Angle acquisition and structural stress monitoring method of floating mooring cable for ship lock based on image recognition

Abstract

The present invention relates to a method for acquiring the angle of floating mooring cables of a ship lock and monitoring the stress of the structure based on image recognition. The method does not rely on traditional cable monitoring technology, and makes up for the defects of large mooring force inversion error and unstable wireless transmission signal in the existing floating mooring facility strain monitoring technology. By monitoring the column strain of the floating mooring cable facility of the ship lock, combined with the cable mooring angle obtained by image recognition, the stress condition of the floating mooring cable facility is monitored in real time, providing technical support for evaluating the operating status of the floating mooring cable facility of the ship lock. The method obtains the mooring angle through image recognition, and monitors the stress state of the floating mooring cable facility in real time through a stable data signal wired transmission method, which solves the problem that the existing floating mooring cable facility safety assessment technology is difficult to accurately assess the safety status of ships passing through the lock and cannot fully cover the monitoring of ships passing through the lock.

Description

Technical Field

[0001] The invention relates to the technical field of ship lock facility analysis, and in particular to a method for acquiring a ship lock floating mooring angle and monitoring structural stress based on image recognition. Background Art

[0002] Floating bollards are widely used as mooring facilities in the current ship locks. They float up and down with the water level of the lock chamber through buoyancy to meet the safe mooring requirements of ships passing through the lock. However, due to the combined influence of large ships, fast entry speed, irregular mooring, complex water flow conditions in the lock chamber, and floating foreign objects blocking the slideway, floating bollards are damaged or even destroyed by overloaded mooring forces, such as column fracture, guide groove deformation, and pulley blocking, which lead to safety accidents such as towing / lifting boats entering the water, hull damage, and casualties, causing huge economic losses and bringing great negative impacts to society.

[0003] Traditional monitoring methods mainly use the cable load monitoring system installed on the ship's cable to conduct mooring safety assessment. However, this monitoring method cannot reflect the stress characteristics of the floating mooring column structure itself under the action of the mooring force in real time, and the lock management cannot actively manage the operating status of the floating mooring facilities. In the existing online monitoring technology of floating mooring facilities in ship locks (Automated Sensing and Early Warning System for Stress Characteristics of Floating Mooring Columns in Ship Locks, Analysis and Calculation Method of Floating Mooring Columns in Ship Locks under a Working State), the ship mooring force on the floating mooring column structure is generally inverted by establishing the column body strain-mooring angle-mooring force characteristic relationship. The mooring angle is an important intermediate parameter for accurately inverting the ship mooring force. It was found through indoor tests and field tests that the inversion value of the mooring angle is very sensitive to the change of the strain measurement value. The measurement error caused by the data drift problem of the current strain monitoring equipment cannot accurately invert the mooring angle, resulting in the accuracy of the inversion value of the mooring force after the error superposition needs to be improved. In addition, the existing monitoring technology is usually based on wireless transmission to transmit the collected load response parameters of the floating mooring post structure ("Online Monitoring System and Method for Mooring Force of Floating Mooring Posts in High-Head Ship Locks", "Automated Sensing and Early Warning System for Stress Characteristics of Floating Mooring Posts in Ship Locks"), and the wireless monitoring method can neither meet the power supply problem of sensors and data acquisition equipment, nor ensure that the monitoring equipment can work stably and effectively in the complex service environment of the ship lock chamber, resulting in the inability to accurately perceive the operating status of the floating mooring facilities in real time.

[0004] Therefore, the existing safety assessment technology for the operation status of floating mooring facilities cannot effectively reflect the impact of the ship's mooring force on the stress characteristics of the column structure of the floating mooring facility itself, making it difficult to accurately assess the safety status of ships passing through locks.

[0005] Therefore, it is urgent to propose a structural force monitoring method for floating mooring facilities of ship locks based on image recognition to obtain the mooring angle and with a stable data signal wired transmission method. Summary of the invention

[0006] In view of this, an object of the present invention is to provide a method for acquiring the angle of floating mooring cables of a ship lock and monitoring the structural stress based on image recognition. The method utilizes image processing to obtain the cable angle so as to realize the stress monitoring of the mooring structure.

[0007] In order to achieve the above object, the present invention provides the following technical solutions:

[0008] The method for acquiring the floating mooring angle of a ship lock based on image recognition provided by the present invention comprises the following steps:

[0009] S1: camera position layout: the camera includes a vertical mooring angle camera and a horizontal mooring angle camera, the vertical mooring angle camera is used to collect image data including mooring posts and cables in a vertical plane; the horizontal mooring angle camera is used to collect image data including mooring posts and cables in a horizontal plane;

[0010] S2: Position calibration for distortion correction: determine the position of the vertical mooring angle camera according to the position of the floating column body, so that the camera of the vertical mooring angle camera can be aligned with the vertical plane of the mooring angle for shooting;

[0011] The position of the horizontal mooring angle camera is determined according to the position of the main body of the floating column, so that the camera head of the horizontal mooring angle camera can be aligned with the horizontal plane of the mooring angle for shooting;

[0012] S3: Identification and processing of the cable direction: determining the cable image area according to the image data collected by the camera, and selecting at least two feature points in the cable image area as the direction vector of the cable;

[0013] S4: Angle calculation: Calculate the mooring angle according to the direction vector of the cable, wherein the mooring angle includes a vertical mooring angle and a horizontal mooring angle;

[0014] S5: Output the vertical mooring angle β and the horizontal mooring angle α.

[0015] Furthermore, the mooring angle is calculated according to the following formula:

[0016] The vertical mooring angle is calculated based on the obtained column direction vector and cable direction vector according to the vector angle calculation formula to obtain the vertical mooring angle of the cable. ;

[0017] The horizontal mooring angle of the cable is calculated according to the obtained column direction vector and cable direction vector according to the vector angle calculation formula. ;

[0018] Wherein, a represents a feature point in the cable image area; b represents another feature point in the cable image area.

[0019] Furthermore, the position of the camera in step S1 is set in such a way that the cable and the column can be observed simultaneously, and the pulling-up and pulling-down conditions can be observed simultaneously.

[0020] Further, the method further comprises the following steps:

[0021] Perform image distortion correction on the collected image data.

[0022] Further, the cable direction vector is calculated according to the following steps:

[0023] When the cable is pulled upward, any two points on the cable are selected as direction vector calculation points to calculate the direction vector of the cable in the upward pulling condition;

[0024] When the cable is pulled down, the characteristic points of the unobstructed part of the cable are selected as the calculation points of the direction vector, and the direction vector of the cable in the pull-down condition is calculated.

[0025] The method for monitoring the force of a floating mooring structure of a ship lock based on image recognition provided by the present invention comprises the following steps:

[0026] S1: Determine the sensitive area of ​​the structure under load; according to the change law of the structural strain path of the floating mooring facility under different mooring forces and mooring angles, determine the position of the sensitive area of ​​the column structure of the floating mooring facility under the action of the mooring force;

[0027] S2: Strain sensor deployment: The strain sensor is set at the sensitive area of ​​the floating mooring facility;

[0028] S3: measured column strain data; the strain data signal of the load-sensitive area of ​​the floating mooring facility obtained by the strain sensor;

[0029] S4: Preprocessing the strain data signal to obtain effective structural strain data, and transmitting the data through a wired signal cable; transmitting the collected strain data signal to a strain collector placed above the gate surface through the wired signal cable;

[0030] S5: Output structure effective strain data;

[0031] S6: obtaining the mooring angle of the floating bollard through image recognition processing;

[0032] S7: Construct load response mechanical model;

[0033] S8: Input the effective strain data of the structure and the mooring angle of the floating bollard into the load response mechanical model to calculate the ship mooring force F.

[0034] Further, the step S6 of obtaining the mooring angle of the floating bollard by image recognition processing specifically includes the following steps:

[0035] S61: Arrangement of camera positions: the camera comprises a vertical mooring angle camera and a horizontal mooring angle camera, the vertical mooring angle camera is used to collect image data including mooring posts and cables in a vertical plane; the horizontal mooring angle camera is used to collect image data including mooring posts and cables in a horizontal plane;

[0036] S62: Position calibration for distortion correction: determining the position of the vertical mooring angle camera according to the position of the floating column body, so that the camera head of the vertical mooring angle camera can be aligned with the vertical plane of the mooring angle for shooting;

[0037] The position of the horizontal mooring angle camera is determined according to the position of the main body of the floating column, so that the camera head of the horizontal mooring angle camera can be aligned with the horizontal plane of the mooring angle for shooting;

[0038] S63: Cable direction recognition processing: determining the cable image area according to the image data collected by the camera, and selecting at least two feature points in the cable image area as the cable direction vector;

[0039] S64: Angle calculation: calculating the mooring angle according to the direction vector of the cable, wherein the mooring angle includes a vertical mooring angle and a horizontal mooring angle;

[0040] S65: Output the vertical mooring angle β and the horizontal mooring angle α.

[0041] Furthermore, the load response mechanical model is constructed in step S7, which specifically includes the following steps:

[0042] (1) When the vertical mooring angle β>0, the load response mechanical model is expressed as:

[0043]

[0044]

[0045] In the formula, , , , , Indicates the strain monitored at the T measuring point; Indicates the strain monitored at the K measuring point; It represents the cross-sectional area of ​​the hollow cylinder of the floating mooring post of the lock; represents the moment of inertia of the circular ring of the hollow cylindrical section; It represents the radius of the circular ring of the axial section of the floating bollard; It represents the angle between the line connecting the measuring point T and the center of the circle and the gate wall line; It is expressed as the angle between the two measuring points T and K and the center of the circle; represents the elastic modulus of the floating bollard; It indicates the length from the fixed support to the fixed hinge support of the hollow cylinder of the floating mooring post; Indicates the distance from the strain measurement point to the fixed hinge support of the floating mooring post of the lock.

[0046] Furthermore, the load response mechanical model is constructed in step S7, and specifically includes the following steps:

[0047] (2) When the vertical mooring angle β<0, the load response mechanical model is expressed as:

[0048]

[0049]

[0050] In the formula, , , , ,

[0051] It represents the cross-sectional area of ​​the fixed steel plate on the upper part of the hollow cylinder of the floating bollard; Indicates the length of the fixed steel plate on the upper part of the hollow cylinder.

[0052] The beneficial effects of the present invention are:

[0053] The present invention provides a method for acquiring the angle of floating mooring cables and monitoring the structural stress of a ship lock based on image recognition. The method does not rely on traditional cable monitoring technology, and makes up for the defects of existing floating mooring cable facility strain monitoring technology, such as large mooring force inversion error and unstable wireless transmission signal. By monitoring the column strain of the floating mooring cable facility of the ship lock, combined with the cable mooring angle obtained by image recognition, the stress condition of the floating mooring cable facility is monitored in real time, providing technical support for evaluating the operating status of the floating mooring cable facility of the ship lock. The present invention is applicable to most of the navigable ship locks in China, with a simple principle and easy use.

[0054] This method obtains the mooring angle through image recognition and monitors the stress state of the floating mooring facility in real time through a stable data signal wired transmission method, which solves the problem that the existing floating mooring facility safety assessment technology is difficult to accurately assess the safety status of ships passing through locks and cannot fully monitor the ships passing through locks.

[0055] Other advantages, objectives and features of the present invention will be described in the following description to some extent, and to some extent, will be obvious to those skilled in the art based on the following examination and study, or can be taught from the practice of the present invention. The objectives and other advantages of the present invention can be realized and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] In order to make the purpose, technical solution and beneficial effects of the present invention clearer, the present invention provides the following drawings for illustration:

[0057] Figure 1 This is a schematic diagram of the strain sensor layout.

[0058] Figure 2 It is a schematic diagram of the plan layout of instruments and equipment.

[0059] Figure 3 It is a schematic diagram of the longitudinal arrangement of the instrument and equipment of the present invention.

[0060] Figure 4 It is a cable retracting device-contactless cable reel.

[0061] Figure 5 Schematic diagram for obtaining mooring angle based on image recognition.

[0062] Figure 6 Schematic diagram of the vertical tether angle camera layout and camera viewing angle.

[0063] Figure 7 It is a schematic diagram of the camera viewing angle at the horizontal cable angle.

[0064] Figure 8 It is the vertical mooring angle collection diagram.

[0065] Fig. 9 This is the effect diagram of vertical mooring angle recognition processing.

[0066] Fig.10 This is a graph of horizontal mooring angles.

[0067] Fig.11 This is a schematic diagram of horizontal mooring angle identification and calibration.

[0068] Fig.12 This is the effect diagram of horizontal mooring angle recognition processing.

[0069] Fig.13 This is a flow chart of the force monitoring method of the floating mooring structure of the ship lock based on image recognition.

[0070] In the figure, 1-strain sensor, 2-floating mooring facility, 3-horizontal mooring angle camera, 4-cable retracting and releasing device, 5-strain collector, 6-signal cable, 7-vertical mooring angle camera, 8-ship cable, 9-main shaft, 10-support, 11-fixed drum, 12-guide frame, 13-transition drum, 14-main drum, 15-driven wheel, 16-spring, 17-power wheel. DETAILED DESCRIPTION

[0071] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the specific implementation mode, structure, characteristics and effects of the present invention are described in detail below in combination with the accompanying drawings and preferred embodiments.

[0072] like Figure 1 As shown, Figure 1 This is a schematic diagram of the strain sensor layout. According to the structural dimensions of the floating mooring facility of the ship lock, the SpaceClaim module in ANSYS Workbench is used to establish a three-dimensional numerical simulation model of the floating mooring column structure. Based on the actual stress conditions of the floating mooring facility, a finite element three-dimensional numerical simulation calculation of the stress and deformation law of the floating mooring facility under multiple working conditions is carried out, and the law of structural strain path change of the floating mooring facility under different mooring forces and mooring angles is studied, so as to determine the sensitive area of ​​the column structure of the floating mooring facility under the action of the mooring force, which is used as the layout position of the strain monitoring sensor of the floating mooring facility.

[0073] Figure 1 The arrangement positions of strain sensors are shown in the figure. Two strain sensors are arranged on each of the upper and lower mooring columns, for a total of four strain measurement points.

[0074] See also Figure 2 , Figure 2 It is a schematic diagram of the planar layout of instruments and equipment, which shows the layout of floating mooring facilities, strain controllers, cable retraction and release devices, strain collectors, signal communication cables, optical fibers, etc.

[0075] See also Figure 3 , Figure 3 It is a schematic diagram of the longitudinal arrangement of instruments and equipment, which shows the arrangement of strain sensors, floating mooring facilities, horizontal mooring angle cameras, cable retraction and release devices, strain collectors, signal cables, and vertical mooring angle cameras.

[0076] Among them, the wired monitoring scheme of instruments and equipment can be divided into planar and longitudinal arrangements. When the cable mooring force acts on the floating mooring facility, the strain sensor will transmit the collected strain data signal of the load-sensitive area of ​​the floating mooring facility through the signal cable to the strain collector placed above the gate surface. At the same time, in the process of the floating mooring facility rising and falling with the water level in the lock chamber, the signal cable can be freely retracted and released through the cable retraction and release device placed on the gate surface directly above the floating mooring facility. The strain data signal received by the strain collector is transmitted to the strain controller through the communication cable, and then the controller strain data signal is uploaded to the server (cloud server) in the central control room in real time through the optical fiber buried on the gate surface. The lock management party can grasp the real-time working status of the on-site floating mooring facilities at any time and obtain real-time data.

[0077] See also Figure 4 The cable retracting device is a contactless transmission signal reel that does not require slip rings and brushes. It is used to reel in and release signal cables that transmit weak signals (such as signal cables of strain sensors). It adopts a differential ring structure to achieve contactless signal transmission of cables. Compared with reels that use signal slip rings, it does not need to cut off the signal cable from the inside, ensuring the continuity and stability of signal transmission. Its mechanism composition is as follows: Figure 4 As shown, one end of the signal cable is connected to the collector placed on the gate surface, and after being wound on the fixed drum, it passes through the guide frame and is wound on the transition drum, and then passes through the H hole on the surface of the main drum. After S-shaped winding inside the main drum, it passes through the main drum and is wound on the main drum. The main drum and the transition drum are consolidated to form a rotating pair with the main shaft, and the cable is driven by the built-in spring of the drum through the power wheel. The spiral winding direction of the cable on the transition drum and the fixed drum is the same, and the winding direction of the cable on the main drum is opposite after S-shaped cable winding. The other end of the signal cable is connected to the strain sensor arranged on the column of the floating bollard in the U-shaped groove.

[0078] The method for acquiring the floating mooring angle of a ship lock based on image recognition provided in this embodiment acquires the mooring angle through image recognition, and monitors the stress state of the floating mooring facility in real time through a wired transmission method with stable data signals, thereby solving the problem that the existing safety assessment technology of floating mooring facilities is difficult to accurately assess the safety status of ships passing through the lock and cannot fully monitor the ships passing through the lock.

[0079] See also Figure 5 A method for acquiring a mooring angle of a floating mooring facility based on image recognition comprises the following steps:

[0080] S1: camera position layout;

[0081] Camera location: Camera location see Figure 3 , Figure 6The vertical mooring angle camera should establish a three-dimensional solid model based on the actual size of each component of the floating mooring facility in the ship lock, and combine the actual situation on site to ensure that the camera should have an appropriate focal length to ensure that the position of the cable and the column are observed at the same time. At the same time, the camera should have a sufficient viewing angle to ensure that the upper and lower pull conditions are fully observed, so as to determine the image acquisition target and camera layout position, see Figure 6 (a) in the figure; (a) is a schematic diagram of the camera layout position at the vertical cable angle, (b) is the camera viewport on the upper column, and (c) is the camera viewport on the lower column.

[0082] The horizontal mooring angle camera should be arranged at the top of the lock wall slideway according to the relative position of the floating mooring facilities and the lock wall in the ship lock, so as to collect the horizontal mooring angle of the cable in real time from a bird's-eye view, see Figure 3 and Figure 7 .

[0083] S2: Position calibration for distortion correction;

[0084] Calibration of position for distortion correction: Since the vertical mooring angle camera is a fixed-point wide-angle camera, it cannot be guaranteed that the camera is completely perpendicular to the mooring angle plane. At this time, the image will be distorted due to the tilt of the viewing angle, and the mooring angle cannot be directly calculated based on the image. The image needs to be corrected to eliminate image distortion. After correction, the coordinates of two characteristic pixel points on the column can be calculated according to the position of the floating mooring facility column in the image, and the direction vector of the column can be calibrated; since the focal length of the horizontal mooring angle camera needs to be zoomed in real time under the head difference height of the ship lock, the image needs to be corrected to eliminate image distortion. After correction, the coordinates of two characteristic pixel points on the gate wall can be calculated according to the position of the gate wall in the image, and the direction vector of the gate wall line can be calibrated; at the same time, the collected image data is subjected to image distortion correction.

[0085] S3: Identification of cable direction

[0086] Identification and processing of the cable direction: After distortion correction, the feature points in the image are extracted. Considering that the style, texture, color and other features of the cable are different in actual situations, it is necessary to comprehensively compare the various features to determine the cable elements in the image. Since the camera position and viewing angle are fixed, there are fewer elements in the camera viewport, and the cable factors within a certain range can be directly selected as the analysis object. When pulling up, any two points on the cable can be selected as the direction vector calculation points to obtain the direction vector of the cable in the pulling up condition; when pulling down, the feature points of the unobstructed part of the cable need to be selected as the direction vector calculation points to obtain the direction vector of the cable in the pulling down condition. See Figure 8 , 9 , 10, 11, and 12, the horizontal mooring angle and the vertical mooring angle of the cable under different working conditions can be effectively identified.

[0087] The collected images are grayed and binarized using Python software. The threshold of the binarization algorithm is automatically optimized and adjusted according to environmental factors, such as water color and light. Unrelated elements can be appropriately blurred to enhance the cable features. After binarization, the significance of the cable features is further amplified, and the image recognition area can be further reduced. Two feature points are randomly selected in the recognition area, and their pixel coordinates are read to calculate the direction vector. This step should be repeated many times to ensure the correct recognition of the cable feature points.

[0088] S4: Angle calculation;

[0089] Angle calculation: The vertical mooring angle can be calculated based on the obtained column direction vector and cable direction vector, and the vertical mooring angle of the cable can be calculated according to the vector angle calculation formula The horizontal mooring angle can be calculated based on the obtained column direction vector and cable direction vector, and the horizontal mooring angle of the cable can be calculated based on the vector angle calculation formula ; Wherein, a represents a feature point in the cable image area; b represents another feature point in the cable image area;

[0090] S5: Output the horizontal mooring angle α and the vertical mooring angle β;

[0091] See also Fig.13 As shown, the method for monitoring the force of a floating mooring structure of a ship lock based on image recognition provided in this embodiment includes the following steps:

[0092] S1: Determine the sensitive area of ​​the structure under load; according to the change law of the structural strain path of the floating mooring facility under different mooring forces and mooring angles, determine the position of the sensitive area of ​​the column structure of the floating mooring facility under the action of the mooring force;

[0093] S2: Strain sensor deployment: The strain sensor is set at the sensitive area of ​​the floating mooring facility;

[0094] S3: measured column strain data; the strain data signal of the load-sensitive area of ​​the floating mooring facility obtained by the strain sensor;

[0095] S4: Preprocessing the strain data signal to obtain effective structural strain data, and transmitting the data through a wired signal cable; transmitting the collected strain data signal to a strain collector placed above the gate surface through the wired signal cable;

[0096] In this embodiment, the use of a reel can adapt to the floating mooring post structure floating up and down with the water level, so as to improve the signal delay, instability and other problems existing in the wireless data signal transmission technology, improve the efficiency and accuracy of data collection and transmission of the floating mooring post online monitoring technology, and provide solid technical support for the safe and stable operation of the lock.

[0097] S5: Output structure effective strain data;

[0098] S6: obtaining the mooring angle of the floating bollard through image recognition processing;

[0099] S7: Construct a load response mechanical model as follows:

[0100] (1) When the vertical mooring angle β>0, the load response mechanical model is expressed as:

[0101] (1)

[0102] (2)

[0103] In the formula, , , , , Indicates the strain monitored at the T measuring point; Indicates the strain monitored at the K measuring point; It represents the cross-sectional area of ​​the hollow cylinder of the floating mooring post of the lock; represents the moment of inertia of the circular ring of the hollow cylindrical section; It represents the radius of the circular ring of the axial section of the floating bollard; It represents the angle between the line connecting the measuring point T and the center of the circle and the gate wall line; It is expressed as the angle between the two measuring points T and K and the center of the circle; represents the elastic modulus of the floating bollard; It indicates the length from the fixed support to the fixed hinge support of the hollow cylinder of the floating mooring post; Indicates the distance from the strain measurement point to the fixed hinge support of the floating mooring post of the lock.

[0104] , , , ;

[0105] (2) When the vertical mooring angle β<0, the load response mechanical model is expressed as:

[0106] (3)

[0107] (4)

[0108] In the formula, , , , ,

[0109] It represents the cross-sectional area of ​​the fixed steel plate on the upper part of the hollow cylinder of the floating bollard; Indicates the length of the fixed steel plate on the upper part of the hollow cylinder.

[0110] The floating mooring column load response mechanical model is a theoretical model of the characteristic relationship between the column strain of the floating mooring facility and the ship mooring force derived based on the principle of mathematical mechanics.

[0111] S8: Input the effective strain data of the structure and the mooring angle of the floating bollard into the load response mechanical model to calculate the ship mooring force F;

[0112] (1) When the vertical mooring angle β>0, the ship mooring force F:

[0113]

[0114] In the formula, , , , .

[0115] (2) When the vertical mooring angle β<0, the ship mooring force F is:

[0116]

[0117] In the formula, , , , .

[0118] In this embodiment, the step S6 of obtaining the mooring angle of the floating bollard through image recognition processing specifically includes the following steps:

[0119] S61: Arrangement of camera positions: the camera comprises a vertical mooring angle camera and a horizontal mooring angle camera, the vertical mooring angle camera is used to collect image data including mooring posts and cables in a vertical plane; the horizontal mooring angle camera is used to collect image data including mooring posts and cables in a horizontal plane;

[0120] S62: Position calibration for distortion correction: determining the position of the vertical mooring angle camera according to the position of the floating column body, so that the camera head of the vertical mooring angle camera can be aligned with the vertical plane of the mooring angle for shooting;

[0121] The position of the horizontal mooring angle camera is determined according to the position of the main body of the floating column, so that the camera head of the horizontal mooring angle camera can be aligned with the horizontal plane of the mooring angle for shooting;

[0122] S63: Cable direction recognition processing: determining the cable image area according to the image data collected by the camera, and selecting at least two feature points in the cable image area as the cable direction vector;

[0123] S64: Angle calculation: calculating the mooring angle according to the direction vector of the cable, wherein the mooring angle includes a vertical mooring angle and a horizontal mooring angle;

[0124] S65: Output the vertical mooring angle β and the horizontal mooring angle α.

[0125] In this embodiment, the cable mooring angle value is obtained through image recognition, combined with the strain value of the load-sensitive area of ​​the floating mooring facility column obtained by on-site measurement, and the above two values ​​are brought into the floating mooring column load response mechanical model to invert the ship mooring force, so as to monitor the operation status of the lock floating mooring facility in real time.

[0126] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technical personnel in this field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A method for monitoring the force of a floating mooring structure of a ship lock based on image recognition, characterized in that: The following steps are involved: S1: Determine the sensitive area of ​​the structure under load; according to the change law of the structural strain path of the floating mooring facility under different mooring forces and mooring angles, determine the position of the sensitive area of ​​the column structure of the floating mooring facility under the action of the mooring force; S2: Strain sensor deployment: The strain sensor is set at the sensitive area of ​​the floating mooring facility; S3: measured column strain data; the strain data signal of the load-sensitive area of ​​the floating mooring facility obtained by the strain sensor; S4: Preprocessing the strain data signal to obtain effective structural strain data, and transmitting the data through a wired signal cable; transmitting the collected strain data signal to a strain collector placed above the gate surface through the wired signal cable; S5: Output structure effective strain data; S6: obtaining the mooring angle of the floating bollard through image recognition processing; S7: Construct load response mechanical model; S8: Input the effective strain data of the structure and the mooring angle of the floating bollard into the load response mechanical model to calculate the ship mooring force F; The step S6 in which the mooring angle of the floating bollard is obtained by image recognition processing specifically comprises the following steps: S61: Arrangement of camera positions: the camera comprises a vertical mooring angle camera and a horizontal mooring angle camera, the vertical mooring angle camera is used to collect image data including mooring posts and cables in a vertical plane; the horizontal mooring angle camera is used to collect image data including mooring posts and cables in a horizontal plane; S62: Position calibration for distortion correction: determining the position of the vertical mooring angle camera according to the position of the floating column body, so that the camera head of the vertical mooring angle camera can be aligned with the vertical plane of the mooring angle for shooting; The position of the horizontal mooring angle camera is determined according to the position of the main body of the floating column, so that the camera head of the horizontal mooring angle camera can be aligned with the horizontal plane of the mooring angle for shooting; S63: Cable direction recognition processing: determining the cable image area according to the image data collected by the camera, and selecting at least two feature points in the cable image area as the cable direction vector; S64: Angle calculation: calculating the mooring angle according to the direction vector of the cable, wherein the mooring angle includes a vertical mooring angle and a horizontal mooring angle; S65: Output the vertical mooring angle β and the horizontal mooring angle α; As the water level of the lock chamber rises and falls, the floating mooring facility retracts and releases the signal cable through a cable retracting and releasing device placed on the lock surface directly above the floating mooring facility, and the strain data signal received by the strain collector is transmitted to the strain controller through the communication cable, and then the controller strain data signal is uploaded to the server in the central control room in real time through the optical fiber buried on the lock surface; The cable reel-up device is a contactless transmission signal reel without slip rings and brushes, and is used for reeling in and releasing signal cables for transmitting weak point signals. The differential ring structure is adopted to realize contactless signal transmission of the cable. The structure of the cable reel-up device is as follows: one end of the signal cable is connected to a collector placed on the gate surface, and after being wound on a fixed reel, the signal cable passes through a guide frame and is wound on a transition reel, and then passes through an H hole on the surface of the main reel. After S-shaped winding inside the main reel, the signal cable passes through the main reel and is wound on the main reel. The main reel and the transition reel are fixed to form a rotating pair with the main shaft, and are driven by a built-in spring of the reel through a power wheel. The cable is spirally wound in the same direction on the transition reel and the fixed reel. After S-shaped winding, the cable is wound in the opposite direction on the main reel. The other end of the signal cable is connected to a strain sensor arranged on the column of the floating bollard in the U-shaped groove.

2. The method for monitoring the force of a floating mooring structure of a ship lock based on image recognition according to claim 1, characterized in that: The load response mechanical model is constructed in step S7, which specifically includes the following steps: (1) When the vertical mooring angle β>0, the load response mechanical model is expressed as: In the formula, m=cosβ·(2L1-3h)·L2 / 2L1, n=sinβ·(2R / π), x=cosγ·ε T -ε K , y = sinγ·ε T , ε T Indicates the strain monitored at the T measuring point; ε K represents the strain monitored at the K measuring point; A1 represents the cross-sectional area of ​​the hollow cylinder of the floating mooring post of the ship lock; I1 represents the moment of inertia of the circular ring of the hollow cylinder cross section; R represents the radius of the circular ring of the axial cross section of the floating mooring post; δ represents the angle between the line connecting the measuring point T and the center of the circle and the lock wall line; γ represents the angle between the line connecting the two measuring points T and K and the center of the circle; E1 represents the elastic modulus of the floating mooring post; L1 represents the length between the fixed support of the hollow cylinder of the floating mooring post and the fixed hinge support; h represents the distance from the strain measurement point to the fixed hinge support of the floating mooring post of the ship lock.

3. The method for monitoring the force of a floating mooring structure of a ship lock based on image recognition according to claim 2, characterized in that: The load response mechanical model is constructed in step S7, and specifically includes the following steps: (2) When the vertical mooring angle β<0, the load response mechanical model is expressed as: Where, m = 3h·L3·I1·cosβ, x=sinγ·ε T ,y=ε K -cosγ·ε T , A2 represents the cross-sectional area of ​​the fixed steel plate on the upper part of the hollow cylinder of the floating mooring post; L3 represents the length of the fixed steel plate on the upper part of the hollow cylinder.

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