CN117912302B - Ship monitoring system with target recognition function - Google Patents
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Abstract
The invention relates to the technical field of ship monitoring systems, and discloses a ship monitoring system with a target recognition function. The ship monitoring system with the target recognition function uniformly collects a port berthing ship data set, an outgoing port ship data set and an incoming port ship data set through the real-time monitoring module, the data analysis module carries out classification numbering, the target recognition module establishes a classification model number through a ship identification number, the port berthing, outgoing port or incoming port is judged according to the navigation direction, recognition target information is comprehensive, the port berthing point space occupation ratio is rapidly calculated, the port throughput is mastered, waiting time is effectively shortened, and the target matrix coefficient is calculatedEnsuring safe berthing of port entering ships and calculating safety distance indexThe safe driving-away of the ship at the departure port is guaranteed, the broadcasting early warning sensitivity is high, and various target ships can be accurately identified in a water area with high navigation density to conduct water traffic dispersion.
Description
Technical Field
The invention relates to the technical field of ship monitoring systems, in particular to a ship monitoring system with a target identification function.
Background
Ships are a general term for various ships. A ship is a vehicle that can navigate or moor in a body of water for transportation or operation, with different technical properties, equipment and structural patterns according to different usage requirements. A ship is an artificial vehicle that operates primarily in geographical water. In addition, civil ships are generally called ships, military ships are called ships, and small ships are called boats or ships, which are collectively called ships or boats. The interior mainly comprises a receiving space, a supporting structure and a water draining structure, and is provided with a propulsion system utilizing external or self-contained energy sources. The water transportation comprises various forms of river transportation, sea transportation, inland water transportation and the like, has the advantages of low cost, large carrying capacity, long transportation distance and the like, and is an indispensable important component in international trade. The water transportation provides a convenient channel for trade between countries, and plays a significant role in the global economic integration process. However, there are also certain limitations to water transport, which are greatly affected by weather and seasons. Different ports have specific tide laws, visibility is reduced under bad weather conditions, and the channel bending increases the difficulty and risk of berthing.
The currently widely used AIS system (automatic identification system of ship) is a novel walking-assisting electronic system which is commonly and powerfully promoted in 2000 by international maritime organization IMO, international navigation mark association IALA and international telecommunication union ITU-R, has the functions of automatic identification, communication and navigation of ships, and can automatically exchange ship position, course and other information between ships, but in the actual use process, effective resolution cannot be carried out in a water area with high navigation density, the error is larger, the traffic state of the area is difficult to evaluate, AIS equipment can only pick up information and can not broadcast, and early warning or alarm can not be provided.
Disclosure of Invention
(One) solving the technical problems
Aiming at the defects of the prior art, the invention provides a ship monitoring system with a target recognition function, which has the advantages of comprehensive and accurate recognition target information, high broadcast early warning sensitivity and the like, and solves the problems that the navigation density is large, the recognition error is large, and the information is received and the broadcast early warning cannot be carried out.
(II) technical scheme
In order to achieve the above purpose, the present invention provides the following technical solutions: a ship monitoring system with a target recognition function comprises a real-time monitoring module, a data analysis module, a target recognition module and a broadcast early warning module;
the real-time monitoring module is used for collecting the port ship data set by shooting in real time through the monitoring camera, and is connected with the data analysis module through a network, and transmits the port ship berthing data set to the data analysis module through the network;
The data analysis module is used for numbering the port ship data sets according to the characteristics of the data sets, the port ship data set classification consists of a port berthing ship data set, an outgoing ship data set and an incoming ship data set, and the data analysis module is used for numbering the port berthing ship data sets according to the image data set of the port berthing ship data set Number of ship image dataset outgoing from port/>Port entering ship image dataset number/>Sum of usable number of whole harbor stop points/>Calculating the free duty ratio/>, of the image dataset of the port stop pointThe data analysis module is connected with the target identification module through a network;
the target identification module identifies the collected target ship to obtain ship basic information, wherein the ship basic information comprises large ship load tonnage, medium ship load tonnage and small ship load tonnage information, the target identification module establishes a classification model through a ship identification number and performs classification numbering on the model, and the model number is as follows: 、、/>、...、/>、/>、/>、/>、...、/>、/>、/>、/>、...、/> And the model numbers are in one-to-one correspondence with the feature numbers of the data sets, and the large ship has a load tonnage of more than 10000 tons and is identified as number/> Dividing into/>, according to ship identification number、/>、/>、...、/>The medium-sized ship has a load tonnage of 5000 to 10000 tons of identification number/>Dividing into/>, according to ship identification number、/>、/>、...、/>The small ship has a load tonnage of less than 5000 tons and an identification numberDividing into/>, according to ship identification number、/>、/>、...、/>The target identification module is used for identifying the large shipMedium-sized Ship identification number/>And small ship identification number/>The target identification module is stored in the control module, and calculates a target matrix coefficient/>, of the port entering ship image dataset, according to the total occupied volume of the port entering ship dataset model minus the total occupied volume of port vacant berthing pointsThe target identification module divides the guaranteeing ship intersection standard isolation area according to the difference value between the occupied total area of the port entering ship data set model and the occupied total area of the port exiting ship data set model, and calculates the safety distance index/>The target identification module is connected with the broadcast early warning module through a network, and the large ship identification number/>Medium-sized Ship identification number/>And small ship identification number/>Stored in the control module;
the broadcast early warning module is composed of a communication unit and is used for timely communicating auxiliary navigation.
Preferably, the harbor ship data set is composed of a harbor berthing ship image data set, a harbor ship image data set and a harbor entering ship image data set.
Preferably, the data analysis module numbers the harbor berthing ship image data set, the outgoing ship image data set and the incoming ship image data set according to the characteristics, wherein the harbor berthing ship data set numbers are as follows、/>、/>、.../>The number of the departure ship is/>、/>、/>、.../>The port entering ship is numbered/>、/>、/>、.../>And numbering the harbor berthing ship image data set/>Number of ship image dataset outgoing from port/>And port entering ship image dataset number/>And transmitting to the target identification module.
Preferably, the data analysis module calculates the free space ratio of one or more port dock image data sets according to the port real-time image data set, and the calculation formula is as follows:
In the formula (i), Representing the free duty cycle of a harbor stop image dataset,/>Representing the number of used port stops,/>Representing the sum of the number of available ports for use throughout the port dock.
Preferably, the target recognition module establishes a port berthing ship image dataset model according to the port berthing ship image dataset, the recognition module numbers the port berthing ship image dataset model and corresponds the port berthing ship image dataset model number with the dataset feature number one by one, and the port berthing ship image dataset model number is as follows:、/>、/>、...、/>、/>、/>、/>、...、/>、/>、/>、/>、...、。
Preferably, the target recognition module establishes a departure ship image dataset model according to the departure ship image dataset, the recognition module numbers the departure ship image dataset model and corresponds the departure ship image dataset model number with the dataset feature number one by one, and the departure ship image dataset model number is as follows: 、/>、/>、...、/>、/>、/>、/>、...、/>、/>、/>、/>、...、/> The target identification module establishes an inlet ship image dataset model according to an inlet ship image dataset, the identification module numbers the inlet ship image dataset model and corresponds the inlet ship image dataset model number with the dataset feature number one by one, and the inlet ship image dataset model number is as follows: /(I) 、/>、/>、...、/>、/>、/>、/>、...、、/>、/>、/>、...、/>。
Preferably, the target recognition module calculates a target matrix coefficient of one or more of the harbor ship image data sets according to the harbor berthing ship image data set model, the harbor ship image data set model and the harbor ship image data set model, and the calculation formula is as follows:
-/>
In the formula (i), Target matrix coefficients representing an image dataset of a port entering ship,/>Representing the total volume occupied by the intake ship dataset model,/>Representing the total volume occupied by the port vacant docking points,/>Representing the number of free stops in a port,/>Representing a single port docking point volume standard.
Preferably, the target recognition module calculates a safe distance index of one or more of the harbor ship image data sets according to the harbor berthing ship image data set model, the harbor ship image data set model and the harbor ship image data set model, and the calculation formula is as follows:
In the formula (i), Safety distance index representing a harbor ship image dataset,/>Representing the total occupied area of the data set model of the port entering ship,/>Representing the total occupied area of the data set model of the port ship,/>The standard isolation area for ensuring the ship intersection is shown.
Preferably, the target recognition module calculates a target matrix coefficient of the inbound ship image dataset and a safety distance index of the outbound ship image dataset, and transmits the target matrix coefficient and the safety distance index to the broadcast early warning module through a network.
Preferably, the broadcast early warning module is a network connection communication unit with a negative number according to the target matrix coefficient of the incoming ship image dataset, and the broadcast early warning module is a network connection communication unit with a negative number according to the safety distance index of the outgoing ship image dataset.
Compared with the prior art, the invention provides a ship monitoring system with a target recognition function, which has the following beneficial effects:
1. According to the invention, the port berthing ship data set, the port departure ship data set and the port entering ship data set are uniformly collected through the real-time monitoring module, the data analysis module classifies and numbers the port berthing ship data set according to the characteristics of the data set, the target identification module establishes a classification model through the ship identification number, the large, medium or small ships are numbered, the model numbers correspond to the characteristic numbers of the data set one by one, the port berthing, the port departure or the port entering ship is judged according to the navigation direction, the port berthing point space ratio is rapidly calculated while the target information is comprehensively and accurately identified, the port throughput is rapidly mastered by a manager, and the port entering and exiting ship waiting time is effectively shortened.
2. The invention calculates the target matrix coefficient of the port-entering ship image data set by subtracting the occupied total volume of the port vacant berth points from the occupied total volume of the port-entering ship data set modelEnsuring safe berthing of the port entering ship, dividing the standard isolation area for ensuring ship intersection according to the difference between the total occupied area of the port entering ship data set model and the total occupied area of the port exiting ship data set model, and calculating the safe distance index/>The method ensures that the departure ships safely travel away, has high broadcasting early warning sensitivity, and can accurately identify various target ships to conduct water traffic dispersion in a water area with high navigation density.
Drawings
FIG. 1 is a schematic diagram of the structural system of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, a ship monitoring system with a target recognition function includes a real-time monitoring module, a data analysis module, a target recognition module and a broadcast early warning module;
The real-time monitoring module is used for collecting a port ship data set through real-time shooting of a monitoring camera, the specific model of the monitoring camera is DS-IPC-T14H-IFA, a microphone is arranged in the infrared photo-acoustic picture synchronization, the port ship data set is composed of a port ship berthing ship image data set, a port ship departure ship image data set and a port ship entering ship image data set, the port ship berthing data set is transmitted to the data analysis module through a network by the real-time monitoring module through the network;
The data analysis module is used for carrying out classification numbering on the data according to the characteristics of the data sets, the port ship data set classification consists of port berthing ship data sets, departure ship data sets and arrival ship data sets, and the port berthing ship data sets are numbered 、/>、/>、.../>Number of ship at departure is/>、/>、/>、.../>Inlet ship number/>、/>、/>、.../>The data analysis module is used for carrying out serial number/>, according to the image data set of the ship berthing at the portNumber of ship image dataset outgoing from port/>Port entering ship image dataset number/>Sum of usable number of whole harbor stop points/>Calculating the free duty ratio/>, of the image dataset of the port stop pointThe data analysis module calculates the free space ratio of one or more port stop point image data sets according to the port real-time image data sets, and the calculation formula is as follows:
In the formula (i), Representing the free duty cycle of a harbor stop image dataset,/>Representing the number of used port stops,/>The total usable quantity of the whole port stop points is represented, the identification target information is comprehensive and accurate, and meanwhile, the idle duty ratio of the port stop points is calculated rapidly through the system, so that a manager can master port throughput rapidly, the waiting time of ships entering and leaving ports is shortened effectively, and the data analysis module is connected with the target identification module through a network;
The target identification module identifies the collected target ship to obtain ship basic information, wherein the ship basic information comprises large ship load tonnage, medium ship load tonnage and small ship load tonnage information, and the target identification module establishes a classification model through a ship identification number and performs classification numbering on the model, and the model number is as follows: 、/>、/>、...、/>、、/>、/>、...、/>、/>、/>、/>、...、/> The model numbers and the feature numbers of the data sets are in one-to-one correspondence, the large ship has a load tonnage of more than 10000 tons, and the ship body size is mainly used for transporting coal mine iron stones, and the identification numbers/> Dividing into/>, according to ship identification number、/>、/>、...、/>The medium-sized ship has the load tonnage of 5000-10000 tons, and the ship body is flexibly operated for transporting container cargoes, and the identification number/>Dividing into/>, according to ship identification number、/>、/>、...、/>The small ship has a load tonnage of below 5000 tons, the size of the ship body is small for small-scale short-distance fast transportation, and the identification number/>Dividing into/>, according to ship identification number、/>、/>、...、/>In the first stage, the target recognition module judges that the ship is large, medium or small according to the length, width and height of all ship bodies of the port, is favorable for calculating the total occupied volume of the ships subsequently, avoids economic loss caused by collision when the ships meet, establishes a port berthing ship image dataset model according to the port berthing ship image dataset, numbers the port berthing ship image dataset model, and corresponds the port berthing ship image dataset model number to the data set feature number one by one, and the port berthing ship image dataset model number is as follows: /(I)、/>、、...、/>、/>、/>、/>、...、/>、/>、/>、/>、...、/>The model numbers of the ship image dataset at the departure port are as follows: /(I)、/>、/>、...、/>、/>、/>、/>、...、/>、/>、/>、/>、...、/>The port entering ship image dataset model numbers are as follows: /(I)、/>、/>、...、/>、、/>、/>、...、/>、/>、/>、/>、...、/>In the second stage, the target recognition module judges that all ships at the port berth, come out of the port or come in the port according to the navigation directions of all ships at the port, so that the safe distance between the ships at the port and the target matrix of the ships at the port can be calculated, the safe berth of various ships is ensured, the berth area of the port is used to the maximum extent, and the target recognition module recognizes the large ship with the number/>Medium-sized Ship identification number/>And small ship identification number/>The target matrix coefficient/>, which is stored in the control module, of the port entering ship image dataset is calculated by the target recognition module according to the total occupied volume of the port entering ship dataset model minus the total occupied volume of port vacant berthing pointsThe target recognition module calculates a target matrix coefficient of one or more port entering ship image data sets according to the port berthing ship image data set model, the port exiting ship image data set model and the port entering ship image data set model, and the calculation formula is as follows:
-/>
In the formula (i), Target matrix coefficients representing an image dataset of a port entering ship,/>Representing the total volume occupied by the intake ship dataset model,/>Representing the total volume occupied by the port vacant docking points,/>Representing the number of free stops in a port,/>Representing the volume standard of a single port berthing point, calculating the target matrix coefficient of the port entering ship image dataset is beneficial to rapidly managing the port entering ship quantity, and when the target matrix coefficient/>, of the port entering ship image datasetWhen the number is positive, the total volume of the port free berth is still allowance, the next subsequent ships can continue to enter the port, and when the target matrix coefficient/>, of the image data set of the entering ship, the ship can enter the portWhen the number is negative, the total volume of the port vacant berth is smaller than the total volume of the port entering ship target matrix, and a part of ships need to be screened out from the port entering ships in the batch, so that the part of ships wait for the port entering of the next batch, and the ship collision accident caused by channel congestion is effectively avoided;
the target identification module divides the guaranteeing ship intersection standard isolation area according to the difference value between the occupied total area of the port entering ship data set model and the occupied total area of the port exiting ship data set model, and calculates the safety distance index of the port exiting ship image data set The target identification module is connected with the broadcast early warning module through a network, and stores the large ship identification number, the medium ship identification number and the small ship identification number in the control module, and calculates the safety distance index of one or more of the ship image data sets according to the sum of the port berthing ship image data set model, the port outgoing ship image data set model and the port incoming ship image data set model, wherein the calculation formula is as follows:
In the formula (i), Safety distance index representing a harbor ship image dataset,/>Representing the total occupied area of the data set model of the port entering ship,/>Representing the total occupied area of the data set model of the port ship,/>Representing and guaranteeing the standard isolation area of ship intersection, and obtaining the safety distance index/>, according to the rule of the expanding trend of the occupied area of the ship at the inlet and the reducing trend of the occupied area of the ship at the outlet, of the image dataset of the ship at the outletWhen the number is positive, the occupied area of the ship entering the port is always larger than that of the ship leaving the port, the ship intersection can continue entering the port according to the original route, and the safe distance index/>, of the ship leaving the port image datasetWhen the number is negative, the occupied area of the departure ship is larger than that of the arrival ship, the ship intersection must change the sailing route or stop advancing, and the arrival ship can continue to enter the port after waiting for the reduction of the occupied area of the departure ship;
The target recognition module calculates a target matrix coefficient of the inbound ship image dataset and a safe distance index of the outbound ship image dataset according to a formula, and transmits the target matrix coefficient and the safe distance index of the outbound ship image dataset to the broadcast early warning module through a network, wherein the broadcast early warning module consists of a communication unit and is used for timely communicating auxiliary sailing, the broadcast early warning module is connected with the communication unit according to the target matrix coefficient of the inbound ship image dataset and the safe distance index of the outbound ship image dataset, the broadcast early warning sensitivity is high, and various target ships in water areas with high navigation density can be accurately recognized to conduct water traffic dispersion.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. A ship monitoring system with target recognition function, characterized in that: the system comprises a real-time monitoring module, a data analysis module, a target identification module and a broadcast early warning module;
the real-time monitoring module is used for collecting the port ship data set by shooting in real time through the monitoring camera, and is connected with the data analysis module through a network, and transmits the port ship berthing data set to the data analysis module through the network;
The data analysis module carries out classification numbering on the port ship data sets according to the characteristics of the data sets, the port ship data sets are classified by port berthing ship data sets, departure ship data sets and arrival ship data sets, the data analysis module calculates the free space ratio Kyzb of the port berthing point image data sets according to port berthing ship image data set numbers P, departure ship image data set numbers C, arrival ship image data set numbers J and the total sum of usable quantity Zh of the whole port berthing points, the data analysis module is connected with the target identification module through a network, and the data analysis module calculates the free space ratio of one or more port berthing point image data sets according to the port real-time image data sets, wherein the calculation formula is as follows:
In the formula, kyzb represents the free space ratio of the image dataset of the port stop point, P n-Cn+Jn represents the used quantity of the port stop point, and Zh represents the sum of the usable quantity of the whole port stop point;
The target identification module identifies the collected target ship to obtain ship basic information, the ship basic information comprises large ship load tonnage, medium ship load tonnage and small ship load tonnage information, the target identification module establishes a classification model through a ship identification number and carries out classification numbering on the model, the model number is ：Lx1、Lx2、Lx3、...、Lxn、Mx1、Mx2、Mx3、...、Mxn、Sx1、Sx2、Sx3、...、Sxn, as follows, the model number corresponds to a data set feature number one by one, the large ship load tonnage is divided into Lx 1、Lx2、Lx3、...、Lxn according to the ship identification number above 10000 tons, the medium ship load tonnage is divided into Mx 1、Mx2、Mx3、...、Mxn according to the ship identification number between 5000 and 10000 tons, the small ship load tonnage is divided into Sx 1、Sx2、Sx3、...、Sxn according to the identification number below 5000 tons, the target identification module stores a large ship identification number Lx, a medium ship identification number Mx and a small ship identification number Sx in the control module, the target identification module subtracts the occupied total volume of port vacant berthing points according to the occupied total volume of the port entering ship data set model, calculates a target matrix coefficient Mbjz of the port entering ship image data set, the target identification module divides the guaranteed ship intersection standard isolation area according to the difference value between the occupied total area of the port entering ship data set model and the occupied total area of the port exiting ship data set model, calculates a safety distance index Aqjl of the port entering ship image data set, and the target identification module is connected with the broadcasting early warning module through a network and stores the large ship identification number Lx, the medium ship identification number Mx and the small ship identification number Sx in the control module;
the broadcast early warning module is composed of a communication unit and is used for timely communicating auxiliary navigation.
2. A ship monitoring system with target recognition function according to claim 1, characterized in that: the port ship data set consists of a port berthing ship image data set, a port departure ship image data set and a port entering ship image data set.
3. A ship monitoring system with target recognition function according to claim 2, characterized in that: the data analysis module is used for numbering the harbor berthing ship image dataset, the harbor berthing ship image dataset and the harbor entering ship image dataset according to the characteristics, wherein the harbor berthing ship dataset is numbered as P 1、P2、P3、...Pn, the harbor entering ship is numbered as C 1、C2、C3 and Cn, the harbor entering ship is numbered as J 1、J2、J3、...Jn, and the harbor berthing ship image dataset is numbered as P, the harbor exiting ship image dataset is numbered as C and the harbor entering ship image dataset is numbered as J, and the harbor berthing ship image dataset is transmitted to the target identification module.
4. A ship monitoring system with target recognition function according to claim 3, characterized in that: the target identification module establishes a port berthing ship image dataset model according to the port berthing ship image dataset, the identification module numbers the port berthing ship image dataset model and corresponds the port berthing ship image dataset model number with the dataset characteristic number one by one, and the port berthing ship image dataset model number is as follows ：PLx1、PLx2、PLx3、...、PLxn、PMx1、PMx2、PMx3、...、PMxn、PSx1、PSx2、PSx3、...、PSxn.
5. A ship monitoring system with target recognition function according to claim 3, characterized in that: the target identification module establishes an outgoing ship image dataset model according to an outgoing ship image dataset, the identification module numbers the outgoing ship image dataset model and corresponds the outgoing ship image dataset model number to the dataset feature number one by one, the outgoing ship image dataset model number is ：CLx1、CLx2、PLx3、...、CLxn、CMx1、CMx2、CMx3、...、CMxn、CSx1、CSx2、CSx3、...、CSxn, as follows, the target identification module establishes an incoming ship image dataset model according to an incoming ship image dataset, the identification module numbers the incoming ship image dataset model and corresponds the incoming ship image dataset model number to the dataset feature number one by one, the incoming ship image dataset model number is as follows ：JLx1、JLx2、JLx3、...、JLxn、JMx1、JMx2、JMx3、...、JMxn、JSx1、JSx2、JSx3、...、JSxn.
6. The ship monitoring system with target recognition function according to claim 5, wherein: the target recognition module calculates a target matrix coefficient of one or more port entering ship image data sets according to the port berthing ship image data set model, the port exiting ship image data set model and the port entering ship image data set model, and the calculation formula is as follows:
Mbjz＝(JLxn 3+JMxn 3+JSxn 3)-(Zh-Pn-Cn)*LF
In the formula, mbjz represents the target matrix coefficient of the port entering ship image dataset, JLx n 3+JMxn 3+JSxn 3 represents the occupied total volume of the port entering ship dataset model, (Zh-P n-Cn) ×lf represents the occupied total volume of port vacant docking points, zh-P n-Cn represents the number of port vacant docking points, and LF represents the volume standard of a single port docking point.
7. The ship monitoring system with target recognition function according to claim 5, wherein: the target identification module calculates the safety distance index of one or more harbor ship image data sets according to the harbor berthing ship image data set model, the harbor ship image data set model and the harbor ship image data set model, and the calculation formula is as follows:
In the formula, aqjl represents a safety distance index of the harbor ship image dataset, JLx n 2+JMxn 2+JSxn 2 represents the occupied total area of the harbor ship dataset model, CLx n 2+CMxn 2+CSxn 2 represents the occupied total area of the harbor ship dataset model, and BZ represents the isolation area for guaranteeing the ship intersection standard.
8. A ship monitoring system with target recognition function according to claim 1, characterized in that: and the target recognition module calculates a target matrix coefficient of the inbound ship image dataset and a safety distance index of the outbound ship image dataset, and transmits the target matrix coefficient and the safety distance index to the broadcast early warning module through a network.
9. A ship monitoring system with target recognition function according to claim 8, wherein: the broadcast early warning module is a negative number, namely a network connection communication unit, according to the target matrix coefficient of the incoming ship image dataset, and is a negative number, namely a network connection communication unit, according to the safety distance index of the outgoing ship image dataset.
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| CN201072572Y (en) * | 2007-08-03 | 2008-06-11 | 郭伟明 | Automatic monitoring device for watercraft |
| CN101515378A (en) * | 2009-03-17 | 2009-08-26 | 上海普适导航技术有限公司 | Informationization management method for vessel entering and leaving port |
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