CN115616610B - Detection method and device for ship passing through bridge, computer equipment and storage medium - Google Patents
Detection method and device for ship passing through bridge, computer equipment and storage medium Download PDFInfo
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- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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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
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Abstract
The invention relates to a method and a device for detecting that a ship passes through a bridge, computer equipment and a storage medium, wherein the method comprises the following steps: pre-extracting a bridge region in the ship laser radar point cloud to obtain a bridge region pre-extraction result; extracting the bridge section form according to the bridge region pre-extraction result to obtain a section result; and outputting a ship passability result according to the section result and the ship model. According to the method, the bridge area in the ship laser radar point cloud is pre-extracted, then the bridge section shape is extracted, and the ship passability result is output according to the section result and the ship model, so that the intelligent ship can be assisted to judge whether the current bridge can safely pass.
Description
Technical Field
The invention relates to the technical field of detection of ships passing through bridges, in particular to a method and a device for detecting ships passing through bridges, computer equipment and a storage medium.
Background
In recent years, unmanned ships have been increasingly used in various aspects of production and life, and the application scenes of unmanned ships are gradually advanced from sea to inland, while inland waters contain a large number of bridges, and for unmanned ships with a high degree of automation, autonomous bridge crossing is one of the essential functions of unmanned ships. The real-time change of the river water level brings uncertainty to the bridge passing of unmanned ships, and the passability of the bridge can change along with environmental changes such as seasons and the like. In order to ensure the safe running of the unmanned ship, the unmanned ship can pass through the passable bridge as much as possible and avoid colliding the difficult-to-pass bridge, and the accurate bridge passability detection is important for the unmanned ship. At present, intelligent boats and ships mainly are applied to marine scene, and the relevant work about river course bridge passability detects comparatively lacks, consequently needs a detection method that boats and ships pass through the bridge urgently.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a method and a device for detecting that a ship passes through a bridge, computer equipment and a storage medium.
In order to solve the technical problems, the invention adopts the following technical scheme:
in a first aspect, the present embodiment provides a method for detecting that a ship passes through a bridge, including the following steps:
pre-extracting a bridge region in the ship laser radar point cloud to obtain a bridge region pre-extraction result;
extracting the bridge section form according to the bridge region pre-extraction result to obtain a section result;
and outputting a ship passability result according to the section result and the ship model.
The further technical scheme is as follows: the bridge region pre-extraction method for the ship laser radar point cloud to obtain the bridge region pre-extraction result comprises the following steps:
calculating an approximate region of the bridge based on the positioning position of the bridge and the current positioning position of the ship, and extracting the approximate region of the bridge to obtain partial bridge body point cloud;
and expanding part of the bridge point cloud to extract the whole bridge point cloud, namely a bridge region pre-extraction result.
The further technical scheme is as follows: the bridge section form is extracted according to the bridge area pre-extraction result to obtain a section result, and the method comprises the following steps of:
preliminarily extracting the position of the bridge section according to the pre-extraction result of the bridge area;
extracting an inner bridge contour of the profile point cloud based on the position of the bridge profile;
optimizing the direction of the cross section of the bridge according to the inner contour of the cross section point cloud;
according to the optimization of the bridge section direction, a section boundary is extracted to establish a section boundary form, namely a section result.
The further technical scheme is as follows: in the step of outputting the ship passability result according to the section result and the ship model, the ship passability result is output by setting the safe distance and combining the section result, the ship model and the safe distance.
In a second aspect, the present embodiment provides a detection apparatus for detecting that a ship passes through a bridge, including: the device comprises a pre-extraction unit, an extraction unit and an output unit;
the pre-extraction unit is used for pre-extracting a bridge region in the ship laser radar point cloud to obtain a pre-extraction result of the bridge region;
the extraction unit is used for extracting the cross section form of the bridge according to the pre-extraction result of the bridge area so as to obtain a cross section result;
and the output unit is used for outputting a ship passability result according to the section result and the ship model.
The further technical scheme is as follows: the pre-extraction unit includes: the system comprises a calculation extraction module and an extension extraction module;
the calculation and extraction module is used for calculating an approximate bridge area based on the positioning position of the bridge and the current positioning position of the ship, and extracting the approximate bridge area to obtain partial bridge body point cloud;
the expansion extraction module is used for expanding partial bridge point clouds to extract the whole bridge point cloud, namely a bridge region pre-extraction result.
The further technical scheme is as follows: the extraction unit includes: the device comprises a preliminary extraction module, an optimization module and an extraction establishment module;
the preliminary extraction module is used for preliminarily extracting the position of the bridge section according to the preliminary extraction result of the bridge area;
the extraction module is used for extracting the in-bridge contour of the profile point cloud based on the position of the bridge profile;
the optimization module is used for optimizing the cross section direction of the bridge according to the inner bridge contour of the cross section point cloud;
the extraction establishing module is used for extracting the section boundary according to the optimization of the bridge section direction so as to establish the section boundary form, namely the section result.
The further technical scheme is as follows: and the output unit outputs a ship passability result by setting a safety distance and combining a section result, a ship model and the safety distance.
In a third aspect, the present embodiment provides a computer device, where the computer device includes a memory and a processor, where the memory stores a computer program, and the processor, when executing the computer program, implements the method for detecting that a ship passes through a bridge as described above.
In a fourth aspect, the present embodiment provides a storage medium storing a computer program comprising program instructions which, when executed by a processor, may implement the method for detecting a ship passing through a bridge as described above.
Compared with the prior art, the invention has the beneficial effects that: bridge areas in ship laser radar point clouds are pre-extracted, then a bridge section shape is extracted, a ship passability result is output according to a section result and a ship model, and an intelligent ship can be assisted to judge whether a current bridge can safely pass or not.
The invention is further described below with reference to the accompanying drawings and specific embodiments.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, 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 invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a first schematic flow chart of a method for detecting that a ship passes through a bridge according to an embodiment of the present invention;
fig. 2 is a schematic flow chart illustrating a method for detecting that a ship passes through a bridge according to an embodiment of the present invention;
fig. 3 is a third schematic flow chart of a detection method for a ship passing through a bridge according to an embodiment of the present invention;
FIG. 4 is a schematic top view of a marker for a bridge exit and entrance point of a ship provided by an embodiment of the invention;
FIG. 5 is a schematic block diagram I of a detection apparatus for detecting that a ship passes through a bridge according to an embodiment of the present invention;
fig. 6 is a schematic block diagram ii of a detection apparatus for detecting that a ship passes through a bridge according to an embodiment of the present invention;
fig. 7 is a schematic block diagram third of the detection apparatus for detecting that a ship passes through a bridge according to the embodiment of the present invention;
fig. 8 is a schematic block diagram of a computer device provided in an embodiment of the present invention.
Detailed Description
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, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
Referring to the embodiments shown in fig. 1 to 4, the present invention discloses a method for detecting a ship passing through a bridge, which includes the following steps:
s1, pre-extracting a bridge region in a ship laser radar point cloud to obtain a bridge region pre-extraction result;
in an embodiment, referring to fig. 2, the pre-extracting the bridge region in the ship lidar point cloud to obtain a pre-extraction result of the bridge region includes the following steps:
s11, calculating an approximate bridge region based on the positioning position of the bridge and the current positioning position of the ship, and extracting the approximate bridge region to obtain partial bridge body point cloud;
specifically, the positioning can be performed through a GPS or a Beidou so as to form a positioning position where the bridge is located and a current positioning position of the ship.
Referring to fig. 4, the GPS coordinates of the bridge entrance and exit are recorded, the GPS coordinates of the exit point and the entrance point corresponding to the bridge to be passed are marked, and the connecting line between the bridge point and the entrance point must pass through the middle of the bridge opening to be passed. Wherein the path of the bridge point
Weft yarn
Degree coordinate is recorded as
The warp of the bridge-out point
Weft yarn
Degree coordinate is recorded as
。
Calculating the approximate area of the bridge in the current real-time observation point cloud according to the coordinate conversion relation, and calculating the current GPS coordinate of the ship according to the current GPS coordinate
And the orientation of the bow of the ship in the northeast coordinate system
And the coordinate points corresponding to the bridge entrance point and the bridge exit point in the laser radar coordinate system of the current ship can be obtained in a convertible manner, wherein the coordinate corresponding to the bridge entrance point is
The coordinates corresponding to the bridge exit point are
。
And S12, expanding partial bridge point clouds to extract the whole bridge point cloud, namely a bridge region pre-extraction result.
Specifically, three-dimensional connectivity expansion is carried out on a selected area to extract point clouds of the whole area of the bridge, partial point clouds of the bridge body are extracted based on the rough area of the bridge extracted in the last step, and a current frame of laser radar point cloud set can be represented as
Wherein
，
Represents one lidar point in the lidar point cloud of the current frame, wherein,
including the lidar point corresponding
Axis coordinates.
Coordinate points corresponding to bridge entrance points and bridge exit points based on obtained results
And
extracting the connecting line direction of the two points, and expanding a distance to the left and the right respectively
To obtain a rectangular area
. Extracting laser radar point cloud of current frame
In the region
All point clouds in (1) as
。
And (2) performing three-dimensional connectivity expansion on the extracted bridge point cloud to extract the whole bridge point cloud, wherein the marked bridge exit and entrance points need to pass through the middle of the bridge opening, so that the point cloud contained in the rectangular area is inevitably the point cloud corresponding to the top bridge, the three-dimensional connectivity expansion is performed on the part of the point cloud, and the complete bridge point cloud can be obtained, and the specific method comprises the following steps:
for a complete frame of point cloud
Performing three-dimensional voxel segmentation with a voxel grid size of
Each voxel grid comprises a plurality of laser radar point clouds, and a threshold value is set
Counting each grid after voxelization, wherein the number of the laser radar point clouds in the grids is more than that of the laser radar point clouds
Recorded as an occupancy grid; the number of point clouds is less than
Is denoted as a non-occupied grid.
To pair
And performing three-dimensional connected domain expansion on all grids contained in the point cloud. That is, referring to the 8 connected domain algorithm of the two-dimensional plane, in the three-dimensional grid of the three-dimensional space, that is, the grid expanded to 26 connected domains, that is, a three-dimensional grid, including its own surrounding 3 × 3 grids, except the currently occupied grid, the remaining 26 grids have occupied grids, and the grid is considered to be the 26 connected grids of the original grid, and the expanded connected domain is the 26 connected domain. To pair
And calculating 26 connected domain areas of each grid by using a 26 connected domain algorithm on all grids occupied by the point cloud. Merging all connected domain grids, performing three-dimensional 6-connected domain grid expansion on all the merged grid regions, (namely referring to a 4-connected domain algorithm of a two-dimensional plane, in a three-dimensional space, namely, if the upper, lower, left, right and front grids of the current grid are occupied, the grid is considered to be the 6-connected grid of the original grid), merging the grid with the current grid region to obtain the final integral connected domain grid set belonging to the bridge region
。
Extracting connected domain grid sets
Obtaining the expanded bridge point cloud from all the laser radar point clouds
Namely the bridge region pre-extraction result.
S2, extracting the cross section form of the bridge according to the pre-extraction result of the bridge area to obtain a cross section result;
in an embodiment, referring to fig. 3, the extracting a bridge profile form according to the bridge region pre-extraction result to obtain a profile result includes the following steps:
s21, preliminarily extracting the position of the cross section of the bridge according to the pre-extraction result of the bridge area;
specifically, the approximate direction of the section of the bridge opening is calculated according to the positions of the bridge exit and entrance points, and the corresponding coordinates of the calculated bridge entrance points are calculated
And the corresponding coordinates of the bridge exit point
Calculating the direction of the line connecting the two points
Calculating through
And
a midpoint and
straight line of perpendicularity
. From a straight line
Can generate an AND
Plane perpendicular to the plane
Then, the plane is considered as the initial position of the bridge profile.
S22, extracting an in-bridge contour of the profile point cloud based on the position of the bridge profile;
specifically, a set of 2D profile point clouds
By this part of the method, the inner contour can be extracted, which is needed in the subsequent process flow.
For a set of 2D profile point clouds
By making it at a fixed angle
Performing sector division to obtain
A sector in which
Representing a rounding up. For the points in each sector, the point cloud with the nearest distance from the origin point is obtained
。
From 1 st to 1 st
Each sector corresponding to the sector
Connected to obtain a group of edge points
To, for
Smoothing to obtain final edge point
The point cloud is the inner bridge contour of the profile point cloud.
S23, optimizing the cross section direction of the bridge according to the inner bridge contour of the cross section point cloud;
specifically, when considering the marking of the bridge exit and entrance points, the marking is not necessarily perfectly parallel to the river channel direction, and the perpendicular direction thereof is not necessarily exactly the positive section direction of the bridge. Thus, with a certain correction in this direction, the right profile of the bridge should be such that the area occupied by the bridge opening along which the bridge is cut should be minimal. Based on the method, the section direction is calculated by the following specific method:
for plane
Along the connecting line of the bridge-out and bridge-in points, i.e.
Direction, respectively moving distance to approach bridge point and approach bridge point
To obtain a plane
And
。
extracting plane
And
point cloud of lidar in between, note
Projecting the partial point cloud to
Plane to obtain a plane point cloud
。
Calculating plane point cloud based on the method for extracting inner contour
Corresponding area of hollow in bridge
To be provided with
For step size, respectively generate and
included angle of
(wherein,
representing the upper limit of the included angle between the connecting line of the bridge-entering and bridge-exiting points and the river channel direction), and passes through the plane of the midpoint of the connecting line of the bridge-entering and bridge-exiting points. Repeating the above process, and recording the bridge airspace area in the process
. Finding the plane corresponding to the minimum value
The plane is the positive section of the bridge, and the direction corresponding to the plane is the positive section direction of the bridge.
S24, according to the optimization of the bridge section direction, a section boundary is extracted to establish a section boundary form, namely a section result.
Specifically, along the direction of the river channel, a plurality of sections at different positions in the bridge point cloud are intercepted, and the calculation is carried out
To the plane of
Along the connecting line direction of the bridge exit and entrance points,
namely, it is
Direction, respectively distance of movement
To obtain
And (4) a plane. Wherein
，
Which represents that the whole is taken up upwards,
is the distance between the exit and entrance bridge points.
Extraction of
Slice of 2D point cloud
. Extracting the boundary of the point cloud in each section range, establishing the edge characteristics of the point cloud, and extracting the section of the point cloud
The method for extracting the inner contour, the corresponding method
Contour profile
I.e. the extraction result of the section shape in the whole bridge.
And S3, outputting a ship passability result according to the section result and the ship model.
In an embodiment, in the step of outputting the ship passability result according to the profile result and the ship model, the safety distance is set, and the ship passability result is output by combining the profile result, the ship model and the safety distance.
Specifically, the extraction result is extracted according to the obtained section morphology
Judging the relationship between the ship section and each bridge section to obtain the result of whether the ship can pass under the bridge or not, wherein the specific method comprises the following steps:
for profile of section
And finding the center point at the lowest left and right sides of the outline as the origin of coordinates. Is provided with
The width of the ship is
Height of
The required safety distance is
Then using the origin of coordinates as
The lower midpoint of the rectangle generates aHas a width of
Height of
Is rectangular
。
Determining a profile
And rectangular boundary
If there is no intersection point, the section is indicated, and the ship can safely run. If it is
If any contour has an intersection point with the rectangular boundary generated correspondingly, the bridge is considered dangerous and can not pass through. Otherwise, the bridge is considered safe and can pass through.
According to the method, the bridge area in the ship laser radar point cloud is pre-extracted, then the bridge section shape is extracted, and the ship passability result is output according to the section result and the ship model, so that the intelligent ship can be assisted to judge whether the current bridge can safely pass.
Referring to fig. 5, the present invention also discloses a device for detecting a ship passing through a bridge, including: a pre-extraction unit 10, an extraction unit 20, and an output unit 30;
the pre-extraction unit 10 is used for pre-extracting a bridge region in the ship laser radar point cloud to obtain a bridge region pre-extraction result;
the extraction unit 20 is configured to extract a bridge profile form according to a bridge region pre-extraction result to obtain a profile result;
and the output unit 30 is used for outputting the ship passability result according to the section result and the ship model.
In one embodiment, referring to fig. 6, the pre-fetch unit 10 includes: a calculation extraction module 11 and an extension extraction module 12;
the calculation and extraction module 11 is configured to calculate an approximate bridge region based on the location position of the bridge and the current location position of the ship, and extract the approximate bridge region to obtain a partial bridge body point cloud;
the expansion extraction module 12 is configured to expand part of the bridge point cloud to extract the whole bridge point cloud, that is, a pre-extraction result of the bridge area.
In one embodiment, please refer to fig. 7, the extracting unit 20 includes: a preliminary extraction module 21, an extraction module 22, an optimization module 23 and an extraction establishment module 24;
the preliminary extraction module 21 is configured to preliminarily extract a bridge profile position according to a bridge region preliminary extraction result;
the extraction module 22 is configured to extract an in-bridge contour of the profile point cloud based on the bridge profile position;
the optimization module 23 is configured to optimize a bridge section direction according to an inner bridge contour of the section point cloud;
the extraction and establishment module 24 is configured to extract a section boundary according to optimization of a bridge section direction, so as to establish a section boundary form, that is, a section result.
In one embodiment, the output unit 30 outputs the result of the passability of the ship by setting a safe distance and combining the profile result, the ship model and the safe distance.
It should be noted that, as can be clearly understood by those skilled in the art, the concrete implementation processes of the detection device and each unit for a ship passing through a bridge may refer to the corresponding description in the foregoing method embodiment, and for convenience and conciseness of description, no further description is provided herein.
The above-mentioned detection device for the passage of the ship through the bridge may be implemented in the form of a computer program that can be run on a computer apparatus as shown in fig. 8.
Referring to fig. 8, fig. 8 is a schematic block diagram of a computer device according to an embodiment of the present application; the computer device 500 may be a terminal or a server, where the terminal may be an electronic device with a communication function, such as a smart phone, a tablet computer, a notebook computer, a desktop computer, a personal digital assistant, and a wearable device. The server may be an independent server or a server cluster composed of a plurality of servers.
Referring to fig. 8, the computer device 500 includes a processor 502, memory, and a network interface 505 connected by a system bus 501, where the memory may include a non-volatile storage medium 503 and an internal memory 504.
The non-volatile storage medium 503 may store an operating system 5031 and a computer program 5032. The computer programs 5032 include program instructions that, when executed, cause the processor 502 to perform a method of detecting the passage of a ship through a bridge.
The processor 502 is used to provide computing and control capabilities to support the operation of the overall computer device 500.
The internal memory 504 provides an environment for the operation of the computer program 5032 in the non-volatile storage medium 503, and when the computer program 5032 is executed by the processor 502, the processor 502 may be enabled to execute a method for detecting that a ship passes through a bridge.
The network interface 505 is used for network communication with other devices. Those skilled in the art will appreciate that the configuration shown in fig. 8 is a block diagram of only a portion of the configuration relevant to the present teachings and does not constitute a limitation on the computer device 500 to which the present teachings may be applied, and that a particular computer device 500 may include more or less components than those shown, or combine certain components, or have a different arrangement of components.
Wherein the processor 502 is configured to run the computer program 5032 stored in the memory to implement the following steps:
step S1, pre-extracting a bridge region in ship laser radar point cloud to obtain a pre-extraction result of the bridge region;
s2, extracting the cross section form of the bridge according to the pre-extraction result of the bridge area to obtain a cross section result;
and S3, outputting a ship passability result according to the section result and the ship model.
It should be understood that in the embodiment of the present Application, the Processor 502 may be a Central Processing Unit (CPU), and the Processor 502 may also 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. Wherein a general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
It will be understood by those skilled in the art that all or part of the flow of the method implementing the above embodiments may be implemented by a computer program instructing associated hardware. The computer program includes program instructions, and the computer program may be stored in a storage medium, which is a computer-readable storage medium. The program instructions are executed by at least one processor in the computer system to implement the flow steps of the embodiments of the method described above.
Accordingly, the present invention also provides a storage medium. The storage medium may be a computer-readable storage medium. The storage medium stores a computer program, wherein the computer program comprises program instructions which, when executed by a processor, may implement the above-described method for detecting a ship passing through a bridge. The storage medium stores a computer program comprising program instructions which, when executed by a processor, implement the method described above. The program instructions include the steps of:
step S1, bridge regions in ship laser radar point clouds are pre-extracted to obtain bridge region pre-extraction results;
s2, extracting the cross section form of the bridge according to the pre-extraction result of the bridge area to obtain a cross section result;
and S3, outputting a ship passability result according to the section result and the ship model.
The storage medium may be a usb disk, a removable hard disk, a Read-Only Memory (ROM), a magnetic disk, or an optical disk, which can store various computer readable storage media.
Those of ordinary skill in the art will appreciate that the elements and algorithm steps of the examples described in connection with the embodiments disclosed herein may be embodied in electronic hardware, computer software, or combinations of both, and that the components and steps of the examples have been described in a functional general in the foregoing description for the purpose of illustrating clearly the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. 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 invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative. For example, the division of each unit is only one logic function division, and there may be another division manner in actual implementation. For example, various elements or components may be combined or may be integrated into another system, or some features may be omitted, or not implemented.
The steps in the method of the embodiment of the invention can be sequentially adjusted, combined and deleted according to actual needs. The units in the device of the embodiment of the invention can be merged, divided and deleted according to actual needs. In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a storage medium. Based on such understanding, the technical solution of the present invention essentially or partially contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a terminal, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention.
The above embodiments are preferred implementations of the present invention, and the present invention can be implemented in other ways without departing from the spirit of the present invention.
Claims (8)
1. The detection method for the ship passing through the bridge is characterized by comprising the following steps:
pre-extracting a bridge region in the ship laser radar point cloud to obtain a pre-extraction result of the bridge region;
extracting the bridge section form according to the bridge region pre-extraction result to obtain a section result;
outputting a ship passability result according to the section result and the ship model;
the bridge region pre-extraction method for the ship laser radar point cloud to obtain the bridge region pre-extraction result comprises the following steps:
calculating an approximate region of the bridge based on the positioning position of the bridge and the current positioning position of the ship, and extracting the approximate region of the bridge to obtain partial bridge body point cloud;
expanding part of the bridge point cloud to extract the whole bridge point cloud, namely a bridge area pre-extraction result;
recording GPS coordinates of a bridge entrance and a bridge exit of a bridge, marking the GPS coordinates of a bridge exit point and a bridge entrance point corresponding to the bridge to be passed through, and determining that a connecting line of the bridge point and the bridge entrance point must pass through the middle of a bridge opening to be passed through; wherein the path of the bridge point
Weft yarn
Degree coordinate is recorded as
The warp of the bridge-out point
Weft yarn
Degree coordinate is recorded as
；
Calculating the approximate area of the bridge in the current real-time observation point cloud according to the coordinate conversion relation, and calculating the current GPS coordinate of the ship according to the current GPS coordinate
And the heading of the vessel in the northeast coordinate system
And the coordinate points corresponding to the bridge entrance point and the bridge exit point in the laser radar coordinate system of the current ship can be obtained in a convertible manner, wherein the coordinate corresponding to the bridge entrance point is
The coordinates corresponding to the bridge exit point are
；
Performing three-dimensional connectivity expansion on the selected area to extract point clouds in the whole area of the bridge, extracting partial point clouds of the bridge body based on the extracted approximate area of the bridge, and setting the current frame of laser radar point cloud set as
Wherein
，
Represents one lidar point in the lidar point cloud of the current frame, wherein,
including the lidar point corresponding
Axis coordinates;
coordinate points corresponding to bridge entrance points and bridge exit points based on obtained results
And
extracting the connecting line direction of the two points, and expanding a distance to the left and the right respectively
To obtain a rectangular area
(ii) a Extracting laser radar point cloud of current frame
In the region
All point clouds in (1), as
；
And (3) performing three-dimensional connectivity expansion on the extracted bridge point cloud to extract the whole bridge point cloud, wherein the marked exit and entrance points need to pass through the middle of the bridge opening, so that the point cloud contained in the rectangular area is inevitably the point cloud corresponding to the top bridge, and the three-dimensional connectivity expansion is performed on the part of the point cloud to obtain the complete bridge point cloud, which specifically comprises the following steps:
for a complete frame of point cloud
Performing three-dimensional voxel segmentation with a voxel grid size of
Each voxel grid comprises a plurality of laser radar point clouds, and a threshold value is set
Counting each grid after voxelization, wherein the number of the laser radar point clouds in the grids is more than that of the laser radar point clouds
Recorded as an occupancy grid; the number of point clouds is less than
Is denoted as a non-occupied grid;
to pair
Expanding a three-dimensional connected domain of all grids contained in the point cloud; that is, referring to the 8 connected domain algorithm of the two-dimensional plane, in the three-dimensional grid of the three-dimensional space, that is, the three-dimensional grid, including its own surrounding 3 × 3 grids, except the currently occupied grid, the remaining 26 grids have occupied grids, and then the grid is considered as the 26 connected grids of the original grid, and the expanded connected region is the 26 connected domains; for is to
Calculating 26 connected domain areas of each grid by using a 26 connected domain algorithm for all grids occupied by the point cloud; merging all connected domain grids, and performing three-dimensional 6-connected domain grid expansion on all the merged grid regions, namely referring to 4-connection of two-dimensional planesAnd (3) domain algorithm, namely in a three-dimensional space, namely the upper and lower grids, the left and right grids and the front and back grids of the current grid are occupied, considering the grid as a 6-connected grid of the original grid, and combining the grid with the current grid region to obtain the final integral connected domain grid set belonging to the bridge region
；
Extracting connected domain grid sets
Obtaining the expanded bridge point cloud from all the laser radar point clouds
Namely the bridge region pre-extraction result.
2. The method for detecting the ship passing through the bridge according to claim 1, wherein the bridge section morphology is extracted according to the bridge region pre-extraction result to obtain a section result, and the method comprises the following steps:
preliminarily extracting the position of the bridge section according to the pre-extraction result of the bridge area;
extracting an inner bridge contour of the profile point cloud based on the position of the bridge profile;
optimizing the direction of the cross section of the bridge according to the inner contour of the cross section point cloud;
according to the optimization of the bridge section direction, a section boundary is extracted to establish a section boundary form, namely a section result.
3. The method for detecting ship passing through a bridge according to claim 1, wherein in the step of outputting the ship passability result based on the section result and the ship model, the ship passability result is output by setting a safe distance and combining the section result, the ship model, and the safe distance.
4. Detection device that boats and ships pass through bridge, its characterized in that includes: the device comprises a pre-extraction unit, an extraction unit and an output unit;
the pre-extraction unit is used for pre-extracting a bridge region in the ship laser radar point cloud to obtain a bridge region pre-extraction result;
the extraction unit is used for extracting the cross section form of the bridge according to the pre-extraction result of the bridge area so as to obtain a cross section result;
the output unit is used for outputting a ship passability result according to the section result and the ship model;
the pre-extraction unit includes: the system comprises a calculation extraction module and an extension extraction module;
the calculation and extraction module is used for calculating an approximate bridge area based on the positioning position of the bridge and the current positioning position of the ship, and extracting the approximate bridge area to obtain partial bridge body point cloud;
the expansion extraction module is used for expanding partial bridge point clouds to extract the whole bridge point cloud, namely a bridge region pre-extraction result;
recording GPS coordinates of a bridge entrance and a bridge exit of a bridge, marking the GPS coordinates of a bridge exit point and a bridge entrance point corresponding to the bridge to be passed through, and determining that a connecting line of the bridge point and the bridge entrance point must pass through the middle of a bridge opening to be passed through; wherein the path of the bridge-entering point
Weft yarn
Degree coordinate is recorded as
The longitude from the bridge point
Weft yarn
Degree coordinate is recorded as
；
Calculating the approximate area of the bridge in the current real-time observation point cloud according to the coordinate conversion relation, and calculating the current GPS coordinate of the ship according to the current GPS coordinate
And the orientation of the bow of the ship in the northeast coordinate system
And the coordinate points corresponding to the bridge entrance point and the bridge exit point in the laser radar coordinate system of the current ship can be obtained in a convertible manner, wherein the coordinate corresponding to the bridge entrance point is
The coordinates corresponding to the bridge exit point are
；
Performing three-dimensional connectivity expansion on the selected area to extract point clouds in the whole area of the bridge, extracting partial point clouds of the bridge body based on the extracted approximate area of the bridge, and setting the current frame of laser radar point cloud set as
Wherein
，
Represents one lidar point in the lidar point cloud of the current frame, wherein,
including the lidar point correspondences
Axis coordinates;
coordinate points corresponding to bridge entrance points and bridge exit points based on obtained results
And
extracting the connecting line direction of the two points, and expanding a distance to the left and the right respectively
To obtain a rectangular region
(ii) a Extracting laser radar point cloud of current frame
In a region
All point clouds in (1), as
；
And (3) performing three-dimensional connectivity expansion on the extracted bridge point cloud to extract the whole bridge point cloud, wherein the marked exit and entrance points need to pass through the middle of the bridge opening, so that the point cloud contained in the rectangular area is inevitably the point cloud corresponding to the top bridge, and the three-dimensional connectivity expansion is performed on the part of the point cloud to obtain the complete bridge point cloud, which specifically comprises the following steps:
for a complete frame of point cloud
Performing three-dimensional voxelized segmentation with a voxel grid size of
Each voxel grid comprises a plurality of laser radar point clouds, and a threshold value is set
Counting each grid after voxelizationIn the grid, the number of laser radar point clouds is larger than
Recorded as an occupancy grid; the number of point clouds is less than
Is denoted as a non-occupied grid;
for is to
Expanding a three-dimensional connected domain of all grids contained in the point cloud; that is, referring to the 8 connected domain algorithm of the two-dimensional plane, in the three-dimensional grid of the three-dimensional space, that is, the three-dimensional grid, which is expanded to 26 connected domain algorithms, including the grid occupied at present, in the surrounding 3 × 3 grids, the remaining 26 grids have occupied grids, and then the grid is considered to be the 26 connected grids of the original grid, and the expanded connected domain is the 26 connected domain; to pair
Calculating 26 connected domain areas of each grid by using a 26 connected domain algorithm for all grids occupied by the point cloud; merging all connected domain grids, performing three-dimensional 6-connected domain grid expansion on all grid regions after merging, namely referring to a 4-connected domain algorithm of a two-dimensional plane, in a three-dimensional space, namely, if the upper, lower, left, right, front and back grids of the current grid are occupied, considering the grid as a 6-connected grid of the original grid, merging the grid with the current grid region to obtain a final integral connected domain grid set belonging to a bridge region
；
Extracting connected domain grid sets
Obtaining the expanded bridge point cloud from all the laser radar point clouds
Namely the bridge area pre-extraction result.
5. The detection apparatus for detecting ship passing through a bridge according to claim 4, wherein the extraction unit comprises: the device comprises a preliminary extraction module, an optimization module and an extraction establishment module;
the preliminary extraction module is used for preliminarily extracting the position of the bridge section according to the preliminary extraction result of the bridge area;
the extraction module is used for extracting the in-bridge contour of the profile point cloud based on the position of the bridge profile;
the optimization module is used for optimizing the cross section direction of the bridge according to the inner bridge contour of the cross section point cloud;
the extraction establishing module is used for extracting the section boundary according to the optimization of the bridge section direction so as to establish the section boundary form, namely the section result.
6. The apparatus according to claim 4, wherein the output means outputs the result of the passability of the ship by setting a safety distance and combining the profile result, the ship model, and the safety distance.
7. A computer arrangement, characterized in that the computer arrangement comprises a memory on which a computer program is stored and a processor which, when executing the computer program, implements the method of detection of a ship passing through a bridge according to any one of claims 1-3.
8. A storage medium, characterized in that the storage medium stores a computer program comprising program instructions which, when executed by a processor, implement the method of detection of a ship passing a bridge according to any one of claims 1-3.
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