CN115600132B - Ship cargo category distinguishing method and system - Google Patents
Ship cargo category distinguishing method and system Download PDFInfo
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- CN115600132B CN115600132B CN202211612330.7A CN202211612330A CN115600132B CN 115600132 B CN115600132 B CN 115600132B CN 202211612330 A CN202211612330 A CN 202211612330A CN 115600132 B CN115600132 B CN 115600132B
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- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
Abstract
The invention discloses a ship cargo category distinguishing method and system. According to the ship cargo category distinguishing method provided by the invention, scanning data is obtained based on laser scanning of a laser scanner, a scanning image is drawn according to scanning points, whether the scanning data is container top characteristic data or non-container top characteristic data is determined according to whether the scanning data at each scanning moment meets a preset first characteristic condition and a preset second characteristic condition, and finally whether the cargo category of a ship is a container is judged according to the data quantity of the container top characteristic data in effective data.
Description
Technical Field
The invention relates to the technical field of shipping management data processing, in particular to a method and a system for judging ship cargo category.
Background
In the field of inland river shipping, statistical analysis of ship freight volume can provide important reference basis for departments such as navigation channels and the like to know and master water traffic conditions and economic development situations of various regions. One of the statistical methods of ship freight volume is classified statistics according to different ship freight types, wherein the ship freight type is an important position in all freight type classifications for container classification. Therefore, how to identify the ship-borne cargo species of the ship sailing on the inland waterway is of great significance to the container.
The existing identification scheme mainly uses image identification or video identification and ship port reporting data query.
The scheme of image recognition or video recognition is greatly influenced by illumination conditions, and under the condition of poor environmental conditions such as cloudy days, rainy days, foggy days and night, the situation that recognition cannot be carried out and recognition errors can be caused.
Through port reporting data query, the name number or the MMSI code of the AIS signal needs to be recognized first, and under the condition that some ships do not start the AIS signal or report the voyage information, the information of whether the cargo type is a container or not cannot be acquired, so that the method belongs to a passive query mode.
Disclosure of Invention
Therefore, an object of the present invention is to provide a method for determining a cargo category of a ship, which is used to avoid the influence of illumination and weather and belongs to an active monitoring mode.
The invention provides a ship cargo category distinguishing method, which comprises the following steps:
collecting scanning data of a laser scanner, wherein the laser scanner is installed on a bridge, a laser scanning curtain of the laser scanner is perpendicular to the water surface, and the scanning data comprises the distance and the angle of a scanning point;
establishing a rectangular coordinate system by taking the laser scanner as an origin, the water surface direction as an X axis and the direction vertical to the water surface as a Y axis, calculating each scanning point in the scanning data as a coordinate, and drawing the coordinate in the rectangular coordinate system to form a scanning image;
when a ship starts to pass through a bridge, acquiring scanning data at each scanning moment;
for the scanning data at any scanning moment, judging whether a first characteristic condition and a second characteristic condition are simultaneously met, wherein the first characteristic condition is as follows: in the scanning image, for all scanning points which are positioned above the datum line, the maximum difference value of the Y-axis coordinate values is smaller than a first threshold value; the second characteristic condition is: in the scanning graph, a contour line formed by all scanning points above a datum line is divided into a plurality of line segments, and for any line segment, the maximum difference value of X-axis coordinate values of the line segments is within a preset range;
if the first characteristic condition and the second characteristic condition are met simultaneously, judging that the scanned data are container top characteristic data, and if at least one of the first characteristic condition and the second characteristic condition is not met, judging that the scanned data are non-container top characteristic data;
pressing all container top characteristic data and non-container top characteristic data into a ship profile characteristic queue in the process that a ship continuously passes through a bridge;
when the ship completely passes through the bridge, obtaining effective data in all data of the ship contour characteristic queue, and obtaining the data volume D of the container top characteristic data in the effective data v And data quantity D of characteristic data of non-container top f ；
If D is v /（D v +D f ) And if the Kd is larger than the second threshold, judging that the cargo type of the ship is the container, wherein the Kd is the second threshold.
According to the ship cargo category judging method provided by the invention, scanning data is obtained based on laser scanning of a laser scanner, a scanning image is drawn according to scanning points, whether the scanning data is container top characteristic data or non-container top characteristic data is determined according to whether the scanning data at each scanning moment meets a preset first characteristic condition and a preset second characteristic condition, and finally whether the cargo category of a ship is judged according to the data quantity of the container top characteristic data in effective data.
In addition, according to the method for discriminating the ship cargo type of the present invention, the following additional features may be provided:
further, the Y-axis coordinate value H of the reference line satisfies the following conditional expression:
H=Hw + Kh
wherein Hw represents the height value of the water level line, and Kh represents the wave coefficient.
Further, the step of obtaining valid data in the ship contour feature queue specifically comprises:
when the ship completely passes through the bridge, acquiring all data in the ship profile feature queue;
and sequencing all the data according to the sequence of the scanning time from front to back, deleting the front h% of data and the back t% of data in all the sequenced data, and taking the rest data as effective data, wherein h and t respectively represent a third threshold and a fourth threshold.
Further:
the first characteristic condition satisfies the following conditional expression:
Yd＜Ky
Yd = Ymax – Ymin
where Yd represents a maximum difference in Y-axis coordinate values of all scanning points located above the reference line in the scan chart, ky represents the first threshold, ymax represents a maximum value in Y-axis coordinate values of all scanning points located above the reference line in the scan chart, and Ymin represents a minimum value in Y-axis coordinate values of all scanning points located above the reference line in the scan chart;
the second characteristic condition satisfies the following conditional expression:
Xd∈[2.4×N，2.5×N]
Xd = Xmax – Xmin
wherein Xd represents the maximum difference of the coordinate values of the X axis in a line segment, [2.4 × N,2.5 × N ] represents the preset range, N is a positive integer greater than 0, xmax represents the maximum value of the coordinate values of the X axis in the line segment, and Xmin represents the minimum value of the coordinate values of the X axis in the line segment.
Further, in the scanogram, the step of dividing the contour line formed by all the scanning points located above the reference line into a plurality of line segments specifically includes:
in the scanning image, for all scanning points on the contour line, when the x coordinate distance between two adjacent scanning points is larger than a threshold Kx, the two scanning points are used as dividing points between two line segments, and the contour line is divided into a plurality of line segments.
Another objective of the present invention is to provide a ship cargo category determination system to avoid the influence of illumination and weather, and belongs to an active monitoring mode.
The invention provides a ship cargo category discriminating system, comprising:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring scanning data of a laser scanner, the laser scanner is installed on a bridge, a laser scanning curtain of the laser scanner is vertical to the water surface, and the scanning data comprises the distance and the angle of a scanning point;
the building module is used for building a rectangular coordinate system by taking the laser scanner as an origin, taking the water surface direction as an X axis and taking the direction perpendicular to the water surface as a Y axis, calculating each scanning point in the scanning data as a coordinate and drawing the coordinate in the rectangular coordinate system to form a scanning image;
the first acquisition module is used for enabling the ship to start to pass through the bridge;
the judging module is used for judging whether a first characteristic condition and a second characteristic condition are simultaneously met for the scanning data at any scanning moment, wherein the first characteristic condition is as follows: in the scanning image, for all scanning points which are positioned above the datum line, the maximum difference value of the Y-axis coordinate values is smaller than a first threshold value; the second characteristic condition is: in a scanning graph, a contour line formed by all scanning points above a datum line is divided into a plurality of line segments, and for any line segment, the maximum difference value of X-axis coordinate values of the line segments is within a preset range;
the first judging module is used for judging the scanned data as the characteristic data of the container top if the first characteristic condition and the second characteristic condition are met simultaneously, and judging the scanned data as the characteristic data of the non-container top if at least one of the first characteristic condition and the second characteristic condition is not met;
the second acquisition module is used for pressing all the container top characteristic data and the non-container top characteristic data into the ship contour characteristic queue in the process that the ship continuously passes through the bridge;
a third acquisition module, configured to acquire valid data in all data of the ship profile feature queue when the ship completely passes through the bridge, and acquire a data volume D of container top feature data in the valid data v And data quantity D of characteristic data of non-container top f ；
A second determination module for determining if D v /（D v +D f ) And if the Kd is larger than the second threshold, judging that the cargo type of the ship is the container, wherein the Kd is the second threshold.
According to the ship cargo category judging system provided by the invention, scanning data is obtained based on laser scanning of a laser scanner, a scanning image is drawn according to scanning points, whether the scanning data is container top characteristic data or non-container top characteristic data is determined according to whether the scanning data at each scanning moment meets a preset first characteristic condition and a preset second characteristic condition, and finally whether the cargo category of a ship is judged according to the data quantity of the container top characteristic data in effective data.
In addition, the system for discriminating the ship cargo category according to the present invention may further include the following additional features:
further, the Y-axis coordinate value H of the reference line satisfies the following conditional expression:
H=Hw + Kh
wherein Hw represents the height value of the water level line, and Kh represents the wave coefficient.
Further, the second obtaining module is specifically configured to:
when the ship completely passes through the bridge, acquiring all data in the ship profile feature queue;
and sequencing all the data according to the sequence of the scanning time from front to back, deleting the front h% of the data and the back t% of the data in all the sequenced data, and taking the rest data as effective data, wherein h and t respectively represent a third threshold and a fourth threshold.
Further:
the first characteristic condition satisfies the following conditional expression:
Yd＜Ky
Yd = Ymax – Ymin
where Yd represents a maximum difference in Y-axis coordinate values of all scanning points located above the reference line in the scan chart, ky represents the first threshold, ymax represents a maximum value in Y-axis coordinate values of all scanning points located above the reference line in the scan chart, and Ymin represents a minimum value in Y-axis coordinate values of all scanning points located above the reference line in the scan chart;
the second characteristic condition satisfies the following conditional expression:
Xd∈[2.4×N，2.5×N]
Xd = Xmax – Xmin
wherein Xd represents the maximum difference of the coordinate values of the X axis in a line segment, [2.4 × N,2.5 × N ] represents the preset range, N is a positive integer greater than 0, xmax represents the maximum value of the coordinate values of the X axis in the line segment, and Xmin represents the minimum value of the coordinate values of the X axis in the line segment.
Further, in the scanning image, for all scanning points on the contour line, when the x coordinate distance between two adjacent scanning points is larger than a threshold Kx, the two scanning points are used as dividing points between two line segments, and therefore the contour line is divided into a plurality of line segments.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of embodiments of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a flowchart of a ship cargo category determination method according to an embodiment of the present invention;
fig. 2 is a schematic view of the installation position of the laser scanner;
FIG. 3 is a schematic diagram of a rectangular coordinate system;
FIG. 4 is a scanned view of an exemplary bridge without a ship passing by;
FIG. 5 is a scanned view of an exemplary container-laden vessel as it passes over a bridge;
fig. 6 is a block diagram showing a configuration of a ship cargo type determination system according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
Referring to fig. 1, a method for determining a ship cargo category according to an embodiment of the present invention includes steps S101 to S108:
s101, scanning data of a laser scanner are collected, the laser scanner is installed on a bridge, a laser scanning curtain of the laser scanner is perpendicular to the water surface, and the scanning data comprise the distance and the angle of a scanning point.
Wherein, the mounting means of laser scanner refers to fig. 2, and laser scanner installs on the bridge, and laser scanner's laser scanning curtain is perpendicular to the surface of water, scans the boats and ships that pass through the bridge.
The scanning frequency of the laser scanner is not less than 25Hz, and the scanning angle resolution is preferably 0.25 to 0.3 degrees. The front-end processor can receive scanning data of the laser scanner in real time through a network, and the scanning data comprises the distance and the angle of a scanning point.
And S102, establishing a rectangular coordinate system by taking the laser scanner as an origin, the water surface direction as an X axis and the direction perpendicular to the water surface as a Y axis, calculating each scanning point in the scanning data as a coordinate, and drawing the coordinate in the rectangular coordinate system to form a scanning image.
Referring to fig. 3, a rectangular coordinate system is established with the laser scanner as the origin, the water surface direction as the X-axis, and the direction perpendicular to the water surface as the Y-axis.
Since the distance information and the included angle information of each scanning point are obtained in step S101, each scanning point can be calculated as a two-dimensional coordinate and plotted in the rectangular coordinate system, thereby forming a scanning map. An exemplary scan is shown in fig. 4. In the cartesian coordinate system of fig. 4, the units of the X-axis and the Y-axis may both be meters, or normalized units may be used.
And S103, when the ship starts to pass through the bridge, acquiring the scanning data at each scanning moment.
Wherein, how many scanning moments (i.e. scanning times) there are is determined according to the scanning frequency and the scanning time.
S104, judging whether a first characteristic condition and a second characteristic condition are simultaneously met or not for the scanning data at any scanning time, wherein the first characteristic condition is as follows: in the scanning map, for all scanning points above the reference line, the maximum difference value of the Y-axis coordinate values is smaller than a first threshold value; the second characteristic condition is: in the scanning graph, the contour line formed by all the scanning points above the datum line is divided into a plurality of line segments, and for any line segment, the maximum difference value of the X-axis coordinate values of the line segments is within a preset range.
Specifically, when no ship passes through the bridge, the water level line scanned by the laser scanner may refer to fig. 4, and the water level line height value Hw may be obtained by calculating a Y-axis coordinate value in the scan diagram of fig. 4.
When a ship loaded with containers passes through the bridge, the laser scanner scans the profile of a section of the top of the container to obtain a scanning diagram as shown in fig. 5.
The common specifications and external dimensions of the container are as follows:
| specification of | External dimensions, length x width x height (rice) |
| 20GP | 6.058×2.438×2.591 |
| 40GP | 12.192×2.438×2.591 |
| 40HQ (high cabinet) | 12.192×2.438×2.896 |
| 45HQ (high cabinet) | 13.716×2.438×2.896 |
| 20 OT (open top cabinet) | 6.058×2.438×2.591 |
| 40 OT (open top cabinet) | 12.192×2.438×2.591 |
| 20FR (folding plate foot) | 6.058×2.438×2.591 |
| 20FR (plate frame type folding flat) | 6.058×2.438×2.591 |
| 40FR (folding flat foot) | 12.192×2.438×2.591 |
| 40FR (plate rack type folding flat) | 12.192×2.438×2.591 |
| 20Refigerated (freezer cabinet) | 6.058×2.438×2.591 |
| 40Refigerated (freezer) | 12.192×2.438×2.896 |
| 20ISO TANK (TANK container) | 6.058×2.438×2.591 |
| 40 clothes-closet | 12.19×2.44×2.90 |
The width of the container is kept between 2.4 and 2.5 meters from the external dimension.
Extracting the contour line of a ship or a container, taking the coordinate above the height of the water level line, and adding a wave coefficient Kh to the height value Hw of the water level line as a Y-axis coordinate value of a datum line in order to eliminate the influence of water surface waves as much as possible, wherein the Y-axis coordinate value H of the datum line meets the following conditional expression: h = Hw + Kh; because the difference between the wave crest and the wave trough of the wave on the river surface is generally not more than 0.3 m, and the Kh can be set to be 0.3 m, the scanning points of the ship or the container above the datum line are obtained for subsequent analysis. When the Y-axis coordinate value of the scanning points is larger than H, the scanning points are points on the section outline of the ship or the container, and the scanning points form the outline of the ship or the container.
In this embodiment, the first characteristic condition satisfies the following conditional expression:
Yd＜Ky
Yd = Ymax – Ymin
where Yd represents the maximum difference of the Y-axis coordinate values of all the scan points located above the reference line in the scan diagram, ky represents the first threshold, which is generally set to 0.1 to 0.2 m, ymax represents the maximum of the Y-axis coordinate values of all the scan points located above the reference line in the scan diagram, and Ymin represents the minimum of the Y-axis coordinate values of all the scan points located above the reference line in the scan diagram.
The above description shows that the maximum difference Yd of the Y-axis coordinate values is calculated for the points on the contour line of the ship or the container, and if Yd is smaller than the set first threshold Ky, the scan data at the scan time is determined to satisfy the first characteristic condition.
The second characteristic condition satisfies the following conditional expression:
Xd∈[2.4×N，2.5×N]
Xd = Xmax – Xmin
wherein Xd represents the maximum difference of the coordinate values of the X axis in a line segment, [2.4 × N,2.5 × N ] represents the preset range, N is a positive integer greater than 0, xmax represents the maximum value of the coordinate values of the X axis in the line segment, and Xmin represents the minimum value of the coordinate values of the X axis in the line segment.
Specifically, for scanning points on the contour line of the ship or the container, when the x coordinate distance between two adjacent scanning points is larger than a threshold value Kx, the two scanning points are used as dividing points between two line segments, and the contour line is divided into a plurality of line segments. And respectively calculating the maximum difference Xd of the coordinate values of the X axis on the X axis for each line segment, namely Xd = Xmax-Xmin, then judging whether Xd belongs to Xd [2.4 XN, 2.5 XN ], and if all the line segments belong to Xd [2.4 XN, 2.5 XN ], determining that the scanning data at the scanning moment meets a second characteristic condition. And if at least one line segment does not satisfy Xd epsilon [2.4 XN, 2.5 XN ], determining that the scanning data at the scanning time does not satisfy the second characteristic condition.
And S105, if the first characteristic condition and the second characteristic condition are simultaneously met, judging that the scanned data is the container top characteristic data, and if at least one of the first characteristic condition and the second characteristic condition is not met, judging that the scanned data is the non-container top characteristic data.
And S106, pressing all the container top characteristic data and the non-container top characteristic data into a ship contour characteristic queue in the process that the ship continuously passes through the bridge.
S107, when the ship completely passes through the bridge, obtaining effective data in all data of the ship contour characteristic queue, and obtaining the data volume D of the container top characteristic data in the effective data v And data quantity D of characteristic data of non-container top f 。
When the ship completely passes through the bridge, according to the process of step S104, it can be determined whether the scanned data of the ship profile feature queue at each scanning time is container top feature data or non-container top feature data.
In addition, because the ship generally moves linearly at a constant speed when passing through a certain bayonet (such as a bridge) while navigating on the track, the data serial number in the ship profile feature queue can be considered to represent the corresponding position of the ship, and for the accuracy of analysis, interference data such as a fore cockpit and a stern cockpit need to be eliminated.
Specifically, when a ship completely passes through a bridge, all data in a ship profile feature queue are acquired;
and sequencing all the data according to the sequence of the scanning time from front to back, deleting the front h% of data and the back t% of data in all the sequenced data, and taking the rest data as valid data, wherein h and t respectively represent a third threshold and a fourth threshold, and h and t are both set to be 30 generally.
S108, if D v /（D v +D f ) And if the Kd is larger than the second threshold, judging that the cargo type of the ship is the container, wherein the Kd is the second threshold.
Where Kd can be set to 30%, it is understood that D is not satisfied v /（D v +D f ) If Kd is higher than Kd, the cargo type of the ship cannot be judged to be the container.
In summary, according to the method for determining the ship cargo type provided by this embodiment, the scan data is obtained based on the laser scanning of the laser scanner, the scan map is drawn according to the scan points, whether the scan data at each scan time meets the preset first characteristic condition and the second characteristic condition is determined to determine whether the scan data is the container top characteristic data or the non-container top characteristic data, and finally, whether the ship cargo type is a container is determined according to the data amount of the container top characteristic data in the valid data.
Referring to fig. 6, a ship cargo category determination system according to an embodiment of the present invention includes:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring scanning data of a laser scanner, the laser scanner is installed on a bridge, a laser scanning curtain of the laser scanner is vertical to the water surface, and the scanning data comprises the distance and the angle of a scanning point;
the establishing module is used for establishing a rectangular coordinate system by taking the laser scanner as an origin, taking the water surface direction as an X axis and taking the direction vertical to the water surface as a Y axis, and calculating each scanning point in the scanning data as a coordinate to draw in the rectangular coordinate system so as to form a scanning image;
the first acquisition module is used for acquiring scanning data at each scanning moment when a ship starts to pass through a bridge;
the judging module is used for judging whether a first characteristic condition and a second characteristic condition are simultaneously met for the scanning data at any scanning moment, wherein the first characteristic condition is as follows: in the scanning map, for all scanning points above the reference line, the maximum difference value of the Y-axis coordinate values is smaller than a first threshold value; the second characteristic condition is: in a scanning graph, a contour line formed by all scanning points above a datum line is divided into a plurality of line segments, and for any line segment, the maximum difference value of X-axis coordinate values of the line segments is within a preset range;
the first judging module is used for judging the scanning data to be container top characteristic data if the first characteristic condition and the second characteristic condition are met simultaneously, and judging the scanning data to be non-container top characteristic data if at least one of the first characteristic condition and the second characteristic condition is not met;
the second acquisition module is used for pressing all container top characteristic data and non-container top characteristic data into a ship contour characteristic queue in the process that a ship continuously passes through the bridge;
a third obtaining module, configured to obtain valid data in all data of the ship contour feature queue when the ship completely passes through the bridge, and obtain a data volume D of container top feature data in the valid data v And data quantity D of characteristic data of non-container top f ；
A second determination module for determining if D v /（D v +D f ) Kd > then the ship is judgedThe cargo category is container, where Kd is the second threshold.
In this embodiment, the Y-axis coordinate value H of the reference line satisfies the following conditional expression:
H=Hw + Kh
wherein Hw represents the height value of the water level line, and Kh represents the wave coefficient.
In this embodiment, the second obtaining module is specifically configured to:
when the ship completely passes through the bridge, acquiring all data in the ship profile feature queue;
and sequencing all the data according to the sequence of the scanning time from front to back, deleting the front h% of data and the back t% of data in all the sequenced data, and taking the rest data as effective data, wherein h and t respectively represent a third threshold and a fourth threshold.
In this embodiment:
the first characteristic condition satisfies the following conditional expression:
Yd＜Ky
Yd = Ymax – Ymin
where Yd represents a maximum difference in Y-axis coordinate values of all scanning points located above the reference line in the scan chart, ky represents the first threshold, ymax represents a maximum value in Y-axis coordinate values of all scanning points located above the reference line in the scan chart, and Ymin represents a minimum value in Y-axis coordinate values of all scanning points located above the reference line in the scan chart;
the second characteristic condition satisfies the following conditional expression:
Xd∈[2.4×N，2.5×N]
Xd = Xmax – Xmin
wherein Xd represents the maximum difference of the coordinate values of the X axis in a line segment, [2.4 × N,2.5 × N ] represents the preset range, N is a positive integer greater than 0, xmax represents the maximum value of the coordinate values of the X axis in the line segment, and Xmin represents the minimum value of the coordinate values of the X axis in the line segment.
In this embodiment, in the scan diagram, for all scan points on the contour line, when the x-coordinate distance between two adjacent scan points is greater than the threshold Kx, the two scan points are taken as dividing points between two line segments, so as to divide the contour line into a plurality of line segments.
According to the ship cargo category judging system provided by the embodiment, scanning data are obtained based on laser scanning of a laser scanner, a scanning image is drawn according to scanning points, whether the scanning data are container top characteristic data or non-container top characteristic data is determined according to whether the scanning data at each scanning moment meet a preset first characteristic condition and a preset second characteristic condition, and finally whether the cargo category of a ship is judged according to the data quantity of the container top characteristic data in effective data.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following technologies, which are well known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description of the specification, reference to the description of "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. A method for discriminating a ship cargo category, comprising:
collecting scanning data of a laser scanner, wherein the laser scanner is installed on a bridge, a laser scanning curtain of the laser scanner is vertical to the water surface, and the scanning data comprises the distance and the angle of a scanning point;
establishing a rectangular coordinate system by taking the laser scanner as an origin, the water surface direction as an X axis and the direction vertical to the water surface as a Y axis, and calculating each scanning point in the scanning data as a coordinate to draw in the rectangular coordinate system to form a scanning graph;
when a ship starts to pass through a bridge, acquiring scanning data at each scanning moment;
for the scanning data at any scanning time, judging whether a first characteristic condition and a second characteristic condition are simultaneously met, wherein the first characteristic condition is as follows: in the scanning map, for all scanning points above the reference line, the maximum difference value of the Y-axis coordinate values is smaller than a first threshold value; the second characteristic condition is: in the scanning graph, a contour line formed by all scanning points above a datum line is divided into a plurality of line segments, and for any line segment, the maximum difference value of X-axis coordinate values of the line segments is within a preset range;
if the first characteristic condition and the second characteristic condition are met simultaneously, judging that the scanned data are container top characteristic data, and if at least one of the first characteristic condition and the second characteristic condition is not met, judging that the scanned data are non-container top characteristic data;
pressing all container top characteristic data and non-container top characteristic data into a ship profile characteristic queue in the process that a ship continuously passes through a bridge;
when the ship completely passes through the bridge, obtaining effective data in all data of the ship contour characteristic queue, and obtaining the data volume D of the container top characteristic data in the effective data v And data quantity D of characteristic data of non-container top f ；
If D is v /（D v +D f ) Kd is larger than the threshold value, the cargo type of the ship is judged to be the container, and the Kd is the second threshold value.
2. The ship cargo category discrimination method according to claim 1, characterized in that the Y-axis coordinate value H of the reference line satisfies the following conditional expression:
H=Hw + Kh
wherein Hw represents the height value of the water level line, and Kh represents the wave coefficient.
3. The method for discriminating a ship cargo category according to claim 1, wherein the step of obtaining valid data from all data of the ship contour feature queue specifically includes:
when the ship completely passes through the bridge, acquiring all data in the ship profile feature queue;
and sequencing all the data according to the sequence of the scanning time from front to back, deleting the front h% of the data and the back t% of the data in all the sequenced data, and taking the rest data as effective data, wherein h and t respectively represent a third threshold and a fourth threshold.
4. The ship cargo category discrimination method according to claim 1, characterized in that:
the first characteristic condition satisfies the following conditional expression:
Yd＜Ky
Yd = Ymax – Ymin
where Yd represents a maximum difference in Y-axis coordinate values of all scanning points located above the reference line in the scan pattern, ky represents the first threshold, ymax represents a maximum value in Y-axis coordinate values of all scanning points located above the reference line in the scan pattern, and Ymin represents a minimum value in Y-axis coordinate values of all scanning points located above the reference line in the scan pattern;
the second characteristic condition satisfies the following conditional expression:
Xd∈[2.4×N，2.5×N]
Xd = Xmax – Xmin
wherein Xd represents the maximum difference of the coordinate values of the X axis in a line segment, [2.4 × N,2.5 × N ] represents the preset range, N is a positive integer greater than 0, xmax represents the maximum value of the coordinate values of the X axis in the line segment, and Xmin represents the minimum value of the coordinate values of the X axis in the line segment.
5. The method for discriminating a ship cargo category according to claim 1, wherein the step of dividing the contour line formed by all the scanning points located above the reference line into a plurality of line segments in the scanning map specifically includes:
in the scanning image, for all scanning points on the contour line, when the x coordinate distance between two adjacent scanning points is larger than a threshold Kx, the two scanning points are used as dividing points between two line segments, and the contour line is divided into a plurality of line segments.
6. A ship cargo category discrimination system is characterized by comprising:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring scanning data of a laser scanner, the laser scanner is installed on a bridge, a laser scanning curtain of the laser scanner is vertical to the water surface, and the scanning data comprises the distance and the angle of a scanning point;
the building module is used for building a rectangular coordinate system by taking the laser scanner as an origin, taking the water surface direction as an X axis and taking the direction perpendicular to the water surface as a Y axis, calculating each scanning point in the scanning data as a coordinate and drawing the coordinate in the rectangular coordinate system to form a scanning image;
the first acquisition module is used for acquiring scanning data at each scanning moment when a ship starts to pass through a bridge;
the judging module is used for judging whether a first characteristic condition and a second characteristic condition are simultaneously met for the scanning data at any scanning moment, wherein the first characteristic condition is as follows: in the scanning image, for all scanning points which are positioned above the datum line, the maximum difference value of the Y-axis coordinate values is smaller than a first threshold value; the second characteristic condition is that: in the scanning graph, a contour line formed by all scanning points above a datum line is divided into a plurality of line segments, and for any line segment, the maximum difference value of X-axis coordinate values of the line segments is within a preset range;
the first judging module is used for judging the scanning data to be container top characteristic data if the first characteristic condition and the second characteristic condition are met simultaneously, and judging the scanning data to be non-container top characteristic data if at least one of the first characteristic condition and the second characteristic condition is not met;
the second acquisition module is used for pressing all container top characteristic data and non-container top characteristic data into a ship contour characteristic queue in the process that a ship continuously passes through the bridge;
a third obtaining module, configured to obtain valid data in all data of the ship contour feature queue when the ship completely passes through the bridge, and obtain a data volume D of container top feature data in the valid data v And data quantity D of characteristic data of non-container top f ；
A second determination module for determining if D v /（D v +D f ) Kd is larger than the threshold value, the cargo type of the ship is judged to be the container, and the Kd is the second threshold value.
7. The system according to claim 6, wherein the Y-axis coordinate value H of the reference line satisfies the following conditional expression:
H=Hw + Kh
wherein Hw represents the height value of the water level line, and Kh represents the wave coefficient.
8. The system for determining the ship cargo category according to claim 6, wherein the second acquiring module is specifically configured to:
when the ship completely passes through the bridge, acquiring all data in the ship profile feature queue;
and sequencing all the data according to the sequence of the scanning time from front to back, deleting the front h% of the data and the back t% of the data in all the sequenced data, and taking the rest data as effective data, wherein h and t respectively represent a third threshold and a fourth threshold.
9. The ship cargo category discrimination system according to claim 6, wherein:
the first characteristic condition satisfies the following conditional expression:
Yd＜Ky
Yd = Ymax – Ymin
where Yd represents a maximum difference in Y-axis coordinate values of all scanning points located above the reference line in the scan pattern, ky represents the first threshold, ymax represents a maximum value in Y-axis coordinate values of all scanning points located above the reference line in the scan pattern, and Ymin represents a minimum value in Y-axis coordinate values of all scanning points located above the reference line in the scan pattern;
the second characteristic condition satisfies the following conditional expression:
Xd∈[2.4×N，2.5×N]
Xd = Xmax – Xmin
wherein Xd represents the maximum difference of the coordinate values of the X axis in a line segment, [2.4 × N,2.5 × N ] represents the preset range, N is a positive integer greater than 0, xmax represents the maximum value of the coordinate values of the X axis in the line segment, and Xmin represents the minimum value of the coordinate values of the X axis in the line segment.
10. The system for discriminating a ship cargo category according to claim 6, wherein the contour line is divided into a plurality of line segments by using two adjacent scanning points as division points between two line segments when an x-coordinate distance between the two scanning points is larger than a threshold Kx for all the scanning points on the contour line in the scan.
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