CN117672010A - Intelligent operation and maintenance decision planning method based on ship navigation - Google Patents
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Abstract
The invention is applicable to the technical field of ship traffic, and provides an intelligent operation and maintenance decision planning method based on ship navigation, which comprises the following steps: acquiring front side image data of the ship through image equipment; generating a video frame picture according to the front side image data; identifying front side ships and river banks in the video frame pictures by utilizing an image identification technology to obtain channel spacing data, wherein channel positions corresponding to the channel spacing data correspond to a main ship sailing route, and the front side ships are ships positioned at two sides of the main ship sailing route; accounting is carried out on the channel spacing data based on the self data of the main body ship; when the channel spacing data is smaller than the self data of the main ship, the control instruction is generated according to the accounting result, the navigation space problem is detected by using the image recognition technology, so that the navigation of the ship is predicted, and the problem of interference among the navigation of a plurality of ships in the river channel is effectively avoided.
Description
Technical Field
The invention relates to the technical field of ship traffic, in particular to an intelligent operation and maintenance decision planning method based on ship navigation.
Background
A ship is a vehicle that can navigate or moor in a body of water for transportation or operation, with different technical properties, equipment and structural patterns according to different usage requirements. A ship is an artificial vehicle that operates primarily in geographical water.
Similar to vehicles traveling on roads, ships have corresponding channels when navigating in water, and the division of channels is not so accurate when navigating in large areas of water, but in some artificially constructed channels, there is a requirement for ship navigation due to limited space.
Generally, a channel constructed manually is connected with a large-area water area, a gathering effect is formed after a ship enters the channel, and the planning of a sailing route is particularly important at the moment, but the ship can also encounter the problem of random channel change just like an automobile running on a road, other ships can be influenced in the originally not wide channel, and even phenomena of collision and scraping of the ship body can be caused, so that an intelligent operation and maintenance decision planning method based on ship sailing is provided, and the aim is to solve the problems.
Disclosure of Invention
Aiming at the defects existing in the prior art, the invention aims to provide an intelligent operation and maintenance decision planning method based on ship navigation, so as to solve the problems existing in the background art.
The invention discloses an intelligent operation and maintenance decision planning method based on ship navigation, which comprises the following steps:
acquiring front side image data of a ship through image equipment, wherein the front side image data is an image related to a front side channel of the ship;
generating a video frame picture according to the front side image data;
identifying front side ships and river banks in the video frame pictures by utilizing an image identification technology to obtain channel spacing data, wherein channel positions corresponding to the channel spacing data correspond to a main ship sailing route, and the front side ships are ships positioned at two sides of the main ship sailing route;
accounting is carried out on the channel spacing data based on the self data of the main body ship;
when the channel spacing data is smaller than the self data of the main ship, a control instruction is generated according to the accounting result, so that the main ship reduces the sailing speed.
As a further scheme of the invention: the step of generating the video frame picture according to the front side image data specifically comprises the following steps:
intercepting the front side image data to obtain a first frame picture and a second frame picture, wherein the time interval value between the first frame picture and the second frame picture is a determined value;
selecting the same reference object on the river bank in the first frame picture and the second frame picture and combining the current sailing speed of the main body ship to obtain the sailing speed of the front ship;
comparing the sailing speed of the main ship with the sailing speed of the front ship;
and when the sailing speed of the main body ship is greater than that of the front side ship, generating a cutting instruction for cutting the front side image data to obtain video frame pictures.
As a further scheme of the invention: the step of comparing the sailing speed of the main ship with the sailing speed of the front ship specifically comprises the following steps:
when the navigation speed of the front ship is obtained, generating an auxiliary verification instruction for measuring and calculating the navigation speed of the front ship through a radar technology;
and when the radar measured speeds are consistent, comparing the navigation speed of the front ship with the navigation speed of the main ship.
As a further scheme of the invention: the step of identifying the front side ship and the river bank in the video frame picture by utilizing the image identification technology to obtain channel spacing data specifically comprises the following steps:
when a video frame picture is obtained, positioning and identifying a front side ship and a river bank in the video frame picture;
selecting a front ship as a datum point, and constructing a transversely arranged datum line by referring to the datum point, wherein two end points of the datum line are respectively matched with a river bank from the side;
and obtaining channel space data by referring to the river bank width data, the datum line and the accurate point, wherein the river bank width data is standard and known data.
As a further scheme of the invention: the step of positioning and identifying the front side ship and the river bank in the video frame picture specifically comprises the following steps:
performing contour line marking on an object on the front side of the main ship based on the video frame picture to obtain various reference contour lines;
screening and extracting the reference contour lines to obtain ship contour lines and river bank contour lines, so that other objects on the front side of the main body ship, except for ships and river banks, are removed;
and carrying out positioning identification based on the ship contour line and the river bank contour line, wherein the river bank contour line is in an inclined straight line form.
As a further scheme of the invention: the method further comprises the steps of:
acquiring back side image data of a ship through image equipment, wherein the back side image data is an image related to a channel behind the ship;
identifying and positioning the rear ship and the river bank in the rear image data by utilizing an image identification technology, and predicting the navigation route of the rear ship;
obtaining the navigation speed of the rear ship based on a radar technology and a position comparison method in rear image data;
performing simulation demonstration based on the prediction result and the navigation speed of the rear ship;
and generating a notification report according to the simulation demonstration result and sending the notification report to the rear ship.
As a further scheme of the invention: the step of performing simulation demonstration based on the prediction result and the navigation speed of the rear ship specifically comprises the following steps:
generating a predicted sailing route according to the predicted result of the sailing route of the rear ship;
overlapping the predicted sailing route and a main sailing route with reference to a river channel, wherein the main sailing route is a running route of a main ship and is known;
when the predicted travel route interferes with the subject travel route and the rear-side ship travel speed is greater than the subject ship travel speed, a notification report is generated.
Compared with the prior art, the invention has the beneficial effects that:
the invention can acquire front side image data through the image equipment arranged on the ship body, acquire video frame pictures after intercepting the front side image data, identify the front side ship and the river bank by utilizing the image identification technology, calculate the front side ship and the river bank according to the proportion to acquire channel space data, compare the data of the ship body with the shout space data, and calculate the trafficability of the ship body, when the ship body cannot pass, a control instruction is generated, the ship body is automatically controlled to reduce the self sailing speed, so that the problem is avoided.
Drawings
FIG. 1 is a flow chart of an intelligent operation and maintenance decision planning method based on ship navigation.
Fig. 2 is a flowchart of generating a video frame picture according to front side image data in an intelligent operation and maintenance decision planning method based on ship navigation.
Fig. 3 is a flow chart for comparing the sailing speed of a main ship with the sailing speed of a front ship in an intelligent operation and maintenance decision planning method based on ship sailing.
Fig. 4 is a flowchart of a method for intelligent operation and maintenance decision planning based on ship navigation, which uses image recognition technology to recognize the front ship and river bank in video frame pictures to obtain channel spacing data.
Fig. 5 is a flowchart of positioning and identifying a front ship and a river bank in a video frame picture in an intelligent operation and maintenance decision planning method based on ship navigation.
FIG. 6 is a flow chart of identifying and positioning the back side ship and river bank in the back side image data by using an image identification technology in an intelligent operation and maintenance decision planning method based on ship navigation.
Fig. 7 is a flowchart of simulation demonstration based on the prediction result and the navigation speed of the rear ship in the intelligent operation and maintenance decision planning method based on ship navigation.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clear, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Specific implementations of the invention are described in detail below in connection with specific embodiments.
As shown in fig. 1, the embodiment of the invention provides an intelligent operation and maintenance decision planning method based on ship navigation, which comprises the following steps:
s100, acquiring front side image data of a ship through image equipment, wherein the front side image data is an image related to a front side channel of the ship;
s200, generating a video frame picture according to front side image data;
s300, identifying front side ships and river banks in the video frame pictures by utilizing an image identification technology to obtain channel spacing data, wherein channel positions corresponding to the channel spacing data correspond to a main ship sailing route, and the front side ships are ships positioned at two sides of the main ship sailing route;
s400, calculating channel space data based on own data of the main body ship;
and S500, when the channel spacing data is smaller than the self data of the main ship, generating a control instruction according to the accounting result so that the main ship reduces the sailing speed.
It should be noted that, in general, the widths of the manually constructed channels for sailing the vessels are limited, and in general, these channels are used for connecting wide water areas, which results in a large number of vessels passing through the channels, and the vessels passing through the channels generally sequentially, but inevitably occur as vessels that do not travel according to the specifications, or due to water currents, the vessels are shifted in position, so that the vessels cannot pass through the space between the two vessels.
In the embodiment of the invention, the image equipment arranged on the ship body can acquire the front side image data, the front side image data is intercepted to obtain the video frame picture, the front side ship and the river bank can be identified by utilizing the image identification technology, the channel spacing data can be obtained by calculating according to the proportion, the trafficability of the ship body can be calculated by comparing the data of the ship body with the shout channel spacing data, when the ship body cannot pass through the channel spacing data, the control instruction can be generated, the ship body can be automatically controlled to reduce the self sailing speed, so that the problem is avoided.
As shown in fig. 2, as a preferred embodiment of the present invention, the step of generating a video frame picture according to front side image data specifically includes:
s201, intercepting the front side image data to obtain a first frame picture and a second frame picture, wherein a time interval value between the first frame picture and the second frame picture is a determined value;
s202, selecting the same reference object on the river bank in the first frame picture and the second frame picture and combining the current sailing speed of the main body ship to obtain the sailing speed of the front ship;
s203, comparing the sailing speed of the main ship with the sailing speed of the front ship;
and S204, when the sailing speed of the ship of the main body is greater than that of the ship at the front side, generating a cutting instruction for cutting the image data at the front side to obtain video frame pictures.
In the embodiment of the invention, how to acquire the video frame pictures is described, first, the first frame pictures and the second frame pictures are obtained according to the time interval value, then, the reference object on the river bank is selected as a reference, the speed of the front side ship relative to the main body ship can be obtained according to the time interval value and the offset relative to the reference object, the speed of the main body ship is known, the navigation speed of the front side ship can be obtained, and when the navigation speed of the front side ship is smaller than the navigation speed of the main body ship, the main body ship can be required to exceed the front side ship, and at the moment, the distance measurement is needed, so that the video frame pictures can be obtained from the front side image data.
As shown in fig. 3, as a preferred embodiment of the present invention, the step of comparing the sailing speed of the main ship with the sailing speed of the front ship specifically includes:
s2031, generating an auxiliary verification instruction for measuring and calculating the navigation speed of the front ship through a radar technology when the navigation speed of the front ship is obtained;
s2032, when the radar-measured speeds coincide, comparing the sailing speed of the front side ship with the sailing speed of the main ship by a numerical value.
In the embodiment of the invention, when the navigation speed of the front ship is calculated by the image recognition comparison method, certain deviation can exist, the navigation speed of the front ship can be obtained by utilizing the existing radar calculation technology, so that the front ship is verified, and when the verification is passed, namely, the two speeds are matched, the speed numerical comparison can be performed.
As shown in fig. 4, as a preferred embodiment of the present invention, the step of identifying the front ship and the river bank in the video frame picture by using the image identification technology to obtain the channel spacing data specifically includes:
s301, when a video frame picture is obtained, positioning and identifying a front side ship and a river bank in the video frame picture;
s302, selecting a front ship as a datum point, and referring to the datum point to construct a transversely arranged datum line, wherein two end points of the datum line are respectively matched with a river bank from the side;
and S303, obtaining channel space data by referring to the river bank width data, the datum line and the accurate point, wherein the river bank width data is standard and known.
In the embodiment of the invention, a plurality of front-side ships are arranged in the video frame picture, the front-side ships are firstly positioned and identified, the positions of the front-side ships are selected as reference points, the datum lines crossing the river bank are constructed according to the reference points, a series of datum lines which are parallel and in trapezoid distribution and take the video frame picture as the background are formed, one or more reference points are arranged on each datum line, the actual width of the river bank is known and determined, and the transverse distance between each front-side ship can be calculated according to the proportion and the positions of the datum lines and the accurate points, so that the channel distance data are obtained.
As shown in fig. 5, as a preferred embodiment of the present invention, the step of positioning and identifying the front ship and the river bank in the video frame picture specifically includes:
s3011, marking contour lines of objects on the front side of a main ship based on video frame pictures to obtain various reference contour lines;
s3012, screening and extracting the reference contour lines to obtain ship contour lines and river bank contour lines, so that other objects on the front side of the main ship, from which ships and river banks are removed, are removed;
s3013, performing positioning identification based on the ship contour line and the river bank contour line, wherein the river bank contour line is in an inclined straight line form.
In the embodiment of the invention, the object in the picture can be marked with the contour lines according to the video frame picture so as to obtain various reference contour lines, and the reference contour lines are identified and screened, so that only the contour lines of the ship and the contour lines of the river bank are left, the interference of other objects in the river channel can be eliminated, and the positioning identification can be carried out according to the ship contour lines and the contour lines of the river bank.
As shown in fig. 6, as a preferred embodiment of the present invention, the intelligent operation and maintenance decision planning method based on ship navigation further includes:
s601, acquiring back side image data of a ship through image equipment, wherein the back side image data is an image of a channel behind the ship;
s602, identifying and positioning a rear ship and a river bank in rear image data by using an image identification technology, and predicting a navigation route of the rear ship;
s603, obtaining the navigation speed of the rear ship based on a radar technology and a position comparison method in rear image data;
s604, performing simulation demonstration based on the prediction result and the navigation speed of the rear ship;
and S605, generating a notification report according to the simulation demonstration result and sending the notification report to the rear ship.
In the embodiment of the invention, the situation behind the main body ship is also described, the positioning information of the rear ship and the river bank can be obtained through the rear image data, the navigation route of the rear ship is predicted, the navigation speed of the rear ship can be obtained by using the position variation comparison method in the image, the navigation of the main body ship and the rear ship can be simulated and demonstrated through the information, a notification report is generated according to the simulation and demonstration result and is sent to the rear ship, so that the information of the rear ship can be obtained, and the dangerous situation from the rear is effectively avoided.
As shown in fig. 7, as a preferred embodiment of the present invention, the step of performing a simulation demonstration based on the prediction result and the navigation speed of the rear-side ship specifically includes:
s6041, generating a predicted sailing route according to the predicted result of the sailing route of the rear ship;
s6042, performing overlapping demonstration on the predicted sailing route and the main body sailing route with reference to the river course, wherein the main body sailing route is a running route of a main body ship and is known;
s6043, when the predicted travel route interferes with the main body travel route and the rear side ship travel speed is greater than the main body ship travel speed, generating a notification report.
In the embodiment of the invention, after the predicted sailing route of the rear ship is obtained, the predicted sailing route of the rear ship and the sailing route of the main ship can be overlapped and demonstrated, and of course, the processing is based on a river course, the main sailing route is in a known state, and when the predicted sailing route and the main sailing route interfere, and the sailing speed of the rear ship is higher than the sailing speed of the main ship, dangerous situations can occur between the predicted sailing route and the main sailing route, so that a notification report is generated to inform in advance.
The foregoing description of the preferred embodiments of the present invention should not be taken as limiting the invention, but rather should be understood to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
It should be understood that, although the steps in the flowcharts of the embodiments of the present invention are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in various embodiments may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor do the order in which the sub-steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with at least a portion of the sub-steps or stages of other steps or other steps.
Those skilled in the art will appreciate that all or part of the processes in the methods of the above embodiments may be implemented by a computer program for instructing relevant hardware, where the program may be stored in a non-volatile computer readable storage medium, and where the program, when executed, may include processes in the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the various embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
Other embodiments of the present disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
Claims (7)
1. An intelligent operation and maintenance decision planning method based on ship navigation is characterized by comprising the following steps:
acquiring front side image data of a ship through image equipment, wherein the front side image data is an image related to a front side channel of the ship;
generating a video frame picture according to the front side image data;
identifying front side ships and river banks in the video frame pictures by utilizing an image identification technology to obtain channel spacing data, wherein channel positions corresponding to the channel spacing data correspond to a main ship sailing route, and the front side ships are ships positioned at two sides of the main ship sailing route;
accounting is carried out on the channel spacing data based on the self data of the main body ship;
when the channel spacing data is smaller than the self data of the main ship, a control instruction is generated according to the accounting result, so that the main ship reduces the sailing speed.
2. The intelligent operation and maintenance decision planning method based on ship navigation according to claim 1, wherein the step of generating video frame pictures according to front side image data specifically comprises:
intercepting the front side image data to obtain a first frame picture and a second frame picture, wherein the time interval value between the first frame picture and the second frame picture is a determined value;
selecting the same reference object on the river bank in the first frame picture and the second frame picture and combining the current sailing speed of the main body ship to obtain the sailing speed of the front ship;
comparing the sailing speed of the main ship with the sailing speed of the front ship;
and when the sailing speed of the main body ship is greater than that of the front side ship, generating a cutting instruction for cutting the front side image data to obtain video frame pictures.
3. The intelligent operation and maintenance decision planning method based on ship navigation according to claim 1, wherein the step of comparing the navigation speed of the main ship with the navigation speed of the front ship specifically comprises:
when the navigation speed of the front ship is obtained, generating an auxiliary verification instruction for measuring and calculating the navigation speed of the front ship through a radar technology;
and when the radar measured speeds are consistent, comparing the navigation speed of the front ship with the navigation speed of the main ship.
4. The intelligent operation and maintenance decision planning method based on ship navigation according to claim 1, wherein the step of identifying the front side ship and the river bank in the video frame picture by using the image identification technology to obtain the channel spacing data specifically comprises the following steps:
when a video frame picture is obtained, positioning and identifying a front side ship and a river bank in the video frame picture;
selecting a front ship as a datum point, and constructing a transversely arranged datum line by referring to the datum point, wherein two end points of the datum line are respectively matched with a river bank from the side;
and obtaining channel space data by referring to the river bank width data, the datum line and the accurate point, wherein the river bank width data is standard and known data.
5. The intelligent operation and maintenance decision planning method based on ship navigation according to claim 4, wherein the step of positioning and identifying the front side ship and the river bank in the video frame picture specifically comprises the following steps:
performing contour line marking on an object on the front side of the main ship based on the video frame picture to obtain various reference contour lines;
screening and extracting the reference contour lines to obtain ship contour lines and river bank contour lines, so that other objects on the front side of the main body ship, except for ships and river banks, are removed;
and carrying out positioning identification based on the ship contour line and the river bank contour line, wherein the river bank contour line is in an inclined straight line form.
6. The intelligent operation and maintenance decision planning method based on ship navigation according to claim 1, wherein the method further comprises:
acquiring back side image data of a ship through image equipment, wherein the back side image data is an image related to a channel behind the ship;
identifying and positioning the rear ship and the river bank in the rear image data by utilizing an image identification technology, and predicting the navigation route of the rear ship;
obtaining the navigation speed of the rear ship based on a radar technology and a position comparison method in rear image data;
performing simulation demonstration based on the prediction result and the navigation speed of the rear ship;
and generating a notification report according to the simulation demonstration result and sending the notification report to the rear ship.
7. The intelligent operation and maintenance decision planning method based on ship navigation according to claim 6, wherein the step of performing simulation demonstration based on the prediction result and the navigation speed of the rear ship specifically comprises the following steps:
generating a predicted sailing route according to the predicted result of the sailing route of the rear ship;
overlapping the predicted sailing route and a main sailing route with reference to a river channel, wherein the main sailing route is a running route of a main ship and is known;
when the predicted travel route interferes with the subject travel route and the rear-side ship travel speed is greater than the subject ship travel speed, a notification report is generated.
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| 陶俊;: "湛江港航道大型船舶双向通航研究", 中国海事, no. 04, 15 April 2019 (2019-04-15) * |
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| CN117672010B (en) | 2024-08-27 |
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