Ocean buoy station, intrusion detection and evidence collection method and system

Abstract

The present application relates to an ocean buoy station, an intrusion detection and evidence collection method and system; wherein the ocean buoy station comprises a camera, which is arranged on the top of the buoy body; a first ranging device, which is arranged on the top of the buoy body; the first ranging device monitors ships near the buoy and outputs the current position of the ship and the current position of the buoy; a second ranging device, which is arranged on the mast of the buoy body; when the second ranging device detects a landing event, it outputs an intrusion alarm signal; an industrial computer, which is arranged in the buoy body cabin and is used to connect to a data receiving station; the industrial computer is connected to the camera, the first ranging device and the second ranging device; the present application can realize stable intrusion detection; when the buoy is damaged, it can be analyzed based on the recorded past ship information and image information to realize stable evidence collection, thereby helping to find all possible ships that may have caused the accident, hold them accountable, and recover losses.

Description

Technical Field

[0001] The present application relates to the field of security monitoring technology, and in particular to an ocean buoy station, an intrusion detection and evidence collection method and system. Background Art

[0002] Ocean buoys are important equipment for marine environmental surveys. They can be anchored at sea for long-term fixed-point observations. Under harsh marine environmental conditions, they can achieve unmanned, long-term, continuous, synchronous, and automatic monitoring of ocean hydrology, meteorology, physics, and chemistry. Ocean buoys are equipped with solar power generation systems and a variety of hydrological, meteorological, and chemical monitoring sensors. Ocean buoys are unmanned during operation at sea, and passing ships often scratch or collide with them, causing damage to the buoys. There have also been many incidents of stealing instruments from the buoys. At present, there is a lack of effective intrusion detection and evidence collection methods. After the buoy is damaged, the offending ship cannot be found and cannot be investigated, which is not conducive to the maintenance of the buoy.

[0003] During the implementation process, the inventors found that there are at least the following problems in the traditional technology: traditional ocean buoy security monitoring has problems such as high cost, easy false alarms and poor monitoring, and cannot play a role in stably and effectively protecting ocean buoys. Summary of the invention

[0004] Based on this, it is necessary to provide an ocean buoy station, intrusion detection and evidence collection method and system that can stably and effectively protect ocean buoys in response to the above technical problems.

[0005] In order to achieve the above objectives, on the one hand, an embodiment of the present invention provides an ocean buoy station, comprising:

[0006] A camera, disposed on the top of the buoy body;

[0007] A first distance measuring device is arranged on the top of the buoy body; the first distance measuring device monitors the ships near the buoy and outputs the current position of the ships and the current position of the buoy;

[0008] The second distance measuring device is arranged on the mast of the buoy body; when the second distance measuring device detects a landing event, it outputs an intrusion alarm signal;

[0009] The industrial computer is arranged in the buoy body cabin and is used to connect to the data receiving station; the industrial computer is connected to the camera, the first distance measuring device and the second distance measuring device; the industrial computer confirms the distance between the ship and the buoy according to the current position of the ship and the current position of the buoy, and enters the corresponding warning level based on the identification circle that the distance falls into, activates the corresponding warning action, outputs warning information to the data receiving station, and when receiving the intrusion alarm signal, starts the camera to take pictures and record videos; the industrial computer compares and dynamically identifies the data taken by the camera, and transmits the processing results to the data receiving station.

[0010] In one embodiment, the current position of the ship includes the ship coordinate information, and the current position of the buoy includes the buoy coordinate information; the processing result includes the ship key information image and / or the personnel key information image;

[0011] The identification circles include 10 nautical mile identification circle, 5 nautical mile identification circle and 2 nautical mile identification circle; the warning actions include locking and tracking the ship corresponding to the 10 nautical mile identification circle, warning broadcasting corresponding to the 5 nautical mile identification circle, and taking photos and videos corresponding to the 2 nautical mile identification circle;

[0012] The industrial computer compares the captured image in the shooting data with the preset background image, dynamically identifies the target image in the captured image, processes the target image through image segmentation, and obtains the processing result; the preset background image includes the sea surface map of the sea area where the buoys are deployed.

[0013] In one embodiment,

[0014] The camera is an infrared camera;

[0015] The second distance measuring device includes an ultrasonic distance measuring module connected to the industrial computer; the distance measuring range of the ultrasonic distance measuring module covers the platform area of ​​the buoy body;

[0016] The ocean buoy station also includes a satellite communication machine, which is installed on the top of the buoy body; the satellite communication machine is connected between the industrial control computer and the data receiving station; the satellite communication machine includes several Beidou cards; the industrial control computer obtains the binary code stream of the processing result, divides the binary code stream into several data packets, and transmits each data packet to the data receiving station through each Beidou card.

[0017] In one embodiment, the number of infrared cameras is 4; the number of Beidou cards is 30;

[0018] The ultrasonic ranging module comprises 6 ultrasonic ranging probes arranged in the middle part of the mast of the buoy body; the opening angle of each ultrasonic ranging probe is 60 degrees.

[0019] In one embodiment, the industrial computer is an ARM industrial computer; and further comprising:

[0020] The warning device is installed on the top of the buoy body; the warning device includes a VHF radio transceiver; the VHF radio transceiver broadcasts warning voice to ships through the CH16 public channel;

[0021] A boarding warning device is arranged on the mast of the buoy body; the boarding warning device includes any one or any combination of a microphone and a loudspeaker;

[0022] The first distance measuring device includes an AIS receiver and a GPS antenna both connected to an ARM industrial computer;

[0023] The AIS receiver obtains the ship's AIS information and transmits it to the industrial ARM control computer; the ship's AIS information includes the ship's name, the ship's MMSI code, the ship's latitude and longitude, the ship's call sign, the ship's nationality, the ship's course and the ship's cargo information;

[0024] a solar panel disposed on top of the buoy body;

[0025] A power module is arranged in the buoy body; the power module comprises a power manager, a battery pack and a backup battery which are connected in sequence; the power manager is connected to the solar panel;

[0026] A touch screen and a data storage device are arranged in the buoy body cabin; the touch screen and the data storage device are both connected to an ARM industrial computer.

[0027] An intrusion detection and evidence collection method, comprising:

[0028] receiving the current position of the ship and the current position of the buoy output by the first distance measuring device monitoring the ship near the buoy, and confirming the distance between the ship and the buoy according to the current position of the ship and the current position of the buoy; the first distance measuring device is arranged on the top of the buoy body;

[0029] Based on the level of the identification circle that the distance falls into, the corresponding warning action is activated and the warning information is output to the data receiving station;

[0030] When receiving the intrusion alarm signal transmitted by the second distance measuring device, the camera is activated to take photos and record videos; the second distance measuring device is arranged on the mast of the buoy body; the camera is arranged on the top of the buoy body;

[0031] The camera's shooting data is compared and dynamically identified, and the processing results are transmitted to the data receiving station.

[0032] In one embodiment, the current position of the ship includes ship coordinate information, and the current position of the buoy includes buoy coordinate information;

[0033] The identification circles include 10 nautical mile identification circle, 5 nautical mile identification circle and 2 nautical mile identification circle; the warning actions include locking and tracking the ship corresponding to the 10 nautical mile identification circle, warning broadcasting corresponding to the 5 nautical mile identification circle, and taking photos and videos corresponding to the 2 nautical mile identification circle;

[0034] The processing result includes a vessel key information image and / or a personnel key information image; the steps of comparing and dynamically identifying the camera shooting data include:

[0035] Compare the captured image in the shooting data with the preset background image, and dynamically identify the target image in the captured image; the preset background image includes the sea surface map of the sea area where the buoy is deployed;

[0036] The target image is processed through image segmentation to obtain the processed result.

[0037] In one embodiment, the step of comparing the captured image in the shooting data with a preset background image and dynamically identifying the target image in the captured image includes:

[0038] Based on the preset background image, the maximum inter-class variance method is used to segment the captured image to obtain a segmented image; the segmented image includes a sea surface background image and a target part image;

[0039] Delete the wave part of the segmented image whose intra-class variance is greater than a preset threshold to obtain the remaining image;

[0040] According to the remaining images, the target image is obtained.

[0041] An intrusion detection and evidence collection device, the device comprising:

[0042] The distance confirmation module is used to receive the current position of the ship and the current position of the buoy output by the first distance measuring device monitoring the ship near the buoy, and confirm the distance between the ship and the buoy according to the current position of the ship and the current position of the buoy; the first distance measuring device is arranged on the top of the buoy body;

[0043] An early warning module is used to enable corresponding early warning actions based on the level of the identification circle that the distance falls into, and output early warning information to the data receiving station;

[0044] The shooting module is started to start the camera to take photos and videos when receiving the intrusion alarm signal transmitted by the second distance measuring device; the second distance measuring device is arranged on the mast of the buoy body; the camera is arranged on the top of the buoy body;

[0045] The data processing module is used to compare and dynamically identify the camera's shooting data and transmit the processing results to the data receiving station.

[0046] An ocean buoy intrusion detection and evidence collection system comprises a data receiving station and a plurality of ocean buoy stations as described above; each ocean buoy station is connected to the data receiving station;

[0047] The data receiving station includes a satellite communication machine, a PC and a display screen; the satellite communication machine is located in an open outdoor area;

[0048] The satellite communication machine is connected to the PC via a cable; the PC receives the warning information and processing results transmitted by the ocean buoy station and displays them on the display screen.

[0049] One of the above technical solutions has the following advantages and beneficial effects:

[0050] This application obtains the current position of the ship near the buoy and the current position of the buoy through the first distance measuring device, and then the industrial computer obtains the distance between the ship and the buoy according to the position information, enters the corresponding warning level based on the identification circle where the distance falls, takes different warning actions, and turns on the camera to enter the photo and video recording mode. The second distance measuring device can be facing the open area of ​​the buoy platform. When a landing event is detected (for example, someone climbs onto the buoy platform), it sends an intrusion alarm signal to the industrial computer and starts the camera to enter the photo and video recording mode. The image captured by the camera is compared with the background image pre-stored in the ocean buoy station. The industrial computer compares and dynamically identifies the data taken by the camera, transmits the processing results to the data receiving station, reminds the on-duty personnel to check the status of the buoy, and realizes stable intrusion detection; when the buoy is damaged, it can be analyzed based on the recorded past ship information and image information to achieve stable evidence collection, and then help find all possible ships that cause the accident, hold them accountable, and recover losses. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the conventional technology, the drawings required for use in the embodiments or the conventional technology descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0052] Figure 1 A diagram showing an application environment of an ocean buoy station in one embodiment;

[0053] Figure 2 is a structural block diagram of an ocean buoy station in one embodiment;

[0054] Figure 3 A schematic diagram of identifying circle action classification in one embodiment;

[0055] Figure 4 It is a structural block diagram of an ocean buoy station in another embodiment;

[0056] Figure 5 It is a schematic diagram of the specific structure of an ocean buoy station in another embodiment;

[0057] Figure 6 A schematic diagram of a process of an intrusion detection and evidence collection method in one embodiment;

[0058] Figure 7 A schematic diagram of an intrusion detection and evidence collection process in an embodiment;

[0059] Figure 8 A schematic diagram of a process for acquiring an image of an intruding vessel in an embodiment;

[0060] Fig. 9 A schematic diagram of a Beidou polling sending process in an embodiment;

[0061] Fig.10 is a structural block diagram of an intrusion detection and evidence collection device in one embodiment;

[0062] Fig.11 The figure is a diagram of the internal structure of an ocean buoy intrusion detection and evidence collection system in one embodiment. DETAILED DESCRIPTION

[0063] In order to facilitate understanding of the present application, the present application will be described more fully below with reference to the relevant drawings. Embodiments of the present application are provided in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive.

[0064] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0065] It can be understood that the terms "first", "second", etc. used in the present application can be used in this article to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish the first element from another element.

[0066] It should be noted that when an element is considered to be "connected" to another element, it can be directly connected to the other element, or connected to the other element through an intermediate element. In addition, the "connection" in the following embodiments should be understood as "electrical connection", "communication connection", etc. if there is transmission of electrical signals or data between the connected objects.

[0067] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art to which the present application belongs. The terms used herein in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0068] Currently, most existing intrusion collision monitoring uses pressure sensors or acceleration sensors, which generate alarm signals when the buoy is hit hard. However, buoys are placed on the sea and are always in motion under the influence of wind, waves, and currents. In addition, it is easy to generate false alarms when using acceleration sensors to identify ship collisions in strong winds and waves. Buoys are large in size, usually 6-10 meters in diameter, and it is difficult to install a large number of pressure sensors on them to monitor collisions. Moreover, when the buoy is hit, it is too late to detect the alarm signal, and it cannot serve as an early warning.

[0069] At present, photoelectric radars are installed on buoys to monitor surrounding ships, but they consume a lot of power and are expensive. In terms of image and video evidence collection, land-based security equipment and systems are relatively mature, but there is a lack of video image systems suitable for ocean buoys. At present, most buoys are deployed far from the shore and are not covered by mobile phone networks. Data can only be transmitted via satellite. The existing video image data volume is large and cannot be transmitted in real time via satellite networks, so the purpose of viewing the surrounding images of the buoy in real time cannot be achieved.

[0070] Traditionally, panoramic photoelectric warning radars are used to monitor the dynamics of ships around buoys. Panoramic photoelectric warning radars are used to detect whether a ship has entered the warning area around a buoy or offshore platform, and the warning range can reach several nautical miles. However, the radar search system at sea is usually installed on ships. Although this device can also monitor surrounding ships when installed on a buoy, the photoelectric radar consumes a lot of power and is expensive.

[0071] Traditionally, human infrared detection sensors are used to detect whether someone has boarded the buoy platform. When someone climbs onto the buoy platform and walks on the platform, an alarm signal is generated. Infrared detectors are usually used indoors, and the surrounding environment needs to be relatively stable. The buoy operates on the sea, and the sunlight and sea reflections are strong, which can easily cause the detector to falsely report. In addition, the buoy is always in motion, and the traditional detection method has a higher probability of false alarms. At the same time, traditional evidence collection of intruding ships and personnel, the buoy operates at sea for a long time, and usually someone only visits the buoy for maintenance once every six months. The conventional video image data volume is large, and the hard disk storage is usually overwritten in a cycle every half a month, and cannot save data for more than half a year. In addition, the information transmission between the traditional buoy and the data receiving station is difficult for conventional equipment to meet the requirements of tens of KB of image data.

[0072] The present application can use the characteristics of ocean buoys to achieve stable intrusion detection and evidence collection. Specifically, the present application targets the characteristics of buoys, and based on the industrial computer controls whether the camera enters the photo and video recording mode, obtains the shooting data, and identifies the image, retaining only the valid data of the approaching ship or the intrusion of personnel, and segmenting and compressing the intrusion evidence image, so that the most critical image screen can be transmitted back to the data receiving station via satellite. The present application proposes to use a civilian Beidou communication machine, and one Beidou card transmits 78 bytes per minute. For conventional observation data transmitted once an hour, this bandwidth can meet the requirements. For tens of KB of image data, the present application proposes to use the form of unpacking and splicing, and use multi-card Beidou devices for image transmission, thereby eliminating the need to use large broadband satellites such as Iridium and Inmarsat for image transmission.

[0073] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0074] The ocean buoy station, intrusion detection and evidence collection method and system provided by this application can be applied to Figure 1 In the application environment shown. Among them, the ocean buoy station 102 can communicate with the data receiving station 104 via a satellite. Further, it can be that several ocean buoy stations communicate with the data receiving station. The satellite can select a satellite communication system supported by the satellite communication machine (i.e., satellite communication machine) in this application, and the satellite communication system includes but is not limited to the Beidou satellite communication system, the Iridium satellite communication system, the maritime communication system, and the Tiantong No. 1 communication system.

[0075] The ocean buoy station 102 may include an AIS (Automatic Identification System), and cooperate with the Global Positioning System (GPS) to broadcast ship dynamic data such as ship position, speed, rate of change of heading and heading, combined with ship static data such as ship name, call sign, draft and dangerous goods, through a very high frequency (VHF) channel to nearby waters and shore stations; the data receiving station 104 may include a satellite communication machine, a PC (Personal Computer) and a display screen. The satellite communication machine can be installed in an open place such as the roof, connected to the PC through a cable, and the PC is installed with a dedicated buoy data management software, which can receive image data, alarm information, AIS information, etc. sent back by the offshore buoy station, and query and display on the display screen.

[0076] In one embodiment, Figure 2As shown, a marine buoy station is provided, and the buoy station is applied to Figure 1 The following scenario is used as an example to illustrate:

[0077] A camera, disposed on the top of the buoy body;

[0078] A first distance measuring device is arranged on the top of the buoy body; the first distance measuring device monitors the ships near the buoy and outputs the current position of the ships and the current position of the buoy;

[0079] The second distance measuring device is arranged on the mast of the buoy body; when the second distance measuring device detects a landing event, it outputs an intrusion alarm signal;

[0080] The industrial computer is arranged in the cabin of the buoy and is used to connect to the data receiving station; the industrial computer is connected to the camera, the first distance measuring device and the second distance measuring device; the industrial computer confirms the distance between the ship and the buoy according to the current position of the ship and the current position of the buoy, and enters the corresponding warning level according to the identification circle where the distance falls, activates the corresponding warning action, outputs warning information to the data receiving station, and when receiving the intrusion alarm signal, starts the camera to take pictures and record videos; the industrial computer compares and dynamically identifies the data taken by the camera, and transmits the processing results to the data receiving station.

[0081] Specifically, if Figure 2 As shown, the ocean buoy station may include a camera disposed on the top of the buoy body; in one example, the number of cameras may be one or more, and the specific value may be set according to actual needs. The industrial computer in the present application may start the camera in the corresponding early warning scenario. Furthermore, the camera in the present application may be an infrared camera, and the present application may install four infrared cameras on the top of the buoy body, each with an opening angle of 90 degrees, to achieve 360-degree coverage of the buoy platform and the surrounding sea area. The camera can be turned off at ordinary times to save power, and the capture and storage of the buoy local will only be started when a ship approaches or someone lands.

[0082] The first ranging device in the present application can be arranged on the top of the buoy body; the first ranging device monitors the ships near the buoy, and outputs the current position of the ship and the current position of the buoy; in an example, the current position of the ship can include the ship coordinate information, and the current position of the buoy can include the buoy coordinate information, that is, the first ranging device can obtain the ship coordinate information near the buoy, as well as the buoy coordinate information, and transmit it to the industrial computer.

[0083] In a specific embodiment, the first distance measuring device may include an AIS receiver and a GPS antenna both connected to an industrial computer;

[0084] Among them, the AIS receiver can obtain the ship's AIS information and transmit the ship's AIS information to the industrial computer; the ship's AIS information can include the ship's name, the ship's MMSI code, the ship's latitude and longitude, the ship's call sign, the ship's nationality, the ship's course and the ship's cargo information. The GPS antenna can be implemented using a corresponding GPS module.

[0085] It should be noted that the communication methods between the industrial computer and the AIS receiver and GPS antenna include but are not limited to I / O point reading and writing communication method, RS485 communication method, RS232 communication method, SPI (Serial Peripheral Interface) communication method, and TCP / IP (Transmission Control Protocol / Internet Protocol) Ethernet communication method.

[0086] Specifically, the GPS module obtains the current position of the buoy through satellite positioning, while the AIS receiver monitors the AIS signals sent by ships around the buoy. The industrial computer then stores and parses the AIS signals to obtain the ship's MMSI (Maritime Mobile Service Identify) code, ship name, nationality, coordinates, heading and other information, and calculates the distance between the ship and the buoy based on the coordinates. The ship enters the corresponding warning level based on the identification circle that the distance falls into, and takes different actions.

[0087] The identification circle may refer to a preset distance threshold, which may be set according to the ship speed. For example, the identification circle may be a 2-nautical-mile identification circle. The ship speed is generally 10 nautical miles per hour, and the 2-nautical-mile distance is equivalent to a 12-minute reaction time. Other values ​​may also be used; Figure 3 As shown, the identification circles in the present application may include a 10-nautical-mile identification circle, a 5-nautical-mile identification circle, and a 2-nautical-mile identification circle; the early warning actions may include locking and tracking of the vessel corresponding to the 10-nautical-mile identification circle, early warning broadcasting corresponding to the 5-nautical-mile identification circle, and taking photos and videos corresponding to the 2-nautical-mile identification circle; further, the early warning broadcasting may include a VHF radio warning.

[0088] Based on this application, when the distance between the ship and the buoy is less than 10 nautical miles, the target is locked and tracked until the ship sails out of the 10-nautical-mile identification circle. When the distance between the ship and the buoy is less than 5 nautical miles, the warning voice is broadcast to remind people not to approach. When the distance between the ship and the buoy is less than 2 nautical miles, the camera is turned on to enter the photo and video recording mode.

[0089] The second distance measuring device in the present application can be arranged on the mast of the buoy body; wherein the second distance measuring device can output an intrusion alarm signal when detecting a landing event; wherein the landing event can include someone climbing onto the buoy platform, etc. Specifically, the probe of the second distance measuring device can be facing an open area of ​​the buoy platform, and when someone climbs onto the buoy platform and is within the ranging coverage, an intrusion alarm signal is sent to the industrial computer to achieve stable intrusion detection and alarm. After receiving the intrusion alarm signal, the industrial computer starts the camera to take photos and videos, which is convenient for stable evidence collection.

[0090] In a specific example, the processing result includes a ship key information image and / or a personnel key information image; the second ranging device may include an ultrasonic ranging module connected to an industrial computer; the ranging range of the ultrasonic ranging module covers the platform area of ​​the buoy body.

[0091] Specifically, the present application can use an ultrasonic ranging module to implement the corresponding functions of the second ranging device, and the number of ultrasonic ranging modules can be set according to actual needs; the ultrasonic ranging module can measure the distance of surrounding objects at a frequency of once per second, and point its probe to an open area of ​​the buoy platform (so that the ranging range covers the platform area of ​​the buoy body). Normally, the distance data measured by the ultrasonic ranging module is 0. When someone climbs onto the buoy platform and is within the ultrasonic coverage range, the measured distance is not zero, and an intrusion alarm signal is sent to the industrial computer to enter the photo and video recording mode.

[0092] In a specific embodiment, the ultrasonic ranging module may include 6 ultrasonic ranging probes disposed in the middle of the mast of the buoy body; the opening angle of each ultrasonic ranging probe may be 60 degrees, so as to form full coverage of the buoy platform. Furthermore, the ultrasonic ranging module in the present application can effectively monitor human bodies within a preset range (e.g., 6 meters), is not affected by light, sea conditions, and buoy movement, and can accurately generate an alarm signal when a person lands on the buoy.

[0093] After acquiring the shooting data of the camera, the industrial computer can compare and dynamically identify the shooting data of the camera, and transmit the processing results to the data receiving station; specifically, the industrial computer can compare the captured image in the shooting data with the preset background image, dynamically identify the target image in the captured image, and process the target image through image segmentation to obtain the processing results; the preset background image can include a sea surface map of the sea area where the buoys are deployed.

[0094] For the image captured by the camera, the industrial computer can compare it with the preset background image (for example, the sea surface map of the buoy deployment area, which can be saved by taking a photo with the camera after the buoy is deployed, or it can be stored in the memory after taking a photo in advance), dynamically identify whether there are real images of ships or personnel in the captured image, and extract the key information images of ships or personnel through the image segmentation and compression method, and send them back to the data receiving station via satellite. On the one hand, the industrial computer in this application can use an edge-based segmentation algorithm to perform image segmentation; on the other hand, the industrial computer in this application can use a corresponding algorithm to compare it with the preset background image. If the change is large, it is considered that there is an intrusion and needs to be saved.

[0095] As mentioned above, the AIS receiver in this application is suitable for use on buoys. For monitoring of intrusion by people landing on the buoy, 6 ultrasonic ranging probes are installed on the middle mast of the buoy, and each probe has an opening angle of 60 degrees, forming full coverage of the buoy platform. The ultrasonic ranging module can effectively monitor human bodies within 6 meters, is not affected by light, sea conditions and buoy movement, and can accurately generate alarm signals when people land on the buoy; 4 infrared cameras are installed on the instrument platform on the top of the buoy, which can take clear photos and videos all day long, and each camera has an opening angle of 90 degrees, which can achieve 360-degree full coverage of the buoy platform and surrounding sea areas. The camera is used to implement image recognition, dynamically identify video images, discard invalid video image data, and only store image data with ships or personnel, ensuring that valid data can be stored for more than 6 months; a satellite communication system is used for data exchange between the ocean buoy station and the data receiving station. As long as there is no obstruction above the satellite communication machine antenna, communication can be achieved in any geographical location, and security monitoring can be performed on buoys far from the coast, and image transmission can be achieved through data subpackaging and Beidou multi-card polling mechanism.

[0096] In one embodiment, Figure 4 As shown, a marine buoy station is provided, and the buoy station is applied to Figure 1 The scene shown is used as an example for explanation, including a camera, which is located on the top of the buoy body;

[0097] A first distance measuring device is arranged on the top of the buoy body; the first distance measuring device monitors the ships near the buoy and outputs the current position of the ships and the current position of the buoy; wherein the first distance measuring device may include an AIS receiver and a GPS antenna both connected to an industrial computer;

[0098] The second distance measuring device is arranged on the mast of the buoy body; when the second distance measuring device detects a landing event, it outputs an intrusion alarm signal;

[0099] An industrial computer is arranged in the buoy body cabin and is used to connect to the data receiving station; the industrial computer is connected to the camera, the first distance measuring device and the second distance measuring device; wherein the industrial computer may be an ARM (Advanced RISC Machines) industrial computer;

[0100] Also includes:

[0101] A satellite communication machine is installed on the top of the buoy body; the satellite communication machine is connected between the industrial computer and the data receiving station; the satellite communication machine includes several Beidou cards;

[0102] The industrial computer obtains the binary code stream of the processing result, divides the binary code stream into several data packets, and transmits each data packet to the data receiving station through each Beidou card.

[0103] In a specific embodiment, the number of Beidou cards may be 30.

[0104] In a specific embodiment, it may also include:

[0105] The warning device is installed on the top of the buoy body; the warning device includes a VHF radio transceiver; the VHF radio transceiver broadcasts warning voice to ships through the CH16 public channel;

[0106] A boarding warning device is arranged on the mast of the buoy body; the boarding warning device includes any one or any combination of a microphone and a loudspeaker;

[0107] In one embodiment, it may also include:

[0108] a solar panel disposed on top of the buoy body;

[0109] A power module is arranged in the buoy body; the power module comprises a power manager, a battery pack and a backup battery which are connected in sequence; the power manager is connected to the solar panel;

[0110] A touch screen and a data storage device are arranged in the buoy body cabin; the touch screen and the data storage device are both connected to an ARM industrial computer.

[0111] Specifically, if Figure 4 As shown, the present application may include a solar panel, an AIS receiver, a satellite communicator, a GPS antenna, a VHF radio transceiver and a camera arranged on the top of the buoy body; an ultrasonic ranging module, a microphone and a speaker arranged on the mast of the buoy body; further, it may also include an ARM industrial computer arranged in the buoy body cabin.

[0112] like Figure 5As shown, the present application may also include a power manager, a maintenance-free lead-acid battery pack (i.e., a battery pack) and a main control box installed in the buoy cabin, in which an ARM industrial computer may be installed; in addition, a touch display screen, a backup battery and a data storage device may also be installed in the main control box.

[0113] The AIS receiver, satellite communicator, GPS antenna, VHF radio transceiver, camera, ultrasonic ranging module, microphone, speaker, touch screen and data storage device in this application are all connected and communicated with the ARM industrial computer through cables. The AIS information of nearby ships, the location information of the buoy, the voltage of the buoy battery and the backup battery, captured images and other data received can be viewed in real time through the touch screen (i.e., touch screen), and the target address of the satellite communication can also be set.

[0114] The solar panel installed on the top of the buoy can be connected to the power manager and the maintenance-free battery pack through a cable to provide power for the entire ocean buoy station. The maintenance-free battery pack supplies power to the ocean buoy station through the power manager and also charges the backup battery. The ARM industrial computer in this application can have a wide voltage input function, and 9-36V DC can power the ocean buoy station, enhancing the power adaptability of the ocean buoy station. In the extreme case where the maintenance-free battery pack is disconnected, the backup battery can still power the ocean buoy station to prevent someone from maliciously cutting off the main power supply of the buoy or the power supply system fails. Furthermore, based on the backup battery, when the main power supply of the buoy is disconnected, it can seamlessly switch to the backup battery power supply, and can promptly alarm the data receiving station through the satellite communication system to ensure minimum communication.

[0115] The communication methods between ARM industrial computers and AIS receivers, satellite communicators, GPS antennas, VHF transceivers, cameras, ultrasonic ranging modules, microphones, speakers, touch screens and data storage devices include but are not limited to I / O point read and write communication methods, RS485 communication methods, RS232 communication methods, SPI communication methods, and TCP / IP Ethernet communication methods.

[0116] The AIS receiver in this application can adopt a low-power design, and the typical power consumption of the monitoring module is 1.5W, which is very suitable for use on buoys. The ARM industrial computer in this application can realize image transmission through data packetization and Beidou multi-card polling mechanism. Beidou card can transmit 78 bytes per minute. This application proposes to install 30 Beidou cards in one device to send data in packets.

[0117] As mentioned above, for the detection and evidence collection of marine buoy intrusion, this application uses an AIS receiver to monitor the dynamics of ships around the buoy. The monitoring method of this receiver has low power consumption and a wide monitoring range, which can reach more than 10 nautical miles. The distance between the intruding ship and the buoy is calculated through GPS location information to determine which level of the alarm identification circle it belongs to, and corresponding countermeasures such as locking tracking, VHF radio warning, sound and light warning, and taking photos for evidence are taken. For the detection of intrusion by personnel landing on the buoy, an ultrasonic radar ranging module will be installed on the buoy mast. When someone climbs onto the buoy platform, an alarm message can be generated by measuring the distance, and the camera can be started to take pictures. Several infrared cameras are installed on the buoy instrument platform to form all-weather 360-degree full coverage of the buoy platform and the surrounding sea area. The camera is usually turned off to save power. It is started to capture and store the buoy locally when a ship approaches or someone lands on the buoy. The captured image is compared with the specific background image stored in the system to dynamically identify whether the intruding ship or person really exists. Through image segmentation and compression methods, key images with ship or personnel parts are sent back to the data receiving station in the form of data packets through the polling transmission of the Multicard Beidou communication machine.

[0118] In one embodiment, Figure 6 As shown, an intrusion detection and evidence collection method is provided, which is applied to Figure 1 The ocean buoy station shown is used as an example for explanation, including:

[0119] Step S602, receiving the current position of the ship and the current position of the buoy output by the first distance measuring device monitoring the ship near the buoy, and confirming the distance between the ship and the buoy according to the current position of the ship and the current position of the buoy; the first distance measuring device is arranged on the top of the buoy body;

[0120] Step S604, based on the level of the identification circle that the distance falls into, enable the corresponding warning action and output warning information to the data receiving station;

[0121] Step S606, when receiving the intrusion alarm signal transmitted by the second distance measuring device, start the camera to take photos and videos; the second distance measuring device is arranged on the mast of the buoy body; the camera is arranged on the top of the buoy body;

[0122] Step S608, performing comparison and dynamic recognition processing on the camera's shooting data, and transmitting the processing result to the data receiving station.

[0123] Specifically, after the ocean buoy station is installed and activated, the system self-check is first performed, and after passing the normal test, it enters the standby mode. In the standby mode, only the GPS, AIS receiver and ultrasonic ranging module are turned on, and other modules are in a power-saving closed state. The GPS module obtains the current position of the buoy through satellite positioning, and the AIS receiver monitors the AIS signals sent by ships around the buoy where it is located. The ARM industrial computer of the ocean buoy station stores and parses the AIS signal to obtain the MMSI code, ship name, nationality, coordinates, heading and other information of the ship, and calculates the distance between the ship and the buoy according to the coordinates, enters the corresponding warning level, and takes different actions; it should be noted that the various steps in the intrusion detection and evidence collection method of the present application can be implemented using the various embodiments recorded in the aforementioned ocean buoy station, which will not be repeated here.

[0124] In a specific embodiment, the current position of the ship may include the ship coordinate information, and the current position of the buoy may include the buoy coordinate information;

[0125] The identification circles include 10 nautical mile identification circle, 5 nautical mile identification circle and 2 nautical mile identification circle; the warning actions include locking and tracking the ship corresponding to the 10 nautical mile identification circle, warning broadcasting corresponding to the 5 nautical mile identification circle, and taking photos and videos corresponding to the 2 nautical mile identification circle;

[0126] Specifically, if Figure 7 As shown, when the distance between the ship and the buoy is less than 10 nautical miles, the target is locked and tracked until the ship sails out of the 10-nautical-mile identification circle. When the distance between the ship and the buoy is less than 5 nautical miles, the VHF radio transceiver at the buoy end is turned on, and a warning voice is broadcast to the ship through the CH16 public channel to remind it not to approach. When the distance between the ship and the buoy is less than 2 nautical miles, the camera is turned on to enter the photo and video recording mode. It should be noted that Figure 7 The 2 nautical miles, 5 nautical miles, 10 nautical miles, 200 meters and 10 minutes are only examples, and other values ​​may be used in actual applications.

[0127] In a specific embodiment, the processing result may include a ship key information image and / or a personnel key information image; the step of comparing and dynamically identifying the camera shooting data includes:

[0128] Compare the captured image in the shooting data with the preset background image, and dynamically identify the target image in the captured image; the preset background image includes the sea surface map of the sea area where the buoy is deployed;

[0129] The target image is processed through image segmentation to obtain the processed result.

[0130] Specifically, the image captured by the camera is compared with the preset background image to dynamically identify whether there is a real ship or personnel image in the captured image, and the key information image of the ship or personnel is extracted through image segmentation and compression methods, and sent back to the data receiving station via satellite.

[0131] In a specific embodiment, the step of comparing the captured image in the shooting data with the preset background image and dynamically identifying the target image in the captured image may include:

[0132] Based on the preset background image, the maximum inter-class variance method is used to segment the captured image to obtain a segmented image; the segmented image includes a sea surface background image and a target part image;

[0133] Delete the wave part of the segmented image whose intra-class variance is greater than a preset threshold to obtain the remaining image;

[0134] According to the remaining images, the target image is obtained.

[0135] Specifically, if Figure 8 As shown, the present application can obtain the seascape picture image of the surrounding environment of the buoy, obtain the captured photo of the sea surface when a ship approaches, and use the maximum inter-class difference method to segment the sea surface background part (i.e., the sea surface background image) and the ship part (i.e., the target part image), and then delete the wave part with the intra-class variance greater than the threshold, and then obtain the ship image based on the edge of the remaining image.

[0136] In one embodiment, the step of transmitting the processing result to the data receiving station may include:

[0137] A binary code stream of the processing result is obtained, the binary code stream is divided into a number of data packets, and each data packet is polled and transmitted to a data receiving station.

[0138] Specifically, if Fig. 9 As shown, the present application can obtain a binary code stream in the image JPG (Joint Photographic Experts Group) format, and divide the code stream into N packets with 78 bytes per packet, and then send it through polling through several Beidou cards; it should be noted that, Fig. 9 The 1 minute in the figure is just an example, and other values ​​may be used in actual applications.

[0139] Furthermore, the management software in the ocean buoy station in the present application can use a nautical chart as the background to display the real position of the buoy and the information of ships around the buoy in the nautical chart. You can slide the mouse to zoom in on a certain buoy. When the mouse clicks on the buoy icon, the buoy status information is displayed in the form of a pop-up window. The status information may include the buoy number, the longitude and latitude coordinates of the buoy, the current power of the buoy battery, whether it is displaced, and whether there is an abnormality. The electronic map corresponds to the ships around the buoy with ship-type icons. When the mouse clicks on a certain ship-type icon, the AIS information of the ship is displayed in the form of a pop-up window, including the ship name, the MMSI code of the ship, the longitude and latitude of the ship, the call sign of the ship, the nationality of the ship, the course of the ship and the cargo information of the ship. The ocean buoy station can also actively send instructions to a certain buoy end, such as starting to capture, shutting down certain abnormal devices, etc.

[0140] The intrusion detection and evidence collection method of the present application can record the AIS information of all ships passing near the buoy, including the permanent unique identification number (MMSI code), ship name, nationality, coordinates, distance from the buoy, etc., and set identification circles of different distances such as 10 nautical miles, 5 nautical miles, and 2 nautical miles. When a ship enters different levels of identification circles, different measures are taken, including locking and tracking, VHF radio warning, taking pictures, sound and light warnings, etc. Once it is found that a ship is too close to the buoy or a person is boarding the buoy, an alarm message is immediately sent to the data receiving station, and the camera is turned on to record and collect evidence. The captured image is sent back to the data receiving station through the satellite communication system after image recognition, segmentation, and compression, reminding the on-duty personnel of the data receiving station to check the status of the buoy, and can send instructions and shouting voices to the buoy end. When the buoy is damaged, it can be analyzed based on the past ship information and image information recorded by the system to help find all possible ships that may have caused the accident, hold them accountable, and recover losses.

[0141] This application uses image recognition to dynamically identify video images, discard invalid video image data, and store image data with ships or personnel, ensuring that valid data can be stored for more than 6 months; a satellite communication system is used for data exchange between the ocean buoy station and the data receiving station. As long as there is no obstruction above the satellite communication machine antenna, communication can be achieved in any geographical location, and security monitoring of buoys far from the coast can be performed. Image transmission is achieved through data packetization and Beidou multi-card polling mechanism. Civilian Beidou cards transmit 78 bytes per minute. This application proposes installing 30 cards in a device to packetize and send data.

[0142] It should be understood that although Figure 6-9 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 6-9 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0143] In one embodiment, Fig.10 As shown, an intrusion detection and evidence collection device is provided, comprising:

[0144] The distance confirmation module 110 is used to receive the current position of the ship and the current position of the buoy output by the first distance measuring device monitoring the ship near the buoy, and confirm the distance between the ship and the buoy according to the current position of the ship and the current position of the buoy; the first distance measuring device is arranged on the top of the buoy body;

[0145] The warning module 120 is used to enable corresponding warning actions based on the level of the identification circle that the distance falls into, and output warning information to the data receiving station;

[0146] The shooting module 130 is started to start the camera to take photos and videos when receiving the intrusion alarm signal transmitted by the second distance measuring device; the second distance measuring device is arranged on the mast of the buoy body; the camera is arranged on the top of the buoy body;

[0147] The data processing module 140 is used to compare and dynamically identify the data captured by the camera, and transmit the processing results to the data receiving station.

[0148] For the specific definition of the intrusion detection and evidence collection device, please refer to the definition of the intrusion detection and evidence collection method above, which will not be repeated here. Each module in the above-mentioned intrusion detection and evidence collection device can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0149] In one embodiment, Fig.11 As shown, a marine buoy intrusion detection and evidence collection system is provided, including a data receiving station, and a plurality of marine buoy stations as described above; each marine buoy station is connected to the data receiving station;

[0150] The data receiving station includes a satellite communication machine, a PC and a display screen; the satellite communication machine is located in an open outdoor area;

[0151] The satellite communication machine is connected to the PC via a cable; the PC receives the warning information and processing results transmitted by the ocean buoy station and displays them on the display screen.

[0152] Specifically, if Fig.11 As shown, the ocean buoy intrusion detection and evidence collection system may include several ocean buoy stations and a data receiving station connected to each ocean buoy station; wherein the data receiving station may include a satellite communicator, a PC and a display screen. The satellite communicator may be installed in an open place such as a rooftop, and connected to a PC via a cable. The PC is installed with a dedicated buoy data management software, which can receive image data, alarm information, AIS information, etc. sent back by the buoy end (i.e., the ocean buoy station), and query and display it on the display screen.

[0153] The PC at the data receiving station is based on the buoy data management software and can realize data analysis, storage and display functions. The software can be opened in the local area network or the Internet through Ethernet communication, or it can be directly connected to the display screen for interface display.

[0154] After the system is installed and enabled, you can first perform a system self-test and enter standby mode after passing the test. In standby mode, only the GPS, AIS receiver and ultrasonic ranging module are turned on, and other modules are in power-saving shutdown state.

[0155] The GPS module obtains the current position of the buoy through satellite positioning, and the AIS receiver monitors the AIS signals sent by the ships around the buoy. The ARM industrial computer of the ocean buoy station stores and analyzes the AIS signals to obtain the MMSI code, ship name, nationality, coordinates, heading and other information of the ship, and calculates the distance between the ship and the buoy according to the coordinates, enters the corresponding warning level, and takes different actions. When the distance between the ship and the buoy is less than 10 nautical miles, lock the target and track and record until the ship sails out of the 10-nautical-mile identification circle. When the distance between the ship and the buoy is less than 5 nautical miles, turn on the VHF radio transceiver at the buoy end, and broadcast the warning voice to the ship through the CH16 public channel to remind it not to approach. When the distance between the ship and the buoy is less than 2 nautical miles, turn on the camera to enter the photo and video mode.

[0156] The ultrasonic distance measurement module installed on the buoy mast can measure the distance of surrounding objects at a frequency of 1 time per second. Since its probe is facing the open area of ​​the buoy platform, the distance data measured at ordinary times is 0. When someone climbs onto the buoy platform and is within the ultrasonic coverage range, the measured distance is not zero, and an intrusion alarm signal is sent to the ARM industrial computer to enter the photo and video recording mode. The image captured by the camera is compared with the pre-stored background image to dynamically identify whether there is a real image of a ship or a person in the captured image. Through the image segmentation and compression method, the key information image of the ship or the person is extracted and sent back to the data receiving station via satellite. The satellite communication machine of the data receiving station can receive data sent by more than one ocean buoy station at the same time, and send the received data to the PC of the data receiving station. The PC of the data receiving station displays the buoy position, buoy status, all ship information within 10 nautical miles around the buoy, captured images, etc. according to the buoy number in the management software, and can also view historical data by query.

[0157] The marine buoy intrusion detection and evidence collection system of the present application can adopt a low-power design for its AIS receiver, and the typical power consumption of the monitoring module is 1.5W, which is very suitable for use on the buoy; for the monitoring of personnel intrusion, 6 ultrasonic ranging probes are installed on the middle mast of the buoy, and each probe has an opening angle of 60 degrees to form full coverage of the buoy platform. The ultrasonic ranging module can effectively monitor human bodies within 6 meters, and is not affected by light, sea conditions and buoy movement. It can accurately generate alarm signals when someone lands on the buoy. Four infrared cameras are installed on the instrument platform on the top of the buoy, which can take clear photos and videos all day long. Each camera has an opening angle of 90 degrees, which can achieve 360-degree coverage of the buoy platform and surrounding sea areas. The camera and industrial computer are used to perform image recognition, dynamically identify video images, discard invalid video image data, and only store image data with ships or personnel, ensuring that valid data can be stored for more than 6 months. The satellite communication system is used for data exchange between the ocean buoy station and the data receiving station. As long as there is no obstruction above the satellite communication machine antenna, communication can be achieved in any geographical location. It can monitor the security of buoys far from the coast, and realize image transmission through data subpackaging and Beidou multi-card polling mechanism. The civilian Beidou card can transmit 78 bytes per minute. This application proposes to install 30 cards to subpacketize and send data. The ocean buoy station is equipped with a backup battery. When the main power supply of the buoy is disconnected, it can seamlessly switch to the backup battery power supply and can promptly alarm the data receiving station through the satellite communication system to ensure minimum communication.

[0158] This application can record the AIS information of all ships passing near the buoy, including the permanent unique identification number (MMSI code), ship name, nationality, coordinates, distance from the buoy, etc., and set identification circles of different distances such as 10 nautical miles, 5 nautical miles, and 2 nautical miles. When the ship enters different levels of identification circles, different measures are taken, including locking and tracking, VHF radio warning, taking pictures, sound and light warnings, etc. Once it is found that the ship is too close to the buoy or there are people on the buoy, an alarm message is immediately sent to the data receiving station, and the camera is turned on to record and collect evidence. The captured image is sent back to the data receiving station through the satellite communication system after image recognition, segmentation, and compression, reminding the data receiving station on duty to check the buoy status, and can send instructions and shouting voices to the buoy end. When the buoy is damaged, it can be analyzed based on the past ship information and image information recorded by the system to help find all possible ships that caused the accident, hold them accountable, and recover losses.

[0159] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0160] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile 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. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus dynamic random access memory (Rambus DRAM, referred to as RDRAM), and interface dynamic random access memory (DRDRAM).

[0161] In the description of this specification, the description with reference to the terms "some embodiments", "other embodiments", "ideal embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example.

[0162] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0163] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. An ocean buoy station, characterized in that: include: A camera, disposed on the top of the buoy body; A first distance measuring device is arranged on the top of the buoy body; the first distance measuring device monitors the ships near the buoy and outputs the current position of the ships and the current position of the buoy; A second distance measuring device is arranged on the mast of the buoy body; when the second distance measuring device detects a landing event, it outputs an intrusion alarm signal; An industrial computer is arranged in the buoy body cabin and is used to connect to a data receiving station; the industrial computer is connected to the camera, the first distance measuring device and the second distance measuring device; the industrial computer confirms the distance between the ship and the buoy according to the current position of the ship and the current position of the buoy, and enters the corresponding warning level based on the identification circle into which the distance falls, activates the corresponding warning action, outputs warning information to the data receiving station, and activates the camera to take photos and videos when receiving the intrusion alarm signal; the industrial computer compares and dynamically identifies the data taken by the camera, and transmits the processing results to the data receiving station; The current position of the ship includes the ship coordinate information, and the current position of the buoy includes the buoy coordinate information; the processing result includes the ship key information image and / or the personnel key information image; The identification circles include a 10-nautical-mile identification circle, a 5-nautical-mile identification circle, and a 2-nautical-mile identification circle; the warning actions include locking and tracking the vessel corresponding to the 10-nautical-mile identification circle, broadcasting the warning corresponding to the 5-nautical-mile identification circle, and taking photos and videos corresponding to the 2-nautical-mile identification circle; The industrial computer compares the captured image in the shooting data with a preset background image, dynamically identifies a target image in the captured image, processes the target image by image segmentation, and obtains the processing result; the preset background image includes a sea surface map of the sea area where the buoys are deployed; The camera is an infrared camera; The second distance measuring device comprises an ultrasonic distance measuring module connected to the industrial computer; the distance measuring range of the ultrasonic distance measuring module covers the platform area of ​​the buoy body; The ocean buoy station also includes a satellite communication machine, which is arranged on the top of the buoy body; the satellite communication machine is connected between the industrial computer and the data receiving station; the satellite communication machine includes a plurality of Beidou cards; the industrial computer obtains the binary code stream of the processing result, divides the binary code stream into a plurality of data packets, and transmits each of the data packets to the data receiving station through polling of each of the Beidou cards; The industrial computer is an ARM industrial computer; and further comprises: An early warning device is arranged on the top of the buoy body; the early warning device comprises a VHF radio transceiver; the VHF radio transceiver broadcasts an early warning voice to the ship through the CH16 public channel; A boarding warning device is arranged on the mast of the buoy body; the boarding warning device includes any one or any combination of a microphone and a loudspeaker; The first distance measuring device includes an AIS receiver and a GPS antenna both connected to the ARM industrial computer; The AIS receiver obtains the ship AIS information and transmits the ship AIS information to the ARM industrial computer; the ship AIS information includes the ship name, the ship's MMSI code, the ship's latitude and longitude, the ship's call sign, the ship's nationality, the ship's heading and the ship's cargo information; a solar panel disposed on top of the buoy body; A power module is arranged in the buoy body; the power module comprises a power manager, a battery pack and a backup battery connected in sequence; the power manager is connected to the solar panel; A touch screen and a data storage device are arranged in the buoy body cabin; the touch screen and the data storage device are both connected to the ARM industrial computer.

2. The ocean buoy station according to claim 1, characterized in that: The number of infrared cameras is 4; the number of Beidou cards is 30; The ultrasonic ranging module comprises 6 ultrasonic ranging probes arranged in the middle part of the mast of the buoy body; the opening angle of each ultrasonic ranging probe is 60 degrees.

3. An intrusion detection and evidence collection method, characterized in that: Applied to the ocean buoy station of claim 1 or 2, the method comprises: receiving the current position of the ship and the current position of the buoy output by the first distance measuring device monitoring the ship near the buoy, and confirming the distance between the ship and the buoy according to the current position of the ship and the current position of the buoy; the first distance measuring device is arranged on the top of the buoy body; Based on the level of the identification circle into which the distance falls, a corresponding warning action is initiated, and warning information is output to a data receiving station; When receiving the intrusion alarm signal transmitted by the second distance measuring device, the camera is started to take photos and videos; the second distance measuring device is arranged on the mast of the buoy body; the camera is arranged on the top of the buoy body; The shooting data of the camera is compared and dynamically identified, and the processing result is transmitted to the data receiving station.

4. The intrusion detection and evidence collection method according to claim 3, characterized in that: The current position of the ship includes the ship coordinate information, and the current position of the buoy includes the buoy coordinate information; The identification circles include a 10-nautical-mile identification circle, a 5-nautical-mile identification circle, and a 2-nautical-mile identification circle; the warning actions include locking and tracking the vessel corresponding to the 10-nautical-mile identification circle, broadcasting the warning corresponding to the 5-nautical-mile identification circle, and taking photos and videos corresponding to the 2-nautical-mile identification circle; The processing result includes a vessel key information image and / or a personnel key information image; The steps of comparing and dynamically identifying the camera's shooting data include: Comparing the captured image in the shooting data with a preset background image, and dynamically identifying a target image in the captured image; The preset background image includes a sea surface map of the buoy deployment sea area; The target image is processed by image segmentation to obtain the processing result.

5. The intrusion detection and evidence collection method according to claim 4, characterized in that: The step of comparing the captured image in the shooting data with a preset background image and dynamically identifying a target image in the captured image includes: Based on the preset background image, the captured image is segmented by using the maximum inter-class variance method to obtain a segmented image; the segmented image includes a sea surface background image and a target part image; Deleting the wave part of the segmented image whose intra-class variance is greater than a preset threshold to obtain a remaining image; The target image is acquired according to the remaining image.

6. An intrusion detection and evidence collection device, characterized in that: Applied to the ocean buoy station according to claim 1 or 2, the device comprises: The distance confirmation module is used to receive the current position of the ship and the current position of the buoy output by the first distance measuring device monitoring the ship near the buoy, and confirm the distance between the ship and the buoy according to the current position of the ship and the current position of the buoy; the first distance measuring device is arranged on the top of the buoy body; An early warning module, used to enable corresponding early warning actions based on the level of the identification circle into which the distance falls, and output early warning information to a data receiving station; A shooting module is started, which is used to start a camera to take photos and videos when receiving an intrusion alarm signal transmitted by a second distance measuring device; the second distance measuring device is arranged on the mast of the buoy body; the camera is arranged on the top of the buoy body; The data processing module is used to compare and dynamically identify the data captured by the camera, and transmit the processing results to the data receiving station.

7. An ocean buoy intrusion detection and evidence collection system, characterized in that: It comprises a data receiving station, and a plurality of ocean buoy stations as claimed in claim 1 or 2; each of the ocean buoy stations is connected to the data receiving station; The data receiving station includes a satellite communication machine, a PC and a display screen; wherein the satellite communication machine is located in an outdoor open area; The satellite communication machine is connected to the PC through a cable; the PC receives the warning information and processing results transmitted by the ocean buoy station and displays them on the display screen.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 3 to 5 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 3 to 5 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 3 to 5 are implemented.

Images