CN112346078B - Ship ultrahigh detection method and device, electronic equipment and storage medium - Google Patents
Ship ultrahigh detection method and device, electronic equipment and storage medium Download PDFInfo
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- CN112346078B CN112346078B CN201910728068.4A CN201910728068A CN112346078B CN 112346078 B CN112346078 B CN 112346078B CN 201910728068 A CN201910728068 A CN 201910728068A CN 112346078 B CN112346078 B CN 112346078B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G3/00—Traffic control systems for marine craft
- G08G3/02—Anti-collision systems
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
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Abstract
The embodiment of the invention provides a ship ultra-high detection method, a ship ultra-high detection device, electronic equipment and a non-transitory computer readable storage medium. The method comprises the following steps: the server receives the 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 detecting that the ship exists in the detection area of the first laser correlation device, continuously tracking the corresponding ship according to the image acquisition device of the channel where the detected ship is located; when only one ship exists in the detection area of the first laser correlation device, a first-level ultrahigh early warning is sent out; when receiving the target object position information sent by the laser radar, tracking whether a ship enters a detection area of the laser radar according to the detected image acquisition device of the channel where the ship is located, and if so, sending out an urgent ultra-high early warning. The embodiment of the invention not only increases the ultra-high detection range of the ship, but also improves the accuracy of the ultra-high detection of the ship.
Description
Technical Field
The invention relates to the technical field of ship ultra-high technology, in particular to a ship ultra-high detection method and device, electronic equipment and a non-transient computer readable storage medium.
Background
The pilot hole refers to an area where a bridge allows a ship to pass through, and is generally a range between piers. When the ship passes through the pilot hole, the highest point of the ship must be lower than the highest point of the pilot hole to pass smoothly.
At present, the ultra-high of ships mostly uses linear detection, such as infrared correlation, laser radar, laser grating and the like. However, each mode has a certain limitation, such as infrared correlation, laser correlation, and the like, and only a trigger signal can be obtained, but the trigger position cannot be accurately known. Although the laser radar can acquire the triggering position, the detection distance is limited, and the use requirement of a large scene cannot be met. The laser grating is essentially a cut line detection with limited sensitivity. And a single detection means is liable to cause false detection.
Disclosure of Invention
The embodiment of the invention provides a ship ultra-high detection method and device, electronic equipment and a non-transient computer readable storage medium, so as to increase the range of ship ultra-high detection and improve the accuracy of ship ultra-high detection.
The technical scheme of the embodiment of the invention is realized as follows:
a method of ultra-high detection of a vessel, the method comprising:
the server receives the 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 the ship exists in the detection area of the first laser correlation device, continuously tracking the corresponding ship according to the image acquisition device of the channel where the detected ship exists; when only one ship exists in the detection area of the first laser correlation device, a first-level ultrahigh early warning is sent out;
when the server receives the target object position information sent by the laser radar, tracking 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, and if so, sending out an urgent ultra-high early warning.
The first laser correlation device is erected at a first position on the river bank side, the height of a transmitting module of the first laser correlation device is the same as the initial height of the ship, and the signal transmitting direction of the transmitting module is vertical to each channel;
the center of the top of each pilot hole is provided with one image acquisition device, and the image acquisition range of the image acquisition device covers the channel corresponding to the pilot hole;
and the center of the top of each pilot hole is provided with one laser radar, and the detection area of the laser radar covers the channel of the corresponding pilot hole.
After the continuously tracking the corresponding ship and before the tracking that the ship enters the detection area of the laser radar, further comprises:
when the server receives the 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 according to the picture acquired by the image acquisition device of the channel where the detected ship is located, and when only one ship enters the detection area of the second laser correlation device, sending out a second-level ultrahigh early warning;
the second laser correlation device is erected at a second position on the river bank side, the height of a transmitting module of the second laser correlation device is the same as the initial height of the ship, the signal transmitting direction of the transmitting module is perpendicular to each channel, and the distance between the second position and the bridge is smaller than that between the first position and the bridge.
The server further includes after receiving the correlation signal receiving instruction sent by the second laser correlation device:
and if the server judges that no ship enters the detection area of the second laser correlation device, a second-level ultrahigh early warning false triggering signal is sent out.
The detecting whether the ship exists in the detection area of the first laser correlation device further comprises:
when the server detects that the ship does not exist in the detection area of the first laser correlation device, a first-stage ultrahigh early warning false triggering signal is sent out;
the server further comprises the following steps after receiving the target object position information sent by the laser radar:
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, an emergency ultrahigh early warning false triggering signal is sent out.
A watercraft ultra-high detection apparatus, the apparatus comprising:
the first-level early warning module is used for receiving the correlation signal receiving indication 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 detecting that the ship exists in the detection area of the first laser correlation device, continuously tracking the corresponding ship according to the image acquisition device of the channel where the detected ship is located; when only one ship exists 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 is used for tracking 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 target object position information sent by the laser radar, and sending out emergency ultrahigh early warning if the ship enters the detection area of the laser radar.
The first laser correlation device is erected at a first position on the river bank side, the height of a transmitting module of the first laser correlation device is the same as the initial height of the ship, and the signal transmitting direction of the transmitting module is vertical to each channel;
the center of the top of each pilot hole is provided with one image acquisition device, and the image acquisition range of the image acquisition device covers the channel corresponding to the pilot hole;
and the center of the top of each pilot hole is provided with one laser radar, and the detection area of the laser radar covers the channel of the corresponding pilot hole.
The device further comprises a second-level early warning module, when receiving the correlation signal receiving indication sent by the second laser correlation device, judging whether a ship enters a detection area of the second laser correlation device according to the picture acquired by the image acquisition device of the channel where the detected ship is located, and when only one ship enters the detection area of the second laser correlation device, sending out a second-level ultrahigh early warning; the second laser correlation device is erected at a second position on the river bank side, the height of a transmitting module of the second laser correlation device is the same as the initial height of the ship, the signal transmitting direction of the transmitting module is perpendicular to each channel, and the distance between the second position and the bridge is smaller than that between the first position and the bridge.
The second-stage early warning module further comprises after receiving the correlation signal receiving instruction sent by the second laser correlation device:
and if no ship enters the detection area of the second laser correlation device, sending a second-level ultrahigh early warning false triggering signal.
The first-stage early warning module detects whether the ship exists in the detection area of the first laser correlation device, and then further comprises:
when no ship exists in the detection area of the first laser correlation device, a first-stage ultrahigh early warning false triggering signal is sent;
the emergency early warning module further comprises the following steps after receiving the target object position information sent by the laser radar:
and when the image acquisition device according to the detected 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 electronic device, comprising: the processor, the communication interface, the memory and the 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 a method as described in any one of the above when executing a program stored on a memory.
A non-transitory computer readable storage medium storing instructions that, when executed by a processor, cause the processor to perform a 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 increased, and the ultrahigh detection accuracy of the ship is improved.
Drawings
FIG. 1 is a flow chart of a method for detecting the ultra-high of a ship according to an embodiment of the present invention;
FIG. 2 is a flowchart of a method for detecting the ultra-high of a ship according to another embodiment of the present invention;
FIG. 3 is a schematic diagram of the positions 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 the composition of the ship ultra-high detection system according to the embodiment of the invention;
fig. 5 is a schematic structural diagram of a ship ultra-high detection device according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The invention will be described in further detail with reference to the accompanying drawings and specific examples.
Fig. 1 is a flowchart of a ship ultra-high detection method according to an embodiment of the present invention, which specifically includes the following steps:
step 101: and the server receives the 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 the pictures sent by the image acquisition devices of all the channels.
The laser correlation device transmits a laser signal outwards, and when the laser signal is interrupted by an obstacle, a reverse correlation signal is generated.
The first laser correlation device is erected at a first position on the river bank side, the height of a transmitting module of the first laser correlation device is the same as the initial height of the ship, and the signal transmitting direction of the transmitting module is vertical to each channel; and the image acquisition device is arranged at the center of the top of each pilot hole, and the image acquisition range of the image acquisition device covers the channel corresponding to the pilot hole.
The meaning of the starting height of the vessel's ultra-high is for example as follows:
for example: if the ship height is more than or equal to a meter (a > 0), the ship is considered to be ultrahigh, and the a meter is the initial height of the ship ultrahigh.
Step 102: when the server detects that the ship exists in the detection area of the first laser correlation device, continuously tracking the corresponding ship according to the image acquisition device of the channel where the detected ship exists; and when only one ship exists in the detection area of the first laser correlation device, a primary ultra-high early warning is sent out.
Step 103: when the server receives the position information of the target objects sent by one or more laser radars, tracking whether a ship enters a detection area of the laser radars or not according to pictures acquired by an image acquisition device of a channel where the detected ship is located, and if so, sending out emergency ultrahigh early warning.
Wherein, a laser radar is installed at the top center of each navigation hole, and the detection area of the laser radar covers the channel corresponding to the navigation hole.
In the above embodiment, the laser correlation device is used to detect the ultrahigh ship far from the bridge, the laser radar is used to detect the ultrahigh ship near to the bridge, and the image acquisition device is used to track and confirm the ultrahigh ship in the whole course. The laser correlation device is adopted, so that the detection sensitivity is higher, and the ultra-high ship can be ensured not to be missed as much as possible; the laser radar has small identification diameter and 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 combined to be used, so that the ultrahigh ship can be accurately captured, and the purposes of accurately issuing early warning information and obtaining evidence by illegal use are achieved.
In addition, when the ultrahigh ship is identified, ultrahigh early warning modes with different levels 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 ultra-high early warning of the ship, the invention further provides the following optional schemes:
in step 102, if it is detected that the ship exists in the detection area of the first laser correlation device, after continuously tracking the corresponding ship according to the picture acquired by the image acquisition device of the channel where the detected ship is located, the method further includes: and 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 according to the detected picture acquired by the image acquisition device of the channel where the ship is located, and if yes, sending out a secondary ultra-high early warning. The second laser correlation device is erected at a second position on the river bank side, the height of a transmitting module of the second laser correlation device is the same as the initial height of the ship, the signal transmitting direction of the transmitting module is perpendicular to each channel, and the distance between the second position and the bridge is smaller than that between the first position and the bridge.
In the solution, the secondary ultra-high early warning is added, so that the reliability of the ship ultra-high early warning is further improved.
Fig. 2 is a flowchart of a ship ultra-high detection method according to another embodiment of the present invention, which specifically includes the following steps:
step 201: the method comprises the steps of setting a primary ultra-high early warning position and a secondary ultra-high early warning position on the river bank side in advance, setting a first laser correlation device at the primary ultra-high early warning position, setting a second laser correlation device at the secondary ultra-high early warning position, wherein the heights of emitting modules of the first laser correlation device and the second laser correlation device are the same as the initial height of the ship ultra-high, 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 a laser radar is respectively arranged at the center of the top of each pilot hole in advance, and the detection area of the laser radar covers the channel corresponding to the pilot hole. And a tripod head camera and a ball machine are respectively installed at the center of the top of each navigation hole in advance, and the image acquisition range of the tripod head camera and the ball machine covers the navigation channel of the corresponding navigation hole.
The laser radar, the cradle head camera and the dome camera can be arranged in the center of the top of the navigation hole side by side.
The primary ultra-high early warning position and the secondary ultra-high early warning position can be set according to actual early warning needs.
Fig. 3 shows schematic positions 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: and when the first laser correlation device receives the correlation signal, reporting a correlation signal receiving instruction to a 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 according to pictures acquired by a cradle head camera or a dome camera of each navigation hole, and if so, executes step 204; otherwise, step 207 is performed.
The detection area of the laser correlation device is the area covered by the 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 yes, the step 205 is executed; otherwise, step 206 is performed.
Step 205: the terminal data server confirms that the ship is the ultrahigh ship and sends out primary ultrahigh early warning.
After the terminal data server sends the primary ultra-high early warning, if the ship is tracked to land according to the pictures acquired by the pan-tilt camera or the dome camera of the channel where the ultra-high ship is located, the primary ultra-high early warning is stopped being sent.
Step 206: the terminal data server continuously tracks each ship according to the pictures acquired by the pan-tilt cameras or the dome cameras of each channel, and the process goes to step 208.
When there are multiple vessels, it is not possible to determine in particular which vessel or vessels are very high, so that tracking needs to be continued.
Step 207: the terminal data server sends out a primary ultra-high early warning false triggering signal, and the flow is ended.
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 acquired by a cradle head camera or a dome camera of each channel, and if so, 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 yes, the step 210 is executed; otherwise, step 211 is performed.
Step 210: the terminal data server confirms that the ship is the ultrahigh ship and sends out a secondary ultrahigh early warning.
After the terminal data server sends the secondary ultra-high early warning, if the ship is tracked to land according to the pictures acquired by the pan-tilt camera or the dome camera of the channel where the ultra-high ship is located, the secondary ultra-high early warning is stopped.
Step 211: the terminal data server continuously tracks each ship according to the pictures acquired by the pan-tilt cameras or the dome cameras of each channel, and the step 213 is performed.
Step 212: and the terminal data server sends out a secondary ultrahigh early warning false triggering signal, and the flow is ended.
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 according to the pictures acquired by the pan-tilt cameras or the dome cameras of each channel, and if yes, executes step 214; otherwise, step 215 is performed.
Step 214: the terminal data server sends out an urgent ultra-high early warning, and the process is finished.
And finally reporting the position information of the plurality of targets by the laser radar, so as to show the number of ultrahigh ships.
After the terminal data server sends out the emergency ultra-high early warning, if all the ultra-high ships are tracked to land according to the pictures collected by the cradle head camera or the dome camera of the channel where the ultra-high ships are located, the emergency ultra-high early warning is stopped being sent out.
Step 215: and the terminal data server sends out an emergency ultrahigh early warning false triggering signal.
In this embodiment, the reason for installing the pan-tilt camera and the dome camera at the top center of the navigation hole is as follows: the quality of the image collected by the dome camera is better within a certain distance, and the quality of the image is poor after exceeding a certain distance, so in the embodiment, a first threshold value is preset, and whether the image collected by the pan-tilt camera or the image collected by the dome camera is determined according to whether the distance between the target object and the bridge is larger than or smaller than or equal to the first threshold value. The first threshold is determined according to the performances of the tripod head camera and the dome camera, when the distance between the tripod head camera and the target object is greater than the first threshold, the quality of the target object image acquired by the tripod head camera is better than that of the dome camera, when the distance between the tripod head camera and the target object is smaller than or equal to the first threshold, the quality of the target object image acquired by the dome camera is better than that of the tripod head camera, and in order to facilitate the terminal data server to determine the position corresponding to the first threshold, 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, namely, the first threshold is equal to the distance between the first laser correlation device or the second laser correlation device and a bridge. For example:
in step 203, according to the pictures collected by the pan-tilt cameras or the dome cameras of the pilot holes, whether a ship enters the detection area of the first laser correlation device is determined, if so, whether the distance between the first laser correlation device and the bridge is greater than a first threshold value is determined, and if so, whether the ship enters the detection area of the first laser correlation device is determined according to the pictures collected by the pan-tilt cameras of the pilot holes; otherwise, judging whether a ship enters a detection area of the first laser correlation device according to pictures acquired by the dome cameras of all the navigation holes.
In step 206, the terminal data server continuously tracks each ship according to the pictures acquired by the pan-tilt cameras or the dome cameras of each channel, including: if it is determined in step 203 that the distance between the first laser correlation device and the bridge is greater than the first threshold, in step 206, each ship is continuously tracked according to the pictures acquired by the pan-tilt cameras of each channel; otherwise, in step 206, each ship is continuously tracked according to the pictures acquired by the dome cameras of each channel.
In step 208, according to the pictures collected by the pan-tilt cameras or the dome cameras of each channel, whether a ship enters the detection area of the second laser correlation device is judged, if so, whether the distance between the second laser correlation device and the bridge is larger than a first threshold value is judged, and if so, whether the ship enters the detection area of the second laser correlation device is judged according to the pictures collected by the pan-tilt cameras of each channel; otherwise, judging whether a ship enters a detection area of the second laser correlation device according to the pictures acquired by the dome cameras of each channel.
In step 211, the terminal data server continuously tracks each ship according to the pictures acquired by the pan-tilt camera or the dome camera of each channel, including: 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, in step 211, each ship is continuously tracked according to the pictures acquired by the pan-tilt cameras of each channel; otherwise, in step 211, each ship is continuously tracked according to the pictures acquired by the dome cameras of each channel.
In practical application, when the terminal data server sends out the primary ultra-high early warning, the secondary ultra-high early warning or the emergency ultra-high early warning, the terminal data server can simultaneously display the picture of the ultra-high ship on the front display screen or/and send out the sound or/and light warning signal corresponding to the primary ultra-high early warning, the secondary ultra-high early warning or the emergency ultra-high early warning.
Fig. 4 is a schematic diagram of the ship ultra-high detection system according to the embodiment of the present invention, wherein, in order to ensure the reliability of communication, a terminal data server is connected with a first laser correlation device, a second laser correlation device, and laser radars 1 and 2 through a feeder line or an ethernet line, and the terminal data server is connected with ball machines 1 and 2 and pan-tilt cameras 1 and 2 through an ethernet line, and the terminal data server is connected with a display and an acousto-optic integrated lamp through a control line. The system operates as described in steps 201-215.
Fig. 5 is a schematic structural diagram of a ship ultra-high detection device according to an embodiment of the present invention, where the device mainly includes: a primary early warning module 51, a secondary early warning module 52 and an emergency early warning module 53, wherein:
the first-stage early warning module 51 receives the correlation signal receiving indication 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 the pictures sent by the image acquisition devices of all the channels; when detecting that the ship exists in the detection area of the first laser correlation device, continuously tracking the corresponding ship according to the image acquisition device of the channel where the detected ship is located; when only one ship exists 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 river bank side, the height of a transmitting module of the first laser correlation device is the same as the initial height of the ship, the signal transmitting direction of the transmitting module is perpendicular to each channel, 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 second-stage early warning module 52 is used for judging whether a ship enters a detection area of the second laser correlation device according to the picture acquired by the image acquisition device of the channel where the ultrahigh ship is located and detected by the first-stage early warning module 51 when receiving the correlation signal receiving instruction sent by the second laser correlation device, and if yes, sending out a second-stage ultrahigh early warning; the second laser correlation device is erected at a second position on the river bank side, the height of a transmitting module of the second laser correlation device is the same as the initial height of the ship, the signal transmitting direction of the transmitting module is perpendicular to each channel, and the distance between the second position and the bridge is smaller than that between the first position and the bridge.
The emergency early warning module 53, when receiving the target object position information sent by the laser radar, if tracking that a ship enters a detection area of the laser radar according to the picture acquired by the image acquisition device of the channel where the ultrahigh ship is detected by the secondary early warning module 52, sending an emergency ultrahigh early warning; wherein, a laser radar is installed at the top center of each navigation hole, and the detection area of the laser radar covers the channel corresponding to the navigation hole.
Optionally, the secondary pre-warning module 52 further includes, after sending the secondary ultra-high pre-warning:
and if the ship entering the detection area of the second laser correlation device is detected to land according to the picture acquired by the image acquisition device, stopping sending the second-stage ultrahigh early warning.
In practical applications, after receiving the correlation signal receiving instruction sent by the second laser correlation device, the second-stage early-warning module 52 further includes:
and if the detected image of the ship in the channel is not tracked to the detection area of the second laser correlation device, sending a second-level ultrahigh early warning false triggering signal.
Optionally, when the image capturing device mounted at the center of the top of each navigation hole includes a pan-tilt camera and a dome camera, the first-level early warning module 51 detects whether a ship exists in the detection area of the first laser correlation device according to the pictures sent by the image capturing devices of each navigation channel, including:
judging whether the distance between the first laser correlation device and the bridge is larger than a first threshold value, if so, detecting whether a ship exists in a detection area of the first laser correlation device according to pictures sent by a cradle head camera of each channel; otherwise, detecting whether a ship exists in a detection area of the first laser correlation device according to pictures sent by the dome cameras of each channel;
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 the corresponding ship comprises:
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 cradle head 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 primary ultra-high early warning module 51 further includes:
if the ship entering the detection area of the first laser correlation device is detected to land according to the picture acquired by the image acquisition device, the primary ultra-high early warning is stopped.
Optionally, the emergency pre-warning module 53 further includes, after sending the emergency ultra-high pre-warning:
if all ships entering the detection area of the laser radar are detected to land according to the pictures acquired by the image acquisition device, the emergency ultrahigh early warning is stopped.
Optionally, after detecting whether the ship exists in the detection area of the first laser correlation device, the first-stage early warning module 51 further includes:
and if the fact that the ship does not exist in the detection area of the first laser correlation device is detected, a first-stage ultrahigh early warning false triggering signal is sent out.
Optionally, the emergency pre-warning module 53 further includes, after receiving the target position information sent by the laser radar:
if the detected image of the ship in the channel is not tracked, the emergency ultrahigh early warning false triggering signal is sent out.
The embodiment of the present invention further provides an electronic device, as shown in fig. 6, including 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 communication with each other through the communication bus 604,
a memory 603 for storing a computer program;
the processor 601 is configured to execute the program stored in the memory 603, and implement the following steps:
receiving correlation signal receiving instructions 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 the image acquisition devices of all channels;
when detecting that the ship exists in the detection area of the first laser correlation device, continuously tracking the corresponding ship according to the image acquisition device of the channel where the detected ship is located; when only one ship exists 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 receiving the target object position information forwarded by the communication interface 602 from the laser radar, tracking whether a ship enters a detection area of the laser radar according to an image acquisition device of a channel where the detected ship is located, and if so, sending out an urgent ultra-high early warning through the communication interface 602;
the first laser correlation device is erected at a first position on the river bank side, the height of a transmitting module of the first laser correlation device is the same as the initial height of the ship, and the signal transmitting direction of the transmitting module is vertical to each channel; the center of the top of each pilot hole is provided with one image acquisition device, and the image acquisition range of the image acquisition device covers the channel corresponding to the pilot hole; and the center of the top of each pilot hole is provided with one laser radar, and the detection area of the laser radar covers the channel of the corresponding pilot hole.
Optionally, when the processor 601 executes the program stored in the memory 603, the following steps may be implemented:
further comprising, after continuously tracking the corresponding vessel, before tracking that the vessel enters the detection zone of the lidar: when receiving the 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 the picture acquired by the image acquisition device of the channel where the detected ship is located, and when only one ship enters the detection area of the second laser correlation device, sending out a second-level ultrahigh early warning through the communication interface 602;
the second laser correlation device is erected at a second position on the river bank side, the height of a transmitting module of the second laser correlation device is the same as the initial height of the ship, the signal transmitting direction of the transmitting module is perpendicular to each channel, and the distance between the second position and the bridge is smaller than that 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 implemented:
the receiving of the correlation signal receiving instruction from the second laser correlation device forwarded by the communication interface 602 further includes: if it is determined that no ship enters the detection area of the second laser correlation device, a second-level ultrahigh early warning false trigger 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 implemented:
after detecting whether the ship exists in the detection area of the first laser correlation device, the method further comprises: when no ship exists in the detection area of the first laser correlation device, a first-level ultrahigh early warning false 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 image acquisition device according to the detected channel where the ship is located does not track that the ship enters the detection area of 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 correlation signal receiving instructions 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 an image acquisition device of each channel;
when detecting that the ship exists in the detection area of the first laser correlation device, continuously tracking the corresponding ship according to the image acquisition device of the channel where the detected ship is located; when only one ship exists in the detection area of the first laser correlation device, a first-level ultrahigh early warning is sent out;
when receiving the target object position information sent by the laser radar, tracking 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, and if so, sending out an urgent ultra-high early warning;
the first laser correlation device is erected at a first position on the river bank side, the height of a transmitting module of the first laser correlation device is the same as the initial height of the ship, and the signal transmitting direction of the transmitting module is vertical to each channel; the center of the top of each pilot hole is provided with one image acquisition device, and the image acquisition range of the image acquisition device covers the channel corresponding to the pilot hole; and the center of the top of each pilot hole is provided with one laser radar, and the detection area of the laser radar covers the channel of the corresponding pilot hole.
Optionally, the above processor may further perform the following steps:
further comprising, after continuously tracking the corresponding vessel, before tracking that the vessel enters the detection zone of the lidar: when receiving the 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 according to the picture acquired by the image acquisition device of the channel where the detected ship is located, and when only one ship enters the detection area of the second laser correlation device, sending out a secondary ultra-high early warning;
the second laser correlation device is erected at a second position on the river bank side, the height of a transmitting module of the second laser correlation device is the same as the initial height of the ship, the signal transmitting direction of the transmitting module is perpendicular to each channel, and the distance between the second position and the bridge is smaller than that between the first position and the bridge.
Optionally, the above processor may further perform the following steps:
the method further comprises the steps of after receiving the correlation signal receiving instruction sent by the second laser correlation device: and if no ship enters the detection area of the second laser correlation device, sending a second-level ultrahigh early warning false triggering signal.
Optionally, the above processor may further perform the following steps:
after detecting whether the ship exists in the detection area of the first laser correlation device, the method further comprises: when no ship exists in the detection area of the first laser correlation device, a first-stage ultrahigh early warning false triggering signal is sent;
after receiving the target object position information sent by the laser radar, the method further comprises the following steps: when the image acquisition device according to the detected 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.
Experiments prove that the embodiment of the invention can meet river application scenes with kilometer-level width.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather to enable any modification, equivalent replacement, improvement or the like to be made within the spirit and principles of the invention.
Claims (10)
1. The ship ultra-high detection method is characterized by comprising the following steps of:
the server receives the 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 the ship exists in the detection area of the first laser correlation device, continuously tracking the corresponding ship according to the image acquisition device of the channel where the detected ship exists; when only one ship exists in the detection area of the first laser correlation device, a first-level ultrahigh early warning is sent out;
when the server receives the target object position information sent by the laser radar, 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 out an urgent ultra-high early warning;
the first laser correlation device is erected at a first position on the river bank side, the height of a transmitting module of the first laser correlation device is the same as the initial height of the ship, and the signal transmitting direction of the transmitting module is vertical to each channel;
the center of the top of each pilot hole is provided with one image acquisition device, and the image acquisition range of the image acquisition device covers the channel corresponding to the pilot hole;
and the center of the top of each pilot hole is provided with one laser radar, and the detection area of the laser radar covers the channel of the corresponding pilot hole.
2. The method of claim 1, wherein after the continuously tracking the corresponding vessel, before the tracking the vessel into the detection zone of the lidar, further comprises:
when the server receives the 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 according to the picture acquired by the image acquisition device of the channel where the detected ship is located, and when only one ship enters the detection area of the second laser correlation device, sending out a second-level ultrahigh early warning;
the second laser correlation device is erected at a second position on the river bank side, the height of a transmitting module of the second laser correlation device is the same as the initial height of the ship, the signal transmitting direction of the transmitting module is perpendicular to each channel, and the distance between the second position and the bridge is smaller than that between the first position and the bridge.
3. The method of claim 2, wherein the server, upon receiving the correlation signal reception indication from the second laser correlation device, further comprises:
and if the server judges that no ship enters the detection area of the second laser correlation device, a second-level ultrahigh early warning false triggering signal is sent out.
4. The method of claim 1, wherein detecting whether the vessel is present in the detection area of the first laser correlation device further comprises:
when the server detects that the ship does not exist in the detection area of the first laser correlation device, a first-stage ultrahigh early warning false triggering signal is sent out;
the server further comprises the following steps after receiving the target object position information sent by the laser radar:
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, an emergency ultrahigh early warning false triggering signal is sent out.
5. A marine vessel ultra-high detection device, the device comprising:
the first-level early warning module is used for receiving the correlation signal receiving indication 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 detecting that the ship exists in the detection area of the first laser correlation device, continuously tracking the corresponding ship according to the image acquisition device of the channel where the detected ship is located; when only one ship exists in the detection area of the first laser correlation device, a first-level ultrahigh early warning is sent out;
the emergency early warning module is used for 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 when receiving the target object position information sent by the laser radar, and sending an emergency ultrahigh early warning if the ship enters the detection area of the laser radar;
the first laser correlation device is erected at a first position on the river bank side, the height of a transmitting module of the first laser correlation device is the same as the initial height of the ship, and the signal transmitting direction of the transmitting module is vertical to each channel;
the center of the top of each pilot hole is provided with one image acquisition device, and the image acquisition range of the image acquisition device covers the channel corresponding to the pilot hole;
and the center of the top of each pilot hole is provided with one laser radar, and the detection area of the laser radar covers the channel of the corresponding pilot hole.
6. The device of claim 5, further comprising a secondary pre-warning module configured to determine whether a ship enters a detection area of the second laser correlation device based on a picture acquired by the image acquisition device of the channel in which the detected ship is located when receiving the correlation signal receiving indication from the second laser correlation device, and to send a secondary ultra-high pre-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 side, the height of a transmitting module of the second laser correlation device is the same as the initial height of the ship, the signal transmitting direction of the transmitting module is perpendicular to each channel, and the distance between the second position and the bridge is smaller than that between the first position and the bridge.
7. The apparatus of claim 6, wherein the secondary pre-warning module further comprises, after receiving the correlation signal reception indication from the second laser correlation device:
and if no ship enters the detection area of the second laser correlation device, sending a second-level ultrahigh early warning false triggering signal.
8. The apparatus of claim 5, wherein the primary pre-warning module after detecting whether the vessel is present in the detection area of the first laser correlation device further comprises:
when no ship exists in the detection area of the first laser correlation device, a first-stage ultrahigh early warning false triggering signal is sent;
the emergency early warning module further comprises the following steps after receiving the target object position information sent by the laser radar:
and when the image acquisition device according to the detected 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.
9. An electronic device, comprising: the processor, the communication interface, the memory and the 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 4 when executing a program stored on a memory.
10. A non-transitory computer readable storage medium storing instructions which, when executed by a processor, cause the processor to perform the method of any of claims 1 to 4.
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| CN112817000A (en) * | 2021-03-26 | 2021-05-18 | 深圳市镭神智能系统有限公司 | Ultrahigh detection device and method |
| CN114894103B (en) * | 2022-03-30 | 2023-10-10 | 湖北国际物流机场有限公司 | Ultrahigh ship detection system based on laser technology and detection method thereof |
| CN115273554A (en) * | 2022-06-23 | 2022-11-01 | 宁波上航测绘有限公司 | Bridge anticollision early warning system |
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