CN104103198A - Ship periphery target detection alarm system - Google Patents
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- CN104103198A CN104103198A CN201410335703.XA CN201410335703A CN104103198A CN 104103198 A CN104103198 A CN 104103198A CN 201410335703 A CN201410335703 A CN 201410335703A CN 104103198 A CN104103198 A CN 104103198A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G3/00—Traffic control systems for marine craft
- G08G3/02—Anti-collision systems
Abstract
The invention relates to a ship periphery target detection alarm system. The alarm system comprises a camera shooting assembly, a sensor assembly, an image processing device, a target recognition device, a target feature extraction device, a target template storage device and a processing device, wherein the camera shooting assembly, the image processing device, the target recognition device and the target feature extraction device are sequentially connected to obtain features of a ship periphery target, the processing device is respectively connected with the target feature extraction device and the target template storage device to recognize the target type, and the processing device achieves target detection warning based on target distances respectively detected by the target feature extraction device and the sensor assembly. By adopting the ship periphery target detection alarm system, the existing situation of the ship periphery target of a ship can be conveniently and timely detected, type recognition can be further performed, and meanwhile corresponding alarm information can be further provided according to the relative position situation of the target and a hull.
Description
Technical field
The present invention relates to boats and ships early warning field, relate in particular to a kind of boats and ships peripheral object detection alarm system.
Background technology
Along with the development of world economy and the sustainable growth of foreign trade, maritime traffic transport is day by day busy, maximization, modernization ships quantity constantly increase, make originally to become more crowded with regard to hard up navigation channel, harbour and inshore water, traffic hazard constantly occurs, increasing of marine refuse simultaneously, the frequent impact of some nearly ship targets and hull, has also brought potential safety hazard for normally travelling of boats and ships.In the time that boats and ships cause hull impaired because of bumping with other ships or nearly ship target, bring no small economic loss not only to the operator of boats and ships, and great collision accident can cause personal injury to ship's staff, if Large crude-carrying vessel, even can cause crude oil leakage, make the ecologic environment of ocean be subject to serious harm, the possible several years all cannot return to original state.
Occur for fear of boats and ships and the accident that marine other objects bump, in today of computer technology and naval technology fast development, people have also developed near the target detection warning system of some boats and ships, be arranged on boats and ships, near the risk object occurring boats and ships hull is detected, where necessary ship's staff is reported to the police, around hull, successfully built and protected together early warning system.
But near boats and ships of the prior art, target detection warning system exists some drawbacks: (1) can only be detected nearly ship target, and cannot identify target, inconvenient ship's staff formulates the strategy that travels; (2) electronic degree is low, form that cannot the multiple nearly ship targets of Real time dynamic display and the relative distance to hull; (3), due to maritime environment complexity, there is the possibility of false alarm in the warning system of prior art.
Therefore, need to a kind ofly can carry out effectively identification and can improve the technical scheme of warning system automaticity and accuracy nearly ship target, multiple nearly ship targets are carried out to feature identification simultaneously, judge the type of these targets, important references is provided to the personnel of travelling, travel strategy or formulate counte-rplan to change in time, avoiding hull impaired, having ensured the safety of ship's staff and goods.
Summary of the invention
In order to address the above problem, the invention provides a kind of new boats and ships peripheral object detection alarm system, cut apart and target signature identification by Real-time Collection target image, target image pre-service, target subimage, obtain in time nearly ship clarification of objective and type, and the information relevant to plurality of target is carried out synthesis display together, improve the intelligent level of warning system, take image distance identification and infrared distance to identify two kinds apart from recognition method simultaneously, ensured the accuracy of the object range detection warning of warning system.
According to an aspect of the present invention, a kind of boats and ships peripheral object detection alarm system is provided, described warning system comprises camera assembly, sensor module, image pre-processing device, target identification equipment, target's feature-extraction equipment, To Template memory device and treatment facility, camera assembly, image pre-processing device, target identification equipment and target's feature-extraction equipment are connected to obtain the feature of boats and ships peripheral object successively, treatment facility is connected respectively with the feature based on described boats and ships peripheral object and the pre-stored each type clarification of objective of To Template memory device value identification target type with target's feature-extraction equipment and To Template memory device, the treatment facility target range realize target distance detection alarm that also based target feature extraction equipment and sensor module detect respectively.
More specifically, in described boats and ships peripheral object detection alarm system, described camera assembly is made up of four cameras, and described four cameras are arranged on respectively head, afterbody, left side and the right side of boats and ships, for catching respectively the Surface Picture on boats and ships front, rear, left side and right side, described sensor module is made up of four infrared distance sensors, described four infrared distance sensors are arranged on respectively head, afterbody, left side and the right side of boats and ships, for detecting respectively the distance of the target range hull occurring in boats and ships front, rear, left side and right side and as first object distance, described image pre-processing device connects described camera assembly to receive the Surface Picture on boats and ships front, rear, left side and right side, and the Surface Picture receiving is carried out to noise-removed filtering processing, to obtain pretreated Surface Picture, described target identification equipment connects described image pre-processing device to receive described pretreated Surface Picture, and is extracted in the target subimage at each target place in described pretreated Surface Picture based on global threshold split plot design, described in described target's feature-extraction equipment connection, target marker is to obtain the target subimage at described each target place, target subimage based on described each target place extracts each clarification of objective, described each clarification of objective comprises a feature, line feature, face feature, target area, target girth and target's center's coordinate, described target girth is to be detected and be acquired by object edge, and the target's center's coordinate that also calculates each target is to the distance of hull using as the second target range, described To Template memory device, stores To Template database, described To Template database is taking target type as index, the eigenwert of pre-stored each target type, described treatment facility, connecting sensor combination respectively, target's feature-extraction equipment, To Template memory device, the loudspeaker of described warning system and the display device of described warning system, in the time that the difference of the first object distance receiving and the second target range is less than or equal to predetermined difference value threshold value, target approach deterministic model, send target and determine signal, in the time that the difference of the first object distance receiving and the second target range is greater than predetermined difference value threshold value, target approach str mode, sending target can suspect signal, in target deterministic model, get in first object distance and the second target range minimum value as definite target range, when definite target range is between 10 meters and 1 meter time, send alerting signal, when definite target range is in 1 meter time, send alarm signal, and control described display device demonstration and determine signal with target, target can suspect signal, the information that alerting signal or alarm signal are corresponding, treatment facility mates described each clarification of objective one by one with the eigenwert of each target type in To Template database simultaneously, the simulation drawing of the target type that the match is successful is presented on the modeling interface of described display device with target's center's coordinate of this target, also control described loudspeaker broadcasting and determine signal with target, target can suspect signal, the auditory tone cues information that alerting signal or alarm signal are corresponding, navigator, is connected to show in real time the position of boats and ships with described display device, Wireless Telecom Equipment, be arranged on ship outer casing, connect described treatment facility and described target identification equipment, and in the time that described treatment facility sends alarm signal, the target subimage at each target place that described target identification equipment is extracted sends to rescue at sea center, wherein, described global threshold split plot design is that the gray-scale value of the background of described pretreated Surface Picture is considered as constant in whole image, target and background are considered as to have identical contrast, global threshold based on default is extracted in the target subimage at each target place in described pretreated Surface Picture, the noise-removed filtering processing of described image pre-processing device comprises and uses adaptive wiener filter to remove the white noise of the Surface Picture that described image pre-processing device receives and retain edge and the HFS of the Surface Picture that described image pre-processing device receives, wherein, described image pre-processing device, described target identification equipment, described target's feature-extraction equipment, described To Template memory device, described treatment facility, described loudspeaker, described display device and described navigator are all arranged in the front end panel board of Central Control Room of boats and ships.
More specifically, in described boats and ships peripheral object detection alarm system, each infrared distance sensor comprises multiple infrared distance measurements unit, respectively predetermined separately sensing range is carried out to the boats and ships detection of target around.
More specifically, in described boats and ships peripheral object detection alarm system, described warning system is integrated in described treatment facility, described loudspeaker, described display device and described navigator on a surface-mounted integrated circuit.
More specifically, in described boats and ships peripheral object detection alarm system, described display device is liquid crystal display LCD.
More specifically, also comprise user input device in described boats and ships peripheral object detection alarm system, be arranged in the front end panel board of Central Control Room of boats and ships, and be connected with described treatment facility for described predetermined difference value threshold value is set.
Brief description of the drawings
Below with reference to accompanying drawing, embodiment of the present invention are described, wherein:
Fig. 1 is the block diagram of the boats and ships peripheral object detection alarm system that illustrates according to an embodiment of the present invention.
Fig. 2 is the block diagram of a surface-mounted integrated circuit in the boats and ships peripheral object detection alarm system illustrating according to an embodiment of the present invention.
Embodiment
Below with reference to accompanying drawings the embodiment of boats and ships peripheral object detection alarm system of the present invention is elaborated.
Boats and ships are vehicles of sea-freight.With land transportation, the comparison of air transport mode, sea-freight has certain advantage.First, avoid the generation of extra cost, land route transport usually can produce overseas call contact expense, vectigalia, enter parking lot expense and all because looking into unpredictalbe extra cost such as the trailer that goods occurs spends the night, overtime expense, adopt sea-freight transport, can save to the greatest extent unnecessary expenditures like that; Secondly, exempt the puzzlement that repeats declaration, land route transport is declared at customs by cabinet declaration procedure, and marine site declaration is to be the foundation of every unit of cargo as declaration using every ticket, so can exempt and tie the extra cost bearing because of multiple declaration, especially when disposable bulk production amount turnover, the more obviously nothing left of advantage of sea-freight transport; Again, settle the worry of secondary examination, because land route transport will be crossed over different customs territories, so goods often meets with different examinations of closing customs of district, consuming time, a tax on one's mind, and often cause the delay of trailer to factory's time, waiting in unloading and cause expending time in of personnel, facility, and sea-freight transport is once open to the custom in locality, simple and easy to do, guarantee the timeliness of freight transportation, customs's relation at another part port is better, more easily makes allowances for factory and enter the nibs of product goods; Finally, sea-freight can be enjoyed an interior free storehouse phase, be conducive to declaration and the turnover of contract, because harbour conventionally can provide goods to free loading time (having the number of days of difference depending on harbour regulation) of latter approximately 5 days, declare at customs and move and the turnover of contract therefore be conducive to factory.Therefore, although land transportation and air transport have incomparable advantage in travelling speed, because above all points are transported by sea lasting.
In order to ensure the economic benefit of sea-freight, the normal operation of boats and ships is especially crucial.The boats and ships in the present age maximize partially, electronic future development, and conventionally cost is high, and the personnel of sea-freight and quantity of goods are also quite a lot of, and personnel's injury and economic loss that navigation accident causes are all difficult to make up.Therefore, the security protection problem of boats and ships is one of significant problems of always paying close attention to of Ship-building Company, carries out the research of the multinomial problem of ship's navigation early warning system for this reason.In the security protection problem of boats and ships, ship collision is the ship accident the most often occurring, and ship collision comprises collision and boats and ships and the closely collision of ship object between boats and ships.
Boats and ships peripheral object detection alarm system of the present invention, can automatically detect the image information of target around and carry out target signature identification for the boats and ships of warning system are installed, recognition result and target signature information are carried out to synthesis display, improve the intelligent degree of warning system, for navigating officer provides the important referential data of navigation, meanwhile, adopt the mode of image distance identification and infrared distance identification combination, also improved the accuracy that object range detection is reported to the police.
Fig. 1 is the block diagram of the boats and ships peripheral object detection alarm system that illustrates according to an embodiment of the present invention, described warning system comprises camera assembly 1, sensor module 2, image pre-processing device 3, target identification equipment 4, target's feature-extraction equipment 5, To Template memory device 7 and treatment facility 6, camera assembly 1, image pre-processing device 3, target identification equipment 4 and target's feature-extraction equipment 5 are connected to obtain the feature of boats and ships peripheral object successively, treatment facility 6 is connected respectively with the feature based on described boats and ships peripheral object and the pre-stored each type clarification of objective of To Template memory device 7 value identification target type with target's feature-extraction equipment 5 and To Template memory device 7, treatment facility 6 is gone back the target range realize target distance detection alarm that based target feature extraction equipment 5 and sensor module 2 detect respectively.
Wherein, in described boats and ships peripheral object detection alarm system, described camera assembly 1 is made up of four cameras, and described four cameras are arranged on respectively head, afterbody, left side and the right side of boats and ships, for catching respectively the Surface Picture on boats and ships front, rear, left side and right side, described sensor module 2 is made up of four infrared distance sensors, described four infrared distance sensors are arranged on respectively head, afterbody, left side and the right side of boats and ships, for detecting respectively the distance of the target range hull occurring in boats and ships front, rear, left side and right side and as first object distance, described image pre-processing device 3 connects described camera assembly 1 to receive the Surface Picture on boats and ships front, rear, left side and right side, and the Surface Picture receiving is carried out to noise-removed filtering processing, to obtain pretreated Surface Picture, described target identification equipment 4 connects described image pre-processing device 3 to receive described pretreated Surface Picture, and is extracted in the target subimage at each target place in described pretreated Surface Picture based on global threshold split plot design, described target's feature-extraction equipment 5 connects described target marker 4 to obtain the target subimage at described each target place, target subimage based on described each target place extracts each clarification of objective, described each clarification of objective comprises a feature, line feature, face feature, target area, target girth and target's center's coordinate, described target girth is to be detected and be acquired by object edge, and the target's center's coordinate that also calculates each target is to the distance of hull using as the second target range, described To Template memory device 7 is stored To Template database, and described To Template database is taking target type as index, the eigenwert of pre-stored each target type, described treatment facility 6, connecting sensor combination 2 respectively, target's feature-extraction equipment 5, To Template memory device 7, the loudspeaker of described warning system and the display device of described warning system, in the time that the difference of the first object distance receiving and the second target range is less than or equal to predetermined difference value threshold value, target approach deterministic model, send target and determine signal, in the time that the difference of the first object distance receiving and the second target range is greater than predetermined difference value threshold value, target approach str mode, sending target can suspect signal, in target deterministic model, get in first object distance and the second target range minimum value as definite target range, when definite target range is between 10 meters and 1 meter time, send alerting signal, when definite target range is in 1 meter time, send alarm signal, and control described display device demonstration and determine signal with target, target can suspect signal, the information that alerting signal or alarm signal are corresponding, treatment facility 6 mates described each clarification of objective one by one with the eigenwert of each target type in To Template database simultaneously, the simulation drawing of the target type that the match is successful is presented on the modeling interface of described display device with target's center's coordinate of this target, also control described loudspeaker broadcasting and determine signal with target, target can suspect signal, the auditory tone cues information that alerting signal or alarm signal are corresponding, navigator, is connected to show in real time the position of boats and ships with described display device, Wireless Telecom Equipment, be arranged on ship outer casing, connect described treatment facility 6 and described target identification equipment 4, and in the time that described treatment facility 6 sends alarm signal, the target subimage at each target place that described target identification equipment 4 is extracted sends to rescue at sea center, wherein, described global threshold split plot design is that the gray-scale value of the background of described pretreated Surface Picture is considered as constant in whole image, target and background are considered as to have identical contrast, global threshold based on default is extracted in the target subimage at each target place in described pretreated Surface Picture, the noise-removed filtering processing of described image pre-processing device 3 comprises and uses adaptive wiener filter to remove the white noise of the Surface Picture that described image pre-processing device 3 receives and retain edge and the HFS of the Surface Picture that described image pre-processing device 3 receives, wherein, described image pre-processing device 3, described target identification equipment 4, described target's feature-extraction equipment 5, described To Template memory device 7, described treatment facility 6, described loudspeaker, described display device and described navigator are all arranged in the front end panel board of Central Control Room of boats and ships.
Wherein, in described warning system, each infrared distance sensor can comprise multiple infrared distance measurements unit, respectively predetermined separately sensing range is carried out to the boats and ships detection of target around; Described warning system can also be integrated in described treatment facility 6, described loudspeaker, described display device and described navigator on a surface-mounted integrated circuit, as shown in Figure 2, described loudspeaker, described display device and described navigator are connected with described treatment facility 6 respectively, and described navigator is connected with described display device; And alternatively, described display device can be liquid crystal display LCD, according to user's request, can be described liquid crystal display LCD and order and make different display resolutions; In addition, described warning system can also comprise user input device, is also installed in the front end panel board of Central Control Room of boats and ships, and is connected for described predetermined difference value threshold value is set with described treatment facility 6.
In addition, the measuring system that infrared distance sensor is is medium with infrared ray, can be divided into five classes according to function: (1) radiometer, for radiation and spectral measurement; (2) search and tracker, for search with follow the tracks of infrared target, determines that its locus the motion to it follow the tracks of; (3) thermal imaging system, can produce the distributed image of whole Target Infrared Radiation; (4) infrared distance measurement and communication system; (5) commingled system, refers to two or more the combination in above sorts of systems.It can be divided into photon detector and thermal detector by surveying mechanism.Infrared electronic technology obtains a wide range of applications in fields such as modern science and technology, national defence and industrial or agricultural.Its principle is, infrared distance sensor has a pair of infrared signal transmitting and reception diode, the for example LDM301 of infrared distance sensor utilizing launches a branch of infrared light, be irradiated to the process that forms a reflection after object, after reflexing to sensor, receive signal, then utilize ccd image to process the data of the mistiming that receives transmitting and receive.After signal processor processes, calculate the distance of object.This not only can be used in natural surface, also can be used for adding reflecting plate.Far measuring distance, very high frequency response, is suitable in rugged environment.
In addition, S filter (Wiener filter) is a kind of linear filter taking least square as optiaml ciriterion being proposed by mathematician Wei Na (Rorbert Wiener).Under certain constraint condition, its output and the difference of a given function (being commonly referred to desired output) square reach minimum, finally can be changed into the Solve problems of a Tobe Ritz equation by mathematical operation.S filter be otherwise known as least square filter or least square filter are one of basic filtering method at present.Wiener filtering is to utilize the correlation properties of stationary stochastic process and the method that spectral characteristic is carried out filtering to mixed noisy signal.
Adopt boats and ships peripheral object detection alarm system of the present invention, low for the identification of spot ship warning system driftlessness and electronization, the easily technical matters of distance erroneous judgement, adopt the mode of image recognition in real time the multiple targets of nearly ship to be carried out to feature extraction and target identification, target information is carried out to synthesis display, identify by image distance and the infrared means apart from identification combination simultaneously, and upload target subimage to rescue at sea center in emergency condition, thereby improve the precision that object range detection is reported to the police, for operating personnel on ship provide important references, the course line so that they make rational planning for, avoid the generation of Collision Accidents of Ships, ensure the economic interests of shipping transport side and ship's staff's personal safety.
Be understandable that, although the present invention discloses as above with preferred embodiment, but above-described embodiment is not in order to limit the present invention.For any those of ordinary skill in the art, do not departing from technical solution of the present invention scope situation, all can utilize the technology contents of above-mentioned announcement to make many possible variations and modification to technical solution of the present invention, or be revised as the equivalent embodiment of equivalent variations.Therefore, every content that does not depart from technical solution of the present invention,, all still belongs in the scope of technical solution of the present invention protection any simple modification made for any of the above embodiments, equivalent variations and modification according to technical spirit of the present invention.
Claims (6)
1. a boats and ships peripheral object detection alarm system, it is characterized in that, described warning system comprises camera assembly, sensor module, image pre-processing device, target identification equipment, target's feature-extraction equipment, To Template memory device and treatment facility, camera assembly, image pre-processing device, target identification equipment and target's feature-extraction equipment are connected to obtain the feature of boats and ships peripheral object successively, treatment facility is connected respectively with the feature based on described boats and ships peripheral object and the pre-stored each type clarification of objective of To Template memory device value identification target type with target's feature-extraction equipment and To Template memory device, the treatment facility target range realize target distance detection alarm that also based target feature extraction equipment and sensor module detect respectively.
2. boats and ships peripheral object detection alarm system as claimed in claim 1, is characterized in that:
Described camera assembly is made up of four cameras, and described four cameras are arranged on respectively head, afterbody, left side and the right side of boats and ships, for catching respectively the Surface Picture on boats and ships front, rear, left side and right side;
Described sensor module is made up of four infrared distance sensors, described four infrared distance sensors are arranged on respectively head, afterbody, left side and the right side of boats and ships, for detecting respectively the distance of the target range hull occurring in boats and ships front, rear, left side and right side and as first object distance;
Described image pre-processing device connects described camera assembly to receive the Surface Picture on boats and ships front, rear, left side and right side, and the Surface Picture receiving is carried out to noise-removed filtering processing, to obtain pretreated Surface Picture;
Described target identification equipment connects described image pre-processing device to receive described pretreated Surface Picture, and is extracted in the target subimage at each target place in described pretreated Surface Picture based on global threshold split plot design;
Described in described target's feature-extraction equipment connection, target marker is to obtain the target subimage at described each target place, target subimage based on described each target place extracts each clarification of objective, described each clarification of objective comprises a feature, line feature, face feature, target area, target girth and target's center's coordinate, described target girth is to be detected and be acquired by object edge, and the target's center's coordinate that also calculates each target is to the distance of hull using as the second target range;
Described To Template memory device, stores To Template database, described To Template database is taking target type as index, the eigenwert of pre-stored each target type;
Described treatment facility, connecting sensor combination respectively, target's feature-extraction equipment, To Template memory device, the loudspeaker of described warning system and the display device of described warning system, in the time that the difference of the first object distance receiving and the second target range is less than or equal to predetermined difference value threshold value, target approach deterministic model, send target and determine signal, in the time that the difference of the first object distance receiving and the second target range is greater than predetermined difference value threshold value, target approach str mode, sending target can suspect signal, in target deterministic model, get in first object distance and the second target range minimum value as definite target range, when definite target range is between 10 meters and 1 meter time, send alerting signal, when definite target range is in 1 meter time, send alarm signal, and control described display device demonstration and determine signal with target, target can suspect signal, the information that alerting signal or alarm signal are corresponding, treatment facility mates described each clarification of objective one by one with the eigenwert of each target type in To Template database simultaneously, the simulation drawing of the target type that the match is successful is presented on the modeling interface of described display device with target's center's coordinate of this target, also control described loudspeaker broadcasting and determine signal with target, target can suspect signal, the auditory tone cues information that alerting signal or alarm signal are corresponding,
Navigator, is connected to show in real time the position of boats and ships with described display device;
Wireless Telecom Equipment, be arranged on ship outer casing, connect described treatment facility and described target identification equipment, and in the time that described treatment facility sends alarm signal, the target subimage at each target place that described target identification equipment is extracted sends to rescue at sea center;
Wherein, described global threshold split plot design is that the gray-scale value of the background of described pretreated Surface Picture is considered as constant in whole image, target and background are considered as to have identical contrast, global threshold based on default is extracted in the target subimage at each target place in described pretreated Surface Picture, the noise-removed filtering processing of described image pre-processing device comprises and uses adaptive wiener filter to remove the white noise of the Surface Picture that described image pre-processing device receives and retain edge and the HFS of the Surface Picture that described image pre-processing device receives,
Wherein, described image pre-processing device, described target identification equipment, described target's feature-extraction equipment, described To Template memory device, described treatment facility, described loudspeaker, described display device and described navigator are all arranged in the front end panel board of Central Control Room of boats and ships.
3. boats and ships peripheral object detection alarm system as claimed in claim 2, is characterized in that:
Each infrared distance sensor comprises multiple infrared distance measurements unit, respectively predetermined separately sensing range is carried out to the boats and ships detection of target around.
4. boats and ships peripheral object detection alarm system as claimed in claim 2, is characterized in that:
Described warning system is integrated in described treatment facility, described loudspeaker, described display device and described navigator on a surface-mounted integrated circuit.
5. boats and ships peripheral object detection alarm system as claimed in claim 2, is characterized in that:
Described display device is liquid crystal display LCD.
6. boats and ships peripheral object detection alarm system as claimed in claim 2, is characterized in that, described warning system also comprises
User input device, is arranged in the front end panel board of Central Control Room of boats and ships, and is connected with described treatment facility for described predetermined difference value threshold value is set.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510117575.6A CN104700660B (en) | 2014-07-15 | 2014-07-15 | Boats and ships peripheral object detection warning system |
| CN201410335703.XA CN104103198B (en) | 2014-07-15 | 2014-07-15 | Boats and ships peripheral object detection alarm system |
| CN201410828277.3A CN104408974B (en) | 2014-07-15 | 2014-07-15 | Boats and ships peripheral object detection alarm system |
| CN201510112136.6A CN104637347B (en) | 2014-07-15 | 2014-07-15 | Boats and ships peripheral object detection warning system |
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| CN201410335703.XA CN104103198B (en) | 2014-07-15 | 2014-07-15 | Boats and ships peripheral object detection alarm system |
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| CN201510117575.6A Division CN104700660B (en) | 2014-07-15 | 2014-07-15 | Boats and ships peripheral object detection warning system |
| CN201410828277.3A Division CN104408974B (en) | 2014-07-15 | 2014-07-15 | Boats and ships peripheral object detection alarm system |
| CN201510112136.6A Division CN104637347B (en) | 2014-07-15 | 2014-07-15 | Boats and ships peripheral object detection warning system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104408974A (en) * | 2014-07-15 | 2015-03-11 | 王晓东 | Ship peripheral target detection alarm system |
| CN105070103A (en) * | 2015-08-04 | 2015-11-18 | 李小春 | Data communication based ship underwater submerged rock avoiding system |
| CN106875634A (en) * | 2017-04-28 | 2017-06-20 | 无锡北斗星通信息科技有限公司 | Warning system |
| CN106971507A (en) * | 2017-04-28 | 2017-07-21 | 无锡北斗星通信息科技有限公司 | A kind of intelligent alarm method |
| CN108459607A (en) * | 2018-04-02 | 2018-08-28 | 深圳众厉电力科技有限公司 | A kind of safe ship automatic steering system |
| CN112187942A (en) * | 2020-09-30 | 2021-01-05 | 武汉理工大学 | Edge computing system serving intelligent engine room |
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| CN104637347B (en) * | 2014-07-15 | 2016-09-28 | 江苏韩通赢吉重工有限公司 | Boats and ships peripheral object detection warning system |
| CN104700660B (en) * | 2014-07-15 | 2016-09-07 | 南通亿硕新材料科技有限公司 | Boats and ships peripheral object detection warning system |
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| CN105070103A (en) * | 2015-08-04 | 2015-11-18 | 李小春 | Data communication based ship underwater submerged rock avoiding system |
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| CN112187942A (en) * | 2020-09-30 | 2021-01-05 | 武汉理工大学 | Edge computing system serving intelligent engine room |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104408974A (en) | 2015-03-11 |
| CN104103198B (en) | 2015-09-30 |
| CN104408974B (en) | 2015-11-25 |
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