CN109448443A - Bridge-collision-avoidance based on video analysis monitors system - Google Patents
Bridge-collision-avoidance based on video analysis monitors system Download PDFInfo
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- G—PHYSICS
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- G08G3/00—Traffic control systems for marine craft
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Abstract
The invention belongs to bridge-collision-avoidance fields, it is based especially on the bridge-collision-avoidance monitoring system of video analysis, aiming at the problem that being easy to appear ship collision bridge when the navigation of existing bridge, now propose following scheme, it includes data processing centre and the virtual interactive interface module for display data, the input terminal of the data processing centre is connected with monitor video acquisition module A, monitor video acquisition module B, water level monitoring module and vessel position real-time monitoring module, the output end of data processing centre is connected with alert process module, data reporting module and video storage modules, data processing centre includes CPU processing module, GPU image processing module, image dividing processing module and function event processing module.The present invention can calculate many kinds of parameters of navigation ship using the video and image segmentation algorithm of shooting, and compare calculating to current level height and bridge own dimensions, enable ship safety bridge, and bridge-collision-avoidance monitoring effect is good.
Description
Technical field
The present invention relates to bridge-collision-avoidance technical fields, more particularly to the bridge-collision-avoidance based on video analysis monitors system.
Background technique
With the rapid development of our country's economy, the shipping business of China's water transport developed regions is also with development.One side inland river
Ship ship type tend to enlargement, on the other hand, more and more river and sea seagoing vessels need enter cruiseway, large ship and
Seagoing vessel approaches, and to the navigational clearance height in navigation channel, more stringent requirements are proposed.Influence the mainly bridge spanning the river of navigation clearance height
Beam, because bridge depth of beam is fixed, and often because the headroom of the reason of investing bridge can not be made very high；Cause
This, requirement of the navigational clearance height and ship of bridge to headroom just conflicts.More have some bridges, due to various reasons its
Navigation clear height is not up to state specified standards, and the contradiction on ship and bridge clear height relationship is just more prominent, in addition flood tide, flood etc.
Reason causes water level to rise, and navigation clear height is further reduced, along with the adverse weathers such as night flight, misty rain day are to the visual field of driver
Influence, cause the accident of ship collision bridge to happen occasionally, thus it is proposed that a kind of bridge-collision-avoidance based on video analysis
Monitoring system.
Summary of the invention
Bridge-collision-avoidance proposed by the present invention based on video analysis monitors system, is easy when solving the navigation of existing bridge
There is the problem of ship collision bridge.
To achieve the goals above, present invention employs following technical solutions:
Bridge-collision-avoidance based on video analysis monitors system, including data processing centre and for the virtual interactive interface of display data
Module, the input terminal of the data processing centre are connected with monitor video acquisition module A, monitor video acquisition module B, water level prison
Module and vessel position real-time monitoring module are surveyed, the output end of data processing centre is connected with alert process module, data report
Module and video storage modules, data processing centre include CPU processing module, GPU image processing module, image dividing processing mould
Block and function event processing module, data processing centre are bi-directionally connected with virtual interactive interface module, the output of alert process module
End is connected with data reporting module, and the output end of data reporting module is connected with central server, the output end of central server
It is connected with virtual interactive interface module and ship terminal.
Preferably, the monitor video acquisition module A/B includes camera position adjustment unit, camera unit and in light
The light filling unit of light filling is carried out when line deficiency, camera position adjustment unit is used to carry out height and angle tune in different water levels
It is whole.
Preferably, the GPU image processing module is for pre-processing the video of shooting, extract a part of picture into
Oceangoing ship of navigating analysis.
Preferably, the output end of the alert process module is connected with data reporting module.
Preferably, the virtual interactive interface module is used to be shown vessel position and Bridge position, while to ship
Information is shown, while being shown to the water level information of real-time monitoring, when being alarmed every time, virtual interactive interface module
It will do it display.
Preferably, the vessel position real-time monitoring module is carried out real by position of the GPS/ BEI-DOU position system to ship
When position monitor and location information is passed into data processing centre.
Preferably, the vessel position real-time monitoring module carries out video pictures recording by setting time interval, constantly
Position of the ship on tunnel is captured, the travel route of setting delimited, is alarmed when exceeding travel route.
The processing method of bridge-collision-avoidance monitoring system based on video analysis:
S1: boat shape ship enters bridge monitoring position；
S2: video pictures acquisition is carried out by monitor video acquisition module A, monitor video acquisition module B, while being supervised by water level
It surveys module and detects current level information；
S3: processing is split to video by data processing centre, and is analyzed according to image segmentation algorithm, ship is obtained
Information, and ship information is transferred to central server；
S4: by ship information and current level information Ship ', whether superelevation passes through alert process mould in ship superelevation
Block alarm, and report warning message to central server by data reporting module, ship terminal is notified by central server,
In ship not superelevation, ship is allowed to continue through；
S5: during ship passes through, by vessel position real-time monitoring module real-time monitoring ship whether deviation, in ship
It when oceangoing ship deviation, is alarmed by alert process module, and reports warning message to central server by data reporting module,
Ship terminal is notified to warn ship by central server, until it returns to main channel, when ship does not yaw, until
Ship is normal through bridge.
Preferably, in the S1, bridge nearby near navigation channel in be equipped with monitor sensor, monitoring that ship is laggard
Row prompt alarm, then starts to realize the monitoring to boat shape ship.
Compared with prior art, the beneficial effects of the present invention are:
By the way of dual camera positioning, using image segmentation algorithm, by the article in image or video retouch side, identification,
It splits, and the size of article is calculated, is positioned, then report arithmetic result, obtained in monitoring range according to algorithm
Length, route speed and the course line of all navigation ships, and according to the height of current bridge opening navigation clear height and ship
Whether comparison, course line deviate, feed back to ship, make its safety bridge, and using effect is good, and monitoring result accuracy is high, bridge
Beam anticollision monitoring effect is good.
Detailed description of the invention
Fig. 1 is the structural schematic diagram that the bridge-collision-avoidance proposed by the present invention based on video analysis monitors system；
Fig. 2 is that the structure for the monitor video acquisition module that the bridge-collision-avoidance proposed by the present invention based on video analysis monitors system is shown
It is intended to；
Fig. 3 is the flow chart that the bridge-collision-avoidance proposed by the present invention based on video analysis monitors system.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
Referring to Fig.1-3,
Embodiment 1: bridge-collision-avoidance based on video analysis monitors system, including data processing centre and for display data can
Depending on changing interactive module, which is characterized in that the input terminal of the data processing centre is connected with monitor video acquisition module A, monitoring
Video acquisition module B, water level monitoring module and vessel position real-time monitoring module, the output end of data processing centre are connected with report
Alert processing module, data reporting module and video storage modules, data processing centre include CPU processing module, GPU image procossing
Module, image dividing processing module and function event processing module, data processing centre are bi-directionally connected with virtual interactive interface module,
The output end of alert process module is connected with data reporting module, and the output end of data reporting module is connected with central server,
The output end of central server is connected with virtual interactive interface module and ship terminal.
The monitor video acquisition module A/B includes camera position adjustment unit, camera unit and in insufficient light
The light filling unit of Shi Jinhang light filling, camera position adjustment unit are used to carry out height and angle adjustment in different water levels.
The GPU image processing module extracts a part of picture and carries out ship for pre-processing to the video of shooting
Analysis, the output end of the alert process module are connected with data reporting module, and the virtual interactive interface module is used for ship
Position and Bridge position are shown, while being shown to ship information, while being opened up to the water level information of real-time monitoring
Show, when being alarmed every time, virtual interactive interface module will do it display, and the vessel position real-time monitoring module passes through
GPS/ BEI-DOU position system carries out real-time position monitor to the position of ship and location information is passed to data processing centre.
The processing method of bridge-collision-avoidance monitoring system based on video analysis:
S1: boat shape ship enters bridge monitoring position, bridge nearby near navigation channel in be equipped with and monitor sensor, monitoring
Prompt alarm is carried out after ship, then starts to realize the monitoring to boat shape ship；
S2: video pictures acquisition is carried out by monitor video acquisition module A, monitor video acquisition module B, while being supervised by water level
It surveys module and detects current level information；
S3: processing is split to video by data processing centre, and is analyzed according to image segmentation algorithm, ship is obtained
Information, and ship information is transferred to central server；
S4: by ship information and current level information Ship ', whether superelevation passes through alert process mould in ship superelevation
Block alarm, and report warning message to central server by data reporting module, ship terminal is notified by central server,
In ship not superelevation, ship is allowed to continue through；
S5: during ship passes through, by vessel position real-time monitoring module real-time monitoring ship whether deviation, in ship
It when oceangoing ship deviation, is alarmed by alert process module, and reports warning message to central server by data reporting module,
Ship terminal is notified to warn ship by central server, until it returns to main channel, when ship does not yaw, until
Ship is normal through bridge.
Described image partitioning algorithm includes:
S1: initially setting up a horizontal plane, determines the method for a plane using 3 points to determine current horizontal plane.
S2: navigation ship starts to call algorithm analysis when entering in video monitoring range, by the horizontal plane of initialization with
And other instruments read water level, clear height information, horizontal plane is modified, and adjust distance of the horizontal plane with camera.
S3: establishing a convolution recurrent neural network, and the parameter initialization of network is random value.
S4: a score function is defined, with following formula come initialization function
S5: for algorithm in the training picture using preceding acquired a large amount of (1000 or more), picture must include various types of ships,
Different colours different shape.(it can be according to step 3-7 step repetition training neural network, study is more, and the data result of calculating is got over
Accurately)
S6: by video acquisition picture, new score function is calculated according to picture pixels, calculating process is according to the following formula
S7: newer score function is with old score function, if scoring no longer changes, that can terminate network training
Process, artificial neural network can come into operation.
S8: when formally coming into operation, input of the video or picture that thecamera head comes as artificial neural network is defeated
Result out is exactly the image divided, and obtains ship model.
S9: the horizontal plane by completing initialization, and the ship model obtained by algorithm, can Ship ' length
Degree, width, height, and central server is reported to by network module.
Embodiment 2:
Bridge-collision-avoidance based on video analysis monitors system, including data processing centre and for the virtual interactive interface of display data
Module, which is characterized in that the input terminal of the data processing centre is connected with monitor video acquisition module A, monitor video acquisition
Module B, water level monitoring module and vessel position real-time monitoring module, the output end of data processing centre are connected with alert process mould
Block, data reporting module and video storage modules, data processing centre include CPU processing module, GPU image processing module, figure
Picture dividing processing module and function event processing module, data processing centre are bi-directionally connected with virtual interactive interface module, at alarm
Reason module output end be connected with data reporting module, the output end of data reporting module is connected with central server, in it is genuinely convinced
The output end of business device is connected with virtual interactive interface module and ship terminal.
The monitor video acquisition module A/B includes camera position adjustment unit, camera unit and in insufficient light
The light filling unit of Shi Jinhang light filling, camera position adjustment unit are used to carry out height and angle adjustment in different water levels.
The GPU image processing module extracts a part of picture and carries out ship for pre-processing to the video of shooting
Analysis, the output end of the alert process module are connected with data reporting module, and the virtual interactive interface module is used for ship
Position and Bridge position are shown, while being shown to ship information, while being opened up to the water level information of real-time monitoring
Show, when being alarmed every time, virtual interactive interface module will do it display, and the vessel position real-time monitoring module is by setting
Determine 5-8S time interval and carry out video pictures recording, constantly captures position of the ship on tunnel, delimit the travel route of setting,
It alarms when exceeding travel route.
The processing method of bridge-collision-avoidance monitoring system based on video analysis:
S1: boat shape ship enters bridge monitoring position, bridge nearby near navigation channel in be equipped with and monitor sensor, monitoring
Prompt alarm is carried out after ship, then starts to realize the monitoring to boat shape ship；
S2: video pictures acquisition is carried out by monitor video acquisition module A, monitor video acquisition module B, while being supervised by water level
It surveys module and detects current level information；
S3: processing is split to video by data processing centre, and is analyzed according to image segmentation algorithm, ship is obtained
Information, and ship information is transferred to central server；
S4: by ship information and current level information Ship ', whether superelevation passes through alert process mould in ship superelevation
Block alarm, and report warning message to central server by data reporting module, ship terminal is notified by central server,
In ship not superelevation, ship is allowed to continue through；
S5: during ship passes through, by vessel position real-time monitoring module real-time monitoring ship whether deviation, in ship
It when oceangoing ship deviation, is alarmed by alert process module, and reports warning message to central server by data reporting module,
Ship terminal is notified to warn ship by central server, until it returns to main channel, when ship does not yaw, until
Ship is normal through bridge.
Described image partitioning algorithm includes:
S1: initially setting up a horizontal plane, determines the method for a plane using 3 points to determine current horizontal plane.
S2: navigation ship starts to call algorithm analysis when entering in video monitoring range, by the horizontal plane of initialization with
And other instruments read water level, clear height information, horizontal plane is modified, and adjust distance of the horizontal plane with camera.
S3: establishing a convolution recurrent neural network, and the parameter initialization of network is random value.
S4: a score function is defined, with following formula come initialization function
S5: for algorithm in the training picture using preceding acquired a large amount of (1000 or more), picture must include various types of ships,
Different colours different shape.(it can be according to step 3-7 step repetition training neural network, study is more, and the data result of calculating is got over
Accurately)
S6: by video acquisition picture, new score function is calculated according to picture pixels, calculating process is according to the following formula
S7: newer score function is with old score function, if scoring no longer changes, that can terminate network training
Process, artificial neural network can come into operation.
S8: when formally coming into operation, input of the video or picture that thecamera head comes as artificial neural network is defeated
Result out is exactly the image divided, and obtains ship model.
S9: the horizontal plane by completing initialization, and the ship model obtained by algorithm, can Ship ' length
Degree, width, height, and central server is reported to by network module.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (9)
1. the bridge-collision-avoidance based on video analysis monitors system, the visualization including data processing centre and for display data is handed over
Mutual module, which is characterized in that the input terminal of the data processing centre is connected with monitor video acquisition module A, monitor video is adopted
Collection module B, water level monitoring module and vessel position real-time monitoring module, the output end of data processing centre are connected with alert process
Module, data reporting module and video storage modules, data processing centre include CPU processing module, GPU image processing module,
Image dividing processing module and function event processing module, data processing centre are bi-directionally connected with virtual interactive interface module, alarm
The output end of processing module is connected with data reporting module, and the output end of data reporting module is connected with central server, center
The output end of server is connected with virtual interactive interface module and ship terminal.
2. the bridge-collision-avoidance according to claim 1 based on video analysis monitors system, which is characterized in that the monitoring view
Frequency acquisition module A/B includes camera position adjustment unit, camera unit and the light filling list that light filling is carried out in insufficient light
Member, camera position adjustment unit are used to carry out height and angle adjustment in different water levels.
3. the bridge-collision-avoidance according to claim 1 based on video analysis monitors system, which is characterized in that the GPU figure
As processing module is for pre-processing the video of shooting, extracts a part of picture and carry out ship analysis.
4. the bridge-collision-avoidance according to claim 1 based on video analysis monitors system, which is characterized in that at the alarm
The output end of reason module is connected with data reporting module.
5. the bridge-collision-avoidance according to claim 1 based on video analysis monitors system, which is characterized in that the visualization
Interactive module is shown ship information for being shown to vessel position and Bridge position, while to real-time prison
The water level information of survey is shown, and when being alarmed every time, virtual interactive interface module will do it display.
6. the bridge-collision-avoidance according to claim 1 based on video analysis monitors system, which is characterized in that the ship position
Real-time monitoring module is set to carry out real-time position monitor by position of the GPS/ BEI-DOU position system to ship and pass location information
Pass data processing centre.
7. the bridge-collision-avoidance according to claim 1 based on video analysis monitors system, which is characterized in that the ship position
It sets real-time monitoring module and video pictures recording is carried out by setting time interval, constantly capture position of the ship on tunnel, draw
Surely the travel route set is alarmed when exceeding travel route.
8. the processing method of the bridge-collision-avoidance monitoring system according to claim 1 based on video analysis:
S1: boat shape ship enters bridge monitoring position；
S2: video pictures acquisition is carried out by monitor video acquisition module A, monitor video acquisition module B, while being supervised by water level
It surveys module and detects current level information；
S3: processing is split to video by data processing centre, and is analyzed according to image segmentation algorithm, ship is obtained
Information, and ship information is transferred to central server；
S4: by ship information and current level information Ship ', whether superelevation passes through alert process mould in ship superelevation
Block alarm, and report warning message to central server by data reporting module, ship terminal is notified by central server,
In ship not superelevation, ship is allowed to continue through；
S5: during ship passes through, by vessel position real-time monitoring module real-time monitoring ship whether deviation, in ship
It when oceangoing ship deviation, is alarmed by alert process module, and reports warning message to central server by data reporting module,
Ship terminal is notified to warn ship by central server, until it returns to main channel, when ship does not yaw, until
Ship is normal through bridge.
9. the processing method of the bridge-collision-avoidance monitoring system according to claim 8 based on video analysis, which is characterized in that
In the S1, bridge nearby near navigation channel in be equipped with monitor sensor, prompt alarm is carried out after monitoring ship, then
Start to realize the monitoring to boat shape ship.
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| CN111445726A (en) * | 2020-04-30 | 2020-07-24 | 宁波市市政设施中心 | Bridge anti-collision early warning system and method based on distributed video monitoring |
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| US11516440B2 (en) | 2020-11-25 | 2022-11-29 | Zhejiang University | Method for modal analysis of bridge structures based on surveillance videos |
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| CN113406961A (en) * | 2021-07-12 | 2021-09-17 | 陕西欧卡电子智能科技有限公司 | Unmanned ship bridge-crossing control method and device, electronic equipment and storage medium |
| CN113406961B (en) * | 2021-07-12 | 2024-03-29 | 陕西欧卡电子智能科技有限公司 | Unmanned ship bridge crossing control method and device, electronic equipment and storage medium |
| CN114971595A (en) * | 2022-07-28 | 2022-08-30 | 苏州市吴江区公安局 | Ship intelligent supervision system applying video data analysis processing technology |
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