CN110853174A - Inland river patrol and comprehensive law enforcement method, device and system based on ship-shore cooperation - Google Patents

Inland river patrol and comprehensive law enforcement method, device and system based on ship-shore cooperation Download PDF

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Publication number
CN110853174A
CN110853174A CN201911047807.XA CN201911047807A CN110853174A CN 110853174 A CN110853174 A CN 110853174A CN 201911047807 A CN201911047807 A CN 201911047807A CN 110853174 A CN110853174 A CN 110853174A
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law enforcement
patrol
image
inland river
ship
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CN110853174B (en
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郭亚中
张维苏
肖全
曹玫
张雷
谭挺
孙浩
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Central Design Group Co Ltd
China Design Group Co Ltd
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Central Design Group Co Ltd
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    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
    • G07C1/20—Checking timed patrols, e.g. of watchman
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/22—Matching criteria, e.g. proximity measures
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Systems or methods specially adapted for specific business sectors, e.g. utilities or tourism
    • G06Q50/10—Services
    • G06Q50/26—Government or public services
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/76—Television signal recording

Abstract

The invention relates to a method, a device and a system for inland river patrol and comprehensive law enforcement with bank cooperation, which are used for planning patrol and law enforcement paths, marking patrol points and law enforcement points, strengthening the contour lines of bank protection and bank line navigation aids, starting an inland river patrol and comprehensive law enforcement device with bank cooperation, automatically advancing along the planned path through the device, and realizing patrol and law enforcement by combining an inland river patrol and comprehensive law enforcement system with bank cooperation; the inland river patrol and comprehensive law enforcement device with ship-shore cooperation can interact with information of shore-side communication nodes, and can expand panoramic videos, broadcasts and the like; the inland river patrol and comprehensive law enforcement system with ship-shore cooperation comprises the functions of operation monitoring, path planning, patrol recording, comprehensive law enforcement, information sharing, statistical analysis and the like. The invention integrates key technologies such as positioning, image recognition, wireless communication and the like, and can solve the problems of large and inaccurate manual recording workload, laggard patrol means, difficult law enforcement and evidence collection, more inland river blind areas, difficult supervision coverage and the like.

Description

Inland river patrol and comprehensive law enforcement method, device and system based on ship-shore cooperation
Technical Field
The invention relates to the technical field of inland river patrol and law enforcement, in particular to a method, a device and a system for inland river patrol and comprehensive law enforcement with ship-shore cooperation.
Background
With the rapid development of economy, the mileage of a waterway is continuously increased, and the inland river water movement plan of a two-longitudinal-five-transverse eighteen-wire net is being formed.
The inland waterway is narrow, the storm is small, the remote regions are many, the supervision is difficult to cover, the workload of a manual patrol mode is large, patrol and manual recording are often required to be carried out by patrol personnel along a revetment, a side slope or a small boat, the number of patrol service personnel of the inland waterway is small, and the remote regions are difficult to cover; for the key points of the channels such as the channels which are easy to jam, the channel control areas, the important water source places, the segments with large water level changes, the segments with shallow water levels, the segments which are easy to collapse and the like, professional personnel are often required to supervise and patrol for 7 x 24 hours.
The name plate number of inland river boats and ships marks and has no standard, and to the supervision of boats and ships, still to regard manual mode as the main, although AIS is more popular in river basin such as the Yangtze river, nevertheless in the inland river field, still there is the basic station and covers incompletely, difficult problem such as covering. Administrative law enforcement informatization means of inland ships are relatively backward, management is relatively difficult, and field law enforcement work is usually completed by manually driving a law enforcement boat. During the law enforcement process, the current water law enforcement boat at least needs 2 persons, 1 person drives the boat and 1 person observes. The evidence collection of law enforcement is also a difficult problem, and at present, the law enforcement is mainly carried out manually, and no mature informatization means exists.
At present, law enforcement on water is difficult to obtain evidence, the number of cameras on the bank side is small, the cost is high, and images of the inland river ship at the bank side viewing angle in the running process are difficult to obtain. The ships need to be subjected to on-site law enforcement such as offline berthing, illegal loading and unloading and the like; the channel scene of inland river water transportation is difficult to fix, and the water level change is big, and can not judge.
The intelligent inspection cases of the existing inland waterway are very few, and the inspection is finished by means of an unmanned aerial vehicle occasionally, the method is usually just to judge the violation of construction by comparing overlooked pictures, although the method is occasionally applied, the method is greatly influenced by the local environment of the waterway, the inland waterway water level changes greatly, the meteorological environment is greatly influenced, and the like, the unmanned ship is not commonly applied, particularly, the existing unmanned ship inspection only provides a walking device, manual operation is assisted, the overwater inspection cannot be realized, and the underwater section condition cannot be sensed. The existing intelligent law enforcement means for inland waterway is almost not available.
Disclosure of Invention
The invention aims to provide a method, a device and a system for inland river patrol and comprehensive law enforcement with ship-shore cooperation, which solve the problems of large and inaccurate manual recording workload, backward patrol means, difficult law enforcement and evidence collection, more inland river blind areas, difficult supervision and the like in inland river water transport infrastructure operation management.
The technical scheme for realizing the purpose of the invention is as follows: a inland river patrol and comprehensive law enforcement method based on ship-shore cooperation comprises the following steps:
step 1, planning a patrol path, a law enforcement path or a patrol and law enforcement path for the inland river patrol and comprehensive law enforcement device;
step 2, starting patrol according to the planned patrol route; or starting law enforcement according to the planned law enforcement path; or starting patrol and law enforcement according to the planned patrol and law enforcement path; wherein the content of the first and second substances,
the inspection comprises the following steps:
(2-1-1) marking inspection points on the inspection path, wherein the inspection points comprise a bank protection inspection point, a navigation aid facility inspection point and a safety facility inspection point, completing the supplement of path records, and correspondingly arranging a bank side transmission node and a typical facility outline marking line;
(2-1-2) corresponding to the starting point, determining the initial height of the inland river patrol;
(2-1-3) corresponding to the patrol points, and realizing initialization of the outline marking lines and the shooting heights of the navigation aid facilities and the safety facilities;
(2-1-4) starting the inland river patrol and comprehensive law enforcement device, automatically advancing according to the path and the patrol point position, and collecting underwater section information and GPS information of the passing path in the whole process;
(2-1-5) sequentially arriving at inspection points, and automatically adjusting the inland river inspection and comprehensive law enforcement device to a shooting height according to the advancing GPS position and the height difference between the inland river inspection and the initial height;
(2-1-6) shooting an image after the shooting height is unified with the GPS position; processing the image to finish automatic comparison with the historical image;
according to the position, the automatic image processing comprises the following scenes: judging whether the shape of the revetment or the side slope is consistent with the historical image or not; judging whether the shape of the navigation aid facility is consistent with the historical image or not; judging whether the bank flag, the navigation mark, the warning mark and the label are damaged or lost;
(2-1-7) enabling the unmanned ship to pass through the non-mark points, and recording a video stream in real time by using a camera; the data are stored locally, transmitted to a shore side communication unit according to positions and synchronously transmitted to an inland river patrol and comprehensive law enforcement system;
(2-1-8) if necessary, manually adjusting and watching the video stream in the whole process, and manually judging whether passing facilities need maintenance;
(2-1-9) generating a patrol report and a maintenance suggestion;
the law enforcement steps are as follows:
(2-2-1) defining law enforcement points on a planned path, wherein the law enforcement points comprise bank protection law enforcement points, law enforcement forbidding points, construction control law enforcement points and law enforcement points in regions easy to illegally load and unload, and setting bank side transmission nodes and typical facility contour marked lines;
(2-2-2) determining an initial height corresponding to the starting point;
(2-2-3) initializing a typical facility contour marking line and a camera shooting height at a corresponding law enforcement point;
(2-2-4) sequentially reaching law enforcement points according to a planned path, and automatically adjusting the inland river patrol and law enforcement device to a shooting height according to the advancing GPS position and the height difference between the inland river patrol and law enforcement device and the initial height;
(2-2-5) when the shooting height is consistent with the GPS position, shooting an image to finish law enforcement and evidence collection;
(2-2-6) performing image matching analysis based on the law enforcement image:
the method mainly comprises the following scenes: judging whether a bank protection law enforcement point is illegally built; judging whether a ship exists in the image of the law enforcement prohibition point; judging whether the marks of law enforcement points in the control areas of the overwater construction are complete or not; judging whether illegal loading and unloading exist in the law enforcement points in the non-wharf area; recording video streams during the path walking process between the law enforcement points, namely non-designated law enforcement points;
(2-2-7) enabling the unmanned ship to pass through the non-mark points, and recording a video stream in real time by using a camera; the data are stored locally, transmitted to a shore side communication unit according to positions and synchronously transmitted to an inland river patrol and comprehensive law enforcement system;
(2-2-8) if necessary, transmitting the video stream to a shore side communication unit according to the position, watching the video stream in the law enforcement process, and manually judging whether the law enforcement is required on site;
(2-2-9) automatically generating a law enforcement instruction according to the image automatic analysis result, the shooting time and the corresponding illegal position; automatically generating a law enforcement instruction corresponding to the basic information and the GPS position information of the inland ship;
the patrol and law enforcement steps are as follows:
(2-3-1) marking inspection points and law enforcement points on the planned inspection and law enforcement paths, and setting shore side transmission nodes and typical facility contour marking lines;
(2-3-2) setting an initial height corresponding to the starting point;
(2-3-3) initializing a reinforced contour line corresponding to the patrol point and the law enforcement point;
(2-3-3) starting a device, corresponding to the positions of the path and the patrol point, acquiring underwater section information of the path in the whole process, and matching the underwater section information with a GPS (global positioning system) of the device;
(2-3-4) at a patrol point and a law enforcement point, automatically adjusting the shooting height to be memorized according to the difference between the GPS position and the initial height, finishing snapshot, and recording a shot image by a camera;
image matching analysis is carried out at a marked law enforcement point, and the method mainly comprises the following scenes: judging whether the shape of the revetment or the side slope is consistent with the historical image or not; judging whether the shape of the navigation aid facility is consistent with the historical image or not; judging whether the bank flag, the navigation mark, the warning mark and the label are lost; judging whether a bank protection law enforcement point is illegally built; judging whether a ship exists in the image of the law enforcement prohibition point; judging whether the marks of law enforcement points in the control areas of the overwater construction are complete or not; judging whether illegal loading and unloading exist in the law enforcement points in the non-wharf area;
(2-3-5) if necessary, adjusting and watching the video stream in the whole process, manually judging whether passing facilities need maintenance or not, and manually judging whether on-site law enforcement is required or not;
(2-3-6) according to the image automatic analysis result and the shooting time, correspondingly creating an illegal construction law enforcement instruction; generating a law enforcement instruction corresponding to the GPS basic information and the position information of the inland ship;
and 3, automatically advancing by the inland river patrol and comprehensive law enforcement device according to the planned patrol path, law enforcement path, patrol and law enforcement path until the completion.
Further, the ship-shore cooperation comprises three parts: firstly, a shore side transmission node is communicated with unmanned ship equipment by adopting WIFI or RFID; secondly, facility contour mark lines are supplemented; thirdly, a shore side reference point is marked by means of the corresponding relation and the image range of the shore side supplementary mark and the ship video;
when the RFID card reader reads RIFD tag information carried by the unmanned ship through heartbeat, the communication module is started, and the transmission of the stored information is finished automatically;
supplementing a facility outline mark, and in the patrol process, coordinating a camera for acquiring a bank protection image with a bank protection and a brightening marking line of a typical navigation aid facility; in the law enforcement process, dangerous goods information and dangerous goods type information on the shore side are automatically acquired, and automatic identification and cooperation of dangerous goods types at the wharf are realized;
a shore-side datum point, namely, before starting, the intelligent walking unmanned ship is calibrated with a shore-side water gauge, and the initial height is positioned; and (4) calibrating the starting position, setting the height of the unmanned ship moving cross rod by comparing the water depth of the current underwater section with the water gauge, and keeping the initial value of the height adjusting device to be 0.
Furthermore, the inland river patrol and comprehensive law enforcement device takes an unmanned ship as basic equipment for water patrol and law enforcement.
Furthermore, the unmanned ship carries a single-beam radar for collecting underwater section information, the underwater section data can be stored in a local format of TXT, and can be synchronously transmitted to a inland river patrol and comprehensive law enforcement system cooperated with the ship shore
Further, the video acquisition device of the unmanned ship comprises 2 paths of cameras, wherein one path of camera is arranged on a middle upright post of the unmanned ship and is used for acquiring a video stream; the moving cross rod is arranged on the other path and is used for capturing images.
Furthermore, according to two data of a preset position and the current water depth, the control module automatically outputs the ship height, controls the stroke of the stepping motor, automatically adjusts the height of the movable cross rod, and keeps the position of the camera at the mark point position as high as the side slope and the revetment.
Furthermore, a camera for shooting images is mounted, image data shot at a specified place is stored locally and transmitted to an inland river patrol and comprehensive law enforcement system, and whether the shape of the revetment is changed or not is automatically judged, namely: the contrast of the image is consistent with that of the historical image, and after local bank protection collapses and landslides change, the information format stored by the image has sudden change; secondly, the following steps: adding a reflective slogan and a sign line at a part easy to collapse, and automatically judging the deformation of the sign line through an image to obtain whether the shape of the revetment is kept; and judging whether the image is consistent with the historical image or not, and judging the integrity of the mark lines of the navigation mark, the navigation aid buoy and the ship mooring buoy.
Further, the method for determining the initial height comprises the following steps: determining a datum line, matching the datum line with the water level line and the water depth of the initial point, and ensuring the matching of the initial height and the water level change; the subsequent patrol, law enforcement, point heights are relative heights to the initial height.
Furthermore, a camera for shooting images is mounted, image data shot at a designated place can be stored locally and transmitted to an inland river patrol and comprehensive law enforcement system for judging whether a bank flag, a navigation mark, a warning mark and a label are lost or not, the method comprises a foreground and background comparison analysis method of the images, a sliding matching method of two images is utilized, the whole image is scanned, and the best comparison area is obtained for matching comparison processing.
Further, the contour is processed by a digital image processing method for capturing an image by a camera, comprising the steps of:
(1) converting the original image into an HSL image;
(2) separating the white color of the sign line from the HSL image;
(3) converting the image into gray scale, smoothing the edge by applying Gaussian blur, finishing edge detection by applying Canny, and extracting a sign line profile;
(4) and comparing the consistency of the current image with the edge of the historical image.
Further, the method for artificially judging the video stream comprises the following steps: the ship bank is used for cooperating with the inland river intelligent inspection and law enforcement device, the camera used for shooting images carried by the device can store image data shot at a designated place locally and transmit the image data to the inland river inspection and comprehensive law enforcement system, manual assistance is used for judging whether the shape of the navigation aid facility is complete, and the method is used for blind compensation.
Furthermore, an inland river patrol and comprehensive law enforcement system inputs a patrol path of the unmanned ship, and the unmanned ship can automatically complete patrol; meanwhile, a manual control device is arranged, and manual navigation assistance can be carried out.
Furthermore, route formation can be formed according to characteristics of inland waterways and water areas, a certain number of inland river patrol and comprehensive law enforcement devices are configured in each group of routes, and management full coverage of the waterways and the water areas can be realized through a inland river patrol and comprehensive law enforcement system with ship-shore cooperation.
Furthermore, managers can observe the video stream in real time, and call the stored video stream and images after cruising, so as to carry out post-inspection and law enforcement with manual assistance.
Further, data backup and transmission can be realized through equipment of the shore side transmission node.
Furthermore, a law enforcement mark is hung on the unmanned ship.
Furthermore, the unmanned ship sails according to the routing inspection path or is manually operated to run.
Furthermore, images and videos acquired by the unmanned ship are transmitted to a inland river patrol and comprehensive law enforcement system, can be distributed to relevant management departments such as maritime affairs, port and navigation, transport management, state and soil, environmental protection and the like, and can realize comprehensive law enforcement.
Further, the collected images and videos are transmitted to an on-site law enforcement boat in real time through a network.
A inland river patrol and comprehensive law enforcement device with ship-shore cooperation comprises an unmanned ship, a video acquisition device, a water depth measuring module, a positioning module, a main control module, a height adjusting device, a power supply module, a transmission module and a storage module; wherein:
the unmanned ship automatically walks according to the planned path and can be manually controlled;
the video acquisition device is used for acquiring images and video streams;
the water depth measuring module is used for sensing water depth and determining the size of an underwater section;
the positioning module is used for sensing the GPS position of the unmanned ship;
the main control module is used for completing the control of the image comparison and height adjustment device, outputting a snapshot instruction, transmitting control and the like;
the height adjusting device is matched with the GPS and automatically adjusts the height according to the setting of the main control module;
the power supply module is used for supplying and storing power for the unmanned ship and the carrying equipment;
the transmission module is used for wireless short-distance manual control and 3G/4G information transmission of the inland river patrol and comprehensive law enforcement system;
the storage module is used for storing the water depth data of the water depth measuring module, the images acquired by the video acquisition device and the video stream.
Further, the unmanned ship comprises a communication antenna, an encryption module and a remote controller; the communication antenna is used for being matched with the transmission module to realize information transmission, the encryption module is used for taking the 14-bit ship unique identification code as a file header for transmitting data, and the remote controller is used for manually operating the unmanned ship.
Further, the video acquisition device comprises 2 paths of cameras, wherein 1 path is used for capturing images and 1 path is used for shooting videos.
Furthermore, the height adjusting device is arranged in the middle of the unmanned ship, the main control module records the heights of different positions, and the positioning module outputs the rotation direction and the rotation time of the motor when reaching a specified position to adjust the height.
Furthermore, the water depth measuring module adopts a single-beam depth measuring radar.
Further, the transmission module adopts a real-time radio frequency point-to-point communication mode, and the console is transmitted to the inland river patrol and comprehensive law enforcement system in a 4G mode; the shore-based base station can be extended, and the control range can be increased to 20 kilometers.
Further, the main control module finishes the automatic adjustment of the height adjusting device according to the real-time position acquired by the positioning module and the height information input in advance.
Further, the height adjusting device automatically sends out a snapshot instruction after being adjusted in place according to the positioning information.
Further, the device reserves a plurality of expansion interfaces: firstly, a panoramic camera can be carried to collect panoramic images of inland rivers at a specified position, and the height of the panoramic camera is more than 3 m; secondly, warning lamps can be carried, and related ships and violation organizations are warned in the law enforcement process; and thirdly, a public address device can be carried for calling the violation ship.
The utility model provides a inland river patrol and comprehensive law enforcement system of ship bank cooperation, includes operation monitoring module, route planning module, patrol and handle module, law enforcement and handle module, information sharing module and statistical analysis module, wherein:
the operation monitoring module is used for displaying the driving path, the local enlarged view and the AIS position of the ship on the basis of the GIS map;
the route planning module is used for recording a patrolling route, a law enforcement route, a patrolling point and a law enforcement point;
the patrol handling module is used for providing a patrol interface and records;
the law enforcement handling module is used for providing a law enforcement interface and records and outputting a law enforcement record sheet;
the information sharing module is used for providing a data query interface and an image query interface;
and the statistical analysis module is used for data statistics and analysis.
Further, the patrol disposal module and the law enforcement disposal module display corresponding interfaces and records through the APP.
Furthermore, the GIS map adopts an open-source geographic information system as a base map, an inland waterway path is calibrated according to a ship path, special map layers related to maritime affairs and port navigation are customized and are automatically matched with the facility position in the CAD, when the GIS is displayed, the drawing technology corresponding to dynamic business data of a browser end is dynamically superposed on the map through an Ajax technology, and patrol and law enforcement business path data and map data are refreshed separately through an XMLHttpRequest asynchronous request.
Further, the path planning method comprises the following steps: the method is combined with Excel file sequence documents of the existing inspection process, and a path and a calculation method are developed by combining with the positions of facilities, so that the optimal path is automatically generated, and meanwhile, business personnel can conveniently click mechanisms on a map, add and modify facilities and confirm the accurate positions of the facilities.
Further, the data sharing and exchanging method comprises the following steps: on the premise of unifying the data format, a public data exchange interface is established, and a data exchange platform is a main source of data. The method comprises the following steps: the maritime data is exchanged through the middleware to realize sharing; service data is shared in a mode of converting a gatekeeper front-end processor into an MQ; the rest of the data is shared through the data exchange platform. Defining the sharable range of data according to the user authority, and performing three-level user: managers, decision-makers, service personnel, and service personnel are classified into two categories, namely patrol and law enforcement.
Further, the system reserves a plurality of expansion interfaces, including: the panoramic camera display interface; secondly, a warning light control interface; and thirdly, broadcasting control interface.
Compared with the prior art, the invention has the beneficial effects that: (1) the invention adopts unmanned ship inspection mode, can compare, locate, and record violation process by comparing picture and background, and has complete elements; (2) the inspection and law enforcement method can cover the whole inland river domain; (3) the unmanned ship disclosed by the invention can automatically walk by combining high-precision positioning and a path; (4) adopting a ship-shore cooperation method, and emphasizing on the identification and supplement of a shore-side profile; (5) the inspection method can judge whether the shape of the revetment is kept and the navigation aid facilities are complete; the comprehensive law enforcement method can judge whether the revetment has illegal construction or not, whether a law enforcement forbidden point has a ship or not, whether a control area mark of water construction is complete or not, and whether a non-wharf area has illegal loading and unloading.
Drawings
Fig. 1 is a flow chart of a inland river patrol method based on ship-shore cooperation.
Fig. 2 is a flow chart of a inland river law enforcement method with bank coordination.
Fig. 3 is a flow chart of inland river patrol and law enforcement with bank coordination.
Fig. 4 is a schematic view of a inland river patrol and law enforcement device with ship-shore cooperation.
Fig. 5 is a schematic block diagram of a bank-cooperative inland river patrol and law enforcement system.
Detailed Description
The invention provides a method, a device and a system for inland river patrol and comprehensive law enforcement with bank cooperation, which respectively describe in detail a method for inland river patrol with bank cooperation, a method for inland river patrol and comprehensive law enforcement with bank cooperation, a device for inland river patrol and comprehensive law enforcement with bank cooperation and a system for inland river patrol and comprehensive law enforcement with bank cooperation by combining an embodiment and a drawing.
Example 1
A bank-cooperative inland river patrol method, as shown in fig. 1, includes:
s101, planning a patrol path for the inland river patrol and comprehensive law enforcement device;
s102, marking inspection points on the inspection path, wherein the inspection points comprise bank protection inspection points, navigation aid facility inspection points, warning signs, labels and other safety facility inspection points, completing the supplement of path records, and correspondingly setting a bank side transmission node and a typical facility outline marking line;
s103, corresponding to the starting point, determining the initial height of the inland river patrol;
s104, corresponding to the patrol points, and realizing initialization of the outline marking lines and the shooting heights of the navigation aid facilities and the safety facilities;
s105, starting an inland river patrol and comprehensive law enforcement device, automatically advancing according to the path and the patrol point position, and collecting underwater section information and GPS information of the path in the whole process;
s106, sequentially arriving at a patrol inspection point, and automatically adjusting the inland river patrol and comprehensive law enforcement device to a shooting height according to the advancing GPS position and the height difference between the inland river patrol and the initial height;
s107, shooting an image after the shooting height is unified with the GPS position; processing the image to finish automatic comparison with the historical image;
according to the position, the automatic image processing comprises the following scenes: judging whether the shape of the revetment or the side slope is consistent with the historical image or not; judging whether the shape of the navigation aid facility is consistent with the historical image or not; judging whether the bank flag, the navigation mark, the warning mark and the label are damaged or lost;
s108, enabling the unmanned ship to pass through the non-mark points, and enabling the camera to record video streams in real time; the data are stored locally, transmitted to a shore side communication unit according to positions and synchronously transmitted to an inland river patrol and comprehensive law enforcement system;
s109, if necessary, adjusting and watching the video stream in the whole process, and manually judging whether passing facilities need to be maintained;
s110, generating an inspection report and a maintenance suggestion;
the ship-shore cooperation comprises three parts: firstly, a shore side transmission node is communicated with an unmanned ship by adopting WIFI or RFID; secondly, facility contour mark lines are supplemented; thirdly, a shore side reference point is marked by means of the corresponding relation and the image range of the shore side supplementary mark and the ship video;
when the RFID card reader reads RIFD tag information carried by the unmanned ship through heartbeat, the communication module is started, and the transmission of the stored information is finished automatically;
supplementing a facility outline mark, and in the patrol process, coordinating a camera for acquiring a bank protection image with a bank protection and a brightening marking line of a typical navigation aid facility;
a shore-side datum point, namely, before starting, the intelligent walking unmanned ship is calibrated with a shore-side water gauge, and the initial height is positioned; and (4) calibrating the starting position, setting the height of the unmanned ship moving cross rod by comparing the water depth of the current underwater section with the water gauge, and keeping the initial value of the height adjusting device to be 0.
The inland river patrol and comprehensive law enforcement device takes an unmanned ship as basic equipment for water patrol. The unmanned ship carries a single-beam radar for collecting underwater section information, the underwater section data is stored in a local format of TXT and is synchronously transmitted to a inland river patrol and comprehensive law enforcement system cooperated with the ship shore.
The video acquisition device of the unmanned ship comprises 2 paths of cameras, wherein one path of camera is arranged on a middle upright post of the unmanned ship and is used for acquiring a video stream; the moving cross rod is arranged on the other path and is used for capturing images.
According to two data of a preset position and the current water depth, the control module automatically outputs the ship height, controls the stroke of the stepping motor, automatically adjusts the height of the movable cross rod, and keeps the position of the camera at the mark point position as high as the side slope and the revetment.
Carry on the camera that is used for shooing the image, the image data of shooing in appointed place is saved locally and is transmitted to the inland river patrol and comprehensive law enforcement system of bank cooperation, judges automatically whether the shape of revetment changes, firstly: the contrast of the image is consistent with that of the historical image, and after local bank protection collapses and landslides change, the information format stored by the image has sudden change; secondly, the following steps: adding a reflective slogan and a sign line at a part easy to collapse, and automatically judging the deformation of the sign line through an image to obtain whether the shape of the revetment is kept; and judging whether the image is consistent with the historical image or not, and judging the integrity of the mark lines of the navigation mark, the navigation aid buoy and the ship mooring buoy.
The method comprises the steps of carrying a camera for shooting images, storing image data shot at a designated place in a local place, transmitting the image data to a ship bank cooperative inland river patrol and comprehensive law enforcement system, judging whether a bank flag, a navigation mark, a warning mark and a label are lost or not, carrying out comparison analysis on the foreground and the background of the images, scanning the whole image by using a sliding matching method of the two images, and obtaining the best comparison area for matching comparison processing.
The digital image processing method for processing the outline by using the image shot by the camera comprises the following steps:
(1) converting the original image into an HSL image;
(2) separating the white color of the sign line from the HSL image;
(3) converting the image into gray scale, smoothing the edge by applying Gaussian blur, finishing edge detection by applying Canny, and extracting a sign line profile;
(4) and comparing the consistency of the current image with the edge of the historical image.
The method for artificially judging the video stream comprises the following steps: the intelligent inland river patrol and law enforcement device with the ship-shore cooperation is used, a camera used for shooting images is carried by the device, image data shot at a designated place can be stored locally and transmitted to an inland river patrol and comprehensive law enforcement system with the ship-shore cooperation, manual assistance is used for judging whether the shape of a navigation aid facility is complete, and blind compensation can be performed by the method.
The method for determining the initial height of the patrol comprises the following steps: determining a datum line, matching the datum line with the water level line and the water depth of the initial point, and ensuring the matching of the initial height and the water level change; the subsequent patrol, law enforcement, point heights are relative heights to the initial height.
The manager can view the video stream in real time, and after cruising, retrieve the stored video stream and image for manual assistance post-inspection. The backup and transmission of data can be realized through the equipment of the shore side transmission node.
Example 2
The difference between this embodiment and embodiment 1 is that the unmanned ship is further equipped with a manual control device, and can be used for manual navigation assistance, that is, the unmanned ship can select an automatic inspection mode or a manual control inspection mode.
Example 3
A bank-cooperative inland river law enforcement method, as shown in fig. 2, comprising:
s201, planning a law enforcement path for the inland river patrol and comprehensive law enforcement device;
s202, defining law enforcement points on a planned path, wherein the law enforcement points comprise a bank protection law enforcement point, a forbidden law enforcement point, a construction control law enforcement point and an illegal loading and unloading area law enforcement point, and setting a bank side transmission node and a typical facility contour marking;
s203, corresponding to the starting point, determining the initial height;
s204, initializing a typical facility contour marking line and a camera height at a corresponding law enforcement point;
s205, sequentially reaching law enforcement points according to a planned path, and automatically adjusting the inland river patrol and law enforcement device to a shooting height according to the advancing GPS position and the height difference between the inland river patrol and law enforcement device and the initial height;
s206, when the shooting height is consistent with the GPS position, shooting an image to finish law enforcement and evidence collection;
s207, according to the law enforcement image, performing image matching analysis:
the method mainly comprises the following scenes: judging whether a bank protection law enforcement point is illegally built; judging whether a ship exists in the image of the law enforcement prohibition point; judging whether the marks of law enforcement points in the control areas of the overwater construction are complete or not; judging whether illegal loading and unloading exist in the law enforcement points in the non-wharf area; recording video streams during the path walking process between the law enforcement points, namely non-designated law enforcement points;
s208, enabling the unmanned ship to pass through the non-mark points, and enabling the camera to record video streams in real time; the data are stored locally, transmitted to a shore side communication unit according to positions and synchronously transmitted to an inland river patrol and comprehensive law enforcement system;
s209, if necessary, transmitting the video stream to a shore side communication unit according to the position, watching the video stream in the law enforcement process, and manually judging whether the field law enforcement is needed;
s210, automatically generating a law enforcement instruction corresponding to the position of the illegal building according to the automatic image analysis result and the shooting time; and automatically generating a law enforcement instruction corresponding to the basic information and the GPS position information of the inland ship.
The ship-shore cooperation comprises three parts: firstly, a shore side transmission node is communicated with unmanned ship equipment by adopting WIFI or RFID; secondly, facility contour mark lines are supplemented; thirdly, a shore side reference point is marked by means of the corresponding relation and the image range of the shore side supplementary mark and the ship video;
when the RFID card reader reads RIFD tag information carried by the unmanned ship through heartbeat, the communication module is started, and the transmission of the stored information is finished automatically;
supplementing a facility contour mark, and automatically acquiring dangerous goods information and dangerous goods type information on the shore side in the law enforcement process to realize automatic identification and cooperation of dangerous goods types at the wharf;
a shore-side datum point, namely, before starting, the intelligent walking unmanned ship is calibrated with a shore-side water gauge, and the initial height is positioned; and (4) calibrating the starting position, setting the height of the unmanned ship moving cross rod by comparing the water depth of the current underwater section with the water gauge, and keeping the initial value of the height adjusting device to be 0.
The inland river patrol and comprehensive law enforcement device takes an unmanned ship as basic equipment for water law enforcement. The unmanned ship carries a single-beam radar for collecting underwater section information, the underwater section data is stored in a local format of TXT and is synchronously transmitted to a inland river patrol and comprehensive law enforcement system cooperated with the ship shore. The video acquisition device of the unmanned ship comprises 2 paths of cameras, wherein one path of camera is arranged on a middle upright post of the unmanned ship and is used for acquiring a video stream; the moving cross rod is arranged on the other path and is used for capturing images.
According to two data of a preset position and the current water depth, the control module automatically outputs the ship height, controls the stroke of the stepping motor, automatically adjusts the height of the movable cross rod, and keeps the position of the camera at the mark point position as high as the side slope and the revetment.
The digital image processing method for processing the outline by using the image shot by the camera comprises the following steps:
(1) converting the original image into an HSL image;
(2) separating the white color of the sign line from the HSL image;
(3) converting the image into gray scale, smoothing the edge by applying Gaussian blur, finishing edge detection by applying Canny, and extracting a sign line profile;
(4) and comparing the consistency of the current image with the edge of the historical image.
The method for artificially judging the video stream comprises the following steps: the intelligent inland river patrol and law enforcement device with the ship-shore cooperation is used, a camera used for shooting images is carried by the device, image data shot in a designated place can be stored locally and transmitted to an inland river patrol and comprehensive law enforcement system with the ship-shore cooperation, manual assistance is used for judging whether the shape of a navigation aid facility is complete, and blind compensation is carried out by the method.
The inland river patrol and comprehensive law enforcement system records a law enforcement path of the unmanned ship, and meanwhile, the unmanned ship sails or manually operates to run according to the law enforcement path by being provided with a manual control device.
The manager can view the video stream in real time, and after the law enforcement is finished, the manager can call the stored video stream and images to perform the artificial assistance of the law enforcement afterwards.
The backup and transmission of data can be realized through the equipment of the shore side transmission node.
The images and videos acquired by the unmanned ship are transmitted to a inland river patrol and comprehensive law enforcement system cooperated with the ship shore, can be distributed to relevant management departments such as maritime affairs, port navigation, fortune management, state and soil, environmental protection and the like, and can realize comprehensive law enforcement. The collected images and videos are transmitted to an on-site law enforcement boat in real time through a network.
Example 4
The law enforcement mark is hung on the unmanned ship of the inland patrol and integrated law enforcement device in the embodiment 3.
Example 5
A bank-cooperative inland river patrol and integrated law enforcement method, as shown in fig. 3, comprising the following steps:
s301, planning a path for the inland river patrol and comprehensive law enforcement device;
s302, marking inspection points and law enforcement points on the planned inspection and law enforcement paths, and setting shore side transmission nodes and typical facility contour lines;
s303, setting an initial height corresponding to the starting point;
s304, initializing a reinforced contour line corresponding to the patrol point and the law enforcement point;
s305, starting a device, corresponding to the position of the path and the position of the patrol point, acquiring underwater section information of the path in the whole process, and matching the underwater section information with a GPS (global positioning system);
s306, automatically adjusting the shooting height to be memorized at a patrol point and a law enforcement point according to the difference between the GPS position and the initial height to complete snapshot, and recording the shot image by a camera;
image matching analysis is carried out at a marked law enforcement point, and the method mainly comprises the following scenes: judging whether the shape of the revetment or the side slope is consistent with the historical image or not; judging whether the shape of the navigation aid facility is consistent with the historical image or not; judging whether the bank flag, the navigation mark, the warning mark and the label are lost; judging whether a bank protection law enforcement point is illegally built; judging whether a ship exists in the image of the law enforcement prohibition point; judging whether the marks of law enforcement points in the control areas of the overwater construction are complete or not; judging whether illegal loading and unloading exist in the law enforcement points in the non-wharf area;
s307, if necessary, adjusting and watching the video stream in the whole process, manually judging whether the passing facility needs to be maintained, and manually judging whether the on-site law enforcement is needed;
s308, according to the image automatic analysis result and the shooting time, corresponding to the illegal construction, generating an illegal construction law enforcement instruction; generating a law enforcement instruction corresponding to the GPS basic information and the position information of the inland ship;
and transmitting data to a inland river patrol and comprehensive law enforcement system cooperated with the ship bank while performing according to the planned patrol and law enforcement path until the end.
The ship-shore cooperation comprises three parts: firstly, a shore side transmission node is communicated with unmanned ship equipment by adopting WIFI or RFID; secondly, facility contour mark lines are supplemented; thirdly, a shore side reference point is marked by means of the corresponding relation and the image range of the shore side supplementary mark and the ship video;
when the RFID card reader reads RIFD tag information carried by the unmanned ship through heartbeat, the communication module is started, and the transmission of the stored information is finished automatically;
supplementing a facility outline mark, and in the patrol process, coordinating a camera for acquiring a bank protection image with a bank protection and a brightening marking line of a typical navigation aid facility; in the law enforcement process, dangerous goods information and dangerous goods type information on the shore side are automatically acquired, and automatic identification and cooperation of dangerous goods types at the wharf are realized;
a shore-side datum point, namely, before starting, the intelligent walking unmanned ship is calibrated with a shore-side water gauge, and the initial height is positioned; and (4) calibrating the starting position, setting the height of the unmanned ship moving cross rod by comparing the water depth of the current underwater section with the water gauge, and keeping the initial value of the height adjusting device to be 0.
The inland river patrol and comprehensive law enforcement device takes an unmanned ship as basic equipment for water patrol and law enforcement.
The unmanned ship carries a single-beam radar for collecting underwater section information, the underwater section data is stored in a local format of TXT and is synchronously transmitted to a inland river patrol and comprehensive law enforcement system cooperated with the ship shore.
The video acquisition device of the unmanned ship comprises 2 paths of cameras, wherein one path of camera is arranged on a middle upright post of the unmanned ship and is used for acquiring a video stream; the moving cross rod is arranged on the other path and is used for capturing images.
According to two data of a preset position and the current water depth, the control module automatically outputs the ship height, controls the stroke of the stepping motor, automatically adjusts the height of the movable cross rod, and keeps the position of the camera at the mark point position as high as the side slope and the revetment.
Carry on the camera that is used for shooing the image, the image data of shooing in appointed place is saved locally and is transmitted to inland river patrol and comprehensive law enforcement system, judges automatically whether the shape of revetment changes, firstly: the contrast of the image is consistent with that of the historical image, and after local bank protection collapses and landslides change, the information format stored by the image has sudden change; secondly, the following steps: adding a reflective slogan and a sign line at a part easy to collapse, and automatically judging the deformation of the sign line through an image to obtain whether the shape of the revetment is kept; and judging whether the image is consistent with the historical image or not, and judging the integrity of the mark lines of the navigation mark, the navigation aid buoy and the ship mooring buoy.
The method comprises the steps of carrying a camera for shooting images, storing image data shot at a designated place in a local place, transmitting the image data to a ship bank cooperative inland river patrol and comprehensive law enforcement system, judging whether a bank flag, a navigation mark, a warning mark and a label are lost or not, carrying out comparison analysis on the foreground and the background of the images, scanning the whole image by using a sliding matching method of the two images, and obtaining the best comparison area for matching comparison processing.
The digital image processing method for processing the outline by using the image shot by the camera comprises the following steps:
(1) converting the original image into an HSL image;
(2) separating the white color of the sign line from the HSL image;
(3) converting the image into gray scale, smoothing the edge by applying Gaussian blur, finishing edge detection by applying Canny, and extracting a sign line profile;
(4) and comparing the consistency of the current image with the edge of the historical image.
The method for artificially judging the video stream comprises the following steps: the ship bank is used for cooperating with the inland river intelligent inspection and law enforcement device, the camera used for shooting images carried by the device can store image data shot at a designated place locally and transmit the image data to the inland river inspection and comprehensive law enforcement system, manual assistance is used for judging whether the shape of the navigation aid facility is complete, and the method is used for blind compensation.
An inland river patrol and comprehensive law enforcement system inputs a patrol path of the unmanned ship, and the unmanned ship can automatically complete patrol; meanwhile, a manual control device is arranged, and manual navigation assistance can be carried out.
The manager can watch the video stream in real time, and after cruising, the manager can call the stored video stream and image to carry out post-inspection and law enforcement with manual assistance.
The backup and transmission of data can be realized through the equipment of the shore side transmission node.
The images and videos acquired by the unmanned ship are transmitted to an inland river patrol and comprehensive law enforcement system, can be distributed to relevant management departments such as maritime affairs, port and navigation, transportation and management, state and soil, environmental protection and the like, and can realize comprehensive law enforcement. The collected images and videos are transmitted to an on-site law enforcement boat in real time through a network.
Example 6
A inland river patrol and comprehensive law enforcement device with ship-shore cooperation comprises an unmanned ship, a video acquisition device, a water depth measuring module, a positioning module, a main control module, a height adjusting device, a power supply module, a transmission module and a storage module, wherein the video acquisition device is arranged on the unmanned ship; wherein:
the unmanned ship automatically walks according to the planned path and can be manually controlled;
the video acquisition device is used for acquiring images and video streams;
the water depth measuring module is used for sensing water depth and determining the size of an underwater section;
the positioning module is used for sensing the GPS position of the unmanned ship;
the main control module is used for completing the control of the image comparison and height adjustment device, outputting a snapshot instruction, transmitting control and the like;
the height adjusting device is matched with the GPS and automatically adjusts the height according to the setting of the main control module;
the power supply module is used for supplying and storing power for the unmanned ship and the carrying equipment;
the transmission module is used for wireless short-distance manual control and 3G/4G information transmission of the inland river patrol and comprehensive law enforcement system;
the storage module is used for storing the water depth data of the water depth measuring module, the images acquired by the video acquisition device and the video stream.
The unmanned ship comprises a communication antenna, an encryption module and a remote controller; the communication antenna is used for being matched with the transmission module to realize information transmission, the encryption module is used for taking the 14-bit ship unique identification code as a file header for transmitting data, and the remote controller is used for manually operating the unmanned ship.
The traditional unmanned ship only has a walking function. Besides the walking function, the invention also integrates a video acquisition function, a path memory function, an underwater section identification function, a positioning function, a height adjustment function, a water level calibration function and the like.
The video acquisition device comprises 2 paths of cameras, wherein 1 path of cameras is used for capturing images, and 1 path of cameras is used for shooting videos.
The height adjusting device is arranged in the middle of the unmanned ship, the main control module records the heights of different positions, and the positioning module outputs the rotation direction and the rotation time of the motor when reaching a specified position to adjust the height.
The water depth measuring module adopts a single-beam depth measuring radar. The positioning module adopts a positioning module of a GNSS OEM board card and a Beidou carrier phase differential technology. The main control module adopts UCLEO-IHM001 BLDC motor control development kit of STM 32. The power supply module adopts a lithium battery power supply, the capacity is more than 500Ah, and charging is completed before work. And the data can be directly stored in a memory card on the unmanned ship by the storage module, the capacity can reach 36GB, and the storage requirements of images and video streams are met. With extended shore based base stations, storage can be backed up.
The transmission module adopts a real-time radio frequency point-to-point communication mode, and the console is transmitted to the inland river patrol and comprehensive law enforcement system in a 4G mode; the shore-based base station can be extended, and the control range can be increased to 20 kilometers.
And the main control module finishes the automatic adjustment of the height adjusting device according to the real-time position acquired by the positioning module and the height information input in advance. And the height adjusting device automatically sends a snapshot instruction after being adjusted in place according to the positioning information.
Example 7
In this embodiment, on the basis of the apparatus in embodiment 6, a plurality of expansion interfaces including a panoramic camera display interface, a warning light control interface, and a broadcast control interface are reserved. The panoramic camera display interface can be used for carrying a panoramic camera and collecting a panoramic image of an inland river at a specified position, and the height of the panoramic camera is more than 3 m; the warning lamp control interface can be carried with a warning lamp to warn relevant ships and violation agencies in the law enforcement process; the broadcast control interface may carry a public address set for calling to the violation vessel.
Example 8
A inland river patrol and comprehensive law enforcement system with ship-shore cooperation, which corresponds to the inland river patrol and comprehensive law enforcement device of embodiment 6, as shown in fig. 5, the system comprises an operation monitoring module, a path planning module, a patrol handling module, a law enforcement handling module, an information sharing module and a statistical analysis module, wherein:
the operation monitoring module 1004 displays the driving path, the partial enlarged view and the AIS position of the ship on the basis of the GIS map;
a path planning module 1001, configured to enter a patrol path and a law enforcement path, a patrol point and a law enforcement point;
a patrol handling module 1002 for providing a patrol interface and records;
a law enforcement handling module 1003, configured to provide a law enforcement interface and record, and output a law enforcement record;
an information sharing module 1005, configured to provide a data query interface and an image query interface;
and a statistical analysis module 1006 for data statistics and analysis. Counting: making statistics on inspection results and law enforcement results according to regions and time; analysis and prediction by quantity: statistical analysis, such as: the law enforcement image identifies quantity statistics of illegal built paths, quantity statistics of illegal sailing ships in a control area and the like; predictions, such as: a large number of areas are marked.
The patrol disposal module and the law enforcement disposal module display corresponding interfaces and records through APP.
The GIS map adopts an open-source geographic information system as a base map, an inland waterway path is calibrated according to a ship path, special map layers related to maritime affairs and port navigation are customized and are automatically matched with the facility position in the CAD, when the GIS is displayed, a drawing technology corresponding to dynamic business data of a browser end is dynamically superposed on the map through an Ajax technology, and patrol and law enforcement business path data and map data are refreshed separately through an XMLHttpRequest asynchronous request, so that the refreshing speed of the GIS map can be improved.
The path planning method comprises the following steps: the method is combined with Excel file sequence documents of the existing inspection process, and a path and a calculation method are developed by combining with the positions of facilities, so that the optimal path is automatically generated, and meanwhile, business personnel can conveniently click mechanisms on a map, add and modify facilities and confirm the accurate positions of the facilities.
The data sharing and exchanging method comprises the following steps: on the premise of unifying the data format, a public data exchange interface is established, and a data exchange platform is a main source of data. The maritime affairs and law enforcement data are exchanged through the middleware to realize sharing; and the patrol and the service data are shared in a mode of converting the gatekeeper front-end processor into MQ.
Defining the sharable range of data according to the user authority, and performing three-level user: managers, decision-makers, service personnel, and service personnel are classified into two categories, namely patrol and law enforcement.
The system is reserved with a plurality of expansion interfaces, including a panoramic camera display interface, a warning light control interface and a broadcast control interface.
The system can form route formation according to characteristics of inland waterways and water areas, each group of routes is provided with a certain number of inland river patrol and comprehensive law enforcement devices, and management full coverage of the waterways and the water areas can be realized through the inland river patrol and comprehensive law enforcement system cooperated with the ship shore.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (10)

1. A inland river patrol and comprehensive law enforcement method based on ship-shore cooperation is characterized by comprising the following steps:
step 1, planning a patrol path, a law enforcement path or a patrol and law enforcement path for the inland river patrol and comprehensive law enforcement device;
step 2, starting patrol according to the planned patrol route; or starting law enforcement according to the planned law enforcement path; or starting patrol and law enforcement according to the planned patrol and law enforcement path; wherein the content of the first and second substances,
the inspection comprises the following steps:
(2-1-1) marking inspection points on the inspection path, wherein the inspection points comprise a bank protection inspection point, a navigation aid facility inspection point and a safety facility inspection point, completing the supplement of path records, and correspondingly arranging a bank side transmission node and a typical facility outline marking line;
(2-1-2) corresponding to the starting point, determining the initial height of the inland river patrol;
(2-1-3) corresponding to the patrol points, and realizing initialization of the outline marking lines and the shooting heights of the navigation aid facilities and the safety facilities;
(2-1-4) starting the inland river patrol and comprehensive law enforcement device, automatically advancing according to the path and the patrol point position, and collecting underwater section information and GPS information of the passing path in the whole process;
(2-1-5) sequentially arriving at inspection points, and automatically adjusting the inland river inspection and comprehensive law enforcement device to a shooting height according to the advancing GPS position and the height difference between the inland river inspection and the initial height;
(2-1-6) shooting an image after the shooting height is unified with the GPS position; processing the image to finish automatic comparison with the historical image;
according to the position, the automatic image processing comprises the following scenes: judging whether the shape of the revetment or the side slope is consistent with the historical image or not; judging whether the shape of the navigation aid facility is consistent with the historical image or not; judging whether the bank flag, the navigation mark, the warning mark and the label are damaged or lost;
(2-1-7) enabling the unmanned ship to pass through the non-mark points, and recording a video stream in real time by using a camera; the data are stored locally, transmitted to a shore side communication unit according to positions and synchronously transmitted to an inland river patrol and comprehensive law enforcement system;
(2-1-8) if necessary, manually adjusting and watching the video stream in the whole process, and manually judging whether passing facilities need maintenance;
(2-1-9) generating a patrol report and a maintenance suggestion;
the law enforcement steps are as follows:
(2-2-1) defining law enforcement points on a planned path, wherein the law enforcement points comprise bank protection law enforcement points, law enforcement forbidding points, construction control law enforcement points and law enforcement points in regions easy to illegally load and unload, and setting bank side transmission nodes and typical facility contour marked lines;
(2-2-2) determining an initial height corresponding to the starting point;
(2-2-3) initializing a typical facility contour marking line and a camera shooting height at a corresponding law enforcement point;
(2-2-4) sequentially reaching law enforcement points according to a planned path, and automatically adjusting the inland river patrol and law enforcement device to a shooting height according to the advancing GPS position and the height difference between the inland river patrol and law enforcement device and the initial height;
(2-2-5) when the shooting height is consistent with the GPS position, shooting an image to finish law enforcement and evidence collection;
(2-2-6) performing image matching analysis based on the law enforcement image:
the method mainly comprises the following scenes: judging whether a bank protection law enforcement point is illegally built; judging whether a ship exists in the image of the law enforcement prohibition point; judging whether the marks of law enforcement points in the control areas of the overwater construction are complete or not; judging whether illegal loading and unloading exist in the law enforcement points in the non-wharf area; recording video streams during the path walking process between the law enforcement points, namely non-designated law enforcement points;
(2-2-7) enabling the unmanned ship to pass through the non-mark points, and recording a video stream in real time by using a camera; the data are stored locally, transmitted to a shore side communication unit according to positions and synchronously transmitted to an inland river patrol and comprehensive law enforcement system;
(2-2-8) transmitting the video stream to a shore side communication unit according to the position, watching the video stream in the law enforcement process, and manually judging whether the field law enforcement is needed;
(2-2-9) automatically generating a law enforcement instruction according to the image automatic analysis result, the shooting time and the corresponding illegal position; automatically generating a law enforcement instruction corresponding to the basic information and the GPS position information of the inland ship;
the patrol and law enforcement steps are as follows:
(2-3-1) marking inspection points and law enforcement points on the planned inspection and law enforcement paths, and setting shore side transmission nodes and typical facility contour marking lines;
(2-3-2) setting an initial height corresponding to the starting point;
(2-3-3) initializing a reinforced contour line corresponding to the patrol point and the law enforcement point;
(2-3-3) starting a device, corresponding to the positions of the path and the patrol point, acquiring underwater section information of the path in the whole process, and matching the underwater section information with a GPS (global positioning system) of the device;
(2-3-4) at a patrol point and a law enforcement point, automatically adjusting the shooting height to be memorized according to the difference between the GPS position and the initial height, finishing snapshot, and recording a shot image by a camera;
image matching analysis is carried out at a marked law enforcement point, and the method mainly comprises the following scenes: judging whether the shape of the revetment or the side slope is consistent with the historical image or not; judging whether the shape of the navigation aid facility is consistent with the historical image or not; judging whether the bank flag, the navigation mark, the warning mark and the label are lost; judging whether a bank protection law enforcement point is illegally built; judging whether a ship exists in the image of the law enforcement prohibition point; judging whether the marks of law enforcement points in the control areas of the overwater construction are complete or not; judging whether illegal loading and unloading exist in the law enforcement points in the non-wharf area;
(2-3-5) adjusting and watching the video stream in the whole process, manually judging whether passing facilities need maintenance or not, and manually judging whether field law enforcement is required or not;
(2-3-6) according to the image automatic analysis result and the shooting time, correspondingly creating an illegal construction law enforcement instruction; generating a law enforcement instruction corresponding to the GPS basic information and the position information of the inland ship;
and 3, automatically advancing by the inland river patrol and comprehensive law enforcement device according to the planned patrol path, law enforcement path, patrol and law enforcement path until the completion.
2. The bank-collaborative inland river patrol and integrated law enforcement method according to claim 1, wherein the bank collaboration comprises three parts: firstly, a shore side transmission node is communicated with unmanned ship equipment by adopting WIFI or RFID; secondly, facility contour mark lines are supplemented; thirdly, a shore side reference point is marked by means of the corresponding relation and the image range of the shore side supplementary mark and the ship video; wherein:
when the RFID card reader of the shore side transmission node reads RIFD tag information carried by the unmanned ship by heartbeat, the communication module is started, and the information transmission is automatically finished after the stored information is transmitted;
supplementing a facility outline mark, and in the patrol process, coordinating a camera for acquiring a bank protection image with a bank protection and a brightening marking line of a typical navigation aid facility; in the law enforcement process, dangerous goods information and dangerous goods type information on the shore side are automatically acquired, and automatic identification and cooperation of dangerous goods types at the wharf are realized;
a shore-side datum point, namely, before starting, the intelligent walking unmanned ship is calibrated with a shore-side water gauge, and the initial height is positioned; and (4) calibrating the starting position, setting the height of the unmanned ship moving cross rod by comparing the water depth of the current underwater section with the water gauge, and keeping the initial value of the height adjusting device to be 0.
3. The inland river patrol and integrated law enforcement method based on ship-shore cooperation according to claim 1, characterized in that the inland river patrol and integrated law enforcement device is provided with an unmanned ship capable of automatically advancing as basic equipment for water patrol and law enforcement; the unmanned ship carries a single-beam radar for collecting underwater section information, the underwater section data is stored in a local format of TXT and can be synchronously transmitted to a inland river patrol and comprehensive law enforcement system cooperated with the ship shore;
the video acquisition device of the unmanned ship comprises 2 paths of cameras, wherein one path of camera is arranged on a middle upright post of the unmanned ship and is used for acquiring a video stream; one path is arranged on the movable cross bar and is used for capturing images;
according to two data of a preset position and the current water depth, the control module automatically outputs the ship height, controls the stroke of the stepping motor, automatically adjusts the height of the movable cross rod, and keeps the position of the camera at the mark point position as high as the side slope and the revetment.
4. The inland river patrol and integrated law enforcement method based on bank coordination according to claim 1, wherein a camera for shooting images is mounted, image data shot at a designated place is stored locally and transmitted to an inland river patrol and integrated law enforcement system based on bank coordination, and whether the shape of a revetment is changed or not is automatically judged, and the method comprises the following steps: the contrast of the image is consistent with that of the historical image, and after local bank protection collapses and landslides change, the information format stored by the image has sudden change; secondly, the following steps: adding a reflective slogan and a sign line at a part easy to collapse, and automatically judging the deformation of the sign line through an image to obtain whether the shape of the revetment is kept; and judging whether the image is consistent with the historical image or not, and judging the integrity of the mark lines of the navigation mark, the navigation aid buoy and the ship mooring buoy.
5. The method for inland river patrol and comprehensive law enforcement in cooperation with the ship shore according to claim 1, wherein the method for determining the initial height of the inland river patrol is as follows: determining a datum line, matching the datum line with the water level line and the water depth of the initial point, and ensuring the matching of the initial height and the water level change; the subsequent patrol, law enforcement, point heights are relative heights to the initial height.
6. The inland river patrol and integrated law enforcement method based on bank cooperation of claim 1, wherein the contour is processed by a digital image processing method using a camera to shoot images, and the steps are as follows:
(1) converting the original image into an HSL image;
(2) separating the white color of the sign line from the HSL image;
(3) converting the image into gray scale, smoothing the edge by applying Gaussian blur, finishing edge detection by applying Canny, and extracting a sign line profile;
(4) and comparing the consistency of the current image with the edge of the historical image.
7. The inland river patrol and comprehensive law enforcement method based on ship-shore cooperation according to claim 1, characterized in that an inland river patrol and comprehensive law enforcement system enters a patrol path of an unmanned ship, and the unmanned ship can automatically complete patrol; meanwhile, a manual control device is arranged, so that manual navigation assistance can be carried out;
the images and videos acquired by the unmanned ship are transmitted to a inland river patrol and comprehensive law enforcement system cooperated with the ship shore and distributed to maritime, port and navigation, fortune management, state and soil and environmental protection departments to realize comprehensive law enforcement;
the collected images and videos are transmitted to an on-site law enforcement boat in real time through a network.
8. A inland river patrol and comprehensive law enforcement device with ship-shore cooperation is characterized by comprising an unmanned ship, a video acquisition device, a water depth measuring module, a positioning module, a main control module, a height adjusting device, a power supply module, a transmission module and a storage module; wherein:
the unmanned ship automatically walks according to the planned path and can be manually controlled;
the video acquisition device is used for acquiring images and video streams;
the water depth measuring module is used for sensing water depth and determining the size of an underwater section;
the positioning module is used for sensing the GPS position of the unmanned ship;
the main control module is used for completing the control of the image comparison and height adjustment device, outputting a snapshot instruction, transmitting control and the like;
the height adjusting device is matched with the GPS and automatically adjusts the height according to the setting of the main control module;
the power supply module is used for supplying and storing power for the unmanned ship and the carrying equipment;
the transmission module is used for wireless short-distance manual control and 3G/4G information transmission of the inland river patrol and comprehensive law enforcement system;
the storage module is used for storing the water depth data of the water depth measuring module, the images acquired by the video acquisition device and the video stream.
9. The bank-coordinated inland river patrol and integrated law enforcement device according to claim 8, wherein the unmanned ship comprises a communication antenna, an encryption module and a remote controller; the communication antenna is used for being matched with the transmission module to realize information transmission, the encryption module is used for taking the 14-bit ship unique identification code as a file header for transmitting data, and the remote controller is used for manually operating the unmanned ship;
the height adjusting device is arranged in the middle of the unmanned ship, the main control module records the heights of different positions, and the positioning module outputs the rotation direction and the rotation time of the motor when reaching a specified position to adjust the height.
10. The utility model provides a inland river patrol and comprehensive law enforcement system of ship bank cooperation which characterized in that, patrols and synthesizes law enforcement device linkage with the inland river, handles module, law enforcement processing module, information sharing module and statistical analysis module including operation monitoring module, path planning module, patrol, wherein:
the operation monitoring module is used for displaying the driving path, the local enlarged view and the AIS position of the ship on the basis of the GIS map;
the route planning module is used for recording a patrolling route, a law enforcement route, a patrolling point and a law enforcement point;
the patrol handling module is used for providing a patrol interface and records;
the law enforcement handling module is used for providing a law enforcement interface and records and outputting a law enforcement record sheet;
the information sharing module is used for providing a data query interface and an image query interface;
and the statistical analysis module is used for data statistics and analysis.
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