CN108682186B - Early warning system and method for ship bridge collision accident - Google Patents
Early warning system and method for ship bridge collision accident Download PDFInfo
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- CN108682186B CN108682186B CN201810380053.9A CN201810380053A CN108682186B CN 108682186 B CN108682186 B CN 108682186B CN 201810380053 A CN201810380053 A CN 201810380053A CN 108682186 B CN108682186 B CN 108682186B
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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
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
- G08B21/182—Level alarms, e.g. alarms responsive to variables exceeding a threshold
Abstract
The invention discloses a system and a method for early warning of a ship-bridge collision accident, wherein the system comprises a bridge height calibration unit, a system calibration unit, a high-speed imaging unit, a high-speed storage unit, an image and data processing unit, a real-time communication unit and an alarm display unit, when a ship to be tested reaches an early warning area, the real-time imaging image data is collected through the high-speed imaging unit, the image and data processing unit analyzes the real-time image data to obtain the position coordinate of the highest point of the ship to be tested on an imaging surface coordinate, the spatial position coordinate of the highest point of the ship to be tested is calculated through a photogrammetry principle, and the possibility of the ship-bridge collision accident is judged by comparing the highest point of the ship to the absolute height. The early warning system and the early warning method for the ship and bridge collision accident adopt a non-contact type measuring mode to measure and early warn the possibility of the ship and bridge collision, have no influence on the free motion of a ship, and have the advantages of simple and easy operation in the measuring process, high measuring precision, good real-time performance and good reliability.
Description
Technical Field
The invention relates to the technical field of accident early warning, in particular to a ship bridge accident early warning system and method.
Background
Various bridges spanning navigable rivers greatly facilitate land traffic and promote local economic development. However, the bridge is used as a fixed building for crossing a channel, and objectively forms an obstacle to ship navigation, so that difficulty is increased to ship navigation, and a ship-bridge collision accident can be caused by carelessness. Meanwhile, the influence of the bridge collision accident and the risk caused by the collision accident are more prominent due to the large-scale and high-speed trend of the inland river ship and the ever-increasing situation of dangerous goods transportation. In order to prevent and reduce the bridge collision accident of a ship, not only ensure that the bridge is not impacted, but also protect the navigation safety of the ship, the collision accident needs to be early warned, passive protection is changed into active warning, a technical method for early warning and measurement of the navigation ship is provided, and the accident rate is reduced from the source. The ship speed, course, position and scale measurement technology based on the photogrammetry principle and the image processing technology can provide real-time information for early warning of ship and bridge collision accidents, thereby providing technical support for ship navigation, bridge management and the like.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to provide a system and a method for early warning a ship-bridge collision accident.
A ship and bridge collision accident early warning system comprises a bridge height calibration unit, a system calibration unit, a high-speed imaging unit, a high-speed storage unit, an image and data processing unit, a real-time communication unit and an alarm display unit;
the bridge height calibration unit is used for measuring the absolute height of the bridge and inputting the measurement result to the alarm display unit;
the system calibration unit comprises three four-quadrant targets, an image and data processing unit and a calibration unit, wherein the three four-quadrant targets are used for measuring the coordinates of the mass center space positions of the three targets, and the measurement result is input to the image and data processing unit;
the high-speed imaging unit is used for imaging the ship to be tested and the three targets in real time, and the high-speed storage unit is used for storing the real-time imaging data acquired by the high-speed imaging unit and inputting the real-time imaging data to the image and data processing unit;
the image and data processing unit is used for analyzing the real-time imaging data, acquiring the centroid coordinates of the three targets in the image plane and the coordinates of the highest point of the ship to be tested in the image plane in real time, and further calculating the spatial position coordinates of the highest point of the ship to be tested;
the real-time communication unit is used for receiving and sending the spatial position coordinates of the highest point of the ship to be tested, which are analyzed by the image and data processing unit in real time;
the alarm display unit is used for receiving and displaying the spatial position coordinate of the highest point of the ship to be tested sent by the real-time communication unit in real time, displaying the absolute height of the bridge, further comparing the highest point of the ship to be tested with the absolute height of the bridge, and giving an alarm if the absolute height of the highest point of the ship to be tested is higher than the absolute height of the bridge.
Preferably, the high-speed imaging unit comprises a fixed-focus lens, an adapter, a high-speed camera and a data distributor.
Preferably, the high-speed storage unit comprises a high-speed storage box and a built-in solid state disk.
Preferably, the image and data processing unit comprises a PCI-high speed image processing card.
Preferably, the data processing procedure of the image and data processing unit is as follows:
performing real-time target tracking extraction on the real-time imaging data, and acquiring the centroid coordinates (x) of the three targets in an image plane in real timei,yi) I is 1,2,3, and the coordinate (x) of the highest point of the ship to be measured in the image planeM,yM) Establishing a formula:
wherein the coordinates of the mass center space positions of the three targets are (A)i,Bi,Ci)，i＝1,2,3；kiIs a parameter, i ═ 0,1,2 … 8;
nine equations are established, nine parameters are calculated:
determining the spatial position coordinates (A) of the highest point of the ship under testM,BM,CM) Comprises the following steps:
a ship bridge collision accident early warning method is characterized by comprising the following steps:
the method comprises the following steps: measuring an absolute height of the bridge;
step two: measuring the coordinates of the mass center space positions of the three targets, and processing images and data;
step three: when a ship to be tested drives into an early warning area of a bridge collision accident, real-time imaging is carried out on the ship to be tested and the three targets, and collected real-time imaging data are stored;
step four: analyzing the real-time imaging data, acquiring the centroid coordinates of the three targets in an image plane and the coordinates of the highest point of the ship to be measured in the image plane in real time, and further calculating the spatial position coordinates of the highest point of the ship to be measured;
step five: and displaying the spatial position coordinate of the highest point of the ship to be measured and the absolute height of the bridge, comparing the highest point of the ship to be measured with the absolute height of the bridge, and giving an alarm if the absolute height of the highest point of the ship to be measured is higher than the absolute height of the bridge.
Preferably, the fourth step is specifically:
performing real-time target tracking extraction on the real-time imaging data, and acquiring the centroid coordinates (x) of the three targets in an image plane in real timei,yi) I is 1,2,3, and the coordinate (x) of the highest point of the ship to be measured in the image planeM,yM) Establishing a formula:
wherein the coordinates of the mass center space positions of the three targets are (A)i,Bi,Ci)，i＝1,2,3；kiIs a parameter, i ═ 0,1,2 … 8;
nine equations are established, nine parameters are calculated:
determining the spatial position coordinates (A) of the highest point of the ship under testM,BM,CM) Comprises the following steps:
preferably, in the third step, the early warning area is a water surface area where the ship to be tested and the three targets can be imaged simultaneously.
The early warning system and the early warning method for the ship and bridge collision accident adopt a non-contact type measuring mode to measure and early warn the possibility of the ship and bridge collision, have no influence on the free motion of a ship, and have the advantages of simple and easy operation in the measuring process, high measuring precision, good real-time performance and good reliability.
Drawings
Fig. 1 is a schematic composition diagram of a warning system for a bridge collision accident according to an embodiment of the present invention.
Fig. 2 is a flowchart illustrating steps of a method for warning a collision accident of a bridge according to an embodiment of the present invention.
Description of reference numerals: 1-bridge height calibration unit; 2-a system calibration unit; 21-a target; 3-a high-speed imaging unit; 4-a high-speed storage unit; 5-an image and data processing unit; 6-a real-time communication unit; 7-an alarm display unit; an 8-bridge; 9-a ship to be tested; 10-early warning area.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention.
As shown in fig. 1, the early warning system for a bridge collision accident according to an embodiment of the present invention includes a bridge high-rating unit 1, a system rating unit 2, a high-speed imaging unit 3, a high-speed storage unit 4, an image and data processing unit 5, a real-time communication unit 6, and an alarm display unit 7;
the bridge height calibration unit 1 is used for measuring the absolute height of a bridge 8, and the measurement result is input to the alarm display unit 7;
the system calibration unit 2 comprises three target targets 21 with four quadrants, is used for measuring the coordinates of the mass center space positions of the three target targets 21, and inputs the measurement results to the image and data processing unit 5;
the high-speed imaging unit 3 is used for imaging the ship 9 to be tested and the three targets 21 in real time, and the high-speed storage unit 4 is used for storing the real-time imaging data acquired by the high-speed imaging unit 3 and inputting the real-time imaging data to the image and data processing unit 5;
the image and data processing unit 5 is used for analyzing the real-time imaging data, acquiring the centroid coordinates of the three targets 21 on the image plane and the coordinates of the highest point of the ship 9 to be tested on the image plane in real time, and further calculating the spatial position coordinates of the highest point of the ship 9 to be tested;
the real-time communication unit 6 is used for receiving and sending the images in real time and the spatial position coordinates of the highest point of the ship 9 to be tested, which are analyzed by the data processing unit 5;
and the alarm display unit 7 is used for receiving and displaying the spatial position coordinate of the highest point of the ship 9 to be tested, which is sent by the real-time communication unit 6, in real time, displaying the absolute height of the bridge 8, further comparing the highest point of the ship 9 to be tested with the absolute height of the bridge 8, and giving an alarm if the absolute height of the highest point of the ship 9 to be tested is higher than the absolute height of the bridge 8.
In some embodiments, the high-speed imaging unit 3 includes a fixed-focus lens, an adapter, a high-speed camera, and a data distributor. Real-time communication unit 6
In some embodiments, the high speed storage unit 4 includes a high speed storage cartridge and a built-in solid state disk. The alarm display unit 7 can also display the motion output curve and the numerical value of the ship 9 to be tested, can be provided with a warning buzzer, and can simultaneously display danger icons and give out warning sounds when warning is needed.
In some embodiments, the image and data processing unit 5 comprises a PCI-express image processing card, and the data processing process is as follows:
performing real-time target tracking extraction on the real-time imaging data, and acquiring the coordinates (x) of the mass centers of the three targets 21 in the image plane in real timei,yi) I is 1,2,3, and the coordinate (x) of the highest point of the ship under test 9 in the image planeM,yM) Establishing a formula:
wherein, the coordinates of the mass center space positions of the three targets 21 are (A)i,Bi,Ci)，i＝1,2,3；kiIs a parameter, i ═ 0,1,2 … 8;
nine equations are established, nine parameters are calculated:
obtaining the spatial position coordinate (A) of the highest point of the ship 9M,BM,CM) Comprises the following steps:
the invention also discloses a method for early warning of a ship and bridge collision accident, which is a flow chart of steps of the method for early warning of the ship and bridge collision accident of one embodiment of the invention as shown in fig. 2, and comprises the following steps:
the method comprises the following steps: measuring the absolute height of the bridge 8;
step two: measuring the coordinates of the mass center space positions of the three targets 21, and processing images and data;
step three: when a ship 9 to be tested drives into an early warning area 10 of a bridge collision accident, real-time imaging is carried out on the ship 9 to be tested and three targets 21, and real-time imaging data 5 acquired at a high speed are stored;
step four: analyzing the real-time imaging data, acquiring the centroid coordinates of the three targets 21 on the image plane and the coordinates of the highest point of the ship to be tested 9 on the image plane in real time, and further calculating the spatial position coordinates of the highest point of the ship to be tested 9;
step five: and displaying the spatial position coordinate of the highest point of the ship 9 to be tested and the absolute height of the bridge 8, comparing the highest point of the ship 9 to be tested with the absolute height of the bridge 9, and giving an alarm if the absolute height of the highest point of the ship 9 to be tested is higher than the absolute height of the bridge 9.
In some embodiments, step four is specifically:
performing real-time target tracking extraction on the real-time imaging data, and acquiring the coordinates (x) of the mass centers of the three targets 21 in the image plane in real timei,yi) I is 1,2,3, and the coordinate (x) of the highest point of the ship under test 9 in the image planeM,yM) Establishing a formula:
wherein, the coordinates of the mass center space positions of the three targets 21 are (A)i,Bi,Ci)，i＝1,2,3；kiIs a parameter, i ═ 0,1,2 … 8;
nine equations are established, nine parameters are calculated:
obtaining the spatial position coordinate (A) of the highest point of the ship 9M,BM,CM) Comprises the following steps:
the early warning area 10 in the third step is a water surface area where the ship 9 to be tested and the three targets 21 can be imaged simultaneously.
The early warning system and the early warning method for the ship and bridge collision accident adopt a non-contact type measuring mode to measure and early warn the possibility of the ship and bridge collision, have no influence on the free motion of a ship, and have the advantages of simple and easy operation in the measuring process, high measuring precision, good real-time performance and good reliability.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (6)
1. A ship and bridge collision accident early warning system is characterized by comprising a bridge height calibration unit, a system calibration unit, a high-speed imaging unit, a high-speed storage unit, an image and data processing unit, a real-time communication unit and an alarm display unit;
the bridge height calibration unit is used for measuring the absolute height of the bridge and inputting the measurement result to the alarm display unit;
the system calibration unit comprises three four-quadrant targets, a data processing unit and an image and data processing unit, wherein the three four-quadrant targets are used for measuring the mass center space position coordinates of the three four-quadrant targets, and the measurement result is input to the image and data processing unit;
the high-speed imaging unit is used for imaging a ship to be tested and the three four-quadrant targets in real time, and the high-speed storage unit is used for storing real-time imaging data acquired by the high-speed imaging unit and inputting the real-time imaging data to the image and data processing unit;
the image and data processing unit is used for analyzing the real-time imaging data, acquiring the centroid coordinates of the three four-quadrant targets on the image plane and the coordinates of the highest point of the ship to be tested on the image plane in real time, and further calculating the spatial position coordinates of the highest point of the ship to be tested;
the real-time communication unit is used for receiving and sending the spatial position coordinates of the highest point of the ship to be tested, which are analyzed by the image and data processing unit in real time;
the alarm display unit is used for receiving and displaying the spatial position coordinate of the highest point of the ship to be tested sent by the real-time communication unit in real time, displaying the absolute height of the bridge, further comparing the highest point of the ship to be tested with the absolute height of the bridge, and giving an alarm if the absolute height of the highest point of the ship to be tested is higher than the absolute height of the bridge;
the data processing process of the image and data processing unit comprises the following steps:
performing real-time target tracking extraction on the real-time imaging data to obtain the three data in real timeCentroid coordinates (x) of four-quadrant target in image planei,yi) I is 1,2,3, and the coordinate (x) of the highest point of the ship to be measured in the image planeM,yM) Establishing a formula:
wherein the three four-quadrant targets have a centroid space position coordinate of (A)i,Bi,Ci)，i＝1,2,3；kiIs a parameter, i ═ 0,1,2 … 8;
nine equations are established, nine parameters are calculated:
determining the spatial position coordinates (A) of the highest point of the ship under testM,BM,CM) Comprises the following steps:
2. the early warning system of a ship and bridge collision accident according to claim 1, wherein the high-speed imaging unit comprises a fixed-focus lens, an adapter, a high-speed camera and a data distributor.
3. The early warning system for a bridge collision accident according to claim 1, wherein the high-speed storage unit comprises a high-speed storage box and a built-in solid state disk.
4. The early warning system for a bridge collision accident according to claim 1, wherein the image and data processing unit comprises a PCI-high speed image processing card.
5. A ship bridge collision accident early warning method is characterized by comprising the following steps:
the method comprises the following steps: measuring the absolute height of the bridge;
step two: measuring the coordinates of the mass center space positions of the three four-quadrant targets, and processing images and data;
step three: when a ship to be tested drives into an early warning area of a bridge collision accident, real-time imaging is carried out on the ship to be tested and the three four-quadrant targets, and collected real-time imaging data are stored;
step four: analyzing the real-time imaging data, and acquiring the centroid coordinates of the three four-quadrant targets in an image plane and the coordinates of the highest point of the ship to be tested in the image plane in real time, so as to calculate the spatial position coordinates of the highest point of the ship to be tested;
step five: displaying the spatial position coordinate of the highest point of the ship to be tested and the absolute height of the bridge, comparing the highest point of the ship to be tested with the absolute height of the bridge, and alarming if the absolute height of the highest point of the ship to be tested is higher than the absolute height of the bridge;
the fourth step is specifically as follows:
performing real-time target tracking extraction on the real-time imaging data, and acquiring the centroid coordinates (x) of the three four-quadrant targets in the image plane in real timei,yi) I is 1,2,3, and the coordinate (x) of the highest point of the ship to be measured in the image planeM,yM) Establishing a formula:
wherein the three four-quadrant targets have a centroid space position coordinate of (A)i,Bi,Ci)，i＝1,2,3；kiIs a parameter, i ═ 0,1,2 … 8;
nine equations are established, nine parameters are calculated:
determining the spatial position coordinates (A) of the highest point of the ship under testM,BM,CM) Comprises the following steps:
6. the early warning method for the ship-bridge collision accident according to claim 5, wherein the early warning area in step three is a water surface area where the ship to be tested and the three four-quadrant targets can be imaged simultaneously.
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| CN111951610B (en) * | 2020-08-31 | 2021-09-28 | 上海海事大学 | Ship-bridge collision avoidance active anti-collision intelligent early warning system and method |
| CN114241812B (en) * | 2021-12-07 | 2022-12-20 | 浙江省交通运输科学研究院 | Inland river bridge grading early warning system |
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| JP2003276677A (en) * | 2002-03-27 | 2003-10-02 | Mitsui Eng & Shipbuild Co Ltd | Departing/landing bridge support device for ship |
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