CN114166137A - Intelligent detection system and method for ship-to-ship filling interval - Google Patents
Intelligent detection system and method for ship-to-ship filling interval Download PDFInfo
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Abstract
The invention discloses an intelligent detection system and method for ship-to-ship filling intervals, wherein the intelligent detection system comprises an intelligent thermal imaging binocular camera module, a multi-line laser radar module, a processing module and a plurality of acousto-optic alarm modules; the intelligent thermal imaging binocular camera module comprises two thermal imaging cameras, the two thermal imaging cameras are respectively installed on a bow portion and a stern portion of a filling side of a filling ship, optical axes of the two thermal imaging cameras are parallel, the multi-line laser radar is installed on the filling side and close to a filling pipe, the processing module is used for calculating a filling interval according to information collected by the intelligent thermal imaging binocular camera module and the multi-line laser radar module, and the sound-light alarm module sends different signals according to the filling interval. The invention can improve the degree of unmanned intelligence when filling the ship by the ship, particularly can accurately detect the filling interval of the ship by the ship after automatically identifying the filling station, and can realize the anti-collision function while protecting the hose.
Description
Technical Field
The invention belongs to the technical field of intelligent detection and alarm of ships, and particularly relates to an intelligent detection system and method for a ship-to-ship filling interval.
Background
The low-temperature liquid cargo filling ship can realize non-port filling when filling the ship, and can also carry out filling simultaneously with cargo loading and unloading, namely, the low-temperature liquid cargo filling ship has higher flexibility in the aspects of filling position, filling speed, filling amount and the like. However, compared with shore-based filling, filling a ship by a ship has more potential risks, such as ship bumping and ship collision caused by excessive movement between ships and bad sea conditions. Generally, when a large ship passes through a filling operation nearby at a high speed, the ship may shake to generate relative displacement of front and back, up and down; if the relative positions of the two ships are abnormally changed, the hoses are timely and emergently separated and sealed in advance, and the leakage accident caused by the breakage of the hoses is avoided. Therefore, in the prior art, before filling the liquefied natural gas ship into the ship, a set of ship body Separation detectors (VSDs) are manually bound to the bow parts and the stern parts of the two ships respectively, and the safe operation of filling the hoses is guaranteed by indirectly measuring the filling distance (the linear distance of the hoses) between the bow parts and the stern parts of the two ships. The working principle is that three ropes with different lengths are respectively bound between the bow part and the stern part of two ships, and a mechanical device is triggered by the tension degrees of the three ropes so as to indirectly reflect the filling distance between the two ships. Although the principle of the method is simple, the method has the problems of low precision, large influence of human factors and the like; if the binding position on the injection ship is different, the injection interval of the trigger mechanical device is different in practice. More importantly, the method can only detect whether the relative positions of the two ships are too far away, and cannot detect whether the distance between the two ships is too close, so that the potential risk of collision exists when the ships fill the ships.
In fact, the relative displacement between the two ships includes the position relation of front and back and up and down, so that the protection distance of the hose is not the fine distance of "point to point" in a three-dimensional space, but the protection distance of the hose is not "face to face" or "point to face". Therefore, an intelligent detection alarm system is needed to be designed aiming at special working conditions during ship-to-ship filling operation, and functions of hose protection, anti-collision and the like are achieved by detecting filling intervals of two ships.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an intelligent detection system for a ship-to-ship filling interval, which integrates modules of image recognition, radar ranging, detection alarm and the like, and can realize functions of hose protection, anti-collision and the like during ship-to-ship filling. In addition, the invention also provides an intelligent detection method for the ship-to-ship filling interval.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides an intelligent detection system for a ship-to-ship filling interval, which comprises an intelligent thermal imaging binocular camera module, a multi-line laser radar module, a processing module and a plurality of acousto-optic alarm modules, wherein the intelligent thermal imaging binocular camera module is connected with the processing module;
the intelligent thermal imaging binocular camera module comprises two thermal imaging cameras, the two thermal imaging cameras are respectively installed on a bow portion and a stern portion of a filling side of a filling ship, optical axes of the two thermal imaging cameras are parallel, the multi-line laser radar is installed on the filling side and close to a filling pipe, the processing module is used for calculating a filling interval according to information collected by the intelligent thermal imaging binocular camera module and the multi-line laser radar module, and the sound-light alarm module sends different signals according to the filling interval.
The second aspect of the invention provides an intelligent detection method for a ship-to-ship filling interval, which is based on the intelligent detection system and comprises the following steps:
firstly, acquiring a graph and training an image recognition depth network of an intelligent thermal imaging binocular camera module;
step two, the intelligent thermal imaging binocular camera module detects whether a two-dimensional target of the annotated station appears in the captured picture in real time, and if the target is found, the step three is carried out;
starting a multi-line laser radar module to perform real-time scanning, and establishing a side model of the ship to be injected;
marking the annotated station in the annotated ship side model;
tracking the injected station and calculating the real-time distance between the injecting station and the injected station by the processing module;
judging whether the distance between the filling ship and the filled ship is in a safe distance or not;
and step seven, outputting an alarm signal.
As a preferred technical solution, the fourth step includes the following steps:
s4.1, calibrating the injection station in two-dimensional images recognized by the intelligent thermal imaging binocular camera;
s4.2, calculating the depth of the pixel points of the annotated station;
and S4.3, marking the pixel points of the annotated station in a radar coordinate system.
As a preferred technical scheme, the first step is specifically as follows:
and collecting pictures of the injection station under different angles, different distances and different light rays of a plurality of injection shore stations, inputting the pictures into the intelligent thermal imaging binocular camera module, and training an image recognition depth network.
As a preferred technical scheme, the second step is specifically as follows:
detecting whether a remarked station appears in a two-dimensional picture captured by the intelligent thermal imaging binocular camera module in real time;
if the two-dimensional picture is detected to have no annotated station, continuously circulating the step two to detect whether the two-dimensional picture has the annotated station in real time;
and if the two-dimensional picture is detected to have the annotated station, executing the third step to establish an annotated ship side model.
As a preferred technical scheme, the step five specifically comprises the following steps:
defining the length of a filling hose as L and the real-time distance between a filling station and a filling station as Lt；
When 0.35L < LtLess than 0.57L, belonging to a safe distance;
when 0.3L is less than LtL is not more than 0.35L or not more than 0.57LtLess than 0.585L, belonging to a first dangerous distance;
when l is more than or equal to 4.5mtL is less than 0.3L or less than or equal to 0.585LtLess than 0.775L belonging to the second dangerous distance;
when L is more than or equal to 0.775LtAnd belongs to the third dangerous distance category.
And as a preferable technical scheme, when the real-time distance belongs to the safe distance, continuously and circularly judging whether the real-time distance is in the safe distance or not, and when the real-time distance does not belong to the safe distance, executing the step seven and sending out an alarm signal.
As a preferred technical scheme, the seventh step is specifically as follows:
when the dangerous distance type is a first-class dangerous distance, starting a first-class cargo alarm, and performing a yellow acousto-optic alarm on an alarm lamp post in the cabin and the deck area of the filling ship;
when the dangerous distance type is a second dangerous distance, starting a secondary cargo alarm, and performing red acousto-optic alarm on the alarm lamp post in the cabin and the deck area of the filling ship;
and when the dangerous distance type is a third dangerous distance type, starting a general ship alarm, transmitting a signal to the emergency separation connector, and preparing the hose to be emergently separated and closed.
Compared with the prior art, the invention has the following technical effects:
the invention can improve the degree of unmanned intelligence when filling ships to ships, can accurately detect the filling intervals (linear intervals of hoses) of ships to ships after automatically identifying the filling stations, and can realize the anti-collision function while protecting the hoses. To a certain extent, the method can be integrated into an intelligent navigation or intelligent cargo management system of an intelligent ship to support high-quality development of intelligent ship technology.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flow chart of the intelligent detection method of the present invention.
Fig. 2 is a schematic structural diagram of the intelligent detection system of the present invention.
FIG. 3 is a schematic diagram of the depth calculation of the pixel points of the annotated station according to the present invention.
Wherein the reference numerals are specified as follows: the multi-line laser radar device comprises a multi-line laser radar 1, a bow thermal imaging camera 2, a stern thermal imaging camera 3 and a filling side 4.
Detailed Description
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.
The embodiment provides an intelligent detection system for a ship-to-ship filling interval, which comprises an intelligent thermal imaging binocular camera module, a multi-line laser radar 1 module, a processing module and a plurality of acousto-optic alarm modules;
the intelligent thermal imaging binocular camera module comprises two thermal imaging cameras, namely a bow thermal imaging camera 2 and a stern thermal imaging camera 3, the two thermal imaging cameras are respectively installed on the bow and the stern of a filling side 4 of a filling ship, the two thermal imaging cameras are the same in model and parallel in optical axis, the multiline laser radar 1 is installed on the filling side 4 close to a position near a filling pipe and free of obstacles, the processing module is used for calculating a filling interval according to information collected by the intelligent thermal imaging binocular camera module and the multiline laser radar 1, and the acousto-optic alarm module sends different signals according to the filling interval.
The embodiment also provides an intelligent detection method for the ship-to-ship filling interval, which comprises the following steps:
step one, image acquisition and deep network training:
collecting pictures of the injected stations of the injected ship under different angles, different distances and different light rays of a plurality of injecting shore stations, inputting the pictures into the intelligent thermal imaging binocular camera module, and training an image recognition depth network;
step two, detecting whether the two-dimensional picture appears in the annotated station in real time:
detecting whether a remarked station appears in a two-dimensional picture captured by the intelligent thermal imaging binocular camera module in real time;
if the two-dimensional picture is detected to have no annotated station, continuously circulating the step two to detect whether the two-dimensional picture has the annotated station in real time;
if the two-dimensional picture is detected to have the annotated station, executing the third step to establish an annotated ship side model;
step three, establishing an annotated ship side model:
starting the multi-line laser radar 1 module to scan in real time, and establishing a side model of the ship to be injected;
and fourthly, the processing module performs data processing to calibrate the injection station in the injection ship side model:
after a station to be annotated is identified in two-dimensional images of the intelligent thermal imaging binocular camera, the station to be annotated needs to be calibrated in the two-dimensional images, then the depth of a pixel point of the station to be annotated is calculated, and finally the pixel point of the station to be annotated is calibrated in a radar coordinate system, and the method comprises the following steps:
1) calibrating a subject station to two-dimensional images
The position of the injected station is calibrated in two-dimensional images, and the pixel point a of the injected station can be calculated through the conversion of a pixel coordinate system-an image coordinate system-a camera coordinate systemiRespectively in the bow camera coordinate system OC1-XC1-YC1Plane and stern camera coordinate system OC2-XC2-YC2Coordinates on a plane (a)XCi-1，aYCi-1)、(aXCi-2，aYCi-2)；
Assuming a stem pixel coordinate system O1-U1-V1Using the upper left of the image as the origin of coordinates, U1Shaft and V1Axes are parallel to the image plane edges, respectively, in units: pixels/millimeter (pixel/mm); therefore, the pixel coordinate of the center point of the stem image is (c)u-1，cv-1)；
Assuming a stem image coordinate system o1-x1-y1Using the central point of the imaging plane as the origin of coordinates, x1Axis and y1Axes are parallel to the image plane edges, respectively, in units: millimeters (mm);
assuming bow camera coordinate system OC1-XC1-YC1-ZC1Is the optical center O of the bow cameraC1Is the midpoint, ZC1The axis being the optical axis perpendicular to the imaging plane of the camera, XC1、YC1The axis conforms to the right hand rule;
stem pixel coordinate system O1-U1-V1Heading image coordinate system o1-x1-y1Conversion: after the position of the station to be annotated is identified in the two-dimensional image of the bow, the pixel point a of the station to be annotated can be calibratediHas a stem pixel coordinate of (a)ui-1，avi-1) Calculating the pixel point a of the injected station according to the conversion relation between the pixel coordinate system and the image coordinate systemiThe two-dimensional image coordinate set of the bow part is (a)xi-1，ayi-1) Comprises the following steps:
in the formula, alpha and beta are pixel points in x1Axis, y1The dimension ratio on the axis is determined by the intrinsic parameters of the camera;
bow image coordinate system o1-x1-y1Heading camera coordinate system OC1-XC1-YC1-ZC1Conversion: the transformation relation between the image coordinate system and the camera coordinate system can calculate the pixel point a of the annotated stationiIn the bow camera coordinate system OC1-XC1-YC1The coordinate on the plane is (a)XCi-2，aYCi-2) Comprises the following steps:
wherein f is the focal length of the camera and is determined by the internal parameters of the bow camera, and the unit is as follows: pixels (pixels);
according to the above-mentioned conversion method of pixel coordinate system-image coordinate system-camera coordinate system, pixel point a can be calculated out by the same methodiAt stern camera coordinate system OC2-XC2-YC2The coordinate set on the plane is (a)XCi-2，aYCi-2)；
2) Calculating the depth of the pixel point of the annotated station
According to the triangle similarity principle, the pixel point a of the annotated station can be calculatediDepth a ofZCi：
Wherein d is the base line distance between the fore part and the stern part, f is the focal length of the camera, aXCi-1，aXCi-2For the pixel point a of the annotated stationiRespectively on the horizontal coordinates of the fore camera coordinate system and the stern camera coordinate system;
thus, the pixel point a can be knowniThe coordinate sets of the fore camera coordinate system and the stern camera coordinate system are respectively (a)XCi-1，aYCi-1，aZCi)、(aXCi-2，aYCi-2，aZCi)；
3) Calibrating pixel points of a annotated station to a radar coordinate system
Because a certain distance exists between the installation positions of the binocular camera and the radar, the relation of rotation and three-dimensional translation exists between the fore camera coordinate system, the stern camera coordinate system and the radar coordinate system at the same time;
assuming that the relationship between the bow thermal imaging camera 2 and the radar in rotation and three-dimensional translation existing at the installation position of the filling side 4 is that the three-order rotation matrix S is diag (S)X，sY，sZ) Third-order translation vector D ═ D (D)X dY dZ)T
Then, the pixel point a of the annotated stationiThe relation between the matrix C in the bow camera coordinate system and the corresponding point cloud matrix R in the radar coordinate system is as follows:
C＝MR
wherein the content of the first and second substances,
C＝[aXCi-1 aYCi-1 aZCi 1]TR＝[aXRi aYRi aZRi 1]T；
s, D, the relevant parameters are determined by the external position parameters of the bow camera and the radar installation;
therefore, in the model of the side of the annotated ship, the pixel a is connected with the annotated stationiThe corresponding point cloud matrix R can be expressed as:
wherein (a)XCi-1，aYCi-1，aZCi) Is a pixel point a of the annotated stationiCoordinates in the bow camera coordinate system, (a)XRi，aYRi，aZRi) Is a pixel point a of the annotated stationiCoordinates in a radar coordinate system;
step five, tracking the annotated station and calculating the real-time distance:
Step six, judging whether the distance is within a safe distance:
assuming that the length of the hose equipped on the filling vessel is 20m, the real-time distance L calculated according to the fifth steptAnd judging whether the distance is within a safe distance:
when 0.35L < Lt< 0.57L, i.e. 7m < LtIf the distance is less than 11.4m, the mobile terminal belongs to the safe distance;
when it is 0.3L＜ltL is not more than 0.35L or not more than 0.57Lt< 0.585L, i.e.
6m＜ltL is less than or equal to 7m or 11.4mt< 11.7m belongs to a first category of dangerous distances;
when l is more than or equal to 4.5tL is less than 0.3L or less than or equal to 0.585Lt< 0.775L, i.e.
4.5≤ltL is less than 6m or 11.7mt< 11.5m belongs to the second category of dangerous distances;
when L is more than or equal to 0.775LtI.e. 15.5 m.ltoreq.ltTo a third category of dangerous distances;
when the real-time distance belongs to the safe distance, continuously circulating the step six to judge whether the real-time distance is in the safe distance; when the real-time distance belongs to any dangerous distance, executing the seventh step to output an alarm signal;
step seven, outputting an alarm signal:
outputting a corresponding alarm signal according to the judged dangerous distance type:
when the dangerous distance type is a first-class dangerous distance, starting a first-class cargo alarm, and performing a yellow acousto-optic alarm on an alarm lamp post in the cabin and the deck area of the filling ship;
when the dangerous distance type is a second dangerous distance, starting a secondary cargo alarm, and performing red acousto-optic alarm on the alarm lamp post in the cabin and the deck area of the filling ship;
and when the dangerous distance type is a third dangerous distance type, starting a general ship alarm, transmitting a signal to the emergency separation connector, and preparing the hose to be emergently separated and closed.
Although the present invention has been described in detail with respect to the above embodiments, it will be understood by those skilled in the art that modifications or improvements based on the disclosure of the present invention may be made without departing from the spirit and scope of the invention, and these modifications and improvements are within the spirit and scope of the invention.
Claims (8)
1. An intelligent detection system for ship-to-ship filling intervals is characterized by comprising an intelligent thermal imaging binocular camera module, a multi-line laser radar module, a processing module and a plurality of acousto-optic alarm modules;
the intelligent thermal imaging binocular camera module comprises two thermal imaging cameras, the two thermal imaging cameras are respectively installed on a bow portion and a stern portion of a filling side of a filling ship, optical axes of the two thermal imaging cameras are parallel, the multi-line laser radar is installed on the filling side and close to a filling pipe, the processing module is used for calculating a filling interval according to information collected by the intelligent thermal imaging binocular camera module and the multi-line laser radar module, and the sound-light alarm module sends different signals according to the filling interval.
2. An intelligent detection method for ship-to-ship filling intervals, which is based on the intelligent detection system for ship-to-ship filling intervals of claim 1, and is characterized by comprising the following steps:
firstly, acquiring a graph and training an image recognition depth network of an intelligent thermal imaging binocular camera module;
step two, the intelligent thermal imaging binocular camera module detects whether a two-dimensional target of the annotated station appears in the captured picture in real time, and if the target is found, the step three is carried out;
starting a multi-line laser radar module to perform real-time scanning, and establishing a side model of the ship to be injected;
marking the annotated station in the annotated ship side model;
tracking the injected station and calculating the real-time distance between the injecting station and the injected station by the processing module;
judging whether the distance between the filling ship and the filled ship is in a safe distance or not;
and step seven, outputting an alarm signal.
3. The intelligent detection method for the ship-to-ship filling interval according to claim 2, wherein the fourth step comprises the following steps:
s4.1, calibrating the injection station in two-dimensional images recognized by the intelligent thermal imaging binocular camera;
s4.2, calculating the depth of the pixel points of the annotated station;
and S4.3, marking the pixel points of the annotated station in a radar coordinate system.
4. The intelligent detection method for the ship-to-ship filling interval according to claim 2, wherein the first step is specifically as follows:
and collecting pictures of the injection station under different angles, different distances and different light rays of a plurality of injection shore stations, inputting the pictures into the intelligent thermal imaging binocular camera module, and training an image recognition depth network.
5. The intelligent detection method for the ship-to-ship filling interval according to claim 2, wherein the second step is specifically as follows:
detecting whether a remarked station appears in a two-dimensional picture captured by the intelligent thermal imaging binocular camera module in real time;
if the two-dimensional picture is detected to have no annotated station, continuously circulating the step two to detect whether the two-dimensional picture has the annotated station in real time;
and if the two-dimensional picture is detected to have the annotated station, executing the third step to establish an annotated ship side model.
6. The intelligent detection method for the ship-to-ship filling interval according to claim 2, wherein the fifth step is specifically as follows:
defining the length of a filling hose as L and the real-time distance between a filling station and a filling station as Lt；
When 0.35L < LtLess than 0.57L, belonging to a safe distance;
when 0.3L is less than LtL is not more than 0.35L or not more than 0.57LtLess than 0.585L, belonging to a first dangerous distance;
when l is more than or equal to 4.5mtL is less than 0.3L or less than or equal to 0.585LtLess than 0.775L belonging to the second dangerous distance;
when L is more than or equal to 0.775LtAnd belongs to the third dangerous distance category.
7. The intelligent detection method for the ship-to-ship filling interval according to claim 4, wherein when the real-time distance belongs to the safe distance, the sixth step of continuous circulation judges whether the real-time distance is in the safe distance, and when the real-time distance does not belong to the safe distance, the seventh step of continuous circulation is executed, and an alarm signal is sent out.
8. The intelligent detection method for the ship-to-ship filling interval according to claim 5, wherein the seventh step is specifically as follows:
when the dangerous distance type is a first-class dangerous distance, starting a first-class cargo alarm, and performing a yellow acousto-optic alarm on an alarm lamp post in the cabin and the deck area of the filling ship;
when the dangerous distance type is a second dangerous distance, starting a secondary cargo alarm, and performing red acousto-optic alarm on the alarm lamp post in the cabin and the deck area of the filling ship;
and when the dangerous distance type is a third dangerous distance type, starting a general ship alarm, transmitting a signal to the emergency separation connector, and preparing the hose to be emergently separated and closed.
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