CN109461328B - Bridge anticollision monitoring device based on laser scanning - Google Patents
Bridge anticollision monitoring device based on laser scanning Download PDFInfo
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- CN109461328B CN109461328B CN201811494870.3A CN201811494870A CN109461328B CN 109461328 B CN109461328 B CN 109461328B CN 201811494870 A CN201811494870 A CN 201811494870A CN 109461328 B CN109461328 B CN 109461328B
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- 238000012544 monitoring process Methods 0.000 claims abstract description 32
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- 238000001514 detection method Methods 0.000 claims description 26
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- 229910000831 Steel Inorganic materials 0.000 claims 2
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- 208000034699 Vitreous floaters Diseases 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 230000009977 dual effect Effects 0.000 description 4
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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
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
- G01B11/0608—Height gauges
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A30/00—Adapting or protecting infrastructure or their operation
- Y02A30/30—Adapting or protecting infrastructure or their operation in transportation, e.g. on roads, waterways or railways
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- Engineering & Computer Science (AREA)
- Ocean & Marine Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Emergency Alarm Devices (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a bridge anti-collision monitoring device based on laser scanning, which comprises a laser scanning sensor, video monitoring equipment, a host and an alarm; the laser scanning sensor is arranged on the bridge girder or the bridge pier and used for acquiring basic information of a target and transmitting the basic information to the host; wherein the base information includes ultrahigh markers and contour features; the host judges whether the target is ultrahigh according to the ultrahigh mark, and further judges whether the target is a ship according to the profile characteristics; when the target is judged to be ultrahigh and is a ship, the host controls the video monitoring equipment to record or photograph the ship, and the host controls the alarm to send out an early warning or alarm signal. The invention can detect whether the ship is ultrahigh or not by only adopting the laser scanning sensor so as to identify whether the ship has risk of impacting the beam body or not, and the monitoring device is simple and has higher reliability.
Description
Technical Field
The invention relates to the technical field of bridge anti-collision, in particular to a bridge anti-collision monitoring device based on laser scanning.
Background
At present, along with the rapid development of transportation, a large number of bridges are required to be built on the river surface or the sea surface, and accordingly, accidents of ship collision against the bridges frequently occur, even serious accidents such as bridge collapse, ship sinking, human death and the like can be caused, and disastrous losses are caused for society and economy.
Aiming at the accidents of impacting the bridge, two types of bridge anti-collision measures are mainly included at present:
1. passive anticollision device installed on bridge
When a ship collides with a bridge, measures such as energy absorption are adopted, so that the impact force of the ship borne by the bridge is reduced as much as possible, and the serious consequences caused by the collision of the ship with the bridge are reduced. However, the passive anti-collision device cannot avoid the occurrence of the accident that the ship collides with the bridge, and a large amount of special facilities are required to be installed on the bridge, so that the installation cost is high, the manufacturing cost is high, and the large-scale popularization is difficult.
2. Active early warning
The monitoring technology is adopted to actively early warn the ship with the risk of bridge collision in advance, so that the occurrence of the accident that the ship collides with the bridge can be avoided as much as possible. The occurrence of bridge collision accidents can be avoided or reduced through active early warning, and the cost is far lower than that of passive anti-collision facilities, so that the active early warning mode has a wide application prospect.
At present, most bridge anti-collision monitoring systems adopt a laser correlation mode, and the principle is that laser emitting and laser receiving devices are respectively arranged on two sides of the front of a bridge to form a laser correlation light path. When the ship is ultrahigh, the laser correlation light path is cut off, so that an alarm is triggered. The method is simple in principle, but when the laser correlation light path has the obstacles such as birds, air floaters and the like, the monitoring system can generate false alarm. Although false alarms can be reduced to a certain extent by increasing the laser correlation number for joint judgment and the like in practical application, the stability of a laser correlation light path is more influenced by external factors, so that the application limit of an active early warning mode of a laser correlation mode is larger.
The prior art discloses a bridge anti-collision detection method, which adopts a plurality of infrared thermal imagers to form an intersection photogrammetry system to acquire information such as speed, heading, height and the like of ships, so as to discover the ships needing early warning. ;
The bridge anti-collision early warning system is used for comparing the ship height data acquired by the laser scanning range finder with the water level height data acquired by the water level sensor to judge whether the ship can navigate under the bridge or not; the bridge anti-collision early warning system only can not early warn whether the ship is ultrahigh according to the ship height data acquired by the laser scanning range finder, and needs to combine with the water level sensor for early warning, once the water level sensor fails, the bridge anti-collision early warning system can not work, and the reliability of the system is reduced.
In summary, the technical problems existing in the prior art are as follows:
1. The adoption of laser correlation can generate false alarm on the obstacles in the light path and has larger application limit;
2. The bridge anti-collision early warning system adopting the image processing technology depends on weather and other conditions or utilizes a water level sensor and combines a laser scanning range finder, and has lower reliability.
Disclosure of Invention
The invention aims to provide a bridge anti-collision monitoring device based on laser scanning, which reduces the monitoring false alarm condition and has higher reliability.
The technical scheme of the invention is as follows:
a bridge anti-collision monitoring device based on laser scanning comprises a laser scanning sensor, video monitoring equipment, a host and an alarm;
The laser scanning sensor is arranged on the bridge girder or the bridge pier and used for acquiring basic information of a target and transmitting the basic information to the host; wherein the base information includes ultrahigh markers and contour features;
The host judges whether the target is ultrahigh according to the ultrahigh mark and judges whether the target is a ship according to the profile characteristics;
When the target is ultrahigh and the ship is judged, the host controls the video monitoring equipment to record or photograph the ship, and the host controls the alarm to send out an early warning or alarm signal.
Further, the host first determines whether the target is superhigh according to the value of the superhigh mark, and only when the target is superhigh, the host determines whether the target is a ship according to the profile feature.
Further, the laser scanning sensor is used for forming a defense distribution area by emitting and scanning a laser plane, the defense distribution area is arranged at a position slightly lower than the bottom surface of the bridge body so as to detect whether the top of the target exceeds the laser scanning plane, if the top of the target exceeds the laser scanning plane, the ultrahigh mark is set to be 1, and if the top of the ship does not exceed the laser scanning plane, the ultrahigh mark is set to be 0, and the host directly determines whether the ship is ultrahigh according to the value of the ultrahigh mark.
Further, the defending area formed by the laser scanning sensor comprises a preset space range in the upstream and/or downstream directions of bridges and rivers.
Further, the laser scanning sensor comprises one or more sensors for covering a desired monitoring range along the length of the bridge.
Further, the basic information of the target also comprises speed and position information of the target.
Further, the host sets the defense arrangement area as an early warning area and an alarm area according to the relative distance between the target and the bridge, and the early warning area is used for identifying the ultrahigh ship and warning the ship operator before the bridge collision accident occurs; the alarm area is used for identifying the occurrence of the bridge collision accident of the ultrahigh ship and giving an alarm to the bridge management department.
Further, the alarm comprises an early warning unit and an alarm unit, wherein the early warning unit is used for providing early warning information for ship operators, and the alarm unit is used for providing alarm information for bridge management personnel.
Further, when the host monitors that the ship enters the early warning area and the height of the ship exceeds the limit, the host starts an early warning mode, and controls the alarm to send an early warning signal to the ship; when the host monitors that the ship enters the alarm area to strike a bridge, an alarm signal is sent to a bridge management department.
Further, when the early warning mode is started, the host controls the video monitoring equipment to track and record or photograph the ship according to the position information of the target; and when the ship leaves the arming area, the host controls the video monitoring equipment to stop recording or photographing.
The beneficial effects of the invention are as follows:
(1) According to the invention, the laser scanning sensor scans the basic information of the target, and whether the target is a foreign matter such as a bird, a floater and the like can be detected, so that false alarm of the alarm is effectively reduced.
(2) According to the invention, whether the ship is ultrahigh can be detected only by adopting the laser scanning sensor so as to identify whether the ship has the risk of impacting the beam body, and the detection method is simpler and has higher reliability; in addition, the laser scanning sensor has better self directionality and light condensation, so that the information detected by the laser scanning sensor is more accurate.
(3) When the bridge collision risk of the ship is recognized, but the bridge collision accident does not occur, the alarm reminds the ship operator to avoid the bridge collision accident as much as possible; when a bridge collision accident cannot be avoided, the alarm can inform bridge management personnel, so that the bridge collision alarm has dual alarm functions of early warning and post warning, and serious consequences caused by the bridge collision accident can be reduced to the greatest extent.
Drawings
FIG. 1 is a block diagram illustrating an embodiment of a laser scanning based bridge anti-collision monitoring apparatus according to the present invention;
FIG. 2 is a schematic view of a laser scan of one embodiment of a laser scanning sensor of the present invention;
FIG. 3 is a schematic view of one embodiment of the relative positions of the vessel and the laser scanning sensor of the present invention;
FIG. 4 is a schematic diagram of coordinates of one embodiment of the host computer of the present invention calculating positional information of a ship;
FIG. 5 is a schematic illustration of a dual sided monitoring vessel of a laser scanning sensor of one embodiment of the present invention;
FIG. 6 is a schematic illustration of a single side monitoring vessel of a laser scanning sensor of another embodiment of the present invention;
FIG. 7 is a block diagram of an automatic lifting device according to an embodiment of the present invention;
fig. 8 is a schematic view of an automatic lifting device according to an embodiment of the present invention.
Wherein 110 is a laser scanning sensor and 120 is an additional laser scanning sensor;
200 is video monitoring equipment; 300 is an alarm; 400 is a host;
500 is an automatic lifting device; 510 is a liquid level sensor, 520 is a detection platform, 530 is a driving device, 531 is a traction motor, 532 is a traction wire rope, 540 is a slideway, and 541 is a track.
Detailed Description
The present invention will be described in detail below with reference to the embodiments shown in the drawings, but it should be understood that the embodiments are not limited to the present invention, and functional, method, or structural equivalents and alternatives according to the embodiments are within the scope of protection of the present invention by those skilled in the art.
FIG. 1 is a block diagram illustrating an embodiment of a laser scanning based bridge anti-collision monitoring apparatus according to the present invention; with reference to figure 1 of the drawings,
The bridge anti-collision monitoring device based on laser scanning comprises a laser scanning sensor 110, video monitoring equipment 200, an alarm 300 and a host 400;
The laser scanning sensor 110 is disposed on a bridge girder or pier, and is configured to obtain basic information of a target, and transmit the basic information to the host 400; wherein the base information includes ultrahigh markers and contour features;
The host 400 determines whether the target is ultrahigh according to the ultrahigh mark, and determines whether the target is a ship according to the profile characteristics;
When the target is determined to be the ship, the host computer controls the video monitoring device 200 to record or photograph the ship, and the host computer 400 controls the alarm 300 to send out an early warning or alarm signal.
Preferably, the alarm 300 includes an early warning unit for providing early warning information to a ship operator and an alarm unit for providing alarm information to a bridge manager.
The bridge anti-collision monitoring apparatus will be described in detail, in which the laser scanning sensor 110 may be installed on the bottom surface of a bridge or a bridge pier, and the video monitoring device 200, the alarm 300, and the host 400 may be installed on the bridge; the laser scanning sensor 110, the video monitoring device 200 and the alarm 300 are respectively connected with the host computer 400.
A laser scanning sensor monitors whether the ship is ultrahigh
Fig. 2 is a schematic view of laser scanning for an embodiment of the laser scanning sensor of the present invention, see fig. 1 and 2, specifically, the laser scanning sensor 110 forms a sector laser scanning plane by emitting scanning laser light, and sets a defense area (see rectangle B of fig. 2) according to the sector laser scanning plane, the defense area is set at a position slightly lower than the bottom surface of the bridge beam body, and the laser scanning sensor 110 transmits basic information of the scanned object (the object in this embodiment may be a ship, a bird, a floater, or the like) to the host 400, wherein the basic information includes an ultra-high mark and a contour feature; the host 400 may first determine whether the target is ultrahigh according to the value of the ultrahigh flag, and determine whether the target is a ship according to the profile feature only when the target is ultrahigh, so as to reduce false alarms of an alarm.
The host 400 may set the defense deployment area as an early warning area and an alarm area according to the relative distance between the target and the bridge, where the early warning area is used to identify the ultrahigh ship and warn the ship operator before the bridge collision accident occurs; the alarm area is used for identifying the bridge collision accident of the ultrahigh ship and giving an alarm to the bridge management department.
Specifically, when the laser scanning sensor 110 detects that the target enters the early warning zone, firstly, the laser scanning sensor 110 detects whether the top of the target exceeds the laser scanning plane, if the top of the target exceeds the laser scanning plane, the super-high mark is set to be 1, and if the top of the target does not exceed the laser scanning plane, the super-high mark is set to be 0, and the host 400 directly determines whether the target is super-high according to the value of the super-high mark;
then, the host computer 400 judges whether the target is a ship or a foreign object such as a bird, a floater, etc. according to the outline characteristics of the target, so as to reduce false alarm of the alarm 300; wherein the profile features include width, height, etc. of the target; further, the host 400 may also determine whether the target is a ship based on the speed of the target;
Finally, when the host 400 recognizes that the object is ultrahigh and is a ship, which indicates that the ship has a risk of striking a beam body and the like, the host 400 starts an early warning mode to send an instruction to the video monitoring device 200, the video monitoring device 200 comprises a camera, a storage unit and the like, the host 400 calculates the position information of the ship and controls the camera to turn to the position of the ship, the camera tracks the ship according to the position information of the ship and performs video recording or photographing and the like, and when the ship leaves a defense distribution area, the host 400 controls the camera to stop video recording or photographing; in addition, the host 400 controls the early warning unit of the alarm 300 to send out early warning signals and provide early warning prompts for ship operators, and the host 400 integrally processes related data information and displays the related data information to a user.
When the host 400 recognizes that the target is a ship, if the risk of the ship striking the bridge is not eliminated in time (i.e. a bridge strike accident has actually occurred), the host 400 monitors that the ship enters an alarm area and gives an alarm signal to a bridge management department when the ship strikes the bridge accident, and an alarm unit of the alarm 300 gives an alarm to remind bridge management personnel to take measures in time to avoid secondary accidents.
It will be appreciated that the alarm 300 may alarm in one or more of acoustic, optical, electrical, etc., without limitation.
Fig. 3 is a schematic view of one embodiment of the relative positions of the ship and the laser scanning sensor of the present invention, see fig. 2 and 3, and the position information of the ship can be obtained by: when the ship enters the arming area (see rectangle B of fig. 2), the laser light emitted from the laser scanning sensor 110 contacts the ship body and returns to the laser scanning sensor 110, and at this time, the laser scanning sensor 110 may acquire the distance L and the angle α of the ship with respect to the laser scanning sensor 110 (i.e., the angle of the ship in the coordinate system of the laser scanning sensor 110) with the laser scanning sensor 110 as an origin O ', with the direction directly in front of the laser scanning plane scanned by the laser scanning sensor 110 as a Y' axis, and with the direction perpendicular to the Y 'axis as an X' axis, as shown in fig. 3. Deriving coordinate values (x ', y') of the ship in the laser scanning sensor 110 coordinate system from the distance L and the angle α:
x'＝L*cosα (1)
y'＝L*sinα (2)
Fig. 4 is a schematic coordinate diagram of an embodiment of calculating position information of a ship by using a host computer according to the present invention, specifically, the host computer 400 calculates the position information of the ship by referring to a bridge coordinate system, that is, using a midpoint of a bridge monitoring section as an origin O, using a bridge length direction as an X-axis, and using a direction perpendicular to the bridge (i.e., a water flow direction) as a Y-axis, and establishes the coordinate system, and referring to fig. 4, the detected position information (X, Y) of the ship may be calculated as follows:
x＝(x'-x_center)*cosθ+(y'-y_center)*sinθ (3)
y＝(y'-y_center)*cosθ-(x'-x_center)*sinθ (4)
Wherein, (x, y) is the coordinate value of the ship in the bridge coordinate system; (x ', y') is a coordinate value of the ship in the coordinate system of the laser scanning sensor 110;
(x_center, y_center) is the coordinate value of the center point of the laser scanning sensor 110 in the bridge coordinate system;
θ is the rotation angle of the coordinate axis of the laser scanning sensor 110 relative to the bridge coordinate system, i.e., the angle between the X-axis of the bridge Liang Zuobiao system and the X' axis of the laser scanning sensor 110 coordinate system in fig. 4.
In summary, in this embodiment, whether the ship is ultrahigh can be determined only by the pre-set arming area of the laser scanning sensor 110, and whether the ship is ultrahigh is monitored without combining the water level information detected by the water level sensor, so that the bridge anti-collision monitoring device in this embodiment has simple monitoring method and installation process, and prevents the situation that the whole bridge anti-collision monitoring device cannot be used due to the failure of the water level sensor, thereby improving the reliability of the bridge anti-collision monitoring device.
Protection arrangement mode of laser scanning sensor
In addition, according to the scanning range of the laser scanning sensor 110 and the length of the bridge, when identifying whether the ship is ultrahigh, different defense deployment modes can be adopted for the laser scanning sensor 110 to cover the required monitoring range along the length direction of the bridge;
FIG. 5 is a schematic illustration of a dual sided monitoring vessel of a laser scanning sensor of one embodiment of the present invention; for a small-span bridge, only 1 laser scanning sensor 110 can be used for simultaneously detecting ships at the upstream and downstream of a river; wherein the rectangle C in fig. 5 is the arming area, and the alarm will alarm when the ship enters the arming area C. In another embodiment, multiple laser scanning sensors 110 may be used to detect vessels upstream and downstream of the river, respectively, such as one or more laser scanning sensors 110 being used to detect vessels upstream of the river and one or more laser scanning sensors 110 being used to detect vessels downstream of the river.
FIG. 6 is a schematic illustration of a single side monitoring vessel of a laser scanning sensor of another embodiment of the present invention; for large span bridges, a guard area, i.e., a rectangle D in fig. 6, may be set in a manner that a plurality of laser scanning sensors 110 as shown in fig. 6 are combined to monitor the downstream of the river;
similarly, in yet another embodiment of the present invention, a plurality of laser scanning sensors 110 may be combined to provide a guard area for monitoring the upstream of the river in a manner similar to that of FIG. 6.
In yet another embodiment of the present invention, only 1 laser scanning sensor 110 may be used to monitor the upstream target of the river;
in another embodiment of the present invention, only 1 laser scanning sensor 110 may be used to monitor the downstream target of the river.
In summary, the defending area formed by the laser scanning sensor 110 includes a predetermined spatial range of the bridge, the upstream river and/or the downstream river.
In a preferred embodiment of the present invention, an additional laser scanning sensor 120 may be provided on the bridge pier of the bridge for identifying whether the ship walks in a wrong way, and whether there is a risk of striking the bridge pier.
Specifically, the additional laser scanning sensor 120 is disposed on the bridge pier to identify the position information of the target; the additional laser scanning sensor 120, the video monitoring device 200 and the alarm 300 are respectively connected with the host 400;
The host 400 is configured to receive the position information of the target transmitted by the additional laser scanning sensor 120, and send an instruction to the video monitoring device 200 and the alarm 300;
the video monitoring device 200 is configured to collect image data of a target, and transmit the image data of the target to the host 400;
The host 400 sets a defense-setting area according to a detection plane formed by the scanning laser emitted from the additional laser scanning sensor 120, and determines whether the ship invades the defense-setting area; when the ship enters the defense arrangement area, the ship is illustrated to walk wrong way, the risk of collision with a bridge pier exists, and an instruction is sent to the video monitoring equipment 200 and the alarm 300, and the alarm 300 is started and carries out pre-alarm prompt to staff or bridge management departments on the ship; and integrates the relevant data information and presents it to the user.
The process of the additional laser scanning sensor 120 identifying whether the object is a ship and the calculation of the position information of the ship by the additional laser scanning sensor 120 are similar to the operation principle and process of the laser scanning sensor 110, and will not be described again. Fig. 7 is a block diagram illustrating the construction of an automatic up-down device according to an embodiment of the present invention, and fig. 8 is a schematic diagram illustrating the application of the automatic up-down device according to an embodiment of the present invention, referring to fig. 7 and 8, in order to accommodate the level change of the water throughout the year, an automatic up-down device 500 may be provided on the bridge anti-collision monitoring apparatus so that the additional laser scanning sensor 120 floats up and down following the level change.
When the water level rises, the additional laser scanning sensor 120 cannot effectively detect the position information of the ship, etc., even the additional laser scanning sensor 120 may be submerged in the water to damage the additional laser scanning sensor 120, and the ship information cannot be normally detected; or when the water level is lowered, the height of the additional laser scanning sensor 120 is not matched with the height of the ship, so that the position information of the ship can not be effectively identified, and the identified position information is inaccurate.
Specifically, the additional laser scanning sensor 120 may be installed on the automatic lifting device 500, so that the laser scanning plane emitted by the additional laser scanning sensor 120 is parallel to the water surface and the distance from the water surface is kept at a preset height (for example, the distance from the laser scanning plane of the additional laser scanning sensor 120 to the water surface may be preset to be 2m, which is not limited herein).
The automatic lifting device 500 comprises a liquid level sensor 510, a detection platform 520 and a driving device 530; preferably, the driving device 530 includes a traction motor 531 and a traction cable 532;
The liquid level sensor 510 is installed below the detection platform 520, and is used for detecting the height of the water level and transmitting the detected water level data to the driving device 530;
the detection platform 520 is mounted on the bridge pier, and the additional laser scanning sensor 120 is mounted on the detection platform 520;
The driving device 530 is fixedly connected with the detection platform 520, so as to drive the detection platform 520 to move up and down on the bridge pier.
Preferably, the automatic lifting device 500 further comprises a slideway 540 and a sliding device (not shown in the figure); the slideway 540 is fixedly installed on the bridge pier, and a smooth track 541 is installed on the upper part of the slideway 540; the detection platform 520 is connected with the slideway 540 through a sliding device; preferably, the sliding device may be a pulley or a slider.
The operation of the automatic lifting device 500 will be described in detail, specifically, the liquid level sensor 510 detects water level data in real time, and transmits the detected water level data to the associated control device (e.g., motor controller) of the traction motor 531, and the associated control device (e.g., motor controller) of the traction motor 531 sends an instruction to the traction motor 531 according to the water level data, and the traction motor 531 moves the sliding device by traction of the traction wire rope 532, so that the detection platform 520 moves up and down on the rail 541.
In this embodiment, the driving device 530 may adopt a passive driving mode; that is, when the buoyancy of the driving means 530 exceeds the sum of the weights of the driving means 530 and the detection platform 520 and the sliding resistance between the sliding means and the sliding way 510 when the water level rises, the driving means 530 pushes the detection platform 520 to rise;
When the weight of the driving device 530 and the detection platform 520 is greater than the sum of the buoyancy of the driving device 530 and the sliding resistance between the sliding device and the sliding way 510 when the water level is lowered, the driving device 530 pushes the detection platform 520 to be lowered;
preferably, a float or the like may be further provided on the water surface to facilitate more convenient recognition of the rising or falling of the water level.
By arranging the automatic lifting device 500, the vertical position of the additional laser scanning sensor 120 can be automatically lifted to adjust, so that the additional laser scanning sensor 120 in the embodiment can automatically float up and down along with the water level change, can adapt to the water level change caused by various weather conditions or other factors, does not influence the detection effect, and can still effectively identify the position information of the ship.
Similar to the protection arrangement of the laser scanning sensor 110, the additional laser scanning sensor 120 may also adopt the following different protection arrangement according to the scanning range and the bridge length:
for small span bridges, 1 additional laser scanning sensor 120 may be used to detect upstream and downstream vessels simultaneously;
for large span bridges, a plurality of additional laser scanning sensors 120 may be used in combination to set the arming area.
The invention has the advantages that:
(1) According to the invention, the laser scanning sensor scans the basic information of the target, and whether the target is a foreign matter such as a bird, a floater and the like can be detected, so that false alarm of the alarm is effectively reduced.
(2) According to the invention, whether the ship is ultrahigh can be detected only by adopting the laser scanning sensor so as to identify whether the ship has the risk of impacting the beam body, and the detection method is simpler and has higher reliability; in addition, the laser scanning sensor has better self directionality and light condensation, so that the information detected by the laser scanning sensor is more accurate.
(3) When the bridge collision risk of the ship is recognized, but the bridge collision accident does not occur, the alarm reminds the ship operator to avoid the bridge collision accident as much as possible; when a bridge collision accident cannot be avoided, the alarm can inform bridge management personnel, so that the bridge collision alarm has dual alarm functions of early warning and post warning, and serious consequences caused by the bridge collision accident can be reduced to the greatest extent.
(4) All the equipment can be installed on the bridge, so that engineering implementation difficulty and complexity caused by installation of the equipment on the shore are avoided.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk, etc.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (8)
1. A bridge anti-collision monitoring device based on laser scanning comprises a laser scanning sensor, an additional laser scanning sensor, video monitoring equipment, a host, an alarm and an automatic lifting device; the method is characterized in that:
The laser scanning sensor is arranged on the bridge girder or the bridge pier and used for acquiring basic information of a target and transmitting the basic information to the host; wherein the base information includes ultrahigh markers and contour features;
the additional laser scanning sensor is arranged on the bridge pier to identify the position information of the target, and is used for setting a defense arrangement area and judging whether the ship invades the defense arrangement area or not; when the ship enters the defense arrangement area, the ship is illustrated to walk wrong way;
The host judges whether the target is ultrahigh according to the ultrahigh mark and judges whether the target is a ship according to the profile characteristics; when the target is ultrahigh and the ship is judged, the host controls the video monitoring equipment to record or photograph the ship, and the host controls the alarm to send out an early warning or alarm signal; the host is also used for receiving the position information of the target transmitted by the additional laser scanning sensor and sending instructions to the video monitoring equipment and the alarm;
An additional laser scanning sensor is arranged on the automatic lifting device, so that a laser scanning plane emitted by the additional laser scanning sensor is parallel to the water surface and the distance from the water surface is kept to be a preset height; the automatic lifting device comprises a liquid level sensor, a detection platform, a driving device, a slideway and a sliding device, wherein the liquid level sensor is arranged below the detection platform, the detection platform is arranged on a pier, the detection platform is provided with the additional laser scanning sensor, the driving device comprises a traction motor and a traction steel wire rope, the slideway is fixedly arranged on the pier, a smooth track is arranged on the upper part of the slideway, and the detection platform is connected with the slideway through the sliding device;
The liquid level sensor detects water level data in real time and transmits the detected water level data to a related matched control device of the traction motor, the related matched control device of the traction motor sends an instruction to the traction motor according to the water level data, and the traction motor moves through a traction steel wire rope traction sliding device, so that the detection platform moves up and down on a track; the driving device can also adopt a passive driving mode, namely, when the water level rises, the driving device pushes the detection platform to rise; when the water level is lowered, the driving device pushes the detection platform to be lowered;
The host judges whether the target is ultrahigh according to the value of the ultrahigh mark, and judges whether the target is a ship according to the profile characteristics only when the target is ultrahigh;
The laser scanning sensor is used for forming a defense arrangement area by emitting and scanning a laser plane, the defense arrangement area is arranged at a position slightly lower than the bottom surface of the bridge body so as to detect whether the top of the target exceeds the laser scanning plane, if the top of the target exceeds the laser scanning plane, the ultrahigh mark is set to be 1, and if the top of the ship does not exceed the laser scanning plane, the ultrahigh mark is set to be 0, and the host directly determines whether the ship is ultrahigh according to the value of the ultrahigh mark.
2. The bridge anti-collision monitoring device of claim 1, wherein: the arming area formed by the laser scanning sensor comprises a predetermined spatial range in the upstream and/or downstream directions of the bridge, the river.
3. The bridge anti-collision monitoring device of claim 1, wherein: the laser scanning sensor comprises one or more sensors and is used for covering a required monitoring range along the length direction of the bridge.
4. The bridge anti-collision monitoring device of claim 1, wherein: the base information of the target also includes speed and location information of the target.
5. The bridge anti-collision monitoring device of claim 1, wherein: the host sets the defense arrangement area as an early warning area and an alarm area according to the relative distance between the target and the bridge, and the early warning area is used for identifying the ultrahigh ship and warning the ship operator before the bridge collision accident occurs; the alarm area is used for identifying the occurrence of the bridge collision accident of the ultrahigh ship and giving an alarm to the bridge management department.
6. The bridge anti-collision monitoring device of claim 5, wherein: the alarm comprises an early warning unit and an alarm unit, wherein the early warning unit is used for providing early warning information for ship operators, and the alarm unit is used for providing alarm information for bridge management personnel.
7. The bridge anti-collision monitoring device of claim 5, wherein: when the host monitors that the ship enters the early warning area and the height of the ship exceeds the limit, the host starts an early warning mode, and controls the alarm to send an early warning signal to the ship; when the host monitors that the ship enters the alarm area to strike a bridge, an alarm signal is sent to a bridge management department.
8. The bridge anti-collision monitoring device of claim 7, wherein: when an early warning mode is started, the host controls the video monitoring equipment to track and record or photograph the ship according to the position information of the target; and when the ship leaves the arming area, the host controls the video monitoring equipment to stop recording or photographing.
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| CN201811494870.3A CN109461328B (en) | 2018-12-07 | 2018-12-07 | Bridge anticollision monitoring device based on laser scanning |
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| CN201811494870.3A CN109461328B (en) | 2018-12-07 | 2018-12-07 | Bridge anticollision monitoring device based on laser scanning |
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| CN112346078B (en) * | 2019-08-08 | 2023-07-21 | 杭州海康威视系统技术有限公司 | Ship ultrahigh detection method and device, electronic equipment and storage medium |
| CN112346077A (en) * | 2019-08-08 | 2021-02-09 | 杭州海康威视系统技术有限公司 | Ship superelevation detection method and device, electronic equipment and storage medium |
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