A channel deviation warning method and system based on Hongmeng operating system

Abstract

The present invention discloses a method and system for lane departure warning based on the HarmonyOS. The method includes: obtaining an original satellite image during the current ship's navigation, performing filtering processing on the original satellite image to obtain the pixel values at each coordinate after the filtering processing, and forming a satellite image after the filtering processing; extracting the contour of the current ship in the satellite image after the filtering processing, and performing edge enhancement on the contour of the current ship to complete the recognition of the current ship; extracting the movement trajectory of the center point of the current ship within a time period as the navigation path of the current ship, and the ship information of the current ship, and obtaining the navigation paths and the ship information of historical ships, and calculating the similarity of the navigation states between the current ship and the historical ships, finding the historical ship with the most similar navigation state to the current ship, so as to determine whether the lane of the current ship deviates and issue a warning.

Description

Technical Field

[0001] The present invention belongs to the technical field of lane departure warning, and more specifically, relates to a lane departure warning method and system based on the HarmonyOS operating system. Background Art

[0002] Lane departure warning during ship navigation means that if a ship deviates from a preset lane or route during navigation, the system will issue an alarm to prompt the crew to make adjustments to ensure the safe navigation of the ship. Such a warning system usually uses technologies such as navigation data, GPS positioning, and radar to monitor the position and heading of the ship. Once it detects that the ship has deviated from the predetermined lane, the system will trigger an alarm to remind the crew to take necessary measures, such as adjusting the heading or speed, to avoid collisions, groundings, or other dangerous situations. The lane departure warning system plays an important role in improving the safety of ship navigation and reducing accidents, especially in complex shipping environments and adverse weather conditions.

[0003] However, it is not accurate to determine whether a ship has deviated from the lane only through the above methods, and false alarms are likely to occur. For example, sometimes a ship will deviate from the lane briefly in order to avoid hidden reefs and return to the lane after safety. At this time, false alarms are likely to occur, affecting the judgment of safety monitoring personnel. Summary of the Invention

[0004] To solve the above technical problems, the present invention proposes a lane departure warning method based on the HarmonyOS operating system, including:

[0005] Obtain the original satellite image during the current ship's navigation, perform filtering processing on the original satellite image to obtain the pixel value at each coordinate after filtering processing, and form the satellite image after filtering processing;

[0006] Extract the contour of the current ship in the satellite image after filtering processing, and perform edge enhancement on the contour of the current ship to complete the recognition of the current ship;

[0007] Extract the movement trajectory of the center point of the current ship within a time period as the navigation path of the current ship, and the ship information of the current ship, obtain the navigation paths of historical ships and the ship information of historical ships, calculate the similarity of the navigation states between the current ship and the historical ships, find the historical ship with the most similar navigation state to the current ship, thereby determine whether the lane of the current ship deviates, and give an alarm through a mobile terminal based on the HarmonyOS operating system.

[0008] Further, the extraction of the contour of the current ship in the satellite image after filtering processing includes:

[0009]

[0010] Among them, G(x, y) is the pixel value at the coordinate (x, y) after filtering processing, σ is the standard deviation of the i-th Gaussian kernel, and I(x, y) is the pixel value at the coordinate (x, y) of the original satellite image.

[0011] Further, the edge enhancement of the contour of the current ship includes:

[0012]

[0013] Among them, M mag (x, y) is the gradient magnitude of the pixel value at the coordinate (x, y) after filtering processing, g(x, y) is the gradient in the horizontal direction of the pixel value at the coordinate (x, y) after filtering processing, g′(x, y) is the gradient in the vertical direction of the pixel value at the coordinate (x, y) after filtering processing, and Θ grad (x, y) is the gradient of the gradient direction of the pixel value at the coordinate (x, y) after filtering processing.

[0014] Further, the calculation of the similarity of the navigation states of the current ship and the historical ship includes:

[0015]

[0016] Among them, S is the similarity of the navigation state, n is the number of time points of the current ship, m is the number of time points of the historical ship, x′ i′ is the abscissa of the center point of the current ship at the i'-th time point, u j is the abscissa of the center point of the historical ship at the j-th time point, y′ i′ is the ordinate of the center point of the current ship at the i'-th time point, v j is the ordinate of the center point of the historical ship at the j-th time point, v′ i′ is the speed of the current ship at the i'-th time point, φ j is the speed of the historical ship at the j-th time point, θ i′ is the heading angle of the current ship at the i'-th time point, ψ j is the heading angle of the historical ship at the j-th time point, σ′ is the adjustment factor of the position similarity, γ is the adjustment factor of the speed similarity, and δ is the adjustment factor of the heading angle similarity.

[0017] Further, finding the historical ship with the most similar navigation state to the current ship to determine whether the current ship's waterway deviates includes:

[0018] If the most similar historical ship is a historical ship that has deviated from the waterway, then the current ship has a risk of deviating from the waterway and a warning is issued.

[0019] Further, compare the gradient magnitude M mag (x, y) with a preset threshold, and regard the gradient magnitude M mag (x, y) corresponding to the current ship's edge that is less than the preset threshold as a weak edge, and regard the gradient magnitude M mag (x, y) corresponding to the current ship's edge that exceeds the preset threshold as a strong edge, and then connect the weak edge to the strong edge to form a continuous edge line.

[0020] The present invention also proposes a channel deviation warning system based on the HarmonyOS, including:

[0021] A filtering module, configured to obtain the original satellite image during the current ship's navigation, perform filtering processing on the original satellite image, obtain the pixel values at each coordinate after the filtering processing, and form the satellite image after the filtering processing;

[0022] An edge enhancement module, configured to extract the contour of the current ship in the satellite image after the filtering processing, and perform edge enhancement on the contour of the current ship to complete the recognition of the current ship;

[0023] A warning module, configured to extract the movement trajectory of the center point of the current ship within a time period as the navigation path of the current ship and the ship information of the current ship, obtain the navigation paths and the ship information of historical ships, calculate the similarity of the navigation states between the current ship and the historical ships, find the historical ship with the most similar navigation state to the current ship, thereby determine whether the channel of the current ship deviates, and issue a warning.

[0024] Further, the extraction of the contour of the current ship in the satellite image after the filtering processing includes:

[0025]

[0026] Wherein, G(x, y) is the pixel value at the coordinate (x, y) after the filtering processing, σ is the standard deviation of the i-th Gaussian kernel, and I(x, y) is the pixel value at the coordinate (x, y) of the original satellite image.

[0027] Further, the edge enhancement of the contour of the current ship includes:

[0028]

[0029] Wherein, M mag(x, y) is the gradient magnitude of the pixel value at the coordinate (x, y) after filtering, g(x, y) is the gradient of the pixel value in the horizontal direction at the coordinate (x, y) after filtering, g′(x, y) is the gradient of the pixel value in the vertical direction at the coordinate (x, y) after filtering, Θ grad (x, y) is the gradient of the gradient direction of the pixel value at the coordinate (x, y) after filtering.

[0030] Furthermore, the calculation of the similarity of the navigation states of the current ship and the historical ship includes:

[0031]

[0032] where S is the similarity of the navigation states, n is the number of time points of the current ship, m is the number of time points of the historical ship, x′ i′ is the abscissa of the center point of the current ship at the i′-th time point, u j is the abscissa of the center point of the historical ship at the j-th time point, y′ i′ is the ordinate of the center point of the current ship at the i′-th time point, v j is the ordinate of the center point of the historical ship at the j-th time point, v′ i′ is the speed of the current ship at the i′-th time point, φ j is the speed of the historical ship at the j-th time point, θ i′ is the heading angle of the current ship at the i′-th time point, ψ j is the heading angle of the historical ship at the j-th time point, σ′ is the adjustment factor of the position similarity, γ is the adjustment factor of the speed similarity, and δ is the adjustment factor of the heading angle similarity.

[0033] Compared with the prior art by the above technical solution conceived by the present invention, the following beneficial effects are achieved:

[0034] By the above technical solution, the present invention can first identify the current ship in navigation according to the satellite image, and can confirm whether the current ship deviates from the waterway by comparing with the driving state of the historical ship, and issue a warning to the user through the terminal, improving the navigation efficiency and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 is the flowchart of the method of Embodiment 1 of the present invention;

[0036] Figure 2 is the system structure diagram of Embodiment 2 of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0037] To better understand the above technical solution, the following will describe the above technical solution in detail in conjunction with the accompanying drawings of the specification and specific implementation manners.

[0038] The method provided by the present invention can be implemented in the following terminal environment. The terminal may include one or more of the following components: a processor, a storage medium, and a display screen. Among them, at least one instruction is stored in the storage medium, and the instruction is loaded and executed by the processor to implement the method described in the following embodiments.

[0039] The processor may include one or more processing cores. The processor connects various parts within the entire terminal using various interfaces and lines, and by running or executing instructions, programs, code sets, or instruction sets stored in the storage medium, and by calling data stored in the storage medium, it executes various functions of the terminal and processes data.

[0040] The storage medium may include a random access memory (RAM), and may also include a read-only memory (ROM). The storage medium can be used to store instructions, programs, code, code sets, or instructions.

[0041] The display screen is used to display the interaction cross-sections of various application programs.

[0042] In all subscripts in the formula of the present invention, they are only for distinguishing parameters and have no actual meaning.

[0043] In addition, those skilled in the art can understand that the structure of the above terminal does not constitute a limitation on the terminal. The terminal may include more or fewer components, or combine certain components, or have different component arrangements. For example, the terminal may also include components such as a radio frequency circuit, an input unit, a sensor, an audio circuit, and a power supply, which will not be elaborated here.

[0044] Embodiment 1

[0045] As Figure 1 shown, the embodiment of the present invention provides a lane departure warning method based on the HarmonyOS, including:

[0046] Step 101, obtain the original satellite image when the current ship is sailing, perform filtering processing on the original satellite image, obtain the pixel value at each coordinate after the filtering processing, and form the satellite image after the filtering processing;

[0047] Specifically, the extraction of the contour of the current ship in the satellite image after the filtering processing includes:

[0048]

[0049] Among them, G(x, y) is the pixel value at coordinate (x, y) after filtering, σ is the standard deviation of the i-th Gaussian kernel, and I(x, y) is the pixel value at coordinate (x, y) of the original satellite image.

[0050] Step 102: Extract the contour of the current ship in the satellite image after filtering, and perform edge enhancement on the contour of the current ship to complete the identification of the current ship.

[0051] Specifically, the edge enhancement of the contour of the current ship includes:

[0052]

[0053]

[0054] Among them, M mag (x, y) is the gradient magnitude of the pixel value at coordinate (x, y) after filtering, g(x, y) is the gradient in the horizontal direction of the pixel value at coordinate (x, y) after filtering, g′(x, y) is the gradient in the vertical direction of the pixel value at coordinate (x, y) after filtering, and Θ grad (x, y) is the gradient of the gradient direction of the pixel value at coordinate (x, y) after filtering.

[0055] Specifically, compare the gradient magnitude M mag (x, y) with a preset threshold. Consider the edge of the current ship corresponding to the gradient magnitude M mag (x, y) that is less than the preset threshold as a weak edge, and consider the edge of the current ship corresponding to the gradient magnitude M mag (x, y) that exceeds the preset threshold as a strong edge. Then connect the weak edges to the strong edges to form continuous edge lines.

[0056] Step 103: Extract the movement trajectory of the center point of the current ship during a time period as the navigation path of the current ship, and the ship information of the current ship. Obtain the navigation paths and ship information of historical ships, calculate the similarity of the navigation states between the current ship and the historical ships, find the historical ship with the most similar navigation state to the current ship, thereby determine whether the channel of the current ship deviates, and give an early warning through a mobile terminal based on the HarmonyOS.

[0057] Specifically, the calculation of the similarity of the navigation states between the current ship and the historical ships includes:

[0058]

[0059] Among them, S is the similarity of navigation states, n is the number of time points of the current ship, m is the number of time points of the historical ship, x′ i′ is the abscissa of the center point of the current ship at the i'-th time point, u j is the abscissa of the center point of the historical ship at the j-th time point, y′ i′ is the ordinate of the center point of the current ship at the i'-th time point, v j is the ordinate of the center point of the historical ship at the j-th time point, v′ i′ is the speed of the current ship at the i'-th time point, φ j is the speed of the historical ship at the j-th time point, θ i′ is the heading angle of the current ship at the i'-th time point, ψ j is the heading angle of the historical ship at the j-th time point, σ′ is the adjustment factor of the position similarity, γ is the adjustment factor of the speed similarity, and δ is the adjustment factor of the heading angle similarity.

[0060] Specifically, finding the historical ship with the most similar navigation state to the current ship to determine whether the waterway of the current ship deviates includes:

[0061] If the most similar historical ship is a historical ship that deviates from the waterway, then the current ship has a risk of deviating from the waterway and a warning is given.

[0062] Embodiment 2

[0063] As Figure 2 shown, the embodiment of the present invention also proposes a waterway deviation warning system based on the HarmonyOS, including:

[0064] A filtering module, configured to obtain the original satellite image during the navigation of the current ship, perform filtering processing on the original satellite image, obtain the pixel value at each coordinate after the filtering processing, and form the satellite image after the filtering processing;

[0065] Specifically, the extraction of the contour of the current ship in the satellite image after the filtering processing includes:

[0066]

[0067] Among them, G(x, y) is the pixel value at the coordinate (x, y) after the filtering processing, σ is the standard deviation of the i-th Gaussian kernel, and I(x, y) is the pixel value at the coordinate (x, y) of the original satellite image.

[0068] An edge enhancement module, which is used to extract the contour of the current ship in the filtered satellite image and enhance the edge of the contour of the current ship to complete the recognition of the current ship;

[0069] Specifically, the edge enhancement of the contour of the current ship includes:

[0070]

[0071] Among them, M mag (x, y) is the gradient magnitude of the pixel value at the coordinate (x, y) after filtering, g(x, y) is the gradient of the pixel value in the horizontal direction at the coordinate (x, y) after filtering, g′(x, y) is the gradient of the pixel value in the vertical direction at the coordinate (x, y) after filtering, and Θ grad (x, y) is the gradient of the gradient direction of the pixel value at the coordinate (x, y) after filtering.

[0072] Specifically, compare the gradient magnitude M mag (x, y) with a preset threshold, and regard the edge of the current ship corresponding to the gradient magnitude M mag (x, y) that is less than the preset threshold as a weak edge, and regard the edge of the current ship corresponding to the gradient magnitude M mag (x, y) that exceeds the preset threshold as a strong edge, and then connect the weak edge to the strong edge to form a continuous edge line.

[0073] An early warning module, which is used to extract the movement trajectory of the center point of the current ship within a time period as the navigation path of the current ship and the ship information of the current ship, obtain the navigation paths and ship information of historical ships, calculate the similarity of the navigation states between the current ship and the historical ships, find the historical ship with the most similar navigation state to the current ship, thereby determine whether the waterway of the current ship deviates, and give an early warning through a mobile terminal based on the HarmonyOS operating system.

[0074] Specifically, the calculation of the similarity of the navigation states between the current ship and the historical ships includes:

[0075]

[0076] Among them, S is the similarity of the navigation state, n is the number of time points of the current ship, m is the number of time points of the historical ship, x′ i′ is the abscissa of the center point of the current ship at the i′-th time point, u j is the abscissa of the center point of the historical ship at the j-th time point, y′ i′is the ordinate of the center point of the current ship at the i'-th time point, v j is the ordinate of the center point of the historical ship at the j-th time point, v' i′ is the speed of the current ship at the i'-th time point, φ j is the speed of the historical ship at the j-th time point, θ i′ is the course angle of the current ship at the i'-th time point, ψ j is the course angle of the historical ship at the j-th time point, σ' is the adjustment factor of position similarity, γ is the adjustment factor of speed similarity, and δ is the adjustment factor of course angle similarity.

[0077] Specifically, finding the historical ship most similar to the navigation state of the current ship to determine whether the channel of the current ship deviates includes:

[0078] If the most similar historical ship is a historical ship that deviates from the channel, the current ship has a risk of deviating from the channel and a warning is issued.

[0079] Embodiment 3

[0080] The embodiment of the present invention also proposes a storage medium storing multiple instructions for implementing the method for warning of channel deviation based on HarmonyOS.

[0081] Optionally, in this embodiment, the above storage medium can be located in any computer terminal in the computer terminal group in the computer network, or in any mobile terminal in the mobile terminal group.

[0082] Optionally, in this embodiment, the storage medium is set to store program code for executing the following steps: Step 101, obtaining the original satellite image during the navigation of the current ship, performing filtering processing on the original satellite image, obtaining the pixel values at each coordinate after the filtering processing, and forming the satellite image after the filtering processing;

[0083] Specifically, the extraction of the contour of the current ship in the satellite image after the filtering processing includes:

[0084]

[0085] where G(x, y) is the pixel value at the coordinate (x, y) after the filtering processing, σ is the standard deviation of the i-th Gaussian kernel, and I(x, y) is the pixel value at the coordinate (x, y) of the original satellite image.

[0086] Step 102, extracting the contour of the current ship in the satellite image after the filtering processing, and performing edge enhancement on the contour of the current ship to complete the recognition of the current ship;

[0087] Specifically, the edge enhancement of the contour of the current ship includes:

[0088]

[0089] Among them, M mag (x, y) is the gradient magnitude of the pixel value at the coordinate (x, y) after filtering, g(x, y) is the gradient of the pixel value in the horizontal direction at the coordinate (x, y) after filtering, g′(x, y) is the gradient of the pixel value in the vertical direction at the coordinate (x, y) after filtering, Θ grad (x, y) is the gradient of the gradient direction of the pixel value at the coordinate (x, y) after filtering.

[0090] Specifically, compare the gradient magnitude M mag (x, y) with a preset threshold. Consider the edge of the current ship corresponding to the gradient magnitude M mag (x, y) that is less than the preset threshold as a weak edge, and consider the edge of the current ship corresponding to the gradient magnitude M mag (x, y) that exceeds the preset threshold as a strong edge. Then connect the weak edge to the strong edge to form a continuous edge line.

[0091] Step 103: Extract the movement trajectory of the center point of the current ship within a time period as the navigation path of the current ship, and the ship information of the current ship. Obtain the navigation paths and ship information of historical ships, calculate the similarity of the navigation states between the current ship and the historical ships, find the historical ship with the most similar navigation state to the current ship, thereby determine whether the channel of the current ship deviates, and issue a warning through a mobile terminal based on the HarmonyOS.

[0092] Specifically, the calculation of the similarity of the navigation states between the current ship and the historical ships includes:

[0093]

[0094] Among them, S is the similarity of the navigation state, n is the number of time points of the current ship, m is the number of time points of the historical ship, x′ i′ is the abscissa of the center point of the current ship at the i′-th time point, u j is the abscissa of the center point of the historical ship at the j-th time point, y′ i′ is the ordinate of the center point of the current ship at the i′-th time point, v j is the ordinate of the center point of the historical ship at the j-th time point, v′ i′is the speed of the current ship at the i'-th time point, φ j is the speed of the historical ship at the j-th time point, θ i′ is the course angle of the current ship at the i'-th time point, ψ j is the course angle of the historical ship at the j-th time point, σ' is the adjustment factor of position similarity, γ is the adjustment factor of speed similarity, and δ is the adjustment factor of course angle similarity.

[0095] Specifically, finding the historical ship most similar to the navigation state of the current ship, so as to determine whether the waterway of the current ship deviates includes:

[0096] If the most similar historical ship is a historical ship that deviates from the waterway, the current ship has a risk of deviating from the waterway and a warning is given.

[0097] Embodiment 4

[0098] The embodiment of the present invention also proposes an electronic device, including a processor and a storage medium connected to the processor. The storage medium stores multiple instructions, and the instructions can be loaded and executed by the processor, so that the processor can execute a waterway deviation warning method based on the HarmonyOS.

[0099] Specifically, the electronic device in this embodiment can be a computer terminal, and the computer terminal can include: one or more processors and a storage medium.

[0100] Among them, the storage medium can be used to store software programs and modules, such as a waterway deviation warning method based on the HarmonyOS in the embodiment of the present invention, corresponding program instructions / modules. The processor runs the software programs and modules stored in the storage medium, thereby performing various functional applications and data processing, that is, implementing the above-mentioned waterway deviation warning method based on the HarmonyOS. The storage medium can include a high-speed random storage medium, and can 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 can further include a storage medium remotely set relative to the processor, and these remote storage media can be connected to the terminal through a network. Examples of the above network include but are not limited to the Internet, enterprise intranet, local area network, mobile communication network and their combinations.

[0101] The processor can call the information and application programs stored in the storage medium through the transmission system to execute the steps: Step 101, obtain the original satellite image when the current ship is sailing, perform filtering processing on the original satellite image, obtain the pixel value at each coordinate after the filtering processing, and form the satellite image after the filtering processing;

[0102] Specifically, the contour of the current ship in the satellite image after extraction and filtering processing includes:

[0103]

[0104] where G(x, y) is the pixel value at coordinate (x, y) after filtering processing, σ is the standard deviation of the i-th Gaussian kernel, and I(x, y) is the pixel value at coordinate (x, y) in the original satellite image.

[0105] Step 102: Extract the contour of the current ship in the satellite image after filtering processing, and perform edge enhancement on the contour of the current ship to complete the identification of the current ship;

[0106] Specifically, the edge enhancement of the contour of the current ship includes:

[0107]

[0108] where M mag (x, y) is the gradient magnitude of the pixel value at coordinate (x, y) after filtering processing, g(x, y) is the horizontal gradient of the pixel value at coordinate (x, y) after filtering processing, g′(x, y) is the vertical gradient of the pixel value at coordinate (x, y) after filtering processing, and Θ grad (x, y) is the gradient of the gradient direction of the pixel value at coordinate (x, y) after filtering processing.

[0109] Specifically, compare the gradient magnitude M mag (x, y) with a preset threshold. Consider the edge of the current ship corresponding to the gradient magnitude M mag (x, y) that is less than the preset threshold as a weak edge, and consider the edge of the current ship corresponding to the gradient magnitude M mag (x, y) that exceeds the preset threshold as a strong edge. Then connect the weak edges to the strong edges to form continuous edge lines.

[0110] Step 103: Extract the movement trajectory of the center point of the current ship within a time period as the navigation path of the current ship, and the ship information of the current ship. Obtain the navigation paths and ship information of historical ships, calculate the similarity of the navigation states between the current ship and the historical ships, find the historical ship with the most similar navigation state to the current ship, thereby determine whether the channel of the current ship deviates, and issue a warning through a mobile terminal based on the HarmonyOS operating system.

[0111] Specifically, the calculation of the similarity of the navigation states between the current ship and the historical ships includes:

[0112]

[0113] Among them, S is the similarity of navigation states, n is the number of time points of the current ship, m is the number of time points of the historical ship, x′ i′ is the abscissa of the center point of the current ship at the i'-th time point, u j is the abscissa of the center point of the historical ship at the h-th time point, y′ i′ is the ordinate of the center point of the current ship at the i'-th time point, v j is the ordinate of the center point of the historical ship at the j-th time point, v′ i′ is the speed of the current ship at the i'-th time point, φ j is the speed of the historical ship at the j-th time point, θ i′ is the course angle of the current ship at the i'-th time point, ψ j is the course angle of the historical ship at the j-th time point, σ′ is the adjustment factor of the position similarity, γ is the adjustment factor of the speed similarity, and δ is the adjustment factor of the course angle similarity.

[0114] Specifically, finding the historical ship with the most similar navigation state to the current ship to determine whether the channel of the current ship deviates includes:

[0115] If the most similar historical ship is a historical ship that deviates from the channel, the current ship has a risk of deviating from the channel and a warning is given.

[0116] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages and disadvantages of the embodiments.

[0117] In the above embodiments of the present invention, the descriptions of the respective embodiments have their own emphases. For the parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0118] In 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 illustrative. For example, the division of the units is only a logical function division. In actual implementation, there can be other division methods. 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, the displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces. The indirect coupling or communication connection of units or modules can be in an electrical or other form.

[0119] The unit described as a separation component may or may not be physically separated. The component shown as a unit may or may not be a physical unit, that is, it may be located in one place or may be distributed across multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0120] In addition, each functional unit in various embodiments of the present invention may be integrated in a processing unit, may exist separately as individual physical units, or two or more units may be integrated in one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units.

[0121] If the above 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, in essence, 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. The computer software product is stored in a storage medium and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: USB flash drives, read-only storage media (ROM, Read-Only Memory), random access storage media (RAM, Random Access Memory), mobile hard disks, magnetic disks, or optical discs and other various media that can store program codes.

[0122] Obviously, the above embodiments are only examples given for clear illustration and are not limitations on the implementation manners. For those of ordinary skill 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 manners here. The obvious changes or modifications derived therefrom still fall within the protection scope of the present invention.

Claims

1. A route deviation warning method based on Hongmeng operating system, characterized in that: include: Acquire the original satellite image of the current ship when sailing, perform filtering on the original satellite image, obtain the pixel value at each coordinate after filtering, and form the satellite image after filtering; Extracting the contour of the current ship from the filtered satellite image, and performing edge enhancement on the contour of the current ship to complete the identification of the current ship; Extract the moving trajectory of the center point of the current ship within the time period as the navigation path of the current ship and the ship information of the current ship, obtain the navigation path of the historical ship and the ship information of the historical ship, calculate the similarity between the navigation status of the current ship and the historical ship, find the historical ship that is most similar to the navigation status of the current ship, so as to determine whether the course of the current ship deviates, and issue an early warning through a mobile terminal based on the Hongmeng operating system; The calculating the similarity between the navigation status of the current ship and the historical ship comprises: Among them, S is the similarity of navigation status, n is the number of time points of the current ship, m is the number of time points of the historical ship, and x′ i′ is the horizontal coordinate of the center point of the current ship at the i′th time point, u j is the horizontal coordinate of the center point of the historical ship at the jth time point, y′ i′ is the ordinate of the center point of the current ship at the i′th time point, v j is the ordinate of the center point of the historical ship at the jth time point, v′ i′ is the speed of the current ship at the i′th time point, φ j is the speed of the historical ship at the jth time point, θ i′ is the heading angle of the current ship at the i′th time point, ψ j is the heading angle of the historical ship at the jth time point, σ′ is the adjustment factor of position similarity, γ is the adjustment factor of speed similarity, and δ is the adjustment factor of heading angle similarity.

2. A route deviation warning method based on Hongmeng operating system as claimed in claim 1, characterized in that: The extracting of the contour of the current ship in the satellite image after filtering comprises: Where G(x, y) is the pixel value at the coordinate (x, y) after filtering, σ is the standard deviation of the i-th Gaussian kernel, and I(x, y) is the pixel value at the coordinate (x, y) of the original satellite image.

3. A route deviation warning method based on Hongmeng operating system as claimed in claim 2, characterized in that: The edge enhancement of the contour of the current ship comprises: Among them, M mag (x, y) is the gradient modulus of the pixel value at the coordinate (x, y) after filtering, g(x, y) is the horizontal gradient of the pixel value at the coordinate (x, y) after filtering, g′(x, y) is the vertical gradient of the pixel value at the coordinate (x, y) after filtering, Θ grad (x, y) is the gradient of the gradient direction of the pixel value at the coordinate (x, y) after filtering.

4. A route deviation warning method based on Hongmeng operating system as claimed in claim 1, characterized in that: Finding the historical ship that is most similar to the navigation status of the current ship, thereby determining whether the course of the current ship deviates includes: If the most similar historical ship is a historical ship that has deviated from the waterway, then the current ship is at risk of deviating from the waterway, and an early warning is issued.

5. A route deviation warning method based on Hongmeng operating system as claimed in claim 3, characterized in that: The gradient modulus M mag (x, y) is compared with a preset threshold, and the gradient modulus M smaller than the preset threshold is mag The edge of the current ship corresponding to (x, y) is regarded as a weak edge, and the gradient modulus length M exceeding the preset threshold is mag The edge of the current ship corresponding to (x, y) is taken as a strong edge, and then the weak edge is connected to the strong edge to form a continuous edge line.

6. A channel deviation warning system based on Hongmeng operating system, characterized in that: include: A filtering module is used to obtain the original satellite image of the current ship when sailing, filter the original satellite image, obtain the pixel value at each coordinate after filtering, and form a satellite image after filtering; An edge enhancement module is used to extract the contour of the current ship in the satellite image after filtering, and perform edge enhancement on the contour of the current ship to complete the identification of the current ship; An early warning module is used to extract the moving trajectory of the center point of the current ship within a time period as the navigation path of the current ship and the ship information of the current ship, and obtain the navigation path of the historical ship and the ship information of the historical ship, and calculate the similarity between the navigation status of the current ship and the historical ship, find the historical ship with the most similar navigation status to the current ship, so as to determine whether the navigation path of the current ship deviates and issue an early warning; The calculating the similarity between the navigation status of the current ship and the historical ship comprises: Among them, S is the similarity of navigation status, n is the number of time points of the current ship, m is the number of time points of the historical ship, and x′ i′ is the horizontal coordinate of the center point of the current ship at the i′th time point, u j is the horizontal coordinate of the center point of the historical ship at the jth time point, y′ i′ is the ordinate of the center point of the current ship at the i′th time point, v j is the ordinate of the center point of the historical ship at the jth time point, v′ i′ is the speed of the current ship at the i′th time point, φ j is the speed of the historical ship at the jth time point, θ i′ is the heading angle of the current ship at the i′th time point, ψ j is the heading angle of the historical ship at the jth time point, σ′ is the adjustment factor of position similarity, γ is the adjustment factor of speed similarity, and δ is the adjustment factor of heading angle similarity.

7. A channel deviation warning system based on Hongmeng operating system as claimed in claim 6, characterized in that: The extracting of the contour of the current ship in the satellite image after filtering comprises: Where G(x, y) is the pixel value at the coordinate (x, y) after filtering, σ is the standard deviation of the i-th Gaussian kernel, and I(x, y) is the pixel value at the coordinate (x, y) of the original satellite image.

8. A channel deviation warning system based on Hongmeng operating system as claimed in claim 6, characterized in that: The edge enhancement of the contour of the current ship comprises: Among them, M mag (x, y) is the gradient modulus of the pixel value at the coordinate (x, y) after filtering, g(x, y) is the horizontal gradient of the pixel value at the coordinate (x, y) after filtering, g′(x, y) is the vertical gradient of the pixel value at the coordinate (x, y) after filtering, Θ grad (x, y) is the gradient of the gradient direction of the pixel value at the coordinate (x, y) after filtering.

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