CN112346078A - Ship superelevation detection method and device, electronic equipment and storage medium - Google Patents
Ship superelevation detection method and device, electronic equipment and storage medium Download PDFInfo
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- CN112346078A CN112346078A CN201910728068.4A CN201910728068A CN112346078A CN 112346078 A CN112346078 A CN 112346078A CN 201910728068 A CN201910728068 A CN 201910728068A CN 112346078 A CN112346078 A CN 112346078A
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
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- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
- G01V8/20—Detecting, e.g. by using light barriers using multiple transmitters or receivers
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Abstract
The embodiment of the invention provides a ship superelevation detection method and device, electronic equipment and a non-transitory computer readable storage medium. The method comprises the following steps: the server receives a correlation signal receiving instruction sent by the first laser correlation device, and detects whether a ship exists in a detection area of the first laser correlation device according to pictures sent by the image acquisition devices of all channels; when a ship is detected to exist in a detection area of the first laser correlation device, continuously tracking the corresponding ship according to an image acquisition device of a channel where the detected ship is located; when detecting that only one ship exists in the detection area of the first laser correlation device, sending a first-level ultrahigh early warning; when target object position information sent by the laser radar is received, whether a ship enters a detection area of the laser radar or not is tracked according to an image acquisition device of a detected channel where the ship is located, and if yes, an emergency ultrahigh early warning is sent out. The embodiment of the invention not only increases the range of ship superelevation detection, but also improves the accuracy of ship superelevation detection.
Description
Technical Field
The invention relates to the technical field of ship superelevation, in particular to a ship superelevation detection method and device, electronic equipment and a non-transitory computer readable storage medium.
Background
The navigation hole refers to a region where the bridge allows a ship to pass through, and generally refers to a range between piers. When the ship passes through the navigation hole, the highest point of the ship is lower than that of the navigation hole to pass through smoothly.
At present, the ultrahigh of ships is detected by using a line, such as infrared correlation, laser radar, laser grating and the like. However, each mode has certain limitations, such as infrared correlation, laser correlation and the like, and only the trigger signal can be acquired, but the trigger position cannot be accurately known. Although the laser radar can acquire the trigger position, the detection distance is limited, and the use requirement of a large scene cannot be met. The laser grating is essentially cut line detection with limited sensitivity. And the single detection means is easy to cause false detection.
Disclosure of Invention
The embodiment of the invention provides a ship superelevation detection method, a ship superelevation detection device, electronic equipment and a non-transitory computer readable storage medium, so that the range of ship superelevation detection is enlarged, and the accuracy of ship superelevation detection is improved.
The technical scheme of the embodiment of the invention is realized as follows:
a ship superelevation detection method comprises the following steps:
the server receives a correlation signal receiving instruction sent by the first laser correlation device, and detects whether a ship exists in a detection area of the first laser correlation device according to pictures sent by the image acquisition devices of all channels;
when the server detects that a ship exists in the detection area of the first laser correlation device, continuously tracking the corresponding ship according to the detected image acquisition device of the channel where the ship is located; when only one ship is detected in the detection area of the first laser correlation device, a first-level ultrahigh early warning is sent out;
when the server receives the position information of a target object sent by the laser radar, whether a ship enters a detection area of the laser radar or not is tracked according to the detected image acquisition device of the channel where the ship is located, and if yes, an emergency ultrahigh early warning is sent out.
The first laser correlation device is erected at a first position on the bank of a river, the height of an emission module of the first laser correlation device is the same as the ultrahigh initial height of the ship, and the signal emission direction of the emission module is vertical to each channel;
the center of the top of each navigation hole is provided with one image acquisition device, and the image acquisition range of each image acquisition device covers the channel corresponding to the navigation hole;
and one laser radar is arranged in the center of the top of each navigation hole, and the detection area of each laser radar covers the channel corresponding to the navigation hole.
After the continuous tracking of the corresponding ship, the tracking before the ship enters a detection area of the laser radar further comprises the following steps:
when the server receives a correlation signal receiving instruction sent by the second laser correlation device, judging whether a ship enters a detection area of the second laser correlation device or not according to a detected picture acquired by an image acquisition device of a channel where the ship is located, and sending a second-level ultrahigh early warning when only one ship enters the detection area of the second laser correlation device;
the second laser correlation device is erected at a second position on the river bank, the height of an emission module of the second laser correlation device is the same as the ultrahigh initial height of the ship, the signal emission direction of the emission module is perpendicular to each channel, and the distance between the second position and the bridge is smaller than the distance between the first position and the bridge.
After receiving the correlation signal receiving indication sent by the second laser correlation device, the server further includes:
and if the server judges that no ship enters the detection area of the second laser correlation device, sending out a secondary ultrahigh early warning error triggering signal.
After the detecting whether a ship exists in the detection area of the first laser correlation device, the method further comprises the following steps:
when the server detects that no ship exists in the detection area of the first laser correlation device, a first-level ultrahigh early warning error triggering signal is sent out;
after receiving the target object position information sent by the laser radar, the server further comprises:
and when the server does not track the detection area where the ship enters the laser radar according to the detected image acquisition device of the channel where the ship is located, sending out an emergency ultrahigh early warning false triggering signal.
A ship superelevation detection device comprises:
the primary early warning module receives a correlation signal receiving instruction sent by the first laser correlation device, and detects whether a ship exists in a detection area of the first laser correlation device according to pictures sent by the image acquisition devices of all channels; when a ship is detected to exist in a detection area of the first laser correlation device, continuously tracking the corresponding ship according to an image acquisition device of a channel where the detected ship is located; when only one ship is detected in the detection area of the first laser correlation device, a first-level ultrahigh early warning is sent out;
and the emergency early warning module tracks whether a ship enters a detection area of the laser radar or not according to the detected image acquisition device of the channel where the ship is located when receiving the position information of the target object sent by the laser radar, and if so, sends out emergency ultrahigh early warning.
The first laser correlation device is erected at a first position on the bank of a river, the height of an emission module of the first laser correlation device is the same as the ultrahigh initial height of the ship, and the signal emission direction of the emission module is vertical to each channel;
the center of the top of each navigation hole is provided with one image acquisition device, and the image acquisition range of each image acquisition device covers the channel corresponding to the navigation hole;
and one laser radar is arranged in the center of the top of each navigation hole, and the detection area of each laser radar covers the channel corresponding to the navigation hole.
The device further comprises a secondary early warning module, when receiving a correlation signal receiving instruction sent by the second laser correlation device, judging whether a ship enters a detection area of the second laser correlation device or not according to a detected picture collected by an image collecting device of a channel where the ship is located, and sending out secondary ultrahigh early warning when only one ship enters the detection area of the second laser correlation device; the second laser correlation device is erected at a second position on the river bank, the height of an emission module of the second laser correlation device is the same as the ultrahigh initial height of the ship, the signal emission direction of the emission module is perpendicular to each channel, and the distance between the second position and the bridge is smaller than the distance between the first position and the bridge.
After the secondary early warning module receives the correlation signal receiving indication sent by the second laser correlation device, the secondary early warning module further comprises:
and if no ship enters the detection area of the second laser correlation device, sending a secondary ultrahigh early warning false triggering signal.
The first-level early warning module further comprises after detecting whether a ship exists in the detection area of the first laser correlation device:
when detecting that no ship exists in the detection area of the first laser correlation device, sending a first-level ultrahigh early warning error triggering signal;
after receiving the target object position information sent by the laser radar, the emergency early warning module further comprises:
and when the image acquisition device of the channel where the ship is located does not track the detection area where the ship enters the laser radar, sending an emergency ultrahigh early warning error triggering signal.
An electronic device, comprising: a processor, a communication interface, a memory and a communication bus, wherein, the processor, the communication interface and the memory complete the communication with each other through the communication bus,
a memory for storing a computer program;
a processor for implementing the method as described above when executing a program stored in the memory.
A non-transitory computer readable storage medium storing instructions that, when executed by a processor, cause the processor to perform the method as any one of the above.
In the embodiment of the invention, when the distance from the bridge is far, the laser correlation device is adopted to detect the ultrahigh ship, when the distance is near, the laser radar is adopted to detect the ultrahigh ship, and the image acquisition device is adopted to track and confirm the ultrahigh ship in the whole process, so that the ultrahigh detection range of the ship is enlarged, and the ultrahigh detection accuracy of the ship is improved.
Drawings
Fig. 1 is a flowchart of a ship superelevation detection method according to an embodiment of the present invention;
fig. 2 is a flowchart of a ship superelevation detection method according to another embodiment of the present invention;
fig. 3 is a schematic position diagram of a first laser correlation device, a second laser correlation device, and a laser radar according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a ship superelevation detection system provided by an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a ship superelevation detection device provided by an embodiment of the invention;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Fig. 1 is a flowchart of a ship superelevation detection method according to an embodiment of the present invention, which includes the following specific steps:
step 101: the server receives a correlation signal receiving instruction sent by the first laser correlation device, and detects whether a ship exists in a detection area of the first laser correlation device according to pictures sent by the image acquisition devices of all the channels.
The laser correlation device sends out a laser signal, and when the laser signal is intercepted by an obstacle, a reverse correlation signal is generated.
The first laser correlation device is erected at a first position on the bank of a river, the height of an emission module of the first laser correlation device is the same as the ultrahigh initial height of the ship, and the signal emission direction of the emission module is vertical to each channel; and an image acquisition device is arranged in the center of the top of each navigation hole, and the image acquisition range of the image acquisition device covers the channel corresponding to the navigation hole.
The meaning of the starting height of the vessel in excess is exemplified below:
for example: and if the height of the ship is more than or equal to a m (a is more than 0), determining that the ship is ultrahigh, and determining that a m is the ultrahigh initial height of the ship.
Step 102: when the server detects that a ship exists in the detection area of the first laser correlation device, continuously tracking the corresponding ship according to the detected image acquisition device of the channel where the ship is located; and when detecting that only one ship exists in the detection area of the first laser correlation device, sending out a first-level ultrahigh early warning.
Step 103: when the server receives the position information of the target object sent by one or more laser radars, whether a ship enters a detection area of the laser radars or not is tracked according to the detected pictures collected by the image collecting device of the channel where the ship is located, and if yes, an emergency ultrahigh early warning is sent out.
And a laser radar is arranged in the center of the top of each navigation hole, and the detection area of the laser radar covers the channel corresponding to the navigation hole.
In the above embodiment, adopt laser correlation device to detect the superelevation boats and ships far away from the bridge, adopt laser radar to detect the superelevation boats and ships near the bridge to whole journey adopts image acquisition device to trail and confirms superelevation boats and ships. Due to the adoption of the laser correlation device, the detection sensitivity is higher, and the ultrahigh ship can be ensured not to be missed as much as possible; the identification diameter of the laser radar is small and the laser radar has a positioning function, so that the ultrahigh ship with a short distance can be accurately identified and positioned; the laser correlation device, the laser radar and the image acquisition device are used in a combined mode, the ultrahigh ship can be accurately captured, and the purposes of accurately issuing early warning information and illegally obtaining evidence are achieved.
In addition, when the ultrahigh ship is identified, different levels of ultrahigh early warning modes can be given according to the detection area of the laser correlation device and the detection area of the laser radar. Meanwhile, false triggering events can be identified, so that background personnel can effectively distribute management energy.
In order to further increase the reliability of the ship ultrahigh warning, the invention further provides the following alternatives:
in step 102, if it is detected that a ship exists in the detection area of the first laser correlation device, continuously tracking the corresponding ship according to the detected picture acquired by the image acquisition device of the channel where the ship is located, and then further comprising: receiving an indication of correlation signals sent by the second laser correlation device, judging whether a ship enters a detection area of the second laser correlation device or not according to the detected pictures collected by the image collection device of the channel where the ship is located, and if the detected pictures are only one, sending out a second-level ultrahigh early warning. The second laser correlation device is erected at a second position on the river bank, the height of an emission module of the second laser correlation device is the same as the ultrahigh initial height of the ship, the signal emission direction of the emission module is perpendicular to each channel, and the distance between the second position and the bridge is smaller than the distance between the first position and the bridge.
In the above solution, a second-level ultrahigh early warning is added, so that the reliability of the ship ultrahigh early warning is further increased.
Fig. 2 is a flowchart of a ship superelevation detection method according to another embodiment of the present invention, which includes the following specific steps:
step 201: the method comprises the steps that a first-level ultrahigh early warning position and a second-level ultrahigh early warning position are set on the river bank in advance, the distance between the first-level ultrahigh early warning position and a bridge is larger than the distance between the second-level ultrahigh early warning position and the bridge, a first laser correlation device is erected at the first-level ultrahigh early warning position, a second laser correlation device is erected at the second-level ultrahigh early warning position, the heights of emitting modules of the first laser correlation device and the second laser correlation device are the same as the ultrahigh initial height of a ship, and the signal emitting directions of the emitting modules of the first laser correlation device and the second laser correlation device are perpendicular to each channel. And installing a laser radar at the center of the top of each navigation hole in advance, wherein the detection area of the laser radar covers the channel corresponding to the navigation hole. And a cloud deck camera and a ball machine are respectively arranged at the center of the top of each navigation hole in advance, and the image acquisition ranges of the cloud deck camera and the ball machine cover the navigation channel corresponding to the navigation hole.
The laser radar, the holder camera and the ball machine can be arranged in the center of the top of the navigation hole side by side.
The first-level ultrahigh early warning position and the second-level ultrahigh early warning position can be set according to actual early warning needs.
Fig. 3 shows a schematic position diagram of the first laser correlation device, the second laser correlation device and the laser radar.
The first laser correlation device and the second laser correlation device continuously emit laser signals, and the laser radar continuously emits radar signals.
Step 202: when the first laser correlation device receives the correlation signal, a correlation signal receiving instruction is reported to the terminal data server.
Step 203: the terminal data server receives the correlation signal receiving indication reported by the first laser correlation device, judges whether a ship enters a detection area of the first laser correlation device or not according to pictures collected by a pan-tilt camera or a ball machine of each navigation hole, and if yes, executes step 204; otherwise, step 207 is performed.
The detection area of the laser correlation device is an area covered by a laser signal emitted by the laser correlation device.
Step 204: the terminal data server judges whether only one ship enters the detection area of the first laser correlation device, if so, step 205 is executed; otherwise, step 206 is performed.
Step 205: and the terminal data server confirms that the ship is an ultrahigh ship and sends out a first-level ultrahigh early warning.
And after the terminal data server sends out the first-level superelevation early warning, if the ship is tracked to the shore according to the pictures acquired by the pan-tilt camera or the dome camera of the channel where the superelevation ship is located, the first-level superelevation early warning is stopped.
Step 206: and the terminal data server continuously tracks each ship according to the pictures acquired by the pan-tilt cameras or the ball machines of each channel, and the step 208 is carried out.
When there are multiple vessels, it is not possible to determine which one or which multiple vessels are specifically ultra-high, and therefore tracking needs to be continued.
Step 207: the terminal data server sends out a first-level ultrahigh warning error triggering signal, and the process is finished.
Step 208: the terminal data server receives the correlation signal receiving indication reported by the second laser correlation device, judges whether a ship enters a detection area of the second laser correlation device according to pictures collected by a pan-tilt camera or a dome camera of each channel, and if yes, executes step 209; otherwise, step 212 is performed.
Step 209: the terminal data server judges whether only one ship enters the detection area of the second laser correlation device, if so, step 210 is executed; otherwise, step 211 is executed.
Step 210: and the terminal data server confirms that the ship is an ultrahigh ship and sends out a second-level ultrahigh early warning.
And after the terminal data server sends out a second-level superelevation early warning, if the ship is tracked to the shore according to the picture acquired by the pan-tilt camera or the dome camera of the channel where the superelevation ship is located, the second-level superelevation early warning is stopped.
Step 211: and the terminal data server continuously tracks each ship according to the pictures collected by the pan-tilt cameras or the dome cameras of each channel, and the step 213 is carried out.
Step 212: and the terminal data server sends out a secondary ultrahigh early warning error trigger signal, and the process is finished.
Step 213: the terminal data server receives the position information of the target object reported by any laser radar, judges whether a ship enters a detection area of the laser radar or not according to pictures collected by a pan-tilt camera or a dome camera of each channel, and if yes, executes step 214; otherwise, step 215 is performed.
Step 214: the terminal data server sends out an emergency ultrahigh warning, and the process is finished.
And finally reporting the position information of the target objects by the laser radar, and then showing the number of the ultrahigh ships.
And after the terminal data server sends out the emergency ultrahigh early warning, if all ultrahigh ships are tracked to be in the shore according to the pictures acquired by the pan-tilt camera or the dome camera of the channel where the ultrahigh ships are located, the emergency ultrahigh early warning is stopped.
Step 215: and the terminal data server sends out an emergency ultrahigh early warning error triggering signal.
In this embodiment, the reason why the pan-tilt camera and the ball machine are simultaneously installed in the center of the top of the navigation hole is as follows: the image quality that the ball machine gathered is better in certain distance, surpasss certain distance back quality and worsens, consequently, in this embodiment, presets first threshold value, according to the distance of target object and bridge be greater than or less than or equal to first threshold value, confirms to use the picture that cloud platform camera gathered or the picture that uses the ball machine to gather. The first threshold is determined according to the performances of the pan-tilt camera and the dome camera, when the distance between the pan-tilt camera and the target object is larger than the first threshold, the quality of the image of the target object acquired by the pan-tilt camera is better than that of the dome camera, when the distance between the pan-tilt camera and the target object is smaller than or equal to the first threshold, the quality of the image of the target object acquired by the dome camera is better than that of the pan-tilt camera, the position corresponding to the first threshold is determined conveniently by the terminal data server, the position corresponding to the first threshold can be set as the erection position of the first laser correlation device or the second laser correlation device, and namely the first threshold is equal to the distance between the first laser correlation device or the second laser correlation device. For example:
in step 203, when judging whether a ship enters a detection area of the first laser correlation device according to pictures acquired by the pan-tilt cameras or the ball machines of the navigation holes, firstly judging whether the distance between the first laser correlation device and the bridge is larger than a first threshold value, and if so, judging whether the ship enters the detection area of the first laser correlation device according to the pictures acquired by the pan-tilt cameras of the navigation holes; otherwise, judging whether a ship enters the detection area of the first laser correlation device or not according to the pictures collected by the ball machine of each navigation hole.
In step 206, the step of continuously tracking each ship by the terminal data server according to the pictures collected by the pan-tilt camera or the dome camera of each channel comprises: if the distance between the first laser correlation device and the bridge is larger than the first threshold value in the step 203, continuously tracking each ship according to the pictures acquired by the pan-tilt cameras of each channel in the step 206; otherwise, in this step 206, each ship is continuously tracked according to the pictures collected by the dome cameras of each channel.
In step 208, when judging whether a ship enters the detection area of the second laser correlation device according to the pictures acquired by the pan-tilt cameras or the dome cameras of each channel, firstly judging whether the distance between the second laser correlation device and the bridge is greater than a first threshold value, and if so, judging whether the ship enters the detection area of the second laser correlation device according to the pictures acquired by the pan-tilt cameras of each channel; otherwise, judging whether a ship enters the detection area of the second laser correlation device or not according to the pictures acquired by the ball machines of all the channels.
In step 211, the step of continuously tracking each ship by the terminal data server according to the pictures collected by the pan-tilt camera or the dome camera of each channel includes: if it is determined in step 208 that the distance between the second laser correlation device and the bridge is greater than the first threshold value, continuously tracking each ship according to the pictures acquired by the pan-tilt cameras of each channel in step 211; otherwise, in this step 211, each ship is continuously tracked according to the pictures collected by the dome cameras of each channel.
In practical application, when the terminal data server sends out the first-level ultrahigh early warning, the second-level ultrahigh early warning or the emergency ultrahigh early warning, the terminal data server can simultaneously display pictures of ultrahigh ships on a front-end display screen or/and send out sound or/and light warning signals corresponding to the first-level ultrahigh early warning, the second-level ultrahigh early warning or the emergency ultrahigh early warning.
Fig. 4 is a schematic composition diagram of a ship superelevation detection system according to an embodiment of the present invention, where, in order to ensure communication reliability, the terminal data server may be connected to the first laser correlation device, the second laser correlation device, and the laser radars 1 and 2 through a feeder line or an ethernet line, the terminal data server may be connected to the dome cameras 1 and 2 and the pan-tilt cameras 1 and 2 through an ethernet line, and the terminal data server may be connected to the display and the acousto-optic integrated lamp through a control line. The system operates as described in step 201-215.
Fig. 5 is a schematic structural diagram of a ship superelevation detection apparatus provided in an embodiment of the present invention, the apparatus mainly includes: first-level early warning module 51, second-level early warning module 52 and urgent early warning module 53, wherein:
the primary early warning module 51 is used for receiving a correlation signal receiving instruction sent by the first laser correlation device and detecting whether a ship exists in a detection area of the first laser correlation device according to pictures sent by the image acquisition devices of all channels; when a ship is detected to exist in a detection area of the first laser correlation device, continuously tracking the corresponding ship according to an image acquisition device of a channel where the detected ship is located; when only one ship is detected in the detection area of the first laser correlation device, a first-level ultrahigh early warning is sent out; the first laser correlation device is erected at a first position on the bank of a river, the height of an emission module of the first laser correlation device is the same as the ultrahigh initial height of a ship, the signal emission direction of the emission module is perpendicular to each channel, an image acquisition device is installed in the center of the top of each navigation hole, and the image acquisition range of the image acquisition device covers the channel corresponding to the navigation hole.
The second-stage early warning module 52 is used for judging whether a ship enters a detection area of the second laser correlation device or not according to the pictures, detected by the first-stage early warning module 51, acquired by the image acquisition device of the channel where the ultrahigh ship is located when receiving the correlation signal receiving indication sent by the second laser correlation device, and sending out a second-stage ultrahigh early warning if the ship enters the detection area of the second laser correlation device and only one picture is detected; the second laser correlation device is erected at a second position on the river bank, the height of an emission module of the second laser correlation device is the same as the ultrahigh initial height of the ship, the signal emission direction of the emission module is perpendicular to each channel, and the distance between the second position and the bridge is smaller than the distance between the first position and the bridge.
The emergency early warning module 53 is used for sending an emergency ultrahigh early warning if a ship enters a detection area of the laser radar according to a picture acquired by the image acquisition device of the channel where the ultrahigh ship is located and detected by the secondary early warning module 52 when receiving the position information of the target object sent by the laser radar; and a laser radar is arranged in the center of the top of each navigation hole, and the detection area of the laser radar covers the channel corresponding to the navigation hole.
Optionally, the second-stage warning module 52 further includes, after sending the second-stage ultrahigh warning:
and if detecting that the ship entering the detection area of the second laser correlation device is in shore according to the pictures acquired by the image acquisition device, stopping sending a second-level ultrahigh early warning.
In practical applications, the secondary early warning module 52 further includes, after receiving the indication of the correlation signal from the second laser correlation device:
and if the ship does not enter the detection area of the second laser correlation device according to the detected picture acquired by the image acquisition device of the channel where the ship is located, sending a secondary ultrahigh early warning false trigger signal.
Optionally, when the image acquisition device installed at the top center of each navigation hole includes a pan-tilt camera and a ball machine, the primary early warning module 51 detects whether a ship exists in the detection area of the first laser correlation device according to the picture sent by the image acquisition device of each channel, and includes:
judging whether the distance between the first laser correlation device and the bridge is larger than a first threshold value or not, if so, detecting whether a ship exists in a detection area of the first laser correlation device or not according to pictures sent by a pan-tilt camera of each channel; otherwise, detecting whether a ship exists in the detection area of the first laser correlation device according to the pictures sent by the ball machines of all the channels;
the first-level early warning module 51 continuously tracks the corresponding ship according to the detected picture acquired by the image acquisition device of the channel where the ship is located, and comprises the following steps:
if the distance between the first laser correlation device and the bridge is larger than a first threshold value, continuously tracking the corresponding ship according to the detected picture acquired by the pan-tilt camera of the channel where the ship is located; otherwise, continuously tracking the corresponding ship according to the detected picture acquired by the dome camera of the channel where the ship is located.
Optionally, the first-stage warning module 51 further includes, after sending the first-stage ultrahigh warning:
and if detecting that the ship entering the detection area of the first laser correlation device is in shore according to the pictures acquired by the image acquisition device, stopping sending a first-level ultrahigh early warning.
Optionally, the emergency early warning module 53 further includes, after issuing the emergency ultrahigh early warning:
and if all ships entering the detection area of the laser radar are detected to be in the shore according to the pictures acquired by the image acquisition device, stopping sending out the emergency ultrahigh early warning.
Optionally, the first-stage warning module 51 further includes, after detecting whether a ship exists in the detection area of the first laser correlation device:
if the ship is detected to be absent in the detection area of the first laser correlation device, a first-level ultrahigh early warning error triggering signal is sent out.
Optionally, after receiving the target location information sent by the laser radar, the emergency early warning module 53 further includes:
if the detected picture acquired by the image acquisition device of the channel where the ship is located does not track the detection area where the ship enters the laser radar, an emergency ultrahigh early warning false triggering signal is sent out.
An embodiment of the present invention further provides an electronic device, as shown in fig. 6, which includes a processor 601, a communication interface 602, a memory 603, and a communication bus 604, where the processor 601, the communication interface 602, and the memory 603 complete mutual communication through the communication bus 604,
a memory 603 for storing a computer program;
the processor 601 is configured to implement the following steps when executing the program stored in the memory 603:
receiving a correlation signal receiving instruction from the first laser correlation device forwarded by the communication interface 602, and detecting whether a ship exists in a detection area of the first laser correlation device according to pictures sent by image acquisition devices of all channels;
when a ship is detected to exist in a detection area of the first laser correlation device, continuously tracking the corresponding ship according to an image acquisition device of a channel where the detected ship is located; when only one ship is detected in the detection area of the first laser correlation device, a first-level ultrahigh early warning is sent out through the communication interface 602;
when target object position information from the laser radar forwarded by the communication interface 602 is received, tracking whether a ship enters a detection area of the laser radar or not according to an image acquisition device of a detected channel where the ship is located, and if so, sending out an emergency ultrahigh early warning through the communication interface 602;
the first laser correlation device is erected at a first position on the bank of a river, the height of an emission module of the first laser correlation device is the same as the ultrahigh initial height of the ship, and the signal emission direction of the emission module is vertical to each channel; the center of the top of each navigation hole is provided with one image acquisition device, and the image acquisition range of each image acquisition device covers the channel corresponding to the navigation hole; and one laser radar is arranged in the center of the top of each navigation hole, and the detection area of each laser radar covers the channel corresponding to the navigation hole.
Optionally, when the processor 601 executes the program stored in the memory 603, the following steps may be further implemented:
after continuously tracking the corresponding ship, the method further comprises the following steps of tracking the ship to a detection area where the ship enters the laser radar: when receiving a correlation signal receiving instruction from the second laser correlation device forwarded by the communication interface 602, judging whether a ship enters a detection area of the second laser correlation device according to a detected picture acquired by an image acquisition device of a channel where the ship is located, and when only one ship enters the detection area of the second laser correlation device, sending a secondary ultrahigh early warning through the communication interface 602;
the second laser correlation device is erected at a second position on the river bank, the height of an emission module of the second laser correlation device is the same as the ultrahigh initial height of the ship, the signal emission direction of the emission module is perpendicular to each channel, and the distance between the second position and the bridge is smaller than the distance between the first position and the bridge.
Optionally, when the processor 601 executes the program stored in the memory 603, the following steps may be further implemented:
after receiving the correlation signal receiving indication forwarded by the communication interface 602 from the second laser correlation device, the method further includes: if no ship enters the detection area of the second laser correlation device, a secondary ultrahigh early warning error triggering signal is sent out through the communication interface 602.
Optionally, when the processor 601 executes the program stored in the memory 603, the following steps may be further implemented:
after detecting whether a ship exists in the detection area of the first laser correlation device, the method further comprises the following steps: when the ship is detected to be absent in the detection area of the first laser correlation device, a first-level ultrahigh early warning mis-triggering signal is sent out through the communication interface 602;
after receiving the target object position information sent by the laser radar, the method further comprises the following steps: when the detected image acquisition device of the channel where the ship is located does not track the detection area where the ship enters the laser radar, an emergency ultrahigh early warning false triggering signal is sent out through the communication interface 602.
Embodiments of the present invention also provide a non-transitory computer readable storage medium storing instructions that, when executed by a processor, cause the processor to perform the steps of:
receiving a correlation signal receiving instruction sent by a first laser correlation device, and detecting whether a ship exists in a detection area of the first laser correlation device according to pictures sent by image acquisition devices of all channels;
when a ship is detected to exist in a detection area of the first laser correlation device, continuously tracking the corresponding ship according to an image acquisition device of a channel where the detected ship is located; when only one ship is detected in the detection area of the first laser correlation device, a first-level ultrahigh early warning is sent out;
when target object position information sent by a laser radar is received, tracking whether a ship enters a detection area of the laser radar or not according to an image acquisition device of a channel where the detected ship is located, and if so, sending an emergency ultrahigh early warning;
the first laser correlation device is erected at a first position on the bank of a river, the height of an emission module of the first laser correlation device is the same as the ultrahigh initial height of the ship, and the signal emission direction of the emission module is vertical to each channel; the center of the top of each navigation hole is provided with one image acquisition device, and the image acquisition range of each image acquisition device covers the channel corresponding to the navigation hole; and one laser radar is arranged in the center of the top of each navigation hole, and the detection area of each laser radar covers the channel corresponding to the navigation hole.
Optionally, the processor may further perform the following steps:
after continuously tracking the corresponding ship, the method further comprises the following steps of tracking the ship to a detection area where the ship enters the laser radar: when receiving a correlation signal receiving instruction sent by the second laser correlation device, judging whether a ship enters a detection area of the second laser correlation device or not according to a detected picture acquired by an image acquisition device of a channel where the ship is located, and sending a second-level ultrahigh early warning when only one ship enters the detection area of the second laser correlation device;
the second laser correlation device is erected at a second position on the river bank, the height of an emission module of the second laser correlation device is the same as the ultrahigh initial height of the ship, the signal emission direction of the emission module is perpendicular to each channel, and the distance between the second position and the bridge is smaller than the distance between the first position and the bridge.
Optionally, the processor may further perform the following steps:
after receiving the correlation signal receiving indication sent by the second laser correlation device, the method further includes: and if no ship enters the detection area of the second laser correlation device, sending a secondary ultrahigh early warning false triggering signal.
Optionally, the processor may further perform the following steps:
after detecting whether a ship exists in the detection area of the first laser correlation device, the method further comprises the following steps: when the ship is detected to be absent in the detection area of the first laser correlation device, a first-level ultrahigh early warning error triggering signal is sent out;
after receiving the target object position information sent by the laser radar, the method further comprises the following steps: and when the image acquisition device of the channel where the ship is located does not track the detection area where the ship enters the laser radar, sending out an emergency ultrahigh early warning error triggering signal.
Experiments prove that the embodiment of the invention can meet the river application scene of kilometer-level width.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (12)
1. A ship superelevation detection method is characterized by comprising the following steps:
the server receives a correlation signal receiving instruction sent by the first laser correlation device, and detects whether a ship exists in a detection area of the first laser correlation device according to pictures sent by the image acquisition devices of all channels;
when the server detects that a ship exists in the detection area of the first laser correlation device, continuously tracking the corresponding ship according to the detected image acquisition device of the channel where the ship is located; when only one ship is detected in the detection area of the first laser correlation device, a first-level ultrahigh early warning is sent out;
when the server receives the position information of a target object sent by the laser radar, whether a ship enters a detection area of the laser radar or not is tracked according to the detected image acquisition device of the channel where the ship is located, and if yes, an emergency ultrahigh early warning is sent out.
2. The method of claim 1, wherein the first laser correlation device is erected at a first position on the river bank, the height of an emission module of the first laser correlation device is the same as the initial height of the ship which is ultrahigh, and the signal emission direction of the emission module is perpendicular to each channel;
the center of the top of each navigation hole is provided with one image acquisition device, and the image acquisition range of each image acquisition device covers the channel corresponding to the navigation hole;
and one laser radar is arranged in the center of the top of each navigation hole, and the detection area of each laser radar covers the channel corresponding to the navigation hole.
3. The method of claim 1, wherein said continuously tracking the corresponding vessel before said tracking to the detection area where the vessel enters the lidar further comprises:
when the server receives a correlation signal receiving instruction sent by the second laser correlation device, judging whether a ship enters a detection area of the second laser correlation device or not according to a detected picture acquired by an image acquisition device of a channel where the ship is located, and sending a second-level ultrahigh early warning when only one ship enters the detection area of the second laser correlation device;
the second laser correlation device is erected at a second position on the river bank, the height of an emission module of the second laser correlation device is the same as the ultrahigh initial height of the ship, the signal emission direction of the emission module is perpendicular to each channel, and the distance between the second position and the bridge is smaller than the distance between the first position and the bridge.
4. The method of claim 3, wherein the server further comprises, after receiving the indication of the reception of the correlation signal from the second laser correlation device:
and if the server judges that no ship enters the detection area of the second laser correlation device, sending out a secondary ultrahigh early warning error triggering signal.
5. The method of claim 1, wherein detecting whether a vessel is present in the detection area of the first laser correlation device further comprises:
when the server detects that no ship exists in the detection area of the first laser correlation device, a first-level ultrahigh early warning error triggering signal is sent out;
after receiving the target object position information sent by the laser radar, the server further comprises:
and when the server does not track the detection area where the ship enters the laser radar according to the detected image acquisition device of the channel where the ship is located, sending out an emergency ultrahigh early warning false triggering signal.
6. A ship superelevation detection device is characterized by comprising:
the primary early warning module receives a correlation signal receiving instruction sent by the first laser correlation device, and detects whether a ship exists in a detection area of the first laser correlation device according to pictures sent by the image acquisition devices of all channels; when a ship is detected to exist in a detection area of the first laser correlation device, continuously tracking the corresponding ship according to an image acquisition device of a channel where the detected ship is located; when only one ship is detected in the detection area of the first laser correlation device, a first-level ultrahigh early warning is sent out;
and the emergency early warning module tracks whether a ship enters a detection area of the laser radar or not according to the detected image acquisition device of the channel where the ship is located when receiving the position information of the target object sent by the laser radar, and if so, sends out emergency ultrahigh early warning.
7. The device of claim 6, wherein the first laser correlation device is erected at a first position on the river bank, the height of the emitting module of the first laser correlation device is the same as the initial height of the ship which is ultrahigh, and the signal emitting direction of the emitting module is vertical to each channel;
the center of the top of each navigation hole is provided with one image acquisition device, and the image acquisition range of each image acquisition device covers the channel corresponding to the navigation hole;
and one laser radar is arranged in the center of the top of each navigation hole, and the detection area of each laser radar covers the channel corresponding to the navigation hole.
8. The device of claim 6, further comprising a secondary early warning module, wherein when receiving an indication of receiving the correlation signal from the second laser correlation device, the secondary early warning module judges whether a ship enters a detection area of the second laser correlation device according to a detected picture acquired by the image acquisition device of a channel where the ship is located, and when only one ship enters the detection area of the second laser correlation device, the secondary early warning module sends out a secondary ultrahigh early warning; the second laser correlation device is erected at a second position on the river bank, the height of an emission module of the second laser correlation device is the same as the ultrahigh initial height of the ship, the signal emission direction of the emission module is perpendicular to each channel, and the distance between the second position and the bridge is smaller than the distance between the first position and the bridge.
9. The apparatus of claim 8, wherein the secondary warning module further comprises, after receiving the indication of the reception of the correlation signal from the second laser correlation device:
and if no ship enters the detection area of the second laser correlation device, sending a secondary ultrahigh early warning false triggering signal.
10. The apparatus of claim 6, wherein the primary early warning module further comprises, after detecting whether a ship exists in the detection area of the first laser correlation device:
when detecting that no ship exists in the detection area of the first laser correlation device, sending a first-level ultrahigh early warning error triggering signal;
after receiving the target object position information sent by the laser radar, the emergency early warning module further comprises:
and when the image acquisition device of the channel where the ship is located does not track the detection area where the ship enters the laser radar, sending an emergency ultrahigh early warning error triggering signal.
11. An electronic device, comprising: a processor, a communication interface, a memory and a communication bus, wherein, the processor, the communication interface and the memory complete the communication with each other through the communication bus,
a memory for storing a computer program;
a processor for implementing the method of any one of claims 1 to 5 when executing a program stored in the memory.
12. A non-transitory computer readable storage medium storing instructions that, when executed by a processor, cause the processor to perform the method of any of claims 1 to 5.
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