A buoy collision warning and recording system

Abstract

This application provides a buoy collision warning and recording system, comprising: multiple buoys and a server. The buoys are used to acquire the position and orientation, image information, and real-time movement information of moving objects within their visible range for each buoy. The buoys transmit the position and orientation information, image information, and moving object information within their visible range to the server in real time. The server first fuses the multiple image information based on the position and orientation of each buoy, and then fuses the real-time movement information with a dynamic panoramic image to generate a real-time monitoring dynamic map. Based on the real-time monitoring map, the server identifies the speed and acceleration of the moving object and estimates the collision risk based on the speed and acceleration. Based on the collision risk, an alarm is sent. This application, through trajectory prediction, provides early warnings for potential collisions, greatly increasing the lead time and effectively reducing the occurrence of buoy collisions.

Description

Technical Field

[0001] This application relates to the technical field of buoys, and more particularly to a buoy collision warning and recording system. This application also relates to a buoy collision warning and recording method. Background Technology

[0002] A buoy is a navigational aid that floats on the water surface and is anchored at a designated location. Multiple buoys mark the extent of a waterway and are used to indicate shoals, obstructions, or other special-purpose navigational aids.

[0003] In actual navigation experience, ships often collide with buoys due to improper operation, resulting in buoy damage. Therefore, buoy collision warning is of great significance in reducing buoy damage.

[0004] With the development of electronic, computer, and communication technologies, navigational aid collision warning systems have made significant progress. However, current navigational aid collision warning systems still rely on direct or indirect sensor detection. In this case, the warning time becomes very short, preventing the full effectiveness of the system from being realized. Summary of the Invention

[0005] The purpose of this invention is to overcome the deficiencies in the prior art and provide a buoy collision warning and recording system. This application also relates to a buoy collision warning and recording method.

[0006] This application provides a buoy collision warning and recording system, including: multiple buoys and a server, wherein the buoys are equipped with a positioning module, a direction-oriented module, a camera module, a radar module and a first communication module, and the server is equipped with a calculation module, a warning module and a second communication module;

[0007] The positioning module and the orientation module are respectively used to obtain the position and orientation of each buoy;

[0008] The camera module is used to acquire image information;

[0009] The radar module is used to acquire real-time movement information of moving objects within the visible range;

[0010] The communication module is used to transmit the location and orientation information, image information, and moving object information within the visible range to the second communication module of the server in real time.

[0011] The calculation module first fuses multiple image information based on the position and orientation of each buoy to generate a dynamic panoramic image, and calculates the coordinates of each object in the dynamic panoramic image based on the position and orientation of the multiple buoys; secondly, it fuses the real-time movement information with the dynamic panoramic image to generate a real-time monitoring dynamic map; finally, it identifies the speed and acceleration of the moving object based on the real-time monitoring map, and estimates the impact risk based on the speed and acceleration.

[0012] The early warning module is used to send an alarm based on the collision risk.

[0013] Optionally, after receiving the position and orientation information, the calculation module performs the following fusion steps:

[0014] Select a buoy as a reference buoy and set the position of the reference buoy as the origin of a preset coordinate system;

[0015] In the preset coordinate system, the coordinates of each image are set according to the position and orientation of each buoy;

[0016] In the coordinate system, images captured by multiple buoys are fused together according to the viewpoint and direction of each buoy to generate a dynamic panoramic image.

[0017] Optionally, the buoy may also include a solar panel for converting solar energy into electrical energy to provide power.

[0018] Optionally, a sinking drive device may also be included;

[0019] The sinking drive device is installed on the pull rope below the buoy. It starts working after receiving the alarm and pulls the buoy into deep water.

[0020] Optionally, the radar module is rotatable.

[0021] This application also provides a method for buoy collision warning and recording, including:

[0022] Acquire the position and orientation of multiple buoys, image information, and real-time movement information of moving objects within the visible range;

[0023] The location and orientation information, image information, and information on moving objects within the visible range are transmitted to the server in real time.

[0024] Based on the position and orientation of each buoy, multiple image information is fused to generate a dynamic panoramic image, and the coordinates of each object in the dynamic panoramic image are calculated based on the position and orientation of the multiple buoys; the real-time movement information is fused with the dynamic panoramic image to generate a real-time monitoring dynamic map; the speed and acceleration of the moving object are identified based on the real-time monitoring map, and the impact risk is estimated based on the speed and acceleration;

[0025] An alarm is sent based on the stated impact risk.

[0026] Optionally, after receiving the position and orientation information, the calculation module performs the following fusion steps:

[0027] Select a buoy as a reference buoy and set the position of the reference buoy as the origin of a preset coordinate system;

[0028] In the preset coordinate system, the coordinates of each image are set according to the position and orientation of each buoy;

[0029] In the coordinate system, images captured by multiple buoys are fused together according to the viewpoint and direction of each buoy to generate a dynamic panoramic image.

[0030] Optionally, the buoy may also include a solar panel for converting solar energy into electrical energy to provide power.

[0031] Optional, also includes;

[0032] Upon receiving the alarm, the buoy activates its pull-down drive to drag the buoy into deep water.

[0033] Optionally, the pull-down drive device is mounted on the buoy's tow rope.

[0034] The advantages and beneficial effects of this application are as follows:

[0035] This application provides a buoy collision warning and recording system, comprising: multiple buoys and a server. Each buoy is equipped with a positioning module, an orientation module, a camera module, a radar module, and a first communication module. The server is equipped with a calculation module, a warning module, and a second communication module. The positioning and orientation modules are used to acquire the position and orientation of each buoy, respectively. The camera module is used to acquire image information. The radar module is used to acquire real-time movement information of moving objects within the visible range. The communication module is used to transmit the position and orientation information, image information, and information of moving objects within the visible range to the second communication module of the server in real time. The calculation module first fuses the multiple image information based on the position and orientation of each buoy to generate a dynamic panoramic image, and calculates the coordinates of each object in the dynamic panoramic image based on the position and orientation of the multiple buoys. Second, it fuses the real-time movement information with the dynamic panoramic image to generate a real-time monitoring dynamic image. Finally, it identifies the speed and acceleration of the moving object based on the real-time monitoring image and estimates the collision risk based on the speed and acceleration. The warning module is used to send an alarm based on the collision risk. This application uses trajectory prediction to provide early warnings of potential collisions, greatly increasing the lead time and effectively reducing the occurrence of navigational aid collisions. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the buoy collision warning and recording system in this application.

[0037] Figure 2 This is a schematic diagram of the computing module structure in this application.

[0038] Figure 3 This is a schematic diagram of the buoy collision warning and recording method in this application. Detailed Implementation

[0039] The following are examples of specific implementation processes provided to illustrate the technical solutions to be protected in this application. However, this application may also be implemented in other ways different from those described herein. Those skilled in the art can implement this application by different technical means under the guidance of the concept of this application. Therefore, this application is not limited to the specific embodiments below.

[0040] This application provides a buoy collision warning and recording system, comprising: multiple buoys and a server. Each buoy is equipped with a positioning module, an orientation module, a camera module, a radar module, and a first communication module. The server is equipped with a calculation module, a warning module, and a second communication module. The positioning and orientation modules are used to acquire the position and orientation of each buoy, respectively. The camera module is used to acquire image information. The radar module is used to acquire real-time movement information of moving objects within the visible range. The communication module is used to transmit the position and orientation information, image information, and information of moving objects within the visible range to the second communication module of the server in real time. The calculation module first fuses the multiple image information based on the position and orientation of each buoy to generate a dynamic panoramic image, and calculates the coordinates of each object in the dynamic panoramic image based on the position and orientation of the multiple buoys. Second, it fuses the real-time movement information with the dynamic panoramic image to generate a real-time monitoring dynamic image. Finally, it identifies the speed and acceleration of the moving object based on the real-time monitoring image and estimates the collision risk based on the speed and acceleration. The warning module is used to send an alarm based on the collision risk. This application uses trajectory prediction to provide early warnings of potential collisions, greatly increasing the lead time and effectively reducing the occurrence of navigational aid collisions.

[0041] Figure 1 This is a schematic diagram of the buoy collision warning and recording system in this application.

[0042] Please refer to Figure 1 As shown, the buoy 01 and the server 02 are connected through the first communication module 101 and the second communication module 102 to realize the connection and communication between the buoy 01 and the server 02.

[0043] Multiple buoys 01 are provided. These multiple buoys 01 can be configured as channel buoys, shoal indicator buoys, etc. Those skilled in the art can configure and deploy them according to actual needs, which will not be elaborated here.

[0044] The buoy 01 is equipped with a positioning module 103, an orientation module 104, a camera module 105, a radar module 106, and a first communication module 101. The positioning module 103 can be a Beidou positioning terminal, used to acquire the position information of the buoy 01, which can be represented by latitude and longitude. The orientation module 104 is used to orient the camera module 105. The orientation module 105 consists of a direction sensor and an initialization unit. The initialization unit is used to set the initial direction of the direction sensor, giving the initial orientation of the camera module. The direction sensor records the rotational changes of the buoy in real time and calculates the real-time orientation of the camera module 105 based on the initial orientation and rotational changes.

[0045] The camera module 105 is used to capture environmental images. The camera module is equipped with multiple cameras with different frame rates. The cameras with different frame rates are turned on according to preset conditions and acquire real-time images at different frame rates.

[0046] Specifically, the preset conditions include sequentially activating cameras with frame rates ranging from low to high based on the different distances of the moving object from the camera.

[0047] The radar module 106 is used to continuously scan moving objects. Preferably, the radar acquires scanning data in a rotating scanning manner to provide the computer with data such as the speed and distance of the moving object. The radar module acquires environmental scanning data and the speed and distance data of the moving object in real time, and compares them with the moving object acquired by the camera module 105. When it is confirmed that the moving object is the object to be measured, the speed of the moving object is then calculated.

[0048] The first communication module 101 is used for data transmission and reception. The data acquired by the positioning module 103, orientation module 104, camera module 105, and radar module 106 are transmitted to the server through the first communication module 101.

[0049] The server 02 is equipped with a second communication module 102, which is used to receive and send data, and then the data is transmitted to the computing module 107.

[0050] After receiving the data, the calculation module 107 performs multiple calculations on the data to obtain the impact risk of the buoy 01.

[0051] Figure 2 This is a schematic diagram of the computing module structure in this application.

[0052] Please refer to Figure 2 As shown, the calculation module 107 includes a direction analysis unit 201, an image fusion unit 202, a coordinate calculation unit 203, a dynamic image unit 204, and a probability calculation unit 205.

[0053] The direction analysis unit 201 determines the coordinate position of the image data collected by each buoy 01 based on the acquired position and direction data.

[0054] The image fusion unit 202 first selects a buoy as a reference buoy and sets the position of the reference buoy as the origin of a preset coordinate system. In the preset coordinate system, the coordinates of each image are set according to the position and orientation of each buoy. Preferably, the coordinates are the actual coordinates of each pixel in each image.

[0055] In this application, a buoy 01 is first selected as the origin, a preset coordinate system is set, and the three axes of the preset coordinate system are set. Preferably, the direction of the camera lens on the buoy is the X-axis, the vertical direction perpendicular to the X-axis is the Z-axis, and the horizontal direction perpendicular to the X-axis is the Y-axis.

[0056] After setting the preset coordinate system, all buoys are marked in the preset coordinate system based on the position and direction, realizing the association of buoy 01 based on the preset coordinate system.

[0057] Before proceeding, the environment of the buoy 01 can be surveyed to obtain a topographic map. Based on the selected coordinate origin, the topographic map is then overlaid onto the preset coordinate system. Finally, the images collected by the buoy are overlaid with the topographic map to form a dynamic panoramic image.

[0058] Specifically, the bonding can be achieved based on existing image recognition technology, including recognizing the image content collected by the buoy and directly replacing or overwriting the image content with the topographic map.

[0059] The above image fusion is completed, and a dynamic panoramic image is generated. Preferably, the panoramic image is used for display on a monitor for easy observation.

[0060] The coordinate calculation unit 203 calculates the coordinates of each object. Specifically, it uses radar scanning to obtain the positional relationship between each identified object and its corresponding buoy, and performs coordinate transformation based on the position of the buoy in the preset coordinate system to obtain the coordinates of each object.

[0061] The dynamic image unit 204 converts the real-time images and radar data acquired by the radar module 106 and the camera module 105 into the fused image and real-time object coordinates in real time, forming a real-time dynamic monitoring image.

[0062] Based on the real-time dynamic monitoring map, the probability calculation unit 205 can obtain the real-time coordinates of each moving object and calculate its moving speed and acceleration. Simultaneously, within a preset range of each buoy, a multi-layered warning line is set; this warning line can be multiple lines or a single line.

[0063] Specifically, the warning line is a circle centered on any one of the buoys 01. When multiple warning lines are set, they form concentric circles, where each warning line represents a different probability of impact. The coordinates of the inspected object are compared with the coordinates of the warning line. If the object's coordinates enter different warning lines, a warning alarm with a different probability of impact is issued based on the level of intrusion. Specifically, the probability can be predetermined based on the radius of different warning lines. Specifically, the probability can be calculated using historical data, including dividing the number of times a moving object impacts a buoy within a selected time period by the number of times it intrudes into the warning line.

[0064] Furthermore, the calculation expression for the intrusion is as follows:

[0065] (X c -X f ) 2 +(Y c -X f ) 2 ≤Z 2

[0066] Wherein, X c Y c For the coordinates of the moving object, the X f X f Let Z be the coordinates of a buoy, and Z be the radius of the warning line. An alarm is issued when the coordinates of a moving object satisfy the above formula.

[0067] When there is only one warning line, the velocity and acceleration of the moving object are calculated. Based on the real-time changes in velocity and acceleration, the trajectory of the moving object and the time it takes to intrude into the warning line are calculated. A time threshold is set; if the time to intrude into the warning line is less than the time threshold, an alarm is triggered. An alarm is also triggered when the trajectory intrudes into the warning line.

[0068] Specifically, it is also possible to predict whether a moving object will enter the warning line based on the predicted trajectory of the moving object, as shown in the following expression:

[0069]

[0070] Where s is the speed of the moving object at that time, and t is the time to reach the center of the buoy, which can be obtained by... The calculations show that l is the distance between the moving object and the beacon, a is the acceleration of the moving object, λ1 and λ2 are the angles between s and a and l, respectively, and m is the radius of the warning line.

[0071] When the parameters expressed by the above formula are met, the moving object is expected to enter the warning line, and the moving object can be notified in advance to change its speed, acceleration, or heading.

[0072] The alarm is issued through the warning module 108, including issuing an alarm in a directional manner to a moving object and broadcasting an alarm.

[0073] The buoy 01 is fixed to the water surface by a tow rope, which is fixed to the bottom of the water. A sinking drive device is installed on the tow rope, which is located on the pull rope below the buoy. The sinking drive device is activated after the buoy 01 receives the alarm and pulls the buoy into deep water.

[0074] Preferably, the buoy 01 is also equipped with a solar panel to convert solar energy into electrical energy to provide power to the buoy.

[0075] This application also provides a buoy collision warning and recording method. This method predicts the trajectory and provides early warnings of situations that may cause collisions, greatly increasing the lead time and effectively reducing the occurrence of buoy collisions.

[0076] Figure 3 This is a schematic diagram of the buoy collision warning and recording method in this application.

[0077] Please refer to Figure 3 As shown, S301 acquires the position and orientation of multiple buoys, image information, and real-time movement information of moving objects within the visible range.

[0078] Multiple buoys 01 are provided. These multiple buoys 01 can be configured as channel buoys, shoal indicator buoys, etc. Those skilled in the art can configure and deploy them according to actual needs, which will not be elaborated here.

[0079] The buoy 01 is equipped with a positioning module 103, an orientation module 104, a camera module 105, a radar module 106, and a first communication module 101. The positioning module 103 can be a Beidou positioning terminal, used to acquire the position information of the buoy 01, which can be represented by latitude and longitude. The orientation module 104 is used to orient the camera module 105. The orientation module 105 consists of a direction sensor and an initialization unit. The initialization unit is used to set the initial direction of the direction sensor, giving the initial orientation of the camera module. The direction sensor records the rotational changes of the buoy in real time and calculates the real-time orientation of the camera module 105 based on the initial orientation and rotational changes.

[0080] The camera module 105 is used to capture environmental images. The camera module is equipped with multiple cameras with different frame rates. The cameras with different frame rates are turned on according to preset conditions and acquire real-time images at different frame rates.

[0081] Specifically, the preset conditions include sequentially activating cameras with frame rates ranging from low to high based on the different distances of the moving object from the camera.

[0082] The radar module 106 is used to continuously scan moving objects. Preferably, the radar acquires scanning data in a rotating scanning manner to provide the computer with data such as the speed and distance of the moving object. The radar module acquires environmental scanning data and the speed and distance data of the moving object in real time, and compares them with the moving object acquired by the camera module 105. When it is confirmed that the moving object is the object to be measured, the speed of the moving object is then calculated.

[0083] Please refer to Figure 2 As shown, S302 transmits the location and orientation information, image information, and moving object information within the visible range to the server in real time.

[0084] The first communication module 101 is used for data transmission and reception. The data acquired by the positioning module 103, orientation module 104, camera module 105, and radar module 106 are transmitted to the server through the first communication module 101.

[0085] The server 02 is equipped with a second communication module 102, which is used to receive and send data, and then the data is transmitted to the computing module 107.

[0086] Please refer to Figure 2 As shown, S303 fuses multiple image information based on the position and orientation of each buoy to generate a dynamic panoramic image, and calculates the coordinates of each object in the dynamic panoramic image based on the position and orientation of the multiple buoys; fuses the real-time movement information with the dynamic panoramic image to generate a real-time monitoring dynamic image; identifies the speed and acceleration of the moving object based on the real-time monitoring dynamic image, and estimates the impact risk based on the speed and acceleration.

[0087] After receiving the data, the calculation module 107 performs multiple calculations on the data to obtain the impact risk of the buoy 01.

[0088] Figure 2 This is a schematic diagram of the computing module structure in this application.

[0089] Please refer to Figure 2As shown, the calculation module 107 includes a direction analysis unit 201, an image fusion unit 202, a coordinate calculation unit 203, a dynamic image unit 204, and a probability calculation unit 205.

[0090] The direction analysis unit 201 determines the coordinate position and direction of the image data collected by each buoy 01 based on the acquired position and direction data.

[0091] The image fusion unit 202 first selects a buoy as a reference buoy and sets the position of the reference buoy as the origin of a preset coordinate system. In the preset coordinate system, the coordinates of each image are set according to the position and orientation of each buoy. Preferably, the coordinates are the actual coordinates of each pixel in each image.

[0092] In this application, a buoy 01 is first selected as the origin, a preset coordinate system is set, and the three axes of the preset coordinate system are set. Preferably, the direction of the camera lens on the buoy is the X-axis, the vertical direction perpendicular to the X-axis is the Z-axis, and the horizontal direction perpendicular to the X-axis is the Y-axis.

[0093] After setting the preset coordinate system, all buoys are marked in the preset coordinate system based on the position and direction, realizing the association of buoy 01 based on the preset coordinate system.

[0094] Before proceeding, the environment of the buoy 01 can be surveyed to obtain a topographic map. Based on the selected coordinate origin, the topographic map is then overlaid onto the preset coordinate system. Finally, the images collected by the buoy are overlaid with the topographic map to form a dynamic panoramic image.

[0095] Specifically, the bonding can be achieved based on existing image recognition technology, including recognizing the image content collected by the buoy and directly replacing or overwriting the image content with the topographic map.

[0096] The above image fusion is completed, and a dynamic panoramic image is generated. Preferably, the panoramic image is used for display on a monitor for easy observation.

[0097] The coordinate calculation unit 203 calculates the coordinates of each object. Specifically, it uses radar scanning to obtain the positional relationship between each identified object and its corresponding buoy, and performs coordinate transformation based on the position of the buoy in the preset coordinate system to obtain the coordinates of each object.

[0098] The radar module 106 and the camera module 105 acquire images and radar data in real time, and convert them into the fused image and real-time object coordinates in real time to form a real-time dynamic monitoring map.

[0099] Based on the real-time dynamic monitoring map, the real-time coordinates of each moving object can be obtained, and its moving speed and acceleration can be calculated. Simultaneously, within a preset range of each buoy, multi-layered warning lines are set; these warning lines can be multiple or a single line.

[0100] Specifically, the warning line is a circle centered on any one of the buoys 01. When multiple warning lines are set, they form concentric circles, where each warning line represents a different probability of impact. The coordinates of the inspected object are compared with the coordinates of the warning line. If the object's coordinates enter different warning lines, a warning alarm with a different probability of impact is issued based on the level of intrusion. Specifically, the probability can be predetermined based on the radius of different warning lines. Specifically, the probability can be calculated using historical data, including dividing the number of times a moving object impacts a buoy by the number of times it intrudes into the warning line within a certain period.

[0101] Specifically, the calculation expression for the intrusion is as follows:

[0102] (X c -X f ) 2 +(Y c -X f ) 2 ≤Z 2

[0103] Wherein, X c Y c For the coordinates of the moving object, the X f X f Let Z be the coordinates of a buoy, and Z be the radius of the warning line. An alarm is issued when the coordinates of a moving object satisfy the above formula.

[0104] When there is only one warning line, the velocity and acceleration of the moving object are calculated. Based on the real-time changes in velocity and acceleration, the trajectory of the moving object and the time it takes to intrude into the warning line are calculated. A time threshold is set; if the time to intrude into the warning line is less than the time threshold, an alarm is triggered. An alarm is also triggered when the trajectory intrudes into the warning line.

[0105] The alarm is issued through the warning module 108, including issuing an alarm in a directional manner to a moving object and broadcasting an alarm.

[0106] The buoy 01 is fixed to the water surface by a tow rope, which is fixed to the bottom of the water. A sinking drive device is installed on the tow rope, which is located on the pull rope below the buoy. The sinking drive device is activated after the buoy 01 receives the alarm and pulls the buoy into deep water.

[0107] Preferably, the buoy 01 is also equipped with a solar panel to convert solar energy into electrical energy to provide power to the buoy.

Claims

1. A buoy collision warning and recording system, characterized in that, include: The system includes multiple buoys and a server. The buoys are equipped with a positioning module, a direction-oriented module, a camera module, a radar module, and a first communication module. The server is equipped with a calculation module, an early warning module, and a second communication module. The positioning module and the orientation module are respectively used to obtain the position and orientation of each buoy; The camera module is used to acquire image information; The radar module is used to acquire real-time movement information of moving objects within the visible range; The first communication module is used to transmit the location and orientation information, image information, and moving object information within the visible range to the second communication module of the server in real time; The calculation module first fuses multiple image information based on the position and orientation of each buoy to generate a dynamic panoramic image. The calculation module includes an image fusion unit, which selects a buoy as a reference buoy and sets the position of the reference buoy as the origin of a preset coordinate system. In this preset coordinate system, the coordinates of each image are set according to the position and orientation of each buoy. The origin is defined with the direction of the camera lens on the buoy as the X-axis, the vertical direction perpendicular to the X-axis as the Z-axis, and the horizontal direction perpendicular to the X-axis as the Y-axis. Based on the selected origin, a terrain map is fitted onto the preset coordinate system, and then the buoys... The acquired images are overlaid with the topographic map to form a dynamic panoramic image; and the coordinates of each object in the dynamic panoramic image are calculated based on the position and orientation of the multiple buoys; next, the real-time movement information is fused with the dynamic panoramic image to generate a real-time dynamic monitoring map; finally, the speed and acceleration of the moving object are identified based on the real-time dynamic monitoring map, and the impact risk is estimated based on the speed and acceleration; wherein, the calculation module includes a probability calculation unit, which sets multi-layered warning lines within a preset range of each buoy based on the real-time dynamic monitoring map, and the warning lines are circles with any buoy as the center; when multiple warning lines are set, they form concentric circles; The warning module is used to send an alarm based on the collision risk; wherein, the buoy is fixed to the water surface by a tow rope, the tow rope is fixed to the bottom of the water, a sinking drive device is provided on the tow rope, and the sinking drive device is located on the pull rope below the buoy. After the buoy receives the alarm, it starts to work and pulls the buoy into deep water.

2. The buoy collision warning and recording system according to claim 1, characterized in that, The buoy also includes a solar panel for converting solar energy into electrical energy to power the buoy.

3. The buoy collision warning and recording system according to claim 1, characterized in that, The radar module is rotatable.

4. A method for buoy collision warning and recording, characterized in that, To implement the function of the buoy collision warning and recording system as described in claim 1, the system includes: Acquire the position and orientation of multiple buoys, image information, and real-time movement information of moving objects within the visible range; The location and orientation information, image information, and information on moving objects within the visible range are transmitted to the server in real time. Based on the position and orientation of each buoy, multiple image information is fused to generate a dynamic panoramic image. The calculation module includes an image fusion unit, which selects a buoy as a reference buoy and sets the position of the reference buoy as the origin of a preset coordinate system. In this preset coordinate system, the coordinates of each image are set according to the position and orientation of each buoy. The origin is defined with the direction of the camera lens on the buoy as the X-axis, the vertical direction perpendicular to the X-axis as the Z-axis, and the horizontal direction perpendicular to the X-axis as the Y-axis. Based on the selected origin, a topographic map is fitted onto the preset coordinate system, and then the buoys are sampled. The images are overlaid with the topographic map to form a dynamic panoramic image; the coordinates of each object in the dynamic panoramic image are calculated based on the position and orientation of the multiple buoys; the real-time movement information is fused with the dynamic panoramic image to generate a real-time dynamic monitoring map; the speed and acceleration of the moving object are identified based on the real-time dynamic monitoring map, and the impact risk is estimated based on the speed and acceleration; wherein, the calculation module includes a probability calculation unit, which sets multi-layered warning lines within a preset range of each buoy based on the real-time dynamic monitoring map, the warning lines being circles centered on any one of the buoys, and when multiple warning lines are set, they form concentric circles; An alarm is sent based on the collision risk; wherein, the buoy is fixed to the water surface by a tow rope, the tow rope is fixed to the bottom of the water, a sinking drive device is provided on the tow rope, and the sinking drive device is located on the pull rope below the buoy. After the buoy receives the alarm, it starts to work and pulls the buoy into deep water.

5. The buoy collision warning and recording method according to claim 4, characterized in that, The buoy also includes a solar panel for converting solar energy into electrical energy to provide power.

Images