CN115453504A - Target detection method, target detection device and electronic equipment - Google Patents
Target detection method, target detection device and electronic equipment Download PDFInfo
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- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
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- G01S13/04—Systems determining presence of a target
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
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Abstract
The application discloses a target detection method, a target detection device, an electronic device and a computer readable storage medium. The method is applied to a ship which is provided with at least three types of detection equipment for detection, and detection modes adopted by different types of detection equipment are different, and the method comprises the following steps: acquiring environmental information of the current environment of the ship; determining a target detection device group in the at least three types of detection devices according to the environment information, wherein the target detection device group comprises two types of detection devices; and carrying out target detection through the target detection equipment group to obtain a target detection result. Through the scheme, the detection efficiency and the detection accuracy of the ship to the target in different environments can be guaranteed.
Description
Technical Field
The present application relates to a method for detecting a target, a target detecting device, an electronic apparatus, and a computer-readable storage medium.
Background
During the daily operation or the task of the ship, the detection of surrounding objects depends mainly on the various sensors loaded on the ship. In order to avoid the occurrence of false detection, currently, the authenticity of the target is often determined when different sensors of the ship detect the same target. However, due to the influence of the external environment, the detection accuracy of each sensor is different, which may cause the efficiency of target detection to decrease, and the target is easy to be detected in a missing manner.
Disclosure of Invention
The application provides a target detection method, a target detection device, an electronic device and a computer readable storage medium, which can guarantee the detection efficiency and detection accuracy of a ship on a target under different environments.
In a first aspect, the present application provides an object detection method applied to a ship, where the ship is equipped with at least three types of detection devices for detection, and detection modes adopted by different types of detection devices are different, the object detection method including:
acquiring environmental information of the current environment of a ship;
determining a target detection device group in at least three types of detection devices according to the environmental information, wherein the target detection device group comprises two types of detection devices;
and carrying out target detection through the target detection equipment group to obtain a target detection result.
In a second aspect, the present application provides an object detecting device, where the object detecting device is applied to a ship, the ship is equipped with at least three types of detecting equipment for detection, and detection modes adopted by different types of detecting equipment are different, and the object detecting device includes:
the acquisition module is used for acquiring the environmental information of the current environment of the ship;
the determining module is used for determining a target detection device group in at least three types of detection devices according to the environment information, wherein the target detection device group comprises two types of detection devices;
and the detection module is used for detecting the target through the target detection equipment group to obtain a target detection result.
In a third aspect, the present application provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method according to the first aspect when executing the computer program.
In a fourth aspect, the present application provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method of the first aspect.
In a fifth aspect, the present application provides a computer program product comprising a computer program which, when executed by one or more processors, performs the steps of the method of the first aspect as described above.
Compared with the prior art, the application has the beneficial effects that: for a ship with at least three types of detection equipment for detection, two types of detection equipment are selected as a target detection equipment group according to the environmental information of the current environment of the ship. And subsequently, target detection is carried out only through the target detection equipment group, and a target detection result can be obtained. Compared with the prior art, the number of the detection devices participating in target detection is reduced, so that the time for obtaining a target detection result can be shortened; on the basis, although the number of the detection devices participating in target detection is reduced to some extent, two types of detection devices are still guaranteed to be capable of carrying out target detection, and the two types of detection devices are determined by the weather of the environment where the ship is located, so that the target detection result can be prevented from being influenced by the weather, and meanwhile, the problems of false detection and missed detection caused by a single type of detection device are avoided. In conclusion, the scheme of the application ensures the detection efficiency and the detection accuracy of the ship to the target under different environments. It is understood that the beneficial effects of the second aspect to the fifth aspect can be referred to the related description of the first aspect, and are not described herein again.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic flow chart of an implementation of a target detection method provided in an embodiment of the present application;
fig. 2 is a schematic flowchart illustrating a specific implementation of step 102 in the target detection method provided in the embodiment of the present application;
fig. 3 is a schematic flowchart illustrating a specific implementation of step 103 in the target detection method according to the embodiment of the present application;
fig. 4 is a block diagram of a target detection apparatus according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of an electronic device provided in an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
The target detection method provided by the embodiment of the application can be applied to ships, and the ships can be unmanned ships or manned ships, and the types of the ships are not limited. For example only, the execution body of the target detection method may be an electronic device with a control system mounted on a ship; or, the target detection method may be implemented by a cloud-based electronic device that establishes a communication connection with the ship, and the execution subject of the target detection method is not limited herein. Next, the object detection method will be described with an electronic device having a control system mounted on a ship as an execution body.
The ship is also provided with at least three types of detection equipment for detection, and the detection modes adopted by the detection equipment of different types are different. By way of example only, the following classes of detection devices may be classified: radar, camera and photoelectric pod; the radar can be further divided into the following detection devices: navigation radar, laser radar, and millimeter wave radar.
Referring to fig. 1, the implementation flow of the target detection method is detailed as follows:
In view of the fact that the environment is an important factor affecting some types of detection devices, in the embodiment of the present application, in order to determine a detection device suitable for the current environment of the ship, the electronic device may acquire environment information of the current environment of the ship during the process of executing a task by the ship. Specifically, the electronic device may obtain the environmental information in different manners according to different functional modules equipped to the ship.
The first acquisition mode is as follows: the ship is provided with a public network module and a positioning module. The positioning module can position the ship after receiving a positioning request sent by the electronic equipment and transmit a positioning result to the electronic equipment. It will be appreciated that the positioning result is indicative of the current position of the vessel. The electronic device can use the current position as a query condition, and perform query operation aiming at the environmental information through the public network module, thereby obtaining the environmental information. For example only, the Positioning module may perform Positioning based on a Global Positioning System (GPS), a beidou Positioning System, a galileo Positioning System, or the like, and is not limited herein.
The second acquisition mode is as follows: the vessel is equipped with a public network module. The electronic equipment can approximately regard the central point of a task area for executing the task as the current position of the ship, regard the current position as a query condition, and perform query operation aiming at the environmental information through the public network module, thereby obtaining the environmental information.
The third acquisition mode: the vessel is equipped with an observation station. The electronic device may establish a communication connection with the observation station. When the environment information needs to be acquired, the electronic equipment can send an observation instruction to the observation station and trigger the observation station to start environment observation; alternatively, the observation station may continue to perform environmental observation during the time that the ship performs the mission, and is not limited herein. The observation station can report the observed environment information to the electronic equipment, so that the electronic equipment can receive the environment information sent by the observation station after environment observation.
It can be understood that, under the condition that the ship is provided with the observation station, the public network module and the positioning module at the same time, the target acquisition mode can be determined according to the sequence of the priorities of different acquisition modes from high to low, and the environmental information can be acquired according to the target acquisition mode. For example only, if the priority of the third acquisition mode is the highest, the priority of the first acquisition mode is the next highest, and the priority of the second acquisition mode is the lowest, then:
the electronic equipment can preferentially acquire the environmental information through the observation station; if the observation station works abnormally or the communication between the observation station and the electronic equipment is abnormal, the environment information can be obtained through the public network module and the positioning module; if the positioning module works abnormally or the communication between the positioning module and the electronic equipment is abnormal, the environment information can be obtained through the public network module; if the public network module works abnormally or the communication between the public network module and the electronic equipment is abnormal, the three environmental information acquisition modes are not feasible temporarily, and the electronic equipment can send an equipment error reminding message to the command center, so that the command center can subsequently and timely maintain the abnormal functional module on the ship.
The electronic equipment can determine the detection equipment suitable for the current environment of the ship from all the detection equipment carried by the ship; that is, finding a detection device that performs better in the current environment of the ship. In order to balance the detection efficiency and the detection accuracy, the electronic device may select two types of detection devices most suitable for the current environment to form a target detection device group.
And 103, carrying out target detection through the target detection equipment group to obtain a target detection result.
After determining the target detection device group, the electronic device may send a detection instruction to the detection devices in the target detection device group, thereby triggering the detection devices in the target detection device group to perform a target detection operation. The electronic device can analyze and judge the detection results obtained by the two different types of detection devices in the target detection device group, so as to obtain the final target detection result.
It is understood that other probe devices not in the target probe device group may remain in a dormant or standby state for resource conservation. The electronic device can wait for the detection devices to wake up to work when proper time is available subsequently.
In some embodiments, based on the characteristics of each type of detection device, after analyzing the influence of different environmental factors on each type of detection device, it is found that visibility and sea conditions are main factors influencing the detection accuracy of some detection devices. Based on this, the environment information obtained in step 101 may specifically be: visibility information and sea state information. To simplify the processing flow of the target detection method and improve the detection efficiency, referring to fig. 2, step 102 may include:
and step 1021, determining the environmental level of the environment where the ship is located according to the visibility information and the sea condition information.
Wherein the environmental level may include: visibility level and sea state level. The electronic equipment can analyze the visibility information through a preset visibility comparison table to determine the corresponding visibility grade; similarly, the electronic device may determine the corresponding sea state grade through the analysis of the preset sea state comparison table on the sea state information. For example only, the visibility map may be as shown in table 1 below:
table 1 is merely an example, and the sea state comparison table may be as shown in table 2 below:
| grade | Wave height (m) |
| 0 | 0 |
| 1 | 0～0.1 |
| 2 | 0.1～0.5 |
| 3 | 0.5～1.25 |
| 4 | 1.25～2.5 |
| 5 | 2.5～4 |
| 6 | 4～6 |
| 7 | 6～9 |
| 8 | 9～14 |
| 9 | ≥14 |
TABLE 2
And step 1022, determining a target detection device group in at least three types of detection devices according to the environment level.
The electronic device can be preset with environment excellent conditions, and can also be set with detection equipment which tends to be started when the environment is excellent and detection equipment which tends to be started when the environment is severe. It is understood that when the environment level satisfies the environment excellent condition, that is, the environment in which the ship is currently located is considered to be an excellent environment, the detection device which is inclined to be activated when the environment is excellent can be determined as the target detection device. On the contrary, when the environment level does not meet the environment excellent condition, that is, the current environment of the ship is considered to be a severe environment, the detection equipment which is inclined to be started in the severe environment can be determined as the target detection equipment.
For example only, if the detection device carried by the ship includes a navigation radar, a photoelectric pod and a millimeter wave radar, the electronic device may analyze whether the environmental level meets a preset environmental quality condition; in the case where the environment level satisfies the environment goodness condition, it may be determined that the target detection device group includes: navigation radar and photoelectric pod; on the contrary, in the case where the environmental grade does not satisfy the environmental goodness condition, it may be determined that the target detection device group includes: navigation radar and millimeter wave radar. The reason for this setting is: the detection accuracy of the navigation radar is less influenced by the environment, and the detection distance is farthest, so that the navigation radar can be considered to be started regardless of whether the environment is good or not. When the environment is good, although the detection accuracy of the photoelectric pod and the millimeter wave radar is good, the detection distance of the photoelectric pod is longer, and a longer target can be detected, so that the photoelectric pod is considered to be used. When the environment is severe, the photoelectric pod is influenced by visibility and/or sea conditions, the detection accuracy is greatly reduced (the photoelectric pod shakes due to ship swing in the case of high waves, the photoelectric pod is not clear in shooting due to shaking, and the photoelectric pod is not clear in shooting due to the fact that visibility influences objects), and the detection accuracy of the millimeter wave radar is not greatly influenced, so that the millimeter wave radar is considered to be started.
Of course, when the weather is good, the photoelectric pod can be replaced by other detection devices, such as: laser radar, camera, etc., without limitation. It can be understood that the photoelectric pod, the laser radar and the camera all belong to detection equipment which tends to be started when the environment is good, and only the detection distances of the photoelectric pod, the laser radar and the camera are different, specifically: the detection distance of the photoelectric pod is farthest; the detection distance of the laser radar is medium; the detection distance of the camera is closest. The electronic device may select a suitable detection device to form a target detection device group according to the environment level and the actual situation of the detection device carried by the ship, which is not limited herein.
By way of example only, the environmentally benign condition may be: the visibility level is not lower than grade 5 and the sea state level is not higher than grade 4. Of course, the environmental conditions may be set according to the specific performance of the detection device equipped in the ship and the specific performance of the ship, and are not limited herein.
In some embodiments, the detection distances of different types of detection devices also differ. Based on this, referring to fig. 3, step 103 may include:
And 1032, under the condition that the first detection result indicates that the target exists, performing target detection by using a second detection device in the target detection device group to obtain a second detection result.
Wherein, first detection equipment is: detecting equipment with longer detection distance in the target detecting equipment group; the second detection device is: the detection devices in the target detection device group with the closer detection distance are detected. It can be understood that, because the first detection device has a longer detection distance relative to the second detection device, and when the ship is sailing on the sea, the target can only gradually approach the ship from far to near, and cannot be instantly present near the ship, based on this, the electronic device can preferentially trigger the first detection device to detect the target, and the second detection device can be kept in a dormant or standby state. When the first detection result obtained by the first detection device indicates that the target exists, the water area near the ship is considered to possibly and really have the target, and at the moment, the electronic device can trigger the second detection device to detect the target. Through the process, the resource consumption is saved on the premise of following the objective motion rule of the object.
In step 1033, in a case where the second detection result indicates that the object exists, it is determined whether the object indicated by the first detection result is the same as the object indicated by the second detection result.
The first detection device and the second detection device both have a certain risk of false detection. Thus, if only a single detection device detects an object, it can be preliminarily considered that there is a detection error; only under the condition that two detection equipment all detect the target, just need carry out further judgement, specifically be: and judging whether the targets detected by the first detection device and the second detection device are the same target or not. In the case where the objects detected by the first detection device and the second detection device are the same object, it is considered that there is a larger possibility that the object actually exists at present, and thus the final object detection result is determined as follows: there is a target.
For example only, whether the objects detected by the first detection device and the second detection device are the same object may be determined by the positions of the objects: the first detection device and the second detection device are considered to detect the same object if the distance between the position of the object indicated by the first detection result and the position of the object indicated by the second detection result is within a preset distance range. Of course, the determination may be made by other features, such as the size of the target, the speed of the target, or the heading of the target, and the like, which are not limited herein.
In some embodiments, where a target is detected, the electronic device may consider analyzing the target from multiple dimensions, such as: the loading condition of the analysis target, the navigation path of the analysis target, and/or the change of the speed of the analysis target, etc., are not limited herein. According to the analysis result, the electronic device may make a decision on the behavior of the ship, such as triggering the ship to perform operations of warning, driving away, or avoiding for the target, which is not limited herein.
In some embodiments, in the case that an object is detected, the electronic device may also report information of the object to the command center, where the information of the object includes, but is not limited to, a position of the object, an image (if any) of the object, and the like, which is not limited herein. After receiving the information of the target, the command center can make a decision on the behavior of the ship according to the target and send a decision instruction to the electronic equipment according to a decision result. After receiving the decision instruction, the electronic device may trigger the ship to perform the decision operation indicated by the decision instruction for the target, which is not limited herein. Alternatively, the command center may store the received information of the target in a database, where no limitation is made on the operation that the command center can perform on the information of the target.
As can be seen from the above, in the embodiment of the present application, for a ship equipped with at least three types of detection devices for detection, two types of detection devices are selected as a target detection device group according to environmental information of a current environment where the ship is located. And subsequently, target detection is carried out only through the target detection equipment group, and a target detection result can be obtained. Compared with the prior art, the number of the detection devices participating in target detection is reduced, so that the time for obtaining a target detection result can be shortened; on the basis, although the number of the detection devices participating in target detection is reduced to some extent, two types of detection devices are still guaranteed to be capable of carrying out target detection, and the two types of detection devices are determined by the weather of the environment where the ship is located, so that the target detection result can be prevented from being influenced by the weather, and meanwhile, the problems of false detection and missed detection caused by a single type of detection device are avoided. In conclusion, the scheme of the application ensures the detection efficiency and the detection accuracy of the ship to the target under different environments.
Corresponding to the target detection method provided above, the embodiment of the present application further provides a target detection device, which is applied to a ship. The ship is provided with at least three types of detection equipment for detection, and the detection modes adopted by the different types of detection equipment are different. As shown in fig. 4, the object detecting device 400 includes:
an obtaining module 401, configured to obtain environment information of a current environment where a ship is located;
a determining module 402, configured to determine a target detection device group from among at least three types of detection devices according to the environment information, where the target detection device group includes two types of detection devices;
the detection module 403 is configured to perform target detection through the target detection device group to obtain a target detection result.
In some embodiments, the obtaining module 401 is specifically configured to, when the ship is equipped with a public network module, perform query operation through the public network module to obtain the environment information; alternatively, in the case where the ship is equipped with an observation station, the environment information transmitted by the observation station after the environment observation is performed is received.
In some embodiments, the environmental information includes: visibility information and sea state information; a determination module 402 comprising:
the environment grade determining unit is used for determining the environment grade of the environment where the ship is located according to the visibility information and the sea condition information;
and the target detection device group determining unit is used for determining the target detection device group in at least three types of detection devices according to the environment level.
In some embodiments, at least three types of detection devices include: navigation radar, photoelectric pod and millimeter wave radar; an object detection device group determination unit comprising:
the detection subunit is used for detecting whether the environmental grade meets a preset environmental excellent condition;
a first determining subunit configured to determine that the target detection device group includes, in a case where the environment level satisfies the environment goodness condition: navigation radar and photoelectric pod;
a second determining subunit, configured to determine, in a case where the environmental level does not satisfy the environmental goodness condition, that the target detection device group includes: navigation radar and millimeter wave radar.
In some embodiments, the detection module 403 includes:
the first detection unit is configured to perform target detection through a first detection device in a target detection device group to obtain a first detection result, where the first detection device is: detecting equipment with longer detection distance in the target detecting equipment group;
a second detection unit, configured to, when the first detection result indicates that the target exists, perform target detection by using a second detection device in the target detection device group to obtain a second detection result, where the second detection device is: detecting the detection equipment with closer distance in the target detection equipment group;
a result determination unit configured to determine whether the target indicated by the first detection result is the same as the target indicated by the second detection result, in a case where the second detection result indicates that the target exists;
a result determination unit configured to determine, in a case where the target indicated by the first detection result is the same as the target indicated by the second detection result, that the target detection result is: there is a target.
In some embodiments, the object detection device 4 further comprises:
the analysis module is used for analyzing the target under the condition that the target detection result indicates that the target exists;
and the decision module is used for making a decision on the behavior of the ship according to the analysis result.
In some embodiments, the object detection device 4 further comprises:
and the reporting module is used for reporting the information of the target to the command center under the condition that the target detection result indicates that the target exists.
As can be seen from the above, in the embodiment of the present application, for a ship equipped with at least three types of detection devices for detection, two types of detection devices are selected as a target detection device group according to the environmental information of the current environment in which the ship is located. And subsequently, target detection is carried out only through the target detection equipment group, and a target detection result can be obtained. Compared with the prior art, the number of the detection devices participating in target detection is reduced, so that the time for obtaining a target detection result can be shortened; on the basis, although the number of the detection devices participating in target detection is reduced to some extent, two types of detection devices are still guaranteed to be capable of carrying out target detection, and the two types of detection devices are determined by the weather of the environment where the ship is located, so that the target detection result can be prevented from being influenced by the weather, and meanwhile, the problems of false detection and missed detection caused by a single type of detection device are avoided. In conclusion, the scheme of the application ensures the detection efficiency and the detection accuracy of the ship to the target under different environments.
Corresponding to the target detection method provided above, an embodiment of the present application further provides an electronic device. The electronic device is mounted on a ship or has a communication connection with the ship. The ship is provided with at least three types of detection equipment for detection, and detection modes adopted by different types of detection equipment are different. Referring to fig. 5, an electronic device 5 in the embodiment of the present application includes: a memory 501, one or more processors 502 (only one shown in fig. 5), and a computer program stored on the memory 501 and executable on the processors. Wherein: the memory 501 is used for storing software programs and units, and the processor 502 executes various functional applications and data processing by running the software programs and units stored in the memory 501, so as to obtain resources corresponding to the preset events. Specifically, the processor 502 realizes the following steps by running the above-described computer program stored in the memory 501:
acquiring environmental information of the current environment of a ship;
determining a target detection device group in at least three types of detection devices according to the environment information, wherein the target detection device group comprises two types of detection devices;
and carrying out target detection through the target detection equipment group to obtain a target detection result.
Assuming that the above is the first possible implementation manner, in a second possible implementation manner provided on the basis of the first possible implementation manner, the obtaining of the environmental information of the current environment of the ship includes:
under the condition that the ship is provided with the public network module, inquiring operation is carried out through the public network module to obtain environmental information;
alternatively, in the case where the ship is equipped with an observation station, the environment information transmitted by the observation station after the environment observation is performed is received.
In a third possible implementation form provided on the basis of the first possible implementation form, the environment information includes: visibility information and sea state information; according to the environment information, determining a target detection device group in at least three types of detection devices, comprising:
determining the environmental grade of the environment where the ship is located according to the visibility information and the sea condition information;
and determining a target detection device group in at least three detection devices according to the environment level.
In a fourth possible embodiment based on the third possible embodiment, at least three types of detection devices include: navigation radar, photoelectric pod and millimeter wave radar; determining a target detection device group in at least three types of detection devices according to the environment level, comprising:
detecting whether the environmental grade meets a preset environmental excellent condition;
in the case where the environmental level satisfies the environmental goodness condition, determining the target detection device group includes: navigation radar and photoelectric pod;
in the case where the environmental grade does not satisfy the environmental goodness condition, determining the target detection device group includes: navigation radar and millimeter wave radar.
In a fifth possible implementation manner provided on the basis of the first possible implementation manner, the obtaining of the target detection result by performing target detection by the target detection device group includes:
carrying out target detection through a first detection device in the target detection device group to obtain a first detection result, wherein the first detection device is: detecting equipment with longer detection distance in the target detecting equipment group;
under the condition that the first detection result indicates that the target exists, performing target detection through second detection equipment in the target detection equipment group to obtain a second detection result, wherein the second detection equipment is as follows: detecting the detecting equipment with closer distance in the target detecting equipment group;
under the condition that the second detection result indicates that the target exists, judging whether the target indicated by the first detection result is the same as the target indicated by the second detection result;
in a case where the target indicated by the first detection result is the same as the target indicated by the second detection result, determining that the target detection result is: there is a target.
In a sixth possible implementation manner provided on the basis of the first possible implementation manner, the second possible implementation manner, the third possible implementation manner, the fourth possible implementation manner, or the fifth possible implementation manner, after the target detection is performed by the target detection device group to obtain the target detection result, the processor 502 further implements the following steps when executing the computer program stored in the memory 501:
analyzing the target under the condition that the target detection result indicates that the target exists;
and making a decision on the behavior of the ship according to the analysis result.
In a seventh possible implementation manner provided on the basis of the first possible implementation manner, the second possible implementation manner, the third possible implementation manner, the fourth possible implementation manner, or the fifth possible implementation manner, after performing object detection by the object detection device group to obtain an object detection result, the processor 502 further implements the following steps when executing the computer program stored in the memory 501:
and reporting the information of the target to a command center under the condition that the target detection result indicates that the target exists.
It should be understood that in the embodiments of the present Application, the Processor 502 may be a Central Processing Unit (CPU), and the Processor may be other general-purpose processors, digital Signal Processors (DSPs), application Specific Integrated Circuits (ASICs), field-Programmable Gate arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, and the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
As can be seen from the above, in the embodiment of the present application, for a ship equipped with at least three types of detection devices for detection, two types of detection devices are selected as a target detection device group according to the environmental information of the current environment in which the ship is located. And subsequently, target detection is carried out only through the target detection equipment group, and a target detection result can be obtained. Compared with the prior art, the number of the detection devices participating in target detection is reduced, so that the time for obtaining a target detection result can be shortened; on the basis, although the number of the detection devices participating in target detection is reduced to some extent, two types of detection devices are still guaranteed to be capable of carrying out target detection, and the two types of detection devices are determined by the weather of the environment where the ship is located, so that the target detection result can be prevented from being influenced by the weather, and meanwhile, the problems of mis-detection and missed detection caused by a single type of detection device are avoided. In conclusion, the scheme of the application ensures the detection efficiency and the detection accuracy of the ship to the target under different environments.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned functions may be distributed as different functional units and modules according to needs, that is, the internal structure of the apparatus may be divided into different functional units or modules to implement all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art would appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of external device software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the technical solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described system embodiments are merely illustrative, and for example, the division of the above-described modules or units is only one logical functional division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The integrated unit may be stored in a computer-readable storage medium if it is implemented in the form of a software functional unit and sold or used as a separate product. Based on such understanding, all or part of the flow in the method of the embodiments described above can be realized by a computer program, which can be stored in a computer-readable storage medium and can realize the steps of the embodiments of the methods described above when the computer program is executed by a processor. The computer program includes computer program code, and the computer program code may be in a source code form, an object code form, an executable file or some intermediate form. The computer-readable storage medium may include: any entity or device capable of carrying the above-described computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer readable Memory, read-Only Memory (ROM), random Access Memory (RAM), electrical carrier wave signal, telecommunication signal, software distribution medium, etc. It should be noted that the computer readable storage medium may contain other contents which can be appropriately increased or decreased according to the requirements of the legislation and the patent practice in the jurisdiction, for example, in some jurisdictions, the computer readable storage medium does not include an electrical carrier signal and a telecommunication signal according to the legislation and the patent practice.
The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. An object detection method applied to a ship having at least three types of detection devices for detection mounted thereon, the detection devices of different types having different detection methods, the object detection method comprising:
acquiring environmental information of the current environment of the ship;
determining a target detection device group in the at least three types of detection devices according to the environmental information, wherein the target detection device group comprises two types of detection devices;
and carrying out target detection through the target detection equipment group to obtain a target detection result.
2. The method for detecting the object according to claim 1, wherein the obtaining environmental information of the current environment of the ship comprises:
under the condition that the ship is provided with a public network module, performing query operation through the public network module to obtain the environment information;
or, in a case where the ship is equipped with an observation station, the environmental information transmitted by the observation station after environmental observation is performed is received.
3. The object detection method according to claim 1, wherein the environmental information includes: visibility information and sea state information; the determining a target detection device group in the at least three types of detection devices according to the environment information includes:
determining the environmental grade of the environment where the ship is located according to the visibility information and the sea condition information;
and determining a target detection device group in the at least three types of detection devices according to the environment level.
4. The object detection method of claim 3, wherein the at least three types of detection devices comprise: navigation radar, photoelectric pod and millimeter wave radar; the determining a target detection device group in the at least three types of detection devices according to the environment level includes:
detecting whether the environment grade meets a preset environment excellent condition;
in the case where the environmental level satisfies the environmental goodness condition, determining the target detection device group includes: navigation radar and photoelectric pod;
in the case where the environmental grade does not satisfy the environmental goodness condition, determining the target detection device group includes: navigation radar and millimeter wave radar.
5. The object detection method according to claim 1, wherein the performing object detection by the object detection device group to obtain an object detection result comprises:
performing target detection through a first detection device in the target detection device group to obtain a first detection result, wherein the first detection device is: detecting equipment with longer detection distance in the target detecting equipment group;
under the condition that the first detection result indicates that the target exists, performing target detection through a second detection device in the target detection device group to obtain a second detection result, wherein the second detection device is: detecting devices in the target detection device group, which are closer in detection distance;
if the second detection result indicates that a target exists, judging whether the target indicated by the first detection result is the same as the target indicated by the second detection result;
in a case where the target indicated by the first detection result is the same as the target indicated by the second detection result, determining a target detection result as: there is a target.
6. The object detection method according to any one of claims 1 to 5, wherein after the object detection by the object detection device group to obtain an object detection result, the object detection method further comprises:
analyzing the target under the condition that the target detection result indicates that the target exists;
and making a decision on the behavior of the ship according to the analysis result.
7. The object detection method according to any one of claims 1 to 5, wherein after the object detection by the object detection device group to obtain an object detection result, the object detection method further comprises:
and reporting the information of the target to a command center under the condition that the target detection result indicates that the target exists.
8. An object detection apparatus to be applied to a ship having at least three types of detection devices for detection mounted thereon, the detection devices of different types having different detection methods, the object detection apparatus comprising:
the acquisition module is used for acquiring the environmental information of the current environment of the ship;
a determining module, configured to determine a target detection device group from the at least three types of detection devices according to the environment information, where the target detection device group includes two types of detection devices;
and the detection module is used for carrying out target detection through the target detection equipment group to obtain a target detection result.
9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method of any of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 7.
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