CN104700660A - Peripheral target detection alarm system for ship - Google Patents
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G3/00—Traffic control systems for marine craft
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Abstract
The invention relates to a peripheral target detection alarm system for a ship. The peripheral target detection alarm system for the ship comprises a camera shooting component, a sensor component, an image pre-processing apparatus, a target identification apparatus, a target characteristic extracting apparatus, a target template storage apparatus, and a processing apparatus. The camera shooting component, the image pre-processing apparatus, the target identification apparatus and the target characteristic extracting apparatus are sequentially connected to acquire characteristics of a target on the periphery of the ship. The processing apparatus is connected respectively with the target characteristic extracting apparatus and the target template storage apparatus to identify the type of the target. The processing apparatus further achieves a target detection alarm based on target distances respectively detected by the target characteristic extracting apparatus and the sensor component. By the peripheral target detection alarm system for the ship, the existence of the target on the periphery of the ship can be detected in time conveniently; and the type of the target can further be identified; meanwhile, corresponding alarm information can be provided based on the relative positions of the target and the ship.
Description
The divisional application of the patent of " boats and ships peripheral object detection alarm system " that the present invention is application number is 201410335703X, the applying date, to be July 15, denomination of invention in 2014 be.
Technical field
The present invention relates to boats and ships early warning field, particularly relate 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, natively hard up navigation channel, harbour and inshore water are made to become more crowded, traffic hazard constantly occurs, simultaneously the increasing of marine refuse, the frequent impact of some nearly ship targets and hull is also that the normal traveling of boats and ships brings potential safety hazard.When boats and ships because when colliding with other ships or nearly ship target and cause hull impaired, 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 crude oil leakage can be caused, make the ecologic 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 today of computer technology and naval technology fast development, people also develop target detection warning system near some boats and ships, be arranged on boats and ships, the risk object occurred near Ship body is detected, where necessary ship's staff is reported to the police, successfully built around hull and protected early warning system together.
But target detection warning system exists some drawbacks near boats and ships of the prior art: (1) can only be detected nearly ship target, and cannot identify target, inconvenient ship's staff formulates and travels strategy; (2) electronic degree is low, cannot the multiple nearly ship target of Real time dynamic display form and to the relative distance of hull; (3) because maritime environment is complicated, there is the possibility of false alarm in the warning system of prior art.
Therefore, need a kind ofly can carry out effectively identifying to nearly ship target and the technical scheme of warning system automaticity and accuracy can be improved, feature identification is carried out to multiple nearly ship target simultaneously, judge the type of these targets, important references is provided to participant, travel strategy to change in time or formulate counte-rplan, avoiding hull impaired, ensured the safety of ship's staff and goods.
Summary of the invention
In order to solve the problem, the invention provides a kind of new boats and ships peripheral object detection alarm system, by Real-time Collection target image, target image pre-service, the segmentation of target subimage and target signature identification, the nearly ship clarification of objective of timely acquisition and type, and the information relevant to plurality of target carries out synthesis display together, improve the intelligent level of warning system, take 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, provide a kind of boats and ships peripheral object detection alarm system, described warning system comprises camera assembly, sensor module, image-preprocessing device, target identification equipment, target's feature-extraction equipment, To Template memory device and treatment facility, camera assembly, image-preprocessing device, target identification equipment and target's feature-extraction equipment are connected the feature obtaining boats and ships peripheral object successively, treatment facility and target's feature-extraction equipment and To Template memory device are connected to prestore each type clarification of objective value identification target type based on the characteristic sum To Template memory device of described boats and ships peripheral object respectively, treatment facility is the target range realize target distance detection alarm that detects respectively of based target feature extracting device and sensor module also.
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 the head of boats and ships, afterbody, left side and right side respectively, for catching the Surface Picture on boats and ships front, rear, left side and right side respectively, described sensor module is made up of four infrared distance sensors, described four infrared distance sensors are arranged on the head of boats and ships, afterbody, left side and right side respectively, for detect respectively the target range hull occurred in boats and ships front, rear, left side and right side distance and as first object distance, described image-preprocessing device connects described camera assembly to receive the Surface Picture on boats and ships front, rear, left side and right side, and carries out noise-removed filtering process to the Surface Picture received, to obtain pretreated Surface Picture, described target identification equipment connects described image-preprocessing 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, target marker described in described target's feature-extraction equipment connection is to obtain the target subimage at each target place described, target subimage based on each target place described extracts each clarification of objective, each clarification of objective described comprises point patterns, line features, region feature, target area, target perimeter and target's center's coordinate, described target perimeter is detected by object edge and is acquired, and the target's center's coordinate also calculating each target is to the distance of hull using as the second target range, described To Template memory device stores To Template database, and described To Template database is index with target type, prestores the eigenwert of 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, when the difference of first object Distance geometry second target range received is less than or equal to predetermined difference value threshold value, target approach deterministic model, send target determination signal, when the difference of first object Distance geometry second target range received is greater than predetermined difference value threshold value, target approach str mode, send target questionable signal, in target deterministic model, to get in first object Distance geometry second target range minimum value as determining 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 the display of described display device and target determination signal, target questionable signal, alerting signal or information corresponding to alarm signal, each clarification of objective described is mated with the eigenwert of each target type in To Template database by treatment facility one by one 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 to play and target determination signal, target questionable signal, alerting signal or auditory tone cues information corresponding to alarm signal, navigator, is connected with described display device the position showing boats and ships in real time, Wireless Telecom Equipment, be arranged on ship outer casing, connect described treatment facility and described target identification equipment, and when described treatment facility sends alarm signal, the target subimage at each target place of being extracted by described target identification equipment sends to rescue at sea center, wherein, described global threshold split plot design is considered as constant in whole image by the gray-scale value of the background of described pretreated Surface Picture, object and background is considered as there is identical contrast, the target subimage at each target place in described pretreated Surface Picture is extracted in based on the global threshold preset, the noise-removed filtering process of described image-preprocessing device comprises and uses adaptive wiener filter remove the white noise of the Surface Picture that described image-preprocessing device receives and retain edge and the HFS of the Surface Picture that described image-preprocessing device receives, wherein, described image-preprocessing 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 the 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 measurement unit, respectively sensing range predetermined is separately carried out to the detection of boats and ships surrounding objects.
More specifically, in described boats and ships peripheral object detection alarm system, described treatment facility, described loudspeaker, described display device and described navigator are integrated on one piece of surface-mounted integrated circuit by described warning system.
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 the Central Control Room of boats and ships, and be connected with described treatment facility for arranging 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 block diagram of the boats and ships peripheral object detection alarm system illustrated according to an embodiment of the present invention.
Fig. 2 is the block diagram of one piece of surface-mounted integrated circuit in the boats and ships peripheral object detection alarm system illustrated 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 described in detail.
Boats and ships are vehicles of sea-freight.With land transportation, air transport Method compare, sea-freight has certain advantage.First, avoid the generation of extra cost, overland transport usually can produce overseas call contact expense, vectigalia, enter parking lot expense and unpredictalbe extra cost such as all trailers occurred because looking into goods spend the night, overtime expense, adopt sea-freight transport, unnecessary expenditures like this can be eliminated to the greatest extent; Secondly, exempt the puzzlement repeating to declare at customs, overland transport is declared at customs by cabinet declaration procedure, and marine site declaration is using every ticket and every unit of cargo as the foundation of declaration, so can exempt and tie because of multiple declaration the extra cost born, during especially disposable bulk production amount turnover, the advantage more obviously nothing left of sea-freight transport; Again, the worry of secondary examination is settled, because overland transport will cross over different customs territories, so goods often meets with different examination of closing customs of district, consuming time, a tax on one's mind, and often cause trailer to the delay of factory's time, and cause personnel, facility expend time in wait unloading on, and sea-freight transport is in a local clearance, 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 the nibs that product goods enters in factory; Finally, sea-freight can enjoy the free storehouse phase in field, be conducive to declaring at customs and the turnover of contract, because usual harbour can provide goods to free loading time (having the number of days of difference depending on harbour regulation) of latter about 5 days, therefore be conducive to the turnover that factory declares at customs action and contract.Therefore, although land transportation and air transport have incomparable advantage in travelling speed, because above all points, transport 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 usual cost is high, and the personnel of sea-freight and quantity of goods are also quite a lot of, and personnel's injury that navigation accident causes and economic loss 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 occurred, and ship collision comprises the collision of collision between boats and ships and boats and ships and nearly ship object.
Boats and ships peripheral object detection alarm system of the present invention, can automatically detect the image information of surrounding objects for the boats and ships being provided with warning system and carry out target signature identification, synthesis display is carried out to recognition result and target signature information, improve the intelligence degree of warning system, for navigating officer provides the important referential data of navigation, meanwhile, adopt 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 block diagram of the boats and ships peripheral object detection alarm system illustrated according to an embodiment of the present invention, described warning system comprises camera assembly 1, sensor module 2, image-preprocessing 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-preprocessing device 3, target identification equipment 4 and target's feature-extraction equipment 5 are connected the feature obtaining boats and ships peripheral object successively, treatment facility 6 and target's feature-extraction equipment 5 and To Template memory device 7 are connected to prestore each type clarification of objective value identification target type based on the characteristic sum To Template memory device 7 of described boats and ships peripheral object respectively, treatment facility 6 goes back the target range realize target distance detection alarm that based target feature extracting device 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 the head of boats and ships, afterbody, left side and right side respectively, for catching the Surface Picture on boats and ships front, rear, left side and right side respectively, described sensor module 2 is made up of four infrared distance sensors, described four infrared distance sensors are arranged on the head of boats and ships, afterbody, left side and right side respectively, for detect respectively the target range hull occurred in boats and ships front, rear, left side and right side distance and as first object distance, described image-preprocessing device 3 connects described camera assembly 1 to receive the Surface Picture on boats and ships front, rear, left side and right side, and carries out noise-removed filtering process to the Surface Picture received, to obtain pretreated Surface Picture, described target identification equipment 4 connects described image-preprocessing 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 each target place described, target subimage based on each target place described extracts each clarification of objective, each clarification of objective described comprises point patterns, line features, region feature, target area, target perimeter and target's center's coordinate, described target perimeter is detected by object edge and is acquired, and the target's center's coordinate also calculating each target is to the distance of hull using as the second target range, described To Template memory device 7 stores To Template database, and described To Template database is index with target type, prestores the eigenwert of 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, when the difference of first object Distance geometry second target range received is less than or equal to predetermined difference value threshold value, target approach deterministic model, send target determination signal, when the difference of first object Distance geometry second target range received is greater than predetermined difference value threshold value, target approach str mode, send target questionable signal, in target deterministic model, to get in first object Distance geometry second target range minimum value as determining 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 the display of described display device and target determination signal, target questionable signal, alerting signal or information corresponding to alarm signal, each clarification of objective described is mated with the eigenwert of each target type in To Template database by treatment facility 6 one by one 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 to play and target determination signal, target questionable signal, alerting signal or auditory tone cues information corresponding to alarm signal, navigator, is connected with described display device the position showing boats and ships in real time, Wireless Telecom Equipment, be arranged on ship outer casing, connect described treatment facility 6 and described target identification equipment 4, and when described treatment facility 6 sends alarm signal, the target subimage at each target place of being extracted by described target identification equipment 4 sends to rescue at sea center, wherein, described global threshold split plot design is considered as constant in whole image by the gray-scale value of the background of described pretreated Surface Picture, object and background is considered as there is identical contrast, the target subimage at each target place in described pretreated Surface Picture is extracted in based on the global threshold preset, the noise-removed filtering process of described image-preprocessing device 3 comprises and uses adaptive wiener filter remove the white noise of the Surface Picture that described image-preprocessing device 3 receives and retain edge and the HFS of the Surface Picture that described image-preprocessing device 3 receives, wherein, described image-preprocessing 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 the Central Control Room of boats and ships.
Wherein, in described warning system, each infrared distance sensor can comprise multiple infrared distance measurement unit, respectively sensing range predetermined is separately carried out to the detection of boats and ships surrounding objects; Described treatment facility 6, described loudspeaker, described display device and described navigator can also be integrated on one piece of surface-mounted integrated circuit by described warning system, 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 the Central Control Room of boats and ships, and is connected for arranging described predetermined difference value threshold value with described treatment facility 6.
In addition, infrared distance sensor is the measuring system of medium with infrared ray, can be divided into five classes: (1) radiometer, for radiation and spectral measurement according to function; (2) search and tracker, for search and tracking infrared target, determines its locus and follows the tracks of its motion; (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 the combination of two or more in above sorts of systems.It can be divided into photon detector and thermal detector by detection 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 infrared signal launching and receiving diode, the infrared distance sensor such as LDM301 utilized launches a branch of infrared light, the process of a reflection is formed after being irradiated to object, reflex to Received signal strength after sensor, then utilize ccd image process to receive the data of the mistiming of launching and receiving.The distance of object is calculated after signal processor processes.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) be by mathematician Wei Na (Rorbert Wiener) propose a kind of take least square as the linear filter of optiaml ciriterion.Under certain constraint condition, its export with the difference of a given function (being commonly referred to desired output) square reach minimum, finally be can be changed into the Solve problems of a Tobe Ritz equation by mathematical operation.S filter is otherwise known as least square filter or least square filter, is one of basic filtering method at present.Wiener filtering utilizes the correlation properties of stationary stochastic process and spectral characteristic to carry out the method for filtering to mixed noisy signal.
Adopt boats and ships peripheral object detection alarm system of the present invention, for the driftlessness identification of spot ship warning system and electronization low, the technical matters of easy distance erroneous judgement, the mode of image recognition is adopted to carry out feature extraction and target identification to the multiple target of nearly ship in real time, target information is carried out synthesis display, identify by image distance identification and infrared distance the means combined simultaneously, and upload target subimage to rescue at sea center in emergency condition, thus improve the precision of object range detection warning, for on ship, operating personnel 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 the personal safety of ship's staff.
Be understandable that, although the present invention with preferred embodiment disclose as above, but above-described embodiment and be not used to limit the present invention.For any those of ordinary skill in the art, do not departing under technical solution of the present invention ambit, the technology contents of above-mentioned announcement all can be utilized to make many possible variations and modification to technical solution of the present invention, or be revised as the Equivalent embodiments of equivalent variations.Therefore, every content not departing from technical solution of the present invention, according to technical spirit of the present invention to any simple modification made for any of the above embodiments, equivalent variations and modification, all still belongs in the scope of technical solution of the present invention protection.
Claims (3)
1. a boats and ships peripheral object detection alarm system, it is characterized in that, described warning system comprises camera assembly, sensor module, image-preprocessing device, target identification equipment, target's feature-extraction equipment, To Template memory device and treatment facility, camera assembly, image-preprocessing device, target identification equipment and target's feature-extraction equipment are connected the feature obtaining boats and ships peripheral object successively, treatment facility and target's feature-extraction equipment and To Template memory device are connected to prestore each type clarification of objective value identification target type based on the characteristic sum To Template memory device of described boats and ships peripheral object respectively, treatment facility is the target range realize target distance detection alarm that detects respectively of based target feature extracting device and sensor module also.
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 the head of boats and ships, afterbody, left side and right side respectively, for catching the Surface Picture on boats and ships front, rear, left side and right side respectively;
Described sensor module is made up of four infrared distance sensors, described four infrared distance sensors are arranged on the head of boats and ships, afterbody, left side and right side respectively, for detect respectively the target range hull occurred in boats and ships front, rear, left side and right side distance and as first object distance;
Described image-preprocessing device connects described camera assembly to receive the Surface Picture on boats and ships front, rear, left side and right side, and carries out noise-removed filtering process to the Surface Picture received, to obtain pretreated Surface Picture;
Described target identification equipment connects described image-preprocessing 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;
Target marker described in described target's feature-extraction equipment connection is to obtain the target subimage at each target place described, target subimage based on each target place described extracts each clarification of objective, each clarification of objective described comprises point patterns, line features, region feature, target area, target perimeter and target's center's coordinate, described target perimeter is detected by object edge and is acquired, and the target's center's coordinate also calculating each target is to the distance of hull using as the second target range;
Described To Template memory device stores To Template database, and described To Template database is index with target type, prestores the eigenwert of 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, when the difference of first object Distance geometry second target range received is less than or equal to predetermined difference value threshold value, target approach deterministic model, send target determination signal, when the difference of first object Distance geometry second target range received is greater than predetermined difference value threshold value, target approach str mode, send target questionable signal, in target deterministic model, to get in first object Distance geometry second target range minimum value as determining 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 the display of described display device and target determination signal, target questionable signal, alerting signal or information corresponding to alarm signal, each clarification of objective described is mated with the eigenwert of each target type in To Template database by treatment facility one by one 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 to play and target determination signal, target questionable signal, alerting signal or auditory tone cues information corresponding to alarm signal,
Navigator, is connected with described display device the position showing boats and ships in real time;
Wireless Telecom Equipment, be arranged on ship outer casing, connect described treatment facility and described target identification equipment, and when described treatment facility sends alarm signal, the target subimage at each target place of being extracted by described target identification equipment sends to rescue at sea center;
Wherein, described global threshold split plot design is considered as constant in whole image by the gray-scale value of the background of described pretreated Surface Picture, object and background is considered as there is identical contrast, the target subimage at each target place in described pretreated Surface Picture is extracted in based on the global threshold preset, the noise-removed filtering process of described image-preprocessing device comprises and uses adaptive wiener filter remove the white noise of the Surface Picture that described image-preprocessing device receives and retain edge and the HFS of the Surface Picture that described image-preprocessing device receives,
Wherein, described image-preprocessing 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 the Central Control Room of boats and ships.
3. boats and ships peripheral object detection alarm system as claimed in claim 2, it is characterized in that, described warning system also comprises
User input device, is arranged in the front end panel board of the Central Control Room of boats and ships, and is connected with described treatment facility for arranging described predetermined difference value threshold value.
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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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| 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 |
| CN108573482A (en) * | 2018-03-22 | 2018-09-25 | 苏海英 | Warn rifle trigger-type computer operation platform |
| CN108961336A (en) * | 2018-03-22 | 2018-12-07 | 苏海英 | Warn rifle trigger-type computer operation method |
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