects the risk object occurred near Ship body, when necessary
Ship's staff is reported to the police, has successfully built around hull and protected early warning system together.
But, near boats and ships of the prior art there are some drawbacks in target detection warning system: (1)
Nearly ship target can only be detected, and target cannot be identified, it has not been convenient to ship's staff formulates
Travel strategy；(2) electronization degree low, it is impossible to the form of the multiple nearly ship target of Real time dynamic display and
Relative distance to hull；(3) complicated due to maritime environment, the warning system of prior art exists by mistake
The possibility reported to the police.
Accordingly, it would be desirable to nearly ship target can effectively be identified by one and to improve warning system automatic
Multiple nearly ship targets are carried out feature identification by change degree and the technical scheme of accuracy simultaneously, it is judged that
The type of these targets, provides important references to participant, travels strategy with timely change or formulates
Counte-rplan, it is to avoid hull is impaired, have ensured the safety of ship's staff and goods.
Summary of the invention
In order to solve the problems referred to above, the invention provides a kind of boats and ships method for early warning, the method includes carrying
For a kind of new boats and ships peripheral object detection warning system, by Real-time Collection target image, target figure
As pretreatment, the segmentation of target subimage and target characteristic identification, obtain nearly ship clarification of objective in time
And type, and together with the information relevant to plurality of target, carry out integrated display, improve warning system
Intelligent level, takes image distance identification and infrared distance to identify two kinds of distance recognition method simultaneously,
Ensure the accuracy that the object range detection of warning system is reported to the police.
According to an aspect of the present invention, it is provided that a kind of boats and ships method for early warning, the method includes providing one
Kind of boats and ships peripheral object detection warning system, described warning system include camera assembly, sensor cluster,
Image-preprocessing device, target identification equipment, target's feature-extraction equipment, To Template storage device
And processing equipment, camera assembly, image-preprocessing device, target identification equipment and target's feature-extraction
Equipment is sequentially connected with to obtain the feature of boats and ships peripheral object, processing equipment and target's feature-extraction equipment
Connect respectively with To Template storage device with feature based on described boats and ships peripheral object and target mould
Plate storage device prestores each type clarification of objective value identification target type, and processing equipment is also
The target range detected respectively based on target's feature-extraction equipment and sensor cluster realizes target range
Detection is reported to the police.
More specifically, in described boats and ships peripheral object detection warning system, described camera assembly is by four
Individual photographic head forms, and described four photographic head are separately mounted to the head of boats and ships, afterbody, left side and the right side
Side, for capture boats and ships front, rear, left side and the Surface Picture on right side respectively；Described sensor
Assembly is made up of four infrared distance sensors, and described four infrared distance sensors are separately mounted to ship
The head of oceangoing ship, afterbody, left side and right side, for detection boats and ships front, rear, left side and the right side respectively
In side occur target range hull distance and as first object distance；Described Image semantic classification sets
For the described camera assembly of connection to receive boats and ships front, rear, left side and the Surface Picture on right side, and
The Surface Picture received is carried out noise-removed filtering process, to obtain pretreated Surface Picture；Institute
State target identification equipment and connect described image-preprocessing device to receive described pretreated water surface figure
Picture, and it is extracted in each target in described pretreated Surface Picture based on global threshold split-run
The target subimage at place；Described target's feature-extraction equipment connects described target marker to obtain institute
State the target subimage at each target place, target subimage based on each target place described
Extracting each clarification of objective, each clarification of objective described includes a feature, line feature, face
Feature, target area, target perimeter and target's center's coordinate, described target perimeter is by target limit
Edge detection and be acquired, also calculate target's center's coordinate of each target to hull distance using as
Second target range；Described To Template storage device storage To Template data base, described target mould
Plate data base, with target type for index, prestores the eigenvalue of each target type；Described place
Reason equipment, connect respectively sensor combinations, target's feature-extraction equipment, To Template storage device,
The speaker of described warning system and the display device of described warning system, when the first object received
When the difference of distance and the second target range is less than or equal to predetermined difference value threshold value, enters target and determine mould
Formula, sends target and determines signal, when the first object distance received and the difference of the second target range
During more than predetermined difference value threshold value, enter target str mode, send target questionable signal, true in target
In mould-fixed, take in first object distance and the second target range minima as determining target range,
When determining that target range is between 10 meters and 1 meter, send alerting signal, when determining target range
Time in being 1 meter, send alarm signal, and control described display device show with target determine signal,
The information that target questionable signal, alerting signal or alarm signal are corresponding, simultaneously processing equipment by described often
One clarification of objective is carried out one by one with the eigenvalue of each target type in To Template data base
Coupling, shows the simulation drawing of the target type that the match is successful in institute with target's center's coordinate of this target
State on the modeling interface of display device, also control the broadcasting of described speaker and determine signal, target with target
The auditory tone cues information that questionable signal, alerting signal or alarm signal are corresponding；Navigator, with described
Display device connects to show the position of boats and ships in real time；Wireless Telecom Equipment, is arranged on ship outer casing,
Connect described processing equipment and described target identification equipment, and send alarm signal in described processing equipment
Time, the target subimage at each the target place extracted by described target identification equipment is sent to sea
Rescue center；Wherein, described global threshold split-run is by the back of the body of described pretreated Surface Picture
The gray value of scape is considered as constant in whole image, and target and background are considered as have identical contrast
Degree, is extracted in described pretreated Surface Picture each target institute based on default global threshold
Target subimage, the noise-removed filtering of described image-preprocessing device processes and includes using self adaptation dimension
Wave filter of receiving is removed the white noise of the Surface Picture that described image-preprocessing device receives and retains institute
State edge and the HFS of the Surface Picture that image-preprocessing device receives；Wherein, described image
Pre-processing device, described target identification equipment, described target's feature-extraction equipment, described To Template
Storage device, described processing equipment, described speaker, described display device and described navigator are all
In the front end instrumental panel of the Central Control Room being arranged on boats and ships.
More specifically, in described boats and ships peripheral object detection warning system, each infrared distance measurement passes
Sensor includes multiple infrared distance measurement unit, respectively the most predetermined detection range is carried out mesh around boats and ships
Target detects.
More specifically, in described boats and ships peripheral object detection warning system, described warning system is by institute
State processing equipment, described speaker, described display device and described navigator be integrated in one piece integrated
On circuit board.
More specifically, in described boats and ships peripheral object detection warning system, described display device is liquid
Crystal display LCD.
More specifically, also include user input device in described boats and ships peripheral object detection warning system,
In the front end instrumental panel of the Central Control Room being arranged on boats and ships, and it is connected for setting with described processing equipment
Described predetermined difference value threshold value.
Accompanying drawing explanation
Below with reference to accompanying drawing, embodiment of the present invention are described, wherein:
Fig. 1 is the structure detecting warning system according to the boats and ships peripheral object shown in embodiment of the present invention
Block diagram.
Fig. 2 is to detect in warning system according to the boats and ships peripheral object shown in embodiment of the present invention
The block diagram of block surface-mounted integrated circuit.
Detailed description of the invention
Boats and ships peripheral object to the present invention detects the embodiment of warning system below with reference to accompanying drawings
It is described in detail.
Boats and ships are the vehicles of sea-freight.Comparing with land transportation, air transport mode, sea-freight has certain excellent
Gesture.First, it is to avoid the generation of extra charge, overland transport usually can produce overseas call contact expense,
Vectigalia, enter parking lot expense and all trailers occurred because looking into goods overnight, overtime expense etc. can not be pre-
The extra charge seen, uses sea-freight transport, can eliminate to the greatest extent unnecessary expenditures like this；Secondly,
Exempt repeat declaration puzzlement, overland transport by cabinet declaration procedure declare at customs, and marine site declaration be with
Every the most every unit of cargo of ticket, as the foundation of declaration, so can be exempted and tie the surcharge born because of multiple declaration
With, during especially disposable bulk production amount turnover, the advantage of sea-freight transport becomes apparent from nothing left；Again,
Settle the worry of secondary examination, because overland transport to cross over different customs territories, so goods is frequent
Meet with difference and close the examination of customs of district, time-consumingly, a tax on one's mind, and often result in the trailer delay to factory's time,
And cause personnel, the consuming time of facility is waiting in unloading, and transports transport by sea in a local clearance i.e.
Can, simple and easy to do, it is ensured that the timeliness of goods transport, customs's relation at another part port is preferable, is easier to
Make allowances for factory and enter the nibs of product goods；Finally, sea-freight can enjoy the free storehouse phase in field, is conducive to
Declaration and the turnover of contract, because usual harbour can provide free loading time that goods arrives latter about 5 days (depending on port
Mouth specifies and has the natural law of difference), therefore beneficially factory's declaration action and the turnover of contract.Therefore,
Although land transportation and air transport have incomparable advantage in the speed of service, but because above all points, extra large
Transport lasting.
In order to ensure the economic benefit of sea-freight, boats and ships properly functioning particularly critical.The boats and ships in the present age are inclined
Maximize, electronization direction is developed, and usual cost is high, and personnel and the quantity of goods of sea-freight are the most suitable
Many, personnel's injury and economic loss that navigation accident causes all are difficult to make up.Therefore, ship
The security protection problem of oceangoing ship is one of significant problem of always paying close attention to of Ship-building Company, carries out boats and ships boat for this
The research of the multinomial problem of row early warning system.In the security protection problem of boats and ships, ship collision is
The ship accident often occurred, ship collision includes the collision between boats and ships and boats and ships and nearly ship object
Collision.
The boats and ships peripheral object detection warning system of the present invention, it is possible to for being provided with the boats and ships of warning system
Automatically detect the image information of surrounding objects and carry out target characteristic identification, special to recognition result and target
Reference breath carries out integrated display, improves the intelligence degree of warning system, provides boat for navigating officer
The important referential data of row, meanwhile, uses image distance identification and infrared distance to identify the mode combined,
Also improve the accuracy that object range detection is reported to the police.
Fig. 1 is the structure detecting warning system according to the boats and ships peripheral object shown in embodiment of the present invention
Block diagram, described warning system include camera assembly 1, sensor cluster 2, image-preprocessing device 3,
Target identification equipment 4, target's feature-extraction equipment 5, To Template storage device 7 and processing equipment 6,
Camera assembly 1, image-preprocessing device 3, target identification equipment 4 and target's feature-extraction equipment 5
It is sequentially connected with to obtain the feature of boats and ships peripheral object, processing equipment 6 and target's feature-extraction equipment 5
Connect respectively with To Template storage device 7 with feature based on described boats and ships peripheral object and target mould
Plate storage device 7 prestores each type clarification of objective value identification target type, processing equipment
6 are additionally based upon target's feature-extraction equipment 5 and target range that sensor cluster 2 detects respectively realizes mesh
Subject distance detection is reported to the police.
Wherein, in described boats and ships peripheral object detection warning system, described camera assembly 1 is by four
Photographic head forms, and described four photographic head are separately mounted to the head of boats and ships, afterbody, left side and right side,
For capturing the Surface Picture on boats and ships front, rear, left side and right side respectively；Described sensor cluster
2 are made up of four infrared distance sensors, and described four infrared distance sensors are separately mounted to boats and ships
Head, afterbody, left side and right side, for detection boats and ships front, rear, left side and right side respectively
The distance of the target range hull of interior appearance as first object distance；Described image-preprocessing device
3 connect described camera assemblies 1 to receive boats and ships front, rear, left side and the Surface Picture on right side,
And the Surface Picture received is carried out noise-removed filtering process, to obtain pretreated Surface Picture；
Described target identification equipment 4 connects described image-preprocessing device 3 to receive described pretreated water
Face image, and it is extracted in described pretreated Surface Picture each based on global threshold split-run
The target subimage at target place；Described target's feature-extraction equipment 5 connects described target marker 4
To obtain the target subimage at each target place described, mesh based on each target place described
Mark subimage extracts each clarification of objective, and each clarification of objective described includes a feature, line
Feature, region feature, target area, target perimeter and target's center's coordinate, described target perimeter is logical
Cross target rim detection and be acquired, also calculate target's center's coordinate of each target to hull away from
From using as the second target range；Described To Template storage device 7 stores To Template data base,
Described To Template data base, with target type for index, prestores the feature of each target type
Value；Described processing equipment 6, connects sensor combinations 2, target's feature-extraction equipment 5, target respectively
Template storage device 7, the speaker of described warning system and the display device of described warning system, when
When the first object distance received and the difference of the second target range are less than or equal to predetermined difference value threshold value,
Enter target determination mode, send target and determine signal, when the first object distance and second received
When the difference of target range is more than predetermined difference value threshold value, enters target str mode, send target suspicious
Signal, in target determination mode, takes minima conduct in first object distance and the second target range
Determine target range, when determining that target range is between 10 meters and 1 meter, send alerting signal,
When determining that target range is in 1 meter, send alarm signal, and control described display device show with
Target determines the information that signal, target questionable signal, alerting signal or alarm signal are corresponding, locates simultaneously
Reason equipment 6 is by each clarification of objective described and each target type in To Template data base
Eigenvalue mates one by one, by the simulation drawing of the target type that the match is successful with in the target of this target
Heart coordinate shows on the modeling interface of described display device, also controls described speaker and plays and target
Determine the auditory tone cues information that signal, target questionable signal, alerting signal or alarm signal are corresponding；Lead
Boat equipment, is connected with described display device to show the position of boats and ships in real time；Wireless Telecom Equipment, if
Put on ship outer casing, connect described processing equipment 6 and described target identification equipment 4, and described
When processing equipment 6 sends alarm signal, each target institute that described target identification equipment 4 is extracted
Target subimage be sent to rescue at sea center；Wherein, described global threshold split-run is by institute
The gray value of the background stating pretreated Surface Picture is considered as constant in whole image, by target with
Background is considered as having identical contrast, is extracted in described pretreated based on default global threshold
The target subimage at each target place in Surface Picture, the denoising of described image-preprocessing device 3
Filtering Processing includes using adaptive wiener filter to remove what described image-preprocessing device 3 received
The white noise of Surface Picture also retains the edge of the Surface Picture that described image-preprocessing device 3 receives
And HFS；Wherein, described image-preprocessing device 3, described target identification equipment 4, described
Target's feature-extraction equipment 5, described To Template storage device 7, described processing equipment 6, described in raise
Sound device, described display device and described navigator are all arranged on the front end instrumental panel of the Central Control Room of boats and ships
In.
Wherein, in described warning system, each infrared distance sensor can include multiple infrared survey
Away from unit, respectively the most predetermined detection range is carried out the detection of boats and ships surrounding objects；Described warning
System is it is also possible that state processing equipment 6, described speaker, described display device and described navigation and set
Standby be integrated on one piece of surface-mounted integrated circuit, as in figure 2 it is shown, described speaker, described display device and
Described navigator is connected with described processing equipment 6 respectively, described navigator and described display device
Connect；And alternatively, described display device can be liquid crystal display LCD, according to user's request,
Can be that described liquid crystal display LCD orders and makes different display resolutions；It addition, described warning system
User input device can also be included, in the front end instrumental panel of the Central Control Room being also mounted on boats and ships, and
It is connected for arranging described predetermined difference value threshold value with described processing equipment 6.
It addition, infrared distance sensor is by the measurement system that infrared ray is medium, can divide according to function
Become five classes: (1) radiometer, for radiation and spectral measurement；(2) search for and tracking system, be used for
Search and tracking infrared target, determine that its locus the motion to it are tracked；(3) heat becomes
As system, the distributed image of whole Target Infrared Radiation can be produced；(4) infrared distance measurement and communication system；
(5) hybrid system, refers to the combination of two or more in above sorts of systems.It is by detection
Mechanism is divided into as photon detector and thermal detector.Infrared electronic technology is in modern science and technology, state
The fields such as anti-and industrial or agricultural obtain a wide range of applications.Its principle is, infrared distance sensor has one
Launching infrared signal and reception diode, the infrared distance sensor of utilization such as LDM301 launches
Go out a branch of infrared light, after being irradiated to object, form the process of a reflection, reflex to sensor and be followed by
The collection of letters number, then utilizes ccd image to process and receives the data launching the time difference with reception.Through letter
Number processor calculates the distance of object after processing.This is possible not only to be used in natural surface, it is also possible to
In adding reflecting plate.Far measuring distance, the highest frequency response, it is suitable in rugged environment.
It addition, Wiener filter (Wiener filter) is by mathematician's wiener (Rorbert Wiener)
A kind of linear filter with least square as optiaml ciriterion proposed.Under certain constraints,
Square minimizing, by number of its output and the difference of a given function (commonly referred to desired output)
The Solve problems that finally can be changed into a Tobe Ritz equation is calculated in student movement.Wiener filter is otherwise known as
A young waiter in a wineshop or an inn takes advantage of wave filter or least square filter, is currently one of basic filtering method.Wiener filtering
It is to utilize the correlation properties of stationary random process and spectral characteristic that mixed noisy signal is filtered
Method.
Use the present invention boats and ships peripheral object detection warning system, for spot ship warning system without
Target recognition and the technical problem of electronization distance low, easy erroneous judgement, the mode using image recognition is real
Time targets multiple to nearly ship carry out feature extraction and target recognition, target information is carried out integrated display,
Identify, by image distance identification and infrared distance, the means combined simultaneously, and upload mesh in emergency
Mark subimage is to rescue at sea center, thus improves the precision that object range detection is reported to the police, for grasping on ship
Important references is provided, in order to they make rational planning for course line, it is to avoid the generation of Collision Accidents of Ships as personnel,
Ensure economic interests and the personal safety of ship's staff of shipping transport side.
Although it is understood that the present invention discloses as above with preferred embodiment, but above-mentioned enforcement
Example is not limited to the present invention.For any those of ordinary skill in the art, without departing from
Under technical solution of the present invention ambit, all may utilize the technology contents of the disclosure above to the technology of the present invention
Scheme makes many possible variations and modification, or is revised as the Equivalent embodiments of equivalent variations.Therefore,
Every content without departing from technical solution of the present invention, the technical spirit of the foundation present invention is to above example
Any simple modification, equivalent variations and the modification done, all still falls within technical solution of the present invention protection
In the range of.
Claims (1)
1. a boats and ships method for early warning, the method includes: provide boats and ships peripheral object to detect the system that reports to the police
System, described warning system includes that camera assembly, sensor cluster, image-preprocessing device, target are known
Other equipment, target's feature-extraction equipment, To Template storage device and processing equipment, camera assembly,
Image-preprocessing device, target identification equipment and target's feature-extraction equipment are sequentially connected with to obtain boats and ships
The feature of peripheral object, processing equipment and target's feature-extraction equipment and To Template storage device difference
Connecting prestores each with feature based on described boats and ships peripheral object and To Template storage device
Type clarification of objective value identification target type, processing equipment be additionally based upon target's feature-extraction equipment and
The target range that sensor cluster detects respectively realizes object range detection and reports to the police；
Described camera assembly is made up of four photographic head, and described four photographic head are separately mounted to boats and ships
Head, afterbody, left side and right side, for capture boats and ships front, rear, left side and right side respectively
Surface Picture；
Described sensor cluster is made up of four infrared distance sensors, described four infrared distance measurements sensing
Device is separately mounted to the head of boats and ships, afterbody, left side and right side, for detection boats and ships front respectively,
In rear, left side and right side occur target range hull distance and as first object distance；
Described image-preprocessing device connects described camera assembly to receive boats and ships front, rear, left side
With the Surface Picture on right side, and the Surface Picture received is carried out noise-removed filtering process, pre-to obtain
Surface Picture after process；
It is described pretreated to receive that described target identification equipment connects described image-preprocessing device
Surface Picture, and it is extracted in described pretreated Surface Picture each based on global threshold split-run
The target subimage at individual target place；
Described target's feature-extraction equipment connects described target identification equipment to obtain each mesh described
The target subimage at mark place, target subimage based on each target place described extracts each
Clarification of objective, each clarification of objective described includes a feature, line feature, region feature, target
Area, target perimeter and target's center's coordinate, described target perimeter is to be detected and quilt by object edge
Obtain, also calculate target's center's coordinate of each target to hull distance using as the second target away from
From；
Described To Template storage device storage To Template data base, described To Template data base with
Target type is index, prestores the eigenvalue of each target type；
Described processing equipment, connects sensor cluster, target's feature-extraction equipment, To Template respectively
Storage device, the speaker of described warning system and the display device of described warning system, when receiving
First object distance and the second target range difference less than or equal to predetermined difference value threshold value time, enter mesh
Mark determines pattern, sends target and determines signal, when the first object distance received and the second target away from
From difference more than predetermined difference value threshold value time, enter target str mode, send target questionable signal,
In target determination mode, take in first object distance and the second target range minima as determining mesh
Subject distance, when determining that target range is between 10 meters and 1 meter, sends alerting signal, when determining
Target range be 1 meter in time, send alarm signal, and control described display device and show true with target
Determine the information that signal, target questionable signal, alerting signal or alarm signal are corresponding, processing equipment simultaneously
By each clarification of objective described and the eigenvalue of each target type in To Template data base
Mate one by one, by the simulation drawing of the target type that the match is successful with target's center's coordinate of this target
Display, on the modeling interface of described display device, also controls the broadcasting of described speaker and determines letter with target
Number, target questionable signal, alerting signal or auditory tone cues information corresponding to alarm signal；
Navigator, is connected with described display device to show the position of boats and ships in real time；
Wireless Telecom Equipment, is arranged on ship outer casing, connects described processing equipment and described target is known
Other equipment, and when described processing equipment sends alarm signal, described target identification equipment is extracted
The target subimage at each target place is sent to rescue at sea center；
Wherein, described global threshold split-run is the ash of the background by described pretreated Surface Picture
Angle value is considered as constant in whole image, and target and background are considered as have identical contrast, based on
The global threshold preset is extracted in the mesh at each target place in described pretreated Surface Picture
Mark subimage, the noise-removed filtering of described image-preprocessing device processes and includes using adaptive wiener filter
Device is removed the white noise of the Surface Picture that described image-preprocessing device receives and retains described image
The edge of the Surface Picture that pre-processing device receives and HFS；
Wherein, described image-preprocessing device, described target identification equipment, described target's feature-extraction
Equipment, described To Template storage device, described processing equipment, described speaker, described display set
In the front end instrumental panel of the Central Control Room that standby and described navigator is all arranged on boats and ships；
Each infrared distance sensor includes multiple infrared distance measurement unit, respectively to the most predetermined inspection
Survey scope carries out the detection of boats and ships surrounding objects；
Described warning system is by described processing equipment, described speaker, described display device and described leads
Boat integration of equipments is on one piece of surface-mounted integrated circuit；
Described display device is liquid crystal display LCD；
User input device, in the front end instrumental panel of the Central Control Room being arranged on boats and ships, and with described process
Equipment connects for arranging described predetermined difference value threshold value.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410831262.2A CN104494794B (en) | 2014-07-15 | 2014-07-15 | A kind of boats and ships method for early warning |
| CN201510113014.9A CN104648628B (en) | 2014-07-15 | 2014-07-15 | A kind of ship method for early warning |
| CN201510111335.5A CN104648627B (en) | 2014-07-15 | 2014-07-15 | Early warning method for ship |
| CN201410337112.6A CN104071311B (en) | 2014-07-15 | 2014-07-15 | A kind of boats and ships method for early warning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410337112.6A CN104071311B (en) | 2014-07-15 | 2014-07-15 | A kind of boats and ships method for early warning |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510113014.9A Division CN104648628B (en) | 2014-07-15 | 2014-07-15 | A kind of ship method for early warning |
| CN201410831262.2A Division CN104494794B (en) | 2014-07-15 | 2014-07-15 | A kind of boats and ships method for early warning |
| CN201510111335.5A Division CN104648627B (en) | 2014-07-15 | 2014-07-15 | Early warning method for ship |
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| Publication Number | Publication Date |
|---|---|
| CN104071311A CN104071311A (en) | 2014-10-01 |
| CN104071311B true CN104071311B (en) | 2016-08-24 |
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| CN201410337112.6A Active CN104071311B (en) | 2014-07-15 | 2014-07-15 | A kind of boats and ships method for early warning |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109253830A (en) * | 2018-09-05 | 2019-01-22 | 上海交通大学 | A kind of jacket and ship collision force measuring method based on image recognition |
Families Citing this family (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104648628B (en) * | 2014-07-15 | 2018-11-30 | 泰兴市东城水处理工程有限公司 | A kind of ship method for early warning |
| CN104494794B (en) * | 2014-07-15 | 2015-11-18 | 江阴卧龙玻璃钢船艇有限公司 | A kind of boats and ships method for early warning |
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| CN104494794B (en) | 2015-11-18 |
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