River channel supervision method and system and related equipment
Through the real-time video transmitted by river monitoring equipment, the river supervision platform automatically identifies and processes target navigation events, solving the automation problem of river supervision and realizing effective supervision of the river.
Patent Information
- Application Number
- CN202510723279.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-05-30
- Publication Date
- 2025-09-16
AI Technical Summary
The existing technology lacks an automatic supervision method based on a supervision platform for rivers, and is unable to effectively supervise the behavior of ships in rivers.
Through the real-time monitoring video transmitted by river monitoring equipment, the river supervision platform determines the indicator data of the target navigation event and compares it with the preset navigation event image judgment standards to achieve automatic supervision.
It enables automatic supervision of the river without human intervention and can accurately identify and handle violations such as illegal docking, illegal detention and illegal wandering.
Smart Images
Figure CN120656057A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of river supervision technology, and in particular to a river supervision method, system and related equipment. Background Art
[0002] In existing technologies, based on multiple needs such as safety protection, ecological protection, construction and planning requirements, and comprehensive urban management, it is necessary to implement closed management of certain rivers to prevent certain ships from docking and other behaviors.
[0003] In actual operations, there are traditional supervision platforms for regulating roads, etc. However, since roads usually have clear boundaries, straight directions and relatively stable environmental characteristics, traditional supervision platforms usually use fixed rule line settings to regulate roads, etc. However, the shape characteristics of rivers and roads are quite different, which makes it impossible to directly use traditional supervision platforms for roads, etc. to regulate rivers. Therefore, it is impossible to achieve automatic supervision of rivers based on traditional supervision platforms.
[0004] In summary, there is currently a lack of automatic supervision methods for rivers based on supervision platforms. Summary of the Invention
[0005] In view of this, the purpose of this application is to provide a river supervision method, system and related equipment to solve the technical problem in the prior art of the lack of an automatic supervision method for rivers based on a supervision platform.
[0006] In a first aspect, the present application provides a river monitoring method, which is applied to a river monitoring platform, wherein the river monitoring platform receives real-time monitoring video of a target river transmitted by a river monitoring device; the method comprises:
[0007] In the process of monitoring the target river channel according to the real-time river channel monitoring video, determining indicator data corresponding to each target navigation event according to the video screen of the real-time river channel monitoring video;
[0008] The target navigation event is a navigation event in which a ship sailing in the target river channel is prohibited or allowed; the indicator data indicates navigation characteristics of the ship displayed in the video image when sailing in the target river channel;
[0009] Determine whether the indicator data corresponding to each target navigation event meets the navigation event picture judgment standard corresponding to each target navigation event to obtain the river supervision result.
[0010] In a second aspect, the present application provides a river monitoring system, which is provided on a river monitoring platform, wherein the river monitoring platform receives real-time monitoring video of a target river transmitted by a river monitoring device; the system includes: a data extraction module and a judgment module;
[0011] The data extraction module is configured to determine, during the process of monitoring the target river channel according to the real-time river channel monitoring video, indicator data corresponding to each target navigation event based on the video images of the real-time river channel monitoring video;
[0012] The target navigation event is a navigation event in which a ship sailing in the target river channel is prohibited or allowed; the indicator data indicates navigation characteristics of the ship displayed in the video image when sailing in the target river channel;
[0013] The judgment module is used to determine whether the indicator data corresponding to each target navigation event meets the navigation event picture judgment standard corresponding to each target navigation event to obtain the river supervision result.
[0014] In a third aspect, the present application provides an electronic device comprising a processor and a memory, wherein the memory is used to store an application program, and the processor runs or executes a software program stored in the memory so that the electronic device implements the above-mentioned river supervision method.
[0015] In a fourth aspect, the present application provides a computer-readable storage medium, which is used to store program codes executed by a processor, and the program codes are used to implement the above-mentioned river supervision method.
[0016] In a fifth aspect, the present application provides a computer program product, which includes computer instructions. When the computer instructions are run on an electronic device, the electronic device implements the above-mentioned river supervision method.
[0017] Beneficial effects:
[0018] The present application provides a river supervision method, which is applied to a river supervision platform, and the river supervision platform receives a real-time river monitoring video of a target river transmitted by a river monitoring device; the method includes: in the process of supervising the target river according to the real-time river monitoring video, determining the index data corresponding to each target navigation event according to the video screen of the real-time river monitoring video; wherein the target navigation event is a navigation event that a ship navigating in the target river is prohibited or allowed to conduct; the index data indicates the navigation characteristics of the ship displayed in the video screen when navigating in the target river; determining whether the index data corresponding to each target navigation event meets the navigation event screen judgment standard corresponding to each target navigation event to obtain the river supervision result; in summary, the river supervision method provided by the present application can automatically monitor the target river based on the real-time river monitoring video, without relying on manual monitoring, so the present application can solve the technical problem in the prior art of the lack of an automatic supervision method for rivers based on a supervision platform. BRIEF DESCRIPTION OF THE DRAWINGS
[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. The following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.
[0020] Figure 1 A schematic diagram of the flow chart of the river supervision method provided in the embodiment of the present application;
[0021] Figure 2 An example diagram of the operation interface corresponding to illegal docking provided in an embodiment of the present application;
[0022] Figure 3 An example diagram of the operation interface corresponding to the illegal detention provided in the embodiment of the present application;
[0023] Figure 4 An example diagram of the operation interface corresponding to the compliant entry and exit provided in the embodiment of the present application;
[0024] Figure 5 A schematic diagram of the structure of the river supervision system provided in an embodiment of the present application. DETAILED DESCRIPTION
[0025] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions of this application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.
[0026] First, the present application provides a river supervision method. The river supervision method provided in the embodiment of the present application is applied to a river supervision platform. The river supervision platform receives real-time monitoring video of the target river transmitted by the river monitoring equipment; Figure 1 As shown, Figure 1 The flow chart of the river supervision method provided in the embodiment of the present application includes: S210 to S220, and the details are as follows:
[0027] S210: During the process of monitoring the target river channel based on the real-time river channel monitoring video, determining indicator data corresponding to each target navigation event based on the video images of the real-time river channel monitoring video;
[0028] The target navigation event is a navigation event in which a ship is prohibited from or allowed to navigate in the target river channel; the indicator data indicates the navigation characteristics of the ship displayed in the video screen when navigating in the target river channel.
[0029] Specifically, in an embodiment of the present application, the river monitoring equipment may be a video device with video images or videos, such as a camera installed on the bank of the target river; the river supervision platform is built based on cloud computing technology, and provides users with a virtualized environment of computing resources, storage space, software services and other related functions through the Internet.
[0030] In actual operation, a communication connection is established between the river monitoring equipment and the river supervision platform. When the river monitoring equipment receives the real-time monitoring video of the target river, the real-time monitoring video is transmitted to the river supervision video, so that the real-time monitoring video can supervise the target river according to the real-time monitoring video.
[0031] The purpose of the river supervision platform to supervise the target river is to determine whether a target navigation event occurs in the target river. A target navigation event is a navigation event in which a ship navigating in the target river is prohibited or allowed to proceed. Among them, the target navigation event is determined based on the target river. The target navigation events of different target rivers may be different, and the target navigation events of different target rivers at different time stages may also be different.
[0032] In an embodiment of the present application, the river supervision platform determines whether a navigation event of a ship in a target river is a target navigation event based on a navigation event standard; in actual operation, it is necessary to pre-set a navigation event screen determination standard corresponding to the target navigation event in the river supervision platform; wherein, the navigation event screen determination standard includes a plurality of indicator data thresholds, and the indicator data is data determined through the video screen of the real-time monitoring video of the river that can indicate the navigation characteristics of the ship displayed in the video screen when it is navigating in the target river.
[0033] When the river supervision platform receives the real-time monitoring video of the river, it determines the indicator data corresponding to each target navigation event based on different target navigation events and the video screen of the real-time monitoring video of the river; for example, if the navigation event judgment standard corresponding to the target navigation event A includes 3 indicator data thresholds, then when judging the 3 quantitative data of the navigation characteristics of the ship when navigating in the target river displayed on the video screen of the real-time monitoring video of the river, such as the navigation speed, which is the quantitative data of the navigation characteristics of the ship, the quantitative data is the indicator data, and then the 3 indicator data are compared with the 3 indicator data thresholds included in the navigation event judgment standard corresponding to the target navigation event A to obtain the river supervision result on the target navigation event A, which is used to indicate "whether the target navigation event A occurs in the target river" through the river supervision result.
[0034] In actual operation, the navigation event judgment criteria corresponding to different target navigation events may include the same type of indicator data threshold, but the specific values of the indicator data threshold may be different; for example, the navigation event judgment criteria corresponding to target navigation event B and target navigation event C both include the indicator data threshold of the same type of indicator data D, but the specific value of the indicator data threshold corresponding to target navigation event B is d1, and the specific value of the indicator data threshold corresponding to target navigation event C is d2.
[0035] In an embodiment of the present application, the indicator data corresponding to different target navigation events are determined separately. Even if the navigation event judgment criteria corresponding to different target navigation events include the same type of indicator data thresholds, when determining the indicator data corresponding to each target navigation event, they are all determined separately in units of target navigation events.
[0036] In an embodiment of the present application, the number of river monitoring devices may be multiple, and the installation locations of different river monitoring devices are usually different; the real-time river monitoring videos transmitted by different river monitoring devices can be used to monitor different target navigation events; for example, the river monitoring video transmitted by the river monitoring video installed at the installation location F is used to monitor the target navigation event H and the target heading event K, and the river monitoring video transmitted by the river monitoring video installed at the installation location I is used to monitor the target navigation event L and the target heading event M.
[0037] In one implementation, a river monitoring platform receives a river sampling monitoring video of a target river transmitted by a river monitoring device; the river monitoring platform includes an operation interface corresponding to each target navigation event, the operation interface including a video display layer and an auxiliary line display layer superimposed on the video display layer; before S210, the method further includes: steps (1) to (3), the details of which are as follows:
[0038] Step (1): Display the river sampling monitoring video in the video display layer of the operation interface corresponding to each target navigation event.
[0039] Specifically, in an embodiment of the present application, the operation interface has at least two layers, one layer is a video display layer, and the other layer is an auxiliary line display layer superimposed on the video display layer; the video display layer is used to display river supervision sampling video or river supervision real-time video, and the auxiliary line display layer is used to display screen auxiliary lines.
[0040] Step (2): determining the screen auxiliary lines and navigation event screen judgment criteria corresponding to each target navigation event based on the target river displayed on the video screen of the river sampling monitoring video;
[0041] Among them, the auxiliary lines on the screen are used to assist in calculating indicator data.
[0042] Specifically, in an embodiment of the present application, auxiliary lines are drawn on the river sampling monitoring video to assist in calculating the index data; wherein, the river sampling monitoring video and the river real-time monitoring video should be obtained by shooting based on the same video shooting angle.
[0043] In actual operation, the above-mentioned process of "drawing auxiliary lines on the river sampling monitoring video" is carried out on the operation interface provided by the river supervision platform; according to the above discussion, it can be seen that the embodiment of the present application is based on the video screen of the real-time monitoring video of the river, and the indicator data corresponding to each target navigation event is determined separately. Accordingly, different target navigation events correspond to different operation interfaces, so that auxiliary lines corresponding to different target navigation events are drawn on different operation interfaces, which facilitates the subsequent "separate determination of indicator data corresponding to each target navigation event".
[0044] In an embodiment of the present application, the screen auxiliary line is usually a straight line, which is used to indicate the relative position between the ship displayed on the video screen and the target river channel, and is further used to assist in calculating index data; for example, if the screen auxiliary line A is a straight line drawn along the edge of the target river channel, if it is determined based on the ship displayed on the video screen and the screen auxiliary line A that the ship has crossed the screen auxiliary line A, it indicates that the relative position between the ship and the target river channel is "entering the target river channel", that is, the ship has entered the target river channel, and subsequently the index data is determined based on the hull area of the ship displayed on the video screen and the screen auxiliary line A, and the index data may be "the hull area of the ship that crosses the screen auxiliary line A accounts for 3 / 5 of the total hull area of the ship".
[0045] In an embodiment of the present application, the picture auxiliary lines and the navigation event picture judgment standards corresponding to each target navigation event are mutually bound and determined, and the quantitative basis for determining the picture auxiliary lines and the navigation event picture judgment standards is pre-set according to actual regulatory needs. Because in an embodiment of the present application, the picture auxiliary lines are used to calculate the index data, and the navigation event picture judgment standards (the navigation event picture judgment standards include multiple index data thresholds) are used to determine the relationship between the index data and the multiple index data thresholds it includes, both of which can reflect actual regulatory needs.
[0046] For example, if the actual supervision requirement corresponding to the target navigation event E is "the navigation event of a ship whose distance from the edge of the target river channel shown in the video screen is within 0.7 cm needs to be determined as a target navigation event", the quantitative basis for determining the screen auxiliary line A can be set to "drawing the screen auxiliary line A at a position between 0.6 cm and 0.8 cm from the edge of the target river channel in the video screen", and the quantitative basis corresponding to the screen auxiliary line A included in the navigation event screen judgment standard (i.e., the index data threshold) can also be set to "2 / 5 of the total hull area of the ship". In actual operation, if the index data is determined according to the video screen of the real-time monitoring video of the river channel as "the hull area of the ship that crosses the screen auxiliary line A accounts for 3 / 5 of the total hull area of the ship", since "3 / 5 of the total hull area" in the index data is greater than the corresponding index data threshold "2 / 5 of the total hull area", the navigation event of the ship can be considered as the target navigation event E.
[0047] It should be noted that the numerical range of "0.6cm~0.8cm" in the quantitative basis of the above-mentioned screen auxiliary line A means that the edge of the target river channel is usually tortuous. Therefore, when determining the straight screen auxiliary line A, it is necessary to determine a range so that the average distance between each point in the screen auxiliary line A and the edge of the target river channel is as close as possible to 0.7cm; in actual operation, the range can be determined according to actual needs, and this application does not make specific restrictions on this; in addition, the screen auxiliary line A can also be a curve, and this application does not make specific restrictions on this.
[0048] For another example, if the quantitative basis for determining the screen auxiliary line A is set to "drawing the screen auxiliary line A at a position in the video screen where the distance from the edge of the target river channel is between 0.65cm and 0.75cm", since the actual supervision requirement corresponding to the target navigation event E is "the navigation event of a ship whose distance from the edge of the target river channel shown in the video screen is within 0.7cm needs to be determined as the target navigation event", the quantitative basis (i.e., the indicator data threshold) corresponding to the screen auxiliary line A included in the navigation event screen judgment standard can be set to "1 / 5 of the total area of the ship's hull".
[0049] The reason for the above operation is that the numerical range of "0.6cm~0.8cm" is larger than the numerical range of "0.65cm~0.75cm", so the screen auxiliary line A drawn based on the numerical range of "0.65cm~0.75cm" is more in line with the actual supervision requirements of "0.7cm" corresponding to the target navigation event E than the screen auxiliary line A drawn based on the numerical range of "0.6cm~0.8cm", that is, the accuracy is greater; since the accuracy of the screen auxiliary line A drawn based on the numerical range of "0.6cm~0.8cm" is relatively small, only by setting the indicator data threshold to a larger value can it be ensured that when the indicator data exceeds the indicator data threshold, it can be clearly indicated that the navigation event corresponding to the indicator data is the target navigation event.
[0050] In actual operation, the screen auxiliary lines corresponding to each target navigation event and the indicator data are not one-to-one corresponding. One indicator data can be determined based on multiple screen auxiliary lines, or multiple indicator data can be determined based on one screen auxiliary line. The specific determination can be made according to the actual situation, and this application does not make specific restrictions on this. In addition, if there are multiple screen auxiliary lines corresponding to an operation interface, the relative positions between the multiple screen auxiliary lines are determined according to the actual navigation event screen judgment criteria.
[0051] In one implementation, the types of river channel monitoring equipment include fixed monitoring equipment and mobile monitoring equipment. Different fixed monitoring equipment are installed at different locations. The video shooting angle of the fixed monitoring equipment is fixed, and the river channel sampling monitoring video shot by the mobile monitoring equipment is a panoramic video. Step (2) includes: steps (2.1) to (2.3), the details of which are as follows:
[0052] Step (2.1): Construct a three-dimensional model of the target river based on the river sampling monitoring video transmitted by the mobile monitoring equipment.
[0053] Specifically, in the embodiment of the present application, in order to ensure accurate supervision of the target river, the number of river monitoring devices is usually multiple; among them, the fixed monitoring equipment can be a camera set on a vertical wooden pole on the river bank, and the mobile shooting equipment can be a drone with video shooting function.
[0054] In actual operation, when there are multiple river monitoring videos and multiple river monitoring devices are fixed monitoring devices, the video shooting angles of all river monitoring devices are fixed, that is, in the process of video river sampling monitoring video and river real-time monitoring video, the video shooting angle of the river monitoring device is unchanged. However, according to practical experience, any fixed monitoring device has its own video shooting angle, and any river monitoring video has its own field of view. Therefore, if the picture auxiliary lines and navigation event picture judgment standards corresponding to each target navigation event are determined separately based only on the river sampling monitoring video shot by the fixed monitoring device, it is very likely that the river supervision results determined according to the video images of the real-time river monitoring videos transmitted by different fixed monitoring devices will be conflicting.
[0055] In order to improve the accuracy of river supervision, the embodiment of the present application constructs a three-dimensional model of the target river through the river sampling monitoring video transmitted by the mobile monitoring equipment, and then determines the unique spatial auxiliary line in the space based on the three-dimensional model of the target river. Subsequently, based on the spatial auxiliary line, the corresponding picture auxiliary line of the spatial auxiliary line in different river sampling monitoring videos is determined, and the picture auxiliary lines determined in this way all point to the same spatial auxiliary line; wherein, the three-dimensional model of the target river includes objective objects such as the target river, river bank and bridge.
[0056] Step (2.2): Based on the three-dimensional model, determine the spatial auxiliary lines corresponding to each target navigation event and the navigation event spatial judgment criteria, and determine the three-dimensional coordinates of the spatial auxiliary lines.
[0057] Specifically, in an embodiment of the present application, the spatial auxiliary lines and the spatial determination criteria for navigation events corresponding to each target navigation event are mutually bound and determined, and the quantitative basis for determining the spatial auxiliary lines and the spatial determination criteria for navigation events is pre-set according to actual regulatory needs, because the spatial auxiliary lines and the spatial determination criteria for navigation events can both reflect actual regulatory needs.
[0058] For example, if the actual supervision requirement corresponding to the target navigation event E is "the navigation event of a ship within 1.5m from the edge of the target river channel needs to be determined as a target navigation event", the quantitative basis for determining the spatial auxiliary line B can be set to "drawing the spatial auxiliary line B at a position between 1.45m and 1.55m from the edge of the target river channel", and the quantitative basis corresponding to the spatial auxiliary line B included in the spatial judgment standard for determining the navigation event (i.e., the indicator data threshold) can also be set to "1 / 7 of the total area of the ship's hull".
[0059] In actual operation, the process of determining the three-dimensional coordinates of the drawn space auxiliary line B based on the three-dimensional model is an existing technology and will not be described in detail in this application.
[0060] Step (2.3): Determine the three-dimensional coordinates of the picture auxiliary lines and the navigation event picture judgment criteria corresponding to each target navigation event based on the river sampling monitoring video transmitted by the fixed monitoring equipment, the three-dimensional coordinates of the spatial auxiliary lines and the navigation event spatial judgment criteria.
[0061] Specifically, in an embodiment of the present application, it is necessary to determine the video shooting angle of each fixed monitoring device in the three-dimensional model based on the video screen of the river sampling monitoring video transmitted by the fixed monitoring device, and then map the three-dimensional coordinates of the spatial auxiliary line and the navigation event spatial judgment standard according to the video shooting angle of each fixed monitoring device to obtain the three-dimensional coordinates of the picture auxiliary line and the navigation event picture judgment standard corresponding to each fixed monitoring device. This ensures that although the river supervision results are determined based on the real-time river monitoring videos shot at different video shooting angles, the river supervision results judged separately are consistent.
[0062] Step (3): Displaying screen auxiliary lines in the auxiliary line display layer of the operation interface corresponding to each target navigation event.
[0063] Specifically, in the embodiment of the present application, the purpose of displaying the screen auxiliary lines is for staff to make modifications; in actual operation, if the screen auxiliary lines determined by the river supervision platform do not meet the actual supervision needs, the staff can directly modify or redraw the screen auxiliary lines on the auxiliary line display layer to meet the actual supervision needs.
[0064] S220: Determine whether the indicator data corresponding to each target navigation event meets the navigation event image judgment standard corresponding to each target navigation event to obtain the river supervision result;
[0065] Specifically, when the indicator data corresponding to each target navigation event is determined, the indicator data can be compared with the indicator data threshold included in the navigation event picture judgment standard corresponding to each target navigation event to determine the river supervision result of whether the target navigation event occurs in the target river; wherein, the navigation event picture judgment standard indicates the navigation characteristics of the ship in the target navigation event when sailing in the target river.
[0066] In actual operation, if the river supervision results indicate that a target navigation event occurs in the target river, the supervisory department responsible for supervision can be notified by sending emails or other means.
[0067] In one implementation, the types of target navigation events include illegal docking, illegal detention, and illegal wandering; the indicator data include the boundary crossing ratio, boundary crossing duration, and boundary crossing speed; the navigation event screen judgment standard includes the boundary crossing ratio threshold, the boundary crossing duration threshold, and the boundary crossing speed threshold; the screen auxiliary line includes the first navigation boundary line; S220 includes: steps (4) to (6), the details of which are as follows:
[0068] Step (4): If the ship's transgression ratio relative to the first navigation boundary exceeds the first transgression ratio threshold, and the first transgression duration exceeds the transgression duration threshold, the current navigation event of the ship is determined as an illegal docking;
[0069] Among them, the crossing boundary indicates that the ship has crossed the navigation boundary or entered the navigation area; the crossing boundary ratio is the ratio between the area of the ship's hull that has crossed the navigation boundary or entered the navigation area and the total area of the hull; the first navigation boundary represents the edge of the target river channel in the video screen.
[0070] Specifically, in the embodiment of the present application, the types of target navigation events include illegal docking, illegal detention and illegal wandering; among them, illegal docking refers to a navigation event in which a ship in the target river channel continuously crosses the first navigation boundary, illegal detention refers to a ship in the target river channel sailing in the target river channel at a lower navigation speed, and the lower navigation speed may be 0, and illegal wandering refers to a ship in the target river channel sailing in the target river channel at a higher navigation speed.
[0071] In an embodiment of the present application, the index data includes at least the cross-border ratio, the cross-border duration and the cross-border navigation speed; the navigation event screen judgment standard includes at least the cross-border ratio threshold, the cross-border duration threshold and the cross-border navigation speed threshold; among them, the content or type of the index data can also be added or modified according to actual regulatory needs, the position of the first navigation boundary can also be added or modified according to actual regulatory needs, and the specific values of the multiple thresholds included in the navigation event screen judgment standard can also be added or modified according to actual regulatory needs. This application does not make specific limitations on this.
[0072] In actual operation, when monitoring whether there is any illegal docking in the target river, when the river monitoring platform receives the real-time monitoring video of the river, it uses the target supervision model to identify and mark the ships in the image frames in the real-time monitoring video of the river. The marking method is to frame the ships in the image frames with a square detection frame.
[0073] After the ship is marked, the out-of-bounds ratio and out-of-bounds duration of the detection frame where the ship is located relative to the first navigation boundary are calculated; wherein, out-of-bounds refers to the behavior of the ship crossing the navigation boundary or entering the navigation area; the out-of-bounds ratio is the ratio between the area of the ship's hull that crosses the navigation boundary or enters the navigation area and the total area of the hull. In an embodiment of the present application, the area of the detection frame that frames the ship in the image frame that crosses the first navigation boundary can be determined as the "area of the hull that crosses the first navigation boundary", and accordingly, the area of the detection frame that frames the ship in the image frame is determined as the "total area of the hull".
[0074] In the process of determining the out-of-bounds ratio and out-of-bounds duration, it is necessary to first determine the out-of-bounds ratio of the detection frame where the ship displayed in the image frame is located relative to the first navigation boundary line, and then determine the out-of-bounds duration based on the total shooting time corresponding to at least one image frame with an "out-of-bounds ratio".
[0075] In an embodiment of the present application, when the first crossing ratio of the ship exceeds the first crossing ratio threshold and the first crossing duration exceeds the crossing duration threshold, the current navigation event of the ship can be determined as an illegal docking.
[0076] like Figure 2 As shown, Figure 2 This is an example diagram of the operation interface corresponding to the illegal docking provided in the embodiment of the present application. Figure 2 The area in the upper right corner clearly shows the real-time river monitoring video of the target river. A screen auxiliary line with endpoints and a square detection frame are displayed on the video screen of the real-time river monitoring video. The line segment with endpoints is the screen auxiliary line, which is used as the first navigation boundary. The detection frame is used to mark the ship in a framed form. The "cross-border time" is the "first cross-border duration" in the embodiment of the present application.
[0077] Step (5): If the first cross-border navigation speed of the ship in the first navigation area does not exceed the first cross-border navigation speed threshold, and the second cross-border ratio and the second cross-border duration in the first navigation area meet the first preset standard, the current navigation event of the ship is determined to be an illegal detention.
[0078] Specifically, in actual operation, after the ship is marked, the first out-of-bounds navigation speed, the second out-of-bounds ratio and the second out-of-bounds duration of the detection frame where the ship is located relative to the first navigation area are calculated; among them, the out-of-bounds navigation speed can be determined by the change in the position of the detection frame between two adjacent image frames and the time interval.
[0079] In an embodiment of the present application, when the ship's out-of-bounds navigation speed does not exceed the first out-of-bounds navigation speed threshold, and the second out-of-bounds ratio and the second out-of-bounds duration meet the first preset standard, the ship's current navigation event can be determined as an illegal detention; wherein, the first preset standard can be determined according to actual needs, and this application does not make specific limitations on this.
[0080] like Figure 3 As shown, Figure 3 This is an example diagram of the operation interface corresponding to the illegal detention provided in the embodiment of the present application. Figure 3 The real-time river monitoring video about the target river is clearly displayed, and a first navigation area enclosed by auxiliary screen lines with endpoints and a square detection frame are displayed on the video screen of the real-time river monitoring video.
[0081] Step (6): If the second off-boundary navigation speed of the vessel in the second navigation area exceeds the second off-boundary navigation speed threshold, and the third off-boundary ratio and the third off-boundary duration in the second navigation area meet the second preset standard, the current navigation event of the vessel is determined to be illegal wandering.
[0082] Specifically, in actual operation, after the ship is marked, the second cross-border navigation speed, the third cross-border ratio and the third cross-border duration of the detection frame where the ship is located in the second navigation area are calculated.
[0083] In an embodiment of the present application, when the ship's out-of-bounds navigation speed exceeds the second out-of-bounds navigation speed threshold, and the third out-of-bounds ratio and the third out-of-bounds duration meet the second preset standard, the ship's current navigation event can be determined as illegal wandering; wherein, the second preset standard can be determined according to actual needs, and this application does not make specific limitations on this.
[0084] In one implementation, the type of the target navigation event includes a compliant entry or exit; the indicator data includes a navigation deviation angle; the navigation event screen determination standard includes a navigation deviation angle threshold; the screen auxiliary lines include a second navigation boundary line and a third navigation boundary line; S220 includes: step (7), the details of which are as follows:
[0085] Step (7): If the ship crosses the second navigation boundary and the navigation deviation angle relative to the third navigation boundary does not exceed the navigation deviation angle threshold, the current navigation event of the ship is determined as a compliant entry and exit.
[0086] Specifically, in the embodiment of the present application, the types of target navigation events include compliant entry and exit; wherein, compliant entry and exit refers to the normal entry and exit of ships in the target river channel; "crossing" refers to the behavior of part of the ship's hull crossing the cross-boundary line, and "cross-domain" refers to the behavior of the entire ship's hull crossing the cross-boundary line.
[0087] In the embodiment of the present application, the indicator data includes at least the navigation deviation angle; and the navigation event screen determination criteria includes at least the navigation deviation angle threshold.
[0088] In actual operation, after the ship is marked, the navigation deviation angle of the detection frame where the ship is located relative to the third navigation boundary is calculated; wherein the navigation deviation angle is the angle of the ship's navigation route relative to the third navigation boundary.
[0089] In an embodiment of the present application, when a ship crosses the second navigation boundary and the navigation deviation angle does not exceed the navigation deviation angle threshold, the current navigation event of the ship can be determined as a compliant entry and exit; in actual operation, compliant entry and exit is usually only triggered once per unit time. For example, it is only determined within 1 hour whether the current navigation event of the ship within the 1 hour is a compliant entry and exit.
[0090] like Figure 4 As shown, Figure 4 This is an example diagram of the operation interface corresponding to the compliant entry and exit provided in the embodiment of this application. Figure 4 The real-time monitoring video of the river channel about the target river channel is clearly displayed. Two auxiliary lines and a square detection frame are displayed on the video screen of the real-time monitoring video of the river channel. The shorter auxiliary line is the second navigation boundary, and the longer auxiliary line is the third navigation boundary. In actual operation, the number and position of the second navigation boundary and the third navigation boundary can be determined according to actual needs, and this application does not make specific restrictions on this.
[0091] In one implementation, the river channel supervision result is used to indicate whether a target navigation event occurs in the target river channel. After S220, the method further includes: steps (8) to (10), the details of which are as follows:
[0092] Step (8): At every preset time period, the historical river supervision results determined within the preset time period are reviewed to obtain a review result.
[0093] Specifically, in the embodiment of the present application, in order to improve the accuracy of the river supervision platform's supervision of the target river, it is necessary to review the historical river supervision results; among them, the specific value of the preset time period can be determined according to actual needs, and this application does not make specific limitations on this.
[0094] Step (9): If the review result indicates that the false alarm rate of the historical river monitoring results obtained within the preset time period exceeds the false alarm rate threshold, the video shooting angle of the river monitoring equipment is adjusted.
[0095] Specifically, in the embodiment of the present application, a false alarm refers to a historical river supervision result that is wrong. For example, if the historical river supervision result shows that the ship has illegally detained, but after review it is determined that the ship in the target river has not illegally detained, this indicates that the historical river supervision result has a false alarm; the false alarm rate can be the ratio between the number of historical river supervision results with false alarms within a preset time period and the number of all historical river supervision results. In actual operation, the false alarm rate can also be determined by statistical methods, and the specific value of the preset time period can be determined according to actual needs. This application does not make any specific restrictions on this.
[0096] When the review result indicates that the false alarm rate of the historical river supervision results obtained within the preset time period exceeds the false alarm rate threshold, it means that the video shooting angle of the fixed monitoring equipment is not suitable. Therefore, the video shooting field of view caused by the inappropriate video shooting angle is not suitable, and ultimately the real-time river monitoring video shot based on the video shooting angle is not suitable for judging the target navigation event. Therefore, the video shooting angle of the fixed monitoring equipment needs to be adjusted.
[0097] In actual operation, there may be multiple reasons for the false alarm rate to exceed the false alarm rate threshold. In actual operation, factors such as equipment failure can be eliminated before implementing step (9).
[0098] Second, the present application provides a river monitoring system, which is set up on a river monitoring platform. The river monitoring platform receives real-time monitoring videos of the target river transmitted by the river monitoring equipment; Figure 5 As shown, Figure 5 This is a schematic diagram of the structure of the river monitoring system provided in an embodiment of the present application. The system includes: a data extraction module 310 and a judgment module 320;
[0099] The data extraction module 310 is used to determine the indicator data corresponding to each target navigation event based on the video images of the real-time river monitoring video during the process of monitoring the target river according to the real-time river monitoring video;
[0100] The target navigation event is a navigation event in which a ship is prohibited from or allowed to navigate in the target river channel; the indicator data indicates the navigation characteristics of the ship when it navigates in the target river channel as shown in the video screen;
[0101] The judgment module 320 is used to determine whether the indicator data corresponding to each target navigation event meets the navigation event picture judgment standard corresponding to each target navigation event to obtain the river supervision result.
[0102] In one implementation, the river monitoring platform receives a river sampling monitoring video of a target river transmitted by the river monitoring equipment. The river monitoring platform includes an operation interface corresponding to each target navigation event, the operation interface including a video display layer and an auxiliary line display layer superimposed on the video display layer. The data extraction module 310 is further configured to display the river sampling monitoring video in the video display layer corresponding to each target navigation event of the operation interface.
[0103] The data extraction module 310 is further configured to determine the image auxiliary lines and navigation event image determination criteria corresponding to each target navigation event based on the target river channel displayed in the video image of the river channel sampling monitoring video;
[0104] Among them, the auxiliary lines on the screen are used to assist in calculating indicator data;
[0105] The data extraction module 310 is further configured to display screen auxiliary lines in the auxiliary line display layer of the operation interface corresponding to each target navigation event.
[0106] In one implementation, the types of river channel monitoring equipment include fixed monitoring equipment and mobile monitoring equipment. Different fixed monitoring equipment are installed in different locations. The video shooting angle of the fixed monitoring equipment is fixed, while the river channel sampling monitoring video captured by the mobile monitoring equipment is a panoramic video. The data extraction module 310 is further configured to construct a three-dimensional model of the target river channel based on the river channel sampling monitoring video transmitted by the mobile monitoring equipment.
[0107] The data extraction module 310 is further configured to determine, based on the three-dimensional model, a spatial auxiliary line corresponding to each target navigation event and a navigation event spatial determination criterion, and to determine the three-dimensional coordinates of the spatial auxiliary line;
[0108] The data extraction module 310 is also used to determine the three-dimensional coordinates of the picture auxiliary lines and the navigation event picture judgment criteria corresponding to each target navigation event based on the river sampling monitoring video, the three-dimensional coordinates of the spatial auxiliary lines and the navigation event spatial judgment criteria transmitted by the fixed monitoring equipment.
[0109] In one implementation, the river channel supervision result is used to indicate whether a target navigation event occurs in the target river channel; the system further includes: a review module;
[0110] A review module is used to review the historical river supervision results determined within the preset time period at intervals of the preset time period to obtain a review result;
[0111] The review module is also used to adjust the video shooting angle of the river monitoring equipment if the review result indicates that the false alarm rate of the historical river supervision results obtained within a preset time period exceeds the false alarm rate threshold.
[0112] In one implementation, the target navigation event types include illegal docking, illegal stay, and illegal wandering; the indicator data include a transgression ratio, a transgression duration, and a transgression speed; the navigation event screen determination criteria include a transgression ratio threshold, a transgression duration threshold, and a transgression speed threshold; the screen auxiliary line includes a first navigation boundary; and the judgment module 320 is further configured to determine the current navigation event of the ship as the illegal docking if a first transgression ratio of the ship relative to the first navigation boundary exceeds the transgression ratio threshold and the first transgression duration exceeds the transgression duration threshold.
[0113] The crossing-boundary indicator indicates that the vessel has crossed the navigation boundary or entered the navigation area; the crossing-boundary ratio is the ratio between the area of the vessel's hull that has crossed the navigation boundary or entered the navigation area and the total area of the hull; the first navigation boundary represents the edge of the target river channel in the video image;
[0114] The judgment module 320 is further configured to determine the current navigation event of the ship as the illegal detention if the first transboundary navigation speed of the ship in the first navigation area does not exceed the first transboundary navigation speed threshold, and the second transboundary ratio and the second transboundary duration in the first navigation area meet the first preset standard;
[0115] The judgment module 320 is also used to determine the current navigation event of the ship as the illegal wandering if the second out-of-bounds navigation speed of the ship in the second navigation area exceeds the second out-of-bounds navigation speed threshold, and the third out-of-bounds ratio and the third out-of-bounds duration in the second navigation area meet the second preset standard.
[0116] In one implementation, the type of target navigation event includes compliant entry and exit; the indicator data includes a navigation deviation angle; the navigation event screen judgment standard includes a navigation deviation angle threshold; the screen auxiliary lines include a second navigation boundary and a third navigation boundary; the judgment module 320 is also used to determine the current navigation event of the ship as the compliant entry and exit when the ship crosses the second navigation boundary and the navigation deviation angle relative to the third navigation boundary does not exceed the navigation deviation angle threshold.
[0117] Third, the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, steps S210 to S220 provided in the above embodiment are implemented.
[0118] Fourth, the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, steps S210 to S220 of the above embodiment are executed.
[0119] Fifth, the computer program product provided in this application includes a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the method in the previous method embodiment. For specific implementation, please refer to steps S210 to S220 of the method embodiment, which will not be repeated here.
[0120] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interface, the indirect coupling or communication connection of the device or unit can be electrical, mechanical or other forms.
[0121] In addition, the units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
[0122] Furthermore, the functional modules in each embodiment of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.
[0123] It should be noted that if the function is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.
[0124] In this document, relational terms such as first and second, etc. are used merely to distinguish one entity or operation from another entity or operation, but do not necessarily require or imply any actual relationship or order between these entities or operations.
[0125] The above are merely examples of the present application and are not intended to limit the scope of protection of the present application. Those skilled in the art will appreciate that various modifications and variations are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.
Claims
1. A river supervision method, characterized in that: The method is applied to a river monitoring platform, wherein the river monitoring platform receives real-time monitoring video of a target river transmitted by a river monitoring device; the method comprises: In the process of monitoring the target river channel according to the real-time river channel monitoring video, determining indicator data corresponding to each target navigation event according to the video screen of the real-time river channel monitoring video; The target navigation event is a navigation event in which a ship sailing in the target river channel is prohibited or allowed; the indicator data indicates navigation characteristics of the ship displayed in the video image when sailing in the target river channel; Determine whether the indicator data corresponding to each target navigation event meets the navigation event picture judgment standard corresponding to each target navigation event to obtain the river supervision result.
2. The method according to claim 1, characterized in that The river monitoring platform receives a river sampling monitoring video of the target river transmitted by the river monitoring equipment; the river monitoring platform includes an operation interface corresponding to each target navigation event, the operation interface including a video display layer and an auxiliary line display layer superimposed on the video display layer; Before supervising the target river according to the real-time monitoring video of the river, the method further includes: Displaying the river sampling monitoring video in the video display layer of the operation interface corresponding to each of the target navigation events; Determining, based on the target river channel displayed in the video screen of the river channel sampling monitoring video, the screen auxiliary lines corresponding to each target navigation event and the navigation event screen determination criteria; Wherein, the auxiliary lines of the picture are used to assist in calculating the indicator data; The screen auxiliary lines are displayed in the auxiliary line display layer of the operation interface corresponding to each of the target navigation events.
3. The method according to claim 2, characterized in that The types of river channel monitoring equipment include fixed monitoring equipment and mobile monitoring equipment. Different fixed monitoring equipment are installed in different locations. The video shooting angle of the fixed monitoring equipment is fixed, and the river channel sampling monitoring video shot by the mobile monitoring equipment is a panoramic video. The auxiliary lines corresponding to each target navigation event and the navigation event image determination criteria are determined based on the target river channel displayed in the video image of the river channel sampling monitoring video, including: constructing a three-dimensional model of the target river channel based on the river channel sampling monitoring video transmitted by the mobile monitoring device; Determining, based on the three-dimensional model, a spatial auxiliary line corresponding to each of the target navigation events and a navigation event spatial determination criterion, and determining the three-dimensional coordinates of the spatial auxiliary line; Based on the river sampling monitoring video transmitted by the fixed monitoring equipment, the three-dimensional coordinates of the spatial auxiliary line and the navigation event spatial judgment standard, the three-dimensional coordinates of the picture auxiliary line corresponding to each target navigation event and the navigation event picture judgment standard are determined.
4. The method according to claim 3, characterized in that The river supervision result is used to indicate whether the target navigation event occurs in the target river; after determining whether the indicator data corresponding to each target navigation event meets the navigation event image judgment standard corresponding to each target navigation event to obtain the river supervision result, the method further includes: At intervals of a preset time period, reviewing the historical river supervision results determined within the preset time period to obtain a review result; If the review result indicates that the false alarm rate of the historical river monitoring results obtained within the preset time period exceeds a false alarm rate threshold, the video shooting angle of the river monitoring device is adjusted.
5. The method according to claim 2, characterized in that The types of target navigation events include illegal docking, illegal detention, and illegal wandering; the indicator data include the crossing ratio, crossing duration, and crossing navigation speed; the navigation event screen determination criteria include the crossing ratio threshold, crossing duration threshold, and crossing navigation speed threshold; the screen auxiliary line includes the first navigation boundary line; the determination of whether the indicator data corresponding to each target navigation event meets the navigation event screen determination criteria corresponding to each target navigation event to obtain the river supervision results includes: If the first transgression ratio of the ship relative to the first navigation boundary exceeds the transgression ratio threshold, and the first transgression duration exceeds the transgression duration threshold, the current navigation event of the ship is determined as the illegal docking; The crossing-boundary indication indicates that the vessel has crossed the navigation boundary or entered the navigation area; the crossing-boundary ratio is the ratio between the area of the hull of the vessel that has crossed the navigation boundary or entered the navigation area and the total area of the hull; the first navigation boundary represents the edge of the target river channel in the video image; If the first transboundary navigation speed of the vessel in the first navigation area does not exceed the first transboundary navigation speed threshold, and the second transboundary ratio and the second transboundary duration in the first navigation area meet the first preset standard, the current navigation event of the vessel is determined as the illegal detention; If the second out-of-bounds navigation speed of the ship in the second navigation area exceeds the second out-of-bounds navigation speed threshold, and the third out-of-bounds ratio and the third out-of-bounds duration in the second navigation area meet the second preset standard, the current navigation event of the ship is determined as the illegal wandering.
6. The method according to claim 2, characterized in that The type of the target navigation event includes a compliant entry and exit; the indicator data includes a navigation deviation angle; the navigation event screen determination standard includes a navigation deviation angle threshold; the screen auxiliary lines include a second navigation boundary line and a third navigation boundary line; and determining whether the indicator data corresponding to each target navigation event meets the navigation event screen determination standard corresponding to each target navigation event to obtain a river supervision result includes: If the ship crosses the second navigation boundary and the navigation deviation angle relative to the third navigation boundary does not exceed the navigation deviation angle threshold, the current navigation event of the ship is determined as the compliant entry and exit.
7. A river supervision system, characterized in that: Set up on a river monitoring platform, the river monitoring platform receives real-time monitoring video of the target river transmitted by the river monitoring equipment; the system includes: a data extraction module and a judgment module; The data extraction module is configured to determine, during the process of monitoring the target river channel according to the real-time river channel monitoring video, indicator data corresponding to each target navigation event based on the video images of the real-time river channel monitoring video; The target navigation event is a navigation event in which a ship sailing in the target river channel is prohibited or allowed; the indicator data indicates navigation characteristics of the ship displayed in the video image when sailing in the target river channel; The judgment module is used to determine whether the indicator data corresponding to each target navigation event meets the navigation event picture judgment standard corresponding to each target navigation event to obtain the river supervision result.
8. An electronic device, characterized in that: The electronic device includes a processor and a memory, the memory is used to store an application program, and the processor runs or executes the software program stored in the memory so that the electronic device implements the river supervision method according to any one of claims 1 to 6.
9. A computer-readable storage medium, characterized in that The computer-readable storage medium is used to store program codes executed by a processor, and the program codes are used to implement the river supervision method according to any one of claims 1 to 6.
10. A computer program product, characterized in that The computer program product includes computer instructions, and when the computer instructions are run on an electronic device, the electronic device implements the river supervision method according to any one of claims 1 to 6.