CN113256702A - Ship clearance height detection method, system, equipment and medium based on unmanned aerial vehicle - Google Patents
Ship clearance height detection method, system, equipment and medium based on unmanned aerial vehicle Download PDFInfo
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Abstract
The invention relates to a ship clearance height detection method, a system, equipment and a storage medium based on an unmanned aerial vehicle, wherein the method comprises the following steps: controlling an unmanned aerial vehicle to shoot an original image containing a target ship, and recording shooting parameters when the unmanned aerial vehicle shoots; carrying out target edge detection on the original image to obtain a ship image corresponding to the target ship; carrying out highest point detection on the ship image to find the highest point of the ship image from the horizontal plane; calculating to obtain the ship clearance height of the highest position of the target ship from the horizontal plane according to the shooting parameters and the highest point of the ship image; the ship clearance height is detected through the unmanned aerial vehicle, so that the condition of the ship clearance height of the quick-moving maneuvering patrol is realized, and the safety of the operation of a channel is improved.
Description
Technical Field
The invention relates to the technical field of navigation marks, in particular to a ship clearance height detection method, system, equipment and medium based on an unmanned aerial vehicle.
Background
With the rapid development of water transportation, the possession of ships is continuously increased, and the trend of large-scale ships is increasingly obvious. In addition, with the development of the construction of the traffic infrastructure, the more facilities such as bridges are built. The ultra-high ship has many potential safety hazards in the navigation process, for example, the ultra-high ship can cause the damage of river-crossing bridges and auxiliary facilities and the occurrence of accidents, the exertion of the economic benefit and the transportation efficiency of the shipping industry is seriously influenced, and even the life safety is threatened.
At present, the ultrahigh of a ship is mostly tested by using laser, the detection distance is limited, the detection precision is not high, and the ship cannot move quickly to carry out maneuvering inspection.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a ship clearance height detection method, a system, equipment and a storage medium based on an unmanned aerial vehicle, so as to realize the quick movement of the maneuvering patrol ship clearance height condition and improve the safety of channel operation.
In order to achieve the above object, a first aspect of the present invention provides a ship headroom detection method based on an unmanned aerial vehicle, including:
controlling an unmanned aerial vehicle to shoot an original image containing a target ship, and recording shooting parameters when the unmanned aerial vehicle shoots;
carrying out target edge detection on the original image to obtain a ship image corresponding to the target ship;
carrying out highest point detection on the ship image to find the highest point of the ship image from the horizontal plane;
and calculating to obtain the ship clearance height of the highest position of the target ship from the horizontal plane according to the shooting parameters and the highest point of the ship image.
Optionally, the shooting parameters include: the camera shooting angle, the angle of view, the unmanned aerial vehicle height and the distance between the unmanned aerial vehicle and each edge point of the target ship.
Optionally, controlling the unmanned aerial vehicle to shoot an original image containing the target ship, and recording shooting parameters when the unmanned aerial vehicle shoots, including:
controlling a camera of the unmanned aerial vehicle to shoot an original image containing a target ship; and synchronously recording the pitch angle, the field angle, the height of the unmanned aerial vehicle and the distance between the unmanned aerial vehicle and each edge point of the target ship when the camera of the unmanned aerial vehicle shoots.
Optionally, the calculating, according to the shooting parameter and the highest point of the ship image, to obtain the ship clearance height of the highest point of the target ship from the horizontal plane includes:
according to the highest point of the ship image and the horizontal plane, finding out a pitch angle, a field angle, the height of the unmanned aerial vehicle and the distance between the unmanned aerial vehicle and each edge point of the target ship when the camera corresponding to the highest point shoots;
and obtaining the ship clearance height of the highest position of the target ship from the horizontal plane corresponding to the highest point by adopting a monocular vision positioning distance measuring method according to the pitch angle, the field angle, the height of the unmanned aerial vehicle and the distance between the unmanned aerial vehicle and each edge point of the target ship when the camera corresponding to the highest point shoots.
Optionally, after the ship clearance height at the highest position of the target ship from the horizontal plane is calculated according to the shooting parameters and the highest point of the ship image, the method further includes:
and correspondingly overlapping and displaying the ship clearance height at the highest position of the target ship from the horizontal plane and the original image.
Optionally, after the ship clearance height at the highest position of the target ship from the horizontal plane is calculated according to the shooting parameters and the highest point of the ship image, the method further includes:
and judging whether the target ship is ultrahigh or not according to the ship clearance height at the highest position of the target ship from the horizontal plane and the navigation height limit information of the river-crossing building in front.
Optionally, an audible and visual alarm device and/or a radio communication alarm device are/is arranged on the unmanned aerial vehicle; according to the boats and ships headroom and the place ahead river-crossing building navigation limit height information of target vessel distance horizontal plane highest point, judge whether target vessel is superelevation, still include:
if the distance between the target ship and the target ship is ultrahigh, the target ship is shout and warned through sound and light warning equipment and/or radio communication warning equipment of the unmanned aerial vehicle.
The invention provides a ship clearance height detection system based on an unmanned aerial vehicle, which comprises:
the ship shooting module is used for controlling the unmanned aerial vehicle to shoot an original image containing a target ship and recording shooting parameters when the unmanned aerial vehicle shoots;
the edge detection module is used for carrying out target edge detection on the original image to obtain a ship image corresponding to the target ship;
the highest point detection module is used for carrying out highest point detection on the ship image and finding the highest point of the ship image from a horizontal plane;
and the ship clearance height detection module is used for calculating the ship clearance height of the highest position of the target ship from the horizontal plane according to the shooting parameters and the highest point of the ship image.
A third aspect of the present invention provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the unmanned aerial vehicle-based ship headroom detection method when executing the computer program.
A fourth aspect of the present invention provides a computer-readable storage medium having stored thereon a computer program which, when being executed by a processor, carries out the steps of the above-mentioned drone-based vessel headroom detection method.
According to the technical scheme, the unmanned aerial vehicle is controlled to shoot an original image containing a target ship, and shooting parameters when the unmanned aerial vehicle shoots are recorded; carrying out target edge detection on the original image to obtain a ship image corresponding to the target ship; carrying out highest point detection on the ship image to find the highest point of the ship image from the horizontal plane; calculating to obtain the ship clearance height of the highest position of the target ship from the horizontal plane according to the shooting parameters and the highest point of the ship image; the unmanned aerial vehicle is used for carrying out the detection of the ship clearance height, so that the motor patrol ship clearance height condition can be quickly moved, and the safety of the operation of a channel is improved; the ultrahigh inspection efficiency of the ship is improved, the labor intensity of operation is reduced, the unmanned aerial vehicle is used for inspection more quickly, the detection range is large, the detection precision is high, and the cost is lower and safer.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
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The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
fig. 1 schematically shows a flow chart of a ship headroom detection method based on an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 schematically shows a block diagram of a ship headroom detection system based on an unmanned aerial vehicle according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a ship clearance calculation method according to an embodiment of the invention;
fig. 4 schematically shows an internal structure diagram of a computer apparatus according to an embodiment of the present invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.
Fig. 1 schematically shows a flow chart of a ship headroom detection method based on an unmanned aerial vehicle according to an embodiment of the present invention. As shown in fig. 1, in an embodiment of the present invention, a ship clearance height detection method based on an unmanned aerial vehicle is provided, including the following steps:
102, carrying out target edge detection on the original image to obtain a ship image corresponding to the target ship;
103, carrying out highest point detection on the ship image to find the highest point of the ship image from a horizontal plane;
and 104, calculating to obtain the ship clearance height of the highest position of the target ship from the horizontal plane according to the shooting parameters and the highest point of the ship image.
Particularly, control unmanned aerial vehicle patrols in the region that needs inspection boats and ships headroom height, and unmanned aerial vehicle can select for use many rotors to hang the unmanned aerial vehicle of camera, and this unmanned aerial vehicle still has laser rangefinder function. The unmanned aerial vehicle shoots image information of the areas, such as video data, and if ships exist in the video data, the unmanned aerial vehicle is controlled to shoot original images containing target ships; when collecting the original image, the shooting parameters when the unmanned aerial vehicle shoots, such as the pitch angle and the angle of view when the camera shoots, are synchronously recorded, and the height of the unmanned aerial vehicle and the distance between the unmanned aerial vehicle and each edge point of the target ship are obtained through the laser ranging module and are synchronously recorded. And then carrying out target edge detection on the original image to obtain a ship image corresponding to the target ship, namely obtaining the ship image of the target ship. Then, a highest point detection is performed according to the ship image, for example, a highest point is detected by a mode of maximum curvature, and the highest point is the highest point of the ship image from the horizontal plane. Finally, calculating to obtain the ship clearance height of the highest position of the target ship from the horizontal plane according to the shooting parameters and the highest point of the ship image; the ship clearance height is the distance from the highest point of the ship to the horizontal plane; therefore, the unmanned aerial vehicle can detect the clearance height of the ship, the motor patrol ship clearance height condition can be quickly moved, and the safety of channel operation is improved.
In one embodiment, a visible light device, a non-visible light device, and/or a radar device is provided on the drone. In particular, under daytime or weather conditions with good visibility, the visible light devices on the drone can capture an original image containing the target vessel. And in various conditions such as night, fog, rainy day, the sky, can shoot the original image that contains the target ship through invisible light equipment or radar equipment on the unmanned aerial vehicle.
Referring to fig. 3, fig. 3 schematically illustrates a ship clearance calculation method according to an embodiment of the invention; in one embodiment, the photographing parameters include: the camera shooting angle is A, the field angle is C, the height h of the unmanned aerial vehicle is h, and the distance B between the unmanned aerial vehicle and each edge point of the target ship is obtained.
In one embodiment, the controlling the drone to shoot an original image containing a target ship and recording shooting parameters when the drone shoots, includes: controlling a camera of the unmanned aerial vehicle to shoot an original image containing a target ship; and synchronously recording the pitch angle, the field angle, the height of the unmanned aerial vehicle and the distance between the unmanned aerial vehicle and each edge point of the target ship when the camera of the unmanned aerial vehicle shoots.
When practical application, unmanned aerial vehicle can detect the profile of boats and ships, detects through the profile to boats and ships to can detect navigation width and length information etc. of target boats and ships and send for the surveillance center. The unmanned aerial vehicle or the monitoring center can obtain the three-dimensional image information of the target ship according to the data, further analyze the navigation safety and manage the ship.
In one embodiment, the calculating the ship clearance height of the highest position of the target ship from the horizontal plane according to the shooting parameters and the highest point of the ship image includes:
according to the highest point of the ship image and the horizontal plane, finding out a pitch angle, a field angle, the height of the unmanned aerial vehicle and the distance between the unmanned aerial vehicle and each edge point of the target ship when the camera corresponding to the highest point shoots;
and obtaining the ship clearance height of the highest position of the target ship from the horizontal plane corresponding to the highest point by adopting a monocular vision positioning distance measuring method according to the pitch angle, the field angle, the height of the unmanned aerial vehicle and the distance between the unmanned aerial vehicle and each edge point of the target ship when the camera corresponding to the highest point shoots.
Particularly, unmanned aerial vehicle measurable quantity multiple parameter, including but not limited to fly to the boats and ships side and monitor and shoot, gather the parameter of boats and ships, parameter when unmanned aerial vehicle self shooing can also be measured, for example unmanned aerial vehicle height of being located, the shooting angle of camera, the longitude and latitude information that unmanned aerial vehicle was located etc. can also fix a position boats and ships. In practical application, the unmanned aerial vehicle can transmit the shot video back to the shore monitoring center, and if a ship is found by the monitoring center, the unmanned aerial vehicle can be controlled manually, namely, an instruction is sent manually to the unmanned aerial vehicle to control the unmanned aerial vehicle to approach the ship for approaching reconnaissance; the monitoring center or the unmanned aerial vehicle can also analyze the video in an artificial intelligence manner, namely, whether ships exist in the video shot by the unmanned aerial vehicle is judged according to a preset depth learning model or a preset ship model parameter condition, and if so, the unmanned aerial vehicle is controlled to carry out approach reconnaissance on the target ships.
The invention can calculate the ship clearance height in various ways, for example, the ship clearance height at the highest position of the target ship from the horizontal plane corresponding to the highest point can be obtained by adopting a monocular vision positioning and ranging method. In practical application, the method for monitoring the clearance height of the ship in real time according to the present invention is described as follows with reference to fig. 3: shooting a plurality of parameters of the target ship 302 by the unmanned aerial vehicle 301, such as a pitch angle a, a field angle C, an unmanned aerial vehicle height h and a distance B between the unmanned aerial vehicle and each edge point of the target ship when shooting by a camera; according to the parameters, the ship clearance height Y can be processed and calculated in real time through methods such as a triangle cosine law and the like.
Preferably, in order to improve the accuracy of the ship clearance height, the unmanned aerial vehicle can be further controlled to carry out monitoring shooting along the side surface of the ship, the unmanned aerial vehicle shoots shooting parameters corresponding to multiple times in different directions and different angles, and the ship clearance height of the highest position of the target ship from the horizontal plane is obtained through multiple times of calculation according to the shooting parameters and the highest point of the ship image; the invention further selects an average value, a highest value or a lowest value as a final ship clearance height according to the multiple ship clearance heights obtained by calculation. In order to reduce the collision risk of the ship, the highest value is preferably selected as the final ship clearance height, and the safety is further guaranteed.
In an embodiment, after the calculating, according to the shooting parameter and the highest point of the ship image, a ship clearance height at the highest point of the target ship from a horizontal plane, the method further includes: and correspondingly overlapping and displaying the ship clearance height at the highest position of the target ship from the horizontal plane and the original image. Particularly, unmanned aerial vehicle can pass the video of shooing back bank surveillance center, through with the boats and ships headroom height of target boats and ships distance horizontal plane highest point with the corresponding stack of original image corresponds the stack at surveillance center and shows, can be surveyability to the boats and ships condition, more convenient understanding the condition.
In an embodiment, after the calculating, according to the shooting parameter and the highest point of the ship image, a ship clearance height at the highest point of the target ship from a horizontal plane, the method further includes: and judging whether the target ship is ultrahigh or not according to the ship clearance height at the highest position of the target ship from the horizontal plane and the navigation height limit information of the river-crossing building in front.
Specifically, after the clearance height of the ship is calculated in real time, whether the ship is ultrahigh can be judged according to height limit data of a nearby water area, namely height limit information of a front river-crossing building. For example, the clearance height of the ship is 20 meters, and the height limit of the front river-crossing building is 18 meters, the ship is judged to be ultrahigh. In practical application, whether the target ship is ultrahigh or not is judged, and a rich clear height value can be added, wherein the reason is that the ship shakes up and down due to factors such as wind, wave and tide, and in order to further guarantee safety, if the sum of the clear height value and the rich clear height value of the ship is smaller than the height limit value of a river-crossing building in front, the target ship is considered not ultrahigh; otherwise, the ship is considered to be ultrahigh, so that the collision event between the ship and the river-crossing building caused by errors due to differences of factors such as wind, wave and the like is avoided. For example, if the clearance height of the ship is 15 meters, the height limit value of the river-crossing building in front is 18 meters, and the height value of the margin clearance is 1 meter, the ship is judged not to be over high; and if the clearance height of the ship is 15 meters, the height limit value of the front river-crossing building is 18 meters, and the height value of the margin clearance is 5 meters, judging that the ship is ultrahigh.
In one embodiment, an acousto-optic alarm device and/or a radio communication alarm device are/is arranged on the unmanned aerial vehicle; according to the boats and ships headroom and the place ahead river-crossing building navigation limit height information of target vessel distance horizontal plane highest point, judge whether target vessel is superelevation, still include:
if the distance between the target ship and the target ship is ultrahigh, the target ship is shout and warned through sound and light warning equipment and/or radio communication warning equipment of the unmanned aerial vehicle.
Particularly, still can be provided with on the unmanned aerial vehicle and call out equipment and/or lighting apparatus and radio communication alarm device etc. if the target ship superelevation, then can correspond to call out to this boats and ships, the radio is reported an emergency and asked for help or increased vigilance, adopt multiple modes such as illumination to report an emergency and ask for help or increased vigilance to effectively guarantee boats and ships navigation safety. In practical application, the ship superelevation information corresponding to the nearby inspection ship can be informed through the unmanned aerial vehicle or the monitoring center, so that the navigation of the superelevation ship is further limited and stopped in time.
In summary, the ship clearance height detection method based on the unmanned aerial vehicle provided by the invention adopts the unmanned aerial vehicle to detect the ship superelevation, and is applied to a hardware system consisting of a monitoring center and the unmanned aerial vehicle; the invention utilizes the modern detection means to detect the clearance height of the ship through the detection equipment mounted by the unmanned aerial vehicle, and the unmanned aerial vehicle can conveniently and rapidly move and carry out maneuvering inspection at any time and any place; the ultrahigh ship is shout in time through the shouting equipment mounted on the unmanned aerial vehicle, so that the ultrahigh ship is prevented from sailing in time, and the safety of channel operation is improved; the detection distance is long, and the detection precision is high; the inspection is quicker.
As shown in fig. 2, the present invention further provides a ship clearance height detection system based on an unmanned aerial vehicle, including:
the ship shooting module 201 is used for controlling the unmanned aerial vehicle to shoot an original image containing a target ship and recording shooting parameters when the unmanned aerial vehicle shoots;
an edge detection module 202, configured to perform target edge detection on the original image to obtain a ship image corresponding to the target ship;
the highest point detection module 203 is used for performing highest point detection on the ship image and finding the highest point of the ship image from a horizontal plane;
and the ship clearance height detection module 204 is used for calculating the ship clearance height of the highest position of the target ship from the horizontal plane according to the shooting parameters and the highest point of the ship image.
For specific limitations of the ship clearance height detection system based on the unmanned aerial vehicle, reference may be made to the above limitations of the ship clearance height detection method based on the unmanned aerial vehicle, and details are not repeated here. All modules in the ship clearance height detection system based on the unmanned aerial vehicle can be completely or partially realized through software, hardware and a combination of the software and the hardware. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 4. The computer device includes a processor a01, a network interface a02, a memory (not shown), and a database (not shown) connected by a system bus. Wherein processor a01 of the computer device is used to provide computing and control capabilities. The memory of the computer device comprises an internal memory a03 and a non-volatile storage medium a 04. The non-volatile storage medium a04 stores an operating system B01, a computer program B02, and a database (not shown in the figure). The internal memory a03 provides an environment for the operation of the operating system B01 and the computer program B02 in the nonvolatile storage medium a 04. The database of the computer equipment is used for storing the advertisement pictures and the parameters and other data of the advertisement pictures. The network interface a02 of the computer device is used for communication with an external terminal through a network connection. The computer program B02 is executed by the processor a01 to implement a drone-based ship headroom detection method.
Those skilled in the art will appreciate that the architecture shown in fig. 4 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program: controlling an unmanned aerial vehicle to shoot an original image containing a target ship, and recording shooting parameters when the unmanned aerial vehicle shoots; carrying out target edge detection on the original image to obtain a ship image corresponding to the target ship; carrying out highest point detection on the ship image to find the highest point of the ship image from the horizontal plane; and calculating to obtain the ship clearance height of the highest position of the target ship from the horizontal plane according to the shooting parameters and the highest point of the ship image.
In one embodiment, the photographing parameters include: the camera shooting angle, the angle of view, the unmanned aerial vehicle height and the distance between the unmanned aerial vehicle and each edge point of the target ship.
In one embodiment, the controlling the drone to shoot an original image containing a target ship and recording shooting parameters when the drone shoots, includes:
controlling a camera of the unmanned aerial vehicle to shoot an original image containing a target ship; and synchronously recording the pitch angle, the field angle, the height of the unmanned aerial vehicle and the distance between the unmanned aerial vehicle and each edge point of the target ship when the camera of the unmanned aerial vehicle shoots.
In one embodiment, the calculating the ship clearance height of the highest position of the target ship from the horizontal plane according to the shooting parameters and the highest point of the ship image includes:
according to the highest point of the ship image and the horizontal plane, finding out a pitch angle, a field angle, the height of the unmanned aerial vehicle and the distance between the unmanned aerial vehicle and each edge point of the target ship when the camera corresponding to the highest point shoots;
and obtaining the ship clearance height of the highest position of the target ship from the horizontal plane corresponding to the highest point by adopting a monocular vision positioning distance measuring method according to the pitch angle, the field angle, the height of the unmanned aerial vehicle and the distance between the unmanned aerial vehicle and each edge point of the target ship when the camera corresponding to the highest point shoots.
In an embodiment, after the calculating, according to the shooting parameter and the highest point of the ship image, a ship clearance height at the highest point of the target ship from a horizontal plane, the method further includes:
and correspondingly overlapping and displaying the ship clearance height at the highest position of the target ship from the horizontal plane and the original image.
In an embodiment, after the calculating, according to the shooting parameter and the highest point of the ship image, a ship clearance height at the highest point of the target ship from a horizontal plane, the method further includes:
and judging whether the target ship is ultrahigh or not according to the ship clearance height at the highest position of the target ship from the horizontal plane and the navigation height limit information of the river-crossing building in front.
In one embodiment, an acousto-optic alarm device and/or a radio communication alarm device are/is arranged on the unmanned aerial vehicle; according to the boats and ships headroom and the place ahead river-crossing building navigation limit height information of target vessel distance horizontal plane highest point, judge whether target vessel is superelevation, still include:
if the distance between the target ship and the target ship is ultrahigh, the target ship is shout and warned through sound and light warning equipment and/or radio communication warning equipment of the unmanned aerial vehicle.
In one embodiment, a computer readable storage medium is provided, having a computer program stored thereon, which, when being executed by a processor, carries out the steps of the above-mentioned drone-based vessel headroom detection method.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. A ship clearance height detection method based on an unmanned aerial vehicle is characterized by comprising the following steps:
controlling an unmanned aerial vehicle to shoot an original image containing a target ship, and recording shooting parameters when the unmanned aerial vehicle shoots;
carrying out target edge detection on the original image to obtain a ship image corresponding to the target ship;
carrying out highest point detection on the ship image to find the highest point of the ship image from the horizontal plane;
and calculating to obtain the ship clearance height of the highest position of the target ship from the horizontal plane according to the shooting parameters and the highest point of the ship image.
2. The method of claim 1, wherein the shooting parameters comprise: the camera shooting angle, the angle of view, the unmanned aerial vehicle height and the distance between the unmanned aerial vehicle and each edge point of the target ship.
3. The method of claim 2, wherein the controlling the drone to capture an original image containing the target vessel and recording capture parameters when captured by the drone comprises:
controlling a camera of the unmanned aerial vehicle to shoot an original image containing a target ship; and synchronously recording the pitch angle, the field angle, the height of the unmanned aerial vehicle and the distance between the unmanned aerial vehicle and each edge point of the target ship when the camera of the unmanned aerial vehicle shoots.
4. The method of claim 3, wherein the calculating the ship headroom of the highest position of the target ship from the horizontal plane according to the shooting parameters and the highest point of the ship image comprises:
according to the highest point of the ship image and the horizontal plane, finding out a pitch angle, a field angle, the height of the unmanned aerial vehicle and the distance between the unmanned aerial vehicle and each edge point of the target ship when the camera corresponding to the highest point shoots;
and obtaining the ship clearance height of the highest position of the target ship from the horizontal plane corresponding to the highest point by adopting a monocular vision positioning distance measuring method according to the pitch angle, the field angle, the height of the unmanned aerial vehicle and the distance between the unmanned aerial vehicle and each edge point of the target ship when the camera corresponding to the highest point shoots.
5. The method of claim 1, wherein after calculating the ship clearance height of the highest position of the target ship from the horizontal plane according to the shooting parameters and the highest point of the ship image, the method further comprises:
and correspondingly overlapping and displaying the ship clearance height at the highest position of the target ship from the horizontal plane and the original image.
6. The method of claim 1, wherein after calculating the ship clearance height of the highest position of the target ship from the horizontal plane according to the shooting parameters and the highest point of the ship image, the method further comprises:
and judging whether the target ship is ultrahigh or not according to the ship clearance height at the highest position of the target ship from the horizontal plane and the navigation height limit information of the river-crossing building in front.
7. The method according to claim 6, characterized in that an acousto-optic warning device and/or a radio communication warning device are provided on the drone; according to the boats and ships headroom and the place ahead river-crossing building navigation limit height information of target vessel distance horizontal plane highest point, judge whether target vessel is superelevation, still include:
if the distance between the target ship and the target ship is ultrahigh, the target ship is shout and warned through sound and light warning equipment and/or radio communication warning equipment of the unmanned aerial vehicle.
8. The utility model provides a boats and ships headroom detection system based on unmanned aerial vehicle which characterized in that includes:
the ship shooting module is used for controlling the unmanned aerial vehicle to shoot an original image containing a target ship and recording shooting parameters when the unmanned aerial vehicle shoots;
the edge detection module is used for carrying out target edge detection on the original image to obtain a ship image corresponding to the target ship;
the highest point detection module is used for carrying out highest point detection on the ship image and finding the highest point of the ship image from a horizontal plane;
and the ship clearance height detection module is used for calculating the ship clearance height of the highest position of the target ship from the horizontal plane according to the shooting parameters and the highest point of the ship image.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
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