CN117877321A - Ship collision prevention early warning method and system based on multiple sensors - Google Patents
Ship collision prevention early warning method and system based on multiple sensors Download PDFInfo
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Abstract
The invention provides a ship anti-collision early warning method and system based on multiple sensors. The ship anti-collision early warning method based on the multiple sensors comprises the following steps: a 360-degree panoramic camera and a radar sensor are arranged at the position of a target area of the ship; image data and distance data acquired in real time by using a 360-degree panoramic camera and a radar sensor; and comparing the distance data with a preset distance threshold value, and judging whether to perform distance early warning according to a comparison result. The system comprises modules corresponding to the method steps.
Description
Technical Field
The invention provides a ship anti-collision early warning method and system based on multiple sensors, and belongs to the technical field of ship anti-collision early warning.
Background
The ship collision prevention early warning is a technology and a system for ship navigation safety, and aims to reduce collision risks among ships. These systems typically use marine electronics and advanced navigation technology, as well as marine traffic management systems, to provide the following functions:
collision risk analysis: the marine anti-collision warning system uses real-time position, heading, speed, size and other relevant information of the marine vessels, as well as other navigational conditions (such as weather, tide, visibility, etc.), to analyze the risk of collision between the marine vessels.
Early warning and warning: when the system detects that there is a potential risk of collision between two or more vessels, it will issue pre-warnings and alarms informing the crew to take action to avoid the collision. This may include changing heading, speed, notifying other vessels, or taking other anti-collision actions.
The automatic function: some ship anti-collision early warning systems have an automatic function, and avoidance measures, such as automatic steering or speed control, can be implemented by an autonomous navigation system of the ship.
Data integration: these systems typically incorporate a variety of data sources, including global satellite navigation systems (e.g., GPS), radar, automatic Identification Systems (AIS), weather data, etc., to provide a more comprehensive collision risk analysis.
Navigation planning support: some systems allow crews to make safe voyage plans and provide information about best airlines, safe routes, and obstacle avoidance recommendations.
Remote monitoring: some ship anti-collision early warning systems can be connected with a shore-based monitoring center to realize remote monitoring and support, so that navigation safety is improved.
Marine anti-collision warning systems are very important for reducing marine traffic accidents and collision events, especially in busy shipping channels and ports. They help to ensure the safety of the ship and crew and help to reduce environmental risks. Therefore, these systems find wide application in commercial shipping and marine traffic management. However, the ship anti-collision early warning system in the prior art has the problem that the type of the object cannot be identified due to the dead zone of the near object.
Disclosure of Invention
The invention provides a ship anti-collision early warning method and a system based on multiple sensors, which are used for solving the problem that the type of an object cannot be identified due to a dead zone of a nearby object in the ship anti-collision early warning system in the prior art, and the adopted technical scheme is as follows:
the ship anti-collision early warning method based on the multiple sensors comprises the following steps:
a 360-degree panoramic camera and a radar sensor are arranged at the position of a target area of the ship;
image data and distance data acquired in real time by using a 360-degree panoramic camera and a radar sensor;
and comparing the distance data with a preset distance threshold value, and judging whether to perform distance early warning according to a comparison result.
Further, lay 360 panorama cameras and radar sensor in the target area position of boats and ships, include:
scanning a drawing of the ship to obtain digital drawing data;
calibrating a plurality of target area positions on the digital drawing data, wherein the target area positions comprise a bow area and a stern area;
and respectively arranging a 360-degree panoramic camera and a radar sensor in the bow area and the stern area.
Further, image data and distance data acquired in real time by using the 360 ° panoramic camera and the radar sensor include:
acquiring whether an obstacle appears at the position of a target area or not and distance data between the obstacle and the target area of the ship in real time by using a radar sensor;
acquiring an environment image of the target area position by using a 360-degree panoramic camera in real time;
fusing the distance data between the obstacle and the target area of the ship and the environment image to form an environment monitoring image, and visually displaying the environment monitoring image; and displaying distance data of the obstacle in the environment monitoring image.
Further, comparing the distance data with a preset distance threshold, and judging whether to perform distance pre-warning according to the comparison result, including:
comparing the distance data with a preset first distance threshold;
when the distance data is lower than the first distance threshold value but not lower than the second distance threshold value, controlling the lens of the 360-degree panoramic camera to rotate to an obstacle position, so that the center line of the lens of the 360-degree panoramic camera is aligned with the center line of the obstacle;
and when the distance data is lower than the second distance threshold value, performing distance early warning.
Further, comparing the distance data with a preset distance threshold, and judging whether to perform distance early warning according to the comparison result, and further comprising:
when the distance data is lower than the first distance threshold value but not lower than the second distance threshold value, judging the number of the barriers;
when the number of the obstacles is one, controlling the lens of the 360-degree panoramic camera to rotate to the position of the obstacle;
and when the number of the obstacles is multiple, controlling the lens of the 360-degree panoramic camera to rotate to the position of the obstacle closest to the lens.
The utility model provides a ship anti-collision early warning system based on multisensor, ship anti-collision early warning system based on multisensor includes:
the equipment layout module is used for layout of a 360-degree panoramic camera and a radar sensor at the position of a target area of the ship;
the data acquisition module is used for utilizing image data and distance data acquired by the 360-degree panoramic camera and the radar sensor in real time;
and the distance early warning module is used for comparing the distance data with a preset distance threshold value and judging whether to perform distance early warning or not according to a comparison result.
Further, the device layout module includes:
the scanning module is used for scanning the drawing of the ship and acquiring digital drawing data;
the target area position acquisition module is used for calibrating a plurality of target area positions on the digital drawing data, wherein the target area positions comprise a bow area and a stern area;
and the camera and sensor layout module is used for respectively laying a 360-degree panoramic camera and a radar sensor in the bow area and the stern area.
Further, the data acquisition module includes:
the distance data acquisition module is used for acquiring whether an obstacle appears at the position of the target area or not and the distance data between the obstacle and the target area of the ship in real time by utilizing the radar sensor;
the environment image acquisition module is used for acquiring environment images of the target area position by using the 360-degree panoramic camera in real time;
the visual display module is used for fusing the distance data between the obstacle and the target area of the ship and the environment image to form an environment monitoring image, and visually displaying the environment monitoring image; and displaying distance data of the obstacle in the environment monitoring image.
Further, the distance early warning module includes:
the comparison module is used for comparing the distance data with a preset first distance threshold value;
the first panoramic camera control module is used for controlling the lens of the 360-degree panoramic camera to rotate to an obstacle position when the distance data is lower than the first distance threshold value but not lower than the second distance threshold value;
and the second panoramic camera control module is used for carrying out distance early warning when the distance data is lower than the second distance threshold value.
Further, the distance early warning module further includes:
the obstacle number judging module is used for judging the number of obstacles when the distance data is lower than the first distance threshold value but not lower than the second distance threshold value;
the third panoramic camera control module is used for controlling the lens of the 360-degree panoramic camera to rotate to the position of the obstacle when the obstacle is one, so that the center line of the lens of the 360-degree panoramic camera is aligned with the center line of the obstacle;
and the fourth panoramic camera control module is used for controlling the lens of the 360-degree panoramic camera to rotate to the position of the obstacle closest to the lens when the number of the obstacles is multiple.
The invention has the beneficial effects that:
according to the multi-sensor-based ship anti-collision early warning method and system, the cameras covering 360 degrees are deployed, and the access system realizes video monitoring service; identifying the type of the obstacle through an intelligent video analysis algorithm module; combining radar ranging data to perform fusion analysis ranging; and drawing the identification and ranging results into the monitoring, and giving an alarm if the identification and ranging results exceed the safe distance range. The range is fully covered, the object is automatically identified and the distance is measured, and the detection result can be intuitively displayed.
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FIG. 1 is a flow chart of the method of the present invention;
fig. 2 is a system block diagram of the system of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present invention only, and are not intended to limit the present invention.
The embodiment of the invention provides a ship anti-collision early warning method based on multiple sensors, which is shown in fig. 1 and comprises the following steps:
s1, arranging a 360-degree panoramic camera and a radar sensor at a target area of a ship;
s2, image data and distance data acquired in real time by using a 360-degree panoramic camera and a radar sensor;
and S3, comparing the distance data with a preset distance threshold value, and judging whether to perform distance early warning or not according to a comparison result.
Wherein, the step S3 compares the distance data with a preset distance threshold value, and judges whether to perform distance pre-warning according to the comparison result, the specific steps include,
step A1: determining whether the nearest obstacle is biased toward the bow or the stern based on the distance data acquired by the plurality of radar sensors provided in the bow region and the stern region by using the formula (1)
Wherein G represents a deviation value of whether the nearest obstacle is biased toward the bow or the stern; s is S 1 (k) A distance value acquired by a kth radar sensor representing a bow area; s is S 2 (a) A distance value acquired by an a-th radar sensor representing a stern area; n1 represents the total number of radar sensors in the bow area; n2 represents the total number of radar sensors in the stern area;the value of k is substituted into brackets from 1 to n1 to obtain the minimum value in the brackets; />Substituting the value of a from 1 to n2 into brackets to obtain the minimum value in brackets;
if g=1, then this indicates that the nearest obstacle is biased toward the bow;
if g=2, then this indicates that the nearest obstacle is biased toward the stern;
step A2: obtaining a relationship between the distance data and the first and second distance thresholds according to the nearest obstacle deflection result and a plurality of distance data acquired by the corresponding radar sensor by using a formula (2)
Wherein D represents a composite distance value derived from the most recent obstacle deflection result; when the D value is lower than the first distance threshold value but not lower than the second distance threshold value, controlling the lens of the 360-degree panoramic camera to rotate to an obstacle position, so that the center line of the lens of the 360-degree panoramic camera is aligned with the center line of the obstacle; when the D value is lower than the second distance threshold value, performing distance early warning;
step A3: the resolution of the 360-degree panoramic camera is controlled according to the nearest obstacle deflection result and a plurality of distance data acquired by the corresponding radar sensor by utilizing a formula (3), so that the processing of reducing the resolution and reducing the data is improved, the system efficiency is improved when the obstacle is nearer, and the resolution is improved when the obstacle is farther, and the definition of the image is ensured
Wherein m represents the total number of image pixels of the 360-degree panoramic camera; m is M min Representing the total number of image pixel points under the maximum resolution of the 360-degree panoramic camera; m is M min Representing the total number of image pixel points under the minimum resolution of the 360-degree panoramic camera; s is S max Representing the furthest distance value that the radar sensor can acquire;
the formula (1) in the step A1 is utilized to judge whether the nearest barrier deviates to the bow or the stern according to the distance data acquired by a plurality of radar sensors arranged in the bow area and the stern area, so that subsequent judgment and control can be carried out in a targeted manner, and the system efficiency is improved; and then the formula (2) in the step A2 is utilized to obtain the relation between the distance data and the first distance threshold and the second distance threshold according to the nearest obstacle deflection result and a plurality of distance data acquired by the corresponding radar sensor, so that corresponding control is realized, and the reliability of the system is reflected; then, the resolution of the 360-degree panoramic camera is controlled according to the nearest obstacle deflection result and a plurality of distance data acquired by the corresponding radar sensor by utilizing the formula (3) in the step (A3), so that the processing of the resolution reduction data is reduced when the obstacle is relatively close, the system efficiency is improved, and the resolution is improved when the obstacle is relatively far, so that the definition of an image is ensured;
the working principle of the technical scheme is as follows: layout sensor (S1): at the target area position of the ship, two kinds of sensors, namely a 360-degree panoramic camera and a radar sensor, are installed. These sensors will be used to monitor and collect data for anti-collision pre-warning.
Data acquisition (S2): the 360-degree panoramic camera and the radar sensor acquire image data and distance data in real time. 360 ° panoramic cameras provide visual information, while radar sensors provide distance and position information.
Distance data comparison (S3): and comparing the acquired distance data with a preset distance threshold. The purpose of this comparison is to determine whether the distance between the two vessels is less than a certain preset safe distance threshold. If the distance is less than the threshold, the system will trigger a distance warning.
The technical scheme has the effects that: distance early warning: the method has the main technical effect of providing the distance early warning between ships. By comparing the actual distance to a preset safe distance threshold, the system may alert the crew or automatically take action to prevent the collision.
Multisensor fusion: by combining the 360-degree panoramic camera and the radar sensor, the system can acquire information from different angles and sensor types, and the accuracy and reliability of early warning are improved.
Real-time performance: the method is real-time, and can provide immediate warning when the ship approaches the dangerous distance, so as to help avoid accidents and collisions.
In summary, the multi-sensor-based ship anti-collision early warning method is beneficial to improving the safety of ships, and possible collision risks are early warned through real-time monitoring and data fusion.
In one embodiment of the invention, a 360-degree panoramic camera and a radar sensor are arranged at a target area of a ship, and the method comprises the following steps:
s101, scanning a drawing of a ship to obtain digital drawing data;
s102, calibrating a plurality of target area positions on digital drawing data, wherein the target area positions comprise a bow area and a stern area;
s103, respectively arranging a 360-degree panoramic camera and a radar sensor in the bow area and the stern area.
The working principle of the technical scheme is as follows: digital drawing scan (S101): firstly, a drawing of a ship is scanned, and the drawing is digitized to obtain digital drawing data.
Target area calibration (S102): the plurality of target area locations are calibrated on the digital drawing data, typically including a bow area and a stern area. These areas are locations on the vessel that may need special monitoring.
Sensor layout (S103): according to the calibrated target area, a 360-degree panoramic camera and a radar sensor are respectively arranged in the bow area and the stern area. These sensors will be used to monitor conditions within the target area in real time.
The technical scheme has the effects that: and (3) overall monitoring: by arranging 360-degree panoramic cameras and radar sensors in the bow and stern areas of the ship, the system can monitor these key areas in real time, and provide more comprehensive information.
Enhanced security: this arrangement helps to increase the safety of the vessel, as it alerts the crew or system operator to the conditions of the specific area of the vessel, thereby reducing the risk of collisions and accidents.
Data integration: by integrating the 360 ° panoramic camera and radar sensor data into one system, potential collision risks can be more easily analyzed and identified.
In a word, the technical scheme of the embodiment aims to provide more comprehensive and comprehensive ship monitoring and anti-collision early warning through digital drawing scanning, target area calibration and sensor layout so as to enhance the safety of ships.
In one embodiment of the present invention, image data and distance data acquired in real time using a 360 ° panoramic camera and a radar sensor, comprises:
s201, acquiring whether an obstacle appears at the position of a target area or not and distance data between the obstacle and the target area of a ship in real time by utilizing a radar sensor;
s202, acquiring an environment image of a target area position by using a 360-degree panoramic camera in real time;
s203, fusing the distance data between the obstacle and the target area of the ship and the environment image to form an environment monitoring image, and visually displaying the environment monitoring image; and displaying distance data of the obstacle in the environment monitoring image.
The working principle of the technical scheme is as follows: radar sensor data acquisition (S201): the radar sensor monitors the position of a target area in real time, detects whether an obstacle appears or not, and measures distance data between the obstacle and a ship target area. These data are used to determine potential collision risk.
Panoramic camera image acquisition (S202): the 360-degree panoramic camera acquires environment images of the target area in real time, and the images provide visual information on the surrounding environment.
Data fusion (S203): and fusing the obstacle distance data acquired by the radar sensor with the environment image acquired by the panoramic camera to form an environment monitoring image. The environment monitoring image comprises a distance data display of the obstacle, and the environment condition of the whole target area is visually displayed.
The technical scheme has the effects that: collision risk monitoring: by collecting the data of the radar sensor and the panoramic camera in real time, the system can monitor whether an obstacle exists in a target area or not and calculate the distance between the obstacle and the ship. This helps identify potential collision risks in a timely manner.
Environment visualization: the data are fused into the environment monitoring image, so that an operator can more intuitively know the conditions of the surrounding environment of the ship, including the positions and the distances of the obstacles.
The safety is improved: this system helps to improve the safety of the vessel, reducing the risk of collisions and accidents, especially in complex water environments.
In a word, the above technical solution of the present embodiment provides comprehensive environmental monitoring by fusing the data of the radar sensor and the 360 ° panoramic camera, so as to enhance the safety of the ship and reduce the collision risk.
In one embodiment of the present invention, comparing the distance data with a preset distance threshold, and judging whether to perform distance pre-warning according to the comparison result, including:
s301, comparing the distance data with a preset first distance threshold;
s302, when the distance data is lower than the first distance threshold value but not lower than the second distance threshold value, controlling the lens of the 360-degree panoramic camera to rotate to an obstacle position, so that the center line of the lens of the 360-degree panoramic camera is aligned with the center line of the obstacle;
and S303, when the distance data is lower than the second distance threshold value, performing distance early warning.
The working principle of the technical scheme is as follows: distance data comparison (S301): firstly, the system compares the distance data acquired in real time with a preset first distance threshold. The first distance threshold may be a larger value as the initial alert threshold.
Distance determination (S302): if the distance data is below the first distance threshold, but not below the second distance threshold (which is typically small), the system performs the following:
and controlling the lens of the 360-degree panoramic camera to rotate so that the central line of the camera is aligned with the central line of the detected obstacle. This helps to obtain more detailed images and perspectives for further analysis of the obstacle.
Distance pre-warning (S303): when the distance data is lower than a second distance threshold, the system triggers a distance early warning. This may include emitting an audible or light signal to alert the operator or take automatic action to avoid a collision.
The technical scheme has the effects that: early warning: by comparing the distance data with two preset distance thresholds, the system can identify potential collision risk in advance.
Automatically adjusting the visual angle: when the distance approaches the first threshold, the system automatically adjusts the camera's view angle to better monitor the position and status of the obstacle.
Distance early warning: when the distance data is lower than a second distance threshold, the system triggers distance early warning, and potential collision or accident can be avoided.
The technical scheme of the embodiment aims to improve the safety of the ship and reduce the collision risk through timely distance data analysis and alarm.
In one embodiment of the present invention, the distance data is compared with a preset distance threshold, and whether the distance pre-warning is performed is determined according to the comparison result, and the method further includes:
step 1, judging the number of obstacles when the distance data is lower than the first distance threshold value but not lower than the second distance threshold value;
step 2, when the number of the obstacles is one, controlling the lens of the 360-degree panoramic camera to rotate to the position of the obstacle;
and 3, when a plurality of obstacles are arranged, controlling the lens of the 360-degree panoramic camera to rotate to the position of the obstacle closest to the lens.
The working principle of the technical scheme is as follows: judging the number of barriers (step 1): when the distance data is between the first and second distance thresholds, the system will not only compare the distance data, but will also determine if there are multiple obstacles within the target area. This step helps identify the number of obstacles within the target area.
Single obstacle treatment (step 2): if only one obstacle is detected in the target area, the system will control the lens of the 360 ° panoramic camera to rotate to the position of the obstacle. This helps to more carefully monitor individual obstacles, as well as to check their location and status.
Multiple obstacle treatment (step 3): if multiple obstacles are detected in the target area, the system selects the nearest obstacle and controls the lens of the 360 ° panoramic camera to rotate to the nearest obstacle position. Doing so may ensure that the system is focused on the nearest potential threat to better avoid collisions.
The technical scheme has the effects that: and (3) accurate monitoring: depending on the number and location of the obstacles, the system is able to more accurately monitor and track the possible risk of collision.
Automatically adjusting the visual angle: the system automatically adjusts the view angle of the camera according to the situation so as to obtain an optimal view, thereby better monitoring and avoiding potential collision or accident.
The safety is improved: by adopting different operations according to different conditions, the technical scheme is beneficial to improving the safety of the ship, reducing the collision risk and reducing the occurrence of accidents.
In summary, the above technical solution of this embodiment aims to improve the safety of a ship by automatically adjusting the position of a camera and sending an alarm in time under different conditions.
The ship anti-collision early warning system based on the multiple sensors provided by the embodiment of the invention, as shown in fig. 2, comprises:
the equipment layout module is used for layout of a 360-degree panoramic camera and a radar sensor at the position of a target area of the ship;
the data acquisition module is used for utilizing image data and distance data acquired by the 360-degree panoramic camera and the radar sensor in real time;
the distance pre-warning module is used for comparing the distance data with a preset distance threshold value and judging whether the distance pre-warning is carried out or not according to the comparison result, the specific steps comprise,
step A1: determining whether the nearest obstacle is biased toward the bow or the stern based on the distance data acquired by the plurality of radar sensors provided in the bow region and the stern region by using the formula (1)
Wherein G represents a deviation value of whether the nearest obstacle is biased toward the bow or the stern; s is S 1 (k) A distance value acquired by a kth radar sensor representing a bow area; s is S 2 (a) A distance value acquired by an a-th radar sensor representing a stern area; n1 represents the total number of radar sensors in the bow area; n2 represents the total number of radar sensors in the stern area;the value of k is substituted into brackets from 1 to n1 to obtain the minimum value in the brackets; />Substituting the value of a from 1 to n2 into brackets to obtain the minimum value in brackets;
if g=1, then this indicates that the nearest obstacle is biased toward the bow;
if g=2, then this indicates that the nearest obstacle is biased toward the stern;
step A2: obtaining a relationship between the distance data and the first and second distance thresholds according to the nearest obstacle deflection result and a plurality of distance data acquired by the corresponding radar sensor by using a formula (2)
Wherein D represents a composite distance value derived from the most recent obstacle deflection result; when the D value is lower than the first distance threshold value but not lower than the second distance threshold value, controlling the lens of the 360-degree panoramic camera to rotate to an obstacle position, so that the center line of the lens of the 360-degree panoramic camera is aligned with the center line of the obstacle; when the D value is lower than the second distance threshold value, performing distance early warning;
step A3: the resolution of the 360-degree panoramic camera is controlled according to the nearest obstacle deflection result and a plurality of distance data acquired by the corresponding radar sensor by utilizing a formula (3), so that the processing of reducing the resolution and reducing the data is improved, the system efficiency is improved when the obstacle is nearer, and the resolution is improved when the obstacle is farther, and the definition of the image is ensured
Wherein m represents the total number of image pixels of the 360-degree panoramic camera; m is M min Representing the total number of image pixel points under the maximum resolution of the 360-degree panoramic camera; m is M min Representing the total number of image pixel points under the minimum resolution of the 360-degree panoramic camera; s is S max Representing the furthest distance value that the radar sensor can acquire;
the formula (1) in the step A1 is utilized to judge whether the nearest barrier deviates to the bow or the stern according to the distance data acquired by a plurality of radar sensors arranged in the bow area and the stern area, so that subsequent judgment and control can be carried out in a targeted manner, and the system efficiency is improved; and then the formula (2) in the step A2 is utilized to obtain the relation between the distance data and the first distance threshold and the second distance threshold according to the nearest obstacle deflection result and a plurality of distance data acquired by the corresponding radar sensor, so that corresponding control is realized, and the reliability of the system is reflected; then, the resolution of the 360-degree panoramic camera is controlled according to the nearest obstacle deflection result and a plurality of distance data acquired by the corresponding radar sensor by utilizing the formula (3) in the step (A3), so that the processing of the resolution reduction data is reduced when the obstacle is relatively close, the system efficiency is improved, and the resolution is improved when the obstacle is relatively far, so that the definition of an image is ensured;
the working principle of the technical scheme is as follows: laying a sensor: at the target area position of the ship, two kinds of sensors, namely a 360-degree panoramic camera and a radar sensor, are installed. These sensors will be used to monitor and collect data for anti-collision pre-warning.
And (3) data acquisition: the 360-degree panoramic camera and the radar sensor acquire image data and distance data in real time. 360 ° panoramic cameras provide visual information, while radar sensors provide distance and position information.
Distance data comparison: and comparing the acquired distance data with a preset distance threshold. The purpose of this comparison is to determine whether the distance between the two vessels is less than a certain preset safe distance threshold. If the distance is less than the threshold, the system will trigger a distance warning.
The technical scheme has the effects that: distance early warning: the method has the main technical effect of providing the distance early warning between ships. By comparing the actual distance to a preset safe distance threshold, the system may alert the crew or automatically take action to prevent the collision.
Multisensor fusion: by combining the 360-degree panoramic camera and the radar sensor, the system can acquire information from different angles and sensor types, and the accuracy and reliability of early warning are improved.
Real-time performance: the method is real-time, and can provide immediate warning when the ship approaches the dangerous distance, so as to help avoid accidents and collisions.
In summary, the multi-sensor-based ship anti-collision early warning method is beneficial to improving the safety of ships, and possible collision risks are early warned through real-time monitoring and data fusion.
In one embodiment of the present invention, the device layout module includes:
the scanning module is used for scanning the drawing of the ship and acquiring digital drawing data;
the target area position acquisition module is used for calibrating a plurality of target area positions on the digital drawing data, wherein the target area positions comprise a bow area and a stern area;
and the camera and sensor layout module is used for respectively laying a 360-degree panoramic camera and a radar sensor in the bow area and the stern area.
The working principle of the technical scheme is as follows: scanning a digital drawing: firstly, a drawing of a ship is scanned, and the drawing is digitized to obtain digital drawing data.
Target area calibration: the plurality of target area locations are calibrated on the digital drawing data, typically including a bow area and a stern area. These areas are locations on the vessel that may need special monitoring.
Sensor arrangement: according to the calibrated target area, a 360-degree panoramic camera and a radar sensor are respectively arranged in the bow area and the stern area. These sensors will be used to monitor conditions within the target area in real time.
The technical scheme has the effects that: and (3) overall monitoring: by arranging 360-degree panoramic cameras and radar sensors in the bow and stern areas of the ship, the system can monitor these key areas in real time, and provide more comprehensive information.
Enhanced security: this arrangement helps to increase the safety of the vessel, as it alerts the crew or system operator to the conditions of the specific area of the vessel, thereby reducing the risk of collisions and accidents.
Data integration: by integrating the 360 ° panoramic camera and radar sensor data into one system, potential collision risks can be more easily analyzed and identified.
In a word, the technical scheme of the embodiment aims to provide more comprehensive and comprehensive ship monitoring and anti-collision early warning through digital drawing scanning, target area calibration and sensor layout so as to enhance the safety of ships.
In one embodiment of the present invention, the data acquisition module includes:
the distance data acquisition module is used for acquiring whether an obstacle appears at the position of the target area or not and the distance data between the obstacle and the target area of the ship in real time by utilizing the radar sensor;
the environment image acquisition module is used for acquiring environment images of the target area position by using the 360-degree panoramic camera in real time;
the visual display module is used for fusing the distance data between the obstacle and the target area of the ship and the environment image to form an environment monitoring image, and visually displaying the environment monitoring image; and displaying distance data of the obstacle in the environment monitoring image.
The working principle of the technical scheme is as follows: and (3) radar sensor data acquisition: the radar sensor monitors the position of a target area in real time, detects whether an obstacle appears or not, and measures distance data between the obstacle and a ship target area. These data are used to determine potential collision risk.
Panoramic camera image acquisition: the 360-degree panoramic camera acquires environment images of the target area in real time, and the images provide visual information on the surrounding environment.
Data fusion: and fusing the obstacle distance data acquired by the radar sensor with the environment image acquired by the panoramic camera to form an environment monitoring image. The environment monitoring image comprises a distance data display of the obstacle, and the environment condition of the whole target area is visually displayed.
The technical scheme has the effects that: collision risk monitoring: by collecting the data of the radar sensor and the panoramic camera in real time, the system can monitor whether an obstacle exists in a target area or not and calculate the distance between the obstacle and the ship. This helps identify potential collision risks in a timely manner.
Environment visualization: the data are fused into the environment monitoring image, so that an operator can more intuitively know the conditions of the surrounding environment of the ship, including the positions and the distances of the obstacles.
The safety is improved: this system helps to improve the safety of the vessel, reducing the risk of collisions and accidents, especially in complex water environments.
In a word, the above technical solution of the present embodiment provides comprehensive environmental monitoring by fusing the data of the radar sensor and the 360 ° panoramic camera, so as to enhance the safety of the ship and reduce the collision risk.
In one embodiment of the present invention, the distance pre-warning module includes:
the comparison module is used for comparing the distance data with a preset first distance threshold value;
the first panoramic camera control module is used for controlling the lens of the 360-degree panoramic camera to rotate to an obstacle position when the distance data is lower than the first distance threshold value but not lower than the second distance threshold value;
and the second panoramic camera control module is used for carrying out distance early warning when the distance data is lower than the second distance threshold value.
The working principle of the technical scheme is as follows: distance data comparison: firstly, the system compares the distance data acquired in real time with a preset first distance threshold. The first distance threshold may be a larger value as the initial alert threshold.
And (3) distance judgment: if the distance data is below the first distance threshold, but not below the second distance threshold (which is typically small), the system performs the following:
and controlling the lens of the 360-degree panoramic camera to rotate so that the central line of the camera is aligned with the central line of the detected obstacle. This helps to obtain more detailed images and perspectives for further analysis of the obstacle.
Distance early warning: when the distance data is lower than a second distance threshold, the system triggers a distance early warning. This may include emitting an audible or light signal to alert the operator or take automatic action to avoid a collision.
The technical scheme has the effects that: early warning: by comparing the distance data with two preset distance thresholds, the system can identify potential collision risk in advance.
Automatically adjusting the visual angle: when the distance approaches the first threshold, the system automatically adjusts the camera's view angle to better monitor the position and status of the obstacle.
Distance early warning: when the distance data is lower than a second distance threshold, the system triggers distance early warning, and potential collision or accident can be avoided.
The objective of the above technical solution of the present embodiment is to improve the safety of a ship and reduce the risk of collision by timely distance data analysis and alarm, especially when the ship approaches an obstacle or other ships.
In one embodiment of the present invention, the distance pre-warning module further includes:
the obstacle number judging module is used for judging the number of obstacles when the distance data is lower than the first distance threshold value but not lower than the second distance threshold value;
the third panoramic camera control module is used for controlling the lens of the 360-degree panoramic camera to rotate to the position of the obstacle when the obstacle is one, so that the center line of the lens of the 360-degree panoramic camera is aligned with the center line of the obstacle;
and the fourth panoramic camera control module is used for controlling the lens of the 360-degree panoramic camera to rotate to the position of the obstacle closest to the lens when the number of the obstacles is multiple.
The working principle of the technical scheme is as follows: judging the number of barriers: when the distance data is between the first and second distance thresholds, the system will not only compare the distance data, but will also determine if there are multiple obstacles within the target area. This step helps identify the number of obstacles within the target area.
Single obstacle treatment: if only one obstacle is detected in the target area, the system will control the lens of the 360 ° panoramic camera to rotate to the position of the obstacle. This helps to more carefully monitor individual obstacles, as well as to check their location and status.
Multiple obstacle treatments: if multiple obstacles are detected in the target area, the system selects the nearest obstacle and controls the lens of the 360 ° panoramic camera to rotate to the nearest obstacle position. Doing so may ensure that the system is focused on the nearest potential threat to better avoid collisions.
The technical scheme has the effects that: and (3) accurate monitoring: depending on the number and location of the obstacles, the system is able to more accurately monitor and track the possible risk of collision.
Automatically adjusting the visual angle: the system automatically adjusts the view angle of the camera according to the situation so as to obtain an optimal view, thereby better monitoring and avoiding potential collision or accident.
The safety is improved: by adopting different operations according to different conditions, the technical scheme is beneficial to improving the safety of the ship, reducing the collision risk and reducing the occurrence of accidents.
In summary, the above technical solution of this embodiment aims to improve the safety of a ship by automatically adjusting the position of a camera and sending an alarm in time under different conditions.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (10)
1. The ship anti-collision early warning method based on the multiple sensors is characterized by comprising the following steps of:
a 360-degree panoramic camera and a radar sensor are arranged at the position of a target area of the ship;
image data and distance data acquired in real time by using a 360-degree panoramic camera and a radar sensor;
and comparing the distance data with a preset distance threshold value, and judging whether to perform distance early warning according to a comparison result.
2. The multi-sensor-based ship anti-collision early warning method according to claim 1, wherein the arrangement of the 360-degree panoramic camera and the radar sensor at the target area of the ship comprises the following steps:
scanning a drawing of the ship to obtain digital drawing data;
calibrating a plurality of target area positions on the digital drawing data, wherein the target area positions comprise a bow area and a stern area;
and respectively arranging a 360-degree panoramic camera and a radar sensor in the bow area and the stern area.
3. The multi-sensor-based ship anti-collision early warning method according to claim 1, wherein image data and distance data acquired in real time by using a 360 ° panoramic camera and a radar sensor, comprises:
acquiring whether an obstacle appears at the position of a target area or not and distance data between the obstacle and the target area of the ship in real time by using a radar sensor;
acquiring an environment image of the target area position by using a 360-degree panoramic camera in real time;
fusing the distance data between the obstacle and the target area of the ship and the environment image to form an environment monitoring image, and visually displaying the environment monitoring image; and displaying distance data of the obstacle in the environment monitoring image.
4. The multi-sensor-based ship anti-collision warning method of claim 1, wherein comparing the distance data with a preset distance threshold and judging whether to perform the distance warning according to the comparison result comprises:
comparing the distance data with a preset first distance threshold;
when the distance data is lower than the first distance threshold value but not lower than the second distance threshold value, controlling the lens of the 360-degree panoramic camera to rotate to an obstacle position, so that the center line of the lens of the 360-degree panoramic camera is aligned with the center line of the obstacle;
and when the distance data is lower than the second distance threshold value, performing distance early warning.
5. The multi-sensor-based ship collision prevention warning method according to claim 1 or 4, wherein the distance data is compared with a preset distance threshold value, and whether the distance warning is performed is determined according to the comparison result, further comprising:
when the distance data is lower than the first distance threshold value but not lower than the second distance threshold value, judging the number of the barriers;
when the number of the obstacles is one, controlling the lens of the 360-degree panoramic camera to rotate to the position of the obstacle;
and when the number of the obstacles is multiple, controlling the lens of the 360-degree panoramic camera to rotate to the position of the obstacle closest to the lens.
6. The utility model provides a ship anti-collision early warning system based on multisensor, its characterized in that, ship anti-collision early warning system based on multisensor includes:
the equipment layout module is used for layout of a 360-degree panoramic camera and a radar sensor at the position of a target area of the ship;
the data acquisition module is used for utilizing image data and distance data acquired by the 360-degree panoramic camera and the radar sensor in real time;
and the distance early warning module is used for comparing the distance data with a preset distance threshold value and judging whether to perform distance early warning or not according to a comparison result.
7. The multi-sensor based marine anti-collision warning system of claim 6, wherein the equipment deployment module comprises:
the scanning module is used for scanning the drawing of the ship and acquiring digital drawing data;
the target area position acquisition module is used for calibrating a plurality of target area positions on the digital drawing data, wherein the target area positions comprise a bow area and a stern area;
and the camera and sensor layout module is used for respectively laying a 360-degree panoramic camera and a radar sensor in the bow area and the stern area.
8. The multi-sensor based marine anti-collision warning system of claim 6, wherein the data acquisition module comprises:
the distance data acquisition module is used for acquiring whether an obstacle appears at the position of the target area or not and the distance data between the obstacle and the target area of the ship in real time by utilizing the radar sensor;
the environment image acquisition module is used for acquiring environment images of the target area position by using the 360-degree panoramic camera in real time;
the visual display module is used for fusing the distance data between the obstacle and the target area of the ship and the environment image to form an environment monitoring image, and visually displaying the environment monitoring image; and displaying distance data of the obstacle in the environment monitoring image.
9. The multi-sensor based marine anti-collision warning system of claim 6, wherein the distance warning module comprises:
the comparison module is used for comparing the distance data with a preset first distance threshold value;
the first panoramic camera control module is used for controlling the lens of the 360-degree panoramic camera to rotate to an obstacle position when the distance data is lower than the first distance threshold value but not lower than the second distance threshold value;
and the second panoramic camera control module is used for carrying out distance early warning when the distance data is lower than the second distance threshold value.
10. The multi-sensor based marine anti-collision warning system of claim 6 or 9, wherein the distance warning module further comprises:
the obstacle number judging module is used for judging the number of obstacles when the distance data is lower than the first distance threshold value but not lower than the second distance threshold value;
the third panoramic camera control module is used for controlling the lens of the 360-degree panoramic camera to rotate to the position of the obstacle when the obstacle is one, so that the center line of the lens of the 360-degree panoramic camera is aligned with the center line of the obstacle;
and the fourth panoramic camera control module is used for controlling the lens of the 360-degree panoramic camera to rotate to the position of the obstacle closest to the lens when the number of the obstacles is multiple.
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