Large-range sea area multi-ship supervision method based on real-time radar image data

Abstract

The invention discloses a large-range sea area multi-ship supervision method based on real-time radar image data, and the method comprises the steps: obtaining the radar video data through installing an intelligent terminal on a ship, and employing the ship-borne equipment on the ship; processing the radar video data by using an intelligent terminal and stably transmitting the radar video data to a ship safety information intelligent interaction service platform at a shore end, so that the ship safety information intelligent interaction service platform at the shore end splices radar video images of each ship at the same shooting moment; and real-time supervision and ship adjustment can be carried out on the operation conditions of a plurality of ships in a sea area in any range on the same platform at the shore end, so that navigation accidents are avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of sea area ship monitoring, and in particular to a method for monitoring multiple ships in a large sea area based on real-time radar image data. Background Art

[0002] With the continuous development of water transportation, how to ensure the safety of ships, the lives and property of crew members, and the protection of the marine environment is one of the major and prominent issues facing the maritime industry. Many maritime countries have unanimously sought to find a fundamental solution to prevent maritime accidents, which has significantly improved the frequent occurrence of major maritime accidents.

[0003] However, there are still maritime accidents. In order to effectively prevent the occurrence of maritime accidents, it is necessary to investigate the causes of the accidents. In the accident investigation, it is difficult to accurately, systematically and dynamically find out the real cause of the accident because the accident scene is difficult to maintain after the ship collision or accident, and there are serious defects in the establishment of the accident cause chain.

[0004] At the same time, the country is paying more and more attention to the demand for situational awareness of water targets. Radar images can identify all targets within a certain range, but the current solution is to identify water targets in nearby waters based on fixed shore-based radars. That is, the existing technology can only identify and monitor ships sailing in the sea within a certain area from the shore, and cannot achieve target perception in any area or large area on the water. Summary of the invention

[0005] In view of this, the present invention provides a method for monitoring multiple ships in a large sea area based on real-time radar image data, so as to solve the problems existing in the above-mentioned background technology.

[0006] A method for monitoring multiple ships in a large sea area based on real-time radar image data specifically comprises the following steps:

[0007] S1, install smart terminals on all ships in a large sea area and connect the shipborne radar of each ship to its respective smart terminal;

[0008] Set up an intelligent interactive service platform for ship safety information on the shore;

[0009] S2, the shipborne radar of each ship transmits the radar video data collected to its respective smart terminal in real time, and the smart terminal of each ship performs lossless compression and standardized processing on the received radar video data and pushes the stream to the ship safety information intelligent interactive service platform on the shore;

[0010] S3, the ship safety information intelligent interactive service platform on the shore stitches the radar video data of multiple ships at the same time, obtains dynamic radar stitching video, and displays it.

[0011] Preferably, the ship safety information intelligent interactive service platform on the shore can also display radar video images of a single ship in real time or within a specific time range.

[0012] Preferably, the shore-side ship safety information intelligent interactive service platform can also display radar video images of different ships within the specified custom sea area.

[0013] Preferably, in step S2, the specific steps of the intelligent terminal of a single ship performing lossless compression and standardization processing on the radar video data it receives are:

[0014] First, the smart terminal of a single ship verifies the radar video data it receives to determine whether it is valid data;

[0015] Secondly, extract its general radar navigation information;

[0016] Then, the Fmpeg video processing tool is used to perform lossless compression on the radar video image to convert the resolution of the radar video image into the optimal resolution according to the current network conditions.

[0017] Preferably, when the intelligent terminal of a single ship verifies the radar video data it receives, if the radar video data is a radar echo video when the radar device is in normal use, it means that the received radar video data is valid data.

[0018] Preferably, when the resolution of the radar video image is converted to an optimal resolution according to the current network conditions,

[0019] When the data transmission rate D of the current network satisfies 0.08M / s≤D<0.12M / s, the resolution of the radar video image is converted to 940×706;

[0020] When the data transmission rate D of the current network satisfies 0.12M / s≤D<0.18M / s, the resolution of the radar video image is converted to 1024×768;

[0021] When the data transmission rate D of the current network satisfies 0.18M / s≤D<0.24M / s, the resolution of the radar video image is converted into 1100×826;

[0022] When the data transmission rate D of the current network satisfies 0.24M / s≤D<0.33M / s, the resolution of the radar video image is converted to 1150×864;

[0023] When the data transmission rate D of the current network satisfies D ≥ 0.33M / s, the resolution of the radar video image is converted into 1280×960.

[0024] Preferably, the general radar navigation information includes the ship's heading, speed and position.

[0025] Preferably, in step S3, the intelligent interactive service platform for ship safety information on the shore side splices radar video data of multiple ships at the same video sending moment to obtain a dynamic radar spliced ​​video in the following specific steps:

[0026] The ship safety information intelligent interactive service platform on the shore extracts the time when each ship's shipboard terminal obtains the radar video data from the data it receives;

[0027] Then, according to the time when the shipboard terminal of each ship obtains the radar video data and the video duration, the ship's heading and navigation track within the radar video duration range sent by each ship are calculated through the AIS information of each ship;

[0028] Then, the radar echo ranges of the radar video images of each ship are respectively converted into the spliced ​​radar echo ranges according to the same ratio;

[0029] Finally, the stitched radar echo ranges in the radar video images of each ship at the same video sending moment are stitched into the same stitched image to obtain a dynamic radar stitched video.

[0030] Preferably, the signal output end of the shipborne radar is connected to the signal input end of the video capture card or the converter through a serial port line, and the signal output end of the video capture card or the converter is connected to the USB port of the intelligent terminal through a USB cable.

[0031] Preferably, if the signal output terminal of the shipborne radar is a VGA interface, the signal output terminal of the shipborne radar is directly connected to the signal input terminal of the video capture card or the converter through a VGA serial port line;

[0032] If the signal output end of the shipborne radar is a DVI interface, the signal output end of the shipborne radar is connected to a DVI to VGA adapter, and the DVI to VGA adapter is connected to a signal input end of a video capture card or a converter through a VGA serial port line.

[0033] The beneficial effects of the present invention are:

[0034] 1. The present invention installs an intelligent terminal on a ship, uses the ship-borne equipment on the ship to obtain its radar video data, and then uses the intelligent terminal to process the radar video data and stably transmit it to the ship safety information intelligent interactive service platform on the shore, so that the ship safety information intelligent interactive service platform on the shore can splice the radar video images of each ship at the same shooting time. On the shore, the operation of multiple ships in any sea area can be monitored and adjusted in real time on the same platform to avoid navigation accidents.

[0035] 2. The present invention converts the DVI image data output by the shipborne radar into USB format data that can be received by the intelligent terminal through a data adapter and a video acquisition card, so that the intelligent terminal can perform lossless compression and standardized processing on the radar video data, and the intelligent terminal can locally store the radar video data.

[0036] 3. The intelligent terminal of the present invention can convert the resolution of the radar video image into the optimal resolution according to the network conditions, so as to transmit the compressed radar video image back to the ship safety information intelligent interactive service platform on the shore in real time and in a timely manner, and the intelligent terminal will transmit the received radar video data to the ship safety information intelligent interactive service platform on the shore at a regular interval. The ship safety information intelligent interactive service platform on the shore will stitch the radar videos taken by each ship into one picture based on the data sent back by the intelligent terminals of each ship to obtain a dynamic radar stitched video, which is then enhanced and displayed on the platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments 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.

[0038] Figure 1 It is a principle block diagram of the present invention. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention is described below by the specific embodiments shown in the accompanying drawings. However, it should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present invention. In addition, in the following description, the description of well-known structures and technologies is omitted to avoid unnecessary confusion of the concept of the present invention.

[0040] The terms used in this disclosure are for the purpose of describing specific embodiments only and are not intended to limit the disclosure. The singular forms of "a", "said" and "the" used in this disclosure and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0041] In order to better understand the technical solution of the present invention, the present invention is described in detail below with reference to the accompanying drawings.

[0042] The present invention provides a method for supervising multiple ships in a large sea area based on real-time radar image data, which specifically includes the following steps:

[0043] S1, install smart terminals on all ships in a large sea area, connect the shipborne radar of each ship with its respective smart terminal; set up a ship safety information intelligent interactive service platform on the shore.

[0044] Every ship is equipped with a shipborne radar, and the navigation of a ship is inseparable from the navigation and related warning reminders of the shipborne radar equipment. At present, the actual application scenario of shipborne radar is that the ship's drivers use the radar to navigate the ship.

[0045] Since the data interface of the shipborne radar and the data interface of the smart terminal are different, the data types transmitted by the two are different. Therefore, in order to realize data transmission between the shipborne radar and the smart terminal, the signal output end of the shipborne radar is connected to the signal input end of the video capture card or converter through a serial port line, and the signal output end of the video capture card or converter is connected to the USB port of the smart terminal through a USB cable.

[0046] Specifically, there are usually two types of signal output interfaces for shipborne radars, namely a VGA interface and a DVI interface.

[0047] When the signal output end of the shipborne radar is a VGA interface, the signal output end of the shipborne radar is directly connected to the signal input end of the video capture card or the converter through a VGA serial port line, and the signal output end of the video capture card or the converter is connected to the USB port of the intelligent terminal through a USB cable;

[0048] When the signal output end of the shipborne radar is a DVI interface, the signal output end of the shipborne radar is connected to a DVI to VGA adapter, the DVI to VGA adapter is connected to a signal input end of a video capture card or a converter through a VGA serial port line, and the signal output end of the video capture card or the converter is connected to a USB port of the intelligent terminal through a USB cable.

[0049] S2, the shipborne radars of each ship transmit the collected radar video data to their respective smart terminals in real time. The smart terminals of each ship perform lossless compression and standardized processing on the received radar video data and push the stream to the ship safety information intelligent interactive service platform on the shore.

[0050] Specifically, the specific steps for the intelligent terminal of a single ship to perform lossless compression and standardized processing on the radar video data it receives are as follows:

[0051] First, the smart terminal of a single ship verifies the radar video data it receives to determine whether it is valid data. If the radar video data is a radar echo video under normal use of the radar equipment, it means that the received radar video data is valid data;

[0052] Secondly, extract the general information of radar navigation from the radar video data, including the ship's heading, speed, and position (i.e., extraction);

[0053] Then, the Fmpeg video processing tool is used to perform lossless compression on the radar video image to convert the resolution of the radar video image into the optimal resolution according to the current network conditions.

[0054] When the data transmission rate D of the current network satisfies 0.08M / s≤D<0.12M / s, the resolution of the radar video image is converted to 940×706;

[0055] When the data transmission rate D of the current network satisfies 0.12M / s≤D<0.18M / s, the resolution of the radar video image is converted to 1024×768;

[0056] When the data transmission rate D of the current network satisfies 0.18M / s≤D<0.24M / s, the resolution of the radar video image is converted into 1100×826;

[0057] When the data transmission rate D of the current network satisfies 0.24M / s≤D<0.33M / s, the resolution of the radar video image is converted to 1150×864;

[0058] When the data transmission rate D of the current network satisfies D ≥ 0.33M / s, the resolution of the radar video image is converted into 1280×960.

[0059] According to the above-mentioned standardized processing steps for lossless video compression, the intelligent terminal of each ship processes the radar video data it receives in turn, and transmits the processed radar video data to the shore-side ship safety information intelligent interactive service platform at a stable transmission rate and a certain return interval.

[0060] S3, the ship safety information intelligent interactive service platform on the shore stitches the radar video data of multiple ships at the same time, obtains dynamic radar stitching video, and displays it.

[0061] Specifically, the specific steps for splicing radar video data of multiple ships at the same time are as follows:

[0062] First, the ship safety information intelligent interactive service platform on the shore extracts the time when the shipboard terminal of each ship obtains the radar video data from the radar video data received from each ship, and uses this time as a unified timestamp as the time reference for subsequent video stitching (that is, the video data sent by each ship to the shore platform carries the time when its respective shipboard terminal obtains the radar video image. The shore platform can receive the real-time video sent by each ship, and can also receive the cached video sent by each ship due to transmission delay and other conditions. The shore platform uses the time when the shipboard terminal obtains the radar video data as the time reference for radar video image stitching, and the real-time and past time radar video data stitching can be displayed on the radar video image display interface);

[0063] Then, according to the time and duration of the radar video acquired by each ship's ship-borne terminal, the ship's heading and navigation track within the duration of the radar video sent by each ship are calculated through the AIS information of each ship;

[0064] Then, the radar echo range of the radar video image of each ship is converted into the spliced ​​radar echo range according to the same ratio. For example, assuming there are two ships A and B, the radar video of ship A taken at a certain time point received by the shore-side ship safety information intelligent interactive service platform is recorded as video 1, and the radar video of ship B taken at the same time point received by the shore-side ship safety information intelligent interactive service platform is recorded as video 2. The shore-side ship safety information intelligent interactive service platform converts the radar echo range in each frame of video 1 (the video consists of continuous frames of images) into the spliced ​​radar echo range according to a certain ratio, and similarly converts the radar echo range in each frame of video 2 into the spliced ​​radar echo range according to the same ratio;

[0065] Finally, the stitched radar echo ranges in the radar video images of each ship at the same timestamp (that is, the radar video images acquired by the shipborne terminals of each ship at the same time) are stitched into the same stitched image to obtain a dynamic radar stitched video. At the same time, the ship headings and navigation tracks of the ships can also be displayed in the dynamic radar stitched video according to the ship headings of each ship within the video duration of the radar video calculated as above. Taking the above example as an example, the stitched radar echo ranges in each frame of video 1 taken at the same time point are stitched with the stitched radar echo ranges in the corresponding frame of video 2 in turn and displayed in the same stitched image. Continuous stitched images frame by frame constitute a dynamic radar stitched video.

[0066] The present invention installs an intelligent terminal on a ship, uses the ship-borne equipment on the ship to obtain its radar video data, and then uses the intelligent terminal to process the radar video data and stably transmits it to the ship safety information intelligent interactive service platform on the shore, so that the ship safety information intelligent interactive service platform on the shore can splice the radar video images of each ship at the same shooting time. On the shore, the operation status of multiple ships in any sea area can be monitored and adjusted in real time on the same platform, so as to avoid navigation accidents.

[0067] Preferably, the ship safety information intelligent interactive service platform on the shore can also display radar video images of a single ship in real time or within a specific time range.

[0068] Preferably, as long as the ship safety information intelligent interactive service platform on the shore obtains radar image data of enough ships, it can achieve full coverage supervision of the designated area. At the same time, the ship safety information intelligent interactive service platform on the shore can also realize radar video images of different ships within the designated custom sea area.

[0069] It should be clear that the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

Claims

1. A method for monitoring multiple ships in a large sea area based on real-time radar image data, characterized in that: The specific steps include: S1, install smart terminals on all ships in a large sea area and connect the shipborne radar of each ship to its respective smart terminal; Set up an intelligent interactive service platform for ship safety information on the shore; S2, the shipborne radar of each ship transmits the radar video data it collects to its respective smart terminal in real time, and the smart terminal of each ship performs lossless compression and standardized processing on the received radar video data and pushes the stream to the ship safety information intelligent interactive service platform on the shore; S3, the ship safety information intelligent interactive service platform on the shore stitches the radar video data of multiple ships at the same time, obtains dynamic radar stitching video, and displays it.

2. The method for monitoring multiple ships in a large sea area based on real-time radar image data according to claim 1 is characterized in that: The shore-side ship safety information intelligent interactive service platform can also display radar video images of a single ship in real time or within a specific time range.

3. The method for monitoring multiple ships in a large sea area based on real-time radar image data according to claim 1 is characterized in that: The shore-side ship safety information intelligent interactive service platform can also display radar video images of different ships within a specified custom sea area.

4. The method for monitoring multiple ships in a large sea area based on real-time radar image data according to claim 1 is characterized in that: In step S2, the specific steps of the intelligent terminal of a single ship performing lossless compression and standardization processing on the radar video data it receives are as follows: First, the smart terminal of a single ship verifies the radar video data it receives to determine whether it is valid data; Secondly, extract its general radar navigation information; Then, the Fmpeg video processing tool is used to perform lossless compression on the radar video image to convert the resolution of the radar video image into the optimal resolution according to the current network conditions.

5. The method for monitoring multiple ships in a large sea area based on real-time radar image data according to claim 4 is characterized in that: When the intelligent terminal of a single ship verifies the radar video data it receives, if the radar video data is a radar echo video when the radar equipment is in normal use, it means that the received radar video data is valid data.

6. The method for monitoring multiple ships in a large sea area based on real-time radar image data according to claim 4 is characterized in that: When the resolution of the radar video image is converted to the optimal resolution according to the current network conditions, When the data transmission rate D of the current network satisfies 0.08M / s≤D<0.12M / s, the resolution of the radar video image is converted to 940×706; When the data transmission rate D of the current network satisfies 0.12M / s≤D<0.18M / s, the resolution of the radar video image is converted to 1024×768; When the data transmission rate D of the current network satisfies 0.18M / s≤D<0.24M / s, the resolution of the radar video image is converted into 1100×826; When the data transmission rate D of the current network satisfies 0.24M / s≤D<0.33M / s, the resolution of the radar video image is converted to 1150×864; When the data transmission rate D of the current network satisfies D ≥ 0.33M / s, the resolution of the radar video image is converted into 1280×960.

7. The method for monitoring multiple ships in a large sea area based on real-time radar image data according to claim 4 is characterized in that: The general radar navigation information includes the ship's heading, speed and position.

8. The method for monitoring multiple ships in a large sea area based on real-time radar image data according to claim 1 is characterized in that: In step S3, the ship safety information intelligent interactive service platform on the shore side splices the radar video data of multiple ships at the same video sending time, and the specific steps of obtaining the dynamic radar spliced ​​video are: The ship safety information intelligent interactive service platform on the shore extracts the time when each ship's shipboard terminal obtains the radar video data from the data it receives; Then, according to the time when the shipboard terminal of each ship obtains the radar video data and the video duration, the ship's heading and navigation track within the radar video duration sent by each ship are calculated through the AIS information of each ship; Then, the radar echo ranges of the radar video images of each ship are respectively converted into the spliced ​​radar echo ranges according to the same ratio; Finally, the stitched radar echo ranges in the radar video images of each ship at the same video sending moment are stitched into the same stitched image to obtain a dynamic radar stitched video.

9. The method for monitoring multiple ships in a large sea area based on real-time radar image data according to claim 1 is characterized in that: The signal output end of the shipborne radar is connected to the signal input end of the video acquisition card or the converter through a serial port line, and the signal output end of the video acquisition card or the converter is connected to the USB port of the intelligent terminal through a USB cable.

10. The method for monitoring multiple ships in a large sea area based on real-time radar image data according to claim 1, characterized in that: If the signal output terminal of the shipborne radar is a VGA interface, the signal output terminal of the shipborne radar is directly connected to the signal input terminal of the video acquisition card or converter through a VGA serial port line; If the signal output end of the shipborne radar is a DVI interface, the signal output end of the shipborne radar is connected to a DVI to VGA adapter, and the DVI to VGA adapter is connected to a signal input end of a video capture card or a converter through a VGA serial port line.

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