A ship lock safety control method and system based on multi-laser sensors

Abstract

The present invention provides a ship lock safety control method and system based on a multi-laser sensor. The method comprises the following steps: installing a plurality of single-line lasers and multi-line laser groups in various areas of the ship lock; merging each frame of ship single-line data to determine a first ship data set; determining a preliminary three-dimensional ship profile and determining a second ship data set; updating the first ship data set and the second ship data set, fusing the selected updated single-line ship data with the matched updated multi-line ship data to obtain a three-dimensional ship profile; determining the ship's real data, judging whether the ship's real data exceeds the limit data, and if so, broadcasting an early warning, and if so, allowing the ship to pass through the lock. The present invention can avoid hidden dangers such as a ship running aground, hitting a bridge, hitting a gate, and ship collision during the ship's passage through the lock, and minimizes the influence of factors affecting the safe passage of the ship through the lock.

Description

Technical Field

[0001] The present invention belongs to the technical field of ship lock control, and in particular relates to a ship lock safety control method and system based on multiple laser sensors. Background Art

[0002] In the field of water transportation, ship locks, as important water conservancy facilities and navigation hubs, have the function of controlling water conditions and improving navigation conditions. In the actual scheduling and control of ship locks, the type, size, load and other data reported by ships passing through the locks will directly affect the scheduling of ships. In general, the ship data or the data reported by the ship passing through the locks shall prevail. If the ship conceals the length, width, water height, draft and other data, resulting in failure to meet the lock operation conditions, it is easy to cause safety accidents such as ship collision and grounding, which seriously affects the normal operation of the locks. Therefore, the ship measurement review should be included in the prerequisites of daily ship scheduling and control, and advance warning should be carried out to avoid accidents.

[0003] Ship measurement and verification is generally done manually, but due to limited manpower in the lock management department, it is impossible to achieve instant and full coverage measurement and verification. At present, the technical solutions in the industry are mainly based on machine vision and laser scanning, which have low accuracy and increase the probability of risk accidents. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides a ship lock safety control method and system based on multiple laser sensors, which are used to solve the technical problems in the prior art.

[0005] On the one hand, the present invention provides the following technical solution, a ship lock safety control method based on multiple laser sensors, comprising:

[0006] Installing a number of single-line lasers and multi-line laser groups in each area of ​​the ship lock, acquiring single-line data of the ship scanned by the single-line laser and acquiring multi-line data of the ship scanned by the multi-line laser group;

[0007] Merging each frame of the ship single-line data to obtain a quasi-3D point cloud image of the ship, and determining a first ship data set based on the quasi-3D point cloud image of the ship;

[0008] Determine a preliminary three-dimensional ship outline map based on the ship multi-line data, and determine a second ship data set based on the preliminary three-dimensional ship outline map;

[0009] The first ship data set and the second ship data set are updated to obtain a first update set and a second update set, an updated single-line ship data is randomly selected from the first update set, and updated multi-line ship data that best matches the updated single-line ship data is selected from the second update set, and the selected updated single-line ship data is fused with the matched updated multi-line ship data to obtain a three-dimensional ship profile map;

[0010] Obtaining restriction data of the ship lock, determining real data of the ship based on the three-dimensional outline of the ship, judging whether the real data of the ship exceeds the restriction data, broadcasting an early warning if the real data of the ship exceeds the restriction data, and allowing the ship to pass through the lock if the real data of the ship does not exceed the restriction data;

[0011] The step of updating the first ship data set and the second ship data set to obtain a first update set and a second update set comprises:

[0012] Extracting a first point cloud data set in the first ship data set and a second point cloud data set in the second ship data set;

[0013] Performing contour fitting on the data in the first point cloud data set to obtain a first fitting contour, determining a plurality of first feature points in the first point cloud data set based on the first fitting contour, performing contour fitting on the data in the second point cloud data set to obtain a second fitting contour, and determining a plurality of second feature points in the second point cloud data set based on the second fitting contour;

[0014] A first feature point is arbitrarily selected as the center and a first preset distance is used as the radius to determine a number of first neighborhood ranges, and a second feature point is arbitrarily selected as the center and a second preset distance is used as the radius to determine a number of second neighborhood ranges;

[0015] Based on the first neighborhood range and the second neighborhood range, the first feature point and the second feature point are updated to obtain a first updated feature point. Update feature points with the second :

[0016] ;

[0017] ;

[0018] In the formula, represents a multi-layer perceptron, , represents the first feature point and the second feature point, , Represents the unit normal vector of the first feature point and the second feature point, , Respectively represent the first neighborhood point cloud data, the second neighborhood Point cloud data, Respectively represent the first neighborhood The unit normal vector of the point cloud data, the The unit normal vector of the point cloud data, represents the Euclidean distance calculation, Indicates a union operation;

[0019] A first update set and a second update set are determined based on the first update feature point and the second update feature point.

[0020] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention improves the detection accuracy of data such as ship size and load, and fully applies this advantage to the lock control system to avoid hidden dangers such as ships running aground, hitting bridges, hitting gates, and ship collisions during the lock passage process, and minimizes the impact of factors that affect the safe passage of ships through the lock, providing support for fully automatic lock safety control.

[0021] Preferably, the step of merging each frame of the ship single-line data to obtain a quasi-3D point cloud image of the ship, and determining the first ship data set based on the quasi-3D point cloud image of the ship comprises:

[0022] Merging the ship cross-sectional profile images corresponding to each frame of the ship single-line data by frame to obtain a quasi-three-dimensional point cloud image of the ship;

[0023] Identify the coordinate position of each point cloud data in the quasi-3D point cloud map of the ship, as well as the time when the single-line laser first scans the bow of the ship and the time when the single-line laser first scans the stern of the ship;

[0024] Based on the coordinate position of each point cloud data in the quasi-three-dimensional point cloud map of the ship, the time when the single-line laser first scans the bow of the ship, and the time when the single-line laser first scans the stern of the ship, the first ship width, the first water height, and the first freeboard height of each ship are determined to obtain a first ship data set.

[0025] Preferably, the step of determining a preliminary three-dimensional ship outline map based on the ship multi-line data and determining a second ship data set based on the preliminary three-dimensional ship outline map comprises:

[0026] Comprehensively processing each point cloud data in the multi-line data of the ship to obtain a preliminary three-dimensional outline map of the ship;

[0027] Identify the coordinate position of each point cloud data in the preliminary three-dimensional outline of the ship and the time when the multi-line laser group first scans the bow of the ship and the time when the multi-line laser group first scans the stern of the ship;

[0028] Based on the coordinate position of each point cloud data in the preliminary three-dimensional outline map of the ship, the time when the multi-line laser group first scans the bow of the ship, and the time when the multi-line laser group first scans the stern of the ship, the second ship width, second water height, and second freeboard height of each ship are determined to obtain a second ship data set.

[0029] Preferably, the step of determining the first update set and the second update set based on the first update feature point and the second update feature point comprises:

[0030] Determine a first contour line length threshold based on the first fitted contour, determine a first contour neighborhood range with the first updated feature point as the center and the first contour line length threshold as the radius, determine a second contour line length threshold based on the second fitted contour, determine a second contour neighborhood range with the second updated feature point as the center and the second contour line length threshold as the radius;

[0031] Based on the first updated feature points, a principal component analysis is performed on the point cloud within the neighborhood of the first contour to obtain a plurality of first eigenvalues; based on the second updated feature points, a principal component analysis is performed on the point cloud within the neighborhood of the second contour to obtain a plurality of second eigenvalues;

[0032] Determine a first correlation coefficient based on the first eigenvalue and the second eigenvalue The second correlation coefficient ;

[0033] ; ;

[0034] In the formula, , Respectively represent The first eigenvalue, The second eigenvalue;

[0035] Selecting a point cloud with the largest first correlation coefficient as a first initial point cloud, and using a corresponding feature vector as a first contour line segment direction, projecting all point clouds within the first contour range onto a straight line determined by the first contour line segment direction and the first initial point cloud to obtain a plurality of first projection points, and determining a first angle between the first projection point and a first updated feature point, using a point cloud with a first angle less than a first preset angle as a first subsequent point cloud, and using the first subsequent point cloud as a new first initial point cloud and repeating the correlation coefficient calculation, direction determination and projection process to obtain a first updated set;

[0036] Take the point cloud with the largest second correlation coefficient as the second initial point cloud, and use the corresponding eigenvector as the second contour line segment direction, project all point clouds within the second contour range onto the straight line determined by the second contour line segment direction and the second initial point cloud to obtain a number of second projection points, and determine the second angle between the second projection point and the second updated feature point, take the point cloud whose second angle is less than the second preset angle as the second subsequent point cloud, and use the second subsequent point cloud as the new second initial point cloud and repeat the correlation coefficient calculation, direction determination and projection process to obtain a second update set.

[0037] Preferably, the step of arbitrarily selecting one updated single-line ship data in the first updated set, selecting updated multi-line ship data that best matches the updated single-line ship data in the second updated set, and fusing the selected updated single-line ship data with the matched updated multi-line ship data to obtain a three-dimensional ship profile map comprises:

[0038] In the first update set, randomly select one to update the single-line ship data ;

[0039] Calculate the updated single line ship data The difference between all updated multi-line ship data in the second update set :

[0040] ;

[0041] In the formula, , , , Respectively represent single-line ship data The first ship width, the first freeboard height, the first water height, and the first ship speed, Respectively indicate updating single-line ship data The time when the single-line laser first scans the bow of the ship and the time when the single-line laser first scans the stern of the ship. , , , Respectively represent Update the second ship width, second freeboard height, second water height and second ship length in the multi-line ship data;

[0042] In the second update set, select the difference The updated multi-line ship data corresponding to the minimum is used as the matching updated multi-line ship data ;

[0043] Single line ship data will be updated Updated multi-line vessel data with matching The fusion is performed to obtain the three-dimensional contour image of the ship.

[0044] Preferably, the step of determining the real data of the ship based on the three-dimensional outline of the ship comprises:

[0045] Identify all point cloud positions in the three-dimensional outline of the ship, and determine the true length of the ship based on all point cloud positions in the three-dimensional outline of the ship 、Ship’s true breadth , the actual height of the ship out of water , Actual draft of the ship , Ship's actual speed , to get the real data of the ship:

[0046] ; ; ;

[0047] ; ;

[0048] In the formula, , The maximum and minimum values ​​of the X-axis of all point clouds in the three-dimensional contour map of the ship, , The maximum and minimum values ​​of the Y axis of all point clouds in the three-dimensional contour map of the ship, , The maximum and minimum values ​​of the Z axis of all point clouds in the three-dimensional contour map of the ship, Indicates the ship's model depth corresponding to the three-dimensional outline of the ship. Indicates the ship's freeboard height corresponding to the three-dimensional profile of the ship. Indicates the correction value, The distribution indicates the time when the bow of the ship is first scanned and the stern of the ship is first scanned in the three-dimensional profile of the ship.

[0049] Preferably, the step of judging whether the real data of the ship exceeds the limit data, broadcasting an early warning if the real data of the ship exceeds the limit data, and allowing the ship to pass through the lock if the real data of the ship does not exceed the limit data comprises:

[0050] Determine the true length of the ship Whether the length and true width of the ship do not exceed the limit Whether the width does not exceed the limit and the actual height above water of the ship Whether the water height limit and the actual draft of the ship are not exceeded Whether the draft limit and the actual speed of the ship are not exceeded Whether the speed limit is not exceeded;

[0051] If the actual length of the vessel Not exceeding the limited length, true breadth of the ship Not exceeding the limited width and actual height above water Not exceeding the limit of water height and the actual draft of the ship Do not exceed the restricted draft and the actual speed of the ship If the ship does not exceed the speed limit, the ship is allowed to pass through the lock;

[0052] If the actual length of the vessel Exceeding the limit length, true breadth of the ship Exceeding the limited width, the actual height of the ship above water Exceeding the limit of water height and actual draft of the ship Exceeding the restricted draft or actual speed of the vessel If the speed limit is exceeded, an early warning will be pushed and a broadcast reminder will be made.

[0053] In a second aspect, the present invention provides the following technical solution: a ship lock safety control system based on a multi-laser sensor, the system comprising:

[0054] An acquisition module is used to install a number of single-line lasers and multi-line laser groups in various areas of the ship lock, acquire the single-line data of the ship scanned by the single-line laser and acquire the multi-line data of the ship scanned by the multi-line laser group;

[0055] a merging module, configured to merge each frame of the single-line data of the ship to obtain a quasi-3D point cloud image of the ship, and determine a first ship data set based on the quasi-3D point cloud image of the ship;

[0056] A contour module, used to determine a preliminary three-dimensional contour map of the ship based on the multi-line data of the ship, and determine a second ship data set based on the preliminary three-dimensional contour map of the ship;

[0057] a fusion module, configured to update the first ship data set and the second ship data set to obtain a first update set and a second update set, arbitrarily select an updated single-line ship data in the first update set, select updated multi-line ship data that best matches the updated single-line ship data in the second update set, and fuse the selected updated single-line ship data with the matched updated multi-line ship data to obtain a three-dimensional ship profile map;

[0058] The control module is used to obtain the restriction data of the lock, determine the real data of the ship based on the three-dimensional outline of the ship, and judge whether the real data of the ship exceeds the restriction data. If the real data of the ship exceeds the restriction data, an early warning broadcast is performed; if the real data of the ship does not exceed the restriction data, the ship is allowed to pass through the lock.

[0059] In a third aspect, the present invention provides the following technical solution: a computer comprising a memory, a processor, and a computer program stored in the memory and executable on the processor; when the processor executes the computer program, the multi-laser sensor-based ship lock safety control method as described above is implemented.

[0060] In a fourth aspect, the present invention provides the following technical solution: a storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the above-mentioned multi-laser sensor-based ship lock safety control method. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0062] Figure 1 A flowchart of a ship lock safety control method based on multiple laser sensors provided in Embodiment 1 of the present invention;

[0063] Figure 2 A structural block diagram of a ship lock safety control system based on multiple laser sensors provided in the second embodiment of the present invention;

[0064] Figure 3 A schematic diagram of the hardware structure of a computer provided in another embodiment of the present invention.

[0065] The embodiments of the present invention will be further described below with reference to the accompanying drawings. DETAILED DESCRIPTION

[0066] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the embodiments of the present invention, and should not be construed as limiting the present invention.

[0067] Embodiment 1

[0068] In the first embodiment of the present invention, Figure 1 As shown, a ship lock safety control method based on multiple laser sensors includes:

[0069] S1. Install several single-line lasers and multi-line laser groups in each area of ​​the ship lock, obtain single-line data of the ship scanned by the single-line laser and obtain multi-line data of the ship scanned by the multi-line laser group;

[0070] Specifically, for the ship lock area, it specifically includes the waiting area, lock chamber, and exit area. In order to ensure that each area of ​​the ship lock is covered by laser, specifically, one set of single-line laser + multi-line laser group is installed in the waiting area, and two multi-line lasers are installed in the lock chamber. The laser fully covers the waiting area, lock chamber and exit area. Each lock chamber is covered by two three-dimensional lasers in different directions to minimize the detection blind area. According to the "Main Dimension Series of Standard Ship Types for Transport Ships Passing through the Locks of the Yangtze River System", the standard ship types of dry cargo ships and liquid cargo ships passing through the locks of the Yangtze River System are 3,000 tons and below. The width of ships is 6.6m~15m, and the length is 40m~88m. The width of ships of 3,000~6,000 tons is 15m-16.3m, and the length is 88m~130m; therefore, in the present invention, the single-line laser is installed vertically on the water surface, the horizontal scanning range of the multi-line laser is not less than 100 meters, covering the entire two-dimensional laser scanning section position, the vertical scanning range is not less than 20 meters, and it completely covers the water surface of the waterway.

[0071] S2. Merging each frame of the single-line data of the ship to obtain a quasi-3D point cloud image of the ship, and determining a first ship data set based on the quasi-3D point cloud image of the ship;

[0072] Specifically, step S2 includes:

[0073] S21, merging the ship cross-sectional profile images corresponding to each frame of the ship single-line data by frame to obtain a quasi-three-dimensional point cloud image of the ship.

[0074] S22, identifying the coordinate position of each point cloud data in the quasi-3D point cloud map of the ship, as well as the time when the single-line laser scans the bow of the ship for the first time, and the time when the single-line laser scans the stern of the ship for the first time.

[0075] S23, determining a first ship width, a first water height, and a first freeboard height of each ship based on the coordinate position of each point cloud data in the quasi-3D point cloud map of the ship, the time when the single-line laser scans the bow of the ship for the first time, and the time when the single-line laser scans the stern of the ship for the first time, so as to obtain a first ship data set;

[0076] Specifically, during navigation on general inland waterways, the speed of a ship is generally between 1.0 and 4.5 m / s. Therefore, this application assumes that the ship speed is 2.5 m / s, and the single-line data of the ship in each frame are merged to form a complete quasi-3D point cloud map of the ship. The corresponding first ship data set can be obtained according to the coordinates of each point cloud in the quasi-3D point cloud map of the ship.

[0077] S3, determining a preliminary three-dimensional outline map of the ship based on the multi-line data of the ship, and determining a second ship data set based on the preliminary three-dimensional outline map of the ship;

[0078] Wherein, the step S3 comprises:

[0079] S31, comprehensively processing each point cloud data in the multi-line data of the ship to obtain a preliminary three-dimensional outline map of the ship;

[0080] Specifically, by completely scanning the ship with a multi-line laser, a preliminary three-dimensional outline of the ship can be obtained.

[0081] S32, identifying the coordinate position of each point cloud data in the preliminary three-dimensional outline map of the ship, as well as the time when the multi-line laser group first scans the bow of the ship and the time when the multi-line laser group first scans the stern of the ship.

[0082] S33. Determine the second ship width, second water height, and second freeboard height of each ship based on the coordinate position of each point cloud data in the preliminary three-dimensional outline map of the ship, the time when the multi-line laser group first scans the bow of the ship, and the time when the multi-line laser group first scans the stern of the ship to obtain a second ship data set.

[0083] S4, updating the first ship data set and the second ship data set to obtain a first update set and a second update set, randomly selecting an updated single-line ship data in the first update set, selecting updated multi-line ship data that best matches the updated single-line ship data in the second update set, and fusing the selected updated single-line ship data with the matched updated multi-line ship data to obtain a three-dimensional ship profile map;

[0084] Wherein, the step S4 comprises:

[0085] S411. Extract a first point cloud dataset in the first ship dataset and a second point cloud dataset in the second ship dataset.

[0086] S412, performing contour fitting on the data in the first point cloud dataset to obtain a first fitting contour, determining a plurality of first feature points in the first point cloud dataset based on the first fitting contour, performing contour fitting on the data in the second point cloud dataset to obtain a second fitting contour, and determining a plurality of second feature points in the second point cloud dataset based on the second fitting contour;

[0087] Specifically, when selecting the first feature point and the second feature point, edge points may be selected as much as possible, rather than the outermost edge points.

[0088] S413, arbitrarily selecting the first feature point as the center and determining a plurality of first neighborhood ranges with the first preset distance as the radius, and arbitrarily selecting the second feature point as the center and determining a plurality of second neighborhood ranges with the second preset distance as the radius.

[0089] S414: Update the first feature point and the second feature point based on the first neighborhood range and the second neighborhood range to obtain a first updated feature point. Update feature points with the second :

[0090] ;

[0091] ;

[0092] In the formula, represents a multi-layer perceptron, , represents the first feature point and the second feature point, , Represents the unit normal vector of the first feature point and the second feature point, , Respectively represent the first neighborhood point cloud data, the second neighborhood Point cloud data, Respectively represent the first neighborhood The unit normal vector of the point cloud data, the The unit normal vector of the point cloud data, represents the Euclidean distance calculation, Represents a union operation.

[0093] S415, determining a first update set and a second update set based on the first update feature point and the second update feature point;

[0094] Wherein, the step S415 includes:

[0095] S4151, determining a first contour line length threshold based on the first fitted contour, determining a first contour neighborhood range with the first updated feature point as the center and the first contour line length threshold as the radius, determining a second contour line length threshold based on the second fitted contour, determining a second contour neighborhood range with the second updated feature point as the center and the second contour line length threshold as the radius;

[0096] Specifically, the first contour line length threshold and the second contour line length threshold may be determined according to the actual hull, and various length information of the hull may not exceed the threshold.

[0097] S4152. Perform principal component analysis on the point cloud within the first contour neighborhood based on the first updated feature points to obtain a number of first eigenvalues, and perform principal component analysis on the point cloud within the second contour neighborhood based on the second updated feature points to obtain a number of second eigenvalues.

[0098] S4153: Determine a first correlation coefficient based on the first eigenvalue and the second eigenvalue The second correlation coefficient ;

[0099] ; ;

[0100] In the formula, , Respectively represent The first eigenvalue, The second eigenvalue;

[0101] S4154, selecting the point cloud with the largest first correlation coefficient as the first initial point cloud, and using the corresponding feature vector as the first contour line segment direction, projecting all point clouds within the first contour range onto the straight line determined by the first contour line segment direction and the first initial point cloud to obtain a plurality of first projection points, and determining the first angle between the first projection point and the first updated feature point, using the point cloud with a first angle less than the first preset angle as the first subsequent point cloud, and using the first subsequent point cloud as the new first initial point cloud and repeating the correlation coefficient calculation, direction determination and projection process to obtain a first updated set;

[0102] Specifically, after determining the first correlation coefficient, the point cloud corresponding to the largest first correlation coefficient is selected as the first initial point cloud, and the first initial point cloud corresponds to a first eigenvalue and an eigenvector, and the eigenvector is used as the direction of the contour line. Then, a contour line segment can be determined with the first update feature as the starting point and the first initial point cloud as the end point, and then all points within the first contour range are projected onto the straight line determined by the first initial point cloud and the eigenvector, and then, starting from the farthest first projection point, the angle between the line between the first projection point and the first initial point cloud and the direction of the first contour line segment is calculated respectively. If the angle is not less than the first preset angle, the angle of the second farthest first projection point is recalculated until the angle condition is met, and the point can be used as the first subsequent point cloud, and the first subsequent point cloud is used as the starting point. The above steps are repeated to output the first update set.

[0103] S4155, taking the point cloud with the largest second correlation coefficient as the second initial point cloud, and taking the corresponding feature vector as the second contour line segment direction, projecting all point clouds within the second contour range onto the straight line determined by the second contour line segment direction and the second initial point cloud to obtain a number of second projection points, and determining the second angle between the second projection point and the second updated feature point, taking the point cloud with a second angle less than the second preset angle as the second subsequent point cloud, and taking the second subsequent point cloud as the new second initial point cloud and repeating the correlation coefficient calculation, direction determination and projection process to obtain a second update set;

[0104] Specifically, the principle of this step is the same as that of step S4154, so it will not be repeated here.

[0105] Wherein, the step S4 further includes:

[0106] S421, randomly select one of the first update sets to update single-line ship data .

[0107] S422, calculating the updated single-line ship data The difference between all updated multi-line ship data in the second update set :

[0108] ;

[0109] In the formula, , , , Respectively represent single-line ship data The first ship width, the first freeboard height, the first water height, and the first ship speed, Respectively represent single-line ship data The time when the single-line laser first scans the bow of the ship and the time when the single-line laser first scans the stern of the ship. , , , Respectively represent Among the multi-line ship data, the second ship width, second freeboard height, second water height, and second ship length.

[0110] S423: Select the difference degree in the second update set The updated multi-line ship data corresponding to the minimum is used as the matching updated multi-line ship data .

[0111] S424, will update single line ship data Updated multi-line vessel data with matching Perform fusion to obtain a three-dimensional outline of the ship;

[0112] Specifically, the scanned ship cross-sectional image and the three-dimensional contour image are fused to obtain an accurate three-dimensional contour image of the ship.

[0113] S5. Obtain restriction data of the ship lock, determine the real data of the ship based on the three-dimensional outline of the ship, and judge whether the real data of the ship exceeds the restriction data. If the real data of the ship exceeds the restriction data, broadcast an early warning; if the real data of the ship does not exceed the restriction data, allow the ship to pass through the lock.

[0114] Specifically, the restriction data of the ship lock includes the restriction of length, the restriction of width, the restriction of water outlet height, the restriction of draft, and the restriction of ship speed;

[0115] Among them, the restricted draft can be obtained by subtracting the water depth of the lock threshold, the margin for safe navigation of the ship without touching the bottom, and the margin for water level fluctuation from the current water level.

[0116] Wherein, the step of determining the real data of the ship based on the three-dimensional outline map of the ship comprises:

[0117] Identify all point cloud positions in the three-dimensional outline of the ship, and determine the true length of the ship based on all point cloud positions in the three-dimensional outline of the ship 、Ship’s true breadth , the actual height of the ship out of water , Actual draft of the ship , Ship's actual speed , to get the real data of the ship:

[0118] ; ; ;

[0119] ; ;

[0120] In the formula, , The maximum and minimum values ​​of the X-axis of all point clouds in the three-dimensional contour map of the ship, , The maximum and minimum values ​​of the Y axis of all point clouds in the three-dimensional contour map of the ship, , The maximum and minimum values ​​of the Z axis of all point clouds in the three-dimensional contour map of the ship, Indicates the ship's model depth corresponding to the three-dimensional outline of the ship. Indicates the ship's freeboard height corresponding to the three-dimensional profile of the ship. Indicates the correction value, The distribution indicates the time when the bow of the ship is first scanned and the stern of the ship is first scanned in the three-dimensional profile of the ship;

[0121] Among them, the correction value can be obtained by regression calculation based on statistical data of similar ship types.

[0122] The step of judging whether the real data of the ship exceeds the limit data, broadcasting an early warning if the real data of the ship exceeds the limit data, and allowing the ship to pass through the lock if the real data of the ship does not exceed the limit data includes:

[0123] S51, determining the actual length of the ship Whether the length and true width of the ship do not exceed the limit Whether the width does not exceed the limit and the actual height above water of the ship Whether the water height limit and the actual draft of the ship are not exceeded Whether the draft limit and the actual speed of the ship are not exceeded Whether the speed limit is not exceeded.

[0124] S52. If the actual length of the ship Not exceeding the limited length, true breadth of the ship Not exceeding the limited width and actual height above water Not exceeding the limit of water height and the actual draft of the ship Do not exceed the restricted draft and the actual speed of the ship If the ship does not exceed the speed limit, it is allowed to pass through the lock.

[0125] S53. If the actual length of the ship Exceeding the limit length, true breadth of the ship Exceeding the limited width, the actual height of the ship above water Exceeding the limit of water height and the actual draft of the ship Exceeding the restricted draft or actual speed of the vessel If the speed limit is exceeded, an early warning will be pushed and a broadcast reminder will be made.

[0126] The multi-laser sensor-based ship lock safety control method provided in Example 1 of the present invention improves the detection accuracy of data such as ship size and load, and fully applies this advantage to the ship lock control system to avoid hidden dangers such as ships running aground, hitting bridges, hitting gates, and ship collisions during the ship lock passage process, and minimizes the impact of factors that affect the safe passage of ships through the lock, providing support for fully automatic ship lock safety control.

[0127] Embodiment 2

[0128] like Figure 2 As shown, in the second embodiment of the present invention, a ship lock safety control system based on multiple laser sensors is provided, and the system includes:

[0129] An acquisition module 1 is used to install a plurality of single-line lasers and multi-line laser groups in each area of ​​the ship lock, acquire the single-line data of the ship scanned by the single-line laser and acquire the multi-line data of the ship scanned by the multi-line laser group;

[0130] A merging module 2 is used to merge the single-line data of each frame of the ship to obtain a quasi-3D point cloud image of the ship, and determine a first ship data set based on the quasi-3D point cloud image of the ship;

[0131] A contour module 3, used to determine a preliminary three-dimensional contour map of the ship based on the multi-line data of the ship, and determine a second ship data set based on the preliminary three-dimensional contour map of the ship;

[0132] A fusion module 4 is used to update the first ship data set and the second ship data set to obtain a first update set and a second update set, select any one updated single-line ship data in the first update set, select the updated multi-line ship data that best matches the updated single-line ship data in the second update set, and fuse the selected updated single-line ship data with the matched updated multi-line ship data to obtain a three-dimensional ship profile map;

[0133] The control module 5 is used to obtain the restriction data of the lock, determine the real data of the ship based on the three-dimensional outline of the ship, and judge whether the real data of the ship exceeds the restriction data. If the real data of the ship exceeds the restriction data, an early warning broadcast is performed; if the real data of the ship does not exceed the restriction data, the ship is allowed to pass through the lock.

[0134] Wherein, the merging module 2 comprises:

[0135] A merging submodule, used for merging the ship cross-sectional profile image corresponding to each frame of the ship single-line data by frame, so as to obtain a quasi-three-dimensional point cloud image of the ship;

[0136] The first identification submodule is used to identify the coordinate position of each point cloud data in the quasi-3D point cloud map of the ship, the time when the single-line laser first scans the bow of the ship, and the time when the single-line laser first scans the stern of the ship;

[0137] The first data submodule is used to determine the first ship width, first water height, and first freeboard height of each ship based on the coordinate position of each point cloud data in the quasi-three-dimensional point cloud map of the ship, the time when the single-line laser first scans the bow of the ship, and the time when the single-line laser first scans the stern of the ship, so as to obtain a first ship data set.

[0138] The contour module 3 comprises:

[0139] A comprehensive submodule, used for comprehensively processing each point cloud data in the multi-line data of the ship to obtain a preliminary three-dimensional outline map of the ship;

[0140] The second identification submodule is used to identify the coordinate position of each point cloud data in the preliminary three-dimensional outline map of the ship, the time when the multi-line laser group first scans the bow of the ship, and the time when the multi-line laser group first scans the stern of the ship;

[0141] The second data submodule is used to determine the second ship width, second water height, and second freeboard height of each ship based on the coordinate position of each point cloud data in the preliminary three-dimensional outline map of the ship, the time when the multi-line laser group first scans the bow of the ship, and the time when the multi-line laser group first scans the stern of the ship, so as to obtain a second ship data set.

[0142] The fusion module 4 includes:

[0143] A point cloud extraction submodule, used to extract a first point cloud data set in the first ship data set and a second point cloud data set in the second ship data set;

[0144] a contour fitting submodule, configured to perform contour fitting on the data in the first point cloud data set to obtain a first fitting contour, determine a plurality of first feature points in the first point cloud data set based on the first fitting contour, perform contour fitting on the data in the second point cloud data set to obtain a second fitting contour, and determine a plurality of second feature points in the second point cloud data set based on the second fitting contour;

[0145] A range submodule is used to arbitrarily select a first feature point as the center and determine a plurality of first neighborhood ranges with a first preset distance as the radius, and to arbitrarily select a second feature point as the center and determine a plurality of second neighborhood ranges with a second preset distance as the radius;

[0146] An updating submodule, configured to update the first feature point and the second feature point based on the first neighborhood range and the second neighborhood range to obtain a first updated feature point Update feature points with the second :

[0147] ;

[0148] ;

[0149] In the formula, represents a multi-layer perceptron, , represents the first feature point and the second feature point, , Represents the unit normal vector of the first feature point and the second feature point, , Respectively represent the first neighborhood point cloud data, the second neighborhood Point cloud data, Respectively represent the first neighborhood The unit normal vector of the point cloud data, the The unit normal vector of the point cloud data, represents the Euclidean distance calculation, Indicates a union operation;

[0150] The update set submodule is used to determine a first update set and a second update set based on the first update feature point and the second update feature point.

[0151] The update set submodule includes:

[0152] a range unit, configured to determine a first contour line length threshold based on the first fitted contour, determine a first contour neighborhood range with the first updated feature point as the center and the first contour line length threshold as the radius, determine a second contour line length threshold based on the second fitted contour, determine a second contour neighborhood range with the second updated feature point as the center and the second contour line length threshold as the radius;

[0153] A feature unit, configured to perform principal component analysis on the point cloud within the first contour neighborhood based on the first updated feature point to obtain a plurality of first eigenvalues, and perform principal component analysis on the point cloud within the second contour neighborhood based on the second updated feature point to obtain a plurality of second eigenvalues;

[0154] an association unit, configured to determine a first association coefficient based on the first eigenvalue and the second eigenvalue The second correlation coefficient ;

[0155] ; ;

[0156] In the formula, , Respectively represent The first eigenvalue, The second eigenvalue;

[0157] A first updating unit is used to select a point cloud with a maximum first correlation coefficient as a first initial point cloud, and use a corresponding feature vector as a first contour line segment direction, project all point clouds within the first contour range onto a straight line determined by the first contour line segment direction and the first initial point cloud to obtain a plurality of first projection points, and determine a first angle between the first projection point and a first updated feature point, use a point cloud with a first angle less than a first preset angle as a first subsequent point cloud, and use the first subsequent point cloud as a new first initial point cloud and repeat the correlation coefficient calculation, direction determination and projection process to obtain a first update set;

[0158] The second updating unit is used to take the point cloud with the largest second correlation coefficient as the second initial point cloud, and take the corresponding feature vector as the second contour line segment direction, project all point clouds within the second contour range onto the straight line determined by the second contour line segment direction and the second initial point cloud to obtain a plurality of second projection points, and determine the second angle between the second projection point and the second updated feature point, take the point cloud with the second angle less than the second preset angle as the second subsequent point cloud, and take the second subsequent point cloud as the new second initial point cloud and repeat the correlation coefficient calculation, direction determination and projection process to obtain a second update set.

[0159] The fusion module 4 also includes:

[0160] A selection submodule is used to select any one of the first update sets to update the single-line ship data. ;

[0161] The difference degree submodule is used to calculate the updated single-line ship data The difference between all updated multi-line ship data in the second update set :

[0162] ;

[0163] In the formula, , , , Respectively represent single-line ship data The first ship width, the first freeboard height, the first water height, and the first ship speed, Respectively represent single-line ship data The time when the single-line laser first scans the bow of the ship and the time when the single-line laser first scans the stern of the ship. , , , Respectively represent The second ship width, second freeboard height, second water height and second ship length in the multi-line ship data;

[0164] A matching submodule, used to select the difference degree in the second update set The updated multi-line ship data corresponding to the minimum is used as the matching updated multi-line ship data ;

[0165] Fusion submodule, used to update single-line ship data Updated multi-line vessel data with matching The fusion is performed to obtain the three-dimensional contour image of the ship.

[0166] The control module 5 is specifically used for:

[0167] Identify all point cloud positions in the three-dimensional outline of the ship, and determine the true length of the ship based on all point cloud positions in the three-dimensional outline of the ship 、Ship’s true breadth , the actual height of the ship out of water , Actual draft of the ship , Ship's actual speed , to get the real data of the ship:

[0168] ; ; ;

[0169] ; ;

[0170] In the formula, , The maximum and minimum values ​​of the X-axis of all point clouds in the three-dimensional contour map of the ship, , The maximum and minimum values ​​of the Y axis of all point clouds in the three-dimensional contour map of the ship, , The maximum and minimum values ​​of the Z axis of all point clouds in the three-dimensional contour map of the ship, Indicates the ship's model depth corresponding to the three-dimensional outline of the ship. Indicates the ship's freeboard height corresponding to the three-dimensional profile of the ship. Indicates the correction value, The distribution indicates the time when the bow of the ship is first scanned and the stern of the ship is first scanned in the three-dimensional profile of the ship.

[0171] The control module 5 comprises:

[0172] The judgment submodule is used to judge the actual length of the ship. Whether the length and true width of the ship do not exceed the limit Whether the width does not exceed the limit and the actual height above water of the ship Whether the water height limit and the actual draft of the ship are not exceeded Whether the draft limit and the actual speed of the ship are not exceeded Whether the speed limit is not exceeded;

[0173] The lock module is used to determine the actual length of the ship. Not exceeding the limited length, true breadth of the ship Not exceeding the limited width and actual height above water Not exceeding the limit of water height and the actual draft of the ship Do not exceed the restricted draft and the actual speed of the ship If the ship does not exceed the speed limit, the ship is allowed to pass through the lock;

[0174] The early warning submodule is used to determine the actual length of the ship. Exceeding the limit length, true breadth of the ship Exceeding the limited width, the actual height of the ship above water Exceeding the limit of water height and actual draft of the ship Exceeding the restricted draft or actual speed of the vessel If the speed limit is exceeded, an early warning will be pushed and a broadcast reminder will be made.

[0175] In some other embodiments of the present invention, the embodiments of the present invention provide the following technical solutions: a computer, comprising a memory 102, a processor 101, and a computer program stored in the memory 102 and executable on the processor 101; when the processor 101 executes the computer program, the ship lock safety control method based on multiple laser sensors as described above is implemented.

[0176] Specifically, the processor 101 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiment of the present invention.

[0177] Among them, the memory 102 may include a large-capacity memory for data or instructions. By way of example and not limitation, the memory 102 may include a hard disk drive (HDD), a floppy disk drive, a solid state drive (SSD), a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive, or a combination of two or more of these. Where appropriate, the memory 102 may include a removable or non-removable (or fixed) medium. Where appropriate, the memory 102 may be inside or outside the data processing device. In a specific embodiment, the memory 102 is a non-volatile memory. In a specific embodiment, the memory 102 includes a read-only memory (ROM) and a random access memory (RAM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically alterable ROM (EAROM) or a flash memory (FLASH), or a combination of two or more of these. Under appropriate circumstances, the RAM can be a static random access memory (SRAM) or a dynamic random access memory (DRAM), wherein the DRAM can be a fast page mode dynamic random access memory (FPMDRAM), an extended data output dynamic random access memory (EDODRAM), a synchronous dynamic random access memory (SDRAM), etc.

[0178] The memory 102 may be used to store or cache various data files that need to be processed and / or used for communication, as well as possible computer program instructions executed by the processor 101 .

[0179] The processor 101 implements the above-mentioned ship lock safety control method based on multiple laser sensors by reading and executing computer program instructions stored in the memory 102.

[0180] In some embodiments, the computer may further include a communication interface 103 and a bus 100. Figure 3 As shown, the processor 101, the memory 102, and the communication interface 103 are connected via a bus 100 and communicate with each other.

[0181] The communication interface 103 is used to implement communication between the modules, devices, units and / or equipment in the embodiment of the present invention. The communication interface 103 can also implement data communication with other components such as: external devices, image / data acquisition equipment, databases, external storage, and image / data processing workstations.

[0182] The bus 100 includes hardware, software or both, and couples the components of the computer device to each other. The bus 100 includes but is not limited to at least one of the following: a data bus, an address bus, a control bus, an expansion bus, and a local bus. By way of example and not limitation, bus 100 may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VLB) bus, or other suitable buses or a combination of two or more of these. Where appropriate, bus 100 may include one or more buses. Although embodiments of the present invention describe and illustrate a particular bus, the present invention contemplates any suitable bus or interconnect.

[0183] The computer can execute the ship lock safety control method based on multiple laser sensors of the present invention based on the acquisition of the ship lock safety control system based on multiple laser sensors, thereby realizing the ship lock safety control method based on multiple laser sensors.

[0184] In some further embodiments of the present invention, in combination with the above-mentioned ship lock safety control method based on multiple laser sensors, the embodiments of the present invention provide the following technical solutions: a storage medium having a computer program stored thereon, and the computer program implements the above-mentioned ship lock safety control method based on multiple laser sensors when executed by a processor.

[0185] Those skilled in the art will appreciate that the logic and / or steps represented in the flowchart or otherwise described herein, for example, may be considered as an ordered list of executable instructions for implementing logical functions, and may be specifically implemented in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in conjunction with such instruction execution systems, devices or apparatuses. For purposes of this specification, "computer-readable medium" may be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in conjunction with such instruction execution systems, devices or apparatuses.

[0186] More specific examples of readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be a paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering or, if necessary, processing in another suitable manner, and then stored in a computer memory.

[0187] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or a combination thereof: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0188] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0189] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A ship lock safety control method based on multiple laser sensors, characterized in that: include: Installing a number of single-line lasers and multi-line laser groups in each area of ​​the ship lock, acquiring single-line data of the ship scanned by the single-line laser and acquiring multi-line data of the ship scanned by the multi-line laser group; Merging each frame of the ship single-line data to obtain a quasi-3D point cloud image of the ship, and determining a first ship data set based on the quasi-3D point cloud image of the ship; Determine a preliminary three-dimensional ship outline map based on the ship multi-line data, and determine a second ship data set based on the preliminary three-dimensional ship outline map; The first ship data set and the second ship data set are updated to obtain a first update set and a second update set, an updated single-line ship data is randomly selected from the first update set, and updated multi-line ship data that best matches the updated single-line ship data is selected from the second update set, and the selected updated single-line ship data is fused with the matched updated multi-line ship data to obtain a three-dimensional ship profile map; Obtaining restriction data of the ship lock, determining real data of the ship based on the three-dimensional outline of the ship, judging whether the real data of the ship exceeds the restriction data, broadcasting an early warning if the real data of the ship exceeds the restriction data, and allowing the ship to pass through the lock if the real data of the ship does not exceed the restriction data; The step of updating the first ship data set and the second ship data set to obtain a first update set and a second update set comprises: Extracting a first point cloud data set in the first ship data set and a second point cloud data set in the second ship data set; Performing contour fitting on the data in the first point cloud data set to obtain a first fitting contour, determining a plurality of first feature points in the first point cloud data set based on the first fitting contour, performing contour fitting on the data in the second point cloud data set to obtain a second fitting contour, and determining a plurality of second feature points in the second point cloud data set based on the second fitting contour; A first feature point is arbitrarily selected as the center and a first preset distance is used as the radius to determine a number of first neighborhood ranges, and a second feature point is arbitrarily selected as the center and a second preset distance is used as the radius to determine a number of second neighborhood ranges; Based on the first neighborhood range and the second neighborhood range, the first feature point and the second feature point are updated to obtain a first updated feature point. Update feature points with the second : ； ； In the formula, represents a multi-layer perceptron, , represents the first feature point and the second feature point, , Represents the unit normal vector of the first feature point and the second feature point, , Respectively represent the first neighborhood point cloud data, the second neighborhood Point cloud data, Respectively represent the first neighborhood The unit normal vector of the point cloud data, the The unit normal vector of the point cloud data, represents the Euclidean distance calculation, Indicates a union operation; A first update set and a second update set are determined based on the first update feature point and the second update feature point.

2. The ship lock safety control method based on multiple laser sensors according to claim 1 is characterized in that: The step of merging each frame of the ship single-line data to obtain a quasi-3D point cloud image of the ship, and determining a first ship data set based on the quasi-3D point cloud image of the ship comprises: Merging the ship cross-sectional profile images corresponding to each frame of the ship single-line data by frame to obtain a quasi-three-dimensional point cloud image of the ship; Identify the coordinate position of each point cloud data in the quasi-3D point cloud map of the ship, as well as the time when the single-line laser first scans the bow of the ship and the time when the single-line laser first scans the stern of the ship; Based on the coordinate position of each point cloud data in the quasi-three-dimensional point cloud map of the ship, the time when the single-line laser first scans the bow of the ship, and the time when the single-line laser first scans the stern of the ship, the first ship width, the first water height, and the first freeboard height of each ship are determined to obtain a first ship data set.

3. The ship lock safety control method based on multiple laser sensors according to claim 1 is characterized in that: The steps of determining a preliminary three-dimensional ship outline map based on the ship multi-line data and determining a second ship data set based on the preliminary three-dimensional ship outline map include: Comprehensively processing each point cloud data in the multi-line data of the ship to obtain a preliminary three-dimensional outline map of the ship; Identify the coordinate position of each point cloud data in the preliminary three-dimensional outline of the ship and the time when the multi-line laser group first scans the bow of the ship and the time when the multi-line laser group first scans the stern of the ship; Based on the coordinate position of each point cloud data in the preliminary three-dimensional outline map of the ship, the time when the multi-line laser group first scans the bow of the ship, and the time when the multi-line laser group first scans the stern of the ship, the second ship width, second water height, and second freeboard height of each ship are determined to obtain a second ship data set.

4. The ship lock safety control method based on multiple laser sensors according to claim 1 is characterized in that: The step of determining the first update set and the second update set based on the first update feature point and the second update feature point comprises: Determine a first contour line length threshold based on the first fitted contour, determine a first contour neighborhood range with the first updated feature point as the center and the first contour line length threshold as the radius, determine a second contour line length threshold based on the second fitted contour, determine a second contour neighborhood range with the second updated feature point as the center and the second contour line length threshold as the radius; Based on the first updated feature points, a principal component analysis is performed on the point cloud within the neighborhood of the first contour to obtain a plurality of first eigenvalues; based on the second updated feature points, a principal component analysis is performed on the point cloud within the neighborhood of the second contour to obtain a plurality of second eigenvalues; Determine a first correlation coefficient based on the first eigenvalue and the second eigenvalue The second correlation coefficient ; ； ； In the formula, , Respectively represent The first eigenvalue, The second eigenvalue; Selecting a point cloud with the largest first correlation coefficient as a first initial point cloud, and using a corresponding feature vector as a first contour line segment direction, projecting all point clouds within the first contour range onto a straight line determined by the first contour line segment direction and the first initial point cloud to obtain a plurality of first projection points, and determining a first angle between the first projection point and a first updated feature point, using a point cloud with a first angle less than a first preset angle as a first subsequent point cloud, and using the first subsequent point cloud as a new first initial point cloud and repeating the correlation coefficient calculation, direction determination and projection process to obtain a first updated set; Take the point cloud with the largest second correlation coefficient as the second initial point cloud, and use the corresponding eigenvector as the second contour line segment direction, project all point clouds within the second contour range onto the straight line determined by the second contour line segment direction and the second initial point cloud to obtain a number of second projection points, and determine the second angle between the second projection point and the second updated feature point, take the point cloud whose second angle is less than the second preset angle as the second subsequent point cloud, and use the second subsequent point cloud as the new second initial point cloud and repeat the correlation coefficient calculation, direction determination and projection process to obtain a second update set.

5. The ship lock safety control method based on multiple laser sensors according to claim 1 is characterized in that: The step of arbitrarily selecting one updated single-line ship data in the first update set, selecting updated multi-line ship data that best matches the updated single-line ship data in the second update set, and fusing the selected updated single-line ship data with the matched updated multi-line ship data to obtain a three-dimensional ship profile map comprises: In the first update set, randomly select one to update the single-line ship data ; Calculate the updated single line ship data The difference between all updated multi-line ship data in the second update set : ； In the formula, , , , Respectively represent single-line ship data The first ship width, the first freeboard height, the first water height, and the first ship speed, Respectively indicate updating single-line ship data The time when the single-line laser first scans the bow of the ship and the time when the single-line laser first scans the stern of the ship. , , , Respectively represent Update the second ship width, second freeboard height, second water height and second ship length in the multi-line ship data; In the second update set, select the difference The updated multi-line ship data corresponding to the minimum is used as the matching updated multi-line ship data ; Single line ship data will be updated Updated multi-line vessel data with matching The fusion is performed to obtain the three-dimensional contour image of the ship.

6. The ship lock safety control method based on multiple laser sensors according to claim 1 is characterized in that: The step of determining the real data of the ship based on the three-dimensional outline of the ship comprises: Identify all point cloud positions in the three-dimensional outline of the ship, and determine the true length of the ship based on all point cloud positions in the three-dimensional outline of the ship 、Ship’s true breadth , Actual height of the ship out of water , Actual draft of the ship , Ship's actual speed , to get the real data of the ship: ； ； ； ； ； In the formula, , The maximum and minimum values ​​of the X-axis of all point clouds in the three-dimensional contour map of the ship, , The maximum and minimum values ​​of the Y axis of all point clouds in the three-dimensional contour map of the ship, , The maximum and minimum values ​​of the Z axis of all point clouds in the three-dimensional contour map of the ship, Indicates the ship's model depth corresponding to the three-dimensional outline of the ship. Indicates the ship's freeboard height corresponding to the three-dimensional profile of the ship. Indicates the correction value, The distribution indicates the time when the bow of the ship is first scanned and the stern of the ship is first scanned in the three-dimensional profile of the ship.

7. The ship lock safety control method based on multiple laser sensors according to claim 6 is characterized in that: The step of judging whether the real data of the ship exceeds the limit data, broadcasting an early warning if the real data of the ship exceeds the limit data, and allowing the ship to pass through the lock if the real data of the ship does not exceed the limit data comprises: Determine the true length of the ship Whether the length and true width of the ship do not exceed the limit Whether the width does not exceed the limit and the actual height above water of the ship Whether the water height limit and the actual draft of the ship are not exceeded Whether the draft limit and the actual speed of the ship are not exceeded Whether the speed limit is not exceeded; If the actual length of the vessel Not exceeding the limited length, true breadth of the ship Not exceeding the limited width and actual height above water Not exceeding the limit of water height and the actual draft of the ship Do not exceed the restricted draft and the actual speed of the ship If the speed limit is not exceeded, the ship is allowed to pass through the lock; If the actual length of the vessel Exceeding the limit length, true breadth of the ship Exceeding the limited width, the actual height of the ship above water Exceeding the limit of water height and the actual draft of the ship Exceeding the restricted draft or actual speed of the vessel If the speed limit is exceeded, an early warning will be pushed and a broadcast reminder will be made.

8. A ship lock safety control system based on multiple laser sensors, characterized in that: The system comprises: An acquisition module is used to install a number of single-line lasers and multi-line laser groups in various areas of the ship lock, acquire the single-line data of the ship scanned by the single-line laser and acquire the multi-line data of the ship scanned by the multi-line laser group; a merging module, configured to merge each frame of the single-line data of the ship to obtain a quasi-3D point cloud image of the ship, and determine a first ship data set based on the quasi-3D point cloud image of the ship; A contour module, used to determine a preliminary three-dimensional contour map of the ship based on the multi-line data of the ship, and determine a second ship data set based on the preliminary three-dimensional contour map of the ship; a fusion module, configured to update the first ship data set and the second ship data set to obtain a first update set and a second update set, arbitrarily select an updated single-line ship data in the first update set, select updated multi-line ship data that best matches the updated single-line ship data in the second update set, and fuse the selected updated single-line ship data with the matched updated multi-line ship data to obtain a three-dimensional ship profile map; The control module is used to obtain the restriction data of the lock, determine the real data of the ship based on the three-dimensional outline of the ship, and judge whether the real data of the ship exceeds the restriction data. If the real data of the ship exceeds the restriction data, an early warning broadcast is performed; if the real data of the ship does not exceed the restriction data, the ship is allowed to pass through the lock.

9. A computer comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the ship lock safety control method based on multiple laser sensors as described in any one of claims 1 to 7 is implemented.

10. A storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by the processor, the ship lock safety control method based on multiple laser sensors as described in any one of claims 1 to 7 is implemented.

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