CN117672009A - Intelligent pier anti-collision early warning method, system and storage medium - Google Patents
Intelligent pier anti-collision early warning method, system and storage medium Download PDFInfo
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Abstract
The application relates to the technical field of bridge safety protection and discloses an intelligent bridge pier anti-collision early warning method, an intelligent bridge pier anti-collision early warning system and a storage medium. The method comprises the following steps: monitoring a vessel entering the detection zone; performing contour frame type conversion on the ship to acquire ship position information represented by rectangular frames; marking a point set on a rectangular frame corresponding to the ship, and marking a plurality of reference points on the rectangular frame corresponding to the ship; taking at least one reference point distributed close to the bridge pier as a target point; recording position coordinate values of the target point at the first time node T1 and the second time node T2; analyzing a ship navigation line based on the position coordinate values, and making an early warning action by the early warning module when the navigation line is driven towards the bridge pier, otherwise, keeping silence by the early warning module. The system and the storage medium both correspond to the method. According to the method and the device, whether the ship collides with the bridge pier or not can be expected fast and reliably, so that corresponding protective measures can be accurately made, and the bridge pier and the ship are prevented from colliding.
Description
Technical Field
The application relates to the technical field of bridge safety protection, in particular to an intelligent bridge pier anti-collision early warning method, an intelligent bridge pier anti-collision early warning system and a storage medium.
Background
With the rapid development of traffic industry in China in recent years, a plurality of river-crossing and river-crossing super-large bridges are built or are being planned, meanwhile, the density, the size and the tonnage of the bridge-crossing ships are also greatly increased, and the bridge is inevitably required to cross a busy channel in design and construction. The bridge pier is used as a bearing foundation of the upper structure, and once the bridge pier is damaged, huge loss can be caused, and even the whole bridge collapses. In recent years, the occurrence of a ship and bridge co-destruction caused by the collision of a ship with a pier in water frequently occurs, and the research on the collision avoidance theory and the device of the pier is also receiving attention of society.
The research on the collision avoidance of the bridge piers in China is late, and most bridge piers still face the threat of the collision of the past ships. Thus, there is a need for a reliable pier collision avoidance scheme,
disclosure of Invention
The purpose of the application is to provide an intelligent pier anti-collision early warning method, an intelligent pier anti-collision early warning system and a storage medium, so as to solve the technical problems in the background technology.
In order to achieve the above purpose, the present application discloses the following technical solutions:
in a first aspect, the application discloses an intelligent pier anti-collision early warning method, which comprises the following steps:
monitoring a vessel entering the detection zone;
performing contour frame type conversion on the detected ship to obtain ship position information represented by a rectangular frame;
marking a point set on a rectangular frame corresponding to the ship, and marking a plurality of reference points on the rectangular frame corresponding to the ship;
taking at least one reference point distributed close to the bridge pier as a target point, taking the center point of the bridge pier as a circle center, taking the water flow direction as a Y axis and taking the horizontal direction vertical to the water flow direction as an X axis to construct an early warning coordinate system;
at a first time node T1, a position coordinate value (X 1 ，Y 1 )，X 1 For the actual distance difference in the X-axis direction between the target point and the center of a circle at the first time node T1, Y 1 Is the actual distance difference between the target point and the center of the circle in the Y-axis direction at the first time node T1;
at a second time node T2, the position coordinate value (X 2 ，Y 2 )，X 2 For the actual distance difference in the X-axis direction between the target point and the center of the circle at the second time node T2, Y 2 Is the actual distance difference between the target point and the center of the circle in the Y-axis direction at the second time node T2;
drawing a track change graph based on position coordinate values of the target point at a first time node T1 and a second time node T2;
and analyzing the ship navigation line based on the track change diagram, and making an early warning action by the early warning module when the ship navigation line is driven towards the bridge pier, otherwise, keeping silence by the early warning module.
Preferably, the analyzing the ship deflection direction based on the trajectory variation graph specifically includes:
the expected travel distance L is calculated and,wherein V is the average speed of the ship at the first time node T1 and the second time node T2, deltaT is the time interval between the first time node T1 and the second time node T2, deltaX 1 ＝|X 1 -X 2 |，ΔX 2 The position coordinate of a first collision point preset towards the ship direction on the bridge pier is different from the X-axis coordinate of the target point at the second time node T2;
distance of expected travel L and DeltaX 2 Comparing when L is more than or equal to DeltaX 2 When +K is, the ship runs towards the pier and has collision risk, wherein K is a preset safe distance value, and K is more than or equal to 0; otherwise, it indicates that the ship is not at risk of collision.
Preferably, the method further comprises:
and after the early warning module makes early warning action, acquiring the ship navigation line again, judging whether early warning is needed or not based on the new ship navigation line, and when the early warning is needed, making the early warning action again by the early warning module.
Preferably, when the early warning module makes early warning action again, the anti-collision module automatically ejects the safety air bag to perform anti-collision preparation.
Preferably, the position coordinate value (X 2 ，Y 2 ) Satisfy |X 2 |＞|X 1 When the target point is I, deleting the target point and searching a new target point in the reference point again to be used as a second target point; and acquires the position coordinate value of the second target point at the second time node T2 as (X) 1 ，Y 1 ) And the position coordinate value of the second target point at the third time node T3 as (X) 2 ，Y 2 )。
Preferably, the time interval between the third time node T3 and the second time node T2 is smaller than the time interval between the second time node T2 and the first time node T1.
Preferably, when N discarded target points appear, the early warning module makes early warning actions,v is the average speed of the ship at the first time node T1 and the second time node T2, deltaT is the time interval between the first time node T1 and the second time node T2, deltaY is the difference between the position coordinate of a first collision point preset on the bridge pier towards the ship direction and the Y-axis coordinate of the target point at the first time node T1.
Preferably, the early warning action includes: one or more of flashing display through the warning lamp, sound playing through voice broadcasting and starting anti-collision measures.
In a second aspect, the application discloses an intelligent pier anti-collision early warning system, which comprises a ship detection module, a contouring processing module, a reference point marking module, an early warning judging module and an early warning module;
the watercraft detection module is configured to: detecting the ship in the detection area, and transmitting the detected ship image to the contouring processing module;
the contouring processing module is configured to: performing contour frame type conversion on the detected ship to obtain ship position information represented by a rectangular frame;
the reference point marking module is configured to: marking a point set on a rectangular frame corresponding to the ship, and marking a plurality of reference points on the rectangular frame corresponding to the ship;
the early warning judging module is configured to: taking at least one reference point distributed close to the bridge pier as a target point, taking the center point of the bridge pier as a circle center, taking the water flow direction as a Y axis and taking the horizontal direction vertical to the water flow direction as an X axis to construct an early warning coordinate system; at a first time node T1, a position coordinate value (X 1 ，Y 1 )，X 1 For the actual distance difference in the X-axis direction between the target point and the center of a circle at the first time node T1, Y 1 For the actual distance in the Y-axis direction between the target point and the center of the circle at the first time node T1Difference; at a second time node T2, the position coordinate value (X 2 ，Y 2 )，X 2 For the actual distance difference in the X-axis direction between the target point and the center of the circle at the second time node T2, Y 2 Is the actual distance difference between the target point and the center of the circle in the Y-axis direction at the second time node T2; drawing a track change graph based on position coordinate values of the target point at a first time node T1 and a second time node T2;
the early warning module is configured to: and analyzing the ship navigation line based on the track change diagram, and when the ship navigation line is driven towards the bridge pier, making an early warning action, otherwise, keeping silence.
In a third aspect, the present application discloses a computer readable storage medium having stored thereon a computer program executable by a processor, which when executed by the processor, implements an intelligent pier collision avoidance early warning method as described above.
The beneficial effects are that: according to the method and the device, the ship is subjected to rectangular frame representation, so that the acquisition difficulty of the position information of the ship is simplified, and meanwhile, based on the distance monitoring between the target point and the pier, the navigation direction of the ship can be quickly clarified, and whether the pier can be safely avoided along the current navigation line without collision can be quickly determined. Further, through calculation of the expected driving distance, whether the ship collides with the pier or not can be rapidly and reliably expected, so that corresponding protective measures are accurately made, and collision between the pier and the ship is accurately avoided.
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In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flow chart diagram of an intelligent pier collision avoidance early warning system provided in an embodiment of the present application.
Detailed Description
The following description of the technical solutions in the embodiments of the present application will be clear and complete, and it is obvious that the described embodiments are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
In this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
The embodiment discloses an intelligent pier anti-collision early warning method shown in fig. 1 in a first aspect, which comprises the following steps:
monitoring a vessel entering the detection zone;
performing contour frame type conversion on the detected ship to obtain ship position information represented by a rectangular frame;
marking a point set on a rectangular frame corresponding to the ship, and marking a plurality of reference points on the rectangular frame corresponding to the ship;
taking at least one reference point distributed close to the bridge pier as a target point, taking the center point of the bridge pier as a circle center, taking the water flow direction as a Y axis and taking the horizontal direction vertical to the water flow direction as an X axis to construct an early warning coordinate system;
at a first time node T1, a position coordinate value (X 1 ，Y 1 )，X 1 For the actual distance difference in the X-axis direction between the target point and the center of a circle at the first time node T1, Y 1 To at a first timeThe actual distance difference between the target point and the circle center in the Y-axis direction at the node T1;
at a second time node T2, the position coordinate value (X 2 ，Y 2 )，X 2 For the actual distance difference in the X-axis direction between the target point and the center of the circle at the second time node T2, Y 2 Is the actual distance difference between the target point and the center of the circle in the Y-axis direction at the second time node T2;
drawing a track change graph based on position coordinate values of the target point at a first time node T1 and a second time node T2;
and analyzing the ship navigation line based on the track change diagram, and making an early warning action by the early warning module when the ship navigation line is driven towards the bridge pier, otherwise, keeping silence by the early warning module.
In this embodiment, the analyzing the ship navigation line based on the trajectory graph specifically includes:
the expected travel distance L is calculated and,wherein V is the average speed of the ship at the first time node T1 and the second time node T2, deltaT is the time interval between the first time node T1 and the second time node T2, deltaX 1 ＝|X 1 -X 2 |，ΔX 2 The position coordinate of a first collision point preset towards the ship direction on the bridge pier is different from the X-axis coordinate of the target point at the second time node T2;
distance of expected travel L and DeltaX 2 Comparing when L is more than or equal to DeltaX 2 When +K, the ship runs towards the pier and has collision risk, wherein K is a preset safe distance value, such as 1 meter, 0.8 meter and the like, and K is more than or equal to 0; otherwise, it indicates that the ship is not at risk of collision.
As a preferred implementation of this embodiment, the method further includes:
and after the early warning module makes early warning action, acquiring the ship navigation line again, judging whether early warning is needed or not based on the new ship navigation line, and when the early warning is needed, making the early warning action again by the early warning module. The design has the advantages that the accurate anti-collision risk avoidance plan can be timely carried out according to the real-time navigation path of the ship, so that the anti-collision reliability is improved.
Further, when the early warning module makes early warning actions again, the anti-collision module automatically pops up the safety airbag to perform anti-collision preparation. It is possible that the structure of the crash module may refer to the specific structure of the airbag device disclosed in the chinese patent with application number CN202010531501.8, and this document will not be repeated here.
In order to improve the reliability of the collision avoidance, in the present embodiment, when the target point on the ship is at the second time node T2 and the position coordinate value (X 2 ，Y 2 ) Satisfy |X 2 |＞|X 1 When the target point is I, deleting the target point and searching a new target point in the reference point again to be used as a second target point; and acquires the position coordinate value of the second target point at the second time node T2 as (X) 1 ，Y 1 ) And the position coordinate value of the second target point at the third time node T3 as (X) 2 ，Y 2 ). Wherein, the time interval between the third time node T3 and the second time node T2 is smaller than the time interval between the second time node T2 and the first time node T1.
Further, when N discarded target points appear, the early warning module makes early warning actions,v is the average speed of the ship at the first time node T1 and the second time node T2, deltaT is the time interval between the first time node T1 and the second time node T2, deltaY is the difference between the position coordinate of a first collision point preset on the bridge pier towards the ship direction and the Y-axis coordinate of the target point at the first time node T1.
In this embodiment, the early warning action includes: one or more of flashing display through the warning lamp, sound playing through voice broadcasting and starting anti-collision measures. It will be appreciated that the bump protection measures described above in connection with this embodiment may be implemented in the manner of opening the bump protection air bag, as in the prior art, in structures intended to be deployed to interfere with the navigation of the ship, etc.
The embodiment discloses an intelligent pier anti-collision early warning system suitable for the intelligent pier anti-collision early warning method in a second aspect, which comprises a ship detection module, a contouring processing module, a reference point marking module, an early warning judging module and an early warning module.
Specifically, the ship detection module is configured to: detecting the ship in the detection area and transmitting the detected ship image to the contouring processing module.
Specifically, the contouring processing module is configured to: and converting the outline frame type of the detected ship, and acquiring the ship position information represented by the rectangular frame.
Specifically, the reference point marking module is configured to: and marking the rectangular frame corresponding to the ship by using a point set, and marking a plurality of reference points on the rectangular frame corresponding to the ship.
Specifically, the early warning judging module is configured to: taking at least one reference point distributed close to the bridge pier as a target point, taking the center point of the bridge pier as a circle center, taking the water flow direction as a Y axis and taking the horizontal direction vertical to the water flow direction as an X axis to construct an early warning coordinate system; at a first time node T1, a position coordinate value (X 1 ，Y 1 )，X 1 For the actual distance difference in the X-axis direction between the target point and the center of a circle at the first time node T1, Y 1 Is the actual distance difference between the target point and the center of the circle in the Y-axis direction at the first time node T1; at a second time node T2, the position coordinate value (X 2 ，Y 2 )，X 2 For the actual distance difference in the X-axis direction between the target point and the center of the circle at the second time node T2, Y 2 Is the actual distance difference between the target point and the center of the circle in the Y-axis direction at the second time node T2; based on the target point at a first timeAnd drawing the position coordinate values of the node T1 and the second time node T2 to obtain a track change graph.
Specifically, the early warning module is configured to: and analyzing the ship navigation line based on the track change diagram, and when the ship navigation line is driven towards the bridge pier, making an early warning action, otherwise, keeping silence.
It should be noted that, the intelligent pier anti-collision early warning system disclosed in this embodiment is matched with the foregoing intelligent pier anti-collision early warning method, so that descriptions such as functional limitations that are not disclosed in detail in the intelligent pier anti-collision early warning system may be correspondingly referred to the descriptions in the foregoing intelligent pier anti-collision early warning method, and this text is not repeated herein.
The present embodiment in a third aspect discloses a computer readable storage medium having stored thereon a computer program executable by a processor, which when executed by the processor, implements an intelligent pier collision avoidance early warning method as described above.
In the embodiments provided herein, it should be understood that the embodiments described herein may be implemented in hardware, software, firmware, middleware, code, or any suitable combination thereof. For a hardware implementation, the processor may be implemented in one or more of the following units: an Application Specific Integrated Circuit (ASIC), a Digital Signal Processor (DSP), a Digital Signal Processing Device (DSPD), a Programmable Logic Device (PLD), a Field Programmable Gate Array (FPGA), a processor, a controller, a microcontroller, a microprocessor, other electronic units designed to perform the functions described herein, or a combination thereof. For a software implementation, some or all of the flow of an embodiment may be accomplished by a computer program to instruct the associated hardware. When implemented, the above-described programs may be stored in or transmitted as one or more instructions or code on a computer-readable storage medium. Computer-readable storage media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media may be any available media that can be accessed by a computer. The computer-readable storage media may include, but is not limited to, RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer.
Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present application, and although the present application has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the technical solutions described in the foregoing embodiments, or equivalents may be substituted for some of the technical features thereof, and any modifications, equivalents, improvements or changes that fall within the spirit and principles of the present application are intended to be included in the scope of protection of the present application.
Claims (10)
1. An intelligent bridge pier anti-collision early warning method is characterized by comprising the following steps:
monitoring a vessel entering the detection zone;
performing contour frame type conversion on the detected ship to obtain ship position information represented by a rectangular frame;
marking a point set on a rectangular frame corresponding to the ship, and marking a plurality of reference points on the rectangular frame corresponding to the ship;
taking at least one reference point distributed close to the bridge pier as a target point, taking the center point of the bridge pier as a circle center, taking the water flow direction as a Y axis and taking the horizontal direction vertical to the water flow direction as an X axis to construct an early warning coordinate system;
at a first time node T1, a position coordinate value (X 1 ，Y 1 )，X 1 For the actual distance difference in the X-axis direction between the target point and the center of a circle at the first time node T1, Y 1 Is the actual distance difference between the target point and the center of the circle in the Y-axis direction at the first time node T1;
at a second time node T2, the position coordinate value (X 2 ，Y 2 )，X 2 For the actual distance difference in the X-axis direction between the target point and the center of the circle at the second time node T2, Y 2 Is the actual distance difference between the target point and the center of the circle in the Y-axis direction at the second time node T2;
drawing a track change graph based on position coordinate values of the target point at a first time node T1 and a second time node T2;
and analyzing the ship navigation line based on the track change diagram, and making an early warning action by the early warning module when the ship navigation line is driven towards the bridge pier, otherwise, keeping silence by the early warning module.
2. The intelligent bridge pier collision avoidance warning method of claim 1, wherein the analyzing the ship course based on the trajectory variation graph specifically comprises:
the expected travel distance L is calculated and,wherein V is the average speed of the ship at the first time node T1 and the second time node T2, deltaT is the time interval between the first time node T1 and the second time node T2, deltaX 1 ＝|X 1 -X 2 |，ΔX 2 The position coordinate of a first collision point preset towards the ship direction on the bridge pier is different from the X-axis coordinate of the target point at the second time node T2;
distance of expected travel L and DeltaX 2 Comparing when L is more than or equal to DeltaX 2 When +K is, the ship runs towards the pier and has collision risk, wherein K is a preset safe distance value, and K is more than or equal to 0; otherwise, it indicates that the ship is not at risk of collision.
3. The intelligent pier collision avoidance warning method of claim 2, further comprising:
and after the early warning module makes early warning action, acquiring the ship navigation line again, judging whether early warning is needed or not based on the new ship navigation line, and when the early warning is needed, making the early warning action again by the early warning module.
4. The intelligent bridge pier collision avoidance warning method of claim 3 wherein the collision avoidance module automatically ejects the airbag for collision avoidance preparation when the warning module again makes the warning action.
5. The intelligent pier collision avoidance warning method according to claim 1, wherein the position coordinate value (X 2 ，Y 2 ) Satisfy |X 2 |＞|X 1 When the target point is I, deleting the target point and searching a new target point in the reference point again to be used as a second target point; and acquires the position coordinate value of the second target point at the second time node T2 as (X) 1 ，Y 1 ) And the position coordinate value of the second target point at the third time node T3 as (X) 2 ，Y 2 )。
6. The intelligent pier collision avoidance warning method of claim 5, wherein the time interval between the third time node T3 and the second time node T2 is less than the time interval between the second time node T2 and the first time node T1.
7. The intelligent bridge pier collision avoidance warning method of claim 5 wherein the warning module takes a warning action when N discarded target points occur,v is the average speed of the ship at the first time node T1 and the second time node T2, deltaT is the time interval between the first time node T1 and the second time node T2, deltaY is the difference between the position coordinate of a first collision point preset on the bridge pier towards the ship direction and the Y-axis coordinate of the target point at the first time node T1.
8. The intelligent pier collision avoidance warning method of claim 1, wherein the warning action comprises: one or more of flashing display through the warning lamp, sound playing through voice broadcasting and starting anti-collision measures.
9. An intelligent pier anti-collision early warning system is characterized by comprising a ship detection module, a contouring processing module, a reference point marking module, an early warning judging module and an early warning module;
the watercraft detection module is configured to: detecting the ship in the detection area, and transmitting the detected ship image to the contouring processing module;
the contouring processing module is configured to: performing contour frame type conversion on the detected ship to obtain ship position information represented by a rectangular frame;
the reference point marking module is configured to: marking a point set on a rectangular frame corresponding to the ship, and marking a plurality of reference points on the rectangular frame corresponding to the ship;
the early warning judging module is configured to: taking at least one reference point distributed close to the bridge pier as a target point, taking the center point of the bridge pier as a circle center, taking the water flow direction as a Y axis and taking the horizontal direction vertical to the water flow direction as an X axis to construct an early warning coordinate system; at a first time node T1, a position coordinate value (X 1 ，Y 1 )，X 1 For the actual distance difference in the X-axis direction between the target point and the center of a circle at the first time node T1, Y 1 Is the actual distance difference between the target point and the center of the circle in the Y-axis direction at the first time node T1; at a second time node T2, the position coordinate value (X 2 ，Y 2 )，X 2 For the actual distance difference in the X-axis direction between the target point and the center of the circle at the second time node T2, Y 2 Is the actual distance difference between the target point and the center of the circle in the Y-axis direction at the second time node T2; based on the target point atDrawing position coordinate values of the first time node T1 and the second time node T2 to obtain a track change graph;
the early warning module is configured to: and analyzing the ship navigation line based on the track change diagram, and when the ship navigation line is driven towards the bridge pier, making an early warning action, otherwise, keeping silence.
10. A computer readable storage medium, having stored thereon a computer program executable by a processor, which when executed by the processor, implements the intelligent pier collision avoidance warning method of any of claims 1-8.
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| CN115938161A (en) * | 2022-11-28 | 2023-04-07 | 重庆交通大学 | Pier intelligence collision avoidance system based on high-speed water jet |
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