CN115748641B - Ship monitoring system, method, control device and medium based on ship lift - Google Patents
Ship monitoring system, method, control device and medium based on ship lift Download PDFInfo
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Abstract
The application discloses a ship monitoring system, a ship monitoring method, a ship monitoring control device and a ship monitoring medium based on a ship lift, wherein the ship monitoring system based on the ship lift comprises the following components: the system comprises an upper lock head, a lower lock head and a ship carriage, wherein an upper forbidden stop line is arranged at one end of the ship carriage, a lower forbidden stop line is arranged at the other end of the ship carriage, and a first laser radar is used for monitoring a first longitudinal distance between a ship and the upper lock head; the second laser radar is used for monitoring a second longitudinal distance between the ship and the upper forbidden stop line; the third laser radar is used for monitoring a third longitudinal distance between the ship and the lower forbidden stop line; a fourth lidar for monitoring a fourth longitudinal distance between the vessel and the lower lock head; the controller is used for sending monitoring signals according to the first longitudinal distance, the second longitudinal distance, the third longitudinal distance and the fourth longitudinal distance; and the driving device is used for driving the ship in the ship lift to move according to the monitoring signal. According to the technical scheme, the ship can be monitored in real time, and the navigation safety of the ship is improved.
Description
Technical Field
The application relates to the technical field of ship lifts, in particular to a ship monitoring system, a ship monitoring method, a ship monitoring control device and a ship monitoring medium based on a ship lift.
Background
The ship lift is one kind of navigation building set for ship to pass through the concentrated water level drop in the channel and consists of upper and lower lock heads, ship carriage, support and guide structure, driving unit, etc. However, the ship is limited by the section coefficient of the ship lift carriage in the process of entering and exiting the ship lift carriage, the blocking effect is quite obvious, and the water surface fluctuation and the ship sinking amount in the ship carriage in the process of entering and exiting the ship carriage are far greater than those of the ship lock. The maximum sinking amount of the ship is gradually increased along with the increase of the navigational speed, and the navigational speed exceeding the standard is extremely easy to cause the bottom-touching accident of the ship, so that the ship is required to be monitored, and the navigational safety is improved.
Disclosure of Invention
The embodiment of the application provides a ship monitoring system, a ship monitoring method, a ship monitoring control device and a ship monitoring medium based on a ship lift, which can realize monitoring of ships and improve the navigation safety of the ships.
In a first aspect, an embodiment of the present application provides a ship monitoring system based on a ship lift, including an upper lock head, a lower lock head, and a ship lift cabin, wherein one end of the ship lift cabin is provided with an upper stop line, and the other end is provided with a lower stop line, including:
The first laser radar is arranged on one side of the upper lock head and is used for monitoring a first longitudinal distance between the ship and the upper lock head;
The second laser radar is arranged on one side of the upper forbidden stop line and is used for monitoring a second longitudinal distance between the ship and the upper forbidden stop line;
a third lidar disposed on one side of the lower stop line, the third lidar configured to monitor a third longitudinal distance between the vessel and the lower stop line;
a fourth lidar disposed on one side of the lower lock head, the fourth lidar configured to monitor a fourth longitudinal distance between the vessel and the lower lock head;
The controller is respectively connected with the first laser radar, the second laser radar, the third laser radar and the fourth laser radar, and is used for receiving the first longitudinal distance, the second longitudinal distance, the third longitudinal distance and the fourth longitudinal distance and sending monitoring signals according to the first longitudinal distance, the second longitudinal distance, the third longitudinal distance and the fourth longitudinal distance;
and the driving device is connected with the controller to receive the monitoring signal and is used for driving the ship in the ship lift to move according to the monitoring signal.
In a second aspect, an embodiment of the present application further provides a ship monitoring method based on a ship lift, which is applied to a ship monitoring system, where the ship monitoring system includes a driving device, an upper lock head, a lower lock head, and a ship lift cabin, one end of the ship lift cabin is provided with an upper stop line, and the other end of the ship lift cabin is provided with a lower stop line, and the ship monitoring system based on the ship lift further includes a laser radar, where the laser radar includes a first laser radar disposed on one side of the upper lock head, a second laser radar disposed on one side of the upper stop line, a third laser radar disposed on one side of the lower stop line, and a fourth laser radar disposed on one side of the lower lock head;
The monitoring method comprises the following steps:
acquiring ship point cloud information corresponding to the ship, wherein the ship point cloud information is obtained by monitoring the ship by the laser radar and comprises a point cloud coordinate system;
Adjusting the point cloud coordinate system according to the installation position of the laser radar so that the point cloud coordinate system is parallel to a preset ship lift cabin coordinate system;
performing point cloud filtering on the adjusted point cloud coordinate system to obtain target point cloud information;
constructing an index structure corresponding to the target point cloud information, and monitoring the ship according to the index structure to obtain the position information and the speed information of the ship;
determining a gesture frame corresponding to the ship according to the target point cloud information;
performing angle monitoring on the attitude frame to obtain heading angle information of the ship;
And generating a monitoring signal according to the heading angle information, the position information and the speed information.
In a third aspect, an embodiment of the present application further provides a control apparatus, including: a memory, a processor and a computer program stored on the memory and executable on the processor, which processor, when executing the computer program, implements the ship monitoring method based on ship lift as described in the second aspect.
In a fourth aspect, embodiments of the present application also provide a computer-readable storage medium storing computer-executable instructions for performing the ship monitoring method based on the ship lift according to the second aspect.
The embodiment of the application comprises the following steps: a first laser radar arranged at one side of the upper lock head, a second laser radar arranged at one side of the upper stop line, a third laser radar arranged at one side of the lower stop line and a fourth laser radar arranged at one side of the lower lock head, wherein the first laser radar is used for monitoring a first longitudinal distance between the ship and the upper lock head, the second laser radar is used for monitoring a second longitudinal distance between the ship and the upper stop line, the third laser radar is used for monitoring a third longitudinal distance between the ship and the lower stop line, the fourth laser radar is used for monitoring a fourth longitudinal distance between the ship and the lower lock head, the controller is respectively connected with the first laser radar, the second laser radar, the third laser radar and the fourth laser radar to receive the first longitudinal distance, the second longitudinal distance, the third longitudinal distance and the fourth longitudinal distance so as to generate monitoring signals, according to the technical scheme, the first longitudinal distance, the second longitudinal distance, the third longitudinal distance and the fourth longitudinal distance are obtained through monitoring by the first laser radar, the second laser radar, the third laser radar and the fourth laser radar, so that accurate measurement of the ship distance is achieved, point cloud shielding in the ship entering process can be reduced through measurement of all azimuth distances, and the controller sends corresponding monitoring signals to the driving device according to the received first longitudinal distance, the second longitudinal distance, the third longitudinal distance and the fourth longitudinal distance, and the driving device can monitor the ship and improve the navigation safety of the ship by receiving the monitoring information to drive the ship in the ship lift.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention may be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
FIG. 1 is a schematic diagram of a ship monitoring system based on a ship lift according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method of monitoring a vessel in accordance with one embodiment of the present invention;
FIG. 3 is a flowchart of a specific method of step S103 in FIG. 2;
FIG. 4 is a flowchart of a specific method of step S105 in FIG. 2;
FIG. 5 is a flow chart of a method of monitoring a vessel in accordance with another embodiment of the invention;
FIG. 6 is a flow chart of a method of monitoring a vessel in accordance with another embodiment of the invention;
fig. 7 is a schematic structural diagram of a control device according to an embodiment of the present application.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
It should be noted that although a logical order is illustrated in the flowchart, in some cases, the steps illustrated or described may be performed in an order different from that in the flowchart. The terms first, second and the like in the description and in the claims and in the above-described figures, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
In the embodiments of the present application, when related processing is required to be performed according to data related to characteristics of a target object (e.g., attribute information or attribute information set of a user, etc.), permission or consent of the target object is obtained first, and the collection, use, processing, etc. of the data complies with relevant laws and regulations and standards of relevant countries and regions. In addition, when the embodiment of the application needs to acquire the attribute information of the target object, the independent permission or independent consent of the target object is acquired through a popup window or a jump to a confirmation page or the like, and after the independent permission or independent consent of the target object is explicitly acquired, the related data of the necessary target object for enabling the embodiment of the application to normally operate is acquired.
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
It should be noted that in the description of embodiments of the present invention, the terms "first," "second," and the like in the description and claims and in the foregoing drawings are used for distinguishing between similar objects and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated. "at least one" means one or more, and "a plurality" means two or more. "and/or", describes an association relation of association objects, and indicates that there may be three kinds of relations, for example, a and/or B, and may indicate that a alone exists, a and B together, and B alone exists. Wherein A, B may be singular or plural. The character "/" generally indicates that the context-dependent object is an "or" relationship. Although functional block diagrams are depicted in the device diagrams, logical orders are depicted in the flowchart, in some cases, the steps shown or described may be performed in a different order than the block diagrams in the device, or in the flowchart.
In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
According to the technical scheme, the first longitudinal distance, the second longitudinal distance, the third longitudinal distance and the fourth longitudinal distance are obtained through monitoring by the first laser radar, the second laser radar, the third laser radar and the fourth laser radar, so that accurate measurement of the ship distance is achieved, point cloud shielding in the ship entering process can be reduced through measurement of all azimuth distances, and the controller sends corresponding monitoring signals to the driving device according to the received first longitudinal distance, the second longitudinal distance, the third longitudinal distance and the fourth longitudinal distance, and the driving device can monitor the ship and improve the navigation safety of the ship by receiving the monitoring information to drive the ship in the ship lift.
Embodiments of the present application will be further described below with reference to the accompanying drawings.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a ship monitoring system based on a ship lift according to an embodiment of the present invention.
In some embodiments, the ship monitoring system comprises an upper lock head, a lower lock head, and a ship lift cabin, one end of the ship lift cabin is provided with an upper stop line, the other end is provided with a lower stop line, and the ship monitoring system further comprises a laser radar, the laser radar comprising: the first laser radar is arranged at one side of the upper lock head and is used for monitoring a first longitudinal distance between the ship and the upper lock head; the second laser radar is arranged on one side of the upper forbidden stop line and is used for monitoring a second longitudinal distance between the ship and the upper forbidden stop line; the third laser radar is arranged at one side of the lower forbidden stop line and is used for monitoring a third longitudinal distance between the ship and the lower forbidden stop line; the fourth laser radar is arranged on one side of the lower lock head and is used for monitoring a fourth longitudinal distance between the ship and the lower lock head; the controller is respectively connected with the first laser radar, the second laser radar, the third laser radar and the fourth laser radar, and is used for receiving the first longitudinal distance, the second longitudinal distance, the third longitudinal distance and the fourth longitudinal distance and sending monitoring signals according to the first longitudinal distance, the second longitudinal distance, the third longitudinal distance and the fourth longitudinal distance; the driving device is connected with the controller to receive the monitoring signals, and the driving device is used for driving the ship in the ship lift to move according to the monitoring signals, so that the ship can be monitored in real time through the first laser radar, the second laser radar, the third laser radar and the fourth laser radar, the navigation safety of the ship is improved, and the ship is guided to safely drive in limited water areas such as the ship lift and the ship lock.
In some embodiments, the vessel dynamic detection system further comprises a navigation wall, the navigation wall comprises a first navigation wall arranged at the upper lock head and a second navigation wall arranged at the lower lock head, the first laser radar is further used for monitoring a first lateral distance between the vessel and the first navigation wall, and the fourth laser radar is further used for monitoring a second lateral distance between the vessel and the second navigation wall, so that measurement of the point cloud data is facilitated to be carried out subsequently.
It should be noted that, the first navigation wall is floating navigation wall, the second navigation wall is floating navigation wall down, go up the lock head setting on floating navigation wall down, lower lock head setting is on floating navigation wall down, first laser radar and fourth laser radar are installed respectively on the laser radar mounting bracket of upper and lower navigation wall, wherein, first laser radar and third laser radar are used for monitoring down the transport case and go up the boats and ships that go out the case, second laser radar and fourth laser radar are used for monitoring the transport case and go out the boats and ships that go out the case down, because the boats and ships can lean on the right berth, the laser radar both sides installation in the ship case can furthest reduce the point cloud shielding of boats and ships in-process of advancing the case. Meanwhile, the installation position of the laser radar needs to be as high as possible so as to acquire ship point cloud data as much as possible and ensure the monitoring distance.
In some embodiments, the ship dynamic detection system further comprises a display module, wherein the display module is used for displaying ship state information, and the ship state information comprises a first longitudinal distance, a second longitudinal distance, a third longitudinal distance and a fourth longitudinal distance, so that real-time display of the ship state information is achieved.
It should be noted that, the display module may be a display module, a display screen, or the like, and the embodiment is not limited in particular.
Based on the structure of the ship monitoring system based on the ship lift, various embodiments of the ship monitoring method are provided.
As shown in fig. 2, fig. 2 is a flowchart of a ship monitoring method according to an embodiment of the present invention, which may be applied to a controller of a ship monitoring system, including, but not limited to, steps S101 and S107.
Step S101: acquiring ship point cloud information corresponding to a ship;
the ship point cloud information is obtained by monitoring the ship through the laser radar, and comprises a point cloud coordinate system.
In some embodiments, under the condition that the laser radar is started, the laser radar detects the ship, so that three-dimensional point cloud information of a ship lift water area is obtained, and ship point cloud information is generated according to the three-dimensional point cloud information, so that the subsequent monitoring of the ship position is facilitated.
Step S102: adjusting a point cloud coordinate system according to the installation position of the laser radar so as to enable the point cloud coordinate system to be parallel to a preset ship lift cabin coordinate system;
In some embodiments, the point cloud coordinate system is adjusted according to the installation position of the laser radar, and the point cloud coordinate system is rotated so that the point cloud coordinate system is parallel to a preset ship lift carriage coordinate system, thereby improving the accuracy of calculating the ship position and avoiding errors.
Step S103: performing point cloud filtering on the adjusted point cloud coordinate system to obtain target point cloud information;
in some embodiments, the adjusted point cloud coordinate system is subjected to point cloud filtering to obtain target point cloud information, wherein the point cloud filtering comprises direct filtering, projection filtering, voxel filtering and conditional filtering, so that accurate monitoring of the ship position is achieved.
Step S104: constructing an index structure corresponding to the cloud information of the target point, and monitoring the ship according to the index structure to obtain the position information and the speed information of the ship;
In some embodiments, an index structure corresponding to the target point cloud information is constructed, and the ship is monitored according to the index structure to obtain the position information and the speed information of the ship, so that data service can be provided for safe navigation of the ship.
It should be noted that, in this embodiment, an index structure corresponding to the cloud information of the target point is constructed by adopting a tree data structure (k-d imens iona l tree, kd-tree) method, and a longitudinal distance between the ship and the upper and lower lock heads, a longitudinal distance between the ship and the upper and lower stop-and-go navigation walls and a transverse distance between the ship and the upper and lower floating navigation walls are obtained by adopting a near k neighbor search method, so as to obtain the position information of the ship, then the actual moving distance and the time difference of the ship are calculated by continuous 2-frame point cloud to obtain the ship speed, and the ship speed is smoothly filtered by kalman filtering to obtain the speed information of the ship, so that the influence of noise and interference in the system can be judged.
Step S105: determining a gesture frame corresponding to the ship according to the cloud information of the target point;
In some embodiments, a gesture frame corresponding to the ship is determined according to the target point cloud information, so that subsequent measurement of a heading angle is facilitated.
Step S106: performing angle monitoring according to the attitude frame and the position information to obtain heading angle information of the ship;
in some embodiments, the trend of the fitted attitude frame is used as the yaw angle of the ship, angle monitoring is carried out according to the position information of the ship, and the yaw angle is converted to the heading angle, so that the heading angle information of the ship is obtained.
In the process of converting the yaw angle into the heading angle, kalman filtering is needed, so that the angular deviation in the conversion process is avoided.
Step S107: and generating a monitoring signal according to the heading angle information, the position information and the speed information.
In some embodiments, the monitoring signal is generated based on the heading angle information, the position information, and the speed information to send the monitoring information to the drive device to enable movement of the vessel within the ship lift.
Referring to fig. 3, fig. 3 is a flowchart of a specific method of step S103 in fig. 2, and further illustrates step S103, where step S103 includes, but is not limited to, steps S201 to S204.
Step S201: performing point cloud extraction according to the coordinate values of the horizontal axis, the coordinate values of the vertical axis and the coordinate values of the vertical axis in the adjusted point cloud coordinate system to obtain regional point cloud;
in some embodiments, the point cloud in the water is extracted according to the horizontal axis coordinate value, the vertical axis coordinate value and the vertical axis coordinate value in the adjusted point cloud coordinate system to obtain the regional point cloud, so that the direct filtering of the point cloud coordinate system is realized.
Step S202: performing projection filtering according to the point cloud coordinates of the regional point clouds, and obtaining the number of the point clouds of the regional point clouds after projection filtering;
In some embodiments, projection filtering is performed according to the point cloud coordinates of the regional point cloud, and the point cloud coordinates are projected to an X-Y plane, so that the influence of point cloud drift caused by up-and-down floating of the ship along with waves is reduced, the number of the projected and filtered regional point clouds is obtained, and the subsequent calculation of the target point cloud information is facilitated.
Step S203: voxel filtering is carried out on the regional point clouds based on the number of the point clouds;
In some embodiments, voxel filtering is performed on regional point clouds according to the number of point clouds, so that the voxel size of the point clouds can be adaptively set according to the number of the point clouds, the point clouds are subjected to sparse processing, the number of the point clouds is reduced, and the operation speed of the point clouds is improved.
Step S204: and carrying out conditional filtering on the number of the point clouds after voxel filtering to obtain the target point cloud information.
In some embodiments, conditional filtering is performed on the number of point clouds after voxel filtering to obtain target point cloud information, so that false puncturing of ship body point clouds is reduced, wherein when the number of point clouds after voxel filtering is greater than m 1, a statistical filtering method is adopted, when the number of point clouds after voxel filtering is greater than m 2 and smaller than m 1, filtering is performed by adopting a radius filtering method, and when the number of point clouds after voxel filtering is smaller than m 2, all the point clouds are reserved, and false puncturing of ship body point clouds is reduced.
It should be noted that, the number of point clouds m 1 and m 2 may be set according to the needs of the user, and the embodiment is not limited specifically.
Referring to fig. 4, fig. 4 is a flowchart of a specific method of step S105 in fig. 2, and further illustrates step S105, where step S105 includes, but is not limited to, steps S301 to S302.
Step S301: determining a rectangular set corresponding to the ship according to the target point cloud information;
in some embodiments, the rotation angle step is determined according to the target point cloud information, and the set of rectangles corresponding to the ship is determined by searching for circumscribed rectangles that meet the surrounding ship point cloud with θ as the rotation angle step.
Step S302: and carrying out area screening on the rectangular set to obtain the attitude frame.
In some embodiments, area screening is performed on the rectangular set, and a rectangle with the smallest area is selected as a gesture frame of the ship point cloud, so that accurate measurement of the ship moving position is achieved.
Referring to fig. 5, fig. 5 is a flowchart of a ship monitoring method according to another embodiment of the present invention, including but not limited to step S401 and step S404.
Step S401: responding to a signal of a command platform for informing a ship to travel down to a ship lift carriage, starting a first laser radar, and when the distance between the ship and an upper lock head is smaller than a first threshold value, closing the first laser radar, and starting a third laser radar;
Step S402: responding to a signal of the command platform for notifying the ship to descend and go out of the ship lift cabin, closing the third laser radar, and opening the second laser radar; when the distance between the ship and the lower brake head is smaller than a second threshold value, the second laser radar is turned off, and the fourth laser radar is turned on; when the distance between the ship and the lower brake head is greater than a third threshold value, turning off the fourth laser radar;
Step S403: responding to a signal of the command platform for informing the ship to travel on the ship lift carriage, starting a fourth laser radar, and when the distance between the ship and the lower brake head is smaller than a fourth threshold value, closing the fourth laser radar, and starting a second laser radar;
step S404: responding to a signal for informing the ship to go up and go out of the ship lift cabin by the command platform, closing the second laser radar and opening the third laser radar; when the distance between the ship and the upper brake head is smaller than a fifth threshold value, the third laser radar is turned off, and the first laser radar is turned on; and when the distance between the ship and the upper brake head is larger than a sixth threshold value, turning off the first laser radar.
In some embodiments, the command platform turns on the first lidar when the command platform informs the vessel that the vessel can travel down into the lift car, turns off the first lidar when the distance between the vessel and the upper lock head is less than a first threshold, and turns on the third lidar; the command platform informs the ship of descending and outputting a signal of a ship cabin of the ship lift, the third laser radar is turned off, and the second laser radar is turned on; when the distance between the ship and the lower brake head is smaller than a second threshold value, the second laser radar is turned off, and the fourth laser radar is turned on; when the distance between the ship and the lower brake head is greater than a third threshold value, turning off the fourth laser radar; the command platform informs the ship of the signal of the ship lift carriage of the ship to go upward, the fourth laser radar is started, and when the distance between the ship and the lower lock head is smaller than a fourth threshold value, the fourth laser radar is closed, and the second laser radar is started; the command platform informs the ship of a signal for going up to go out of the ship lift cabin, the second laser radar is turned off, and the third laser radar is turned on; when the distance between the ship and the upper brake head is smaller than a fifth threshold value, the third laser radar is turned off, and the first laser radar is turned on; when the distance between the ship and the upper lock head is greater than a sixth threshold value, the first laser radar is turned off, and ship point cloud information corresponding to the ship can be accurately calculated through mutual matching of the first laser radar, the second laser radar, the third laser radar and the fourth laser radar.
Referring to fig. 6, fig. 6 is a flowchart of a ship monitoring method according to another embodiment of the present invention, including but not limited to step S501.
Step S501: and displaying the heading angle information, the position information and the speed information in a display module in real time.
In some embodiments, the heading angle information, the position information and the speed information are displayed in real time in the display module, so that the user can observe in real time.
Before the ship goes up the lock head, the longitudinal distance between the ship and the lock head, the first transverse distance between the ship and the floating navigation wall, the ship speed and the ship heading angle are calculated in real time according to the first laser radar, and are displayed in real time through the display module; when the ship starts to enter the upper lock head, displaying a third longitudinal distance of a ship from a lower stop line and a ship speed in real time according to a third laser radar, and displaying the third longitudinal distance and the ship speed in real time through a display module; when the ship descends out of the carriage, displaying a second longitudinal distance from the ship to the lower lock head and the ship speed in real time according to a second laser radar, and displaying in real time through a display module; when the ship drives out of the lower lock head, the fourth longitudinal distance, the ship speed and the ship heading angle of the ship from the lower lock head are calculated in real time according to the fourth laser radar, and the ship heading angle is displayed in real time through the display module. Similarly, the ship upper travelling carriage, before the ship is locked down, calculates a fourth longitudinal distance between the ship and the lower lock down, a second transverse distance between the ship and the lower floating navigation wall, a ship speed and a ship heading angle in real time according to a fourth laser radar, and displays the ship heading angle in real time through a display module; when the ship starts to enter the lower lock head, displaying a second longitudinal distance of the ship from the upper stop line and the ship speed in real time according to a second laser radar, and displaying the second longitudinal distance and the ship speed in real time through a display module; when the ship goes up to go out of the carriage, displaying a third longitudinal distance from the ship to the lock head and the ship speed in real time according to a third laser radar, and displaying the third longitudinal distance and the ship speed in real time through a display module; when the ship drives out of the upper lock head, the first longitudinal distance, the ship speed and the ship heading angle of the ship from the upper lock head are calculated in real time according to the first laser radar, and the ship heading angle is displayed in real time through the display module.
In some embodiments, when the ship speed exceeds the limit value, the ship heading angle deviation is too large, the transverse distance between the ship and the up-and-down floating navigation wall is too small, or the longitudinal distance between the ship and the up-and-down stopping line is too small, warning is given through voice broadcasting, and the safe driving of the ship is assisted.
In addition, as shown in fig. 7, an embodiment of the present application further provides a control apparatus 1000, the control apparatus 1000 including: memory 1002, processor 1001, and a computer program stored on memory 1002 and executable on processor 1001.
The processor 1001 and the memory 1002 may be connected by a bus or other means.
Memory 1002 is a non-transitory computer-readable storage medium that may be used to store non-transitory software programs as well as non-transitory computer-executable programs. In addition, the memory 1002 may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some implementations, the memory 1002 optionally includes memory 1002 remotely located relative to the processor 1001, which may be connected to the processor 1001 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The non-transitory software program and instructions required to implement the ship lift based ship monitoring method of the above embodiment are stored in the memory 1002, which when executed by the processor 1001, performs the ship lift based ship monitoring method of the above embodiment, for example, performs the method steps S101 to S107 in fig. 2, the method steps S201 to S204 in fig. 3, the method steps S301 to S302 in fig. 4, the method steps S401 to S404 in fig. 5, the method step S501 in fig. 6 described above.
Furthermore, an embodiment of the present invention provides a computer-readable storage medium storing computer-executable instructions that are executed by a processor or controller, for example, by one of the processors in the above-described apparatus embodiments, and that may cause the processor to perform the ship monitoring method based on a ship lift in the above-described embodiment, for example, to perform the method steps S101 to S107 in fig. 2, the method steps S201 to S204 in fig. 3, the method steps S301 to S302 in fig. 4, the method steps S401 to S404 in fig. 5, and the method step S501 in fig. 6 described above.
Furthermore, an embodiment of the invention provides a computer program product comprising a computer program or computer instructions stored in a computer readable storage medium, the computer program or computer instructions being read from the computer readable storage medium by a processor of a computer device, the processor executing the computer program or computer instructions such that the computer device performs the ship monitoring method based on a ship lift as in any of the embodiments above.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in hardware plus software functional units.
Those of ordinary skill in the art will appreciate that all or some of the steps, systems, and methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes both volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as known to those skilled in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by a computer. Furthermore, as is well known to those of ordinary skill in the art, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media.
While the preferred embodiments of the present invention have been described in detail, the present invention is not limited to the above embodiments, and various equivalent modifications and substitutions can be made by those skilled in the art without departing from the spirit of the present invention, and these equivalent modifications and substitutions are intended to be included in the scope of the present invention as defined in the appended claims.
Claims (10)
1. The utility model provides a ship monitoring system based on ship lift, includes lock head, lower lock head and ship lift cabin, ship lift cabin one end is provided with and bans the line, and the other end is provided with and bans down and stop the line, its characterized in that includes:
The first laser radar is arranged on one side of the upper lock head and is used for monitoring a first longitudinal distance between the ship and the upper lock head;
The second laser radar is arranged on one side of the upper forbidden stop line and is used for monitoring a second longitudinal distance between the ship and the upper forbidden stop line;
a third lidar disposed on one side of the lower stop line, the third lidar configured to monitor a third longitudinal distance between the vessel and the lower stop line;
a fourth lidar disposed on one side of the lower lock head, the fourth lidar configured to monitor a fourth longitudinal distance between the vessel and the lower lock head;
The controller is respectively connected with the first laser radar, the second laser radar, the third laser radar and the fourth laser radar, and is used for receiving the first longitudinal distance, the second longitudinal distance, the third longitudinal distance and the fourth longitudinal distance and sending monitoring signals according to the first longitudinal distance, the second longitudinal distance, the third longitudinal distance and the fourth longitudinal distance;
and the driving device is connected with the controller to receive the monitoring signal and is used for driving the ship in the ship lift to move according to the monitoring signal.
2. The ship monitoring system of claim 1, further comprising:
The navigation wall, the navigation wall is including setting up go up the first navigation wall of lock head and setting up the second navigation wall of lock head down, first laser radar still is used for monitoring the boats and ships with first lateral distance between the first navigation wall, fourth laser radar still is used for monitoring boats and second lateral distance between the second navigation wall.
3. The ship monitoring system of claim 1, further comprising:
the display module is used for displaying ship state information, and the ship state information comprises the first longitudinal distance, the second longitudinal distance, the third longitudinal distance and the fourth longitudinal distance.
4. The ship monitoring system based on the ship lift is characterized by comprising a driving device, an upper lock head, a lower lock head, a ship lift cabin and a display module, wherein one end of the ship lift cabin is provided with an upper forbidden stop line, the other end of the ship lift cabin is provided with a lower forbidden stop line, the ship monitoring system based on the ship lift further comprises a laser radar, and the laser radar comprises a first laser radar arranged on one side of the upper lock head, a second laser radar arranged on one side of the upper forbidden stop line, a third laser radar arranged on one side of the lower forbidden stop line and a fourth laser radar arranged on one side of the lower lock head;
The monitoring method comprises the following steps:
acquiring ship point cloud information corresponding to the ship, wherein the ship point cloud information is obtained by monitoring the ship by the laser radar and comprises a point cloud coordinate system;
Adjusting the point cloud coordinate system according to the installation position of the laser radar so that the point cloud coordinate system is parallel to a preset ship lift cabin coordinate system;
performing point cloud filtering on the adjusted point cloud coordinate system to obtain target point cloud information;
constructing an index structure corresponding to the target point cloud information, and monitoring the ship according to the index structure to obtain the position information and the speed information of the ship;
determining a gesture frame corresponding to the ship according to the target point cloud information;
performing angle monitoring according to the attitude frame and the position information to obtain heading angle information of the ship;
And generating a monitoring signal according to the heading angle information, the position information and the speed information.
5. The ship monitoring method based on ship lift according to claim 4, wherein the performing the point cloud filtering on the adjusted point cloud coordinate system to obtain the target point cloud information includes:
performing point cloud extraction according to the coordinate values of the horizontal axis, the coordinate values of the vertical axis and the coordinate values of the vertical axis in the adjusted point cloud coordinate system to obtain regional point cloud;
Performing projection filtering according to the point cloud coordinates of the regional point cloud, and obtaining the number of the point clouds of the regional point cloud after projection filtering;
Voxel filtering is carried out on the regional point clouds based on the point cloud quantity;
and carrying out conditional filtering on the number of the point clouds after voxel filtering to obtain the target point cloud information.
6. The ship monitoring method based on the ship lift according to claim 4, wherein the determining the attitude frame corresponding to the ship according to the target point cloud information comprises:
determining a rectangular set corresponding to the ship according to the target point cloud information;
and carrying out area screening on the rectangular set to obtain the attitude frame.
7. The ship monitoring method based on ship lift according to claim 4, further comprising, before the acquiring the ship point cloud information corresponding to the ship:
responding to a signal of a command platform for informing the ship to travel downwards to the ship lift carriage, starting the first laser radar, and when the distance between the ship and the upper brake head is smaller than a first threshold value, closing the first laser radar, and starting the third laser radar;
responding to a signal of the command platform for notifying the ship to descend out of the ship lift cabin, closing the third laser radar and opening the second laser radar; when the distance between the ship and the lower brake head is smaller than a second threshold value, the second laser radar is turned off, and the fourth laser radar is turned on; when the distance between the ship and the lower brake head is greater than a third threshold value, turning off the fourth laser radar;
Responding to a signal of the command platform for informing the ship to travel the ship lift carriage, starting the fourth laser radar, and when the distance between the ship and the lower brake head is smaller than a fourth threshold value, closing the fourth laser radar and starting the second laser radar;
Responding to a signal for informing the ship to go up and out of the ship lift carriage by the command platform, closing the second laser radar and opening the third laser radar; when the distance between the ship and the upper brake head is smaller than a fifth threshold value, the third laser radar is turned off, and the first laser radar is turned on; and when the distance between the ship and the upper brake head is larger than a sixth threshold value, turning off the first laser radar.
8. The ship monitoring method based on ship lift of claim 4, further comprising:
and displaying the heading angle information, the position information and the speed information in the display module in real time.
9. A control apparatus, characterized by comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, which processor, when executing the computer program, implements the ship monitoring method based on ship lift according to any one of claims 4 to 8.
10. A computer readable storage medium storing computer executable instructions for performing the ship monitoring method based on ship lift as claimed in any one of claims 4 to 8.
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| CN202211382473.3A CN115748641B (en) | 2022-11-07 | 2022-11-07 | Ship monitoring system, method, control device and medium based on ship lift |
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| CN202211382473.3A CN115748641B (en) | 2022-11-07 | 2022-11-07 | Ship monitoring system, method, control device and medium based on ship lift |
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| CN115748641A (en) | 2023-03-07 |
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