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CN116453276A - Marine wind power electronic fence monitoring and early warning method and system - Google Patents

Marine wind power electronic fence monitoring and early warning method and system Download PDF

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Publication number
CN116453276A
CN116453276A CN202310388708.8A CN202310388708A CN116453276A CN 116453276 A CN116453276 A CN 116453276A CN 202310388708 A CN202310388708 A CN 202310388708A CN 116453276 A CN116453276 A CN 116453276A
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CN
China
Prior art keywords
ship
electronic fence
warning
moving object
monitoring
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202310388708.8A
Other languages
Chinese (zh)
Inventor
刘劲尧
卞奇志
蔡玮
张昀轩
黄天宇
吴张天
程海涛
杜伟
刘嵩
杜玉玺
刘俊男
李加尧
熊亮
王忆中
周海江
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
State Grid Power Space Technology Co ltd
Huadian Fujian Wind Power Co ltd
Aerospace Hongtu Information Technology Co Ltd
Original Assignee
State Grid Power Space Technology Co ltd
Huadian Fujian Wind Power Co ltd
Aerospace Hongtu Information Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by State Grid Power Space Technology Co ltd, Huadian Fujian Wind Power Co ltd, Aerospace Hongtu Information Technology Co Ltd filed Critical State Grid Power Space Technology Co ltd
Priority to CN202310388708.8A priority Critical patent/CN116453276A/en
Publication of CN116453276A publication Critical patent/CN116453276A/en
Pending legal-status Critical Current

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B13/00—Burglar, theft or intruder alarms
    • G08B13/02—Mechanical actuation
    • G08B13/12—Mechanical actuation by the breaking or disturbance of stretched cords or wires
    • G08B13/122—Mechanical actuation by the breaking or disturbance of stretched cords or wires for a perimeter fence
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B13/00—Burglar, theft or intruder alarms
    • G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
    • G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
    • G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
    • G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
    • G08B13/19602—Image analysis to detect motion of the intruder, e.g. by frame subtraction
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B13/00—Burglar, theft or intruder alarms
    • G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
    • G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
    • G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
    • G08B13/196—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems using television cameras
    • G08B13/19602—Image analysis to detect motion of the intruder, e.g. by frame subtraction
    • G08B13/19608—Tracking movement of a target, e.g. by detecting an object predefined as a target, using target direction and or velocity to predict its new position

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Alarm Systems (AREA)

Abstract

The application provides a method and a system for monitoring and early warning of an offshore wind power electronic fence, which relate to the technical field of monitoring and early warning, and the method comprises the following steps: pre-configuring an electronic fence digital boundary corresponding to each wind turbine, and establishing a hierarchical alarm warning line on the electronic fence digital boundary; monitoring a past moving target through image acquisition equipment arranged along the integrated sea cable direction between adjacent offshore wind turbines, and judging whether a hierarchical alarm warning line corresponding to each offshore wind turbine has an intrusion moving target or not; if yes, tracking the motion trail of the intrusion moving object, determining the violation grade based on the motion information of the intrusion moving object, and carrying out grading warning on the intrusion moving object according to the violation grade. According to the method and the device, when the ship approaches or invades the electronic fence, real-time visual early warning can be carried out on the invaded ship, so that related equipment facilities in the electronic fence are protected, and the safety accident risk of the area nearby the offshore wind power generation set is reduced.

Description

Marine wind power electronic fence monitoring and early warning method and system
Technical Field
The application relates to the technical field of monitoring and early warning, in particular to a method and a system for monitoring and early warning of an offshore wind power electronic fence.
Background
Offshore wind farms are usually built out of thousands of meters or even tens of kilometers offshore, the construction period and operation and maintenance period of the offshore wind farms are severe in environment and complex in weather conditions, personnel can be limited by various factors when going out of the sea, and many management and technical difficulties are brought to operation management, safety, navigation, grid connection control and the like of the wind farms. Meanwhile, various ships continuously go and go, and the random anchoring causes great hidden trouble to the safety of fans and sea cables.
Disclosure of Invention
The purpose of the application is to provide a marine wind power electronic fence monitoring and early warning method and system, when a ship approaches or invades the electronic fence, real-time visual early warning can be carried out on the invaded ship, so that relevant equipment facilities in the electronic fence are protected, and the safety accident risk of the area nearby the marine wind power set is reduced.
In a first aspect, the invention provides a method for monitoring and early warning of an offshore wind power electronic fence, which comprises the following steps: pre-configuring an electronic fence digital boundary corresponding to each wind turbine, and establishing a hierarchical alarm warning line on the electronic fence digital boundary; monitoring a past moving target through image acquisition equipment arranged along the integrated sea cable direction between adjacent offshore wind turbines, and judging whether a hierarchical alarm warning line corresponding to each offshore wind turbine has an intrusion moving target or not; if yes, tracking the motion trail of the intrusion moving object, determining the violation grade based on the motion information of the intrusion moving object, and carrying out grading warning on the intrusion moving object according to the violation grade.
In an optional embodiment, pre-configuring an electronic fence digital boundary corresponding to each wind turbine, and establishing a hierarchical alarm warning line at the electronic fence digital boundary, including: determining a corresponding electronic fence digital center based on the position corresponding to each wind turbine generator, and determining an electronic fence digital boundary based on a preset area radius; projecting the integrated submarine cable to the sea level at the submarine laying position, and determining at least one buffer zone boundary at the projection position corresponding to each wind turbine generator set according to a preset view angle and a preset distance; and establishing a hierarchical alarm guard line at the electronic fence digital boundary based on the at least one buffer boundary.
In an optional embodiment, monitoring a passing moving object through an image acquisition device which is arranged between adjacent offshore wind turbines and along the direction of an integrated submarine cable, and judging whether a hierarchical alarm warning line corresponding to each offshore wind turbine has an intrusion moving object, including: monitoring a past moving target through image acquisition equipment which is arranged between adjacent offshore wind turbines and along the direction of an integrated sea cable, and acquiring image information of the moving target; performing association processing on the image information of the moving target, the automatic ship identification data and the radar data acquired by the automatic ship identification system, and determining the moving target concerned and the moving information of the moving target concerned; the motion information at least comprises position information, moving direction and moving speed of a moving object; tracking based on the motion information of the concerned moving object in the visual range, and judging whether the concerned moving object is intruded or not based on the stay time of the concerned moving object at a preset distance near the hierarchical alarm warning line corresponding to each offshore wind turbine.
In an alternative embodiment, performing association processing on image information of a moving object, automatic ship identification data acquired by an automatic ship identification system, and radar data, and determining a moving object of interest and moving information of the moving object of interest, including: determining a visual point of the moving object based on the image information of the moving object; carrying out association processing on the ship automatic identification data and the radar data acquired by the ship automatic identification system and the visual points of the moving targets to acquire real-time perception information; identifying a moving target in the real-time sensing information, comparing the position information of the moving target with the longitude and latitude information of the hierarchical alarm warning line in real time, and determining the relative position information of the moving target relative to the hierarchical alarm warning line; and determining a concerned moving object according to the relative position information, tracking the concerned moving object, and determining the moving information of the concerned object.
In an alternative embodiment, determining the violation level based on the motion information of the intrusion moving object and performing a hierarchical warning on the intrusion moving object according to the violation level includes: determining the violation level based on the relative position information of the intrusion moving object relative to the hierarchical alarm warning lines and/or the stay time of the intrusion moving object at a preset distance near the hierarchical alarm warning line corresponding to each offshore wind turbine; and carrying out hierarchical warning on the intrusion moving target according to the violation level.
In an alternative embodiment, the hierarchical alarm warning line is used for dividing the early warning area, the warning area and the core area in a hierarchical manner; the moving object of the intrusion is a ship; hierarchical warning of intrusion into moving objects according to the level of violation, comprising: when the ship travels to the electronic fence early warning area, a three-level alarm is sent out to inform that the ship is near the working or construction range of the wind farm fan, and the ship is reminded of the navigation safety; when the ship sails across the electronic fence warning line to enter the warning area, a secondary alarm is sent out to inform that the ship is already in the wind farm fan working or construction range warning area, and the ship is reminded to change the course in time to drive out of the warning area; when a ship sails across the guard line of the electronic fence to enter the core area, a primary alarm is sent out to inform that the ship is in the core area of the working or construction range of the wind power plant fan, meanwhile, the broadcasting of the target wind power plant unit and the acousto-optic repeated alarm are associated, the light source equipment are used for carrying out acousto-optic repeated alarm, the ship is reminded to be driven in, the ship is immediately changed in course, the ship is driven out of the warning water area of the wind power plant, the monitoring lens tracks the related ship, and when the ship is driven out of the warning area, the related alarm is stopped.
In an alternative embodiment, determining a moving object of interest according to the relative position information, tracking the moving object of interest, and determining the motion information of the object of interest includes: the method comprises the steps that plane calibration is carried out on image acquisition equipment arranged along the integrated sea cable direction between adjacent offshore wind turbines, and internal parameters and distortion parameters of the image acquisition equipment are obtained; calculating the actual distance between the concerned moving object and the tower in the world coordinate system according to the monitoring layout height, the observed horizontal included angle and the sea level height during the observation, tracking the concerned moving object, determining the position information of the concerned moving object and carrying out real-time ranging; and determining the real-time navigational speed of the concerned moving target according to the world coordinate system deviation corresponding to the target distance in the two live-action images in the monitoring time interval.
In a second aspect, the invention provides an offshore wind power electronic fence monitoring and early warning system, the system comprising: the electronic fence configuration module is used for pre-configuring the electronic fence digital boundary corresponding to each wind turbine generator and establishing a hierarchical alarm warning line on the electronic fence digital boundary; the monitoring module is used for monitoring a past moving object through image acquisition equipment arranged along the integrated sea cable direction between adjacent offshore wind turbines and judging whether a hierarchical alarm warning line corresponding to each offshore wind turbine has an intrusion moving object or not; the tracking and early warning module is used for tracking the motion trail of the intrusion moving target, determining the violation grade based on the motion information of the intrusion moving target and carrying out grading warning on the intrusion moving target according to the violation grade if the intrusion moving target exists.
In a third aspect, the present invention provides an electronic device comprising a processor and a memory, the memory storing computer executable instructions executable by the processor, the processor executing the computer executable instructions to implement the offshore wind farm electronic fence monitoring and pre-warning method of any of the preceding embodiments.
In a fourth aspect, the present invention provides a computer readable storage medium storing computer executable instructions that, when invoked and executed by a processor, cause the processor to implement the offshore wind farm electronic fence monitoring and early warning method of any of the preceding embodiments.
The offshore wind power electronic fence monitoring and early warning method and system provided by the application have the beneficial effects that:
compared with an onshore electronic fence system, the offshore wind turbine generator system is based on the position advantage of the offshore wind turbine generator system base, and the sea surface is monitored based on the image acquisition equipment distributed along the integrated sea cable direction between the offshore wind turbine generator systems, so that related equipment facilities in the electronic fence can be protected, the accident risks of the ship colliding with the wind turbine generator system base, the sea cable being damaged by people, electric shock, drowning of people and the like caused by information blocking of the offshore wind turbine generator system are effectively reduced, and the safety of the personnel and the equipment is ensured; by monitoring the past moving targets, the moving targets which intrude into the hierarchical alarm warning lines can be monitored, illegal intrusion ships can be tracked and warned, and the monitoring management efficiency is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flowchart of a method for monitoring and early warning of an offshore wind power electronic fence provided by an embodiment of the application;
FIG. 2 is a schematic diagram of an electronic fence digital boundary according to an embodiment of the present disclosure;
FIG. 3 is a schematic diagram of a hierarchical alarm fence provided in an embodiment of the present application;
FIG. 4 is a schematic diagram of an electronic fence of an offshore wind turbine provided in an embodiment of the present application;
FIG. 5 is a schematic diagram of a ship heading detection provided by an embodiment of the present application;
FIG. 6 is a schematic diagram of ranging according to an embodiment of the present application;
FIG. 7 is a schematic diagram of an electronic fence system according to an embodiment of the present disclosure;
fig. 8 is a block diagram of an electronic device according to an embodiment of the present application.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
The embodiment of the application provides a marine wind power electronic fence monitoring and early warning method, which is shown in fig. 1 and mainly comprises the following steps:
and S10, pre-configuring an electronic fence digital boundary corresponding to each wind turbine, and establishing a hierarchical alarm warning line on the electronic fence digital boundary.
The electronic fence digital boundary comprises a circular area formed by taking each wind turbine set as a center, a submarine cable within the circular boundary range and a buffer area formed by the periphery of the submarine cable. In one embodiment, a corresponding electronic fence digital center can be determined based on a position corresponding to each wind turbine, an electronic fence digital boundary is determined based on a preset area radius, then the integrated submarine cable is projected to the sea level at a submarine laying position, at least one buffer zone boundary is determined at a preset view angle and a preset distance at the projection position corresponding to each wind turbine, and a hierarchical alarm warning line is established at the electronic fence digital boundary based on the at least one buffer zone boundary. FIG. 2 shows a schematic diagram of an electronic fence digital boundary, where each wind turbine corresponds to an electronic fence digital boundary.
In one embodiment, the maximum clearly monitorable double-sector range of the zoom cameras in the coastal cable direction laid by the adjacent wind turbines. The direction and the quantity of the arrangement of the monitoring equipment on the wind turbine generator set are required to meet the requirement that the ship can be dynamically captured and monitored aiming at the circular area. In particular, in a circular area, for the integrated submarine cable laying position projected onto the sea level, a dynamic capture camera is arranged at the fixed visual angle for monitoring the passing ship, and the intrusion alarm warning line of the camera is debugged to the boundary position of the buffer zone, for example, the distance of 100m from the front to the back of the submarine cable can be determined as an alarm range.
In one example, the buffer area boundary may include three buffer areas, that is, the circular electronic fence is sequentially expanded outwards from the center position of the fan to form three defense lines, and the circular monitoring area is sequentially divided into a core area, a warning area and an early warning area from inside to outside, as shown in fig. 3.
By establishing the grading alarm warning lines, due to the fact that more fishing boats pass and work nearby the wind power plant, the frequent times of excessive contact with the alarms due to the fishing boats are avoided, the warning frequency of a core area and a warning area (important care) can be controlled by the grading of the warning lines, and the false alarm false judgment rate is reduced; and, through setting up the warning guard line of the hierarchical warning, can give the vessel sufficient response time, inform the vessel at present dangerous grade, in order to the vessel to react in time.
And S20, monitoring a past moving object through image acquisition equipment arranged along the integrated sea cable direction between adjacent offshore wind turbines, and judging whether a hierarchical alarm warning line corresponding to each offshore wind turbine has an intrusion moving object.
Step S30, if yes, tracking the motion trail of the intrusion moving object, determining the violation grade based on the motion information of the intrusion moving object, and carrying out grading warning on the intrusion moving object according to the violation grade.
In order to facilitate understanding, the method for monitoring and early warning the offshore wind power electronic fence provided by the application is described in detail below.
First, for ease of understanding, referring to a schematic diagram of an electronic fence for an offshore wind turbine shown in fig. 4, there is one electronic fence for each wind turbine at sea.
In an embodiment, the step S20 monitors a past moving object through an image acquisition device arranged between adjacent offshore wind turbines along the integrated submarine cable direction, and determines whether a hierarchical alarm warning line corresponding to each offshore wind turbine has an intrusion moving object, and when implemented, the method may include the following steps 201 to 203:
step 201, monitoring a past moving object through an image acquisition device which is arranged between adjacent offshore wind turbines and along the direction of an integrated submarine cable, and acquiring image information of the moving object.
Step 202, carrying out association processing on image information of a moving target, automatic ship identification data and radar data acquired by an automatic ship identification system, and determining a moving target concerned and moving information of the moving target concerned; the motion information includes at least position information, a moving direction, and a moving speed of the moving object.
Specifically, the method may further include the following steps 2-1 to 2-4:
and 2-1, determining visual points of the moving object based on the image information of the moving object.
And 2-2, carrying out association processing on the ship automatic identification data and the radar data acquired by the ship automatic identification system and the visual points of the moving targets to obtain real-time perception information.
And 2-3, identifying the moving object in the real-time sensing information, comparing the position information of the moving object with the longitude and latitude information of the classified alarm warning line in real time, and determining the relative position information of the moving object relative to the classified alarm warning line.
And 2-4, determining a concerned moving object according to the relative position information, tracking the concerned moving object, and determining the moving information of the concerned object. Specifically, the method can be further refined into the following steps:
step 2-41, carrying out plane calibration on image acquisition equipment arranged along the integrated sea cable direction between adjacent offshore wind turbines to obtain internal parameters and distortion parameters of the image acquisition equipment;
Step 2-42, calculating the actual distance between the concerned moving object and the tower in the world coordinate system according to the monitoring layout height, the observed horizontal included angle and the sea level height during the observation, tracking the concerned moving object, determining the position information of the concerned moving object and carrying out real-time ranging;
and 2-43, determining the real-time navigational speed of the concerned moving object according to the world coordinate system deviation corresponding to the object distance in the two live-action images in the monitoring time interval.
And 203, tracking based on the motion information of the concerned moving object in the visual range, and judging whether the concerned moving object is intruded or not based on the stay time of the concerned moving object at a preset distance near the hierarchical alarm warning line corresponding to each offshore wind turbine.
Further, the step S30 determines the violation level based on the motion information of the intrusion moving object, and performs the hierarchical warning on the intrusion moving object according to the violation level, and when implemented, may include the following steps 3-1 and 3-2:
step 3-1, determining the violation level based on the relative position information of the intrusion moving object relative to the hierarchical alarm warning lines and/or the stay time of the intrusion moving object at a preset distance near the hierarchical alarm warning line corresponding to each offshore wind turbine;
And 3-2, carrying out hierarchical warning on the intrusion moving target according to the violation level.
Specifically, the above-mentioned hierarchical warning line is used for dividing early warning district, warning district and core district through the mode of grading, and the intrusion moving object is the ship, then carries out the hierarchical warning to the intrusion moving object according to the level of violating regulations, can respectively following three kinds of situations:
(1) When the ship travels to the electronic fence early warning area, a three-level alarm is sent out to inform that the ship is near the working or construction range of the wind farm fan, and the ship is reminded of the navigation safety;
(2) When the ship sails across the electronic fence warning line to enter the warning area, a secondary alarm is sent out to inform that the ship is already in the wind farm fan working or construction range warning area, and the ship is reminded to change the course in time to drive out of the warning area;
(3) When a ship sails across the guard line of the electronic fence to enter the core area, a primary alarm is sent out to inform that the ship is in the core area of the working or construction range of the wind power plant fan, meanwhile, the broadcasting of the target wind power plant unit and the acousto-optic repeated alarm are associated, the light source equipment are used for carrying out acousto-optic repeated alarm, the ship is reminded to be driven in, the ship is immediately changed in course, the ship is driven out of the warning water area of the wind power plant, the monitoring lens tracks the related ship, and when the ship is driven out of the warning area, the related alarm is stopped.
Based on Beidou system capable of realizing accurate positioning, ship AIS data, radar data and the like, monitoring and early warning of operation and maintenance personnel, internal operation and maintenance ships and external intrusion ships are realized, and a comprehensive security system of personnel and ships is formed. In one embodiment, the moving target can be a person, the data of the moving state of the person is acquired by recording the accurate horizontal position and the vertical height of the person through the real-time monitoring equipment, the acquired data is accessed into the electronic fence central control system, and the moving track of the operation and maintenance person can be dynamically monitored through the central control platform and real-time warning is realized. Before the operation and maintenance personnel perform the offshore operation and maintenance management task, personal information needs to be input based on real-time monitoring equipment, wherein the personal information comprises basic identity information of personnel, positions, responsibility of a sea-going task, wearing condition confirmation of offshore operation protection equipment, basic information and state information confirmation of a target wind turbine generator, and the like.
The moving object can be in the aspect of ship information, and is mainly divided into an internal operation and maintenance ship and an external intrusion ship. For internal vessels, the system is accessed with AIS location information, vessel type (fan sling, booster station sling, foundation construction vessel, marine cable laying vessel, etc.), vessel assembly conditions, and vessel's sea going index (the vessel can perform operation and maintenance management work under specific weather conditions). Establishing a VHF communication system of the operation and maintenance ship, and acquiring personnel information codes on the ship; the position information of the external ship in the visual range of the camera set is captured through video monitoring, and the heading, the navigational speed and the like of the external ship are obtained according to an image recognition algorithm.
In one embodiment, the electronic fence security system is coupled to a ship automatic identification system (Automatic Identification System, AIS), identifying ship name information of the ship, and distinguishing the non-operational ships. And comparing the position information of the ship returned based on the AIS with the longitude and latitude information of the actual guard line boundary of the electronic fence in real time, and judging the relative position of the ship. Particularly, considering the failure, closing and missing of the AIS system, based on the data stream provided by video monitoring, the information such as the course, the speed and the like of the external ship is obtained according to an image recognition algorithm, and the alarm judgment is carried out on the relative position of the guard line of the electronic fence in the video image.
Specifically, the ship position information and the navigational speed information based on video monitoring are acquired. The YOLO network training framework is a moving target detection algorithm based on deep learning, is widely applied to moving target tracking and recognition scenes such as road traffic recognition, and has the characteristics of high recognition speed, high accuracy and the like.
The steps for acquiring the marine wind farm ship intrusion information based on YOLO are as follows:
1) YOLO model training: before the model is used, a large number of marked sample images in an actual offshore wind power scene are required to be used for training model parameters, including the required identification of ship images which come in and go out frequently near the coast, and the ship artificial labels are classified into operation and maintenance ships and external ships according to actual requirements. The full sampling is performed in consideration of the visibility of different parts of the ship, different viewing angles, illumination, shielding degree, and the like.
Marking a target object in the picture; the video is marked by VoTT software, the number of extracted pictures per second is set to be 1, the video marking is completed by adopting an image-by-image marking mode, model training is carried out, the number of iterations is increased continuously in the training process, under the condition that training errors are reduced continuously, the learning rate is adjusted to be close to 0, and the model training errors are almost unchanged.
2) And (3) ship course detection: the position of the ship in each frame of the video can be obtained by detecting the position of the ship through a training model and predicting the position of the ship through multi-target tracking, then the multi-target matching is carried out on images of different frames to obtain the positions (circumscribed rectangular frames of the ship) of the same ship at different moments, and the movement direction of the ship in a plane coordinate system can be obtained by calculating the changes of coordinates of the same ship at different moments before and after the ship, as shown in fig. 5.
Direction detection principle: set ship V c At t 1 Time (t) 1 Frame) is defined as (x) t1 ,y t1 ) At t 2 Time (t) 2 Frame) the center point of the circumscribed rectangle is (x) t2 ,y t2 )，t 1 To t 2 Determination of the time of day movement directionThe conditions are as follows:
x t2 -x t1 >x T the vessel has a component of movement to the right, denoted as M R 。
x t2 -x t1 <-x T The vessel has a component of movement to the left, denoted M L 。
y t2 –y t1 >y T The vessel has a component of downward motion, denoted as M D 。
y t2 -y t1 <-y T The vessel has an upward component of motion, denoted as M U 。
Wherein x is T And-x T 、y T And-y T Representing a movement direction threshold. The actual direction of movement of the vessel may represent 8 states: horizontal left M L Horizontal to the right M R Vertically downward M D Vertically upward M U Move upward and rightward, record (M R ,M U ) The method comprises the steps of carrying out a first treatment on the surface of the Move downward and rightward (M) R ,M D ) The method comprises the steps of carrying out a first treatment on the surface of the Move upward to the left (M L ,M U ) The method comprises the steps of carrying out a first treatment on the surface of the Move downward and leftward (M) L ,M D ). If the calculation result of the ship movement direction does not belong to the above 8 cases, neglecting the calculation, and selecting the ship movement direction at other moments. 3) And (3) ship speed detection: the ship is stopped and the slow running is judged by calculating the average speed of the ship for a short period of time.
At t 1 Time (t) 1 Frame) is defined as (x) t1 ,y t1 ) At t 2 Time (t) 2 Frame) the center point of the circumscribed rectangle is (x) t2 ,y t2 ) By t 1 To t 2 The pixel distance of the mean movement of the ship at the moment in time is indicative of the speed v (t 1 ,t 2 )：
If v (t) 1 ,t 2 ) Less than the threshold v of stopping the ship T Then this indicates that the ship is in a state of stagnation: if v (t) 1 ,t 2 ) Less than the low speed threshold v L Indicating that the ship is in a low speed condition.
In conclusion, the course of the ship, the relative position between the ship and the electronic fence and the speed (running state) are obtained, and comprehensive judgment and warning treatment are carried out on the intruding ship.
Further, whether a moving target enters the monitoring area of each camera is judged, and if so, continuous tracking is carried out on the target; if not, determining that no target intrudes.
Moving object detection and tracking is performed based on video monitoring. The video acquisition is carried out on the past ships within the visible range through the camera set arranged on the tower body of the wind turbine generator, the ship AIS data and the radar data are fused through the depth vision processing of the edge computing unit, and a depth vision interface is formed. And the electronic fence video monitoring system comprehensively analyzes and processes the fused AIS data and radar data, highlights the ship focused on the important points, continuously and automatically tracks the moving target in the visible range through the camera, and judges that no moving target enters the monitoring area when the monitoring target in the monitoring visible range only passes through the guard line and quickly leaves the guard area.
With the aid of AIS and video monitoring data analysis, target identification and target dynamic tracking of the intrusion of the offshore wind farm into the ship are realized, however, in some special scenes, such as low sea surface visibility in special weather, a security alarm system based on video monitoring data flow is invalid, so that a small target radar system is additionally arranged, target position confirmation is carried out based on echo signals obtained by radar fixed frequency continuous scanning, and under the condition, ship navigational speed information can be obtained by high-precision calculation of longitude and latitude changes in the scanning interval of the intrusion ship. Therefore, the offshore wind power electronic fence security depth visual interface is constructed based on AIS, video monitoring and small target detection radar data.
Specifically, video monitoring is taken as a main part, and a sea detection dynamic capture real-time monitoring and alarming picture is formed; and (3) taking the AIS and the radar data as assistance, constructing a virtual visual interface of the offshore wind farm electronic fence, and associating the AIS and the radar monitoring data with a ship model (visual point) in the virtual visual interface to form a real-time perception interface.
By associating three types of data (all of which are in the case) with a monitoring target in the electronic fence center console, the credibility of the data is improved through data comparison, and under the rule of system alarming, the credible data flow which is subjected to artificial judgment is taken as an alarming basis.
Aiming at foreign ships, when the video monitoring range finds that the ship approaches an electronic fence warning line, calculating the position, the sailing speed and the heading of the ship by a data analysis means, predicting whether the ship is likely to generate illegal behaviors, and realizing grading warning; establishing a partition warning line, dividing an early warning area, a warning area and a core area, and when a ship travels to the electronic fence early warning area, aligning and sending out a voice alarm (three-level alarm) by the system to inform that the ship is near the working or construction range of a wind power plant fan, and reminding the ship of the navigation safety; when a ship sails across the electronic fence warning line to enter the warning area, the system can send out a secondary warning to the ship, inform that the ship is already in the working or construction range warning area of the wind farm fan, and remind the ship to change the heading in time and drive out of the warning area; when a ship sails across the guard line of the electronic fence to enter the core area, the system can send out a first-level alarm to inform that the ship is in the core area of the working or construction range of the wind power plant fan, meanwhile, the broadcasting of the associated target wind power plant unit and the acousto-optic repeated alarm are carried out by the light source equipment to remind the ship to change the course immediately, the ship is driven away from the warning water area of the wind power plant, and the monitoring lens tracks the related ship and only when the ship is driven away from the warning area, the related alarm can be stopped. In the aspect of submarine cable warning, when a target ship enters the position of the submarine cable in the monitoring range and the buffer area range of the submarine cable, whether the navigational speed is lower than a low-speed threshold value is firstly judged, and if the submarine cable normally runs, namely, the submarine cable is higher than the low-speed threshold value, warning behaviors are not generated. If the speed is lower than the low speed threshold value, broadcasting on the wind turbine generator system base station can carry out audible and visual alarm, and reminding a target ship of having submarine cable laying at the position and requiring the target ship to drive away immediately.
As is available from the imaging model of the camera, there is a geometric relationship between the target in the three-dimensional environment and the corresponding point on the digital image. Therefore, the target in the three-dimensional environment is identified, corresponding information of the three-dimensional space target in the two-dimensional image is obtained, and then the information of the position, the shape and the like of the target in the three-dimensional space can be calculated by utilizing the geometric relationship. The parameters of the camera are contained in this geometric relationship, so the camera needs to be calibrated to obtain the parameters of the camera.
The method comprises the steps of carrying out plane calibration on a camera set to obtain internal parameters and distortion parameters of a camera, and calculating the actual distance between a moving target and a tower in a world coordinate system according to the monitoring layout height, the observed horizontal included angle and the sea level height during the observation in the actual layout process, so as to meet the requirements of tracking and real-time ranging of a single moving target; and judging the real-time navigational speed of the moving target according to the world coordinate system deviation corresponding to the target distance in the two live-action images in the monitoring time interval, and recording and displaying. When plane calibration is carried out, a Zhang Zhengyou plane calibration method is adopted, and other more accurate calibration methods can be selected according to actual requirements.
Based on the method embodiment, the embodiment of the application also provides an offshore wind power electronic fence monitoring and early warning system, which comprises the following parts:
the electronic fence configuration module is used for pre-configuring the electronic fence digital boundary corresponding to each wind turbine generator and establishing a hierarchical alarm warning line on the electronic fence digital boundary;
the monitoring module is used for monitoring a past moving object through image acquisition equipment arranged along the integrated sea cable direction between adjacent offshore wind turbines and judging whether a hierarchical alarm warning line corresponding to each offshore wind turbine has an intrusion moving object or not;
the tracking and early warning module is used for tracking the motion trail of the intrusion moving target, determining the violation grade based on the motion information of the intrusion moving target and carrying out grading warning on the intrusion moving target according to the violation grade if the intrusion moving target exists.
In a possible implementation manner, the electronic fence configuration module is further configured to: determining a corresponding electronic fence digital center based on the position corresponding to each wind turbine generator, and determining an electronic fence digital boundary based on a preset area radius; projecting the integrated submarine cable to the sea level at the submarine laying position, and determining at least one buffer zone boundary at the projection position corresponding to each wind turbine generator set according to a preset view angle and a preset distance; and establishing a hierarchical alarm guard line at the electronic fence digital boundary based on the at least one buffer boundary.
In a possible embodiment, the monitoring module is further configured to: monitoring a past moving target through image acquisition equipment which is arranged between adjacent offshore wind turbines and along the direction of an integrated sea cable, and acquiring image information of the moving target; performing association processing on the image information of the moving target, the automatic ship identification data and the radar data acquired by the automatic ship identification system, and determining the moving target concerned and the moving information of the moving target concerned; the motion information at least comprises position information, moving direction and moving speed of a moving object; tracking based on the motion information of the concerned moving object in the visual range, and judging whether the concerned moving object is intruded or not based on the stay time of the concerned moving object at a preset distance near the hierarchical alarm warning line corresponding to each offshore wind turbine.
In a possible embodiment, the monitoring module is further configured to: determining a visual point of the moving object based on the image information of the moving object; carrying out association processing on the ship automatic identification data and the radar data acquired by the ship automatic identification system and the visual points of the moving targets to acquire real-time perception information; identifying a moving target in the real-time sensing information, comparing the position information of the moving target with the longitude and latitude information of the hierarchical alarm warning line in real time, and determining the relative position information of the moving target relative to the hierarchical alarm warning line; and determining a concerned moving object according to the relative position information, tracking the concerned moving object, and determining the moving information of the concerned object.
In a possible implementation manner, the tracking and early-warning module is further configured to: determining the violation level based on the relative position information of the intrusion moving object relative to the hierarchical alarm warning lines and/or the stay time of the intrusion moving object at a preset distance near the hierarchical alarm warning line corresponding to each offshore wind turbine; and carrying out hierarchical warning on the intrusion moving target according to the violation level.
In a possible implementation manner, the hierarchical alarm warning line is used for dividing the early warning area, the warning area and the core area in a hierarchical manner; the moving object of the intrusion is a ship; the tracking and early warning module is further used for: when the ship travels to the electronic fence early warning area, a three-level alarm is sent out to inform that the ship is near the working or construction range of the wind farm fan, and the ship is reminded of the navigation safety; when the ship sails across the electronic fence warning line to enter the warning area, a secondary alarm is sent out to inform that the ship is already in the wind farm fan working or construction range warning area, and the ship is reminded to change the course in time to drive out of the warning area; when a ship sails across the guard line of the electronic fence to enter the core area, a primary alarm is sent out to inform that the ship is in the core area of the working or construction range of the wind power plant fan, meanwhile, the broadcasting of the target wind power plant unit and the acousto-optic repeated alarm are associated, the light source equipment are used for carrying out acousto-optic repeated alarm, the ship is reminded to be driven in, the ship is immediately changed in course, the ship is driven out of the warning water area of the wind power plant, the monitoring lens tracks the related ship, and when the ship is driven out of the warning area, the related alarm is stopped.
In a possible embodiment, the monitoring module is further configured to: the method comprises the steps that plane calibration is carried out on image acquisition equipment arranged along the integrated sea cable direction between adjacent offshore wind turbines, and internal parameters and distortion parameters of the image acquisition equipment are obtained; calculating the actual distance between the concerned moving object and the tower in the world coordinate system according to the monitoring layout height, the observed horizontal included angle and the sea level height during the observation, tracking the concerned moving object, determining the position information of the concerned moving object and carrying out real-time ranging; and determining the real-time navigational speed of the concerned moving target according to the world coordinate system deviation corresponding to the target distance in the two live-action images in the monitoring time interval.
Further, another system embodiment is provided, the electronic fence video monitoring system includes the following three modules:
a) And a detection module: the detection of the target is the basis of tracking, and the module comprises video reading, image preprocessing, detection of the target by an improved model, mathematical morphology processing and characteristic extraction of the target.
Specifically, an inter-frame difference method is adopted. Namely, detecting the target by detecting the difference operation between two or a plurality of adjacent frames of images in the video.
The algorithm principle is as follows:
firstly, calculating the difference between the kth frame image and the kth-delta k (delta k is more than or equal to 1) frame image according to a formula 2 to obtain a difference image D K The method comprises the following steps:
D K (x,y)＝|f k (x,y)-f k-Δk (x,y)| (2)
f in k (x, y) and f k-Δk (x, y) are respectively the front and rear two frames of images; d (D) K (x, y) is an image of the inter-frame difference.
Obtaining a differential image D K Then, image segmentation is performed according to a threshold value set by binarization, namely:
wherein Th is a threshold value set by binarization; r is R k (x, y) is a binarized resultant image.
b) And the tracking module is used for tracking the moving target in real time on the basis of target detection, and comprises the steps of target identification and tracking.
Wherein the target tracking module predicts the position of the moving target by using a kalman filter as a motion model of the target. It is assumed that a discrete dynamic system may be composed of an n-dimensional dynamic system and a p-dimensional (p.ltoreq.n) observation system. Wherein the system equation can be expressed as:
where A represents an n m-dimensional state transition matrix of system state x from time k-1 to time k. The n x 1-dimensional matrix B represents the active matrix of the system, representing the transition matrix of the selectable control input vector u to the current state. w (w) k Representing the n-dimensional state random interference noise direction at k momentThe amount, zero mean white noise vector with covariance matrix Q.
Specifically, minimizing the error covariance of the posterior estimate of the system state at each time point k consists of two parts, prediction and correction:
1) Prediction part:
predicted state equation:
predicted error covariance equation:
p k ′＝AP k-1 A T +Q
(6)
2) Correction part
Kalman gain matrix equation:
K＝p k ′H T (Hp k ′H+R) -1
(7)
the modified state equation:
corrected error covariance equation:
P k ＝(I-KH)p k ′ (9)
wherein z is k Representing a state vector x k The method comprises the steps of obtaining through an m-dimensional observation system and an m-dimensional noise vector v; h represents the relation between the observed value z and the system state x, and is an m x n-dimensional observation matrix;a state vector at time k, which represents the predicted state vector at time k-1; />Representing the observed value z at the time of obtaining k k After passing through z k The corrected state vector; k represents an m x n Kalman filter gain matrix; p (P) k To minimize covariance of the posterior estimation error.
c) And a ranging module: the information of the target is obtained through detection and real-time tracking of the target, and the module comprises extraction and ranging of the target point.
According to the matching calculation actual distance between the two-bit pixel plane point and the three-dimensional space, a specific algorithm and a calculation process are realized through a geometric perspective transformation principle, the horizontal distance HP from the acquisition point to the center of the lens is analyzed, and HP=d is recorded. Then:
Wherein f is the effective focal length of the camera; alpha is the pitching angle of the camera; h is the foot drop of the camera perpendicular to the ground; h is the mounting height of the camera (the height from the center of the lens to the ground), see fig. 6.
The horizontal distance L of the further camera to any one of the target points F is:
the basic discriminant principle of the task auxiliary decision is as follows:
a) When the target wind turbine generator is in an operating state, prohibiting operation and maintenance personnel from carrying out operation and maintenance operations related to all target wind turbines;
b) When the types of the ships and the operation and maintenance personnel corresponding to the tasks are not corresponding, the system gives an alarm and returns information;
c) According to real-time marine meteorological data monitored by a target wind power station, real-time warning is realized under the condition that operation and maintenance real-time conditions are not met;
3. assist the search and rescue actions: judging personnel conditions of nearby operation and maintenance ships, sending alarm information to mobile terminals of related personnel, wherein the mobile terminals comprise real-time position information of personnel falling into water and sea area conditions of the position falling into water, and the operation and maintenance ships can be conveniently and accurately searched and rescuing.
The embodiment of the application provides a layout method and a layout system for monitoring and early warning of an offshore wind power electronic fence, and provides a visual solution for safety monitoring, early warning and maintenance. The ship docking system can acquire related information such as construction ships, fishing ships, illegal invasion ships and the like, and can position ship positions (longitudes and latitudes) and draw historical tracks in real time by combining invasion time and departure time, so that monitoring management efficiency is improved. For storing ship position sensing information, the real-time monitoring management data system defaults to record the data of the last 1 month, and supports data storage inquiry of 3 months at maximum.
Based on digital twin means and geographic information technology, the information data of the intrusion ships are accessed, the dynamic data of the ships are obtained through video monitoring and image recognition algorithms, a three-dimensional digital base and a dynamic ship model of the offshore wind power are built, when the ships approach or intrude into the electronic fence, the three-dimensional visual display is carried out on the intrusion ships by a central control system, the navigational speed and the heading of the ships are truly fed back to the digital base, and a physical three-dimensional model of a fan of a target wind turbine generator is combined to generate real-time visual early warning to remind inspection managers to quickly carry out next decision making, so that the functions of protecting related equipment facilities in the electronic fence and reducing the risk of construction safety accidents are achieved.
Fig. 7 shows a schematic diagram of an electronic fence system, where the system includes an operation and maintenance management module and a ship management module, and is used for performing operation and maintenance management on personnel, ships and intrusion ships, performing operation and maintenance management on state information, personnel position information and personnel basic information of a wind turbine generator, and also performing alarm for personnel falling into water, and performing alarm through subareas, so as to avoid illegal intrusion of foreign ships.
The embodiment of the application further provides an electronic device, as shown in fig. 8, which is a schematic structural diagram of the electronic device, wherein the electronic device 100 includes a processor 81 and a memory 80, the memory 80 stores computer executable instructions that can be executed by the processor 81, and the processor 81 executes the computer executable instructions to implement any one of the above-mentioned offshore wind power electronic fence monitoring and early warning methods.
In the embodiment shown in fig. 8, the electronic device further comprises a bus 82 and a communication interface 83, wherein the processor 81, the communication interface 83 and the memory 80 are connected by the bus 82.
The memory 80 may include a high-speed random access memory (RAM, random Access Memory), and may further include a non-volatile memory (non-volatile memory), such as at least one magnetic disk memory. The communication connection between the system network element and at least one other network element is implemented via at least one communication interface 83 (which may be wired or wireless), and may use the internet, a wide area network, a local network, a metropolitan area network, etc. Bus 82 may be an ISA (Industry Standard Architecture ) bus, a PCI (Peripheral Component Interconnect, peripheral component interconnect standard) bus, or EISA (Extended Industry Standard Architecture ) bus, among others. The bus 82 may be classified as an address bus, a data bus, a control bus, or the like. For ease of illustration, only one bi-directional arrow is shown in FIG. 8, but not only one bus or type of bus.
The processor 81 may be an integrated circuit chip with signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in the processor 81 or by instructions in the form of software. The processor 81 may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short), etc.; but also digital signal processors (Digital Signal Processor, DSP for short), application specific integrated circuits (Application Specific Integrated Circuit, ASIC for short), field-programmable gate arrays (Field-Programmable Gate Array, FPGA for short) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the embodiments of the present application may be embodied directly in hardware, in a decoded processor, or in a combination of hardware and software modules in a decoded processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in the memory, and the processor 81 reads the information in the memory, and combines the hardware of the information to complete the steps of the offshore wind power electronic fence monitoring and early warning method in the previous embodiment.
The embodiment of the application also provides a computer readable storage medium, which stores computer executable instructions that, when being called and executed by a processor, cause the processor to implement the above-mentioned offshore wind power electronic fence monitoring and early warning method, and the specific implementation can be found in the foregoing method embodiments, and will not be repeated here.
The computer program product of the offshore wind power electronic fence monitoring and early warning method and system provided by the embodiment of the application comprises a computer readable storage medium storing program codes, wherein the instructions included in the program codes can be used for executing the method described in the method embodiment, and specific implementation can be seen from the method embodiment and will not be repeated here.
The relative steps, numerical expressions and numerical values of the components and steps set forth in these embodiments do not limit the scope of the present application unless specifically stated otherwise.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer readable storage medium executable by a processor. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In the description of the present application, it should be noted that, the terms "center," "inner," "outer," and the like indicate an azimuth or a positional relationship based on the azimuth or the positional relationship shown in the drawings, or an azimuth or a positional relationship conventionally put in use of the inventive product, only for convenience of description and simplification of the description, and do not indicate or imply that the apparatus or element to be referred must have a specific azimuth, be configured and operated in a specific azimuth, and thus should not be construed as limiting the present application.
In the description of the present application, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art in a specific context.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims (10)

1. An offshore wind power electronic fence monitoring and early warning method is characterized by comprising the following steps:
pre-configuring an electronic fence digital boundary corresponding to each wind turbine, and establishing a hierarchical alarm warning line on the electronic fence digital boundary;
monitoring a past moving target through image acquisition equipment arranged along the integrated sea cable direction between adjacent offshore wind turbines, and judging whether a hierarchical alarm warning line corresponding to each offshore wind turbine has an intrusion moving target or not;
if yes, tracking the motion trail of the intrusion moving object, determining the violation grade based on the motion information of the intrusion moving object, and carrying out grading warning on the intrusion moving object according to the violation grade.
2. The method for monitoring and early warning of an offshore wind power electronic fence according to claim 1, wherein the steps of pre-configuring the electronic fence digital boundary corresponding to each wind turbine and establishing a hierarchical alarm warning line on the electronic fence digital boundary comprise the steps of:
determining a corresponding electronic fence digital center based on the position corresponding to each wind turbine generator, and determining an electronic fence digital boundary based on a preset area radius;
projecting the integrated submarine cable to the sea level at the submarine laying position, and determining at least one buffer zone boundary at the projection position corresponding to each wind turbine generator set according to a preset view angle and a preset distance;
And establishing a hierarchical alarm warning line at the electronic fence digital boundary based on the at least one buffer boundary.
3. The method for monitoring and early warning of an offshore wind power electronic fence according to claim 2, wherein the method for monitoring a passing moving object through an image acquisition device arranged between adjacent offshore wind turbines along an integrated submarine cable direction and judging whether a hierarchical alarm warning line corresponding to each offshore wind turbine has an intrusion moving object comprises the following steps:
monitoring a past moving target through image acquisition equipment which is arranged between adjacent offshore wind turbines and along the direction of an integrated sea cable, and acquiring image information of the moving target;
performing association processing on the image information of the moving target, the automatic ship identification data and the radar data acquired by the automatic ship identification system, and determining the moving target concerned and the moving information of the moving target concerned; the motion information at least comprises position information, moving direction and moving speed of a moving object;
tracking based on the motion information of the concerned moving object in the visual range, and judging whether the concerned moving object is intruded or not based on the stay time of the concerned moving object at a preset distance near the hierarchical alarm warning line corresponding to each offshore wind turbine.
4. The offshore wind power electronic fence monitoring and early warning method according to claim 3, wherein the correlation processing is performed on the image information of the moving target, the automatic ship identification data and the radar data acquired by the automatic ship identification system, and the determination of the moving target of interest and the moving information of the target of interest comprises:
determining a visual point of the moving object based on the image information of the moving object;
carrying out association processing on the ship automatic identification data and the radar data acquired by the ship automatic identification system and the visual points of the moving target to acquire real-time perception information;
identifying a moving target in the real-time sensing information, and comparing the position information of the moving target with the longitude and latitude information of the hierarchical alarm warning line in real time to determine the relative position information of the moving target relative to the hierarchical alarm warning line;
and determining a concerned moving object according to the relative position information, tracking the concerned moving object, and determining the moving information of the concerned object.
5. The offshore wind power electronic fence monitoring and early warning method according to claim 4, wherein determining a violation level based on the motion information of the intrusion moving object and performing a hierarchical warning on the intrusion moving object according to the violation level comprises:
Determining the violation level based on the relative position information of the intrusion moving object relative to the hierarchical alarm warning lines and/or the stay time of the intrusion moving object at a preset distance near the hierarchical alarm warning line corresponding to each offshore wind turbine;
and carrying out hierarchical warning on the intrusion moving target according to the violation level.
6. The offshore wind power electronic fence monitoring and early warning method according to claim 5, wherein the hierarchical alarm warning line is used for dividing an early warning area, a warning area and a core area in a hierarchical manner; the intrusion moving object is a ship; hierarchical warning of intrusion into moving objects according to the level of violation, comprising:
when the ship travels to the electronic fence early warning area, a three-level alarm is sent out to inform that the ship is near the working or construction range of the wind farm fan, and the ship is reminded of the navigation safety;
when the ship sails across the electronic fence warning line to enter the warning area, a secondary alarm is sent out to inform that the ship is already in the wind farm fan working or construction range warning area, and the ship is reminded to change the course in time to drive out of the warning area;
when a ship sails across the guard line of the electronic fence to enter the core area, a primary alarm is sent out to inform that the ship is in the core area of the working or construction range of the wind power plant fan, meanwhile, the broadcasting of the target wind power plant unit and the acousto-optic repeated alarm are associated, the light source equipment are used for carrying out acousto-optic repeated alarm, the ship is reminded to be driven in, the ship is immediately changed in course, the ship is driven out of the warning water area of the wind power plant, the monitoring lens tracks the related ship, and when the ship is driven out of the warning area, the related alarm is stopped.
7. The offshore wind power electronic fence monitoring and early warning method according to claim 4, wherein determining a target of interest according to the relative position information, tracking the target of interest, and determining the motion information of the target of interest comprises:
carrying out plane calibration on image acquisition equipment arranged along the integrated sea cable direction between adjacent offshore wind turbines to obtain internal parameters and distortion parameters of the image acquisition equipment;
calculating the actual distance between the concerned moving object and the tower in the world coordinate system according to the monitoring layout height, the observed horizontal included angle and the sea level height during the observation, tracking the concerned moving object, determining the position information of the concerned moving object and carrying out real-time distance measurement;
and determining the real-time navigational speed of the concerned moving target according to the world coordinate system deviation corresponding to the target distance in the two live-action images in the monitoring time interval.
8. An offshore wind power electronic fence monitoring and early warning system, comprising:
the electronic fence configuration module is used for pre-configuring electronic fence digital boundaries corresponding to each wind turbine generator and establishing hierarchical alarm warning lines on the electronic fence digital boundaries;
The monitoring module is used for monitoring a past moving object through image acquisition equipment arranged along the integrated sea cable direction between adjacent offshore wind turbines and judging whether a hierarchical alarm warning line corresponding to each offshore wind turbine has an intrusion moving object or not;
and the tracking and early warning module is used for tracking the motion trail of the intrusion moving target, determining the violation grade based on the motion information of the intrusion moving target and carrying out grading warning on the intrusion moving target according to the violation grade if the intrusion moving target exists.
9. An electronic device comprising a processor and a memory, the memory storing computer executable instructions executable by the processor, the processor executing the computer executable instructions to implement the offshore wind farm electronic fence monitoring and warning method of any of claims 1 to 7.
10. A computer readable storage medium storing computer executable instructions which, when invoked and executed by a processor, cause the processor to implement the offshore wind farm electronic fence monitoring and warning method of any of claims 1 to 7.
CN202310388708.8A 2023-04-12 2023-04-12 Marine wind power electronic fence monitoring and early warning method and system Pending CN116453276A (en)

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CN118247921A (en) * 2024-03-22 2024-06-25 广州弘枫科技有限公司 Risk automation warning method, computer program product and system based on risk classification
CN118548876A (en) * 2024-07-25 2024-08-27 中能拾贝(广州)科技有限公司 Dynamic positioning management system and method based on visual laser collaboration
CN118548876B (en) * 2024-07-25 2024-11-15 中能拾贝(广州)科技有限公司 Dynamic positioning management system and method based on visual laser collaboration

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