CN111650627A

CN111650627A - Ocean buoy station, intrusion detection evidence obtaining method and system

Info

Publication number: CN111650627A
Application number: CN202010619559.8A
Authority: CN
Inventors: 林冠英; 刘愉强; 张新文; 刘同木; 黄桦; 周保成
Original assignee: South China Sea Survey Technology Center State Oceanic Administration (south China Sea Marine Buoy Center)
Current assignee: South China Sea Survey Technology Center State Oceanic Administration (south China Sea Marine Buoy Center)
Priority date: 2020-07-01
Filing date: 2020-07-01
Publication date: 2020-09-11

Abstract

The application relates to a marine buoy station, an intrusion detection evidence obtaining method and a system; the ocean buoy station comprises a camera, a buoy body and a control system, wherein the camera is arranged at the top of the buoy body; the first distance measuring device is arranged at the top of the buoy body; the first distance measuring device monitors a ship near the buoy and outputs the current position of the ship and the current position of the buoy; the second distance measuring device is arranged on the mast of the buoy body; when the second distance measuring device monitors the registration event, an intrusion alarm signal is output; the industrial personal computer is arranged in the buoy body cabin and is used for connecting the data receiving station; the industrial personal computer is connected with the camera, the first distance measuring device and the second distance measuring device; the method and the device can realize stable intrusion detection; when the buoy is damaged, analysis can be carried out according to recorded past ship information and image information, so that stable evidence obtaining is realized, and further, all possible ship causing trouble can be found, the responsibility of the ship causing trouble can be traced, and the loss can be recovered.

Description

Ocean buoy station, intrusion detection evidence obtaining method and system

Technical Field

The application relates to the technical field of security monitoring, in particular to a marine buoy station, an intrusion detection evidence obtaining method and a system.

Background

The ocean buoy is important equipment for marine environment investigation, can be anchored at sea for long-time fixed-point observation, and can realize unattended long-time, continuous, synchronous and automatic monitoring of marine hydrology, meteorology, physics, chemistry and the like under severe marine environment conditions. The ocean buoy is provided with a solar power generation system and various hydrological, meteorological and chemical monitoring sensors. The ocean buoy belongs to an unattended state during the operation on the sea, damages to the buoy caused by scraping and colliding of the past ships often occur, and events such as multiple registration and theft instruments and the like also occur. At present, an effective intrusion detection and evidence obtaining means is lacked, and a ship causing trouble cannot be found after the buoy is damaged, so that the method cannot be researched and is not beneficial to buoy maintenance.

In the implementation process, the inventor finds that at least the following problems exist in the conventional technology: traditional ocean buoy security protection control has with high costs, easy wrong report and control the inefficacy scheduling problem, can't play the effect of stable effective protection ocean buoy.

Disclosure of Invention

Accordingly, it is desirable to provide a marine buoy station, an intrusion detection evidence obtaining method and a system capable of stably and effectively protecting a marine buoy.

To achieve the above object, in one aspect, an embodiment of the present invention provides a marine buoy station, including:

the camera is arranged at the top of the buoy body;

the first distance measuring device is arranged at the top of the buoy body; the first distance measuring device monitors a ship near the buoy and outputs the current position of the ship and the current position of the buoy;

the second distance measuring device is arranged on the mast of the buoy body; when the second distance measuring device monitors the registration event, an intrusion alarm signal is output;

the industrial personal computer is arranged in the buoy body cabin and is used for connecting the data receiving station; the industrial personal computer is connected with the camera, the first distance measuring device and the second distance measuring device; the industrial personal computer confirms the distance between the ship and the buoy according to the current position of the ship and the current position of the buoy, enters a corresponding early warning level based on the identification ring with the falling distance, starts a corresponding early warning action, outputs early warning information to the data receiving station, and starts a camera to take pictures and record videos when receiving an intrusion warning signal; the industrial personal computer compares and dynamically identifies the shooting data of the camera and transmits the processed result to the data receiving station.

In one embodiment, the current position of the vessel comprises vessel coordinate information and the current position of the buoy comprises buoy coordinate information; the processed result comprises a ship key information image and/or a personnel key information image;

the identification rings comprise a 10-nautical mile identification ring, a 5-nautical mile identification ring and a 2-nautical mile identification ring; the early warning actions comprise ship locking tracking corresponding to a 10-nautical mile identification circle, early warning broadcasting corresponding to a 5-nautical mile identification circle and photographing and video recording corresponding to a 2-nautical mile identification circle;

the industrial personal computer compares the snapshot image in the shooting data with a preset background image, dynamically identifies a target image in the snapshot image, and processes the target image through image segmentation to obtain a processing result; the preset background image comprises a sea surface image of a sea area where the buoy is arranged.

In one of the embodiments, the first and second electrodes are,

the camera is an infrared camera;

the second distance measuring device comprises an ultrasonic distance measuring module connected with the industrial personal computer; the range measurement range of the ultrasonic range measurement module covers the platform area of the buoy body;

the ocean buoy station also comprises a satellite communication machine which is arranged at the top of the buoy body; the satellite communication machine is connected between the industrial personal computer and the data receiving station; the satellite communication machine comprises a plurality of Beidou cards; the industrial personal computer obtains the binary code stream of the processed result, divides the binary code stream into a plurality of data packets, and transmits the data packets to the data receiving station through the Beidou cards in a polling mode.

In one embodiment, the number of the infrared cameras is 4; the number of the Beidou cards is 30;

the ultrasonic ranging module comprises 6 ultrasonic ranging probes arranged in the middle of a mast of the buoy body; the opening angle of each ultrasonic ranging probe is 60 degrees.

In one embodiment, the industrial personal computer is an ARM industrial personal computer; further comprising:

the early warning device is arranged at the top of the buoy body; the early warning device comprises a VHF radio transceiver; the VHF radio transceiver broadcasts an early warning voice to the ship through a CH16 public channel;

the boarding warning device is arranged on the mast of the buoy body; the boarding warning device comprises any one or any combination of a sound pick-up and a loudspeaker;

the first distance measuring device comprises an AIS receiver and a GPS antenna which are connected with an ARM industrial personal computer;

the AIS receiver acquires ship AIS information and transmits the ship AIS information to the industrial ARM controller; the ship AIS information comprises a ship name, an MMSI code of the ship, the longitude and latitude of the ship, a call sign of the ship, the nationality of the ship, the course of the ship and cargo information of the ship;

the solar cell panel is arranged at the top of the buoy body;

the power supply module is arranged in the buoy body cabin; the power supply module comprises a power supply manager, a battery pack and a standby battery which are connected in sequence; the power supply manager is connected with the solar cell panel;

the touch display screen and the data memory are arranged in the buoy body cabin; the touch display screen and the data memory are connected with an ARM industrial personal computer.

An intrusion detection forensics method comprising:

receiving the current position of a ship and the current position of a buoy output by the ship near the buoy monitored by a first distance measuring device, and confirming the distance between the ship and the buoy according to the current position of the ship and the current position of the buoy; the first distance measuring device is arranged at the top of the buoy body;

starting corresponding early warning actions based on the identification ring level of the falling distance, and outputting early warning information to a data receiving station;

starting a camera to shoot and record video when an intrusion alarm signal transmitted by a second distance measuring device is received; the second distance measuring device is arranged on the mast of the buoy body; the camera is arranged at the top of the buoy body;

and comparing and dynamically identifying the shooting data of the camera, and transmitting the processing result to a data receiving station.

In one embodiment, the current position of the vessel comprises vessel coordinate information and the current position of the buoy comprises buoy coordinate information;

the processed result comprises a ship key information image and/or a personnel key information image; the steps of comparing shooting data of the camera and carrying out dynamic identification processing comprise:

comparing the snapshot image in the shooting data with a preset background image, and dynamically identifying a target image in the snapshot image; the preset background image comprises a sea surface image of a buoy laying sea area;

and processing the target image by image segmentation to obtain a processing result.

In one embodiment, the step of comparing the captured image in the captured data with a preset background image and dynamically identifying the target image in the captured image includes:

segmenting the snapshot image by adopting a maximum inter-class variance method based on a preset background image to obtain a segmented image; the segmented image comprises a sea surface background image and a target partial image;

deleting the wave part of which the intra-class variance is larger than a preset threshold value in the segmented image to obtain a residual image;

and acquiring a target image according to the residual images.

An intrusion detection forensics apparatus, the apparatus comprising:

the distance confirming module is used for receiving the current position of the ship and the current position of the buoy output by the ship near the buoy monitored by the first distance measuring device and confirming the distance between the ship and the buoy according to the current position of the ship and the current position of the buoy; the first distance measuring device is arranged at the top of the buoy body;

the early warning module is used for starting corresponding early warning actions based on the identification ring level of the falling distance and outputting early warning information to the data receiving station;

the starting shooting module is used for starting a camera to shoot and record video when receiving the intrusion alarm signal transmitted by the second distance measuring device; the second distance measuring device is arranged on the mast of the buoy body; the camera is arranged at the top of the buoy body;

and the data processing module is used for comparing and dynamically identifying the shooting data of the camera and transmitting the processing result to the data receiving station.

A marine buoy intrusion detection and evidence obtaining system comprises a data receiving station and a plurality of marine buoy stations; each ocean buoy station is connected with a data receiving station;

the data receiving station comprises a satellite communication machine, a PC (personal computer) and a display screen; wherein, the satellite communication machine is arranged in an outdoor open area;

the satellite communication machine is connected with the PC through a cable; and the PC receives the early warning information and the processing result transmitted by the ocean buoy station and displays the early warning information and the processing result on the display screen.

One of the above technical solutions has the following advantages and beneficial effects:

this application acquires boats and ships current position and buoy current position near the buoy through first range unit, and then the industrial computer acquires the distance between ship and the buoy according to position information, gets into corresponding early warning rank based on the discernment circle that the distance falls into, takes different early warning actions to open the camera and get into the video recording mode of shooing. The second distance measuring device can face to the open area of the buoy platform, and when a sign registering event is monitored (for example, a person climbs the buoy platform), an intrusion alarm signal is sent to the industrial personal computer, and the camera is started to enter a photographing and recording mode. The method comprises the following steps that images captured by a camera are compared with background pictures stored in an ocean buoy station in advance, an industrial personal computer compares shooting data of the camera and dynamically identifies and processes the shooting data, a processing result is transmitted to a data receiving station, an operator on duty is reminded to check buoy conditions, and stable intrusion detection is achieved; when the buoy is damaged, analysis can be carried out according to recorded past ship information and image information, so that stable evidence obtaining is realized, and further, all possible ship causing trouble can be found, the responsibility of the ship causing trouble can be traced, and the loss can be recovered.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments or the conventional technologies of the present application, the drawings used in the descriptions of the embodiments or the conventional technologies will be briefly introduced below, it is obvious that the drawings in the following descriptions are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a diagram of an embodiment of an environment in which a marine buoy station may be used;

FIG. 2 is a block diagram of the structure of an embodiment of a marine buoy station;

FIG. 3 is a diagram illustrating classification of motion of recognition circle in one embodiment;

FIG. 4 is a block diagram of another embodiment of a marine buoy station;

FIG. 5 is a schematic diagram of a specific structure of a marine buoy station in another embodiment;

FIG. 6 is a flow diagram illustrating a method for intrusion detection forensics in accordance with one embodiment;

FIG. 7 is a schematic diagram illustrating intrusion detection and forensics in one embodiment;

FIG. 8 is a schematic illustration of an embodiment of an image acquisition process for an intruding vessel;

FIG. 9 is a schematic diagram of a Beidou polling transmission process in one embodiment;

FIG. 10 is a block diagram of an intrusion detection forensics device in accordance with one embodiment;

fig. 11 is an internal structure diagram of the ocean buoy intrusion detection forensics system in one embodiment.

Detailed Description

To facilitate an understanding of the present application, the present application will now be described more fully with reference to the accompanying drawings. Embodiments of the present application are set forth in the accompanying drawings. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

It will be understood that, as used herein, the terms "first," "second," and the like may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another.

It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or be connected to the other element through intervening elements. Further, "connection" in the following embodiments is understood to mean "electrical connection", "communication connection", or the like, if there is a transfer of electrical signals or data between the connected objects.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

At present, most of the existing intrusion collision monitoring adopts a pressure sensor or an acceleration sensor, and when a buoy is impacted seriously, an alarm signal is generated. However, the buoy is arranged on the sea and is always in a motion state under the action of wind, waves and currents, and false alarm is easily generated when the acceleration sensor is used for distinguishing ship collision under the condition of heavy wind and waves. Buoys are bulky, typically 6-10 meters in diameter, and it is difficult to mount a large number of pressure sensors on the buoy to monitor collisions. And when the buoy is collided, the alarm signal is monitored to be late, and the early warning operation cannot be performed.

At present, a photoelectric radar is also arranged on a buoy to monitor peripheral ships, but the power consumption is large and the cost is high. In the aspect of image video evidence obtaining, security protection equipment and a security protection system on land are mature, but a video image system suitable for an ocean buoy is lacked. At present, most buoys are arranged at remote offshore places, mobile phone networks cannot cover the buoys, data transmission can be carried out only through satellites, the data volume of the existing video images is large, real-time transmission through the satellite networks cannot be achieved, and the purpose of watching surrounding images of the buoys in real time cannot be achieved.

Traditionally, in order to monitor the dynamics of ships around buoys, a panoramic photoelectric warning radar is used for monitoring. Whether ships enter a warning area around the buoy or the offshore platform or not is detected through the panoramic photoelectric warning radar, and the warning range can reach several seas. However, the radar search system on the sea is usually installed on a ship for use, and the device installed on a buoy can also achieve the effect of monitoring peripheral ships, but the photoelectric radar has larger power consumption and higher cost.

The traditional is in order to detect whether someone steps on the buoy platform, uses human infrared detection sensor to monitor. When someone climbs the buoy platform and walks on the platform, an alarm signal is generated. The infrared detector is usually used indoors, and the surrounding environment needs to be stable. The buoy runs on the sea, sunlight and sea reflection are strong, a detector is easy to misreport, the buoy is always in a motion state, and the false alarm probability of the traditional detection method is higher. Meanwhile, according to the traditional method, only people and an intruding ship are subjected to evidence obtaining, the buoy runs on the sea for a long time, people usually register and maintain once in half a year, the data volume of the conventional video image is large, the hard disk memory is generally covered circularly in half a month, and the data of more than half a year cannot be stored. In addition, the conventional buoy and data receiving station have difficulty in transmitting information for tens of KB of image data.

And this application can use the characteristics of ocean buoy, realizes stable intrusion detection and collecting evidence. Specifically, this application is to the characteristic of buoy, whether gets into the video recording mode of shooing based on the industrial computer control camera, acquires the shooting data to discern the image, only keep the effective data that the ship is close to or personnel invade, cut apart and compress the invasion image of collecting evidence, so that pass back the data receiving station with the most critical image picture through the satellite. This application proposes to adopt civilian big dipper communication machine, and 1 big dipper card transmits 78 bytes per minute, to the conventional observation data of once transmitting every hour, and this bandwidth can satisfy. For dozens of KB image data, the method and the device use the unpacking and splicing mode, use multi-card Beidou equipment to transmit images, and further do not need to use large broadband satellites such as iridium satellites and maritime satellites to transmit images.

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

The ocean buoy station, the intrusion detection evidence obtaining method and the system can be applied to the application environment shown in fig. 1. Wherein the ocean buoy station 102 can communicate with the data receiving station 104 through a satellite. Further, a plurality of ocean buoy stations can be communicated with the data receiving station. The satellite can adopt a satellite communication system supported by the satellite communication machine (namely the satellite communication machine) in the application, and the satellite communication system comprises but is not limited to a Beidou satellite communication system, an iridium satellite communication system, a maritime communication system and a skyton 1 communication system.

The ocean buoy station 102 may include an Automatic Identification System (AIS) and cooperate with a Global Positioning System (GPS) to broadcast dynamic ship data such as ship position, ship speed, and change heading rate and course, and static ship data such as ship name, call sign, draft, and dangerous goods to ships and shore stations in nearby water areas through Very High Frequency (VHF) channels; the data receiving station 104 may include a satellite communicator, a PC (Personal Computer) and a display screen. The satellite communication machine can be installed in open places such as a roof and the like and is connected with the PC through a cable, and the PC is provided with special buoy data management software, can receive image data, alarm information, AIS information and the like sent back by the offshore buoy station and inquires and displays the image data, the alarm information, the AIS information and the like on the display screen.

In one embodiment, as shown in fig. 2, there is provided an ocean floating terminal, which is described by taking the floating terminal as an example for the scenario shown in fig. 1, and includes:

the camera is arranged at the top of the buoy body;

the industrial personal computer is arranged in the buoy body cabin and is used for connecting the data receiving station; the industrial personal computer is connected with the camera, the first distance measuring device and the second distance measuring device; the industrial personal computer confirms the distance between the ship and the buoy according to the current position of the ship and the current position of the buoy, enters a corresponding early warning level according to the identification ring with the falling distance, starts a corresponding early warning action, outputs early warning information to the data receiving station, and starts a camera to take pictures and record videos when receiving an intrusion warning signal; the industrial personal computer compares and dynamically identifies the shooting data of the camera and transmits the processed result to the data receiving station.

Specifically, as shown in fig. 2, the ocean buoy station may include a camera provided at the top of the buoy body; in one example, the number of the cameras may be 1, or may be several, and the specific value may be set according to actual requirements. The industrial personal computer in the application can start the camera in a corresponding early warning scene. Further, the camera in this application can be infrared camera, and 4 infrared cameras can be installed at the top of the buoy body in this application, and every camera open angle 90 degrees to realize buoy platform and 360 degrees full coverages in peripheral sea area. The camera shooting can be in a closed state at ordinary times, so that electric quantity is saved, and when a ship approaches or a person climbs the buoy, the snapshot is started and the buoy is stored locally.

The first distance measuring device can be arranged at the top of the buoy body; the first distance measuring device monitors a ship near the buoy and outputs the current position of the ship and the current position of the buoy; in one example, the current position of the vessel may include vessel coordinate information and the current position of the buoy may include buoy coordinate information, i.e., the first ranging device may acquire the vessel coordinate information near the buoy and the buoy coordinate information and transmit to the industrial personal computer.

In a specific embodiment, the first distance measuring device may include an AIS receiver and a GPS antenna both connected to the industrial personal computer;

the AIS receiver can acquire ship AIS information and transmit the ship AIS information to the industrial personal computer; the ship AIS information may include a ship name, an MMSI code of the ship, a longitude and latitude of the ship, a call sign of the ship, a nationality of the ship, a course of the ship, and cargo information of the ship. The GPS antenna may be implemented using a corresponding GPS module.

It should be noted that the communication modes of the industrial personal computer, the AIS receiver, and the GPS antenna include, but are not limited to, an I/O point read/write communication mode, an RS485 communication mode, an RS232 communication mode, an SPI (Serial Peripheral Interface) communication mode, and a TCP/IP (Transmission Control Protocol/Internet Protocol) ethernet communication mode.

Specifically, the GPS module obtains the current position of the buoy through satellite positioning, the AIS receiver monitors AIS signals sent by ships around the buoy, the industrial personal computer stores and analyzes the AIS signals to obtain information such as MMSI (marker Mobile Service identity) codes, ship names, nationality, coordinates and course of the ships, the distance between the ships and the buoy is calculated according to the coordinates, and the ships enter corresponding early warning levels according to the identification circle falling into the distance to take different actions.

The identification circle can refer to a preset distance threshold value, the preset distance threshold value can be set according to the ship speed, for example, the identification circle can be a 2-nautical mile identification circle, the ship speed is generally 10 nautical miles per hour, the 2-nautical mile distance is equivalent to the reserved 12-minute reaction time, and other values can also be adopted; as shown in fig. 3, the identification rings in the present application may include a 10 nautical mile identification ring, a 5 nautical mile identification ring and a 2 nautical mile identification ring; the early warning actions can comprise ship locking tracking corresponding to a 10-nautical mile identification circle, early warning broadcasting corresponding to a 5-nautical mile identification circle and photographing and video recording corresponding to a 2-nautical mile identification circle; further, the early warning broadcast may include VHF station early warning.

Based on the application, when the distance between the ship and the buoy is less than 10 nautical miles, the target is locked and the record is tracked until the ship exits the identification circle in 10 nautical miles. When the distance between the ship and the buoy is less than 5 nautical miles, the broadcasting early warning voice is started to remind not to approach. And when the distance between the ship and the buoy is less than 2 nautical miles, starting the camera to enter a photographing and video recording mode.

The second distance measuring device can be arranged on a mast of the buoy body; the second distance measuring device can output an intrusion alarm signal when the registration event is monitored; the bidding event can include a person climbing the buoy platform and the like. Specifically, the probe of the second distance measuring device can face to the open place of the buoy platform, and when someone climbs the buoy platform and is in the distance measuring coverage range, the probe sends an intrusion alarm signal to the industrial personal computer so as to realize stable intrusion detection and alarm. The industrial computer starts the camera to shoot and record video after receiving the intrusion alarm signal, and is convenient for stably obtain evidence.

In one specific example, the result of the processing includes a ship key information image and/or a personnel key information image; the second distance measuring device can comprise an ultrasonic distance measuring module connected with the industrial personal computer; the range measurement range of the ultrasonic range measurement module covers the platform area of the buoy body.

Specifically, the corresponding functions of the second distance measuring device can be realized by adopting the ultrasonic distance measuring modules, and the number of the ultrasonic distance measuring modules can be set according to actual requirements; ultrasonic ranging module can measure its peripheral object distance according to the frequency of 1 time per second to face its probe to the vacant place of buoy platform (so that range finding range covers the platform region of buoy body), the distance data that ultrasonic ranging module measured at ordinary times is 0, when someone climbs the buoy platform and is in the ultrasonic wave coverage, its measuring distance is nonzero, sends intrusion alert signal to the industrial computer, gets into the video mode of shooing.

In a specific embodiment, the ultrasonic ranging module can comprise 6 ultrasonic ranging probes arranged in the middle of a mast of the buoy body; the opening angle of each ultrasonic ranging probe can be 60 degrees, and full coverage of the buoy platform is formed. Further, ultrasonic ranging module in this application can effectively monitor the human body of predetermineeing the within range (for example, 6 meters), does not receive light, sea state and buoy motion influence, can accurately produce alarm signal when someone signs a standard.

After the industrial personal computer acquires the shooting data of the camera, the shooting data of the camera can be compared and dynamically identified, and the processed result is transmitted to the data receiving station; specifically, the industrial personal computer can compare a snapshot image in the shooting data with a preset background image, dynamically identify a target image in the snapshot image, and process the target image through image segmentation to obtain a processing result; the preset background image may include a sea surface image of the buoy deployment sea area.

For the image captured by the camera, the industrial personal computer can compare with a preset background image (for example, a sea surface image of a sea area where the buoy is deployed, a camera can be used for shooting and storing after the buoy is deployed, or the image can be stored in a memory after the buoy is shot in advance), dynamically identify whether the captured image really contains a ship or personnel image, extract a key information image of the ship or personnel by an image segmentation and compression method, and send the key information image back to the data receiving station through a satellite. On one hand, the industrial personal computer in the application can perform image segmentation by adopting an edge-based segmentation algorithm; on the other hand, the industrial personal computer in the application can compare with the preset background image through a corresponding algorithm, and if the change is large, the industrial personal computer considers that an object invades and needs to be stored.

More than, the AIS receiver in this application is fit for using on the buoy, to personnel sign a mark invasion monitoring, installs 6 ultrasonic ranging probes on the mast in the middle of the buoy, and every probe open angle is 60 degrees, forms buoy platform full coverage. The ultrasonic ranging module can effectively monitor a human body within 6 meters, is not influenced by light, sea conditions and buoy movement, and can accurately generate an alarm signal when a person signs; 4 infrared cameras are arranged on an instrument platform on the top of the buoy, all-weather clear photographing and video recording can be realized, the opening angle of each camera is 90 degrees, 360-degree full coverage of the buoy platform and the surrounding sea area can be realized, image recognition is implemented by using the cameras, dynamic recognition is carried out on video images, invalid video image data is discarded, only image data of ships or personnel is stored, and more than 6 months of valid data can be stored; adopt satellite communication system to carry out the data interaction of ocean buoy station and data receiving station, as long as there is not sheltering from above the satellite communication machine antenna, then all can realize communicating in any geographical position, can carry out the security protection control to the buoy far away from the coast, realize image transmission through the mechanism of data packet and the many calories of polling of big dipper.

In one embodiment, as shown in fig. 4, an ocean buoy station is provided, which is exemplified by the application of the buoy station to the scene shown in fig. 1, and includes a camera disposed on the top of a buoy body;

the first distance measuring device is arranged at the top of the buoy body; the first distance measuring device monitors a ship near the buoy and outputs the current position of the ship and the current position of the buoy; the first distance measuring device can comprise an AIS receiver and a GPS antenna which are connected with an industrial personal computer;

the industrial personal computer is arranged in the buoy body cabin and is used for connecting the data receiving station; the industrial personal computer is connected with the camera, the first distance measuring device and the second distance measuring device; wherein, the industrial personal computer can be an ARM (advanced RISC machines) industrial personal computer;

further comprising:

the satellite communication machine is arranged at the top of the buoy body; the satellite communication machine is connected between the industrial personal computer and the data receiving station; the satellite communication machine comprises a plurality of Beidou cards;

the industrial personal computer obtains the binary code stream of the processed result, divides the binary code stream into a plurality of data packets, and transmits the data packets to the data receiving station through the Beidou cards in a polling mode.

In a specific embodiment, the number of Beidou cards may be 30.

In a specific embodiment, the method may further include:

in one embodiment, the method may further include:

the solar cell panel is arranged at the top of the buoy body;

Specifically, as shown in fig. 4, the present application may include a solar panel, an AIS receiver, a satellite communicator, a GPS antenna, a VHF radio transceiver, and a camera, which are disposed on the top of the buoy body; the ultrasonic ranging module, the sound pick-up and the loudspeaker are arranged on the mast of the buoy body; furthermore, the device also comprises an ARM industrial personal computer arranged in the buoy body cabin.

As shown in fig. 5, the present application may further include a power manager installed in the buoy cabin, a maintenance-free lead-acid battery pack (i.e., a battery pack), and a master control box, in which an ARM industrial personal computer may be installed; in addition, a touch display screen, a standby battery and a data memory can be arranged in the main control box.

The AIS receiver in this application, the satellite communication machine, the GPS antenna, VHF radio transceiver, the camera, ultrasonic ranging module, the adapter, the speaker, touch display screen and data memory all pass through the cable junction communication with the ARM industrial computer, can look over the AIS information of near ship received in real time through touch display screen (being the touch-sensitive screen), the positional information of buoy, the voltage of buoy battery and backup battery, data such as snapshot image, can also set up satellite communication's target address.

The solar cell panel arranged on the top of the buoy can be connected with a power supply manager and a maintenance-free storage battery pack through cables, and electric energy is provided for the whole ocean buoy station. The maintenance-free storage battery pack supplies power to the ocean buoy station through the power manager and also charges the standby battery. The ARM industrial personal computer in the application can have a wide voltage input function, 9-36V direct current can be used for supplying power to the ocean buoy station, and power adaptability of the ocean buoy station is enhanced. The standby battery can still supply power to the ocean buoy station under the extreme condition that the maintenance-free storage battery pack is disconnected, so that the situation that a person maliciously cuts off the main power supply of the buoy or the power supply system fails is prevented. Furthermore, based on the standby battery, under the condition that the main power supply of the buoy is disconnected, the power supply can be seamlessly switched to the standby battery, and the alarm can be timely sent to the data receiving station through the satellite communication system, so that the minimum communication is guaranteed.

The communication modes of the ARM industrial personal computer, the AIS receiver, the satellite communication machine, the GPS antenna, the VHF radio transceiver, the camera, the ultrasonic ranging module, the sound pick-up, the loudspeaker, the touch display screen and the data storage device include but are not limited to an I/O point reading and writing communication mode, an RS485 communication mode, an RS232 communication mode, an SPI communication mode and a TCP/IP Ethernet communication mode.

The AIS receiver in this application can adopt the low-power consumption design, and monitoring module consumption is typical 1.5W, and is especially adapted to use on the buoy. The ARM industrial computer in this application can realize image transmission through the mechanism of data packet and the polling of big dipper multicard. The big dipper card can transmit 78 bytes per minute, and this application proposes to install 30 big dipper cards in order to subcontract the sending data in an equipment.

More than, to ocean buoy intrusion detection and evidence collection, this application uses the AIS receiver to monitor the peripheral ship developments of buoy, and the mode consumption that this receiver was monitored is lower, and the monitoring range is wider, can reach more than 10 hai. The distance between the invading ship and the buoy is calculated through the GPS position information, the level of the invading ship belonging to the alarm identification circle is judged, and corresponding countermeasures such as locking tracking, VHF radio station early warning, sound and light warning, photographing and evidence obtaining are taken. To personnel invasion detection of logging on the mark, will install ultrasonic radar ranging module on the buoy mast section of thick bamboo, alright produce alarm information through measuring distance when someone climbs the buoy platform, start the camera and shoot. A plurality of infrared cameras are arranged on the buoy instrument platform, and all-weather 360-degree full coverage is formed on the buoy platform and the surrounding sea area. The camera shooting is in a closed state at ordinary times, so that the electric quantity is saved, and when a ship approaches or a person climbs the buoy, the snapshot is started and the buoy is stored locally. And comparing the captured image with a specific background image stored in the system, and dynamically identifying whether the invading ship or the person really exists or not. By means of an image segmentation and compression method, key images of ships or personnel are sent back to the data receiving station in a data subpackage mode in a multi-card Beidou communication machine polling sending mode.

In one embodiment, as shown in fig. 6, an intrusion detection forensics method is provided, which is described by taking the method as an example applied to the ocean buoy station shown in fig. 1, and includes:

step S602, receiving the current position of the ship and the current position of the buoy output by the ship near the buoy monitored by the first distance measuring device, and confirming the distance between the ship and the buoy according to the current position of the ship and the current position of the buoy; the first distance measuring device is arranged at the top of the buoy body;

step S604, based on the identification ring level of the distance, starting a corresponding early warning action, and outputting early warning information to the data receiving station;

step S606, when the intrusion alarm signal transmitted by the second distance measuring device is received, a camera is started to take a picture and record a video; the second distance measuring device is arranged on the mast of the buoy body; the camera is arranged at the top of the buoy body;

and step S608, comparing and dynamically identifying the shooting data of the camera, and transmitting the processing result to the data receiving station.

Specifically, after the ocean buoy station is installed in place and started, system self-checking is firstly carried out, and the ocean buoy station enters a standby mode after passing through a normal mode. In the standby mode, only the GPS, the AIS receiver and the ultrasonic ranging module are started, and other modules are in a power-saving closed state. The GPS module obtains the current position of the buoy through satellite positioning, the AIS receiver monitors AIS signals sent by ships around the buoy, an ARM industrial personal computer of a marine buoy station stores and analyzes the AIS signals to obtain information such as MMSI codes, ship names, nationality, coordinates, course and the like of the ships, the distance between the ships and the buoy is calculated according to the coordinates, the ships and the buoy enter corresponding early warning levels, and different actions are taken; it should be noted that, the steps in the intrusion detection forensics method of the present application may be implemented by using the embodiments described in the foregoing marine buoy station, and are not described herein again.

In one particular embodiment, the current position of the vessel may include vessel coordinate information and the current position of the buoy may include buoy coordinate information;

specifically, as shown in fig. 7, when the vessel is less than 10 nautical miles from the buoy, the target is locked and the record is tracked until the vessel exits the 10 nautical miles identification circle. When the distance between the ship and the buoy is less than 5 nautical miles, the VHF radio transceiver at the buoy end is started, and the warning voice is broadcasted to the ship through a CH16 public channel to remind the ship not to approach. And when the distance between the ship and the buoy is less than 2 nautical miles, starting the camera to enter a photographing and video recording mode. It should be noted that 2 nautical miles, 5 nautical miles, 10 nautical miles, 200 meters, 10 minutes, and the like in fig. 7 are merely examples, and other values may be adopted in practical applications.

In a particular embodiment, the results of the processing may include ship key information images and/or personnel key information images; the steps of comparing shooting data of the camera and carrying out dynamic identification processing comprise:

Specifically, the image captured by the camera is compared with a preset background image, whether the image of the ship or the person really exists in the captured image is dynamically identified, a key information image of the ship or the person is extracted by an image segmentation and compression method and is sent back to a data receiving station by a satellite,

in a specific embodiment, the step of comparing the captured image in the captured data with a preset background image to dynamically identify the target image in the captured image may include:

and acquiring a target image according to the residual images.

Specifically, as shown in fig. 8, the method and the device can acquire a sea scene picture image of the surrounding environment of the buoy, acquire a captured sea picture when a ship approaches, divide a sea background part (namely, a sea background image) and a ship part (namely, a target partial image) by using a maximum inter-class difference method, delete a wave part of which the intra-class variance is greater than a threshold value, and acquire a ship image according to the edge of the remaining image.

In one embodiment, the step of transmitting the processing result to the data receiving station may comprise:

and acquiring a binary code stream of the processing result, dividing the binary code stream into a plurality of data packets, and transmitting each data packet to a data receiving station in a polling manner.

Specifically, as shown in fig. 9, a binary code stream in a format of an image jpg (joint Photographic expert group) may be obtained, the code stream is divided into N packets according to 78 bytes of each packet, and then polling and sending are performed through a plurality of beidou cards; note that 1 minute and the like in fig. 9 are merely examples, and other values may be adopted in practical applications.

Furthermore, the management software in the ocean buoy station in the application can use a sea chart as a background, and the real position of the buoy and the ship information around the buoy are displayed in the sea chart. The mouse can be slid to amplify a map of a certain buoy, when the mouse clicks the buoy icon, the state information of the buoy is displayed in a popup window mode, and the state information can comprise the number of the buoy, longitude and latitude coordinates of the buoy, the current electric quantity of a storage battery of the buoy, whether the buoy is shifted or not, whether the buoy is abnormal or not and the like. The electronic map corresponds to the ships around the buoy in the form of ship-shaped icons, when a mouse clicks one of the ship-shaped icons, AIS information of the ship is displayed in the form of a pop window, and the content comprises a ship name, MMSI codes of the ship, longitude and latitude of the ship, calling signs of the ship, nationality of the ship, course of the ship and cargo information of the ship. The ocean buoy station can also actively send instructions to a certain buoy end, such as starting snapshot, closing certain abnormal equipment and the like.

According to the intrusion detection evidence obtaining method, all AIS information of ships passing through the vicinity of the buoy can be recorded by the aid of information such as permanent unique identification numbers (MMSI codes), ship names, nationality, coordinates and distances from the buoy, and different measures including locking tracking, VHF radio station early warning, photographing, sound and light warning and the like are taken when the ships enter different levels of identification rings by setting identification rings with different distances of 10 nautical miles, 5 nautical miles, 2 nautical miles and the like. Once the ship is found to be too close to the buoy or a person signs, alarm information is immediately sent to the data receiving station, a camera is started to record a video for evidence obtaining, a captured image is sent back to the data receiving station through the satellite communication system after image recognition, segmentation and compression, the data receiving station is reminded of an operator on duty to check the buoy condition, and an instruction, a shout voice and the like can be sent to the buoy end. When the buoy is damaged, analysis can be carried out according to the information of the past ships and the image information recorded by the system, all possible troubling ships can be found, the responsibility of the ships can be followed, and the loss can be recovered.

The method and the device utilize image recognition to dynamically recognize the video image, discard invalid video image data, store image data of ships or personnel and ensure that valid data can be stored for more than 6 months; adopt satellite communication system to carry out the data interaction of ocean buoy station and data receiving station, as long as there is not sheltering from above the satellite communication machine antenna, then all can realize communicating in any geographical position, can carry out the security protection control to the buoy far away from the coast, realize image transmission through the mechanism of data packet and the many calories of polling of big dipper. Civilian big dipper card transmits 78 bytes per minute, and the application proposes to install 30 cards in a equipment and divide the package to send data.

It should be understood that although the various steps in the flow charts of fig. 6-9 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Also, at least some of the steps in fig. 6-9 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternating with other steps or at least some of the sub-steps or stages of other steps.

In one embodiment, as shown in fig. 10, there is provided an intrusion detection forensics apparatus comprising:

a distance confirming module 110, configured to receive a current position of a ship and a current position of a buoy output by the first distance measuring device, where the ship and the buoy are output by the first distance measuring device, and confirm a distance between the ship and the buoy according to the current position of the ship and the current position of the buoy; the first distance measuring device is arranged at the top of the buoy body;

the early warning module 120 is configured to start a corresponding early warning action based on the identification circle level in which the distance falls, and output early warning information to the data receiving station;

the starting shooting module 130 is used for starting a camera to shoot and record video when receiving the intrusion alarm signal transmitted by the second distance measuring device; the second distance measuring device is arranged on the mast of the buoy body; the camera is arranged at the top of the buoy body;

and the data processing module 140 is configured to compare and dynamically identify the shooting data of the camera, and transmit the processing result to the data receiving station.

For the specific limitations of the intrusion detection forensic device, reference may be made to the above limitations of the intrusion detection forensic method, which are not described herein again. All or part of the modules in the intrusion detection evidence obtaining device can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.

In one embodiment, as shown in fig. 11, there is provided a marine buoy intrusion detection forensics system, comprising a data receiving station, and a plurality of marine buoy stations as described above; each ocean buoy station is connected with a data receiving station;

Specifically, as shown in fig. 11, the ocean buoy intrusion detection and evidence obtaining system may include a plurality of ocean buoy stations, and a data receiving station connected to each ocean buoy station; the data receiving station may include a satellite communicator, a PC and a display screen, among others. The satellite communication machine can be installed in open places such as roofs and the like and is connected with a PC through a cable, the PC is provided with special buoy data management software, and image data, alarm information, AIS information and the like sent back by a buoy end (namely a marine buoy station) can be received and inquired and displayed on a display screen.

The PC of the data receiving station can realize the functions of data analysis, storage and display based on the buoy data management software, can open the software on a local area network or the Internet in an Ethernet communication mode, and can also be directly connected with a display screen for interface display.

After the system is installed in place and started, the system can be subjected to self-checking firstly, and enters a standby mode after the system normally passes through. In the standby mode, only the GPS, the AIS receiver and the ultrasonic ranging module are started, and other modules are in a power-saving closed state.

The GPS module obtains the current position of the buoy through satellite positioning, the AIS receiver monitors AIS signals sent by ships around the buoy where the AIS receiver is located, the ARM industrial personal computer of the ocean buoy station stores and analyzes the AIS signals to obtain information such as MMSI codes, ship names, nationality, coordinates and courses of the ships, the distance between the ships and the buoy is calculated according to the coordinates, the ships and the buoy enter corresponding early warning levels, and different actions are taken. When the distance between the ship and the buoy is less than 10 nautical miles, the target is locked and the tracking record is carried out until the ship moves out of the identification circle of 10 nautical miles. When the distance between the ship and the buoy is less than 5 nautical miles, the VHF radio transceiver at the buoy end is started, and the warning voice is broadcasted to the ship through a CH16 public channel to remind the ship not to approach. And when the distance between the ship and the buoy is less than 2 nautical miles, starting the camera to enter a photographing and video recording mode.

The ultrasonic ranging module arranged on the buoy mast can measure the distance between peripheral objects according to the frequency of 1 time per second, and because the probe faces to the open place of the buoy platform, the measured distance data is 0 at ordinary times. The image captured by the camera is compared with the pre-stored background picture, whether the image of the ship or the person really exists in the captured image is dynamically identified, the key information image of the ship or the person is extracted by an image segmentation and compression method, and the key information image is sent back to the data receiving station by a satellite. The satellite communication machine of the data receiving station can simultaneously receive data sent by more than one ocean buoy station and send the received data to the PC of the data receiving station, and the PC of the data receiving station displays all the buoy position, the buoy state, all ship information in 10 seas around the buoy, captured images and the like according to the buoy number in management software and can also view historical data in a query mode.

According to the ocean buoy intrusion detection evidence obtaining system, the AIS receiver can be designed in a low power consumption mode, the power consumption of a monitoring module is typically 1.5W, and the ocean buoy intrusion detection evidence obtaining system is very suitable for being used on a buoy; aiming at the personnel sign invasion monitoring, 6 ultrasonic ranging probes are arranged on a middle mast of the buoy, and the opening angle of each probe is 60 degrees, so that the buoy platform is fully covered. The ultrasonic ranging module can effectively monitor a human body within 6 meters, is not influenced by light, sea conditions and buoy movement, and can accurately generate an alarm signal when a person signs; 4 infrared cameras are arranged on an instrument platform on the top of the buoy, all-weather clear photographing and video recording can be realized, the opening angle of each camera is 90 degrees, 360-degree full coverage of the buoy platform and the surrounding sea area can be realized, the cameras and an industrial personal computer are matched for image recognition, dynamic recognition is carried out on video images, invalid video image data are discarded, only image data of ships or personnel are stored, and effective data more than 6 months can be stored; adopt satellite communication system to carry out the data interaction of ocean buoy station and data receiving station, as long as there is not sheltering from above the satellite communication machine antenna, then all can realize communicating in any geographical position, can carry out the security protection control to the buoy far away from the coast, realize image transmission through the mechanism of data packet and the many calories of polling of big dipper. Civilian big dipper card can transmit 78 bytes per minute, and the application proposes to install 30 cards and divides the packet to send data. The ocean buoy station is provided with the standby battery, the standby battery can be seamlessly switched to supply power under the condition that the main power supply of the buoy is disconnected, and the satellite communication system can be used for timely alarming to the data receiving station, so that the minimum communication is guaranteed.

According to the method and the device, all AIS information of ships passing through the vicinity of the buoy can be recorded by the aid of information such as permanent unique identification numbers (MMSI codes), ship names, nationality, coordinates and distances from the buoy, and different measures including locking tracking, VHF radio station early warning, photographing, sound and light warning and the like are taken when the ships enter different levels of identification rings by setting identification rings with different distances such as 10 nautical miles, 5 nautical miles and 2 nautical miles. Once the ship is found to be too close to the buoy or a person signs, alarm information is immediately sent to the data receiving station, a camera is started to record a video for evidence obtaining, a captured image is sent back to the data receiving station through the satellite communication system after image recognition, segmentation and compression, the data receiving station is reminded of an operator on duty to check the buoy condition, and an instruction, a shout voice and the like can be sent to the buoy end. When the buoy is damaged, analysis can be carried out according to the information of the past ships and the image information recorded by the system, all possible troubling ships can be found, the responsibility of the ships can be followed, and the loss can be recovered.

In an embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the above-mentioned method.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus DRAM (RDRAM), and interface DRAM (DRDRAM).

In the description herein, references to the description of "some embodiments," "other embodiments," "desired embodiments," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, a schematic description of the above terminology may not necessarily refer to the same embodiment or example.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

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

1. A marine buoy station, comprising:

the camera is arranged at the top of the buoy body;

the first distance measuring device is arranged at the top of the buoy body; the first distance measuring device monitors ships near the buoy and outputs the current positions of the ships and the buoy;

the industrial personal computer is arranged in the buoy body cabin and is used for connecting the data receiving station; the industrial personal computer is connected with the camera, the first distance measuring device and the second distance measuring device; the industrial personal computer confirms the distance between the ship and the buoy according to the current position of the ship and the current position of the buoy, enters a corresponding early warning level based on an identification ring in which the distance falls, starts a corresponding early warning action, outputs early warning information to the data receiving station, and starts the camera to shoot and record video when receiving the intrusion warning signal; and the industrial personal computer compares the shooting data of the camera and dynamically identifies and processes the shooting data, and transmits the processed result to the data receiving station.

2. The marine buoy station of claim 1, characterized in that the vessel current location comprises vessel coordinate information and the buoy current location comprises buoy coordinate information; the processing result comprises a ship key information image and/or a personnel key information image;

the identification rings comprise a 10-nautical mile identification ring, a 5-nautical mile identification ring and a 2-nautical mile identification ring; the early warning action comprises ship locking tracking corresponding to the 10 nautical mile identification circle, early warning report corresponding to the 5 nautical mile identification circle and a photographing video corresponding to the 2 nautical mile identification circle;

the industrial personal computer compares the snapshot image in the shooting data with a preset background image, dynamically identifies a target image in the snapshot image, and processes the target image through image segmentation to obtain a processing result; the preset background image comprises a sea surface image of a buoy laying sea area.

3. The marine buoy station of claim 1 or 2,

the camera is an infrared camera;

the ocean buoy station also comprises a satellite communication machine which is arranged at the top of the buoy body; the satellite communication machine is connected between the industrial personal computer and the data receiving station; the satellite communication machine comprises a plurality of Beidou cards; the industrial personal computer obtains the binary code stream of the processing result, divides the binary code stream into a plurality of data packets, and transmits the data packets to the data receiving station in a polling mode through the Beidou cards.

4. The marine buoy station of claim 3, wherein the number of infrared cameras is 4; the number of the Beidou cards is 30;

5. The marine buoy station of claim 1 or 2, characterized in that the industrial personal computer is an ARM industrial personal computer; further comprising:

the early warning device is arranged at the top of the buoy body; the early warning device comprises a VHF radio transceiver; the VHF radio transceiver broadcasts early warning voice to the ship through a CH16 public channel;

the first distance measuring device comprises an AIS receiver and a GPS antenna which are both connected with the ARM industrial personal computer;

the solar cell panel is arranged at the top of the buoy body;

the touch display screen and the data memory are arranged in the buoy body cabin; the touch display screen and the data memory are connected with the ARM industrial personal computer.

6. An intrusion detection forensics method, comprising:

starting corresponding early warning actions based on the identification ring level of the distance, and outputting early warning information to a data receiving station;

and comparing and dynamically identifying the shooting data of the camera, and transmitting the processing result to the data receiving station.

7. The intrusion detection forensics method according to claim 6, wherein the current position of the vessel includes vessel coordinate information, and the current position of the buoy includes buoy coordinate information;

the processing result comprises a ship key information image and/or a personnel key information image; the steps of comparing the shooting data of the camera and carrying out dynamic identification processing comprise:

and processing the target image through image segmentation to obtain the processing result.

8. The intrusion detection forensics method according to claim 7, wherein the step of comparing the captured image in the captured data with a preset background image and dynamically identifying the target image in the captured image comprises:

based on the preset background image, segmenting the snapshot image by adopting a maximum inter-class variance method to obtain a segmented image; the segmented image comprises a sea surface background image and a target partial image;

and acquiring the target image according to the residual image.

9. An intrusion detection forensics apparatus, the apparatus comprising:

the distance confirming module is used for receiving the current position of the ship and the current position of the buoy output by the ship near the buoy monitored by the first distance measuring device, and confirming the distance between the ship and the buoy according to the current position of the ship and the current position of the buoy; the first distance measuring device is arranged at the top of the buoy body;

the early warning module is used for starting corresponding early warning actions based on the identification ring level of the distance and outputting early warning information to the data receiving station;

10. A marine buoy intrusion detection forensics system comprising a data receiving station, and a plurality of marine buoy stations according to any one of claims 1 to 5; each ocean buoy station is connected with the data receiving station;

the data receiving station comprises a satellite communication machine, a PC (personal computer) and a display screen; the satellite communication machine is arranged in an outdoor open area;