CN113256702B - 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 headroom detection method, a system, equipment and a storage medium based on an unmanned aerial vehicle, wherein the method comprises the following steps: controlling the unmanned aerial vehicle to shoot an original image containing a target ship, and recording shooting parameters when the unmanned aerial vehicle shoots; performing target edge detection on the original image to obtain a ship image corresponding to the target ship; detecting the highest point of the ship image, and finding the highest point of the ship image from the horizontal plane; calculating according to the shooting parameters and the highest point of the ship image to obtain the ship clearance height of the target ship at the highest position from the horizontal plane; the ship clearance height is detected through the unmanned aerial vehicle, so that the situation of quickly moving the mobile inspection ship clearance height is realized, and the safety of the channel operation 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 ship possession is continuously increasing, and the ship large-scale trend is also increasingly obvious. And, with the continuous development of traffic infrastructure construction, facilities such as bridges are more built. The ultrahigh ship has a plurality of potential safety hazards in the sailing process, for example, the ultrahigh ship can cause damages to river-crossing bridges and auxiliary facilities and accidents, the economic benefit and the transport efficiency of shipping industry are seriously influenced, and even the life safety is threatened.
At present, the ultra-high-speed multi-use laser test of ships has the defects of limited detection distance, low detection precision and incapability of moving rapidly for maneuver inspection.
Disclosure of Invention
Aiming at the defects existing 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 quick movement of a mobile inspection 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 detecting method based on an unmanned aerial vehicle, including:
controlling the unmanned aerial vehicle to shoot an original image containing a target ship, and recording shooting parameters when the unmanned aerial vehicle shoots;
performing target edge detection on the original image to obtain a ship image corresponding to the target ship;
detecting the highest point of the ship image, and finding the highest point of the ship image from the horizontal plane;
and calculating according to the shooting parameters and the highest point of the ship image to obtain the ship clearance height of the target ship at the highest position from the horizontal plane.
Optionally, the shooting parameters include: the pitch angle, the field angle, the unmanned aerial vehicle height and the distance between each edge point of the unmanned aerial vehicle and the target ship when the camera shoots.
Optionally, the controlling the unmanned aerial vehicle to shoot an original image including the target ship and record shooting parameters when the unmanned aerial vehicle shoots, includes:
controlling a camera of the unmanned aerial vehicle to shoot an original image containing the target ship; synchronously recording a pitch angle, a field angle, an unmanned aerial vehicle height and distances between the unmanned aerial vehicle and each edge point of a target ship when the unmanned aerial vehicle is shot by a camera.
Optionally, the calculating, according to the shooting parameter and the highest point of the ship image, a ship clearance height of the target ship from the highest position of the horizontal plane includes:
according to the highest point of the ship image from the horizontal plane, finding out a pitch angle, a view angle, an unmanned aerial vehicle height and distances 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 target ship corresponding to the highest point from the highest position of the horizontal plane by adopting a monocular vision positioning distance measuring method according to the pitch angle, the field angle, the unmanned plane height and the distance between the unmanned plane and each edge point of the target ship when the camera corresponding to the highest point shoots.
Optionally, after the calculating, according to the shooting parameter and the highest point of the ship image, the ship clearance height of the target ship at the highest position of the target ship from the horizontal plane, the method further includes:
and correspondingly superposing and displaying the ship clearance height of the highest position of the target ship from the horizontal plane with the original image.
Optionally, after the calculating, according to the shooting parameter and the highest point of the ship image, the ship clearance height of the target ship at the highest position of the target ship from the horizontal plane, the method further includes:
and judging whether the target ship is ultrahigh or not according to the ship clearance height of the highest position of the target ship from the horizontal plane and the navigation limit height information of the front river-crossing building.
Optionally, an audible and visual alarm device and/or a radio communication alarm device are arranged on the unmanned aerial vehicle; judging whether the target ship is ultrahigh according to the ship clearance height of the highest position of the target ship from the horizontal plane and the navigation limit height information of the front river-crossing building, and further comprising:
and if the distance of the target ship is ultrahigh, carrying out shouting warning on the target ship through an audible and visual warning device and/or a radio communication warning device of the unmanned plane.
A second aspect of the present invention provides a ship headroom detection system based on an unmanned aerial vehicle, comprising:
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 out the highest point of the ship image from the horizontal plane;
and the ship clearance height detection module is used for calculating the ship clearance height of the target ship at 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, the memory storing a computer program, the processor implementing the steps of the unmanned aerial vehicle-based ship clearance height detection method described above when executing the computer program.
A fourth aspect of the invention provides a computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of the unmanned aerial vehicle based ship headroom detection method described above.
According to the technical scheme, the unmanned aerial vehicle is controlled to shoot an original image containing a target ship, and shooting parameters of the unmanned aerial vehicle during shooting are recorded; performing target edge detection on the original image to obtain a ship image corresponding to the target ship; detecting the highest point of the ship image, and finding the highest point of the ship image from the horizontal plane; calculating according to the shooting parameters and the highest point of the ship image to obtain the ship clearance height of the target ship at the highest position from the horizontal plane; the unmanned aerial vehicle is utilized to carry out ship clearance height detection, so that the situation of quickly moving the mobile inspection ship clearance height is realized, and the safety of channel operation is improved; the ship ultra-high inspection efficiency is improved, the operation labor intensity 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.
Drawings
The accompanying drawings are included to provide a further understanding of 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, without limitation, the embodiments of the invention. In the drawings:
fig. 1 schematically shows a flow diagram of a method for detecting a clearance height of a vessel based on an unmanned aerial vehicle according to an embodiment of the invention;
fig. 2 schematically shows a block diagram of a unmanned based ship headroom detection system according to an embodiment of the present invention;
FIG. 3 schematically illustrates a ship clearance height calculation method according to an embodiment of the present invention;
fig. 4 schematically shows an internal structural view of a computer device according to an embodiment of the present invention.
Detailed Description
The following describes the detailed implementation of the embodiments of the present invention with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the invention, are not intended to limit the invention.
Fig. 1 schematically shows a flow diagram of a method for detecting a clearance height of a ship based on an unmanned aerial vehicle according to an embodiment of the invention. As shown in fig. 1, in an embodiment of the present invention, there is provided a ship headroom detecting method based on an unmanned aerial vehicle, including the steps of:
step 101, controlling an unmanned aerial vehicle to shoot an original image containing a target ship, and recording shooting parameters when the unmanned aerial vehicle shoots;
102, performing target edge detection on the original image to obtain a ship image corresponding to the target ship;
step 103, detecting the highest point of the ship image, and finding the highest point of the ship image from the horizontal plane;
and 104, calculating to obtain the ship clearance height of the target ship at the highest position of the target ship from the horizontal plane according to the shooting parameters and the highest point of the ship image.
Specifically, the unmanned aerial vehicle is controlled to patrol in the area where the clearance height of the ship needs to be checked, the unmanned aerial vehicle can be selected from unmanned aerial vehicles with multi-rotor hanging cameras, and the unmanned aerial vehicle also has a laser ranging 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 the original image is acquired, shooting parameters of the unmanned aerial vehicle during shooting, such as pitch angle and angle of view and the like, 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 also acquired through the laser ranging module and 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, wherein when the ship image is specifically applied, the original image can be subjected to edge detection to detect the contour, and whether the contour is the ship can be further judged through a preset deep learning model or ship model parameter condition, and if the contour is the ship, the ship image of the target ship is obtained. Then, a highest point, which is the highest point of the ship image from the horizontal plane, is detected from the ship image, for example, by detecting the highest point by means of a curvature maximum or the like. Finally, according to the shooting parameters and the highest point of the ship image, calculating to obtain the ship clearance height of the target ship at the highest position from the horizontal plane; 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 situation of quickly moving the mobile inspection ship clearance height is realized, and the safety of the channel operation is improved.
In one embodiment, a visible light device, an invisible light device, and/or a radar device are provided on the drone. In particular, in the daytime or in weather conditions where visibility is good, a visible light device on the drone may take an original image that includes the target vessel. In various situations such as night, foggy days, rainy days, etc., the original image containing the target ship can be shot on the unmanned aerial vehicle through the invisible light device or the radar device.
Referring to fig. 3, fig. 3 schematically illustrates a ship clearance height calculating method according to an embodiment of the present invention; in one embodiment, the shooting parameters include: the pitch angle A, the field angle C, the unmanned aerial vehicle height h and the distance B between the unmanned aerial vehicle and each edge point of the target ship when the camera shoots.
In one embodiment, the controlling the unmanned aerial vehicle to capture an original image including the target ship and record capturing parameters of the unmanned aerial vehicle when capturing includes: controlling a camera of the unmanned aerial vehicle to shoot an original image containing the target ship; synchronously recording a pitch angle, a field angle, an unmanned aerial vehicle height and distances between the unmanned aerial vehicle and each edge point of a target ship when the unmanned aerial vehicle is shot by a camera.
In practical application, the unmanned aerial vehicle can detect the outline of the ship, and the navigation width, the length information and the like of the target ship can be detected and sent to the monitoring center through detecting the outline of the ship. The unmanned plane or the monitoring center can obtain three-dimensional image information of the target ship according to the data, further analyze navigation safety and manage the ship.
In one embodiment, the calculating, according to the shooting parameter and the highest point of the ship image, the ship clearance height of the target ship from the highest position of the horizontal plane includes:
according to the highest point of the ship image from the horizontal plane, finding out a pitch angle, a view angle, an unmanned aerial vehicle height and distances 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 target ship corresponding to the highest point from the highest position of the horizontal plane by adopting a monocular vision positioning distance measuring method according to the pitch angle, the field angle, the unmanned plane height and the distance between the unmanned plane and each edge point of the target ship when the camera corresponding to the highest point shoots.
Specifically, the unmanned aerial vehicle can measure various parameters, including but not limited to flying to the side of the ship for monitoring shooting, collecting parameters of the ship, and also can measure parameters when the unmanned aerial vehicle shoots itself, such as the height of the unmanned aerial vehicle, the shooting angle of a camera, longitude and latitude information of the unmanned aerial vehicle, and the like, and can also position the ship. In actual application, the unmanned aerial vehicle can transmit the shot video back to a shore monitoring center, if the monitoring center finds a ship, the unmanned aerial vehicle can control the unmanned aerial vehicle to approach the ship for approaching reconnaissance through manual control, namely, a manual sending instruction is sent to the unmanned aerial vehicle; the monitoring center or the unmanned aerial vehicle can analyze the video through artificial intelligence, namely judging whether the video shot by the unmanned aerial vehicle has a ship or not according to a preset deep learning model or ship model parameter condition, and if so, controlling the unmanned aerial vehicle to perform approaching reconnaissance on the target ship.
The ship clearance height can be calculated in various modes, for example, the ship clearance height of the target ship 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 ranging method. In practical application, the method for monitoring the clearance height of the ship in real time according to the invention is described as follows in combination with fig. 3: the unmanned aerial vehicle 301 shoots a plurality of parameters of the target ship 302, 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 clearance height Y of the ship can be processed and calculated in real time through triangle cosine theorem and other methods.
Preferably, in order to improve accuracy of ship clearance height, the invention can further control the unmanned aerial vehicle to monitor and shoot along the side surface of the ship, the unmanned aerial vehicle shoots shooting parameters corresponding to different directions and different angles for a plurality of times, and the ship clearance height of the target ship at the highest position of the horizontal plane is calculated for a plurality of times according to the shooting parameters for a plurality of times and the highest point of the ship image; the invention further selects the average value, the highest value or the lowest value as the final ship clearance height according to the calculated multiple ship clearance heights. In order to reduce the risk of ship collision, the highest value is preferably selected as the final ship clearance height, so that the safety is further ensured.
In one embodiment, after the calculating, according to the shooting parameters and the highest point of the ship image, the ship clearance height of the target ship from the highest position of the horizontal plane, the method further includes: and correspondingly superposing and displaying the ship clearance height of the highest position of the target ship from the horizontal plane with the original image. Specifically, the unmanned aerial vehicle can return the shot video to the shore monitoring center, and the ship situation can be clear at a glance and the situation can be more conveniently understood by correspondingly superposing the ship clearance height of the highest position of the target ship from the horizontal plane with the original image and correspondingly superposing and displaying the ship clearance height and the original image in the monitoring center.
In one embodiment, after the calculating, according to the shooting parameters and the highest point of the ship image, the ship clearance height of the target ship from the highest position of the horizontal plane, the method further includes: and judging whether the target ship is ultrahigh or not according to the ship clearance height of the highest position of the target ship from the horizontal plane and the navigation limit height information of the front river-crossing building.
Specifically, after the clearance height of the ship is calculated in real time, whether the ship is ultrahigh or not can be judged according to the height limit data of the nearby water area, namely the height limit information of the front river-crossing building. For example, if the clearance height of the ship is 20 meters and the height limit value of the front river-crossing building is 18 meters, the ship is judged to be ultrahigh. In practical application, judging whether the target ship is ultrahigh or not, wherein the surplus headroom value can be added, the ship can shake up and down due to factors such as wind waves and tide, and in order to further ensure safety, if the sum of the ship headroom value and the surplus headroom value is smaller than the limit height value of a river-crossing building in front, the target ship is considered not to be ultrahigh; otherwise, the ship is considered to be ultrahigh, so that the collision event of the ship and the river-crossing building caused by errors caused by differences of wind wave tide and other factors is avoided. For example, 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 margin height value is 1 meter, judging that the ship is not ultrahigh; 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 margin clearance height value is 5 meters, the ship is judged to be ultrahigh.
In one embodiment, an audible and visual alarm device and/or a radio communication alarm device are provided on the drone; judging whether the target ship is ultrahigh according to the ship clearance height of the highest position of the target ship from the horizontal plane and the navigation limit height information of the front river-crossing building, and further comprising:
and if the distance of the target ship is ultrahigh, carrying out shouting warning on the target ship through an audible and visual warning device and/or a radio communication warning device of the unmanned plane.
Specifically, the unmanned aerial vehicle can be further provided with a shouting device, a lighting device, a radio communication alarm device and the like, and if the target ship is ultrahigh, the unmanned aerial vehicle can correspondingly carry out shouting, radio alarm, alarm by adopting various modes such as lighting and the like on the ship, so that the navigation safety of the ship is effectively ensured. In practical application, the unmanned aerial vehicle or the monitoring center can also inform the ship superelevation information corresponding to the nearby patrol ship, so that the navigation of the superelevation ship is further limited and stopped in time.
In summary, the unmanned aerial vehicle-based ship clearance height detection method provided by the invention adopts the unmanned aerial vehicle to carry out ship ultra-high detection, and is applied to a hardware system formed by a monitoring center and the unmanned aerial vehicle; according to the invention, the ship clearance height is detected by using a modern detection means through detection equipment mounted on the unmanned aerial vehicle, so that the unmanned aerial vehicle can conveniently and rapidly move, and can perform maneuver inspection at any time and any place; the shouting equipment mounted on the unmanned aerial vehicle is used for timely carrying out control treatment such as shouting on the ultrahigh ship, so that the sailing of the ultrahigh ship is timely stopped, and the safety of the operation of the channel is improved; the detection distance is long, and the detection precision is high; the inspection is faster.
As shown in fig. 2, the present invention further provides a ship headroom 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;
the edge detection module 202 is 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 configured to perform highest point detection on the ship image, and find a 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 target ship at 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 regarding the unmanned aerial vehicle-based ship headroom detection system, reference may be made to the above limitations on the unmanned aerial vehicle-based ship headroom detection method, and no further description is given here. The above-mentioned ship headroom detection system based on the unmanned aerial vehicle may be implemented in whole or in part by software, hardware, and a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above 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 the processor a01 of the computer device is adapted to provide computing and control capabilities. The memory of the computer device includes internal memory a03 and nonvolatile storage medium a04. The nonvolatile 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 a04. The database of the computer device is used for storing data such as advertisement pictures and parameters 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, when executed by the processor a01, implements a method for detecting the clearance height of a ship based on an unmanned aerial vehicle.
Those skilled in the art will appreciate that the structures shown in FIG. 4 are block diagrams only and do not constitute a limitation of the computer device on which the present aspects apply, and that a particular computer device may include more or less components than those shown, or may combine some of the 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 stored therein a computer program, the processor when executing the computer program performing the steps of: controlling the unmanned aerial vehicle to shoot an original image containing a target ship, and recording shooting parameters when the unmanned aerial vehicle shoots; performing target edge detection on the original image to obtain a ship image corresponding to the target ship; detecting the highest point of the ship image, and finding the highest point of the ship image from the horizontal plane; and calculating according to the shooting parameters and the highest point of the ship image to obtain the ship clearance height of the target ship at the highest position from the horizontal plane.
In one embodiment, the shooting parameters include: the pitch angle, the field angle, the unmanned aerial vehicle height and the distance between each edge point of the unmanned aerial vehicle and the target ship when the camera shoots.
In one embodiment, the controlling the unmanned aerial vehicle to capture an original image including the target ship and record capturing parameters of the unmanned aerial vehicle when capturing includes:
controlling a camera of the unmanned aerial vehicle to shoot an original image containing the target ship; synchronously recording a pitch angle, a field angle, an unmanned aerial vehicle height and distances between the unmanned aerial vehicle and each edge point of a target ship when the unmanned aerial vehicle is shot by a camera.
In one embodiment, the calculating, according to the shooting parameter and the highest point of the ship image, the ship clearance height of the target ship from the highest position of the horizontal plane includes:
according to the highest point of the ship image from the horizontal plane, finding out a pitch angle, a view angle, an unmanned aerial vehicle height and distances 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 target ship corresponding to the highest point from the highest position of the horizontal plane by adopting a monocular vision positioning distance measuring method according to the pitch angle, the field angle, the unmanned plane height and the distance between the unmanned plane and each edge point of the target ship when the camera corresponding to the highest point shoots.
In one embodiment, after the calculating, according to the shooting parameters and the highest point of the ship image, the ship clearance height of the target ship from the highest position of the horizontal plane, the method further includes:
and correspondingly superposing and displaying the ship clearance height of the highest position of the target ship from the horizontal plane with the original image.
In one embodiment, after the calculating, according to the shooting parameters and the highest point of the ship image, the ship clearance height of the target ship from the highest position of the horizontal plane, the method further includes:
and judging whether the target ship is ultrahigh or not according to the ship clearance height of the highest position of the target ship from the horizontal plane and the navigation limit height information of the front river-crossing building.
In one embodiment, an audible and visual alarm device and/or a radio communication alarm device are provided on the drone; judging whether the target ship is ultrahigh according to the ship clearance height of the highest position of the target ship from the horizontal plane and the navigation limit height information of the front river-crossing building, and further comprising:
and if the distance of the target ship is ultrahigh, carrying out shouting warning on the target ship through an audible and visual warning device and/or a radio communication warning device of the unmanned plane.
In one embodiment, a computer readable storage medium is provided, on which a computer program is stored which, when executed by a processor, implements the steps of the unmanned aerial vehicle-based ship clearance height detection method described above.
It will be appreciated by those skilled in the art that 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 flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations 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 one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. 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 storage media for a computer 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, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
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 one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.
Claims (7)
1. The ship headroom detection method based on the unmanned aerial vehicle is characterized by comprising the following steps of:
controlling the unmanned aerial vehicle to shoot an original image containing a target ship, and recording shooting parameters when the unmanned aerial vehicle shoots;
performing target edge detection on the original image to obtain a ship image corresponding to the target ship;
detecting the highest point of the ship image, and finding the highest point of the ship image from the horizontal plane;
calculating according to the shooting parameters and the highest point of the ship image to obtain the ship clearance height of the target ship at the highest position from the horizontal plane;
the shooting parameters include: the pitch angle, the field angle, the unmanned aerial vehicle height and the distance between the unmanned aerial vehicle and each edge point of the target ship when the camera shoots;
the control unmanned aerial vehicle shoots an original image containing a target ship, records shooting parameters when the unmanned aerial vehicle shoots, and comprises the following steps:
controlling a camera of the unmanned aerial vehicle to shoot an original image containing the target ship; synchronously recording a pitch angle, a field angle, an unmanned aerial vehicle height and distances between the unmanned aerial vehicle and each edge point of a target ship when a camera of the unmanned aerial vehicle shoots;
the calculating, according to the shooting parameters and the highest point of the ship image, the ship clearance height of the highest position of the target ship from the horizontal plane, including:
according to the highest point of the ship image from the horizontal plane, finding out a pitch angle, a view angle, an unmanned aerial vehicle height and distances 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 target ship corresponding to the highest point from the highest position of the horizontal plane by adopting a monocular vision positioning distance measuring method according to the pitch angle, the field angle, the unmanned plane height and the distance between the unmanned plane and each edge point of the target ship when the camera corresponding to the highest point shoots.
2. The method according to claim 1, wherein after calculating the ship headroom height of the target ship from the highest position of the horizontal plane according to the photographing parameters and the highest point of the ship image, further comprising:
and correspondingly superposing and displaying the ship clearance height of the highest position of the target ship from the horizontal plane with the original image.
3. The method according to claim 1, wherein after calculating the ship headroom height of the target ship from the highest position of the horizontal plane according to the photographing parameters and the highest point of the ship image, further comprising:
and judging whether the target ship is ultrahigh or not according to the ship clearance height of the highest position of the target ship from the horizontal plane and the navigation limit height information of the front river-crossing building.
4. A method according to claim 3, characterized in that an audible and visual alarm device and/or a radio communication alarm device is provided on the unmanned aerial vehicle; judging whether the target ship is ultrahigh according to the ship clearance height of the highest position of the target ship from the horizontal plane and the navigation limit height information of the front river-crossing building, and further comprising:
and if the distance of the target ship is ultrahigh, carrying out shouting warning on the target ship through an audible and visual warning device and/or a radio communication warning device of the unmanned plane.
5. Ship headroom detection system based on unmanned aerial vehicle, characterized by comprising:
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 out the highest point of the ship image from the horizontal plane;
the ship clearance height detection module is used for calculating the ship clearance height of the target ship at 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 shooting parameters include: the pitch angle, the field angle, the unmanned aerial vehicle height and the distance between the unmanned aerial vehicle and each edge point of the target ship when the camera shoots;
the control unmanned aerial vehicle shoots an original image containing a target ship, records shooting parameters when the unmanned aerial vehicle shoots, and comprises the following steps:
controlling a camera of the unmanned aerial vehicle to shoot an original image containing the target ship; synchronously recording a pitch angle, a field angle, an unmanned aerial vehicle height and distances between the unmanned aerial vehicle and each edge point of a target ship when a camera of the unmanned aerial vehicle shoots;
the calculating, according to the shooting parameters and the highest point of the ship image, the ship clearance height of the highest position of the target ship from the horizontal plane, including:
according to the highest point of the ship image from the horizontal plane, finding out a pitch angle, a view angle, an unmanned aerial vehicle height and distances 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 target ship corresponding to the highest point from the highest position of the horizontal plane by adopting a monocular vision positioning distance measuring method according to the pitch angle, the field angle, the unmanned plane height and the distance between the unmanned plane and each edge point of the target ship when the camera corresponding to the highest point shoots.
6. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 4 when the computer program is executed.
7. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 4.
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| CN115046531A (en) * | 2022-05-23 | 2022-09-13 | 珠海市恒源信息技术有限公司 | Pole tower measuring method based on unmanned aerial vehicle, electronic platform and storage medium |
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