CN111784759A - Ship height calculation method, system and storage medium based on computer vision - Google Patents
Ship height calculation method, system and storage medium based on computer vision Download PDFInfo
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- G06T7/60—Analysis of geometric attributes
- G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
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Abstract
The invention discloses a ship height calculation method, a ship height calculation system and a storage medium based on computer vision, wherein the method comprises the following steps: acquiring image information, identifying a ship according to the image information, and acquiring the highest point of the ship; acquiring a focal length parameter and an image distance parameter of a camera, and acquiring an object distance according to the focal length parameter and the image distance parameter, wherein the object distance is the horizontal distance between the highest point and the camera; acquiring the image height of a ship according to image information, and calculating the relative height between the highest point and the bridge floor according to the image height, the object distance and the image distance parameters; the installation height of the camera is the same as the height of the bridge deck. The invention can quickly and accurately calculate and obtain the relative height of the ship by combining the image information and the working parameters of the camera, thereby judging whether the ship is higher than the bridge floor, realizing low cost and being widely applied to the technical field of channel safety monitoring.
Description
Technical Field
The invention relates to the technical field of channel safety monitoring, in particular to a method and a system for calculating ship height based on computer vision and a storage medium.
Background
With the development of society, bridges are built to cross the navigation channels more and more. When a ship navigates on a channel, the height of the ship needs to be detected in an ultrahigh mode, and the height of the ship is not the height of a ship body but the height of the distance between the ship and a bridge floor. Because the water level of the channel changes with rainfall, the ship may not impact the bridge floor when the water level is low, and the bridge floor may be impacted when the water level rises. The present methods for detecting the ship height include: laser correlation detection and radar ranging detection. The laser correlation detection method is characterized in that laser detectors with the same height as that of a bridge deck need to be installed on two sides of a navigation channel, the width of the navigation channel is required, the width exceeds a certain limit, the laser reflection capacity is weakened, and the detection effect is reduced; and the laser detector needs to be found to be installed and fixed on a building, or a fixing device with the same height as the equal bridge floor is built, so that the cost is increased. By the radar ranging detection method, only the ship height within a certain distance can be detected, the cost is high, the detection range is small, and the precision is low.
The noun explains:
computer vision: the method is a science for researching how to make a machine look, and in particular relates to a method for using a camera and a computer to replace human eyes to perform machine vision such as identification, tracking and measurement on a target, further performing image processing, and using the computer to process the image into an image which is more suitable for human eyes to observe or is transmitted to an instrument to detect. As a scientific discipline, computer vision research-related theories and techniques attempt to build artificial intelligence systems that can capture "information" from images or multidimensional data. "information" as referred to herein refers to information defined by shannon that can be used to help make a "decision". Because perception can be viewed as extracting information from sensory signals, computer vision can also be viewed as the science of how to make an artificial system "perceive" from images or multidimensional data.
Disclosure of Invention
In order to solve one of the above technical problems, an object of the present invention is to provide a ship height calculating method, system and storage medium based on computer vision.
The technical scheme adopted by the invention is as follows:
a ship height calculation method based on computer vision comprises the following steps:
acquiring image information, identifying a ship according to the image information, and acquiring the highest point of the ship;
acquiring a focal length parameter and an image distance parameter of a camera, and acquiring an object distance according to the focal length parameter and the image distance parameter, wherein the object distance is the horizontal distance between the highest point and the camera;
acquiring the image height of a ship according to image information, and calculating the relative height between the highest point and the bridge floor according to the image height, the object distance and the image distance parameters;
the installation height of the camera is the same as the height of the bridge deck.
Further, the ship height calculation method further comprises an ultrahigh detection step, specifically:
and detecting whether the highest point is higher than the bridge floor or not according to the relative height, and sending alarm information when the highest point is detected to be higher than the bridge floor.
Further, the ship height calculation method further comprises the step of calculating the height of the ship body, and specifically comprises the following steps:
and acquiring a height parameter between the bridge deck and the navigation channel plane, and calculating the height of the ship body by combining the height parameter and the relative height.
Further, the camera is installed on the bridge floor.
The other technical scheme adopted by the invention is as follows:
a computer vision based vessel height calculation system comprising a processor and a camera, the processor and camera being electrically connected;
the camera is used for acquiring image information and outputting a focal length parameter and an image distance parameter;
the processor is used for identifying a ship according to the image information, acquiring the highest point and the image height of the ship, acquiring an object distance according to the focal length parameter and the image distance parameter, and calculating the relative height between the highest point and the bridge floor according to the image height, the object distance and the image distance parameter;
the object distance is the horizontal distance between the highest point and the camera, and the installation height of the camera is the same as the height of the bridge deck.
Further, the ship height calculation system further comprises a distance measurement sensor, and the distance measurement sensor is electrically connected with the processor;
the distance measuring sensor is used for acquiring height parameters between the bridge floor and the channel plane;
the processor is further configured to calculate a hull height in conjunction with the height parameter and the relative height.
Further, the processor is further configured to detect whether the highest point is higher than the bridge floor according to the relative height, and send out alarm information when it is determined that the highest point is higher than the bridge floor.
Further, the camera is installed on the bridge floor.
The other technical scheme adopted by the invention is as follows:
a computer vision based vessel height calculation system comprising:
at least one processor;
at least one memory for storing at least one program;
when executed by the at least one processor, cause the at least one processor to implement the method described above.
The other technical scheme adopted by the invention is as follows:
a storage medium having stored therein processor-executable instructions for performing the method as described above when executed by a processor.
The invention has the beneficial effects that: according to the invention, the relative height of the ship can be rapidly and accurately calculated by combining the image information and the working parameters of the camera, so that whether the ship is higher than the bridge floor or not is judged, the realization cost is low, and the method is favorable for wide popularization.
Drawings
FIG. 1 is a schematic structural diagram of a ship height calculating system based on computer vision according to an embodiment of the invention;
FIG. 2 is a schematic illustration of the calculation of relative altitude in an embodiment of the present invention;
FIG. 3 is a flow chart illustrating the steps of a method for calculating the height of a vessel based on computer vision according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
As shown in fig. 1, the present embodiment provides a ship height calculating system based on computer vision, which comprises a processor and a camera, wherein the processor is electrically connected with the camera;
the camera is used for acquiring image information and outputting a focal length parameter and an image distance parameter;
the processor is used for identifying the ship according to the image information, acquiring the highest point and the image height of the ship, acquiring the object distance according to the focal length parameter and the image distance parameter, and calculating the relative height between the highest point and the bridge floor according to the image height, the object distance and the image distance parameter;
the object distance is the horizontal distance between the highest point and the camera, and the installation height of the camera is the same as the height of the bridge floor.
In this embodiment, the camera may be a high-definition camera or a wide-angle camera; the camera can fix the focal length in advance, and the focal length is unchanged during working; focusing can also be automatically performed during operation. The installation height of the camera is the same as the height of the bridge floor, and the camera can be installed on the bridge floor and can also be installed on surrounding buildings. The camera is used for acquiring image information on the channel in real time, a tracking program can be set, and when a ship appears on the channel, the ship is tracked and shot until the ship is confirmed not to impact the bridge floor. A processor is a device that typically has data processing capabilities, such as a computer and a server. The camera collects image information and sends the image information to the processor, the processor detects whether a ship exists in an image picture according to the image information, if the ship is detected to be stored, the regional characteristics of the ship are extracted, and the highest point of the ship is searched; the ship identification detection can be realized through a ship identification model, and the ship identification model is obtained through training of a large number of ship images. After the highest point of the ship is obtained, a focal length parameter f and an image distance parameter V are obtained from the camera, the focal length parameter f is the focal length of the camera lens when the camera lens shoots, and the image distance parameter V is the distance between an image and the plane mirror. Referring to fig. 2, the object distance U can be obtained according to the focal length parameter f and the image distance parameter V, i.e. 1/U +1/V is 1/f; and finally, calculating to obtain the relative height H according to the object distance U, the image distance parameter V and the image height H, namely the relative height H-H U/V. The image height h is the height of the ship in an image picture and can be obtained through the number of pixels in the image and the CMOS density calculation of the camera.
In some embodiments, after the relative height H is obtained by calculation, whether the height is higher than the bridge floor is judged according to the relative height H. For example, when H is larger than 0, the ship is higher than the bridge floor, the ship can collide with the bridge floor, the processor sends alarm information to inform the ship of changing the channel or preventing the ship from moving forward in time, and therefore the ship is prevented from colliding with the bridge floor.
In some embodiments, a distance measuring sensor is further mounted on the bridge deck and used for detecting the height P between the bridge deck and the water surface of the navigation channel, and the height value of the ship body can be obtained by combining the height P and the relative height H, can be used as illegal evidence of ship superelevation, and can be used for law enforcement management of later-stage workers.
As shown in fig. 3, the present embodiment provides a method for calculating a ship height based on computer vision, which includes, but is not limited to, the following steps:
s1, acquiring image information, identifying the ship according to the image information, and acquiring the highest point of the ship;
s2, acquiring a focal length parameter and an image distance parameter of the camera, and acquiring an object distance according to the focal length parameter and the image distance parameter, wherein the object distance is the horizontal distance between the highest point and the camera; wherein the installation height of the camera is the same as the height of the bridge floor;
and S3, acquiring the image height of the ship according to the image information, and calculating the relative height between the highest point and the bridge floor according to the image height, the object distance and the image distance parameters.
Further as an optional implementation manner, the ship height calculation method further includes an ultrahigh detection step, specifically:
and detecting whether the highest point is higher than the bridge floor according to the relative height, and sending alarm information when the highest point is detected to be higher than the bridge floor.
Further as an optional implementation manner, the ship height calculating method further includes a step of calculating the height of the ship body, specifically:
and acquiring a height parameter between the bridge deck and the navigation channel plane, and calculating the height of the ship body by combining the height parameter and the relative height.
Further as an alternative embodiment, the camera is mounted on the deck. The camera is directly installed on the bridge floor, so that a building or a mounting point with the same height as the bridge floor does not need to be found, and the cost is reduced.
By the method, the relative height of the ship can be rapidly and accurately calculated, whether the ship is higher than the bridge floor or not is detected according to the relative height, and when the ship is detected to be higher than the bridge floor, alarm information is sent out, so that the ship is prevented from impacting the bridge floor. The method can be realized only by a camera and a processor, has low requirement on hardware, reduces the realization cost and is beneficial to wide popularization.
The embodiment also provides a ship height calculating system based on computer vision, which comprises:
at least one processor;
at least one memory for storing at least one program;
when the at least one program is executed by the at least one processor, the at least one processor is caused to implement the method described above.
The ship height calculating system based on computer vision in the embodiment can execute the ship height calculating method based on computer vision provided by the method embodiment of the invention, can execute any combination of the implementation steps of the method embodiment, and has corresponding functions and beneficial effects of the method.
The present embodiments also provide a storage medium having stored therein processor-executable instructions, which when executed by a processor, are configured to perform the method as described above.
The storage medium of this embodiment can execute the ship height calculation method based on computer vision provided by the method embodiments of the present invention, can execute any combination of the implementation steps of the method embodiments, and has corresponding functions and advantages of the method.
It will be understood that all or some of the steps, systems of methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as is well known to those of ordinary skill in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, Digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can accessed by a computer. In addition, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as known to those skilled in the art.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.
Claims (10)
1. A ship height calculation method based on computer vision is characterized by comprising the following steps:
acquiring image information, identifying a ship according to the image information, and acquiring the highest point of the ship;
acquiring a focal length parameter and an image distance parameter of a camera, and acquiring an object distance according to the focal length parameter and the image distance parameter, wherein the object distance is the horizontal distance between the highest point and the camera;
acquiring the image height of a ship according to image information, and calculating the relative height between the highest point and the bridge floor according to the image height, the object distance and the image distance parameters;
the installation height of the camera is the same as the height of the bridge deck.
2. The computer vision-based ship height calculation method according to claim 1, further comprising an excess height detection step, specifically:
and detecting whether the highest point is higher than the bridge floor or not according to the relative height, and sending alarm information when the highest point is detected to be higher than the bridge floor.
3. The computer vision-based ship height calculation method according to claim 1, further comprising the step of calculating the height of the hull, specifically:
and acquiring a height parameter between the bridge deck and the navigation channel plane, and calculating the height of the ship body by combining the height parameter and the relative height.
4. The computer vision based vessel height calculation method according to claim 1, wherein the camera is mounted on a bridge deck.
5. A computer vision based vessel height calculation system comprising a processor and a camera, the processor and camera being electrically connected;
the camera is used for acquiring image information and outputting a focal length parameter and an image distance parameter;
the processor is used for identifying a ship according to the image information, acquiring the highest point and the image height of the ship, acquiring an object distance according to the focal length parameter and the image distance parameter, and calculating the relative height between the highest point and the bridge floor according to the image height, the object distance and the image distance parameter;
the object distance is the horizontal distance between the highest point and the camera, and the installation height of the camera is the same as the height of the bridge deck.
6. The computer vision based vessel height calculation system of claim 5 further comprising a ranging sensor electrically connected to the processor;
the distance measuring sensor is used for acquiring height parameters between the bridge floor and the channel plane;
the processor is further configured to calculate a hull height in conjunction with the height parameter and the relative height.
7. The computer vision based vessel height calculating system according to claim 5, wherein the processor is further configured to detect whether the highest point is above the deck based on the relative height, and to issue a warning message upon determining that the highest point is above the deck.
8. A computer vision based vessel height calculation system as claimed in claim 5 wherein the camera is mounted on the deck.
9. A computer vision based vessel height calculation system comprising:
at least one processor;
at least one memory for storing at least one program;
when executed by the at least one processor, cause the at least one processor to implement a computer vision based vessel height calculation method as claimed in any one of claims 1 to 4.
10. A storage medium having stored therein processor-executable instructions, which when executed by a processor, are configured to perform a computer vision based vessel altitude calculation method as claimed in any one of claims 1 to 4.
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| CN113077660A (en) * | 2021-04-15 | 2021-07-06 | 上海海事大学 | Intelligent bridge collision avoidance system applied to inland ship |
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| CN113566720A (en) * | 2021-09-26 | 2021-10-29 | 武汉理工大学 | Method, system, equipment and storage medium for automatically measuring ship height above water |
| CN115897435A (en) * | 2023-01-03 | 2023-04-04 | 湖南大学 | Method for preventing bridge from ultrahigh collision based on computer vision and actuator |
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