Early warning method, device and equipment for ship collision and storage medium

Abstract

The invention provides an early warning method, device and equipment for ship collision and a storage medium, and the method comprises the steps: firstly obtaining image information collected by an image collection device disposed on a ship body in real time, and creating a first background image and a second background image which are consistent with the resolution of the image information; dividing a warning area on the first background image, and dividing an alarm area on the second background image; then, identifying the image information to generate obstacle information, and mapping the obstacle information to the first background image and the second background image; and finally, traversing pixel points of the warning area and the alarm area, and giving an alarm when it is detected that the pixel points of the obstacle information appear in the warning area and the alarm area. The problem that a ship collision early warning system may fail is solved.

Description

Technical Field

[0001] The present invention relates to the field of ship collision warning, and in particular to a ship collision warning method, device, equipment and storage medium. Background Art

[0002] Ship collision is a serious threat to safety in maritime traffic, especially in complex sea conditions, bad weather or high-density waterways. Existing ship collision warning systems mainly rely on radar and automatic identification system (AIS) technology. However, these traditional methods have some significant limitations. The detection performance of radar technology may be limited in rainy and snowy weather or when the sea surface fluctuates violently, resulting in the inability to accurately identify surrounding obstacles. Although the AIS system can effectively identify ships equipped with signal equipment, it cannot reliably identify floating objects, fixed structures such as bridge piers or other unforeseen obstacles that are not equipped with signal equipment. This technical defect may result in untimely or inaccurate warning information, increasing the risk of ship collision.

[0003] In view of this, this application is filed. Summary of the invention

[0004] The invention discloses a ship collision warning method, device, equipment and storage medium, aiming to solve the problem that a ship collision warning system may fail.

[0005] A first embodiment of the present invention provides a ship collision warning method, comprising:

[0006] Acquire image information collected by an image acquisition device configured on the hull in real time, create a first background image and a second background image with the same resolution as the image information, and divide a warning area on the first background image and a warning area on the second background image;

[0007] Recognize the image information to generate obstacle information, and map the obstacle information onto the first background image and the second background image;

[0008] The pixel points of the warning area and the alarm area are traversed, and an alarm is issued when it is detected that the pixel points of the obstacle information appear in the warning area and the alarm area.

[0009] Preferably, the first background image and the second background image are in a first color, the warning area is in a second color, the alarm area is in a third color, and the obstacle information is in a fourth color when mapped to the background image.

[0010] Preferably, the traversing of the pixel points of the warning area and the alarm area and giving an alarm when it is detected that the pixel points of the obstacle information appear in the warning area and the alarm area is specifically:

[0011] Traversing the warning area, and when determining that a pixel of a fourth color appears in the warning area, issuing an alarm through a voice device;

[0012] The warning area is traversed, and when it is determined that a pixel of a fourth color appears in the warning area, an alarm is issued through an audible and visual alarm device.

[0013] Preferably, it also includes:

[0014] The motion information of the hull is obtained, and the range of the warning area and the alarm area is dynamically adjusted.

[0015] A second embodiment of the present invention provides a ship collision warning device, comprising:

[0016] A region division unit is used to obtain in real time the image information collected by the image acquisition device configured on the hull, create a first background image and a second background image with the same resolution as the image information, and divide the warning region on the first background image and divide the alarm region on the second background image;

[0017] an obstacle recognition unit, configured to recognize the image information to generate obstacle information, and map the obstacle information onto the first background image and the second background image;

[0018] The alarm unit is used to traverse the warning area and the pixel points of the warning area, and to issue an alarm when it is detected that the pixel points of the obstacle information appear in the warning area and the warning area.

[0019] Preferably, the first background image and the second background image are in a first color, the warning area is in a second color, the alarm area is in a third color, and the obstacle information is in a fourth color when mapped to the background image.

[0020] Preferably, the traversing of the pixel points of the warning area and the alarm area and giving an alarm when it is detected that the pixel points of the obstacle information appear in the warning area and the alarm area is specifically:

[0021] Traversing the warning area, and when determining that a pixel of a fourth color appears in the warning area, issuing an alarm through a voice device;

[0022] The warning area is traversed, and when it is determined that a pixel of a fourth color appears in the warning area, an alarm is issued through an audible and visual alarm device.

[0023] Preferably, it also includes:

[0024] The motion information of the hull is obtained, and the range of the warning area and the alarm area is dynamically adjusted.

[0025] A third embodiment of the present invention provides a ship collision warning device, including a memory and a processor, wherein the memory stores a computer program, and the computer program can be executed by the processor to implement a ship collision warning method as described in any one of the above.

[0026] The fourth embodiment of the present invention provides a computer-readable storage medium, characterized in that a computer program is stored therein, and the computer program can be executed by a processor of a device where the computer-readable storage medium is located to implement a ship collision warning method as described in any one of the above items.

[0027] Based on a ship collision warning method, device, equipment and storage medium disclosed in the present invention, firstly, by acquiring image information collected by an image acquisition device configured on the hull in real time, a first background image and a second background image with the same resolution as the image information are created, and a warning area is divided on the first background image and an alarm area is divided on the second background image; then, the image information is identified to generate obstacle information, and the obstacle information is mapped to the first background image and the second background image; finally, the pixel points of the warning area and the alarm area are traversed, and an alarm is issued when the pixel points of the obstacle information are detected to appear in the warning area and the alarm area. The problem that the ship collision warning system may fail is solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a flow chart of a ship collision warning method provided by the first embodiment of the present invention;

[0029] Figure 2 and Figure 3 They are respectively schematic diagrams of dividing the recognized image into a warning area and an alarm area provided by the present invention;

[0030] Figure 4 is a schematic diagram of an obstacle identified by the present invention;

[0031] Figure 5 and Figure 6 They are schematic diagrams of the process of mapping the position and size of the identified obstacles;

[0032] Figure 7 It is a module schematic diagram of a ship collision warning device provided by the second embodiment of the present invention. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of 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.

[0034] In order to better understand the technical solution of the present invention, the embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0035] It should be clear that the described embodiments are only some embodiments of the present invention, not all 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.

[0036] The terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The singular forms "a", "said" and "the" used in the embodiments of the present invention and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0037] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0038] The word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to determining" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)", depending on the context.

[0039] The "first\second" mentioned in the embodiments is only to distinguish similar objects, and does not represent a specific order for the objects. It is understandable that the "first\second" can be interchanged with the specific order or sequence where permitted. It should be understood that the objects distinguished by "first\second" can be interchanged where appropriate, so that the embodiments described herein can be implemented in an order other than those illustrated or described herein.

[0040] The specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0041] The invention discloses a ship collision warning method, device, equipment and storage medium, aiming to solve the problem that a ship collision warning system may fail.

[0042] The first embodiment of the present invention provides a ship collision warning method, which can be executed by a ship collision warning device (hereinafter referred to as the warning device), in particular, by one or more processors in the auxiliary device to implement at least the following steps:

[0043] S101, acquiring image information collected by an image acquisition device configured on the hull in real time, creating a first background image and a second background image consistent with the resolution of the image information, and dividing a warning area on the first background image and a warning area on the second background image;

[0044] In this embodiment, the early warning device can be a terminal with data processing capabilities such as a workstation, a desktop computer, a laptop computer, etc., which can establish a wired or wireless communication connection with the image acquisition device. The early warning device can be installed with a corresponding operating system and application software, and the functions required by this embodiment can be realized through the combination of the operating system and application software.

[0045] It should be noted that, in this embodiment, the image acquisition device can be a high-definition infrared camera, which can be configured on the hull to collect images in the new direction of the hull. Of course, there can also be multiple cameras, such as those configured on the left and right sides of the hull, and on the rear side of the hull to collect images around the hull. Here, the warning is explained based on the direction of the bow.

[0046] Specifically, the image information is first input into the early warning device, and the early warning device generates a first background image and a second background image that match the image according to the resolution of the collected image. The first background image is mainly used to display the warning area, and the second background image is used to display the warning area. The resolution of these two background images is consistent with the image information collected by the ship, ensuring that the background area accurately matches the actual environment image.

[0047] Further, in this embodiment, please combine Figure 2 The first background image and the second background image are configured as a first color, such as black. Assuming that the resolution of the bow camera is 1920x1080 pixels, the first background image is marked with a second color (such as yellow), covering a range of 200-500 meters ahead, forming a wide fan-shaped area.

[0048] Likewise, please combine Figure 3 , marked with a third color (eg, red) in the second background image, covering a range of 0-200 meters ahead, forming a more compact fan-shaped area.

[0049] S102, identifying the image information to generate obstacle information, and mapping the obstacle information to the first background image and the second background image;

[0050] In this embodiment, a pre-trained target detection network, such as a convolutional neural network (CNN) or a regional convolutional neural network (R-CNN), can be used to provide a data set containing ships, buoys, bridge piers, etc. to the target detection network for training in advance, so that the early warning device can identify each obstacle in the image information and determine its position, category, size and other related attributes; in actual situations, after receiving the image, the model first pre-processes the image, converts it into a format that can be analyzed by the network, and extracts feature information in the image. After feature extraction and region candidate generation, the model will identify the obstacles in the image and assign corresponding location information and classification labels to each obstacle.

[0051] After obstacle identification is completed, the early warning device will map the generated obstacle information (including location, type, size, etc.) to the first background image and the second background image. The mapping process uses image synthesis technology to seamlessly integrate the obstacle information with the background image by adjusting each pixel of the background image. It can realize the visualization of obstacles and provide real-time feedback on changes in the ship's surrounding environment. This makes image information processing more intuitive and reliable, and the crew can quickly understand the potential collision risk area through the obstacle identification on the background image and take corresponding risk avoidance measures.

[0052] Specifically, Figure 4 Taking the identified obstacle as an example, the process of mapping the position and size of the identified obstacle to the first background image and the second background image is as follows: Figure 5 and Figure 6 shown.

[0053] S103, traversing the pixel points of the warning area and the alarm area, and issuing an alarm when it is detected that the pixel points of the obstacle information appear in the warning area and the alarm area.

[0054] Specifically, in this embodiment, after obtaining the mapped image information, the early warning device will traverse all the pixels in the warning area and the alarm area one by one according to the previously defined warning area and the alarm area. Specifically, the position of each pixel in the image corresponds to a specific area of ​​the ship's surrounding environment, so the early warning device must accurately detect changes in each area, especially the appearance of obstacles. By traversing these pixels, the early warning device can achieve fine-grained inspection, thereby ensuring that when obstacles appear in the warning area or the alarm area, they can accurately capture and issue early warning signals in a timely manner.

[0055] When the early warning device detects a change in a pixel in the warning area or alarm area, and the position of the pixel contains obstacle information, the early warning device will immediately issue an alarm. The process relies on the mapping of obstacle information. When obstacles are located in these areas, the corresponding pixels will be marked with specific colors or attributes for detection. By identifying these marked pixels, the early warning device can determine whether the obstacle is located in the warning area or alarm area, thereby triggering alarms of different levels.

[0056] If the obstacle is in the warning area, the warning device will issue a relatively low priority warning through the voice prompt device to remind the crew of the imminent risk. When the obstacle appears in the warning area, the system will trigger a more urgent sound and light alarm device to remind the crew to take immediate risk avoidance measures. The pixel traversal mechanism ensures that any potential risks can be quickly discovered and responded to in a timely manner even in a complex ship environment.

[0057] In a possible implementation of the present invention, it also includes:

[0058] The motion information of the hull is obtained, and the range of the warning area and the alarm area is dynamically adjusted.

[0059] It should be noted that the dynamic adjustment of the warning area and the alarm area is automatically carried out according to the navigation status of the ship. Specifically, when the speed of the ship increases, the early warning equipment will automatically expand the scope of the warning area and the alarm area to ensure early warning of potential collision risks at a farther distance. This is because when the ship speed is high, the ship's reaction time to obstacles becomes shorter, so earlier warnings are required. On the contrary, when the ship speed is low or stopped, the warning area and the alarm area can be appropriately reduced to reduce unnecessary alarms and improve the response efficiency of the system.

[0060] In addition, the turning situation also affects the size and shape of the warning area. When a ship turns, especially when turning at a large angle, the relative position between the ship and the surrounding obstacles will change significantly. At this time, the warning device will dynamically adjust the direction and shape of the warning area to make it more consistent with the actual movement trajectory of the ship. If the ship is making a sharp turn, the warning device will calculate the shape of the corresponding warning area based on the turning radius, so that it forms a more curved area on the turning path, thereby enhancing the coverage of obstacles and avoiding collisions between the ship and the obstacles. This dynamic adjustment not only takes into account the factors of speed and turning, but also can adapt to different navigation conditions in complex environments. For example, in open waters, the movement of ships is relatively stable and the scope of the warning area can be relatively small; but in narrow waterways or port areas, due to the large number of obstacles and the limited driving space of the ship, the warning device will automatically expand the scope of the warning area and the warning area to ensure that the crew has enough time and space to respond.

[0061] See also Figure 7 The second embodiment of the present invention provides a ship collision warning device, comprising:

[0062] The area division unit 201 is used to obtain image information collected by an image acquisition device configured on the hull in real time, create a first background image and a second background image with the same resolution as the image information, and divide the warning area on the first background image and the alarm area on the second background image;

[0063] an obstacle recognition unit 202, configured to recognize the image information to generate obstacle information, and map the obstacle information onto the first background image and the second background image;

[0064] The alarm unit 203 is used to traverse the warning area and the pixel points of the warning area, and issue an alarm when it is detected that the pixel points of the obstacle information appear in the warning area and the warning area.

[0065] Preferably, the first background image and the second background image are in a first color, the warning area is in a second color, the alarm area is in a third color, and the obstacle information is in a fourth color when mapped to the background image.

[0066] Preferably, the traversing of the pixel points of the warning area and the alarm area and giving an alarm when it is detected that the pixel points of the obstacle information appear in the warning area and the alarm area is specifically:

[0067] Traversing the warning area, and when determining that a pixel of a fourth color appears in the warning area, issuing an alarm through a voice device;

[0068] The warning area is traversed, and when it is determined that a pixel of a fourth color appears in the warning area, an alarm is issued through an audible and visual alarm device.

[0069] Preferably, it also includes:

[0070] The motion information of the hull is obtained, and the range of the warning area and the alarm area is dynamically adjusted.

[0071] A third embodiment of the present invention provides a ship collision warning device, including a memory and a processor, wherein the memory stores a computer program, and the computer program can be executed by the processor to implement a ship collision warning method as described in any one of the above.

[0072] The fourth embodiment of the present invention provides a computer-readable storage medium, characterized in that a computer program is stored therein, and the computer program can be executed by a processor of a device where the computer-readable storage medium is located to implement a ship collision warning method as described in any one of the above items.

[0073] Based on a ship collision warning method, device, equipment and storage medium disclosed in the present invention, firstly, by acquiring image information collected by an image acquisition device configured on the hull in real time, a first background image and a second background image with the same resolution as the image information are created, and a warning area is divided on the first background image and an alarm area is divided on the second background image; then, the image information is identified to generate obstacle information, and the obstacle information is mapped to the first background image and the second background image; finally, the pixel points of the warning area and the alarm area are traversed, and an alarm is issued when the pixel points of the obstacle information are detected to appear in the warning area and the alarm area. The problem that the ship collision warning system may fail is solved.

[0074] Exemplarily, the computer program described in the third and fourth embodiments of the present invention may be divided into one or more modules, and the one or more modules are stored in the memory and executed by the processor to complete the present invention. The one or more modules may be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used to describe the execution process of the computer program in the early warning device for implementing a ship collision. For example, the device described in the second embodiment of the present invention.

[0075] The processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc. The processor is the control center of the early warning method for ship collision, and uses various interfaces and lines to connect the various parts of the early warning method for ship collision.

[0076] The memory can be used to store the computer program and / or module, and the processor realizes various functions of a ship collision warning method by running or executing the computer program and / or module stored in the memory, and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function (such as a sound playback function, a text conversion function, etc.), etc.; the data storage area can store data created according to the use of the mobile phone (such as audio data, text message data, etc.), etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Med i aCard, SMC), a secure digital (Secure Digital, SD) card, a flash card (F l ash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0077] Wherein, if the implemented module is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Wherein, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0078] It should be noted that the device embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, in the accompanying drawings of the device embodiments provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, which may be specifically implemented as one or more communication buses or signal lines. A person of ordinary skill in the art may understand and implement it without paying any creative effort.

[0079] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A ship collision warning method, characterized in that: include: Acquire image information collected by an image acquisition device configured on the hull in real time, create a first background image and a second background image with the same resolution as the image information, and divide a warning area on the first background image and a warning area on the second background image; Recognize the image information to generate obstacle information, and map the obstacle information onto the first background image and the second background image; The pixel points of the warning area and the alarm area are traversed, and an alarm is issued when it is detected that the pixel points of the obstacle information appear in the warning area and the alarm area.

2. A ship collision warning method according to claim 1, characterized in that: The first background image and the second background image are in a first color, the warning area is in a second color, the alarm area is in a third color, and the obstacle information is in a fourth color when mapped to the background image.

3. A ship collision warning method according to claim 2, characterized in that: The traversing of the pixel points of the warning area and the alarm area, and issuing an alarm when it is detected that the pixel points of the obstacle information appear in the warning area and the alarm area, is specifically: Traversing the warning area, and when determining that a pixel of a fourth color appears in the warning area, issuing an alarm through a voice device; The warning area is traversed, and when it is determined that a pixel of a fourth color appears in the warning area, an alarm is issued through an audible and visual alarm device.

4. The ship collision warning method according to claim 1, characterized in that: Also includes: The motion information of the hull is obtained, and the range of the warning area and the alarm area is dynamically adjusted.

5. A ship collision warning device, characterized in that: include: A region division unit is used to obtain in real time the image information collected by the image acquisition device configured on the hull, create a first background image and a second background image with the same resolution as the image information, and divide the warning region on the first background image and divide the alarm region on the second background image; an obstacle recognition unit, configured to recognize the image information to generate obstacle information, and map the obstacle information onto the first background image and the second background image; The alarm unit is used to traverse the warning area and the pixel points of the warning area, and to issue an alarm when it is detected that the pixel points of the obstacle information appear in the warning area and the warning area.

6. A ship collision warning device according to claim 5, characterized in that: The first background image and the second background image are in a first color, the warning area is in a second color, the alarm area is in a third color, and the obstacle information is in a fourth color when mapped to the background image.

7. The ship collision warning device according to claim 5, characterized in that: The traversing of the pixel points of the warning area and the alarm area, and issuing an alarm when it is detected that the pixel points of the obstacle information appear in the warning area and the alarm area, is specifically: Traversing the warning area, and when determining that a pixel of a fourth color appears in the warning area, issuing an alarm through a voice device; The warning area is traversed, and when it is determined that a pixel of a fourth color appears in the warning area, an alarm is issued through an audible and visual alarm device.

8. The ship collision warning device according to claim 5, characterized in that: Also includes: The motion information of the hull is obtained, and the range of the warning area and the alarm area is dynamically adjusted.

9. A ship collision warning device, characterized in that: It comprises a memory and a processor, wherein the memory stores a computer program, and the computer program can be executed by the processor to implement a ship collision warning method as claimed in any one of claims 1 to 4.

10. A computer-readable storage medium, characterized in that: A computer program is stored, and the computer program can be executed by a processor of the device where the computer-readable storage medium is located to implement a ship collision warning method as described in any one of claims 1 to 4.

Images