Channel monitoring method and system based on compound eye camera

Abstract

The invention relates to the technical field of channel monitoring, in particular to a channel monitoring method and system based on a compound eye camera, and the system comprises a multi-section telescopic rod installed beside a channel, and the upper end of each group of telescopic joints in the multi-section telescopic rod is welded with an expansion plate; the expansion plate in the group of telescopic joints located at the uppermost end of the multi-section telescopic rod is provided with a compound eye camera, the expansion plate in the group of telescopic joints located in the middle of the multi-section telescopic rod is provided with a detection radar, and the expansion plates in the two groups of telescopic joints located at the upper end and the lower end of the multi-section telescopic rod are provided with visibility monitoring devices; according to the channel monitoring method and system based on the compound eye camera, the defect that the use environment is limited in the prior art is overcome.

Description

Technical Field

[0001] The present invention relates to the technical field of waterway monitoring, and in particular to a waterway monitoring method and system based on a compound eye camera. Background Art

[0002] Using compound eye cameras as monitoring means is an existing technology, such as a perimeter monitoring device and a perimeter monitoring method proposed in Chinese patent application number: "CN201811211139.5". Therefore, compound eye cameras can also be introduced into the field of waterway monitoring to realize waterway monitoring; Existing technologies that use vision and radar for waterway monitoring, such as a waterway monitoring system proposed in Chinese patent application number: "CN202223605554.3", which solves the problems of inconvenient installation, limited monitoring angle and damage to bridge structure of waterway monitoring systems in the prior art by installing laser tube radars and cameras on poles along the waterway; However, when the vision is poor (such as in foggy weather), the laser radar and camera installed by this technology are difficult to detect the waterway, which limits the use environment. In addition, the camera and laser radar are at fixed heights and are difficult to adjust freely according to environmental changes, further reducing the monitoring effect. To this end, this case will propose a new channel monitoring system based on a compound eye camera, as well as its use method, so that the monitoring system can be applied to scenes with poor environmental vision. Summary of the invention

[0003] The purpose of the present invention is to solve the shortcomings of the prior art such as limited use environment, and to propose a channel monitoring method and system based on a compound eye camera.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions: A waterway monitoring system based on a compound eye camera is designed, comprising a multi-section telescopic rod installed beside the waterway, wherein an expansion plate is welded to the upper end of each group of telescopic sections in the multi-section telescopic rod, a compound eye camera is installed on the expansion plate in a group of telescopic sections located at the uppermost end of the multi-section telescopic rod, a detection radar is installed on the expansion plate in a group of telescopic sections located in the middle of the multi-section telescopic rod, and a visibility monitoring device is installed on the expansion plates in two groups of telescopic sections located at the upper and lower ends of the multi-section telescopic rod.

[0005] Preferably, the detection radar is arranged in a group on the left and right sides of the multi-section telescopic rod.

[0006] Preferably, at least two groups of the detection radars may be longitudinally arranged on the multi-section telescopic rod, the detection radars located at the bottom are used for scanning the waterway horizontally, and the detection radars located at the top are used for scanning the waterway from above.

[0007] Preferably, the detection radar is a millimeter wave radar.

[0008] Preferably, the multi-section telescopic rod adopts a hierarchical control structure, and each group of telescopic sections of the multi-section telescopic rod can be independently telescopic.

[0009] Preferably, the highest height of the top of the multi-section telescopic rod is not less than 30 meters, and the number of telescopic sections of the multi-section telescopic rod should be no less than four.

[0010] Preferably, a height detection device is provided in the multi-section telescopic rod to detect the horizontal height of devices such as compound eye cameras and detection radars.

[0011] Preferably, the compound eye camera and the detection radar are connected to the expansion board via a gimbal.

[0012] Preferably, the expansion board is equipped with signal lights, transmitters and other equipment as auxiliary devices for emergency communications.

[0013] A channel monitoring method based on a compound eye camera is designed, comprising the above-mentioned channel monitoring system based on a compound eye camera, wherein the visibility monitoring device and the compound eye camera are used together to monitor the visible distance of the environment; When the visible distance is above 5 km: the multi-section telescopic rod is extended, the compound eye camera takes on the main monitoring work, and the detection radar is turned on to assist detection and assist the deep learning of the compound eye camera; When the visible distance is between 2.5 km and 5 km: the multi-section telescopic rods are slightly retracted, the compound eye camera takes on the main monitoring work, and the detection radar is turned on to assist detection and assist the deep learning of the compound eye camera; When the visible distance is less than 2.5 kilometers: the multi-section telescopic rod is greatly retracted, the compound eye camera is used for auxiliary monitoring, and the detection radar is responsible for the main monitoring work; When disassembling and maintaining: the multi-section telescopic rod is fully retracted.

[0014] The present invention proposes a waterway monitoring method and system based on a compound eye camera, which has the following beneficial effects: In this case, the compound eye camera can monitor the movement of objects in the waterway, and use the depth of field function of the compound eye camera to accurately analyze the shape and movement speed of the objects. When the field of view is good, the waterway can be monitored independently through the compound eye camera. In this case, the coordination of the multi-section telescopic rod, the visibility monitoring device and the compound eye camera enables the telescopic length of the multi-section telescopic rod to be adjusted in real time. When the environmental field of vision is poor, the height of the compound eye camera can be lowered to exchange the field of vision for the quality of the field of vision, and the detection radar can be used to assist in monitoring to avoid complete failure of the monitoring system. In this case, the multi-section telescopic rod is set up so that the compound eye camera and detection radar have a higher installation height, which can facilitate maintenance and improve the safety and convenience of equipment maintenance. The telescopic length of the multi-section telescopic rod can also be freely adjusted according to the environmental visibility, thereby improving the applicability to different environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A schematic diagram of the detection range of a waterway monitoring system based on a compound eye camera; Figure 2 It is a schematic diagram of the structure and installation location of a channel monitoring system based on a compound eye camera; Figure 3 Schematic diagram of a waterway monitoring method based on a compound eye camera.

[0016] In the figure: 1. Multi-section telescopic rod; 101. Expansion board; 2. Compound eye camera; 3. Visibility monitoring device; 4. Detection radar; 5. Light sensor. DETAILED DESCRIPTION

[0017] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0018] Reference Figure 1 , 2 , here is an example of how the monitoring system is implemented: A waterway monitoring system based on a compound eye camera, comprising a multi-section telescopic rod 1 installed beside the waterway, referring to Figure 2 The multi-section telescopic rod 1 shown in the figure is a five-section structure. An expansion plate 101 is welded to the upper end of each group of telescopic sections in the multi-section telescopic rod 1. The expansion plate 101 can be integrally formed with common assembly structures such as alignment grooves and tooling screw holes for installing external equipment. The expansion plate 101 in a group of telescopic sections located at the uppermost end of the multi-section telescopic rod 1 is installed with a compound eye camera 2, the expansion plate 101 in a group of telescopic sections located in the middle of the multi-section telescopic rod 1 is installed with a detection radar 4, and the expansion plates 101 in the two groups of telescopic sections located at the upper and lower ends of the multi-section telescopic rod 1 are installed with a visibility monitoring device 3.

[0019] The main structure in this case includes a multi-section telescopic rod 1, a compound eye camera 2, a visibility monitoring device 3, a detection radar 4, etc.; the compound eye camera 2 is installed at high altitude through the multi-section telescopic rod 1, so that the compound eye camera 2 can overlook the waterway, reduce the blind spot of the field of vision, and reduce the requirements for the installation angle and number of compound eye cameras 2; when the multi-section telescopic rod 1 is extended, the detection radar 4 can be turned on to assist the compound eye camera 2 in scanning the waterway from above, and complement and correct the visual positioning of the compound eye camera 2, more accurately detect the position of objects in the waterway and help the visual system of the compound eye camera 2 to learn deeply, and when the multi-section telescopic rod 1 is shortened, the detection radar 4 performs a flat scan of the waterway to replace the function of the compound eye camera 2; the visibility monitoring device 3 is used to detect the environmental visible distance, and use the environmental visible distance as a reference to control the extension and retraction of the multi-section telescopic rod 1, the activation of the compound eye camera 2 and the detection radar 4.

[0020] Reference Figure 1 , 2 In the figure, A is the detection range of the compound eye camera, and B is the detection range of the detection radar. The detection radar 4 should be located on the left and right sides of the multi-section telescopic rod 1, and one group is provided on each side. As an auxiliary device of the compound eye camera 2, the detection radar 4 should use a millimeter wave radar to reduce interference caused by environmental reasons; Furthermore, at least two groups of detection radars 4 may be longitudinally arranged on the multi-section telescopic rod 1, wherein the detection radars 4 located at the bottom are used for scanning the waterway horizontally, and the detection radars 4 located at the top are used for scanning the waterway from above.

[0021] Reference Figure 2 The multi-section telescopic rod 1 can adopt a hierarchical control structure, so that each group of telescopic sections of the multi-section telescopic rod 1 can be independently extended and retracted. This design enables the height of the compound eye camera 2 relative to the ground to be adjusted according to the detection result of the visibility monitoring device 3. When the visibility decreases, the height of the compound eye camera 2 can be lowered to obtain an imaging effect through the field of view; Furthermore, the highest height of the top of the multi-section telescopic rod 1 (i.e., the horizontal height between the compound eye camera 2 and the ground) should be no less than 30 meters, and the number of telescopic sections of the multi-section telescopic rod 1 should be no less than four, so that there are sufficient telescopic sections to accommodate the compound eye camera 2 and the detection radar 4 at different heights; Reference Figure 2 A light sensor 5 is fixedly installed on the outside of a group of expansion boards 101. The light sensor 5 cooperates with the visibility monitoring device 3 to monitor the ambient light and visibility. The light sensor 5 can also cooperate with the compound eye camera 2 to monitor the ambient light data in real time through the light sensor 5 and transmit the ambient light data to the compound eye camera 2, so that the compound eye camera 2 can adjust the ISP in real time, and cooperate with AI to optimize the imaging algorithm of the compound eye camera 2 to improve the fog monitoring effect.

[0022] Reference Figure 3, here is an example of how the monitoring method may be implemented: A waterway monitoring method based on a compound eye camera is based on the above-mentioned waterway monitoring system based on the compound eye camera 2: Visible distance analysis: Taking a waterway with a width of 1 km as an example, the visibility distance of the environment is estimated through the cooperation of the visibility monitoring device 3 and the compound eye camera 2. When the visible distance is above 5 km (or understood as five times the width of the waterway), the multi-section telescopic rod 1 can be fully extended. At this time, the detection radar 4 can be turned off and the waterway can be detected only through the compound eye camera 2; when the visible distance is between 2.5 km and 5 km, the length of the multi-section telescopic rod 1 can be reduced in exchange for a better image effect of the compound eye camera 2. At this time, the detection radar 4 should be turned on for auxiliary detection; when the visible distance is less than 2.5 km, the multi-section telescopic rod 1 can be greatly contracted. At this time, the detection radar 4 must be turned on to replace the compound eye camera 2 for monitoring; the estimation result of the visible distance should be transmitted to the control room via wireless or wired signals and checked by the staff.

[0023] The telescopic length of the multi-section telescopic rod 1 is adjusted based on the visible distance analysis, and the angle orientation of the detection radar 4 is changed according to the telescopic length of the multi-section telescopic rod 1, so that it can scan the waterway horizontally or look down on the waterway as needed; the detection radar 4 can be complementary to the compound eye camera 2, and can also play an auxiliary role in the deep learning of the compound eye camera 2. Therefore, a height detection device is also required to be provided in the multi-section telescopic rod 1 to transmit the horizontal height of the compound eye camera 2, the detection radar 4 and other devices, and make timely adjustments to avoid the angle change caused by the height change of the compound eye camera 2, the detection radar 4 and other devices, which causes the monitoring accuracy deviation. The compound eye camera 2 and the detection radar 4 are connected to the expansion board 101 through a gimbal.

[0024] Based on the above implementation examples, when used: The multi-section telescopic rod 1 is erected on the shore and retracted to facilitate the installation of the equipment; the compound eye camera 2 is installed on a set of telescopic joints at the top of the multi-section telescopic rod 1, and the detection radar 4 is installed on the telescopic joint in the middle of the multi-section telescopic rod 1. Finally, the transmitting end and the receiving end of the visibility monitoring device 3 are respectively installed on the two sets of telescopic joints at the upper and lower ends of the multi-section telescopic rod 1; When the visible distance is greater than 5 kilometers, the multi-section telescopic rod 1 can be fully unfolded, and the compound eye camera 2 takes the main monitoring work; when the visible distance is between 2.5 kilometers and 5 kilometers, the multi-section telescopic rod 1 shrinks slightly, and the compound eye camera 2 takes the main monitoring work, and the detection radar 4 can also be turned on for auxiliary monitoring; when the visible distance is less than 2.5 kilometers, the multi-section telescopic rod 1 shrinks significantly, and the compound eye camera 2 performs auxiliary monitoring work, and the detection radar 4 takes the main monitoring work; The telescopic function of the multi-section telescopic rod 1 can also be used for daily maintenance to improve safety. The expansion board 101 in the multi-section telescopic rod 1 can also be installed with additional expansion devices, such as signal lights, transmitters and other equipment, which are auxiliary devices for emergency communications.

[0025] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A waterway monitoring system based on a compound eye camera (2), characterized in that: The invention comprises a multi-section telescopic rod (1) installed beside a waterway, wherein an expansion plate (101) is welded to the upper end of each group of telescopic sections in the multi-section telescopic rod (1), a compound eye camera (2) is installed on the expansion plate (101) in a group of telescopic sections located at the uppermost end of the multi-section telescopic rod (1), a detection radar (4) is installed on the expansion plate (101) in a group of telescopic sections located in the middle of the multi-section telescopic rod (1), and a visibility monitoring device (3) is installed on the expansion plates (101) in two groups of telescopic sections located at the upper and lower ends of the multi-section telescopic rod (1).

2. A waterway monitoring system based on a compound eye camera (2) according to claim 1, characterized in that: The detection radars (4) are located on the left and right sides of the multi-section telescopic rod (1), with one group each being arranged.

3. A waterway monitoring system based on a compound eye camera (2) according to claim 2, characterized in that: At least two groups of the detection radars (4) can be arranged longitudinally on the multi-section telescopic rod (1), wherein the detection radars (4) located at the bottom are used for scanning the waterway horizontally, and the detection radars (4) located at the top are used for scanning the waterway from above.

4. A waterway monitoring system based on a compound eye camera (2) according to claim 1, characterized in that: The detection radar (4) is a millimeter wave radar.

5. A waterway monitoring system based on a compound eye camera (2) according to claim 1, characterized in that: The multi-section telescopic rod (1) adopts a hierarchical control structure, and each group of telescopic sections of the multi-section telescopic rod (1) can be independently telescopic.

6. A waterway monitoring system based on a compound eye camera (2) according to claim 5, characterized in that: The maximum height of the top of the multi-section telescopic rod (1) is not less than 30 meters, and the number of telescopic sections of the multi-section telescopic rod (1) should be no less than four.

7. A waterway monitoring system based on a compound eye camera (2) according to claim 1, characterized in that: A height detection device is arranged inside the multi-section telescopic rod (1) for detecting the horizontal height of devices such as the compound eye camera (2) and the detection radar (4).

8. A waterway monitoring system based on a compound eye camera (2) according to claim 7, characterized in that: The compound eye camera (2) and the detection radar (4) are connected to the expansion board (101) via a pan-tilt platform.

9. A waterway monitoring system based on a compound eye camera (2) according to claim 1, characterized in that: A light sensor (5) is fixedly mounted on the outer side of a group of the expansion boards (101). The light sensor (5) is used to monitor ambient light data and transmit the data to the compound eye camera (2). The light sensor (5) cooperates with the visibility monitoring device (3) to monitor ambient light and visibility.

10. A waterway monitoring method based on a compound eye camera (2), comprising a waterway monitoring system based on a compound eye camera (2) according to claims 1 to 9, characterized in that: The visibility monitoring device (3) and the compound eye camera (2) are used together to monitor the visible distance of the environment; When the visible distance is above 5 km: the multi-section telescopic rod (1) is extended, the compound eye camera (2) takes on the main monitoring work, and the detection radar (4) is turned on to assist in detection and assist in the deep learning of the compound eye camera (2); When the visible distance is between 2.5 km and 5 km: the multi-section telescopic rod (1) is slightly retracted, the compound eye camera (2) takes on the main monitoring work, and the detection radar (4) is turned on to assist in detection and assist in the deep learning of the compound eye camera (2); When the visible distance is less than 2.5 kilometers: the multi-section telescopic rod (1) is greatly retracted, the compound eye camera (2) performs auxiliary monitoring work, and the detection radar (4) performs the main monitoring work; When disassembling and maintaining, the multi-section telescopic rod (1) is fully retracted.

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