CN112102361B - Multi-ship operation collision detection method and device and computer equipment - Google Patents
Multi-ship operation collision detection method and device and computer equipment Download PDFInfo
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Abstract
The invention discloses a method, a device and computer equipment for detecting collision in operation of multiple ships, wherein the method comprises the following steps: acquiring current state information of each ship and a historical driving image in the current running state, wherein the state information comprises position information and ship speed of each ship; determining the running track of each ship according to the historical running image in the current running state; determining the collision risk degree of any target ship and other ships according to the current state information and the driving track of each ship; and when the collision risk degree is greater than a first preset threshold value, giving out a collision alarm. According to the method and the device, the collision risk degree of the ship in the running state of the multiple ships is obtained by analyzing the current state information of the multiple ships and the historical running image in the current running state, the collision risk in the running state of the multiple ships is considered, a collision alarm is sent to remind sailing personnel to change the course, the collision risk of the ship is reduced, and the running safety of the multiple ships is improved.
Description
Technical Field
The invention relates to the technical field of ship detection, in particular to a method and a device for detecting collision in operation of multiple ships and computer equipment.
Background
The research on the abnormal behavior of the ship is always an important component of the research on the scientific theory of marine safety, and the research on the theory and technology of the abnormal behavior recognition of the ship is significant for ensuring the safe sailing of the ship, avoiding risks, reducing false alarms, and promoting smooth, safe and efficient development of waterway transportation. In the related art, the ship anomaly detection does not consider the anomaly detection under the interaction among multiple ships in the same space-time environment, so that the anomalies among the multiple ships, which are concerned by sea situation awareness personnel, are omitted.
Disclosure of Invention
Therefore, the technical problem to be solved by the present invention is to overcome the defect in the prior art that collision detection of ships is not considered under the interaction between multiple ships in the same space-time environment, so as to provide a method, an apparatus and a computer device for detecting collision during operation of multiple ships.
According to a first aspect, the embodiment of the invention discloses a method for detecting collision in operation of multiple ships, which comprises the following steps: acquiring current state information of each ship and a historical driving image in the current running state, wherein the state information comprises position information and ship speed of each ship; determining the running track of each ship according to the historical running image in the current running state; determining the collision risk degree of any target ship and other ships according to the current state information and the driving track of each ship; and when the collision risk degree is greater than a first preset threshold value, giving out a collision alarm.
Optionally, acquiring the historical driving image of each ship in the current running state comprises: and acquiring a historical driving image of each ship in a current running state within a preset time period.
Optionally, the determining the travel track of each ship according to the historical travel image in the current operation state includes: acquiring a satellite image corresponding to the historical driving image; matching the historical driving image with the satellite image, and determining the position of the ship with the matching degree greater than or equal to a second preset threshold value as the position of the ship in the sea area; and determining the running track of each ship according to a plurality of positions of each ship in the sea area.
Optionally, the determining the collision risk of any target ship with other ships according to the current state information and the driving track of each ship includes: determining the ship course of each ship in the current state according to the running track of each ship; respectively determining the distance between any one target ship and other ships according to the position information of each ship; calculating the relative movement speed and the relative bulwark angle of any target ship relative to other ships according to the ship heading and the ship speed; and determining the collision risk degree of any target ship and other ships according to the relative bulwark angle, the relative movement speed and the distance between any target ship and other ships.
Optionally, the calculating a relative bulwark angle of any one target vessel relative to other vessels according to the vessel heading and the vessel speed includes: calculating the relative course of any target ship relative to other ships according to the ship speed and ship course of any target ship and the ship speed and ship course of other ships; and determining the relative bulwark angle of any target ship relative to other ships according to the relative heading and the direction of the target ship relative to other ships.
Optionally, the determining a collision risk between any target vessel and other vessels according to the relative bulwark angle, the relative movement speed and the distance between any target vessel and other vessels includes: determining the shortest meeting distance and the shortest meeting time between any target ship and other ships according to the distance between any target ship and other ships, the relative movement speed and the relative bulwark angle; and determining the collision risk of any target ship and other ships according to the shortest meeting distance and the shortest meeting time.
Optionally, the method further comprises: according to the collision risk degree, carrying out risk degree sequencing on other ships corresponding to any target ship; and determining the running direction of the target ship according to the sequencing result.
According to a second aspect, the embodiment of the invention discloses a multi-ship operation collision detection device, which comprises: the acquisition module is used for acquiring current state information of each ship and historical driving images in the current running state, wherein the state information comprises position information and ship speed of each ship; the first determining module is used for determining the running track of each ship according to the historical running image in the current running state; the second determining module is used for determining the collision risk degree of any target ship and other ships according to the current state information and the driving track of each ship; and the alarm module is used for sending out a collision alarm when the collision risk degree is greater than a first preset threshold value.
According to a third aspect, an embodiment of the present invention further discloses a computer device, including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to cause the at least one processor to perform the steps of the method of multi-vessel operational collision detection according to the first aspect or any one of the alternative embodiments of the first aspect.
According to a fourth aspect, the embodiments of the present invention further disclose a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the steps of the multi-vessel operation collision detection method according to the first aspect or any one of the alternative embodiments of the first aspect.
The technical scheme of the invention has the following advantages:
according to the method and the device for detecting the running collision of the multiple ships, the current state information of each ship and the historical running image in the current running state are obtained, the state information comprises the position information and the speed of each ship, the running track of each ship is determined according to the historical running image in the current running state, the collision risk degree of any target ship and other ships is determined according to the current state information and the running track of each ship, and when the collision risk degree is larger than a first preset threshold value, a collision alarm is sent. According to the method and the device, the collision risk of the ships in the running state of the multiple ships is obtained by automatically analyzing and judging the current state information of the multiple ships and the historical running image in the current running state, the collision risk of the multiple ships in the running state is considered, and a collision alarm is sent according to the collision risk of the ships to remind sailing personnel to change the course, so that the collision risk of the ships is reduced, and the running safety of the multiple ships is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a flow chart of a specific example of a method of collision detection in operation of multiple vessels in an embodiment of the invention;
FIG. 2 is a schematic block diagram of a specific example of a multiple vessel operation collision detection apparatus in an embodiment of the present invention;
FIG. 3 is a diagram of an embodiment of a computer device.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; the two elements may be directly connected or indirectly connected through an intermediate medium, or may be communicated with each other inside the two elements, or may be wirelessly connected or wired connected. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The embodiment of the invention discloses a method for detecting collision during operation of multiple ships, which comprises the following steps of:
s101: acquiring current state information of each ship and a historical driving image in the current operation state, wherein the state information comprises position information of each ship and ship speed.
Illustratively, the historical driving image refers to a plurality of images acquired by each ship in the current operation state, and may include each ship and the surrounding environment, or only contain the ship. The method for acquiring the historical driving image of each ship in the current running state can be obtained by directly uploading the acquired images to a terminal in a wireless mode after the images are acquired by image acquisition equipment installed on an unmanned aerial vehicle.
The status information includes position information and vessel speed for each vessel. The position information refers to the geographical position coordinates of each ship in the mercator coordinate system, and can be obtained through conversion according to longitude information and latitude information acquired by an electronic map on each ship. The ship speed can be obtained by a speed sensor installed on the ship in real time, and can also be obtained according to the current position information of each ship, any historical position information in the current running state and the running time between the two positions.
S102: and determining the running track of each ship according to the historical running image in the current running state.
Illustratively, a plurality of historical driving images of each ship in the current running state are acquired, the plurality of historical driving images are input into a preset identification model to obtain ship images of continuous frames, and the position of each ship in each frame of driving image is detected to obtain the driving track of each ship.
S103: and determining the collision risk degree of any target ship and other ships according to the current state information and the driving track of each ship.
Illustratively, the collision risk degree characterizes the degree of possibility of collision between the ships, and the value of the collision risk degree indicates the degree of collision risk between the two ships, and the value of the collision risk degree is in the range of [0, + ∞ ], and the larger the value of the collision risk degree is, the larger the possibility of collision is. When the collision risk is 0, it means that the two ships will not collide, for example, the ship directions are opposite.
Determining the collision risk degree of any target ship and other ships according to the current state information and the driving track of each ship, namely determining the minimum meeting time and the minimum meeting distance of any target ship and other ships according to the current state information and the driving track of each ship, and then determining according to the minimum meeting time and the minimum meeting distance; the relative bulwark angle and the relative movement speed of each ship can also be determined according to the current state information and the running track of each ship, and then the relative bulwark angle and the relative movement speed of any target ship and other ships are determined.
S104: and when the collision risk degree is greater than a first preset threshold value, giving out a collision alarm.
Illustratively, when the collision risk is small, no collision warning is issued; and when the collision risk degree is larger, the collision probability is high, and a collision alarm is sent to remind sailing personnel. The first preset threshold value may be determined based on actual vessel operation. The collision alarm can be sent out on a display monitoring interface or can be sent out in a buzzing mode.
The method for detecting the running collision of the multiple ships comprises the steps of obtaining current state information of each ship and historical running images in the current running state, wherein the state information comprises position information and ship speed of each ship, determining the running track of each ship according to the historical running images in the current running state, determining the collision risk degree of any target ship and other ships according to the current state information and the running track of each ship, and sending a collision alarm when the collision risk degree is larger than a first preset threshold value. According to the method and the device, the collision risk of the ships in the running state of the multiple ships is obtained by automatically analyzing and judging the current state information of the multiple ships and the historical running image in the current running state, the collision risk of the multiple ships in the running state is considered, and a collision alarm is sent according to the collision risk of the ships to remind sailing personnel to change the course, so that the collision risk of the ships is reduced, and the running safety of the multiple ships is improved.
As an optional embodiment of the present invention, acquiring a historical travel image of each ship in a current operation state includes:
and acquiring a historical driving image of each ship in a current running state within a preset time period.
Illustratively, in order to reduce the image storage and image calculation amount, in the embodiment of the present invention, only the history travel image within a preset time period is acquired. The preset time period may be the first 20 minutes of the current state, and the preset time period is not particularly limited in the embodiment of the present invention, and may be determined by a person skilled in the art according to the actual speed of the ship.
As an alternative embodiment of the present invention, the step S102 includes:
first, a satellite image corresponding to the history travel image is acquired.
For example, the satellite image corresponds to the historical driving image, and may be purchased and acquired from a satellite data organization, or downloaded from a Google Earth server.
And secondly, matching the historical driving image with the satellite image, and determining the position of the ship with the matching degree greater than or equal to a second preset threshold value as the position of the ship in the sea area.
For example, the second preset threshold may be 90%, and the second preset threshold is not specifically limited in the embodiment of the present invention, and may be set by a person skilled in the art according to an actual situation of the image. The matching from the historical travel image and the satellite image may be a matching calculation for two images according to an existing matching algorithm (e.g., grayscale-based matching, feature-based matching, etc.). When the matching degree reaches a certain threshold value, the two images are considered to correspond to the same position, the position is determined as the position of the ship in the sea area, and a plurality of positions of each ship in the sea area can be obtained according to the method.
Thirdly, determining the traveling track of each ship according to a plurality of positions of each ship in the sea area. Connecting multiple positions of each ship in the sea area is the running track of the ship.
According to the embodiment of the invention, the historical driving image is matched with the corresponding satellite image, the position with higher matching degree is determined as the position of the ship in the sea area, and the driving track of the ship is further determined, so that the obtained ship track is more visual and accurate.
As an alternative embodiment of the present invention, the step S103 includes:
firstly, determining the ship heading of each ship in the current state according to the running track of each ship. The ship heading refers to the heading of the ship in the current state, namely the pointing direction of the end point of the ship driving track.
Secondly, the distance between any target ship and other ships is determined according to the position information of each ship.
For example, the distance between any target ship and other ships determined according to the position information of each ship can be calculated according to a distance calculation formula between two points. For example, the position information of any one target ship is (X1, Y1), the position information of any other ship is (X2, Y2), and the distance between any one target ship and any other ship is:
where r represents the distance between any target vessel and the other vessels.
Thirdly, the relative movement speed and the relative bulwark angle of any target ship relative to other ships are calculated according to the ship heading and the ship speed.
For example, according to the ship heading and the ship speed, the calculating the relative movement speed of any one target ship relative to other ships may specifically be:
wherein S isrRepresenting the relative movement speed; sORepresenting a vessel speed of any one of the target vessels; sTRepresenting vessel speeds of other vessels; beta represents the ship heading difference of any target ship and other ships.
According to the ship heading and the ship speed, the calculation of the relative bulwark angle of any target ship relative to other ships may specifically be:
and calculating the relative heading of any target ship relative to other ships according to the ship speed and ship heading of any target ship and the ship speeds and ship headings of other ships.
For example, calculating the relative heading of any target vessel relative to other vessels based on the vessel speed and vessel heading of any target vessel and the vessel speed and vessel heading of other vessels may specifically be:
wherein, CrRepresenting the relative heading of any target vessel relative to other vessels; cORepresenting the heading of any target vessel; q is an intermediate variable;
the relative bulwark angle of any target vessel relative to other vessels is determined according to the relative heading and the azimuth of any target vessel relative to other vessels.
For example, determining the relative bulwark angle of any target vessel relative to other vessels according to the relative heading and the azimuth of any target vessel relative to other vessels may be determined according to an operational relationship between the relative heading and the azimuth of any target vessel relative to other vessels.
Thirdly, determining the collision risk degree of any target ship and other ships according to the relative bulwark angle, the relative movement speed and the distance between any target ship and other ships.
The determination of the collision risk between any target vessel and other vessels according to the relative bulwark angle, the relative movement speed and the distance between any target vessel and other vessels may specifically be:
wherein E represents a collision risk degree; r represents the distance between any target vessel and the other vessels; srRepresenting the relative movement speed of any target ship and other ships; θ represents the relative angle of the target vessel from the other vessels.
As an alternative embodiment of the present invention, the determining the collision risk between any target vessel and other vessels according to the relative bulwark angle, the relative movement speed, and the distance between any target vessel and other vessels may further be:
first, the shortest encounter distance and the shortest encounter time between any one target ship and other ships are determined according to the distance, the relative movement speed, and the relative bulwark angle between any one target ship and other ships.
Illustratively, the calculation methods of the shortest encounter distance and the shortest encounter time are respectively as follows:
Dr＝Dsinθ
wherein D isrRepresenting the shortest encounter distance; t represents the shortest encounter time; d represents the distance between any target ship and other ships; θ represents the relative port angle.
And secondly, determining the collision risk degree of any target ship and other ships according to the shortest meeting distance and the shortest meeting time. The shortest encounter distance and the shortest encounter time are important factors affecting the risk of collision. The smaller the shortest encounter distance is, the larger the collision risk degree is; the smaller the shortest encounter time, the greater the risk of collision.
As an optional embodiment of the present invention, after obtaining the collision risk of any one target vessel and other vessels, the multi-vessel operation collision detection method further comprises:
firstly, sorting the risk degrees of other ships corresponding to any target ship according to the collision risk degrees.
For example, the risk degrees of collision between other ships and any target ship are ranked according to the collision risk degree, and may be ranked from small to large, or from large to small.
And secondly, determining the running direction of the target ship according to the sequencing result.
Exemplarily, other ships with the highest danger degree relative to the target ship are determined according to the sequencing result, the running direction of any target ship is determined according to the heading of other ships with the highest danger degree in the direction which does not deviate from the terminal, the accuracy of multi-ship collision avoidance is improved, and the probability of ship collision is reduced.
The embodiment of the invention also discloses a multi-ship operation collision detection device, as shown in fig. 2, comprising:
an obtaining module 21, configured to obtain current state information of each ship and a historical driving image in a current operating state, where the state information includes position information of each ship and a ship speed; the specific implementation manner is see step S101 in the above embodiment, and is not described herein again.
A first determining module 22, configured to determine a travel track of each ship according to the historical travel image in the current operation state; the specific implementation manner is see step S102 in the above embodiments, and is not described herein again.
The second determining module 23 is configured to determine a collision risk of any target ship with other ships according to the current state information and the driving track of each ship; the specific implementation manner is see step S103 in the above embodiment, and is not described herein again.
And an alarm module 24, configured to issue an alarm for collision when the collision risk is greater than a first preset threshold. The specific implementation manner is see step S104 in the above embodiment, and is not described herein again.
According to the multi-ship operation collision detection device provided by the invention, the current state information of each ship and the historical driving image in the current operation state are obtained, the state information comprises the position information and the ship speed of each ship, the driving track of each ship is determined according to the historical driving image in the current operation state, the collision risk degree of any target ship and other ships is determined according to the current state information and the driving track of each ship, and when the collision risk degree is greater than a first preset threshold value, a collision alarm is sent out. According to the method and the device, the collision risk of the ships in the running state of the multiple ships is obtained by automatically analyzing and judging the current state information of the multiple ships and the historical running image in the current running state, the collision risk of the multiple ships in the running state is considered, and a collision alarm is sent according to the collision risk of the ships to remind sailing personnel to change the course, so that the collision risk of the ships is reduced, and the running safety of the multiple ships is improved.
As an optional embodiment of the present invention, the obtaining module 21 includes:
and the acquisition submodule is used for acquiring the historical driving image of each ship in the current operation state within a preset time period. The specific implementation manner is described in the corresponding steps in the above embodiments, and is not described herein again.
As an optional embodiment of the present invention, the first determining module 22 includes:
the satellite image acquisition module is used for acquiring a satellite image corresponding to the historical driving image; the specific implementation manner is described in the corresponding steps in the above embodiments, and is not described herein again.
The matching module is used for matching the historical driving image with the satellite image and determining the position of the ship with the matching degree greater than or equal to a second preset threshold value as the position of the ship in the sea area; the specific implementation manner is described in the corresponding steps in the above embodiments, and is not described herein again.
The first determining submodule is used for determining the running track of each ship according to a plurality of positions of each ship in the sea area. The specific implementation manner is described in the corresponding steps in the above embodiments, and is not described herein again.
As an optional embodiment of the present invention, the second determining module 23 includes:
the third determining module is used for determining the ship course of each ship in the current state according to the running track of each ship; the specific implementation manner is described in the corresponding steps in the above embodiments, and is not described herein again.
The fourth determining module is used for respectively determining the distance between any target ship and other ships according to the position information of each ship; the specific implementation manner is described in the corresponding steps in the above embodiments, and is not described herein again.
The calculation module is used for calculating the relative movement speed and the relative bulwark angle of any target ship relative to other ships according to the ship course and the ship speed; the specific implementation manner is described in the corresponding steps in the above embodiments, and is not described herein again.
And the fifth determining module is used for determining the collision risk degree of any target ship and other ships according to the relative bulwark angle, the relative movement speed and the distance between any target ship and other ships. The specific implementation manner is described in the corresponding steps in the above embodiments, and is not described herein again.
As an optional embodiment of the present invention, the computing module further comprises:
the calculation submodule is used for calculating the relative course of any target ship relative to other ships according to the ship speed and the ship course of any target ship and the ship speed and the ship course of other ships; the specific implementation manner is described in the corresponding steps in the above embodiments, and is not described herein again.
And the sixth determining module is used for determining the relative bulwark angle of any target ship relative to other ships according to the relative heading and the direction of any target ship relative to other ships. The specific implementation manner is described in the corresponding steps in the above embodiments, and is not described herein again.
As an optional embodiment of the present invention, the fifth determining module further includes:
the seventh determining module is used for determining the shortest meeting distance and the shortest meeting time between any target ship and other ships according to the distance, the relative movement speed and the relative bulwark angle between any target ship and other ships; the specific implementation manner is described in the corresponding steps in the above embodiments, and is not described herein again.
And the eighth determining module is used for determining the collision risk of any target ship and other ships according to the shortest meeting distance and the shortest meeting time. The specific implementation manner is described in the corresponding steps in the above embodiments, and is not described herein again.
As an alternative embodiment of the present invention, the multi-ship operation collision detecting apparatus further includes:
the sequencing module is used for sequencing the danger degrees of other ships corresponding to any target ship according to the collision danger degrees; the specific implementation manner is described in the corresponding steps in the above embodiments, and is not described herein again.
And the ninth determining module is used for determining the running direction of the target ship according to the sequencing result. The specific implementation manner is described in the corresponding steps in the above embodiments, and is not described herein again.
An embodiment of the present invention further provides a computer device, as shown in fig. 3, the computer device may include a processor 31 and a memory 32, where the processor 31 and the memory 32 may be connected by a bus or in another manner, and fig. 3 takes the example of being connected by a bus as an example.
The processor 31 may be a Central Processing Unit (CPU). The Processor 31 may also be other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, or combinations thereof.
The memory 32, which is a non-transitory computer readable storage medium, may be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules (e.g., the acquiring module 21, the first determining module 22, the second determining module 23, and the alarm module 24 shown in fig. 2) corresponding to the multi-vessel operation collision detection method in the embodiment of the present invention. The processor 31 executes various functional applications and data processing of the processor by running non-transitory software programs, instructions and modules stored in the memory 32, namely, implementing the multi-vessel operation collision detection method in the above method embodiment.
The memory 32 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created by the processor 31, and the like. Further, the memory 32 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 32 may optionally include memory located remotely from the processor 31, and these remote memories may be connected to the processor 31 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more modules are stored in the memory 32 and when executed by the processor 31 perform a multi-vessel operation collision detection method as in the embodiment shown in fig. 1.
The details of the computer device can be understood with reference to the corresponding related descriptions and effects in the embodiment shown in fig. 1, and are not described herein again.
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 a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a Flash Memory (Flash Memory), a Hard Disk (Hard Disk Drive, abbreviated as HDD) or a Solid State Drive (SSD), etc.; the storage medium may also comprise a combination of memories of the kind described above.
Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.
Claims (9)
1. A collision detection method for multi-ship operation is characterized by comprising the following steps:
acquiring current state information of each ship and a historical driving image in the current running state, wherein the state information comprises position information and ship speed of each ship;
determining the running track of each ship according to the historical running image in the current running state;
determining the collision risk degree of any target ship and other ships according to the current state information and the driving track of each ship;
when the collision risk degree is larger than a first preset threshold value, sending a collision alarm;
the determining the collision risk of any target ship and other ships according to the current state information and the driving track of each ship comprises:
determining the ship course of each ship in the current state according to the running track of each ship;
respectively determining the distance between any one target ship and other ships according to the position information of each ship;
calculating the relative movement speed and the relative bulwark angle of any target ship relative to other ships according to the ship heading and the ship speed;
determining the collision risk degree of any target ship and other ships according to the relative bulwark angle, the relative movement speed and the distance between any target ship and other ships;
the formula for determining the collision risk between any target vessel and other vessels according to the relative bulwark angle, the relative movement speed and the distance between any target vessel and other vessels is as follows:
wherein E represents a collision risk degree; r represents the distance between any target vessel and the other vessels; srRepresenting the relative movement speed of any target ship and other ships; θ represents the relative angle of the target vessel from the other vessels.
2. The method of claim 1, wherein obtaining historical travel images of each vessel at a current operating state comprises:
and acquiring a historical driving image of each ship in a current running state within a preset time period.
3. The method according to claim 1 or 2, wherein the determining of the travel track of each ship according to the historical travel image in the current operation state comprises:
acquiring a satellite image corresponding to the historical driving image;
matching the historical driving image with the satellite image, and determining the position of the ship with the matching degree greater than or equal to a second preset threshold value as the position of the ship in the sea area;
and determining the running track of each ship according to a plurality of positions of each ship in the sea area.
4. The method of claim 1, wherein said calculating a relative bulwark angle of said any target vessel relative to other vessels based on said vessel heading and vessel speed comprises:
calculating the relative course of any target ship relative to other ships according to the ship speed and ship course of any target ship and the ship speed and ship course of other ships;
and determining the relative bulwark angle of any target ship relative to other ships according to the relative heading and the direction of the target ship relative to other ships.
5. The method of claim 1, wherein determining a risk of collision between any target vessel and other vessels based on the relative bulwarks, relative speed of movement, and distances between any target vessel and other vessels comprises:
determining the shortest meeting distance and the shortest meeting time between any target ship and other ships according to the distance between any target ship and other ships, the relative movement speed and the relative bulwark angle;
and determining the collision risk of any target ship and other ships according to the shortest meeting distance and the shortest meeting time.
6. The method of claim 5, further comprising:
according to the collision risk degree, carrying out risk degree sequencing on other ships corresponding to any target ship;
and determining the running direction of the target ship according to the sequencing result.
7. A multi-vessel operation collision detection apparatus, comprising:
the acquisition module is used for acquiring current state information of each ship and historical driving images in the current running state, wherein the state information comprises position information and ship speed of each ship;
the first determining module is used for determining the running track of each ship according to the historical running image in the current running state;
the second determining module is used for determining the collision risk degree of any target ship and other ships according to the current state information and the driving track of each ship;
the alarm module is used for sending out a collision alarm when the collision risk degree is greater than a first preset threshold value;
the determining the collision risk of any target ship and other ships according to the current state information and the driving track of each ship comprises:
determining the ship course of each ship in the current state according to the running track of each ship;
respectively determining the distance between any one target ship and other ships according to the position information of each ship;
calculating the relative movement speed and the relative bulwark angle of any target ship relative to other ships according to the ship heading and the ship speed;
determining the collision risk degree of any target ship and other ships according to the relative bulwark angle, the relative movement speed and the distance between any target ship and other ships;
the formula for determining the collision risk between any target vessel and other vessels according to the relative bulwark angle, the relative movement speed and the distance between any target vessel and other vessels is as follows:
wherein E represents a collision risk degree; r represents the distance between any target vessel and the other vessels; srRepresenting the relative movement speed of any target ship and other ships; θ represents the relative angle of the target vessel from the other vessels.
8. A computer device, comprising: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to cause the at least one processor to perform the steps of the multi-vessel operation collision detection method of any one of claims 1-6.
9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method for multiple vessel operation collision detection according to any of the claims 1-6.
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| CN113110421B (en) * | 2021-03-23 | 2023-03-24 | 特斯联科技集团有限公司 | Tracking linkage method and system for scenic spot river visual identification mobile ship |
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