A ship detection method, device and laser radar system

Abstract

Embodiments of the present application disclose a kind of ship detection method, device and laser radar system.The ship detection method includes the laser radar data of several frames that target ship passes through the detection area of laser radar collected by the laser radar arranged on the both sides of channel;Based on several frames of laser radar data, three-dimensional modeling is carried out to target ship, to obtain the three-dimensional model of target ship;According to three-dimensional model, the actual waterline of target ship is determined;According to actual waterline and the preset load line of target ship, it is determined whether target ship is over waterline.The ship detection method provided in the embodiments of the present application can improve the detection accuracy.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of laser detection, and particularly relate to a ship detection method and device and a laser radar system. BACKGROUND

[0002] Ship illegal and irregular behaviors directly threaten the safety of inland waterway traffic, and have become the "number one killer" of the safety of inland waterway traffic. The ship illegal and irregular behaviors mainly include the following three aspects: ship overloading and over-draft; ship off-course; and ship overspeed. Among them, the ship overloading and over-draft have the highest occurrence rate and the greatest harm.

[0003] In the prior art, an ultrasonic transmitter is installed on one side of a channel, and an ultrasonic receiver array is installed on the other side of the channel. When a ship travels through a measurement area from the channel, the ship will block the ultrasonic waves, and the signal energy received by the ultrasonic receiver array will change. In combination with the distance of the ship from the ultrasonic transmitter measured by a shore-based ranging system, a measurement result of whether the ship draft is over-limit can be obtained.

[0004] However, for the above detection method, when the ship is too far from the ultrasonic receiver array, the ship draft over-limit detection result is inaccurate due to the influence of the ultrasonic multi-path effect in water and other factors. Meanwhile, the ultrasonic waves are easily affected by the weather, which also makes the ship draft over-limit detection result inaccurate. SUMMARY

[0005] Embodiments of the present application provide a ship detection method, device and laser radar system to achieve the effect of improving detection accuracy.

[0006] In a first aspect, embodiments of the present application provide a ship detection method, which comprises:

[0007] acquiring a plurality of frames of laser radar data of a target ship passing through a detection area of a laser radar collected by the laser radar arranged on both sides of a channel;

[0008] performing three-dimensional modeling on the target ship based on the plurality of frames of laser radar data to obtain a three-dimensional model of the target ship;

[0009] determining an actual waterline of the target ship according to the three-dimensional model;

[0010] determining whether the target ship is over-draft according to the actual waterline and a preset load line of the target ship.

[0011] Optionally, the determining the actual waterline of the target ship according to the three-dimensional model comprises:

[0012] identifying a ship side and a waterline of the target ship based on the three-dimensional model by using a feature recognition algorithm;

[0013] detecting a water gauge of the target ship from the ship side;

[0014] determining an actual waterline of the target ship according to the water gauge and the waterline.

[0015] Optionally, the determining whether the target ship is overloaded according to the actual waterline and a preset loadline of the target ship comprises:

[0016] judging whether the actual waterline reaches the preset loadline;

[0017] if yes, determining that the target ship is overloaded;

[0018] if no, determining that a load of the target ship is in a normal range.

[0019] Optionally, the ship detection method further comprises:

[0020] acquiring a length, a width and a height of the target ship according to the three-dimensional model;

[0021] comparing the length with a preset length to determine whether the target ship is overlength;

[0022] comparing the width with a preset width to determine whether the target ship is overwidth; and

[0023] comparing the height with a preset height to determine whether the target ship is overheight.

[0024] Optionally, the ship detection method further comprises:

[0025] calculating a running speed of the target ship according to the length, the width of the detection area and a time of the target ship passing through the detection area.

[0026] Optionally, the ship detection method further comprises:

[0027] judging whether the running speed is greater than a preset speed;

[0028] if yes, determining that the target ship is running at a high speed;

[0029] if no, determining that the target ship is running normally.

[0030] Optionally, the three-dimensional modeling of the target ship based on the plurality of frames of laser radar data comprises:

[0031] register the point clouds of the two adjacent frames of the laser radar data in the order of i=0 and i=1, i=1 and i=2, i=2 and i=3, and so on, wherein i is a frame number of the laser radar data, and i is an integer greater than or equal to 0;

[0032] model the target ship in three dimensions based on the point cloud registration result; or

[0033] model the target ship in three dimensions based on the several frames of the laser radar data and the sailing speed.

[0034] Optionally, the ship detection method further comprises:

[0035] turn on the laser radar;

[0036] detect whether a ship arrives in the detection area;

[0037] if yes, enter the step of acquiring several frames of laser radar data of a target ship passing through a detection area of the laser radar, which are collected by the laser radar arranged on both sides of a waterway;

[0038] if no, return to the step of detecting whether a ship arrives in the detection area.

[0039] In a second aspect, an embodiment of the present application further provides a ship detection device, which comprises:

[0040] a first acquisition module, configured to acquire several frames of laser radar data of a target ship passing through a detection area of the laser radar, which are collected by the laser radar arranged on both sides of a waterway;

[0041] a modeling module, configured to model the target ship in three dimensions based on the several frames of the laser radar data, to obtain a three-dimensional model of the target ship;

[0042] a first determination module, configured to determine an actual waterline of the target ship according to the three-dimensional model;

[0043] a second determination module, configured to determine whether the target ship is over-draft based on the actual waterline and a preset load line of the target ship.

[0044] In a third aspect, an embodiment of the present application further provides a laser radar system, which comprises: at least two laser radars arranged on both sides of a waterway, configured to collect several frames of laser radar data of a target ship passing through detection areas of the at least two laser radars;

[0045] a data processing center connected with the at least two laser radars, configured to execute the ship detection method of the first aspect.

[0046] The ship detection method, device, and lidar system provided by the embodiments of the present invention employ lidars positioned on either side of a waterway to acquire several frames of lidar data collected by the lidar as the target ship passes through the lidar's detection area. Based on these frames of lidar data, three-dimensional modeling of the target ship is performed to obtain a three-dimensional model of the target ship. The actual waterline of the target ship is then determined based on the three-dimensional model, and the actual waterline is compared with the target ship's preset load line to determine whether the target ship is overdrafted. Therefore, the embodiments of the present invention acquire point cloud data of the target ship through the lidar, utilizing the lidar's superior anti-interference performance to avoid the influence of factors such as underwater ultrasonic multipath effects and weather, thereby improving ship detection accuracy. Furthermore, by utilizing the lidar's high angular resolution and scanning frequency, the three-dimensional model of the target ship obtained by the embodiments of the present invention based on the lidar's point cloud data is dense and highly real-time, avoiding point cloud loss or invalidation, further improving ship detection accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 This is a flow chart of a ship detection method provided in Example 1 of the present invention;

[0048] Figure 2 This is a practical layout diagram for ship detection based on laser radar provided in the first embodiment of the present invention;

[0049] Figure 3 This is a flow chart of a ship detection method provided by the second embodiment of the present invention;

[0050] Figure 4 This is a structural diagram of a ship detection device provided by Embodiment 3 of the present invention;

[0051] Figure 5 This is a structural diagram of a laser radar system provided in Example 4 of the present invention. DETAILED DESCRIPTION

[0052] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0053] Example 1

[0054] Figure 1is a flowchart of a ship detection method provided by an embodiment of the present application. The embodiment can be applied to the case of detecting a ship in motion. The method can be executed by a ship detection device provided by an embodiment of the present application. The device can be implemented in software and / or hardware. The device can be integrated on a laser radar or a server.

[0055] Referring to Figure 1 The method of the embodiment of the present application specifically includes the following steps:

[0056] S110, acquiring a plurality of frames of laser radar data of a target ship passing through a detection area of a laser radar collected by a laser radar arranged on both sides of a waterway.

[0057] The target ship is a ship that needs to be detected. The detection area is the detection area of the laser radar. The area that can be completely covered by the laser beam emitted by the laser radar is determined as the detection area. In some embodiments, the detection area of the laser radar can be set in advance according to actual needs. At this time, the detection area is the region of interest of the laser radar. When the target ship reaches the area, the laser beam emitted by the laser radar irradiates the target ship, and the laser echo beam reflected by the target ship returns to the laser radar. After data processing, the laser radar data of the target ship is obtained.

[0058] In the embodiment of the present application, the waterway refers to a waterway for ship navigation specified or set (including construction) in rivers, lakes, seas, etc. The waterway includes not only the whole waterway or river channel in a broad sense, but also the passing waterway separated by piers. Correspondingly, the laser radar can be installed on both banks of the waterway or river channel and located above the side of the target ship. Alternatively, the laser radar can be installed on both sides of the two piers corresponding to each passing waterway, the bridge deck or other bridge structures corresponding to each passing waterway, and located above the side of the target ship.

[0059] Exemplarily, Figure 2 is an actual layout diagram for detecting a ship based on a laser radar provided by an embodiment of the present application, as shown in Figure 2 The laser radar 10 is arranged on both sides of the waterway 20. Specifically, the laser radar 10 is arranged on both sides of the side of the bridge deck 30 corresponding to the waterway 20 close to the target ship 40. At least one laser radar 10 is installed on each side of the waterway 20. When one laser radar 10 is installed on each side of the waterway 20, i.e., the number of laser radars 10 is small, the assembly is simple, and the cost is low. When the number of laser radars 10 installed on each side of the waterway 20 is greater than 1, for example, two laser radars 10 are installed on each side, the density of the point cloud of the laser radar data of the laser radars 10 can be higher, and the detection accuracy can be improved, Figure 2Take an example of installing one laser radar 10 on each side of the waterway 20. It should be noted that the installation direction of the laser radar 10 can be determined according to actual conditions, for example, the field of view angle of the laser radar 10 is 120°, and the laser radar 10 is installed obliquely to prevent blind areas when scanning.

[0060] For example, continuing to refer to Figure 2 An example is provided. A detection area AA is arranged in the measurement range of the laser radar 10, and the specific range is customized according to actual conditions. The laser radar 10 emits a laser point cloud according to a preset scanning frequency, and the detection starts when the bow of the target ship 40 enters the detection area AA. The scanning planes of the two laser radars 10 are perpendicular to the driving direction of the target ship 40. As the target ship 40 advances, the detection area AA translates on the target ship 40, and the point cloud information of the left and right sides of the target ship 40 in the detection area AA is obtained, and a section information is obtained. As the target ship 40 continuously advances, a series of section information of the target ship 40, i.e., a plurality of frames of laser radar data, is obtained. The section information is the point cloud of the transverse section of the target ship 40 scanned by the laser radar 10.

[0061] S120, three-dimensional modeling of the target ship based on the plurality of frames of laser radar data to obtain a three-dimensional model of the target ship.

[0062] Specifically, the three-dimensional model of the target ship 40 is obtained by three-dimensional modeling of the target ship 40 based on a series of section information of the target ship 40. The present embodiment does not limit the way of three-dimensional modeling of the target ship 40.

[0063] S130, determining the actual waterline of the target ship according to the three-dimensional model.

[0064] Optionally, determining the actual waterline of the target ship according to the three-dimensional model, comprising: identifying the ship side and the water surface line of the target ship by using a feature recognition algorithm according to the three-dimensional model; detecting the water gauge of the target ship from the ship side; and determining the actual waterline of the target ship according to the water gauge and the water surface line.

[0065] The ship side is the side wall part connecting the bottom and the deck of the target ship 40. The water surface line is a line of the water surface change in the waterway 20 where the target ship 40 is located. According to the established three-dimensional model of the target ship 40, the ship side and the water surface line of the target ship 40 can be identified by using a feature recognition algorithm. The feature recognition algorithm is known to those skilled in the art, and the specific process is not described in the present embodiment. The water gauge is arranged on the ship side. The water surface line intersects with the water gauge to obtain a specific scale value, and the scale value corresponds to the actual waterline.

[0066] It should be noted that the actual waterline can be determined by the intersection of the waterline and the scale value of the water gauge; or the height of the waterline can be averaged first, and then the intersection of the average value and the scale value of the water gauge is determined to determine the actual waterline.

[0067] It should be further noted that the determination of the actual waterline is not limited to the above scheme. Alternatively, the ship side and the waterline of the target ship can be recognized based on the three-dimensional model using a feature recognition algorithm; the position of the deck is detected from the ship side; the difference between the plane where the deck is located and the waterline is determined according to the plane where the deck is located and the waterline, and if the difference between the plane where the deck is located and the waterline is greater than or equal to a preset threshold, it is determined that the target ship 40 is not over-drafting; if the difference between the plane where the deck is located and the waterline is less than the preset threshold, it is determined that the target ship 40 is over-drafting.

[0068] S140, determining whether the target ship is over-drafting according to the actual waterline and the preset load line of the target ship.

[0069] The preset load line is a full load waterline that the ship is allowed to reach when sailing in different zones, regions and seasons. When the actual waterline of the target ship 40 exceeds the preset load line, it indicates that the target ship is in an overloading state, which results in a decrease in reserve buoyancy and a lack of safety in navigation. Therefore, by comparing the actual waterline with the preset load line, it can be determined whether the target ship 40 is over-drafting.

[0070] Alternatively, determining whether the target ship is over-drafting according to the actual waterline and the preset load line of the target ship includes: determining whether the actual waterline reaches the preset load line; if yes, determining that the target ship is over-drafting; if no, determining that the load of the target ship is within a normal range.

[0071] For example, when the actual waterline reaches or exceeds the preset load line, it indicates that the target ship is in an overloading state, i.e., it is determined that the target ship 40 is over-drafting. When the actual waterline does not reach the preset load line, it indicates that the target ship 40 is not in an overloading state, i.e., it is determined that the load of the target ship 40 is within a normal range.

[0072] The technical scheme of the embodiment is characterized in that the laser radars are arranged on the two sides of the waterway respectively, the laser radar data of several frames collected by the laser radars when the target ship passes through the detection area of the laser radars is acquired, the target ship is modeled in three dimensions according to the laser radar data of the several frames, and the three-dimensional model of the target ship is obtained; then the actual waterline of the target ship is determined according to the three-dimensional model, the actual waterline is compared with the preset load line of the target ship, and whether the target ship is over-draft is determined. Therefore, the point cloud data of the target ship is acquired by the laser radars, the anti-interference performance of the laser radars is utilized, the influence of the multi-path effect of underwater ultrasonic waves, weather and other factors is avoided, and the ship detection accuracy is improved. In addition, the angle resolution and the high scanning frequency of the laser radars are utilized, the three-dimensional model of the target ship is obtained by modeling the target ship in three dimensions based on the point cloud data of the target ship acquired by the laser radars, the three-dimensional model point cloud is dense and has high real-time performance, the situation of point cloud loss or failure is avoided, and the ship detection accuracy is further improved.

[0073] Optionally, the ship detection method further comprises: acquiring the length of the target ship, the width of the target ship and the height of the target ship according to the three-dimensional model; comparing the length of the target ship with a preset length to determine whether the target ship is over-length; comparing the width of the target ship with a preset width to determine whether the target ship is over-width; and comparing the height of the target ship with a preset height to determine whether the target ship is over-height.

[0074] In the embodiment of the application, the preset length, the preset width and the preset height of the target ship 40 can be set in advance according to the model of the target ship 40 and / or the traffic rules of the waterway 20. By judging whether the target ship 40 is over-length, over-width or over-height, the safety of waterway navigation is improved.

[0075] For example, the preset height can be set as the height of the bridge. If the height of the target ship 40 is greater than or equal to the height of the bridge, it is determined that the target ship 40 is over-height and cannot pass through the corresponding traffic waterway of the bridge. If the height of the target ship 40 is less than the height of the bridge, it is determined that the target ship 40 is not over-height and can pass through the corresponding traffic waterway of the bridge.

[0076] In the embodiment, the three-dimensional model can not only be used for over-draft detection of the target ship 40, but also be used for length, height and width detection of the target ship 40. In this way, the running safety of the target ship 40 can be predicted.

[0077] Optionally, the ship detection method further comprises: calculating the driving speed of the target ship according to the length of the target ship, the width of the detection area and the time when the target ship passes through the detection area.

[0078] For example, the length of the target ship 40 is L1, the width of the detection area AA is L2, and the time for the target ship 40 to pass through the detection area AA is t, and then the average driving speed of the target ship 40 passing through the detection area AA is V1=(L1+L2) / t.

[0079] In some embodiments, the position information corresponding to the target ship can also be determined by acquiring two frames of laser radar data at a preset time interval, and the driving speed of the target ship can be calculated according to the preset time interval and the position information corresponding to the target ship.

[0080] For example, the time corresponding to the first frame of laser radar data is t1, the time corresponding to the second frame of laser radar data is t2, the preset time interval between t1 and t2 is t2-t1, and the distance traveled by the target ship 40 within the preset time interval is L, and then the instantaneous driving speed of the target ship 40 in the time period of the two frames is V2=L / (t2-t1).

[0081] If the target ship 40 travels at a constant speed or at a slow speed, the instantaneous driving speed V2 is equal to the average driving speed V1.

[0082] In the case where the driving speed of the target ship is determined, the ship detection method can further comprise: determining whether the driving speed is greater than a preset speed; if yes, determining that the target ship is overspeeding; if no, determining that the target ship is driving normally.

[0083] Specifically, the driving speed of the target ship 40 is compared with the preset speed to determine whether the target ship 40 is overspeeding. If the driving speed of the target ship 40 is greater than the preset speed, it is determined that the target ship 40 is overspeeding; if the driving speed of the target ship 40 is less than or equal to the preset speed, it is determined that the target ship 40 is driving normally.

[0084] Optionally, the ship detection method further comprises: starting the laser radar; detecting whether a ship arrives in the detection area; if yes, entering the step of acquiring a plurality of frames of laser radar data collected by the laser radar arranged on both sides of the channel and passing through the detection area of the laser radar of the target ship; if no, returning to the step of detecting whether a ship arrives in the detection area.

[0085] The above embodiment starts scanning and detecting the target ship 40 only when the target ship 40 arrives at the detection area AA, and does not perform scanning and detection if the target ship 40 does not arrive at the detection area AA. In this way, the influence of other target objects in the detection area AA can be avoided, the data processing amount is reduced, and the ship detection efficiency is improved.

[0086] In the above scheme, by establishing a three-dimensional model, the ship over-draft detection, overload detection can be realized based on the three-dimensional model; the ship over-height, over-width and over-length detection can also be realized based on the three-dimensional model; and the ship overspeed detection can also be realized. Therefore, the embodiment of the present application can realize detection of multiple parameters in the ship running process, and increase the function of ship detection.

[0087] Embodiment two

[0088] Figure 3 is a flow chart of a ship detection method provided by the embodiment two of the present application. The present embodiment is optimized based on the above technical solutions. The explanation of the same or corresponding terms as those in the above embodiments will not be repeated here.

[0089] Referring to Figure 3 , the method of the present embodiment can specifically include the following steps:

[0090] S210, acquire a plurality of frames of laser radar data of the target ship passing through the detection area of the laser radar collected by the laser radar arranged on both sides of the channel.

[0091] S220, in the order of i=0 and i=1, i=1 and i=2, i=2 and i=3,..., point cloud registration is performed on the adjacent two frames of laser radar data, wherein i is the frame number of the laser radar data, and i is an integer greater than or equal to 0; based on the point cloud registration result, three-dimensional modeling is performed on the target ship; or, based on the plurality of frames of laser radar data and the running speed, three-dimensional modeling is performed on the target ship.

[0092] For example, based on the point cloud registration result, the process of three-dimensional modeling of the target ship is as follows: according to a preset order, feature recognition is performed on the 0th frame and the 1st frame of laser radar data respectively, and key points in the two data sets of the 0th frame and the 1st frame of laser radar data are identified, the key points including center points, corner points and other representative points in the scene corresponding to the laser radar data. Assuming that there are M key points in the 1st frame of point cloud data, and there are P key points in the 0th frame of point cloud data, the corresponding nearest point of each point in the M key points in the P key point set is calculated, the translation parameter and the rotation parameter are calculated according to the corresponding point, the M key points are coordinate-converted by using the translation parameter and the rotation parameter, the transformation point set corresponding to the M key points is obtained, and then iterative matching is performed until the target function requirement is met to stop iteration. In this way, the M key points of the 1st frame of point cloud data are transformed into the same coordinate system of the P key points of the 0th frame of point cloud data, that is, the registration of the 0th frame of laser radar data and the 1st frame of laser radar data is completed. When the 0th frame of laser radar data and the 1st frame of laser radar data are registered, the points in the intersection part of the 0th frame of laser radar data and the 1st frame of laser radar data are completely overlapped. Then, the laser radar data of the 1st frame and the 2nd frame, the 2nd frame and the 3rd frame, and the like are registered in the same way until the registration of the laser radar data of several frames is completed. Then, based on the point cloud registration result, three-dimensional modeling of the target ship is performed.

[0093] Based on the several frames of laser radar data and the driving speed, the principle of three-dimensional modeling of the target ship is that the motion trajectory of each point is tracked through the real-time position information and speed information of the target ship, so that three-dimensional modeling of the target ship is realized.

[0094] S230, determining the actual waterline of the target ship according to the three-dimensional model.

[0095] S240, determining whether the target ship is over-draft according to the actual waterline and the preset load line of the target ship.

[0096] In this embodiment, the obtained laser radar data is configured by an algorithm, the conversion relationship of two frames of point cloud can be obtained, the real-time three-dimensional modeling of the ship is performed based on the conversion relationship of the two frames of point cloud, and whether the ship is over-draft is determined according to the three-dimensional model.

[0097] Embodiment three

[0098] Figure 4 is a structural schematic diagram of a ship detection device provided by the third embodiment of the present application, which is used to execute the ship detection method provided by any of the above embodiments. The device and the ship detection method of each embodiment belong to the same inventive concept, and the details not described in detail in the embodiment of the ship detection device can be referred to the embodiment of the ship detection method. Referring to Figure 4The ship detection device can specifically include a first acquisition module 310, a modeling module 320, a first determination module 330, and a second determination module 340.

[0099] The first acquisition module 310 is configured to acquire a plurality of frames of laser radar data of a target ship passing through a detection area of a laser radar, which is collected by the laser radar arranged on both sides of a channel.

[0100] The modeling module 320 is configured to perform three-dimensional modeling on the target ship based on the plurality of frames of laser radar data, to obtain a three-dimensional model of the target ship.

[0101] The first determination module 330 is configured to determine an actual waterline of the target ship according to the three-dimensional model.

[0102] The second determination module 340 is configured to determine whether the target ship is over-draft according to the actual waterline and a preset loadline of the target ship.

[0103] Optionally, the first determination module 330 can specifically include:

[0104] The recognition unit is configured to recognize a ship side and a waterline of the target ship by using a feature recognition algorithm based on the three-dimensional model.

[0105] The detection unit is configured to detect a water draft of the target ship from the ship side.

[0106] The determination unit is configured to determine the actual waterline of the target ship according to the water draft and the waterline.

[0107] Optionally, the second determination module 340 can specifically include:

[0108] The judgment unit is configured to judge whether the actual waterline reaches the preset loadline; if yes, it is determined that the target ship is over-draft; if not, it is determined that a load of the target ship is within a normal range.

[0109] Optionally, the ship detection device further includes a second acquisition module configured to acquire a length, a width, and a height of the target ship according to the three-dimensional model.

[0110] The comparison module is configured to compare the length with a preset length, to determine whether the target ship is over-length; to compare the width with a preset width, to determine whether the target ship is over-width; and to compare the height with a preset height, to determine whether the target ship is over-height.

[0111] Optionally, the ship detection device further includes a calculation module configured to calculate a driving speed of the target ship according to the length, a width of the detection area, and a time of the target ship passing through the detection area.

[0112] Optionally, the ship detection device further comprises a judgment module configured to judge whether the running speed is greater than a preset speed; if yes, it is determined that the target ship is overspeeding; if no, it is determined that the target ship is running normally.

[0113] Optionally, the modeling module 320 specifically can comprise:

[0114] a modeling unit configured to perform point cloud registration on the adjacent two frames of laser radar data in the order of i=0 and i=1, i=1 and i=2, i=2 and i=3, and so on, wherein i is the frame number of the laser radar data, and i is an integer greater than or equal to 0; based on the point cloud registration result, the target ship is three-dimensionally modeled; or the modeling unit is configured to three-dimensionally model the target ship based on the several frames of laser radar data and the running speed.

[0115] Optionally, the ship detection device can further comprise:

[0116] an opening module configured to open the laser radar;

[0117] a detection module configured to detect whether there is a ship in the detection area; if yes, it proceeds to the step of acquiring the several frames of laser radar data of the target ship passing through the detection area of the laser radar collected by the laser radar arranged on both sides of the channel; if no, it returns to the step of detecting whether there is a ship in the detection area.

[0118] The ship detection device provided in the embodiment three of the present application is provided with laser radars arranged on both sides of the channel, the first acquisition module acquires the several frames of laser radar data of the target ship passing through the detection area of the laser radar collected by the laser radar, and the modeling module three-dimensionally models the target ship based on the several frames of laser radar data to obtain a three-dimensional model of the target ship; then the first determination module determines the actual waterline of the target ship based on the three-dimensional model, and the second determination module compares the actual waterline with a preset load line of the target ship to determine whether the target ship is oversubmerged. Therefore, the point cloud data of the target ship is acquired by the laser radar, the anti-interference performance of the laser radar is utilized, the influence of the multi-path effect of underwater ultrasonic waves, weather and other factors is avoided, and the ship detection precision is improved. In addition, the three-dimensional model point cloud obtained by three-dimensionally modeling the target ship based on the point cloud data of the target ship acquired by the laser radar is dense and has high real-time performance, the situation of missing or invalid point cloud is avoided, and the ship detection precision is further improved.

[0119] The ship detection device provided in the embodiments of the present application can execute the ship detection method provided in any of the embodiments of the present application, has the corresponding function modules and beneficial effects of the execution method.

[0120] It is worth noting that in the above-mentioned embodiments of the ship detection device, each unit and module included is only divided according to functional logic, but is not limited to the above-mentioned division, as long as the corresponding function can be realized; in addition, the specific name of each functional unit is only for the convenience of mutual differentiation, and is not used to limit the protection scope of the present application.

[0121] Embodiment four

[0122] Figure 5 is a structural schematic diagram of a laser radar system provided by an embodiment four of the present application, as Figure 5 indicated, the laser radar system provided by the embodiment of the present application includes at least two laser radars 410 arranged on both sides of the channel, for collecting a plurality of frames of laser radar data when the target ship passes through the detection area of the at least two laser radars; a data processing center 420 connected with the at least two laser radars 410, for executing the ship detection method in the above-mentioned embodiments. Wherein, the laser radar includes a single-line laser radar or a multi-line laser radar. However, the laser radar is not limited to the single-line laser radar or the multi-line laser radar, in other optional embodiments, the laser radar may, for example, be a laser radar based on the principle of triangulation.

[0123] It should be noted that the data processing center 420 can be arranged in a background server, or can be integrated in the laser radar 410, and the present embodiment does not limit this.

[0124] The laser radar system provided by the present embodiment can execute the ship detection method provided by the above-mentioned method embodiments, and has the corresponding functional modules and beneficial effects of the execution method. The implementation principle and technical effects of the present embodiment are similar to those of the above-mentioned method embodiments, which will not be described here.

[0125] It should be noted that the above-mentioned is only the preferred embodiment of the present application and the technical principle applied. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and those skilled in the art can make various obvious changes, re-adjustments and substitutions without departing from the protection scope of the present application. Therefore, although the present application has been described in more detail through the above embodiments, the present application is not limited to the above embodiments, and can include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the appended claims.

Claims

1. A method of detecting a vessel, characterized by, The method comprises: acquiring a plurality of frames of laser radar data collected by a laser radar arranged on both sides of a waterway and passing through a detection area of the laser radar, wherein a scanning plane of the laser radar is perpendicular to a driving direction of a target ship; based on the plurality of frames of laser radar data, performing three-dimensional modeling on the target ship to obtain a three-dimensional model of the target ship; based on the three-dimensional model, determining an actual waterline of the target ship; based on the actual waterline and a preset loadline of the target ship, determining whether the target ship is over-drafting; the three-dimensional modeling on the target ship based on the plurality of frames of laser radar data comprises: in the order of i=0 and i=1, i=1 and i=2, i=2 and i=3,..., performing point cloud registration on adjacent two frames of laser radar data, wherein i is a frame number of the laser radar data, and i is an integer greater than or equal to 0; based on the point cloud registration result, performing three-dimensional modeling on the target ship; wherein the point cloud registration on adjacent two frames of laser radar data comprises: respectively performing feature recognition on the 0th and 1st frames of laser radar data, identifying key points in the two data sets of the 0th and 1st frames of laser radar data, the key points including representative points in the scene corresponding to the laser radar data, the representative points including center points and corner points; or, based on the plurality of frames of laser radar data and the driving speed, performing three-dimensional modeling on the target ship.

2. The ship detection method according to claim 1, characterized in that, the determination of the actual waterline of the target ship based on the three-dimensional model comprises: based on the three-dimensional model, identifying a ship side and a waterline of the target ship by using a feature recognition algorithm; detecting a water gauge of the target ship from the ship side; based on the water gauge and the waterline, determining the actual waterline of the target ship.

3. The ship detection method according to claim 1, characterized in that, the determination of whether the target ship is over-drafting based on the actual waterline and the preset loadline of the target ship comprises: judging whether the actual waterline reaches the preset loadline; if yes, determining that the target ship is over-drafting; if no, determining that the load of the target ship is within a normal range.

4. The ship detection method according to claim 1, characterized in that, The ship detection method further comprises: based on the three-dimensional model, acquiring a length, a width, and a height of the target ship; comparing the length with a preset length to determine whether the target ship is over-length; comparing the width with a preset width to determine whether the target ship is over-width; and comparing the height with a preset height to determine whether the target ship is over-height.

5. The ship detection method according to claim 4, characterized in that, The ship detection method further comprises: based on the length, the width of the detection area, and the time of the target ship passing through the detection area, calculating a driving speed of the target ship.

6. The ship detection method according to claim 5, characterized in that, The ship detection method further comprises: judging whether the driving speed is greater than a preset speed; if yes, determining that the target ship is driving at a high speed; if no, determining that the target ship is driving normally.

7. The ship detection method according to any one of claims 1 to 6, characterized in that, The ship detection method further comprises: turning on the laser radar; detecting whether a ship arrives at the detection area; If yes, a step of acquiring several frames of laser radar data of a target ship passing through a detection area of a laser radar collected by the laser radar arranged on both sides of a channel is entered; If no, the step of detecting whether a ship comes is returned.

8. A vessel detection apparatus, characterized by, Comprise: A first acquisition module is configured to acquire several frames of laser radar data of a target ship passing through a detection area of a laser radar collected by the laser radar arranged on both sides of a channel; wherein a scanning plane of the laser radar is perpendicular to a driving direction of the target ship; A modeling module is configured to perform three-dimensional modeling on the target ship based on the several frames of laser radar data to obtain a three-dimensional model of the target ship; The three-dimensional modeling on the target ship based on the several frames of laser radar data comprises: In the order of i=0 and i=1, i=1 and i=2, i=2 and i=3,..., point cloud registration is performed on two adjacent frames of laser radar data, wherein i is a frame number of the laser radar data, and i is an integer greater than or equal to 0; Based on the point cloud registration result, three-dimensional modeling is performed on the target ship; Wherein, the point cloud registration on the two adjacent frames of laser radar data comprises: Feature recognition is performed on the 0th and 1st frames of laser radar data respectively, and key points in two data sets of the 0th and 1st frames of laser radar data are identified, the key points including representative points in a scene corresponding to the laser radar data, the representative points including center points and corner points; Or, Based on the several frames of laser radar data and the driving speed, three-dimensional modeling is performed on the target ship; A first determination module is configured to determine an actual waterline of the target ship according to the three-dimensional model; A second determination module is configured to determine whether the target ship is over-draft based on the actual waterline and a preset load line of the target ship.

9. A lidar system, comprising: Comprise: At least two laser radars are arranged on both sides of a channel and are configured to collect several frames of laser radar data of a target ship passing through a detection area of the at least two laser radars; A data processing center is connected with the at least two laser radars and is configured to execute the ship detection method of any one of claims 1-7.

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