CN208284101U - A kind of range-measurement system of taking photo by plane for ship berthing management - Google Patents
A kind of range-measurement system of taking photo by plane for ship berthing management Download PDFInfo
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- CN208284101U CN208284101U CN201820289604.6U CN201820289604U CN208284101U CN 208284101 U CN208284101 U CN 208284101U CN 201820289604 U CN201820289604 U CN 201820289604U CN 208284101 U CN208284101 U CN 208284101U
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- 238000005259 measurement Methods 0.000 title claims abstract description 39
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- 238000012544 monitoring process Methods 0.000 claims description 19
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Abstract
The utility model discloses a kind of range-measurement systems of taking photo by plane for ship berthing management comprising unmanned plane, image acquisition device, hang down high inductor, information transmission modular, ground control terminal and monitor terminal.Range-measurement system of taking photo by plane provided by the utility model for ship berthing management, stop in measurement process investigating and prosecuting ship berthing and disobeying, the image that image acquisition device acquires reach port ship and harbour is carried by unmanned plane, and high data of hanging down in real time are fed back by the high inductor that hangs down, it carries out through monitor terminal apart from calculating, so that the measurement in ship berthing enforcing law is more accurate；Unmanned plane once flies around harbour, so that it may which the measurement data for completing entire harbour is collected, more efficient；By adjusting the flying height of unmanned plane when taking photo by plane, it is no longer influenced by the influence in place and hull size so that taking pictures, evidence obtaining is easy.
Description
Technical field
The utility model relates to field of measuring technique of taking photo by plane, and in particular to a kind of ranging of taking photo by plane for ship berthing management
System.
Background technique
Ship berthing refers to ship landing pier, and ship berthing needs are carried out according to administrative provisions, to facilitate law enfrocement official couple
The ship of berthing is managed.
As road traffic, there is also acts of violating regulations for ship berthing.Between the particular surroundings of ship berthing, law enfrocement official
When investigating and prosecuting berthing and breaking rules and regulations, there are bigger difficulty.Routine law enforcement means are that law enfrocement official measures every ship bracing wire, to sentence
Whether the positional distance harbour that ship of stopping navigation is stopped is more than safe-guard line, if violation berthing, the measurement data of the method
Error is big, and bracing wire measurement need to expend a large amount of manpowers and time, could complete the measurement of ship, working efficiency is low.In addition, by
In the volume of ship it is larger and be limited to shooting place condition, prevent take pictures to ship violating the regulations when collecting evidence from fine
Be shown in a photo, law enforcement evidence obtaining difficulty is big, is unfavorable for subsequent law enforcement processing and is provided with effect foundation.
Utility model content
The purpose of this utility model is to provide a kind of range-measurement systems of taking photo by plane for ship berthing management, to solve ship
The problem that measurement error present in oceangoing ship berthing enforcing law is big, low efficiency and evidence obtaining are difficult.
To achieve the above object, the utility model provides a kind of range-measurement system of taking photo by plane for ship berthing management, packet
Include unmanned plane, image acquisition device, hang down high inductor, information transmission modular, ground control terminal and monitor terminal, wherein
Described image collector is installed on the uav bottom, and described image collector is used to carry out the ship of stop
Shooting forms video image；
The high inductor that hangs down is installed on described image collector, it is described hang down high inductor for measure image acquisition device away from
The vertical height of the water surface；
The information transmission modular is installed on the unmanned plane, the information transmission modular and the high sensor data of hanging down
Connection, and the information transmission modular and described image collector data connection, the information transmission modular with wireless signal to
Surface orientation transmits the video image of the vertical high and described image collector acquisition of the high sensor measurement that hangs down；
The ground control terminal and the unmanned plane are wirelessly connected, and the ground control terminal is for controlling the unmanned plane
Flight position and the height that hangs down, the ground control terminal and the information transmission modular are wirelessly connected, and the ground control terminal is for connecing
The wireless signal issued by the information transmission modular；
The monitor terminal includes display screen, video image calling module, horizontal distance computing module and picture and text evidence system
Make module, the video image calling module, the horizontal distance computing module and picture and text evidence production module respectively with
The ground control terminal is connected with the screen data, and the video image calling module is for calling image, the level
Distance calculation module and the video image calling module data connection, the horizontal distance computing module is for calculating image side
Boundary's overall length and the distance between ship and harbour, picture and text evidence production module and the video image calling module and described
Horizontal distance computing module distinguishes data connection, when the picture and text evidence production module is for making containing shooting image, shooting
Between, shooting hangs down high and horizontal distance calculated result picture.
Preferably, the high inductor that hangs down is infrared range-measurement system or GPS altimeter.
Preferably, the radio signal frequency of the information transmission modular transmitting is 5.8GHz.
Preferably, the monitor terminal further includes picture and text evidence preserving module, the picture and text evidence preserving module with it is described
Picture and text evidence makes module data connection, and the picture and text evidence preserving module is for saving the picture and text evidence production module making
Picture.
Preferably, the format of the picture of the picture and text evidence production module making is jpg or bmp format.
The utility model has the advantages that
A kind of range-measurement system of taking photo by plane for ship berthing management provided by the utility model, carries image by unmanned plane
Collector acquisition is reached port the image at ship and harbour, and is hung down in real time high data by high inductor feedback of hanging down, through monitor terminal into
Row distance calculates, so that the measurement in ship berthing enforcing law is more accurate；Unmanned plane once flies around harbour, so that it may complete
The measurement data at entire harbour is collected, more efficient；By adjusting the flying height of unmanned plane when taking photo by plane so that take pictures no longer by
To the influence of place and hull size, evidence obtaining is easy.
Detailed description of the invention
Fig. 1 is the structure chart for the range-measurement system of taking photo by plane for ship berthing management that embodiment 1 provides.
Fig. 2 be embodiment 1-3 provide based on the horizontal distance of take photo by plane range-measurement system and the method for ship berthing management
The schematic diagram of calculation.
Fig. 3 is the flow chart for the distance measuring method of taking photo by plane for ship berthing management that embodiment 2 provides.
Fig. 4 is the flow chart for the distance measuring method of taking photo by plane for ship berthing management that embodiment 3 provides.
In figure: 1- unmanned plane, 2- image acquisition device, 3- hang down high inductor, 4- information transmission modular, 5- ground control terminal,
6- monitor terminal, 61- display screen, 62- video image calling module, 63- horizontal distance computing module, the production of 64- picture and text evidence
Module, 65- picture and text evidence preserving module, 7- monitoring interface scale line.
Specific embodiment
The following examples illustrate the utility model, but is not intended to limit the scope of the present invention.
Embodiment 1
As illustrated in fig. 1 and 2, embodiment 1 provides a kind of range-measurement system of taking photo by plane for ship berthing management, which uses
In but be not limited to law enfrocement official investigate and prosecute ship berthing harbour act of violating regulations, apply also for coast defence monitoring, fuel leakage, city hand over
The fields such as logical safety management, military monitoring, marine protection.The system include unmanned plane 1, image acquisition device 2, the high inductor 3 that hangs down,
Information transmission modular 4, ground control terminal 5 and monitor terminal 6.
Image acquisition device 2 is installed on the bottom of unmanned plane 1, and image acquisition device 2 is for carrying out shooting shape to the ship of stop
At video image, in use, according to regional environment requirement of taking photo by plane, 1 height of adjustment unmanned plane is bowed using image acquisition device 2
It claps, the state of harbour and ship in real-time monitoring field angle α；The high inductor 3 that hangs down is installed on image acquisition device 2, and hang down high inductor 3
For measuring vertical height of the image acquisition device away from the water surface；Information transmission modular 4 is installed on unmanned plane 1, information transmission modular 4 and the height that hangs down
3 data connection of inductor, and information transmission modular 4 and 2 data connection of image acquisition device, information transmission modular 4 is with wireless signal
Directional transmissions are hung down the video image that the vertical high and image acquisition device 2 that high inductor 3 measures acquires to the ground；Ground control terminal 5 with
Unmanned plane 1 is wirelessly connected, and ground control terminal 5 is used to control the flight position of unmanned plane 1 and hang down height, ground control terminal 5 and information
Transmission module 4 is wirelessly connected, and ground control terminal 5 is used to receive the wireless signal of the sending of information transmission modular 4.Utilize unmanned plane 1
It takes photo by plane, can disposably shoot the ship of more stops, the location information that every ship is stopped can obtain, and save manpower
And the time.By information transmission modular 4, by information such as each vessel position, sizes in 2 field angle α of image acquisition device and hang down
The real-time height that hangs down that high inductor 3 measures is back to ground control terminal 5, so as to later period calling, inquiry.
Monitor terminal 6 includes display screen 61, video image calling module 62, horizontal distance computing module 63 and picture and text evidence
Make module 64, video image calling module 62, horizontal distance computing module 63 and picture and text evidence production module 64 respectively with ground
61 data connection of face control terminal 5 and display screen, video image calling module 62 is for calling image, horizontal distance computing module 63
With 62 data connection of video image calling module, horizontal distance computing module 63 calculates ship for calculating image boundary overall length
Offshore distance between oceangoing ship and harbour, the offshore distance can be ship farthest off shore distance or ship offshore most low coverage
From.When using the system, as illustrated in fig. 1 and 2, the video figure that video image calling module 62 calls ground control terminal 5 to receive
Picture and high information of hanging down, and it is shown in display screen 61；The vertical high and visual field angular data of input, (should by horizontal distance computing module 63
The calculation procedure of module utilizes sine and cosine theorem) calculate image boundary overall length within the scope of field angle α；It is shown on display screen 61
(monitoring interface scale line 7 has two to monitoring interface scale line 7, belongs to horizontal distance computing module 63, is only shown in display screen
61), drag monitoring interface scale line 7, make wherein a near point to pull in shore with ship or far point be overlapped, another monitoring interface mark
Ruler line 7 is overlapped with harbour water front, according to the ratio of image boundary overall length shared by the distance between two monitoring interface scale lines 7,
The offshore distance X of tested ship is calculated；The top view taken photo by plane using unmanned plane 1, no matter ship volume, height are more
It is few, image area size (an equivalent plane) only is occupied in video, offshore distance X can directly be calculated on the diagram,
Work efficiency is high, measurement result is accurate.
Picture and text evidence makes module 64 and video image calling module 62 and horizontal distance computing module 63 is distinguished data and connected
It connects, picture and text evidence makes module 64 and is used to make containing shooting image, shooting time, the vertical high and horizontal distance calculated result of shooting
Picture.Picture and text evidence makes the picture that module 64 makes, and the information such as shooting image, ship offshore distance are blended, can be mentioned
For more convictive foundation, law enforcement is made to have card can be according to.
In the present embodiment, the high inductor 3 that hangs down is infrared range-measurement system or GPS altimeter, so that the vertical height of measurement is more quasi-
Really, it avoids influencing calculated result.
In the present embodiment, the radio signal frequency that information transmission modular 4 emits is 5.8GHz, and law enfrocement official can be in phase
Farther away place operates unmanned plane, completes law enforcement.
In the present embodiment, monitor terminal 6 further includes picture and text evidence preserving module 65, picture and text evidence preserving module 65 and figure
Literary evidence makes 64 data connection of module, and picture and text evidence preserving module 65 is used to save the figure that picture and text evidence production module 64 makes
Piece is convenient for historical query.
In the present embodiment, the evidence picture and picture and text evidence preserving module 65 that picture and text evidence production module 64 makes are protected
The evidence picture format deposited is jpg or bmp format, this format is conveniently checked.
In the present embodiment, picture and text evidence preserving module 65 and 5 data connection of ground control terminal, and save ground with avi format
The received video image of face control terminal 5.
Embodiment 2
A kind of distance measuring method of taking photo by plane for ship berthing management that embodiment 2 provides, this method is for but not limited to holding
Legal person person investigate and prosecute ship berthing harbour act of violating regulations, apply also for coast defence monitoring, fuel leakage, urban traffic safety management,
The fields such as military monitoring, marine protection.This method is based on the range-measurement system of taking photo by plane for ship-handling, in conjunction with refering to such as Fig. 1, figure
Shown in 2 and Fig. 3 comprising following steps:
Step S1, ground control terminal 5 control the flight of unmanned plane 1 to ship berthing region overhead and adjust flying for unmanned plane 1
Row height.
Step S2 is installed on carry out real time video image bat of the image acquisition device 2 of 1 bottom of unmanned plane to harbour and ship
It takes the photograph, and by the data transmission of real time video image to the information transmission modular 4 for being installed on unmanned plane 1；Meanwhile it being installed on image and adopting
The high inductor 3 that hangs down of storage 2 carries out the high measurement that hangs down, and by the high data transmission of hanging down in real time of measurement to information transmission modular 4.Due to
The volume of ship is not of uniform size, and is limited to the condition of law enforcement field, so that becoming tired to the ship violating the regulations evidence obtaining that take pictures
Difficulty is taken photo by plane using unmanned plane 1, can effectively be shot harbour, different location ship and harbour surrounding scene and be recorded, real
When monitoring field angle α in ship state, with fast and flexible, mobility is strong, characteristic of high reliablity, reach quickly law enforcement,
It collects evidence believable effect.Change the flying height of unmanned plane 1, can flexible choice need the more of the ship covered in monitoring image sum
It is few, can disposably shoot the ships of more stops, the location information that every ship is stopped can obtain, effectively reduce it is artificial and
Time cost, to overcome evidence obtaining according to insufficient defect, in addition, unmanned plane 1 is adapted to the severe rings such as high wind, strong rain
Border can be carried out law enforcement at any time.
Step S3, information transmission modular 4 hang down high data by real time video image and in real time respectively in the form of wireless signal
It is transferred to ground control terminal 5.
By information transmission modular 4, the real-time height that hangs down of the video image of shooting, measurement is back to ground control terminal 5, it can
It observes the information such as each object space, size under high angle shot visual angle, and can be carried out image data preservation, be convenient for historical query.
Step S4, the ground control terminal receive dotted line signal；
Step S5 hangs down high data in the form of data connection by the received real time video image of ground control terminal 5 and in real time
It is transferred to monitor terminal 6, monitor terminal 6 carries out video image calling, horizontal distance calculates and the production of picture and text evidence, wherein view
Frequency image call is to call video image by video image calling module 62 and be shown in display screen 61；Horizontal distance calculates
It is to calculate the offshore distance X of ship by carrying out electronic surveying calculating to high angle shot video image, it is quasi- can effectively to improve measurement
Exactness improves efficiency.It includes following substeps that horizontal distance, which calculates, firstly, the vertical high and image that the high inductor 3 that hangs down is measured is adopted
The angle input level distance calculation module 63 of the field angle α of storage 2；Secondly, horizontal distance computing module 63 calculates image view
Boundary always away from, in this step, as shown in Fig. 2, according to Chui Gao and field angle, using the cosine law calculate image perspectives always away from.
In Fig. 2, AC is that image perspectives always hang down away from, it is known that the field angle α of image acquisition device 2 and in real time in 2 field angle α of image acquisition device
High H, then L=tan α × H, | AC |=2 × L；Finally, accounting for the ratio of image perspectives, water using the length between ship and harbour
Flat distance calculation module Ship ' between harbour at a distance from.As shown in Fig. 2, X indicate dock vessels outermost or most inner side with
The distance of wharf edge, occupies according to X | AB | ratio, can obtain dock vessels at a distance from harbour, i.e., the offshore of ship away from
From X, and judge whether stop violating the regulations.
Step S6, picture and text evidence are made by picture and text evidence production module 64 and will shoot image, shooting time, and shoot and hang down
Process on the elements combinations a to picture such as high and horizontal distance calculated result, the process can be used but be not limited to screenshotss operation
It is achieved.Step S43 provides convictive foundation for law enforcement, and law enforcement is made to have card can be according to.
Distance measuring method of taking photo by plane provided in this embodiment for ship berthing management can greatly improve law enforcement efficiency, reduce
Human and material resources cost, and measurement error can be reduced by algorithm.
In the present embodiment, step S5 video image calling module calls video image by OpenCv function library.
In the present embodiment, Ship ' in step S5 between harbour at a distance from, apply dual-cache mechanism, regarded in image
Two monitoring interface scale lines 7 are drawn on the upper layer on boundary, drag the outermost of monitoring interface scale line 7 to required measurement ship respectively
With corresponding wharf edge, the ratio of image boundary overall length is occupied by calculating two monitoring interface scale lines 7, obtains two monitoring
The distance between interface scale line 7 is the distance between dock vessels and harbour, i.e. offshore distance, as shown in Fig. 2, two monitoring
The distance between interface scale line 7 X is the offshore distance of ship.
Embodiment 3
As shown in Figure 1, Figure 2 and Figure 4, the another kind that embodiment 3 provides is used for the distance measuring method of taking photo by plane of ship berthing management,
It is improved by embodiment 2, method and 1 fundamental form of embodiment are same, and only improvement part is described below.
In the present embodiment, if in step S5, the distance between dock vessels and harbour (offshore distance X) are more than ship
Security alert distance in pool regulation then executes the step the production of S6 picture and text evidence；If offshore distance X is less than ship berthing rule
Security alert distance in fixed then makes (being not processed) without picture and text evidence.
In the present embodiment, distance measuring method of taking photo by plane for ship berthing management further includes that step S7 picture and text evidence saves,
It is that the picture and text evidence to complete in picture and text evidence production module 64 is stored in picture and text evidence to save mould that picture and text evidence, which saves,
Block 65.
In the present embodiment, step S5 picture and text evidence is with the preservation of jpg or bmp format.
In the present embodiment, the preservation of step S5 picture and text evidence can also be saved video recording, and save video with avi format
Image.
Although above having made detailed description to the utility model with generality explanation and specific embodiment,
On the basis of the utility model, it can be made some modifications or improvements, this is apparent to those skilled in the art
's.Therefore, these modifications or improvements on the basis of without departing from the spirit of the present invention, belong to the utility model and want
Seek the range of protection.
Claims (5)
1. a kind of range-measurement system of taking photo by plane for ship berthing management, it is characterised in that: the boat for ship berthing management
Bat range-measurement system includes unmanned plane, image acquisition device, hang down high inductor, information transmission modular, ground control terminal and monitor terminal,
Wherein,
Described image collector is installed on the uav bottom, and described image collector is for shooting the ship of stop
Form video image；
The high inductor that hangs down is installed on described image collector, and the high inductor that hangs down is for measuring image acquisition device away from the water surface
Vertical height；
The information transmission modular is installed on the unmanned plane, and the information transmission modular and the high sensor data of hanging down connect
It connects, and the information transmission modular and described image collector data connection, the information transmission modular is with wireless signal to ground
The video image that the vertical high and described image collector of high sensor measurement that hangs down described in the directional transmissions of face acquires；
The ground control terminal and the unmanned plane are wirelessly connected, and the ground control terminal is used to control the flight of the unmanned plane
Position and the height that hangs down, the ground control terminal and the information transmission modular are wirelessly connected, and the ground control terminal is for receiving institute
State the wireless signal of information transmission modular sending；
The monitor terminal includes display screen, video image calling module, horizontal distance computing module and picture and text evidence production mould
Block, the video image calling module, the horizontal distance computing module and the picture and text evidence production module respectively with it is described
Ground control terminal is connected with the screen data, and the video image calling module is for calling image, the horizontal distance
Computing module and the video image calling module data connection, the horizontal distance computing module are total for calculating image boundary
Long and the distance between ship and harbour, the picture and text evidence production module and the video image calling module and the level
Distance calculation module distinguishes data connection, and the picture and text evidence production module is for making containing shooting image, shooting time, bat
Take the photograph the picture of Chui Gao and horizontal distance calculated result.
2. the range-measurement system of taking photo by plane according to claim 1 for ship berthing management, it is characterised in that: the vertical high sense
Answering device is infrared range-measurement system or GPS altimeter.
3. the range-measurement system of taking photo by plane according to claim 1 for ship berthing management, it is characterised in that: the information passes
The radio signal frequency of defeated module transmitting is 5.8GHz.
4. the range-measurement system of taking photo by plane according to claim 1 for ship berthing management, it is characterised in that: the monitoring is eventually
End further includes picture and text evidence preserving module, and the picture and text evidence preserving module is connect with picture and text evidence production module data,
The picture and text evidence preserving module is used to save the picture of the picture and text evidence production module making.
5. the range-measurement system of taking photo by plane according to claim 4 for ship berthing management, it is characterised in that: the picture and text card
Format according to the picture of production module making is jpg or bmp format.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820289604.6U CN208284101U (en) | 2018-03-01 | 2018-03-01 | A kind of range-measurement system of taking photo by plane for ship berthing management |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108470470A (en) * | 2018-03-01 | 2018-08-31 | 上海北清通用航空有限公司 | A kind of take photo by plane range-measurement system and method for ship berthing management |
| CN113534811A (en) * | 2021-07-28 | 2021-10-22 | 上海海事大学 | Unmanned aerial vehicle-based ship berthing system and method |
| CN114371721A (en) * | 2020-10-15 | 2022-04-19 | 沃尔沃遍达公司 | Unmanned aerial vehicle system, marine vessel control system, and method for controlling marine vessel navigation system |
-
2018
- 2018-03-01 CN CN201820289604.6U patent/CN208284101U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108470470A (en) * | 2018-03-01 | 2018-08-31 | 上海北清通用航空有限公司 | A kind of take photo by plane range-measurement system and method for ship berthing management |
| CN114371721A (en) * | 2020-10-15 | 2022-04-19 | 沃尔沃遍达公司 | Unmanned aerial vehicle system, marine vessel control system, and method for controlling marine vessel navigation system |
| CN113534811A (en) * | 2021-07-28 | 2021-10-22 | 上海海事大学 | Unmanned aerial vehicle-based ship berthing system and method |
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