A method and device for locating the illegal discharge of garbage into the water by a ship

Abstract

The present invention relates to a method for locating the entry of garbage into the water by ships, which is characterized by comprising the following steps: S1, setting a sonar monitoring device with a known position in the detection water area; S2, the sonar monitoring device acquires the sound of the entry into the water and records the time of acquiring the sound; S3, comparing and confirming that the sound of the entry into the water is the sound of garbage entering the water; S4, determining the location of the sound source of the sound of the garbage entering the water according to the time of the sound of the entry into the water, the distance between sonars, and the position of the sonar monitoring device. The present invention proposes a method and device for locating the entry of garbage into the water by ships, which collects the sound of the entry into the water and identifies and confirms whether it is the sound of garbage entering the water, and then determines the location of the sound source of the sound of the garbage entering the water according to the time of the sound of the entry into the water, the distance between sonars, and the position of the sonar monitoring device. The present invention does not require a large amount of manpower, and can quickly discover the specific location of the ship that discharges garbage illegally, which can effectively reduce the workload and improve the speed of discovery.

Description

Technical Field

[0001] The invention relates to the technical field of hydroacoustic positioning, and in particular to a method and a device for positioning garbage illegally discharged into water by a ship. Background Art

[0002] my country currently has more than 300,000 inland river vessels, and inland river shipping is an important part of my country's comprehensive transportation. However, ships also have serious environmental pollution problems. Some ships secretly discharge sewage, domestic garbage, and hazardous chemicals into inland waters, affecting the sustainable development of inland river shipping.

[0003] However, during the operation, there are still cases where crew members randomly throw domestic garbage and dump it into rivers. The existing response method is to patrol and supervise the waters manually, which requires a large amount of manpower, a huge workload and low efficiency, and often fails to detect the situation of secretly photographing garbage in the first place. Summary of the invention

[0004] The purpose of the invention is to provide a method and device for locating garbage secretly discharged into water by ships in order to solve the problem of low efficiency of existing manual patrols.

[0005] The technical solution adopted by the present invention is: a method for locating garbage secretly discharged into the water by a ship, comprising:

[0006] S1. Set up several sonar monitoring devices with known locations in the detection waters;

[0007] S2, the sonar monitoring device obtains the sound of water entry and records the time when the sound of water entry is obtained;

[0008] S3, comparing and confirming that the sound of garbage entering the water is the sound of garbage entering the water;

[0009] S4. Determine the location of the sound source of the garbage entering the water according to the time of the sound, the distance between the sonars, and the location of the sonar monitoring device.

[0010] Furthermore, in step S1, three sonars are provided on each sonar monitoring device, and the three sonars are collinear and arranged at equal intervals d.

[0011] Furthermore, in step S2, the moments when the three sonars acquire the water entry sound are τ1, τ2, and τ3 respectively.

[0012] Further, step S3 includes:

[0013] S31, establishing a database storing the sounds of various substances entering water;

[0014] S32, extracting the characteristics of the sound of entering water;

[0015] S33, comparing and identifying the characteristics of the water entry sound with the stored data in the database;

[0016] S34: If it is confirmed that the sound is garbage entering the water, then execute step S4 and store the sound into the database.

[0017] 8. Further, step S4 includes:

[0018] S41. Establish polar coordinates with the sonar position in the middle as the origin. The polar coordinates of the sound source are T(r,α). The polar coordinates of the three sonars are S1(d,0), S2(0,0), and S3(-d,0). The distance between the sound source and S1 is r. 1 , the distance between the sound source and S2 is r 2 , the distance between the sound source and S3 is r 3 , α is the angle between the sound source location and the line connecting S2 and the straight line where the three sonars are located; formula (1) is obtained:

[0019]

[0020] After sorting, we get formula (2):

[0021]

[0022] S42, obtaining the time τ of the water entry sound according to the three sonars 1 , τ 2 , τ 3 Get the time difference τ between the three sonars 12 , τ 23 , τ 13 , we get formula (3),

[0023]

[0024] S43, according to the time difference τ between the three sonars 12 , τ 23 , τ 13 And the speed of sound in water v, we get formula (4):

[0025]

[0026] Substituting formula (2) into formula (4) and rearranging it, we get formula (5):

[0027]

[0028] S44, due to r 2 = r, shift the terms in equation (5) to the left and right, square both sides, and get equation (6):

[0029]

[0030] S45. According to formula (5) and formula (6), the expressions of α and r are obtained:

[0031]

[0032]

[0033] Furthermore, step S31 is to establish a database using a plurality of determined garbage entering water sounds as basic sounds.

[0034] Further, step S33 includes:

[0035] S331, extracting the characteristics of the sound of entering water and adding corresponding material labels to form features;

[0036] S332, dividing all features into training sets and test sets;

[0037] S333, input the training set and the test set into the convolutional neural network for training, output the accuracy of the test set and the training set, and record the accuracy and loss rate of the test set;

[0038] S334, repeat steps S313-S314 for a set number of times, and calculate the average accuracy and average loss rate.

[0039] Further, step S34 includes:

[0040] S341, confirm whether the sound of water entry is the sound of garbage entering water according to the average accuracy rate and the average loss rate, and if it is the sound of garbage entering water, execute step S342;

[0041] S342, storing the water entry sound into the database and executing step S4.

[0042] Furthermore, in step S341: when the average accuracy rate is greater than 85% (inclusive), it is confirmed that the sound of entering water is the sound of garbage entering water.

[0043] The present invention also provides a device for locating garbage secretly discharged into water by ships, comprising:

[0044] A monitoring device placement unit, used to place a number of sonar monitoring devices with known positions in the detection waters;

[0045] An acquisition unit, used to acquire the water entry sound through a sonar monitoring device and record the time when the water entry sound is acquired;

[0046] A comparison unit, used for comparing and confirming that the sound of water entry is the sound of garbage entering the water;

[0047] The position confirmation unit is used to determine the location of the sound source of the garbage entering the water according to the time of the sound, the distance between the sonars and the position of the sonar monitoring device.

[0048] The present invention proposes a method and device for locating garbage entering water illegally discharged by ships, which collects the sound of garbage entering water and identifies whether it is the sound of garbage entering water, and then determines the location of the sound source of the garbage entering water according to the time of the sound, the distance between sonars and the position of the sonar monitoring device. The present invention does not require a large amount of manpower and can quickly find the specific location of the ship that illegally discharges garbage, which can effectively reduce the workload and improve the speed of discovery.

[0049] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention and implement it according to the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention in conjunction with the accompanying drawings. The specific implementation of the present invention is given in detail by the following embodiments and their accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0051] Figure 1 The figure shows a step diagram of a method for locating garbage secretly discharged into the water by a ship provided by the present invention;

[0052] Figure 2 Shown is a schematic diagram of distance measurement between a sonar monitoring device and a ship;

[0053] Figure 3 Shown is a schematic diagram of the sonar model of the sonar monitoring device. DETAILED DESCRIPTION

[0054] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention. The present invention is described in more detail by way of example with reference to the accompanying drawings in the following paragraphs. The advantages and features of the present invention will become clearer according to the following description and claims. It should be noted that the drawings are all in a very simplified form and are not in precise proportions, and are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the present invention.

[0055] It should be noted that when a component is referred to as being "mounted on" another component, it may be directly mounted on the other component or there may be a central component. When a component is considered to be "set on" another component, it may be directly set on the other component or there may be a central component at the same time. When a component is considered to be "fixed to" another component, it may be directly fixed on the other component or there may be a central component at the same time.

[0056] 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 the present invention belongs. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "or / and" used herein includes any and all combinations of one or more of the related listed items.

[0057] Example 1

[0058] The following describes the method for locating the illegal discharge of garbage into the water by a ship provided by the present invention in conjunction with the accompanying drawings:

[0059] See also Figure 1 , a method for locating the illegal discharge of garbage into the water by a ship provided by the present invention, comprising the following steps:

[0060] S1. Set up several sonar monitoring devices with known locations in the detection waters;

[0061] S2, the sonar monitoring device obtains the sound of water entry and records the time when the sound of water entry is obtained;

[0062] S3, comparing and confirming that the sound of water entry is the sound of garbage entering water;

[0063] S4. Determine the location of the sound source of the garbage entering the water according to the time of the sound, the distance between the sonars, and the location of the sonar monitoring device.

[0064] Compared with the prior art, the present invention proposes a method and device for locating garbage entering the water illegally discharged by ships, which collects the sound of garbage entering the water and identifies whether it is the sound of garbage entering the water, and then determines the location of the sound source of the garbage entering the water according to the time of the sound entering the water, the distance between sonars and the position of the sonar monitoring device. The present invention does not require a lot of manpower and can quickly find the specific location of the ship that illegally discharges garbage, which can effectively reduce the workload and improve the speed of discovery.

[0065] Specifically, in step S2, the time when the three sonars obtain the water entry sound is τ 1 , τ 2 , τ 3 The distance measurement between the sonar monitoring device and the ship is shown as follows: Figure 2 shown.

[0066] Assume that the sound source is a point source and the sound propagates in the form of a spherical wave. The sonar model of the sonar monitoring device is as follows: Figure 3 Specifically, step S3 includes:

[0067] S31, establishing a database storing the sounds of various substances entering water;

[0068] S32, extracting the characteristics of the sound of entering water;

[0069] S33, comparing and identifying the characteristics of the water entry sound with the stored data in the database;

[0070] S34: If it is confirmed that the sound is garbage entering the water, then execute step S4 and store the sound into the database.

[0071] Specifically, step S31 is: establishing a database using a plurality of determined garbage entering water sounds as basic sounds.

[0072] Specifically, step S33 includes:

[0073] S331, extracting the characteristics of the sound of entering water and adding corresponding material labels to form features;

[0074] S332, dividing all features into training sets and test sets;

[0075] S333, input the training set and the test set into the convolutional neural network for training, output the accuracy of the test set and the training set, and record the accuracy and loss rate of the test set;

[0076] S334, repeat steps S313-S314 for a set number of times, and calculate the average accuracy and average loss rate.

[0077] Specifically, step S334 is:

[0078] Repeat steps S313-S314 a set number of times, add up the accuracy of each test set, and finally divide by the number of repetitions to obtain the average accuracy and average loss rate.

[0079] Specifically, in step S331:

[0080] Obtained by LabVIEW program acquisition output; each set of data has 60 files, each txt file has two columns, each column has 601 rows (including the title of the first row), the first column records the time, and the second column records the voltage data; read the voltage data in the second column of each txt file, store it in the feature, and add the corresponding material label.

[0081] Specifically, step S4 includes:

[0082] S41. Establish polar coordinates with the sonar position in the middle as the origin. The polar coordinates of the sound source are T(r,α). The polar coordinates of the three sonars are S1(d,0), S2(0,0), and S3(-d,0). The distance between the sound source and S1 is r. 1 , the distance between the sound source and S2 is r 2 , the distance between the sound source and S3 is r 3, α is the angle between the sound source location and the line connecting S2 and the straight line where the three sonars are located; formula (1) is obtained:

[0083]

[0084] After sorting, we get formula (2):

[0085]

[0086] S42, obtaining the time τ of the water entry sound according to the three sonars 1 , τ 2 , τ 3 Get the time difference τ between the three sonars 12 , τ 23 , τ 13 , we get formula (3),

[0087]

[0088] S43, according to the time difference τ between the three sonars 12 , τ 23 , τ 13 And the speed of sound in water v, we get formula (4):

[0089]

[0090] Substituting formula (2) into formula (4) and rearranging it, we get formula (5):

[0091]

[0092] S44, due to r 2 = r, shift the terms in equation (5) to the left and right, square both sides, and get equations (6) and (7):

[0093]

[0094] S45. According to formula (5) and formula (6), we can get the expression of α and r: Substitute formula (6)

[0095] Substituting into equation (7), we get the expression of cosα:

[0096]

[0097] According to the inverse function concept, α can be expressed as:

[0098]

[0099] Formula (5) and formula (6) can also be written as:

[0100] 2rvτ 12-2rdcosα=v 2 τ 12 2 -d 2 、2rvτ 23 -2rdcosα=d 2 -v 2 τ 23 2 ;

[0101] After sorting, r can be estimated as:

[0102]

[0103] In other words, by knowing the times τ1, τ2, and τ3 when the three sonars acquire the sound of entering the water, the distance d between adjacent sonars, and the speed of sound transmission in the water, the positions of the sound source and the sonar monitoring device can be estimated, which is convenient for quickly discovering the specific location of the ship that illegally discharges garbage, and can effectively reduce the workload and increase the speed of discovery.

[0104] The embodiment of the present invention transforms the intrinsic parameter matrix and the extrinsic parameter matrix of the calibrated camera according to the positional relationship between other cameras and the calibrated camera, so as to obtain the intrinsic parameter matrix and the extrinsic parameter matrix of the corresponding camera; it only needs to perform a complete calibration once to obtain the intrinsic parameter matrix and the extrinsic parameter matrix of all cameras, thereby effectively shortening the calibration process and improving the efficiency of calibration.

[0105] The present invention also provides a device for locating garbage secretly discharged into water by ships, comprising:

[0106] A monitoring device placement unit, used to place a number of sonar monitoring devices with known positions in the detection waters;

[0107] An acquisition unit, used to acquire the water entry sound through a sonar monitoring device and record the time when the water entry sound is acquired;

[0108] A comparison unit, used for comparing and confirming that the sound of water entry is the sound of garbage entering the water;

[0109] The position confirmation unit is used to determine the location of the sound source of the garbage entering the water according to the time of the sound, the distance between the sonars and the position of the sonar monitoring device.

[0110] The present invention proposes a method and device for locating garbage entering water illegally discharged by ships, which collects the sound of garbage entering water and identifies whether it is the sound of garbage entering water, and then determines the location of the sound source of the garbage entering water according to the time of the sound, the distance between sonars and the position of the sonar monitoring device. The present invention does not require a large amount of manpower and can quickly find the specific location of the ship that illegally discharges garbage, which can effectively reduce the workload and improve the speed of discovery.

[0111] Example 2

[0112] Embodiment 2 of the present invention provides an electronic device, including a processor, a memory and a display. It should be understood that it is not required to implement all the components shown, and more or fewer components may be implemented instead.

[0113] In some embodiments, the memory may be an internal storage unit of the electronic device, such as a hard disk or memory of the electronic device. In other embodiments, the memory may also be an external storage device of the electronic device, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the electronic device.

[0114] Furthermore, the memory may include both an internal storage unit of the electronic device and an external storage device. The memory is used to store application software and various data installed in the electronic device.

[0115] In some embodiments, the processor may be a central processing unit (CPU), a microprocessor or other data processing chip, used to run program codes stored in a memory or process data, such as the environment perception method based on point cloud data in the present invention.

[0116] In some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, etc. The display is used to display information on the electronic device and to display a visual user interface. The components of the electronic device communicate with each other via a system bus.

[0117] In one embodiment, when the processor executes the method program for locating the illegal discharge of garbage into the water by a ship in the memory, the following steps may be implemented:

[0118] Set up sonar monitoring devices with known locations in the detection waters;

[0119] The sonar monitoring device acquires the sound of water entry and records the time when the sound of water entry is acquired;

[0120] Comparison confirmed that the sound of water entry was the sound of garbage entering the water;

[0121] The location of the sound source of the garbage entering the water is determined based on the time of the sound, the distance between the sonars, and the location of the sonar monitoring device.

[0122] It should be understood that: when the processor executes the method program for locating the illegal discharge of garbage into the water by ships in the memory, in addition to the above functions, other functions can also be realized. For details, please refer to the description of the corresponding method embodiment above.

[0123] Furthermore, the embodiments of the present invention do not specifically limit the types of electronic devices mentioned, and the electronic devices may be portable electronic devices such as mobile phones, tablet computers, personal digital assistants (PDAs), wearable devices, and laptop computers. Exemplary embodiments of portable electronic devices include, but are not limited to, portable electronic devices equipped with IOS, Android, Microsoft or other operating systems. The above-mentioned portable electronic devices may also be other portable electronic devices, such as laptop computers with touch-sensitive surfaces (e.g., touch panels). It should also be understood that in some other embodiments of the present invention, the electronic device may not be a portable electronic device, but a desktop computer with a touch-sensitive surface (e.g., a touch panel).

[0124] The electronic device provided by the embodiment of the present invention is used to implement a method for locating the illegal discharge of garbage into the water by a ship. Therefore, the electronic device also has the technical effects possessed by the method for locating the illegal discharge of garbage into the water by a ship, which will not be described in detail here.

[0125] Example 3

[0126] Embodiment 3 of the present invention provides a computer storage medium on which a computer program is stored. When the computer program is executed by a processor, the method for locating the illegal discharge of garbage into the water by a ship provided in Embodiment 1 is implemented.

[0127] The computer storage medium provided in the embodiment of the present invention is used for the method for locating the illegal discharge of garbage into the water by ships. Therefore, the technical effects possessed by the method for locating the illegal discharge of garbage into the water by ships are also possessed by the computer storage medium, which will not be repeated here.

[0128] The above are only preferred embodiments of the present invention and are not intended to limit the present invention in any form. Any ordinary technician in the industry can smoothly implement the present invention as shown in the drawings and above. However, any equivalent changes, modifications and evolutions made by technicians familiar with the profession without departing from the scope of the technical solution of the present invention using the technical content disclosed above are all equivalent embodiments of the present invention. At the same time, any equivalent changes, modifications and evolutions made to the above embodiments based on the essential technology of the present invention are still within the protection scope of the technical solution of the present invention.

Claims

1. A method for locating garbage illegally discharged into the water by a ship, characterized in that: The following steps are involved: S1. Set up a sonar monitoring device with a known location in the detection waters; S2, the sonar monitoring device obtains the sound of water entry and records the time when the sound of water entry is obtained; S3, comparing and confirming that the sound of water entry is the sound of garbage entering water; These include: S31, establishing a database storing the sounds of various substances entering water; S32, extracting the characteristics of the sound of entering water; S33, comparing and identifying the characteristics of the water entry sound with the stored data in the database; S34, if it is confirmed that the sound is garbage entering the water, then execute step S4 and store the sound into the database; S4. Determine the location of the sound source of the garbage entering the water based on the time of the sound, the distance between the sonars, and the location of the sonar monitoring device, including: S41. Establish polar coordinates with the sonar position in the middle as the origin. The polar coordinates of the sound source are T(r, α). The polar coordinates of the three sonars are S1(d, 0), S2(0, 0), and S3(-d, 0) respectively. The distance between the sound source and S1 is r1, the distance between the sound source and S2 is r2, and the distance between the sound source and S3 is r3. α is the angle between the line connecting the sound source and S2 and the straight line where the three sonars are located. Formula (1) is obtained: ， After sorting, we get formula (2): ； S42, obtaining the time difference τ between the three sonars according to the times τ1, τ2, τ3 at which the three sonars acquire the sound of water entry 12 , τ 23 , τ 13 , we get formula (3), ； S43, according to the time difference τ between the three sonars 12 , τ 23 , τ 13 And the speed of sound in water v, we get formula (4): ， Substituting formula (2) into formula (4) and rearranging it, we get formula (5): ； S44. Since r2=r, shift the terms in equation (5) left and right, square both sides, and get equation (6): ； S45. According to formula (5) and formula (6), the expressions of α and r are obtained: ， 。 2. The method for locating the illegal discharge of garbage into the water by a ship as claimed in claim 1, characterized in that: In step S1, three sonars are arranged on each sonar monitoring device, and the three sonars are collinear and arranged at equal intervals d.

3. The method for locating the illegal discharge of garbage into the water by a ship as claimed in claim 2, characterized in that: In step S2, the moments when the three sonars acquire the water entry sound are τ1, τ2, and τ3 respectively.

4. The method for locating the illegal discharge of garbage into the water by a ship as claimed in claim 1, characterized in that: Step S31 is: establishing a database using a plurality of determined garbage entering water sounds as basic sounds.

5. The method for locating the illegal discharge of garbage into the water by a ship as claimed in claim 1, characterized in that: Step S33 includes: S331, extracting the characteristics of the sound of entering water and adding corresponding material labels to form features; S332, divide all features into training sets and test sets; S333, input the training set and the test set into the convolutional neural network for training, output the accuracy of the test set and the training set, and record the accuracy and loss rate of the test set; S334. Repeat steps S313-S314 for a set number of times, and calculate the average accuracy and average loss rate.

6. The method for locating the illegal discharge of garbage into the water by a ship as claimed in claim 5, characterized in that: Step S34 includes: S341, confirm whether the sound of water entry is the sound of garbage entering water according to the average accuracy rate and the average loss rate, and if it is the sound of garbage entering water, execute step S342; S342, storing the water entry sound into the database and executing step S4.

7. The method for locating the illegal discharge of garbage into the water by a ship as claimed in claim 4, characterized in that: In step S341: when the average accuracy rate is greater than or equal to 85%, it is confirmed that the sound of garbage entering water is the sound of garbage entering water.

8. A device for locating the illegal discharge of garbage into the water by a ship, used for implementing the method for locating the illegal discharge of garbage into the water by a ship according to any one of claims 1 to 7, characterized in that: include: A monitoring device placement unit, used to place a number of sonar monitoring devices with known positions in the detection waters; An acquisition unit, used to acquire the water entry sound through a sonar monitoring device and record the time when the water entry sound is acquired; A comparison unit, used for comparing and confirming that the sound of water entry is the sound of garbage entering the water; The position confirmation unit is used to determine the location of the sound source of the garbage entering the water according to the time of the sound, the distance between the sonars and the position of the sonar monitoring device.

Images