A ship overspeed intelligent monitoring method and system based on radar speed meter

Abstract

The invention discloses a ship overspeed intelligent monitoring method and system based on a radar speed meter, comprising: obtaining radar data of the radar speed meter, wherein the radar data includes: the speed measurement length that can be effectively covered by the radar speed meter; calculating, according to the radar data, the length of a lock chamber where the radar speed meter cannot effectively measure speed and the angle between the center line of the speed measurement direction of the speed measurement radar and the horizontal plane, and when a target ship passes through the angle, obtaining a lock chamber picture every period T until the target ship sails out of the lock chamber length where the radar speed meter cannot effectively measure speed; setting a ship recognition model, calculating the brightness intensity of each ship in the lock chamber picture, estimating the shape of each ship by the brightness intensity, comparing the shape of each ship with the target ship, thereby determining the target ship in the lock chamber picture, and calculating the travel speed of the target ship in the lock chamber where the radar speed meter cannot effectively measure speed according to the distance traveled by the target ship in the period T.

Description

Technical Field

[0001] The present invention belongs to the technical field of ship overspeed intelligent monitoring, and more specifically, relates to a ship overspeed intelligent monitoring method and system based on a radar speed meter. Background Art

[0002] The ship speeding intelligent monitoring system based on radar speed meter is a system that uses radar technology to monitor the ship speed and detect whether there is overspeeding. This system usually consists of the following main components:

[0003] 1. Radar speed meter: The radar speed meter is the core equipment of the system, which is used to measure the speed of the ship. It calculates the speed of the ship by transmitting radio waves and receiving their reflected signals. The radar speed meter can be installed on the ship or on the coastline as a shore-based device.

[0004] 2. Data processing unit: The data processing unit is used to receive and process the speed data transmitted by the radar speed meter. It can perform real-time processing and analysis of data in order to perform overspeed detection and alarm.

[0005] 3. Overspeed detection algorithm: The overspeed detection algorithm in the system can compare and analyze the real-time ship speed data according to the set speed limit value. When the ship speed exceeds the set limit, the system will trigger an alarm or take other measures.

[0006] 4. Alarm system: The speed monitoring system is usually equipped with an alarm system to promptly issue an alarm when speeding behavior is detected. This can include an audible alarm, a flashing light warning, or sending an alarm message to relevant personnel.

[0007] 5. Data recording and analysis: The system can also record the ship's speed data and conduct further analysis and statistics. These data can be used for subsequent review, analysis and improvement.

[0008] In the prior art, as long as a ship enters the blind spot of the lock chamber monitoring, the speed of the ship cannot be effectively monitored. Summary of the invention

[0009] In order to solve the above technical problems, the present invention proposes a ship speeding intelligent monitoring method based on a radar speed meter, comprising:

[0010] Acquire radar data of the radar speed gun, wherein the radar data includes: the distance between the radar speed gun and the farthest point covered by the speed gun, the elevation of the radar speed gun measuring point, the water surface elevation when the target ship enters the lock, the distance between the radar speed gun and the water retaining side of the miter gate, the elevation of the water surface elevation plus 5 meters when the target ship enters the lock, and the speed measurement length that the radar speed gun can effectively cover;

[0011] According to the radar data, the length of the lock chamber where the radar speed meter cannot effectively measure the speed and the angle between the center line of the speed measuring direction of the speed measuring radar and the horizontal plane are calculated. When the target ship passes through the angle, a lock chamber image is obtained every period T until the target ship exits the lock chamber length where the radar speed meter cannot effectively measure the speed;

[0012] A ship recognition model is set up, the brightness intensity of each ship in the lock chamber image is calculated, the shape of each ship is estimated by the brightness intensity, and the shape of each ship is compared with the target ship to determine the target ship in the lock chamber image. According to the distance traveled by the target ship in period T, the speed of the target ship in the lock chamber where the radar speed meter cannot effectively measure the speed is calculated.

[0013] Further, including:

[0014]

[0015] m+n=(H3-H2)tan[90°-(β+9°)]

[0016] L=S-(m+n)

[0017] m=SLn

[0018] α=β+4.5°

[0019] Among them, β is the angle between the far edge of the radar speed gun and the horizontal plane, S is the distance between the radar speed gun and the farthest point covered by the speed measurement, H3 is the elevation of the radar speed gun measuring point, H1 is the water surface elevation when the target ship enters the lock, m is the length of the lock chamber where the radar speed gun cannot effectively measure the speed, n is the distance between the radar speed gun and the bottom sill of the lock chamber, H2 is the elevation of the water surface elevation when the target ship enters the lock plus 5 meters, L is the speed measurement length that the radar speed gun can effectively cover, and α is the angle between the center line of the speed measurement direction of the speed measurement radar and the horizontal plane.

[0020] Furthermore, the ship identification model includes:

[0021]

[0022] Wherein, A is the amplitude of the brightness intensity of each ship, x is the horizontal coordinate of each ship pixel in the lock chamber image, y is the vertical coordinate of each ship pixel in the lock chamber image, f(x, y) is the brightness intensity of each ship at the coordinate (x, y) in the lock chamber image, x0 is the horizontal coordinate of the center position of each ship in the lock chamber image, y0 is the vertical coordinate of the center position of each ship in the lock chamber image, and sigma is the rate of change of each ship pixel value in the lock chamber image.

[0023] Furthermore, the change rate sigma of each ship pixel value in the lock chamber image includes:

[0024] sigma = k*max(|Gx|,|Gy|)

[0025] Wherein, k is the scaling factor, Gx is the horizontal gradient value of each ship in the lock chamber image, and Gy is the vertical gradient value of each ship in the lock chamber image.

[0026] Furthermore, the horizontal gradient value Gx of each ship in the lock chamber image and the vertical gradient value Gy of each ship in the lock chamber image are calculated by the Sobel operator.

[0027] The present invention also proposes a ship overspeed intelligent monitoring system based on a radar speed meter, comprising:

[0028] A data acquisition module is used to acquire radar data of the radar speed gun, wherein the radar data includes: the distance between the radar speed gun and the farthest point covered by the speed measurement, the elevation of the radar speed gun measuring point, the water surface elevation when the target ship enters the lock, the distance between the radar speed gun and the water retaining side of the miter gate, the elevation of the water surface elevation plus 5 meters when the target ship enters the lock, and the speed measurement length that the radar speed gun can effectively cover;

[0029] A calculation module is used to calculate the length of the lock chamber where the radar speed meter cannot effectively measure the speed and the angle between the center line of the speed measuring direction of the speed measuring radar and the horizontal plane according to the radar data, and when the target ship passes through the angle, a lock chamber image is obtained every period T until the target ship exits the lock chamber length where the radar speed meter cannot effectively measure the speed;

[0030] The identification and speed measurement module is used to set a ship identification model, calculate the brightness intensity of each ship in the lock chamber picture, estimate the shape of each ship by the brightness intensity, compare the shape of each ship with the target ship, thereby determining the target ship in the lock chamber picture, and calculate the speed of the target ship in the lock chamber where the radar speed meter cannot effectively measure the speed according to the distance traveled by the target ship in period T.

[0031] Further, including:

[0032]

[0033] m+n=(H3-H2)tan[90°-(β+9°)]

[0034] L=S-(m+n)

[0035] m=SLn

[0036] α=β+4.5°

[0037] Among them, β is the angle between the far edge of the radar speed gun and the horizontal plane, S is the distance between the radar speed gun and the farthest point covered by the speed measurement, H3 is the elevation of the radar speed gun measuring point, H1 is the water surface elevation when the target ship enters the lock, m is the length of the lock chamber where the radar speed gun cannot effectively measure the speed, n is the distance between the radar speed gun and the bottom sill of the lock chamber, H2 is the elevation of the water surface elevation when the target ship enters the lock plus 5 meters, L is the speed measurement length that the radar speed gun can effectively cover, and α is the angle between the center line of the speed measurement direction of the speed measurement radar and the horizontal plane.

[0038] Furthermore, the ship identification model includes:

[0039]

[0040] Wherein, A is the amplitude of the brightness intensity of each ship, x is the horizontal coordinate of each ship pixel in the lock chamber image, y is the vertical coordinate of each ship pixel in the lock chamber image, f(x, y) is the brightness intensity of each ship at the coordinate (x, y) in the lock chamber image, x0 is the horizontal coordinate of the center position of each ship in the lock chamber image, y0 is the vertical coordinate of the center position of each ship in the lock chamber image, and sigma is the rate of change of each ship pixel value in the lock chamber image.

[0041] Furthermore, the change rate sigma of each ship pixel value in the lock chamber image includes:

[0042] sigma = k*max(|Gx|,|Gy|)

[0043] Wherein, k is the scaling factor, Gx is the horizontal gradient value of each ship in the lock chamber image, and Gy is the vertical gradient value of each ship in the lock chamber image.

[0044] Further, it includes: calculating the horizontal gradient value Gx of each ship in the lock chamber image and the vertical gradient value Gy of each ship in the lock chamber image by using the Sobel operator.

[0045] In general, the above technical solution conceived by the present invention has the following beneficial effects compared with the prior art:

[0046] The present invention obtains radar data of the radar speed meter, wherein the radar data includes: the distance between the radar speed meter and the farthest distance covered by the speed measurement, the elevation of the radar speed meter measuring point, the water surface elevation when the target ship enters the lock, the distance between the radar speed meter and the water retaining side of the miter gate, the elevation of the water surface elevation plus 5 meters when the target ship enters the lock, and the speed measurement length that the radar speed meter can effectively cover; according to the radar data, the length of the lock chamber where the radar speed meter cannot effectively measure the speed and the angle between the center line of the speed measurement direction of the speed measurement radar and the horizontal plane are calculated, when the target ship passes through the angle, a lock chamber picture is obtained every period T until the target ship exits the lock chamber length where the radar speed meter cannot effectively measure the speed; a ship recognition model is set, the brightness intensity of each ship in the lock chamber picture is calculated, the shape of each ship is estimated by the brightness intensity, the shape of each ship is compared with the target ship, so as to determine the target ship in the lock chamber picture, and according to the distance traveled by the target ship in the period T, the travel speed of the target ship in the lock chamber where the radar speed meter cannot effectively measure the speed is calculated. The present invention can automatically identify the blind area of ​​the radar speed meter through the above technical solution, and when a ship enters the blind area, the ship is identified through the lock chamber picture and whether it is speeding is calculated, thereby improving the efficiency of speeding monitoring. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 is a flow chart of the method of embodiment 1 of the present invention;

[0048] Figure 2 It is a structural diagram of the system of embodiment 2 of the present invention. DETAILED DESCRIPTION

[0049] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0050] The method provided by the present invention can be implemented in the following terminal environment, and the terminal may include one or more of the following components: a processor, a storage medium, and a display screen. The storage medium stores at least one instruction, and the instruction is loaded and executed by the processor to implement the method described in the following embodiment.

[0051] The processor may include one or more processing cores. The processor uses various interfaces and lines to connect various parts in the entire terminal, and executes various functions of the terminal and processes data by running or executing instructions, programs, code sets or instruction sets stored in the storage medium, and calling data stored in the storage medium.

[0052] The storage medium may include a random access memory (RAM) or a read-only memory (ROM). The storage medium may be used to store instructions, programs, codes, code sets or instructions.

[0053] The display screen is used to display the user interface of each application.

[0054] All subscripts in the formulas of the present invention are only used to distinguish parameters and have no actual meaning.

[0055] In addition, those skilled in the art can understand that the structure of the above terminal does not constitute a limitation on the terminal, and the terminal may include more or fewer components, or combine certain components, or arrange the components differently. For example, the terminal also includes components such as a radio frequency circuit, an input unit, a sensor, an audio circuit, and a power supply, which will not be described in detail here.

[0056] Example 1

[0057] like Figure 1 As shown, an embodiment of the present invention provides a ship speeding intelligent monitoring method based on a radar speed meter, comprising:

[0058] Step 101, obtaining radar data of the radar speed gun, wherein the radar data includes: the distance between the radar speed gun and the farthest point covered by the speed gun, the elevation of the radar speed gun measuring point, the water surface elevation when the target ship enters the lock, the distance between the radar speed gun and the water retaining side of the miter gate, the elevation of the water surface elevation plus 5 meters when the target ship enters the lock, and the speed measurement length that the radar speed gun can effectively cover;

[0059] Step 102, based on the radar data, calculate the length of the lock chamber where the radar speed meter cannot effectively measure the speed and the angle between the center line of the speed measuring direction of the speed measuring radar and the horizontal plane, and when the target ship passes through the angle, obtain a lock chamber image every period T until the target ship exits the lock chamber length where the radar speed meter cannot effectively measure the speed;

[0060] Specifically, they include:

[0061]

[0062] m+n=(H3-H2)tan[90°-(β+9°)]

[0063] L=S-(m+n)

[0064] m=SLn

[0065] α=β+4.5°

[0066] Among them, β is the angle between the far edge of the radar speed gun and the horizontal plane, S is the distance between the radar speed gun and the farthest point covered by the speed measurement, H3 is the elevation of the radar speed gun measuring point, H1 is the water surface elevation when the target ship enters the lock, m is the length of the lock chamber where the radar speed gun cannot effectively measure the speed, n is the distance between the radar speed gun and the bottom sill of the lock chamber, H2 is the elevation of the water surface elevation when the target ship enters the lock plus 5 meters, L is the speed measurement length that the radar speed gun can effectively cover, and α is the angle between the center line of the speed measurement direction of the speed measurement radar and the horizontal plane.

[0067] Step 103, setting a ship recognition model, calculating the brightness intensity of each ship in the lock chamber image, estimating the shape of each ship by the brightness intensity, comparing the shape of each ship with the target ship, thereby determining the target ship in the lock chamber image, and calculating the speed of the target ship in the lock chamber where the radar speed meter cannot effectively measure the speed based on the distance traveled by the target ship in period T.

[0068] Specifically, the ship identification model includes:

[0069]

[0070] Wherein, A is the amplitude of the brightness intensity of each ship, x is the horizontal coordinate of each ship pixel in the lock chamber image, y is the vertical coordinate of each ship pixel in the lock chamber image, f(x, y) is the brightness intensity of each ship at the coordinate (x, y) in the lock chamber image, x0 is the horizontal coordinate of the center position of each ship in the lock chamber image, y0 is the vertical coordinate of the center position of each ship in the lock chamber image, and sigma is the rate of change of each ship pixel value in the lock chamber image.

[0071] Specifically, the change rate sigma of each ship pixel value in the lock chamber image includes:

[0072] sigma = k*max(|Gx|,|Gy|)

[0073] Wherein, k is the scaling factor, Gx is the horizontal gradient value of each ship in the lock chamber image, and Gy is the vertical gradient value of each ship in the lock chamber image.

[0074] Specifically, it includes: calculating the horizontal gradient value Gx of each ship in the lock chamber image and the vertical gradient value Gy of each ship in the lock chamber image by using the Sobel operator.

[0075] Example 2

[0076] like Figure 2 As shown, an embodiment of the present invention further provides a ship speeding intelligent monitoring system based on a radar speed meter, comprising:

[0077] A data acquisition module is used to acquire radar data of the radar speed gun, wherein the radar data includes: the distance between the radar speed gun and the farthest point covered by the speed measurement, the elevation of the radar speed gun measuring point, the water surface elevation when the target ship enters the lock, the distance between the radar speed gun and the water retaining side of the miter gate, the elevation of the water surface elevation plus 5 meters when the target ship enters the lock, and the speed measurement length that the radar speed gun can effectively cover;

[0078] A calculation module is used to calculate the length of the lock chamber where the radar speed meter cannot effectively measure the speed and the angle between the center line of the speed measuring direction of the speed measuring radar and the horizontal plane according to the radar data, and when the target ship passes through the angle, a lock chamber image is obtained every period T until the target ship exits the lock chamber length where the radar speed meter cannot effectively measure the speed;

[0079] Specifically, they include:

[0080]

[0081] m+n=(H3-H2)tan[90°-(β+9°)]

[0082] L=S-(m+n)

[0083] m=SLn

[0084] α=β+4.5°

[0085] Among them, β is the angle between the far edge of the radar speed gun and the horizontal plane, S is the distance between the radar speed gun and the farthest point covered by the speed measurement, H3 is the elevation of the radar speed gun measuring point, H1 is the water surface elevation when the target ship enters the lock, m is the length of the lock chamber where the radar speed gun cannot effectively measure the speed, n is the distance between the radar speed gun and the bottom sill of the lock chamber, H2 is the elevation of the water surface elevation when the target ship enters the lock plus 5 meters, L is the speed measurement length that the radar speed gun can effectively cover, and α is the angle between the center line of the speed measurement direction of the speed measurement radar and the horizontal plane.

[0086] The identification and speed measurement module is used to set a ship identification model, calculate the brightness intensity of each ship in the lock chamber picture, estimate the shape of each ship by the brightness intensity, compare the shape of each ship with the target ship, thereby determining the target ship in the lock chamber picture, and calculate the speed of the target ship in the lock chamber where the radar speed meter cannot effectively measure the speed according to the distance traveled by the target ship in period T.

[0087] Specifically, the ship identification model includes:

[0088]

[0089] Wherein, A is the amplitude of the brightness intensity of each ship, x is the horizontal coordinate of each ship pixel in the lock chamber image, y is the vertical coordinate of each ship pixel in the lock chamber image, f(x, y) is the brightness intensity of each ship at the coordinate (x, y) in the lock chamber image, x0 is the horizontal coordinate of the center position of each ship in the lock chamber image, y0 is the vertical coordinate of the center position of each ship in the lock chamber image, and sigma is the rate of change of each ship pixel value in the lock chamber image.

[0090] Specifically, the change rate sigma of each ship pixel value in the lock chamber image includes:

[0091] sigma = k*max(|Gx|,|Gy|)

[0092] Wherein, k is the scaling factor, Gx is the horizontal gradient value of each ship in the lock chamber image, and Gy is the vertical gradient value of each ship in the lock chamber image.

[0093] Specifically, it includes: calculating the horizontal gradient value Gx of each ship in the lock chamber image and the vertical gradient value Gy of each ship in the lock chamber image by using the Sobel operator.

[0094] Example 3

[0095] The embodiment of the present invention further provides a storage medium storing a plurality of instructions, wherein the instructions are used to implement the intelligent ship speeding monitoring method based on a radar speed meter.

[0096] Optionally, in this embodiment, the above storage medium may be located in any computer terminal in a computer terminal group in a computer network, or in any mobile terminal in a mobile terminal group.

[0097] Optionally, in this embodiment, the storage medium is configured to store a program code for executing the following steps: Step 101, obtaining radar data of the radar speed meter, wherein the radar data includes: the distance between the radar speed meter and the farthest point covered by the speed measurement, the elevation of the radar speed meter measurement point, the water surface elevation when the target ship enters the lock, the distance between the radar speed meter and the water retaining side of the miter gate, the elevation of the water surface elevation plus 5 meters when the target ship enters the lock, and the speed measurement length that the radar speed meter can effectively cover;

[0098] Step 102, based on the radar data, calculate the length of the lock chamber where the radar speed meter cannot effectively measure the speed and the angle between the center line of the speed measuring direction of the speed measuring radar and the horizontal plane, and when the target ship passes through the angle, obtain a lock chamber image every period T until the target ship exits the lock chamber length where the radar speed meter cannot effectively measure the speed;

[0099] Specifically, they include:

[0100]

[0101] m+n=(H3-H2)tan[90°-(β+9°)]

[0102] L=S-(m+n)

[0103] m=SLn

[0104] α=β+4.5°

[0105] Among them, β is the angle between the far edge of the radar speed gun and the horizontal plane, S is the distance between the radar speed gun and the farthest point covered by the speed measurement, H3 is the elevation of the radar speed gun measuring point, H1 is the water surface elevation when the target ship enters the lock, m is the length of the lock chamber where the radar speed gun cannot effectively measure the speed, n is the distance between the radar speed gun and the bottom sill of the lock chamber, H2 is the elevation of the water surface elevation when the target ship enters the lock plus 5 meters, L is the speed measurement length that the radar speed gun can effectively cover, and α is the angle between the center line of the speed measurement direction of the speed measurement radar and the horizontal plane.

[0106] Step 103, setting a ship recognition model, calculating the brightness intensity of each ship in the lock chamber image, estimating the shape of each ship by the brightness intensity, comparing the shape of each ship with the target ship, thereby determining the target ship in the lock chamber image, and calculating the speed of the target ship in the lock chamber where the radar speed meter cannot effectively measure the speed based on the distance traveled by the target ship in period T.

[0107] Specifically, the ship identification model includes:

[0108]

[0109] Wherein, A is the amplitude of the brightness intensity of each ship, x is the horizontal coordinate of each ship pixel in the lock chamber image, y is the vertical coordinate of each ship pixel in the lock chamber image, f(x, y) is the brightness intensity of each ship at the coordinate (x, y) in the lock chamber image, x0 is the horizontal coordinate of the center position of each ship in the lock chamber image, y0 is the vertical coordinate of the center position of each ship in the lock chamber image, and sigma is the rate of change of each ship pixel value in the lock chamber image.

[0110] Specifically, the change rate sigma of each ship pixel value in the lock chamber image includes:

[0111] sigma = k*max(|Gx|,|Gy|)

[0112] Wherein, k is the scaling factor, Gx is the horizontal gradient value of each ship in the lock chamber image, and Gy is the vertical gradient value of each ship in the lock chamber image.

[0113] Specifically, it includes: calculating the horizontal gradient value Gx of each ship in the lock chamber image and the vertical gradient value Gy of each ship in the lock chamber image by using the Sobel operator.

[0114] Example 4

[0115] An embodiment of the present invention also proposes an electronic device, including a processor and a storage medium connected to the processor, wherein the storage medium stores multiple instructions, and the instructions can be loaded and executed by the processor so that the processor can execute the intelligent ship speeding monitoring method based on a radar speed meter.

[0116] Specifically, the electronic device of this embodiment may be a computer terminal, and the computer terminal may include: one or more processors, and a storage medium.

[0117] Among them, the storage medium can be used to store software programs and modules, such as a ship speeding intelligent monitoring method based on a radar speedometer in an embodiment of the present invention, corresponding program instructions / modules, and the processor executes various functional applications and data processing by running the software programs and modules stored in the storage medium, that is, realizing the above-mentioned ship speeding intelligent monitoring method based on a radar speedometer. The storage medium may include a high-speed random storage medium, and may also include a non-volatile storage medium, such as one or more magnetic storage systems, flash memory, or other non-volatile solid-state storage media. In some instances, the storage medium may further include a storage medium remotely arranged relative to the processor, and these remote storage media may be connected to the terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0118] The processor can call the information and application program stored in the storage medium through the transmission system to perform the following steps: Step 101, obtaining radar data of the radar speed meter, wherein the radar data includes: the distance between the radar speed meter and the farthest distance covered by the speed measurement, the elevation of the radar speed meter measurement point, the water surface elevation when the target ship enters the lock, the distance between the radar speed meter and the water retaining side of the miter gate, the elevation of the water surface elevation plus 5 meters when the target ship enters the lock, and the speed measurement length that the radar speed meter can effectively cover;

[0119] Step 102, based on the radar data, calculate the length of the lock chamber where the radar speed meter cannot effectively measure the speed and the angle between the center line of the speed measuring direction of the speed measuring radar and the horizontal plane, and when the target ship passes through the angle, obtain a lock chamber image every period T until the target ship exits the lock chamber length where the radar speed meter cannot effectively measure the speed;

[0120] Specifically, they include:

[0121]

[0122] m+n=(H3-H2)tan[90°-(β+9°)]

[0123] L=S-(m+n)

[0124] m=SLn

[0125] α=β+4.5°

[0126] Among them, β is the angle between the far edge of the radar speed gun and the horizontal plane, S is the distance between the radar speed gun and the farthest point covered by the speed measurement, H3 is the elevation of the radar speed gun measuring point, H1 is the water surface elevation when the target ship enters the lock, m is the length of the lock chamber where the radar speed gun cannot effectively measure the speed, n is the distance between the radar speed gun and the bottom sill of the lock chamber, H2 is the elevation of the water surface elevation when the target ship enters the lock plus 5 meters, L is the speed measurement length that the radar speed gun can effectively cover, and α is the angle between the center line of the speed measurement direction of the speed measurement radar and the horizontal plane.

[0127] Step 103, setting a ship recognition model, calculating the brightness intensity of each ship in the lock chamber image, estimating the shape of each ship by the brightness intensity, comparing the shape of each ship with the target ship, thereby determining the target ship in the lock chamber image, and calculating the speed of the target ship in the lock chamber where the radar speed meter cannot effectively measure the speed based on the distance traveled by the target ship in period T.

[0128] Specifically, the ship identification model includes:

[0129]

[0130] Wherein, A is the amplitude of the brightness intensity of each ship, x is the horizontal coordinate of each ship pixel in the lock chamber image, y is the vertical coordinate of each ship pixel in the lock chamber image, f(x, y) is the brightness intensity of each ship at the coordinate (x, y) in the lock chamber image, x0 is the horizontal coordinate of the center position of each ship in the lock chamber image, y0 is the vertical coordinate of the center position of each ship in the lock chamber image, and sigma is the rate of change of each ship pixel value in the lock chamber image.

[0131] Specifically, the change rate sigma of each ship pixel value in the lock chamber image includes:

[0132] sigma = k*max(|Gx|,|Gy|)

[0133] Wherein, k is the scaling factor, Gx is the horizontal gradient value of each ship in the lock chamber image, and Gy is the vertical gradient value of each ship in the lock chamber image.

[0134] Specifically, it includes: calculating the horizontal gradient value Gx of each ship in the lock chamber image and the vertical gradient value Gy of each ship in the lock chamber image by using the Sobel operator.

[0135] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0136] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0137] In the several embodiments provided by the present invention, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the system embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0138] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0139] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0140] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only storage medium (ROM, Read-Only Memory), random access storage medium (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0141] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A ship speeding intelligent monitoring method based on radar speed meter, characterized in that: include: Acquire radar data of the radar speed gun, wherein the radar data includes: the distance between the radar speed gun and the farthest point covered by the speed gun, the elevation of the radar speed gun measuring point, the water surface elevation when the target ship enters the lock, the distance between the radar speed gun and the water retaining side of the miter gate, the elevation of the water surface elevation plus 5 meters when the target ship enters the lock, and the speed measurement length that the radar speed gun can effectively cover; According to the radar data, the length of the lock chamber where the radar speed meter cannot effectively measure the speed and the angle between the center line of the speed measuring direction of the speed measuring radar and the horizontal plane are calculated. When the target ship passes through the angle, a lock chamber image is obtained every period T until the target ship exits the lock chamber length where the radar speed meter cannot effectively measure the speed; A ship recognition model is set, the brightness intensity of each ship in the lock chamber image is calculated, the shape of each ship is estimated by the brightness intensity, the shape of each ship is compared with the target ship, so as to determine the target ship in the lock chamber image, and the speed of the target ship in the lock chamber where the radar speed meter cannot effectively measure the speed is calculated according to the distance traveled by the target ship in the period T; The ship identification model comprises: Wherein, A is the amplitude of the brightness intensity of each ship, x is the horizontal coordinate of each ship pixel in the lock chamber image, y is the vertical coordinate of each ship pixel in the lock chamber image, f(x, y) is the brightness intensity of each ship at the coordinate (x, y) in the lock chamber image, x0 is the horizontal coordinate of the center position of each ship in the lock chamber image, y0 is the vertical coordinate of the center position of each ship in the lock chamber image, and sigma is the rate of change of each ship pixel value in the lock chamber image; The rate of change sigma of each ship pixel value in the lock chamber image includes: sigma = k*max(|Gx|,|Gy|) Wherein, k is the scaling factor, Gx is the horizontal gradient value of each ship in the lock chamber image, and Gy is the vertical gradient value of each ship in the lock chamber image; The horizontal gradient value Gx of each ship in the lock chamber image and the vertical gradient value Gy of each ship in the lock chamber image are calculated by the Sobel operator.

2. The method for intelligently monitoring ship speeding based on a radar speed meter according to claim 1, characterized in that: include: m+n=(H3-H2)tan[90°-(β+9°)] L=S-(m+n) m=SLn α＝β+4.5° Among them, β is the angle between the far edge of the radar speed gun and the horizontal plane, S is the distance between the radar speed gun and the farthest point covered by the speed measurement, H3 is the elevation of the radar speed gun measuring point, H1 is the water surface elevation when the target ship enters the lock, m is the length of the lock chamber where the radar speed gun cannot effectively measure the speed, n is the distance between the radar speed gun and the bottom sill of the lock chamber, H2 is the elevation of the water surface elevation when the target ship enters the lock plus 5 meters, L is the speed measurement length that the radar speed gun can effectively cover, and α is the angle between the center line of the speed measurement direction of the speed measurement radar and the horizontal plane.

3. A ship speeding intelligent monitoring system based on radar speed meter, characterized in that: include: A data acquisition module is used to acquire radar data of the radar speed gun, wherein the radar data includes: the distance between the radar speed gun and the farthest point covered by the speed measurement, the elevation of the radar speed gun measuring point, the water surface elevation when the target ship enters the lock, the distance between the radar speed gun and the water retaining side of the miter gate, the elevation of the water surface elevation plus 5 meters when the target ship enters the lock, and the speed measurement length that the radar speed gun can effectively cover; A calculation module is used to calculate the length of the lock chamber where the radar speed meter cannot effectively measure the speed and the angle between the center line of the speed measuring direction of the speed measuring radar and the horizontal plane according to the radar data, and when the target ship passes through the angle, a lock chamber image is obtained every period T until the target ship exits the lock chamber length where the radar speed meter cannot effectively measure the speed; The identification and speed measurement module is used to set a ship identification model, calculate the brightness intensity of each ship in the lock chamber picture, estimate the shape of each ship by the brightness intensity, compare the shape of each ship with the target ship, thereby determining the target ship in the lock chamber picture, and calculate the speed of the target ship in the lock chamber where the radar speed meter cannot effectively measure the speed according to the distance traveled by the target ship in the period T; The ship identification model comprises: Wherein, A is the amplitude of the brightness intensity of each ship, x is the horizontal coordinate of each ship pixel in the lock chamber image, y is the vertical coordinate of each ship pixel in the lock chamber image, f(x, y) is the brightness intensity of each ship at the coordinate (x, y) in the lock chamber image, x0 is the horizontal coordinate of the center position of each ship in the lock chamber image, y0 is the vertical coordinate of the center position of each ship in the lock chamber image, and sigma is the rate of change of each ship pixel value in the lock chamber image; The rate of change sigma of each ship pixel value in the lock chamber image includes: sigma = k*max(|Gx|,|Gy|) Wherein, k is the scaling factor, Gx is the horizontal gradient value of each ship in the lock chamber image, and Gy is the vertical gradient value of each ship in the lock chamber image; The horizontal gradient value Gx of each ship in the lock chamber image and the vertical gradient value Gy of each ship in the lock chamber image are calculated by the Sobel operator.

4. The ship speeding intelligent monitoring system based on radar speed meter as claimed in claim 3, characterized in that: include: m+n=(H3-H2)tan[90°-(β+9°)] L=S-(m+n) m=SLn α＝β+4.5° Among them, β is the angle between the far edge of the radar speed gun and the horizontal plane, S is the distance between the radar speed gun and the farthest point covered by the speed measurement, H3 is the elevation of the radar speed gun measuring point, H1 is the water surface elevation when the target ship enters the lock, m is the length of the lock chamber where the radar speed gun cannot effectively measure the speed, n is the distance between the radar speed gun and the bottom sill of the lock chamber, H2 is the elevation of the water surface elevation when the target ship enters the lock plus 5 meters, L is the speed measurement length that the radar speed gun can effectively cover, and α is the angle between the center line of the speed measurement direction of the speed measurement radar and the horizontal plane.

Images