CN115115951A - Ship monitoring method, system, equipment and computer readable storage medium - Google Patents
Ship monitoring method, system, equipment and computer readable storage medium Download PDFInfo
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- CN115115951A CN115115951A CN202210673662.XA CN202210673662A CN115115951A CN 115115951 A CN115115951 A CN 115115951A CN 202210673662 A CN202210673662 A CN 202210673662A CN 115115951 A CN115115951 A CN 115115951A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
- G06V20/17—Terrestrial scenes taken from planes or by drones
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
Abstract
The invention discloses a ship monitoring method, a system, equipment and a computer readable storage medium, wherein the method is applied to a management platform, and the management platform sends a cruise instruction to an unmanned aerial vehicle; receiving first monitoring data of a target ship sent by an unmanned aerial vehicle; and judging the legality of the target ship based on a preset white list ship database and the first monitoring data so as to monitor the target ship. The cruise command is sent through the management platform to control the unmanned aerial vehicle to cruise, and the management platform also judges the legality of the target ship through monitoring data of the target ship sent by the unmanned aerial vehicle, so that the cruise regional ship is monitored. Need not personnel operation unmanned aerial vehicle, by management platform automatic control, and to the ship of discovery, the management platform also can judge the legitimacy by oneself, need not the long-time guard of personnel, reduces the human factor, the monitoring effect who has strengthened.
Description
Technical Field
The present invention relates to the field of monitoring technologies, and in particular, to a method, a system, a device, and a computer-readable storage medium for monitoring a ship.
Background
Due to the influences of epidemic situations, international situations and the like, at present, in some coastal or inshore areas, ferry events are frequently sent, and the traditional method is to monitor by means of modes of controlling an unmanned aerial vehicle by police officers, deploying a fixed monitoring camera on a coastline, patrolling in a flowing mode and the like. Therefore, more manpower is invested, and monitoring blind areas or night fatigue and the like cannot complete the whole-domain uninterrupted monitoring in 100 percent, so that the technical problems of monitoring blind areas and poor monitoring effect exist in the monitoring technology of regions such as offshore regions, rivers or lakes at present.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a ship monitoring method, a system, equipment and a computer readable storage medium, and aims to solve the technical problems of monitoring blind areas and poor monitoring effect in the existing monitoring technology.
In order to achieve the above object, the present invention provides a ship monitoring method, which is applied to a management platform, and comprises the following steps:
sending a cruise instruction to the unmanned aerial vehicle;
receiving first monitoring data of a target ship sent by an unmanned aerial vehicle;
and judging the legality of the target ship based on a preset white list ship database and the first monitoring data so as to monitor the target ship.
Further, after the step of determining the validity of the target vessel based on the preset white-list vessel database and the first monitoring data, the method includes:
if the target ship is judged to be legal, sending first information that the target ship is legal to the unmanned aerial vehicle;
if the target ship is judged to be illegal, sending second information that the target ship is illegal to the unmanned aerial vehicle;
receiving second monitoring data of the target ship, which is sent by the unmanned aerial vehicle, wherein the second monitoring data is generated by the unmanned aerial vehicle after receiving the second information;
generating course data for the target vessel based on the second monitoring data.
Further, the step of sending the cruise command to the drone includes:
generating the cruise instruction based on the current time and a preset cruise schedule, wherein the cruise instruction comprises an unmanned aerial vehicle identifier, a cruise route and a device type;
and sending the cruise instruction to the unmanned aerial vehicle.
Further, the second monitoring data includes coordinate data of the target vessel at different times, and the step of generating course data of the target vessel based on the second monitoring data includes:
and predicting the course and the speed of the target ship based on the coordinate data of the target ship at different moments, wherein the course data comprises the course and the speed.
In order to achieve the above object, the present invention further provides a ship monitoring method, which is applied to an unmanned aerial vehicle, and includes the following steps:
receiving a cruise instruction sent by a management platform, and performing cruise based on the cruise instruction;
taking a ship captured in the cruising process as a target ship, and acquiring image data of the target ship to generate first monitoring data;
and sending the first monitoring data to the management platform so as to monitor the target ship.
Further, after the step of sending the monitoring data to the management platform, the method includes:
if first information sent by the management platform is received, continuing cruising based on the cruising command;
if second information sent by the management platform is received, acquiring coordinate data of the target ship at different moments;
and sending coordinate data of the target ship at different moments as second monitoring data to the management platform, and continuing cruising based on the cruising command.
Further, the cruise command sent by the management platform is received, and the step of performing cruise based on the cruise command includes:
receiving a cruise instruction sent by the management platform, wherein the cruise instruction comprises an unmanned aerial vehicle identification number, a cruise route and a device type;
judging whether the identification number of the unmanned aerial vehicle is the same as the identification number of the unmanned aerial vehicle in the cruise instruction;
if the identification number of the device is the same as the identification number of the unmanned aerial vehicle, mounting the device of the device type, and cruising according to the cruising route.
To achieve the above object, the present invention also provides a ship monitoring system, including:
the management platform is used for sending a cruise instruction to the unmanned aerial vehicle;
receiving first monitoring data of a target ship sent by an unmanned aerial vehicle;
judging the legality of the target ship based on a preset white list ship database and the first monitoring data so as to monitor the target ship;
the unmanned aerial vehicle is used for receiving the cruise instruction sent by the management platform and conducting cruise based on the cruise instruction;
taking a ship captured in the cruising process as a target ship, and acquiring first image data of the target ship to generate first monitoring data;
and sending the first monitoring data to the management platform so as to monitor the target ship.
To achieve the above object, the present invention also provides a ship monitoring apparatus, including: the system comprises a memory, a processor and a ship monitoring program stored on the memory and capable of running on the processor, wherein the ship monitoring program realizes the steps of the ship monitoring method when being executed by the processor.
To achieve the above object, the present invention also provides a computer-readable storage medium having stored thereon a ship monitoring program, which when executed by a processor, implements the steps of the ship monitoring method as described above.
The embodiment of the invention provides a ship monitoring method, which is applied to a management platform and comprises the following steps: sending a cruise instruction to the unmanned aerial vehicle; receiving first monitoring data of a target ship sent by an unmanned aerial vehicle; and judging the legality of the target ship based on a preset white list ship database and the first monitoring data so as to monitor the target ship.
Applied to a drone, the method comprising the steps of: receiving a cruise instruction sent by a management platform, and performing cruise based on the cruise instruction; taking a ship captured in the cruising process as a target ship, and acquiring image data of the target ship to generate first monitoring data; and sending the first monitoring data to the management platform so as to monitor the target ship.
Send the instruction control unmanned aerial vehicle that cruises through the management platform and cruises, unmanned aerial vehicle will gather target ship image based on the instruction that cruises and generate monitoring data and send to the management platform, and the management platform still through the monitoring data of the target ship that unmanned aerial vehicle sent, judges the legitimacy of target ship to the realization is monitored the ship of the region of crusing. Need not personnel operation unmanned aerial vehicle, by management platform automatic control, and to the ship of discovery, the management platform also can judge the legitimacy by oneself, need not personnel and guard on for a long time, reduces the human factor, realizes the control of cruising all-weather, the control effect that has strengthened.
Drawings
FIG. 1 is a schematic diagram of an apparatus architecture of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow diagram of a first embodiment of a vessel monitoring method of the present invention;
FIG. 3 is a schematic flow chart diagram of a second embodiment of a vessel monitoring method of the present invention;
fig. 4 is a schematic view of a ship monitoring system in the ship monitoring method of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, fig. 1 is a schematic device structure diagram of a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the apparatus may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001 described previously.
Optionally, the device may also include a camera, RF (Radio Frequency) circuitry, sensors, audio circuitry, WiFi modules, and so forth. Such as light sensors, motion sensors, and other sensors. Specifically, the light sensor may include an ambient light sensor that may adjust the brightness of the display screen according to the brightness of ambient light, and a proximity sensor that may turn off the display screen and/or the backlight when the mobile terminal is moved to the ear. As one of the motion sensors, the gravity acceleration sensor can detect the magnitude of acceleration in each direction (generally, three axes), detect the magnitude and direction of gravity when the mobile terminal is stationary, and can be used for applications (such as horizontal and vertical screen switching, related games, magnetometer attitude calibration), vibration recognition related functions (such as pedometer and tapping) and the like for recognizing the attitude of the mobile terminal; of course, the mobile terminal may also be configured with other sensors such as a gyroscope, a barometer, a hygrometer, a thermometer, and an infrared sensor, which are not described herein again.
Those skilled in the art will appreciate that the configuration of the apparatus shown in fig. 1 is not intended to be limiting of the apparatus and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a kind of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and a ship monitoring program.
In the terminal shown in fig. 1, the network interface 1004 is mainly used for connecting to a backend server and performing data communication with the backend server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and the processor 1001 may be configured to call the ship monitoring program stored in the memory 1005 and perform the following operations:
applied to a management platform, comprising:
sending a cruise instruction to the unmanned aerial vehicle;
receiving first monitoring data of a target ship sent by an unmanned aerial vehicle;
and judging the legality of the target ship based on a preset white list ship database and the first monitoring data so as to monitor the target ship.
Further, the processor 1001 may call the ship monitoring program stored in the memory 1005, and also perform the following operations:
after the step of determining the validity of the target vessel based on the pre-set white-list vessel database and the first monitoring data, the method includes:
if the target ship is judged to be legal, sending first information that the target ship is legal to the unmanned aerial vehicle;
if the target ship is judged to be illegal, sending second information that the target ship is illegal to the unmanned aerial vehicle;
receiving second monitoring data of the target ship, which is sent by the unmanned aerial vehicle, wherein the second monitoring data is generated by the unmanned aerial vehicle after receiving the second information;
generating course data for the target vessel based on the second monitoring data.
Further, the processor 1001 may call the ship monitoring program stored in the memory 1005, and also perform the following operations:
the step of sending the cruise instruction to the unmanned aerial vehicle comprises:
generating the cruise instruction based on the current time and a preset cruise schedule, wherein the cruise instruction comprises an unmanned aerial vehicle identifier, a cruise route and a device type;
and sending the cruise instruction to the unmanned aerial vehicle.
Further, the processor 1001 may call the ship monitoring program stored in the memory 1005, and also perform the following operations:
the second monitoring data comprises coordinate data of the target vessel at different times, and the step of generating course data of the target vessel based on the second monitoring data comprises:
and predicting the course and the speed of the target ship based on the coordinate data of the target ship at different moments, wherein the course data comprises the course and the speed.
Further, the processor 1001 may call the ship monitoring program stored in the memory 1005, and also perform the following operations:
be applied to unmanned aerial vehicle, include:
receiving a cruise instruction sent by a management platform, and performing cruise based on the cruise instruction;
taking a ship captured in the cruising process as a target ship, and acquiring image data of the target ship to generate first monitoring data;
and sending the first monitoring data to the management platform so as to monitor the target ship.
Further, the processor 1001 may call the ship monitoring program stored in the memory 1005, and also perform the following operations:
after the step of sending the monitoring data to the management platform, the method comprises:
if first information sent by the management platform is received, continuing cruising based on the cruising command;
if second information sent by the management platform is received, acquiring coordinate data of the target ship at different moments;
and sending coordinate data of the target ship at different moments as second monitoring data to the management platform, and continuing cruising based on the cruising command.
Further, the processor 1001 may call the ship monitoring program stored in the memory 1005, and also perform the following operations:
the cruise command sent by the management platform is received, and the cruise is performed based on the cruise command, wherein the cruise command comprises the following steps:
receiving a cruise instruction sent by the management platform, wherein the cruise instruction comprises an unmanned aerial vehicle identification number, a cruise route and a device type;
judging whether the identification number of the unmanned aerial vehicle is the same as the identification number of the unmanned aerial vehicle in the cruise instruction;
if the identification number of the device is the same as that of the unmanned aerial vehicle, the device of the device type is mounted, and cruising is carried out based on the cruising route.
Referring to fig. 2, a first embodiment of a ship monitoring method of the present invention, in which the ship monitoring method is applied to a management platform, includes:
step S10, sending a cruise instruction to the unmanned aerial vehicle;
in this embodiment, the main implementation subject of the ship monitoring method of the present invention is a management platform, and the management platform performs wireless communication with the unmanned aerial vehicle, for example, performs networking with the unmanned aerial vehicle through a 5G network. And sending a cruise instruction to the unmanned aerial vehicle accessed to the management platform.
Further, the cruise instruction is generated based on the current time and a preset cruise schedule, wherein the cruise instruction comprises an unmanned aerial vehicle identifier, a cruise route and a device type; and sending the cruise instruction to the unmanned aerial vehicle.
Specifically, in this example, the number of the unmanned aerial vehicles may be one or more, and the management platform generates the cruise instruction based on the current time and a preset cruise schedule, for example, when the number of the unmanned aerial vehicles is one, the cruise schedule records that the unmanned aerial vehicles need to cruise the sea area 1 at 7:00, and the unmanned aerial vehicles need to mount the equipment type 1. When the current time reaches 7:00 (or before 7:00, such as 6: 55), the management platform sends a cruise instruction to the unmanned aerial vehicle, where the cruise instruction includes a cruise route of the sea area 1 and a device type 1, where the device type includes a high-definition camera, an infrared camera, a low-light camera, and the like, and the use periods of different cameras are different, for example, the high-definition camera may be used in the daytime, and the infrared camera or the low-light camera may be used at night. If there are many unmanned aerial vehicles, cruise instruction still includes the unmanned aerial vehicle sign except that route and the equipment type of cruising, and different unmanned aerial vehicles have different signs. It can be understood that, when there are many unmanned aerial vehicles, through the reasonable schedule that sets up cruises to different unmanned aerial vehicles issue different instructions of crusing to, can realize several unmanned aerial vehicles cruises in turn all weather, reduce the blind area of crusing.
Step S20, receiving first monitoring data of a target ship sent by the unmanned aerial vehicle;
specifically, the management platform receives first monitoring data sent back by the unmanned aerial vehicle, and the first monitoring data are images or photos of a target ship and the like.
And step S30, judging the legality of the target ship based on a preset white list ship database and the first monitoring data so as to monitor the target ship.
Specifically, the first monitoring data includes an image or a photo, information such as a code of a target ship in the image can be identified through an image recognition technology, and for a registered legal ship, a corresponding code exists on a ship body of the registered legal ship, and the code of each ship is different. The management platform can identify the appearance of the target ship besides the code of the target ship through the first monitoring data. And the preset white list ship database records the codes of registered legal ships and the appearances of corresponding ships. The management platform judges whether a code of the target ship exists in the preset white list ship database or not and judges whether the ship appearance of the code in the preset white list ship database is consistent with the appearance of the target ship or not. When the code is not identified on the basis of the first monitoring data, the management platform judges that the target ship is illegal, and when the code can be identified but the code of the target ship does not exist in the preset white list ship database, the management platform judges that the target ship is illegal, or the code of the target ship exists but the shape corresponding to the code in the database is not in accordance with the shape of the target ship, and the management platform judges that the target ship is illegal. Otherwise, the code of the target ship exists in the preset white list ship database, and the appearance corresponding to the code in the database is consistent with the appearance of the target ship, and then the target ship is judged to be legal. For example, for a part of coastal areas, the unmanned aerial vehicle is controlled by the management platform to cruise the offshore areas, ship image data appearing in the offshore areas are collected, and the legality of the ship is judged according to the ship code collected by the image data, so that the ship is monitored, and illegal activities such as sneak ships are avoided. In addition, the lake or river can be monitored, and over-fishing is avoided.
Further, after the step of determining the validity of the target ship based on the preset white list ship database and the first monitoring data, the method includes: if the target ship is judged to be legal, sending first information that the target ship is legal to the unmanned aerial vehicle; if the target ship is judged to be illegal, sending second information that the target ship is illegal to the unmanned aerial vehicle; receiving second monitoring data of the target ship, which is sent by the unmanned aerial vehicle, wherein the second monitoring data is generated by the unmanned aerial vehicle after receiving the second information; generating course data for the target vessel based on the second monitoring data.
Specifically, if the management platform judges that the target ship is legal, first information that the target ship is legal is sent to the unmanned aerial vehicle, and if the management platform judges that the target ship is illegal, second information that the target ship is illegal is sent to the unmanned aerial vehicle, so that the unmanned aerial vehicle can perform next task after receiving the first information and the second information, and if the unmanned aerial vehicle receives the second information, second monitoring data can be further generated. And the management platform receives second monitoring data generated by the unmanned aerial vehicle. Generating course data for the target vessel based on the second monitoring data.
Further, the second monitoring data comprises coordinate data of the target ship at different moments, and the course and the speed of the target ship are predicted based on the coordinate data of the target ship at different moments, wherein the course data comprises the course and the speed of the target ship.
Specifically, the second monitoring data includes coordinate data of the target vessel at different times. In addition, the second monitoring data can also comprise image data of the target ship, and the image data is used for rechecking the code or the shape of the target ship, so that the condition that the code is not shot or the shot code or ship is incomplete is avoided. When the management platform receives the coordinate data of the target ship at different moments, the speed and the heading of the target ship can be predicted. For example, time 1: coordinate a, time 2: and a coordinate b, obtaining the time difference through the time 1 and the time 2, obtaining the route difference through the coordinate a and the coordinate b, and obtaining the navigational speed of the target ship. Similarly, the heading may be generated based on several consecutive coordinates, which is not described herein. And the heading and speed will constitute course data for the target vessel. In addition, when the management platform determines that the target ship is an illegal ship and grasps the course data of the illegal ship, the management platform can also send the relevant information of the illegal ship (such as the monitoring data or the course data of the target ship) to a public security system for alarming or to a mobile terminal, and the mobile terminal is held by a police party so as to send the alarm situation at the first time. In addition, the management platform can also comprise an unmanned aerial vehicle library (the unmanned aerial vehicle library comprises an apron, an automatic charging device, a meteorological station and the like), two unmanned aerial vehicles are arranged in the unmanned aerial vehicle library under the common condition, and the management platform can conveniently carry out alternate cruise tasks and carry out all-weather cruise.
In this embodiment, the management platform sends a cruise instruction to the unmanned aerial vehicle; receiving first monitoring data of a target ship sent by an unmanned aerial vehicle; and judging the legality of the target ship based on a preset white list ship database and the first monitoring data so as to monitor the target ship. The cruise command is sent through the management platform to control the unmanned aerial vehicle to cruise, and the management platform also judges the legality of the target ship through monitoring data of the target ship sent by the unmanned aerial vehicle, so that the cruise regional ship is monitored. Need not personnel operation unmanned aerial vehicle, by management platform automatic control, and to the ship of discovery, the management platform also can judge the legitimacy by oneself, need not the long-time guard of personnel, reduces the human factor, the monitoring effect who has strengthened.
Further, referring to fig. 3, a second embodiment of the ship monitoring method of the present invention, in which the ship monitoring method is applied to an unmanned aerial vehicle, includes:
step S100, receiving a cruise instruction sent by a management platform, and performing cruise based on the cruise instruction;
in this embodiment, the main implementation body of the ship monitoring method is the unmanned aerial vehicle, and the unmanned aerial vehicle communicates with the management platform through the wireless network, receives and executes the cruise instruction of the management platform, and cruises the target area.
Further, a cruise instruction sent by the management platform is received, wherein the cruise instruction comprises an unmanned aerial vehicle identification number, a cruise route and a device type; judging whether the identification number of the unmanned aerial vehicle is the same as the identification number of the unmanned aerial vehicle in the cruise instruction; if the identification number of the device is the same as that of the unmanned aerial vehicle, the device of the device type is mounted, and cruising is carried out based on the cruising route.
Specifically, the unmanned aerial vehicle receives the cruise instruction sent by the management platform, the cruise instruction comprises an unmanned aerial vehicle identification number, a cruise route and a device type, and whether the unmanned aerial vehicle identification in the cruise instruction is the same as the identification of the unmanned aerial vehicle. If the equipment types are the same, equipment mounting is carried out according to the equipment types, and cruising is carried out based on the cruising route. The device types refer to different types of cameras, such as a high-definition camera, an infrared camera, a low-light camera, and the like.
Step S200, taking a ship captured in the cruising process as a target ship, and acquiring image data of the target ship to generate first monitoring data;
specifically, unmanned aerial vehicle catches the ship that appears through the camera to cruising in-process to the ship that will catch is as the target ship, gathers the image of a plurality of angles of target ship through the camera and generates first monitoring data.
Step S300, sending the first monitoring data to the management platform so as to monitor the target ship.
Specifically, the unmanned aerial vehicle sends the image data of the target ship to the management platform, and the management platform analyzes the image data to judge the legality of the target ship, so that the target ship is monitored.
Further, after the step of sending the monitoring data to the management platform, the method includes: if first information sent by the management platform is received, continuing cruising based on the cruising command; if second information sent by the management platform is received, acquiring coordinate data of the target ship at different moments; and sending coordinate data of the target ship at different moments as second monitoring data to the management platform, and continuing cruising based on the cruising command.
Specifically, when the unmanned aerial vehicle receives first information sent by the management platform, it indicates that the target ship is only legal, and the cruise task of the cruise instruction is continuously executed, and if second information sent by the management platform is received, it indicates that the target ship is illegal, coordinate data of the target ship at different moments are further collected, and the coordinate data of the target ship at different moments are sent to the management platform as second monitoring data (the management platform generates the first information or the second information after receiving the first monitoring data). In addition, the unmanned aerial vehicle can also approach the target ship and acquire image data again. The unmanned aerial vehicle sends the acquired image data to the management platform as second monitoring data so that the management platform can carry out recheck conveniently. In addition, the image data acquisition process in the first monitoring data or the second monitoring data may include that the unmanned aerial vehicle takes the geometric center of the target ship as the center of a sphere of the shooting base sphere, takes the farthest distance between the geometric center and the ship hull of the target ship as the radius of the shooting base sphere, and generates a shooting base circle based on the shooting base sphere and the horizontal plane, wherein the shooting base circle is the circle with the longest circumference in the circle generated by the shooting base sphere and the horizontal plane, and randomly selects three or more shooting points from the shooting base circle, wherein each shooting point equally divides the shooting base circle, and each unmanned aerial vehicle performs image acquisition based on each shooting point to generate the first monitoring data and/or the second monitoring data. And after the unmanned aerial vehicle sends the second monitoring data of the management platform, the unmanned aerial vehicle continues to execute the cruise task.
In the embodiment, a cruise command sent by a management platform is received, and cruise is performed based on the cruise command; taking a ship captured in the cruising process as a target ship, and acquiring image data of the target ship to generate first monitoring data; and sending the first monitoring data to the management platform so as to monitor the target ship. The unmanned aerial vehicle carries out the monitoring instruction of management platform, gathers the image data of the target ship of the in-process that cruises, sends image data to the management platform and judges the legality of target ship to the realization is monitored the ship of the region of crusing.
In addition, an embodiment of the present invention further provides a ship monitoring system, as shown in fig. 4, the ship monitoring system includes:
the management platform is used for sending a cruise instruction to the unmanned aerial vehicle;
receiving first monitoring data of a target ship sent by an unmanned aerial vehicle;
judging the legality of the target ship based on a preset white list ship database and the first monitoring data so as to monitor the target ship;
the unmanned aerial vehicle is used for receiving the cruise instruction sent by the management platform and conducting cruise based on the cruise instruction;
taking a ship captured in the cruising process as a target ship, and acquiring first image data of the target ship to generate first monitoring data;
and sending the first monitoring data to the management platform so as to monitor the target ship.
Optionally, the management platform is further configured to:
if the target ship is judged to be legal, sending first information that the target ship is legal to the unmanned aerial vehicle;
if the target ship is judged to be illegal, sending second information that the target ship is illegal to the unmanned aerial vehicle;
receiving second monitoring data of the target ship, which is sent by the unmanned aerial vehicle, wherein the second monitoring data is generated by the unmanned aerial vehicle after receiving the second information;
generating course data for the target vessel based on the second monitoring data.
Optionally, the management platform is further configured to:
generating the cruise instruction based on the current time and a preset cruise schedule, wherein the cruise instruction comprises an unmanned aerial vehicle identifier, a cruise route and a device type;
and sending the cruise instruction to the unmanned aerial vehicle.
Optionally, the second monitoring data includes coordinate data of the target vessel at different times, and the management platform is further configured to:
and predicting the course and the speed of the target ship based on the coordinate data of the target ship at different moments, wherein the course data comprises the course and the speed.
Optionally, the drone is further configured to:
receiving a cruise instruction sent by a management platform, and performing cruise based on the cruise instruction;
taking a ship captured in the cruising process as a target ship, and acquiring image data of the target ship to generate first monitoring data;
and sending the first monitoring data to the management platform so as to monitor the target ship.
Optionally, the drone is further configured to:
if first information sent by the management platform is received, continuing cruising based on the cruising command;
if second information sent by the management platform is received, acquiring coordinate data of the target ship at different moments;
and sending coordinate data of the target ship at different moments as second monitoring data to the management platform, and continuing cruising based on the cruising command.
Optionally, the drone is further configured to:
receiving a cruise instruction sent by the management platform, wherein the cruise instruction comprises an unmanned aerial vehicle identification number, a cruise route and a device type;
judging whether the identification number of the unmanned aerial vehicle is the same as the identification number of the unmanned aerial vehicle in the cruise instruction;
if the identification number of the device is the same as that of the unmanned aerial vehicle, the device of the device type is mounted, and cruising is carried out based on the cruising route.
Specifically, as shown in fig. 4, the ship monitoring system includes a management platform and an unmanned aerial vehicle, the management platform includes a server and an unmanned aerial vehicle library, the server of the management platform can apply the ship monitoring method of the present invention, and the unmanned aerial vehicle library is used for storing the unmanned aerial vehicle and providing functions such as charging and automatic power to the unmanned aerial vehicle. The management platform performs bidirectional communication with the unmanned aerial vehicle through a Transmission Control Protocol/Internet Protocol (TCP/IP). The unmanned aerial vehicle warehouse of the management platform can execute the action of opening or closing the cabin door according to the state of the unmanned aerial vehicle, and if the unmanned aerial vehicle receives a cruise instruction or is in a return flight state, the cabin door is opened; when the unmanned aerial vehicle is parked to the unmanned aerial vehicle garage, the unmanned aerial vehicle garage executes the action of closing the cabin door or charging the unmanned aerial vehicle. The management platform generates a cruise instruction based on the current time and a preset cruise schedule, and sends the cruise instruction to the unmanned aerial vehicle, wherein the cruise instruction comprises an unmanned aerial vehicle identifier, a cruise route and a device type. The unmanned aerial vehicle receives the cruise instruction sent by the management platform, and the unmanned aerial vehicle judges whether the unmanned aerial vehicle identification in the cruise instruction is the same as the identification of the unmanned aerial vehicle. And if the equipment types are the same, carrying out equipment mounting according to the equipment types, and cruising according to the cruising route.
Unmanned aerial vehicle catches the ship that the in-process appears of cruising through the camera to the ship that will catch is as the target ship, gathers the image of a plurality of angles of target ship through the camera and generates first monitoring data. The unmanned aerial vehicle sends the image data of the target ship to the management platform, and the management platform analyzes the image data to judge the legality of the target ship. The management platform receives first monitoring data sent back by the unmanned aerial vehicle, and the first monitoring data are images or photos of a target ship and the like. The management platform can identify the code of the target ship through the first monitoring data, can also identify the appearance of the target ship, judges whether the code of the target ship exists in the preset white list ship database, and judges whether the ship appearance of the code in the preset white list ship database conforms to the appearance of the target ship. If the code is not identified by the management platform based on the first monitoring data, the target ship is judged to be illegal, and if the code can be identified but the code of the target ship does not exist in the preset white list ship database, the target ship is judged to be illegal, or the code of the target ship exists but the shape corresponding to the code in the database is not accordant with the shape of the target ship, and the target ship is judged to be illegal. Otherwise, the target ship is judged to be legal. If the management platform judges that the target ship is legal, first information that the target ship is legal is sent to the unmanned aerial vehicle, and if the management platform judges that the target ship is illegal, second information that the target ship is illegal is sent to the unmanned aerial vehicle, so that the unmanned aerial vehicle can carry out the next task after receiving the first information and the second information.
When the unmanned aerial vehicle receives first information sent by the management platform, the target ship is indicated to be only legal, and the cruise task of the cruise instruction is continuously executed. In addition, the unmanned aerial vehicle can also approach the target ship and acquire image data again. The unmanned aerial vehicle sends the acquired image data to the management platform as second monitoring data so that the management platform can carry out recheck conveniently. And after the unmanned aerial vehicle sends the second monitoring data, continuously executing the cruise task. The second monitoring data includes coordinate data of the target vessel at different times. In addition, the second monitoring data can also comprise image data of the target ship, and the image data is used for rechecking the code or the shape of the target ship, so that the condition that the code is not shot or the shot code or ship is incomplete is avoided. When the management platform receives the coordinate data of the target ship at different moments, the speed and the heading of the target ship can be predicted. In addition, when the management platform judges that the target ship is an illegal ship and grasps the course data of the illegal ship, the related information of the illegal ship can be sent to a public security system to give an alarm, or sent to a mobile terminal, and the mobile terminal is held by a police, so that the alarm condition is sent at the first time.
In addition, the specific implementation processes of the monitoring platform and the unmanned aerial vehicle in the ship monitoring system provided by the embodiment of the invention can also refer to the first implementation and the second implementation correspondingly.
In addition, an embodiment of the present invention further provides a ship monitoring device, where the ship monitoring device includes: a memory, a processor and a vessel monitoring program stored on the memory and executable on the processor, the vessel monitoring program when executed by the processor implementing the steps of the vessel monitoring method as described above.
The specific implementation of the ship monitoring device of the present invention is basically the same as that of each embodiment of the new ship monitoring method, and is not described herein again.
In addition, an embodiment of the present invention further provides a computer-readable storage medium, where a ship monitoring program is stored on the computer-readable storage medium, and when executed by a processor, the ship monitoring program implements the steps of the ship monitoring method as described above.
The specific implementation of the medium of the present invention is basically the same as that of each embodiment of the new ship monitoring method, and is not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system 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 system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the description of the foregoing embodiments, it is clear to those skilled in the art that the method of the foregoing embodiments may be implemented by software plus a necessary general hardware platform, and certainly may also be implemented by hardware, but in many cases, the former is a better implementation. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g. a mobile phone, a computer, a server, an unmanned aerial vehicle, a management platform, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A ship monitoring method applied to a management platform, the method comprising the steps of:
sending a cruise instruction to the unmanned aerial vehicle;
receiving first monitoring data of a target ship sent by an unmanned aerial vehicle;
and judging the legality of the target ship based on a preset white list ship database and the first monitoring data so as to monitor the target ship.
2. The vessel surveillance method of claim 1, wherein after the step of determining the validity of the target vessel based on a pre-set white-list vessel database and the first surveillance data, the method comprises:
if the target ship is judged to be legal, sending first information that the target ship is legal to the unmanned aerial vehicle;
if the target ship is judged to be illegal, sending second information that the target ship is illegal to the unmanned aerial vehicle;
receiving second monitoring data of the target ship, which is sent by the unmanned aerial vehicle, wherein the second monitoring data is generated by the unmanned aerial vehicle after receiving the second information;
generating course data for the target vessel based on the second monitoring data.
3. The vessel monitoring method of claim 1, wherein the step of sending cruise instructions to the drone comprises:
generating the cruise instruction based on the current time and a preset cruise schedule, wherein the cruise instruction comprises an unmanned aerial vehicle identifier, a cruise route and a device type;
and sending the cruise instruction to the unmanned aerial vehicle.
4. The vessel monitoring method of claim 2, wherein the second monitoring data comprises coordinate data of the target vessel at different times, the step of generating course data for the target vessel based on the second monitoring data comprising:
and predicting the course and the speed of the target ship based on the coordinate data of the target ship at different moments, wherein the course data comprises the course and the speed.
5. A ship monitoring method, wherein the ship monitoring method is applied to an unmanned aerial vehicle, and the method comprises the following steps:
receiving a cruise instruction sent by a management platform, and performing cruise based on the cruise instruction;
taking a ship captured in the cruising process as a target ship, and acquiring image data of the target ship to generate first monitoring data;
and sending the first monitoring data to the management platform so as to monitor the target ship.
6. The vessel monitoring method of claim 5, wherein after the step of sending the monitoring data to the management platform, the method comprises:
if first information sent by the management platform is received, continuing cruising based on the cruising command;
if second information sent by the management platform is received, acquiring coordinate data of the target ship at different moments;
and sending coordinate data of the target ship at different moments as second monitoring data to the management platform, and continuing cruising based on the cruising command.
7. The method for monitoring ships according to claim 5, wherein the step of receiving a cruise command sent by a management platform, and performing cruise based on the cruise command comprises:
receiving a cruise instruction sent by the management platform, wherein the cruise instruction comprises an unmanned aerial vehicle identification number, a cruise route and a device type;
judging whether the identification number of the unmanned aerial vehicle is the same as the identification number of the unmanned aerial vehicle in the cruise instruction;
if the identification number of the device is the same as that of the unmanned aerial vehicle, the device of the device type is mounted, and cruising is carried out based on the cruising route.
8. A vessel monitoring system, comprising:
the management platform is used for sending a cruise instruction to the unmanned aerial vehicle;
receiving first monitoring data of a target ship sent by an unmanned aerial vehicle;
judging the legality of the target ship based on a preset white list ship database and the first monitoring data so as to monitor the target ship;
the unmanned aerial vehicle is used for receiving the cruise instruction sent by the management platform and conducting cruise based on the cruise instruction;
taking a ship captured in the cruising process as a target ship, and acquiring first image data of the target ship to generate first monitoring data;
and sending the first monitoring data to the management platform so as to monitor the target ship.
9. A vessel monitoring apparatus, characterized in that the vessel monitoring apparatus comprises: a memory, a processor and a vessel monitoring program stored on the memory and executable on the processor, the vessel monitoring program when executed by the processor implementing the steps of the vessel monitoring method according to any of claims 1 to 7.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a ship monitoring program, which when executed by a processor implements the steps of the ship monitoring method according to any one of claims 1 to 7.
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| CN202210673662.XA CN115115951A (en) | 2022-06-13 | 2022-06-13 | Ship monitoring method, system, equipment and computer readable storage medium |
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| CN202210673662.XA CN115115951A (en) | 2022-06-13 | 2022-06-13 | Ship monitoring method, system, equipment and computer readable storage medium |
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| CN202210673662.XA Pending CN115115951A (en) | 2022-06-13 | 2022-06-13 | Ship monitoring method, system, equipment and computer readable storage medium |
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