CN109831655A - Ship environment perception and early warning system based on multi-cam data fusion - Google Patents
Ship environment perception and early warning system based on multi-cam data fusion Download PDFInfo
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Abstract
The invention discloses a kind of ship environment perception and early warning system based on multi-cam data fusion.A kind of ship environment perception and early warning system based on multi-cam data fusion of the present invention, it is characterised by comprising: multiple video analysis processing modules, data center module and ship monitoring and these three module compositions of Warning Service module based on multi-cam data fusion.Beneficial effects of the present invention: can effectively identify multiple dimensioned target and the system of energy all-dimensional multi-angle real-time monitoring hull peripheral situation, and the system can also issue suitable warning information, provide reference information and traveling countermeasure for the driver on ship or as the support system of unmanned ship.
Description
Technical field
The present invention relates to ship domains, and in particular to a kind of ship environment perception based on multi-cam data fusion with it is pre-
Alert system.
Background technique
Being constantly progressive and develop with Ship automatic technique, huge variation, ship system has occurred in shipping industry
The degree of automation of system is higher and higher, and unmanned machinery space's systematic difference is more and more extensive, the integrated system of high technology content
It widely applies, so that each system of ship is more efficient, unmanned degree is also higher and higher, also drives at the same time to the safety of ship
Sail that intelligent more stringent requirements are proposed with ship-handling.
Ship monitoring and early warning system mainly realize the global perception and monitoring to surrounding enviroment locating for ship, and according to prison
Measurement information carries out reasonable early warning, is the important component for guaranteeing safety of ship and efficient operation.
There are following technical problems for traditional technology:
1. the missing inspection problem of small type ship at a distance
The identification of traffic target is more demanding to the change of scale of target, the identification limit of small objects limit early warning away from
From the limit, ship monitoring with early warning system in be the key that security performance embodiment.
There is missing inspection, the training sample and instruction of message processing module to the small ship of distant place in current ship identification
The mode of white silk has a great impact to this, and it is also to influence that in addition to this suggestion areas position, which cannot accurately determine, and depth characteristic is lost
Factor.
2. ship monitors system, there are Dead Core Problems
With the development that water transportation transports, ship is fast-developing towards the direction of enlargement, further improves to prison
The comprehensive requirement of examining system, conventional ship monitoring system generally can not meet conduct monitoring at all levels demand, and there are monitoring dead angles.
3. the identification of early warning target and ranging problem
Current ship monitoring and early warning system, target identification ability are still not perfect, and quasi- not enough to target apperception
Really, such as it is not accurate enough to the ranging of early warning target.Ranging is ship monitoring and vital technology in early warning system, early warning
The distance of target is largely affected by the judgement of the processor of unmanned ship or the judgement of common ship driver.
It is at present the active sensing such as ultrasonic wave, infrared, laser using more ranging technology in ship early warning system
Technology.The propagation of ultrasonic wave is big by such environmental effects, such as atmospheric pressure, wind speed, temperature, therefore precision is lower.Compared to
The propagation of sound, this physical quantity of light is then more stable, therefore infrared and laser is highly suitable for environment complicated and changeable, has
Good anti-interference ability.
4. the poor problem of existing system real-time multi-target processing capacity
The image procossing of existing ship target identification mostly uses stencil matching, manual features to extract and combines supporting vector
Machine, R-CNN and R-CNN follow-up developments technology.The target identification of stencil matching and support vector machines is small for profile variations
Object identification effect is preferable, and the object accuracy that size and shape this kind of for ship changes greatly is low.And it is based on deep learning
R-CNN algorithm speed it is slower, it is difficult to reach ship early warning needs real-time processing speed.
5. maritime environment is complicated, there is the possibility of wrong report in the alarm system of the prior art.
Summary of the invention
The ship environment perception that the technical problem to be solved in the present invention is to provide a kind of based on multi-cam data fusion with
Early warning system, can effectively identify multiple dimensioned target and can all-dimensional multi-angle real-time monitoring hull peripheral situation
System, and the system can also issue suitable warning information, provide reference information and traveling for the driver on ship
Countermeasure or support system as unmanned ship.
In order to solve the above-mentioned technical problems, the present invention provides a kind of ship environment senses based on multi-cam data fusion
Know and early warning system, comprising: multiple video analysis processing modules, data center module and the ship based on multi-cam data fusion
Oceangoing ship monitoring and these three module compositions of Warning Service module；
The video analysis processing module includes video acquisition submodule, information processing submodule, wireless and wire communication
Submodule and alarm submodule；Signal processing submodule is using deep learning algorithm to video acquisition submodule video collected
Image carries out target identification, thus realize the environment sensing and monitoring on ship and periphery, it is all kinds of in visual range including realizing
Target identification and target range detection；Information processing submodule according to deep learning algorithm tracked information carry out target identification, away from
From detection and early warning processing processing, that is, when finding early warning target or entering early warning distance, real-time informing alert sub-system is carried out
Sound-light alarm, at the same by wired communication interface or wireless communication submodule by video information and warning information by wired or
Communication is sent to data center；
Shown data center module mainly includes data storage subsystem and communication submodule two parts composition, is supported wired
Communication and wireless communication two ways, for multiple video analysis processing modules and the ship based on multi-cam data fusion
Monitoring is communicated with Warning Service module；Data center module is received by communication submodule and comes from each video analysis processing module
The video information and warning information of acquisition, data storage subsystem is arrived in storage, while being transmitted to based on multi-cam data fusion
Ship monitoring communicated with Warning Service module, realization by the video information of multiple video analysis processing modules and warning information into
Row data fusion carries out the ship environment perception based on multi-cam data fusion and handles with early warning.
Double-camera video frequency analysis and processing module in one of the embodiments, is applied to ship rear and front end, passes through two
A camera is configured using binocular vision, realizes the three-dimensional reconstruction in front navigation channel and rear navigation channel visual scene, while in determination
Accurate ranging is carried out after mass center.
Single camera video analysis processing module in one of the embodiments, is applied to ship side front, side and side
The omni-directional video real-time monitoring of system is realized at rear.
The ship monitoring and Warning Service module packet based on multi-cam data fusion in one of the embodiments,
The parts such as information processing submodule, communication submodule, information collocation module, video display sub-module and alarm module are included to constitute,
Wherein communication submodule can be supported to communicate by wired or wireless communication mode with data center, receive data center module forwarding
Each video analysis processing module video data and warning information；Information processing submodule realizes each video point to acquisition
The Data Fusion for analysing the video information of processing module acquisition, realizes the three-dimensional reconstruction of ship local environment, aobvious by video
Show that subsystem is shown, realize the exchange of multiple video analysis processing modules processing information and fusion and carries out integrated treatment simultaneously
Judgement, decision, the alarm of unified responsible diversified forms；When generating early warning, information processing submodule sends warning information to report
Alert submodule, the alarm of diversified forms is realized by alarm submodule, including showing alarm by the screen of video display sub-module,
By communicating the remote alarms and emergency of submodule, and one or more video analysis specified by communication submodule notice
Processing module carry out sound, light alarm；Ship monitoring based on multi-cam data fusion is with Warning Service module and basis is based on
The environmental information that multi-cam data fusion is perceived can provide visualization digital environment for marine navigator, and auxiliary is driven
It sails；Message processing module can also carry out comprehensive pre-warning according to the environmental information perceived based on multi-cam data fusion,
And sailing decision-making information is provided to marine navigator or unmanned control system.
User can configure system by information collocation module in one of the embodiments, including video point
Analyse number, position and the type and alarm mode of processing module installation；By the position class for configuring video analysis processing module
Type makes system preferably realize that the video information from multiple video analysis processing modules is merged according to the information, Jin Ergeng
Good realization omnidirection circumstance perception.
Beneficial effects of the present invention:
Multiple dimensioned target can effectively be identified and can all-dimensional multi-angle real-time monitoring hull peripheral situation
System, and the system can also issue suitable warning information, provide reference information and traveling for the driver on ship
Countermeasure or support system as unmanned ship.
Detailed description of the invention
Fig. 1 is that the present invention is based on the general frame figures of the ship environment of multi-cam data fusion perception and early warning system.
Fig. 2 is that the present invention is based on the perception of the ship environment of multi-cam data fusion and the dual camera view in early warning system
Frequency acquisition module.
Fig. 3 is that the present invention is based on the single camera videos of the ship environment of multi-cam data fusion perception and early warning system
Acquisition module.
Fig. 4 is that the present invention is based on the perception of the ship environment of multi-cam data fusion and being imaged in early warning system based on more
Ship environment perception and the early warning system service module of head data fusion.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings and specific examples, so that those skilled in the art can be with
It more fully understands the present invention and can be practiced, but illustrated embodiment is not as a limitation of the invention.
Ship environment perception based on multi-cam data fusion mainly handles mould by multiple video analysis with early warning system
Block, data center and ship monitoring and these three module compositions of Warning Service module based on multi-cam data fusion, it is overall
Structure is as shown in Figure 1.
Ship environment perception based on multi-cam data fusion and early warning system general frame as shown in Figure 1, to solve
Dead Core Problems are monitored, 8 (but being not limited to 8, can increase or reduce according to hull size) views are arranged around hull
Frequency analysis processing module is perceived and is acquired for ambient condition information.8 video analysis processing module distributions are as follows: ship head 1
It is a, for monitoring front channel status；Left front, right first each 1, for auxiliary monitoring front and side channel status；It is left and right
Each 1, for monitoring positive survey side channel status；After left back, right, each 1 of ship tail portion, it is common to monitor rear channel status, and
Auxiliary monitoring survey side channel status, thus with data center and the ship based on multi-cam data fusion monitoring and Warning Service
Module collectively forms comprehensive environment sensing and early warning system.In practical application, it can be increased or decreased according to hull size
Video analysis processing module can be reduced to 4 by the distribution of video analysis processing module, spitkit, distribution are as follows: ship head 1
It is a, for monitoring front channel status；Left and right each 1, for monitoring side navigation channel channel status；Ship tail portion 1 is used
In monitoring rear channel status.Super large marine can increase camera number in side, improve the accuracy of monitoring and comprehensive.
The video analysis processing module used shown in Fig. 1 mainly includes video acquisition submodule, information processing submodule, nothing
Line and wire communication submodule and alarm submodule, wherein being divided into according to video acquisition submodule connection 1 or 2 cameras
Double-camera video frequency analysis and processing module and single camera analysis and processing module two types complete the video of ship surrounding enviroment
Collecting work.Double-camera video frequency analysis and processing module is taken the photograph by two as shown in Fig. 2, be mainly used in ship rear and front end
As head configures the three-dimensional reconstruction, it can be achieved that front navigation channel and rear navigation channel visual scene using binocular vision, while matter is being determined
Accurate ranging is carried out after the heart；Technique of binocular stereoscopic vision used by double-camera video frequency analysis and processing module is based on optics base
Plinth has the characteristics that high stability and common-path interference, while compared to laser, infrared technique, technique of binocular stereoscopic vision has
It is at low cost, it is easy to use and can determine that three-dimensional information and have its unique advantage；Single camera video analysis processing module such as Fig. 3 institute
Show, is mainly used in ship side front, side and side rear shown in FIG. 1, realizes the omni-directional video real-time monitoring of system；It must
In the case of wanting, can in front of ship side, side and side rear use double-camera video frequency analysis and processing module, realize it is comprehensive
The three-dimensional reconstruction of environment improves the environment sensing and monitoring of system, can export efficient accurate warning information, provide more
Reliable safety guarantee.Signal processing submodule shown in Fig. 2 and Fig. 3 mainly uses YOLO technology even depth learning algorithm pair
Video acquisition submodule video image collected carries out target identification, to realize the environment sensing and prison on ship and periphery
It surveys, including realizing all kinds of target identifications and target range detection in visual range etc.；Information processing submodule is according to YOLO etc.
Deep learning algorithm tracked information carry out target identification, distance measurement and early warning processing processing, i.e., discovery early warning target or into
When entering early warning distance, real-time informing alert sub-system carries out sound-light alarm, while passing through wired communication interface or wireless communication
Video information and warning information (as occurred) are sent to data center by wired or communication by module.
The data center module used shown in Fig. 1 mainly includes data storage subsystem and communication submodule two parts group
At support wire communication and wireless communication two ways are mainly used for imaging with multiple video analysis processing modules and based on more
The ship monitoring of head data fusion is communicated with Warning Service module.Data center module is received by communication submodule from each
The video information and warning information of video analysis processing module acquisition, data storage subsystem is arrived in storage, while being transmitted to and being based on
The ship monitoring of multi-cam data fusion is communicated with Warning Service module, is realized the video of multiple video analysis processing modules
Information and warning information carry out data fusion, carry out the ship environment perception based on multi-cam data fusion and handle with early warning.
Ship monitoring based on multi-cam data fusion is with Warning Service module as shown in figure 4, mainly including at information
It manages the parts such as submodule, communication submodule, information collocation module, video display sub-module and alarm module to constitute, wherein communicating
Submodule can be supported to communicate by wired or wireless communication mode with data center, receive each view of data center module forwarding
The video data and warning information of frequency analysis processing module；Information processing submodule, which is realized, handles mould to each video analysis of acquisition
The Data Fusion of the video information of block acquisition, realizes the three-dimensional reconstruction of ship local environment, passes through video display subsystem
It is shown, the exchange of multiple video analysis processing modules processing information may be implemented and fusion and carries out integrated treatment and sentence
Certainly, decision, the alarm of unified responsible diversified forms；When generating early warning, information processing submodule sends warning information to alarm
Submodule is realized the alarm of diversified forms by alarm submodule, including showing alarm by the screen of video display sub-module, is led to
The remote alarms and emergency of communication submodule are crossed, and are notified at one or more specified video analysis by communication submodule
Manage module carry out sound, light alarm；User can configure system by information collocation module, including video analysis handles mould
Number, position and the type and alarm mode of block installation；It, can be with by configuring the location type of video analysis processing module
System is set preferably to realize that the video information from multiple video analysis processing modules is merged according to the information, and then preferably
Realize omnidirection circumstance perception；By configuring alarm mode, can effectively improve user experience, can also be improved entire monitoring with
The robustness of early warning system also provides better interactive services
Ship monitoring based on multi-cam data fusion is melted with Warning Service module and according to based on multi-cam data
Visualization digital environment can be provided for marine navigator by closing perceived environmental information, and auxiliary drives；Information processing mould
Block can also carry out comprehensive pre-warning according to the environmental information perceived based on multi-cam data fusion, and provide sailing decision-making
Information is to marine navigator or unmanned control system.
Embodiment described above is only to absolutely prove preferred embodiment that is of the invention and being lifted, protection model of the invention
It encloses without being limited thereto.Those skilled in the art's made equivalent substitute or transformation on the basis of the present invention, in the present invention
Protection scope within.Protection scope of the present invention is subject to claims.
Claims (5)
1. a kind of ship environment perception and early warning system based on multi-cam data fusion characterized by comprising multiple views
Frequency analysis processing module, data center module and based on multi-cam data fusion ship monitoring with Warning Service module this three
A module composition；
The video analysis processing module includes video acquisition submodule, information processing submodule, wireless and wire communication submodule
Block and alarm submodule；Signal processing submodule is using deep learning algorithm to video acquisition submodule video image collected
Target identification is carried out, so that the environment sensing and monitoring on ship and periphery are realized, including realizing all kinds of targets in visual range
Identification and target range detection；Information processing submodule carries out target identification according to deep learning algorithm tracked information, distance is visited
It surveys and early warning processing is handled, that is, when finding early warning target or entering early warning distance, real-time informing alert sub-system carries out acousto-optic
Alarm, while by wired communication interface or wireless communication submodule being passed through video information and warning information wired or wireless
Communication mode is sent to data center；
Shown data center module mainly includes data storage subsystem and communication submodule two parts composition, supports wire communication
With wireless communication two ways, for multiple video analysis processing modules with the ship based on multi-cam data fusion monitor
It is communicated with Warning Service module；Data center module is received by communication submodule and is acquired from each video analysis processing module
Video information and warning information, storage arrives data storage subsystem, while being transmitted to the ship based on multi-cam data fusion
Oceangoing ship monitoring is communicated with Warning Service module, and realization counts the video information of multiple video analysis processing modules and warning information
According to fusion, carries out the ship environment perception based on multi-cam data fusion and handled with early warning.
2. the ship environment perception based on multi-cam data fusion and early warning system, feature exist as described in claim 1
In double-camera video frequency analysis and processing module is applied to ship rear and front end, is matched by two cameras using binocular vision
It sets, realizes the three-dimensional reconstruction in front navigation channel and rear navigation channel visual scene, while carrying out accurate ranging after determining mass center.
3. the ship environment perception based on multi-cam data fusion and early warning system, feature exist as described in claim 1
In single camera video analysis processing module is applied to ship side front, side and side rear, realizes the comprehensive view of system
Frequency real-time monitoring.
4. the ship environment perception based on multi-cam data fusion and early warning system, feature exist as described in claim 1
In the ship monitoring and Warning Service module based on multi-cam data fusion includes information processing submodule, communicator
The part such as module, information collocation module, video display sub-module and alarm module is constituted, wherein communication submodule can be supported to pass through
Wired or wireless communication mode is communicated with data center, receives each video analysis processing module of data center module forwarding
Video data and warning information；Information processing submodule realizes the video information of each video analysis processing module acquisition to acquisition
Data Fusion, realize ship local environment three-dimensional reconstruction, shown by video display subsystem, realize it is multiple
The exchange and fusion of video analysis processing module processing information simultaneously carry out integrated treatment and adjudicate, decision, are uniformly responsible for a variety of shapes
The alarm of formula；When generating early warning, information processing submodule sends warning information and gives alarm submodule, is realized by alarm submodule
The alarm of diversified forms, including showing alarm by the screen of video display sub-module, by the remote alarms for communicating submodule
And emergency, and alarmed by one or more specified video analysis processing module carry out sound of communication submodule notice, light；Base
It is simultaneously perceived according to based on multi-cam data fusion in the ship monitoring of multi-cam data fusion with Warning Service module
Environmental information visualization digital environment can be provided for marine navigator, auxiliary drives；Message processing module can also root
Comprehensive pre-warning is carried out according to the environmental information perceived based on multi-cam data fusion, and provides sailing decision-making information to ship
Driver or unmanned control system.
5. the ship environment perception based on multi-cam data fusion and early warning system, feature exist as described in claim 1
In user can configure system by information collocation module, number, position including video analysis processing module installation
And type and alarm mode；By configuring the location type of video analysis processing module, keep system better according to the information
It realizes that the video information from multiple video analysis processing modules merges, and then preferably realizes that omnidirection circumstance perceives.
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