Ship navigation height measuring method, device, equipment and medium

Abstract

The invention relates to the technical field of ship traffic management, and discloses a ship navigation height measuring method, which comprises the following steps: acquiring a target ship distance based on intelligent measuring equipment mounted at the bottom of a bridge; identifying the target ship image to obtain the position of the upper edge of the ship, equally dividing the vertical field angle according to the resolution of the ship image, and calculating the laser center angle in combination with laser ranging equipment; according to the ship upper edge position, the vertical field angle and the ship image resolution, a target ship elevation angle is calculated, and a target ship angle difference is calculated; judging whether the target ship height reaches a preset height according to the ship angle difference; if so, calculating the relative height of the target ship; and obtaining the ship height of the target ship according to the ship relative height and a preset height, and notifying whether the target ship is allowed to navigate or not according to the bridge height parameter and the ship height. The invention further provides a ship navigation height measuring device and equipment and a storage medium. According to the invention, the accuracy of ship height measurement can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of ship traffic management, and particularly to a method, device, equipment and medium for measuring the navigation height of ships. Background Art

[0002] With the continuous development of the economy, inland waterway shipping has become an important part of the modern transportation system. The number of ships is increasing continuously, and the situation of ships violating regulations and overloading occurs from time to time, which poses a huge challenge to the bridges built on rivers.

[0003] There are mainly two situations where ships collide with bridges. The first is that due to certain failures of the navigating ships, the speed or course of the ships cannot be normally controlled, and finally the navigating ships collide with the water surface bridges. The second situation is that the navigation height of the bridge deck of the inland waterway is lower than the clearance height of the navigating ships, resulting in the bottom of the bridge colliding with the superstructure of the navigating ships. With the occurrence of the situation of ships violating regulations and overloading, the second situation occurs more and more. Therefore, it is necessary to accurately measure the height of the navigating ships to prevent ships that do not meet the navigation conditions from forcibly navigating and causing safety accidents.

[0004] The existing methods for measuring the height of ships mainly have two types. One is radar measurement, which has the characteristics of high equipment cost and is not suitable for installation under the bridge, and is not sufficient for use. The other is laser pair shooting. However, this method can only measure whether the ship is higher than the limit, and cannot measure how much higher it is.

[0005] The above defects are worthy of improvement. Summary of the Invention

[0006] The present invention provides a method, device, equipment and medium for measuring the navigation height of ships, and its main purpose is to improve the accuracy of ship height measurement.

[0007] To achieve the above object, a method for measuring the navigation height of ships provided by the present invention includes: Obtaining the distance between the target ship to be measured and the intelligent measurement device at a preset moment based on the intelligent measurement device installed at the bottom of the bridge, to obtain the target ship distance, wherein the intelligent measurement includes a laser ranging device and a camera device; Obtaining the ship image of the target ship at the preset moment according to the intelligent measurement device, to obtain the target ship image, and obtaining the image resolution of the target ship image, to obtain the ship image resolution; Perform image recognition on the target ship image, obtain the upper edge of the target ship in the target ship image to get the position of the ship's upper edge, and obtain the vertical field of view angle of the intelligent measurement device. Divide the vertical field of view angle evenly according to the ship image resolution, and combine with the laser ranging device to calculate the angle of the center point of the target ship image to obtain the laser center angle; Obtain the maximum elevation angle of the target ship according to the ship's upper edge position, vertical field of view angle and the ship image resolution to get the elevation angle of the target ship, and calculate the difference between the elevation angle of the target ship and the angle of the laser center angle to obtain the target ship angle difference; Judge whether the height of the target ship reaches the preset height of the intelligent measurement device according to the target ship angle difference; When the height of the target ship does not reach the preset height of the intelligent measurement device, notify the target ship to navigate through a preset communication means; When the height of the target ship reaches the preset height of the intelligent measurement device, calculate the relative height of the target ship according to the target ship angle difference and the target ship distance to obtain the relative ship height; Obtain the ship height of the target ship according to the relative ship height and the preset height of the intelligent measurement device, and obtain the bridge height parameter of the bridge. Notify the target ship whether it is allowed to navigate according to the bridge height parameter and the ship height.

[0008] Optionally, the step of dividing the vertical field of view angle evenly according to the ship image resolution, combining with the laser ranging device to calculate the angle of the center point of the target ship image to obtain the laser center angle includes: Obtain the vertical resolution of the target ship based on the ship image resolution, and divide the vertical field of view angle evenly according to the vertical resolution to obtain the pixel angle; Obtain the position of the laser point in the target ship image when the laser ranging device measures the distance to get the laser point position; Obtain the number of vertical pixels of the laser point position, and calculate the angle of the center point of the target ship according to the number of vertical pixels of the laser point position and the pixel angle to obtain the laser center angle.

[0009] Optionally, before performing image recognition on the target ship image to obtain the upper edge of the target ship in the target ship image to get the position of the ship's upper edge, the method further includes: Perform recognition on the image of the target ship through a preset image recognition model to obtain the upper edge image of the target ship; Judge whether there are birds at the highest point in the upper edge image: If there are no birds at the highest point in the upper-edge image, directly use the highest point of the upper-edge image as the upper edge of the target ship to obtain the position of the ship's upper edge. If there are birds at the highest point in the upper-edge image, identify the size of the birds in the upper-edge image through the image recognition model, and eliminate the influence of the birds in the upper-edge image to obtain the position of the ship's upper edge.

[0010] Optionally, after obtaining the ship image of the target ship at the preset moment according to the intelligent measurement device to obtain the target ship image, the method further includes: Perform gray-scale operation on the target ship image to obtain a gray-scale ship image; Remove the noise in the gray-scale ship image through a preset filtering device to obtain a denoised ship image; Use a preset pinhole model and calibration algorithm to remove the distortion of the denoised ship image to obtain a standardized target ship image.

[0011] Optionally, the obtaining the elevation angle of the target ship according to the position of the ship's upper edge, the vertical field of view angle, and the ship image resolution includes: Divide the vertical field of view angle evenly according to the ship image resolution to obtain a pixel evenly divided angle; Obtain the pixel point position of the ship's upper edge position to obtain the ship pixel position, and calculate the highest elevation angle of the target ship according to the pixel evenly divided angle and the ship pixel position to obtain the elevation angle of the target ship.

[0012] Optionally, the determining whether the height of the target ship reaches the preset height of the intelligent measurement device according to the angle difference of the target ship includes: Judge whether the height of the target ship exceeds the preset height of the intelligent measurement device according to the positive and negative values of the ship angle difference; When the ship angle difference is negative, it means that the height of the target ship is below the laser center at the time of shooting and does not reach the preset height of the intelligent measurement device; When the ship height difference is positive, it means that the height of the target ship is above the laser center at the time of shooting and reaches the preset height of the intelligent measurement device.

[0013] Optionally, the calculating the relative height of the target ship according to the angle difference of the target ship and the target ship distance to obtain the relative height of the ship includes: Based on the ship angle difference and the target ship distance, use the trigonometric function formula to calculate the relative height of the target ship to obtain the relative height of the target ship; Among them, the trigonometric function formula for calculating the relative height of the target ship in the trigonometric function formula is as follows: Among them, is the relative height of the target ship, is the distance of the target ship, is the angle difference of the ship.

[0014] To solve the above problems, the present invention also provides a ship navigation height measurement device, and the device includes: A ship image acquisition module, configured to obtain the distance between a target ship to be measured and the intelligent measurement device at a preset moment based on the intelligent measurement device installed at the bottom of the bridge, and obtain the target ship distance, wherein the intelligent measurement includes a laser ranging device and a camera device; Obtain a target ship image according to the intelligent measurement device at the preset moment for the target ship, obtain a target ship image, and obtain the image resolution of the target ship image to obtain a ship image resolution; An angle difference calculation module, configured to perform image recognition on the target ship image, obtain the upper edge of the target ship in the target ship image to obtain the position of the upper edge of the ship, and obtain the vertical field of view angle of the intelligent measurement device, evenly divide the vertical field of view angle according to the ship image resolution, and combine the laser ranging device to calculate the angle of the center point of the target ship image to obtain a laser center angle; Obtain the maximum elevation angle of the target ship according to the position of the upper edge of the ship, the vertical field of view angle and the ship image resolution to obtain the elevation angle of the target ship, and calculate the difference between the elevation angle of the target ship and the angle of the laser center angle to obtain a target ship angle difference; A navigation condition judgment module, configured to judge whether the height of the target ship reaches the preset height of the intelligent measurement device according to the target ship angle difference; When the height of the target ship does not reach the preset height of the intelligent measurement device, notify the target ship to navigate through a preset communication means; When the height of the target ship reaches the preset height of the intelligent measurement device, calculate the relative height of the target ship according to the target ship angle difference and the target ship distance to obtain a ship relative height; A ship height calculation module, configured to obtain the ship height of the target ship according to the ship relative height and the preset height of the intelligent measurement device, obtain the bridge height parameter of the bridge, and notify the target ship whether it is allowed to navigate according to the bridge height parameter and the ship height.

[0015] To solve the above problems, the present invention also provides an electronic device, and the electronic device includes: At least one processor; and, A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the ship navigation height measurement method as described above.

[0016] To solve the above problems, the present invention further provides a computer-readable storage medium, including a storage data area and a storage program area. The storage data area stores created data, and the storage program area stores a computer program; wherein, when the computer program is executed by a processor, the ship navigation height measurement method as described above is implemented.

[0017] In an embodiment of the present invention, the distance between the target ship to be measured and the intelligent measurement device at a preset moment is obtained by an intelligent measurement device installed at the bottom of the bridge, and the target ship distance is obtained. Among them, the intelligent measurement includes a laser ranging device and a camera device; according to the intelligent measurement device, the ship image of the target ship at the preset moment is obtained to obtain the target ship image, and the image resolution of the target ship image is obtained to obtain the ship image resolution; the target ship image is subjected to image recognition to obtain the upper edge of the target ship in the target ship image to obtain the position of the upper edge of the ship, and the vertical field of view angle of the intelligent measurement device is obtained. The vertical field of view angle is evenly divided according to the ship image resolution, and the angle of the center point of the target ship image is calculated in combination with the laser ranging device to obtain the laser center angle. The recognition of the upper edge of the ship facilitates subsequent calculations; according to the position of the upper edge of the ship, the vertical field of view angle and the ship image resolution, the maximum elevation angle of the target ship is obtained to obtain the elevation angle of the target ship, and the difference between the elevation angle of the target ship and the angle of the laser center angle is calculated to obtain the target ship angle difference; according to the target ship angle difference, it is judged whether the height of the target ship reaches the preset height of the intelligent measurement device; when the height of the target ship does not reach the preset height of the intelligent measurement device, the target ship is notified to navigate through a preset communication means; when the height of the target ship reaches the preset height of the intelligent measurement device, the relative height of the target ship is calculated according to the target ship angle difference and the target ship distance to obtain the relative height of the ship, and how much higher the ship is relative to the preset height is obtained; according to the relative height of the ship and the preset height of the intelligent measurement device, the ship height of the target ship is obtained, and the bridge height parameter of the bridge is obtained. According to the bridge height parameter and the ship height, it is notified whether the target ship is allowed to navigate. Therefore, the ship navigation height measurement method, device, electronic device and computer-readable storage medium proposed by the present invention measure the ship height through an intelligent measurement device combining a laser ranging device and a camera device, improving the accuracy of ship height measurement. Description of the Drawings

[0018] Figure 1 It is a schematic flowchart of a ship navigation height measurement method provided by an embodiment of the present invention; Figure 2 It is a module schematic diagram of a ship navigation height measurement device provided by an embodiment of the present invention; Figure 3 It is an internal structure schematic diagram of an electronic device for implementing a ship navigation height measurement method provided by an embodiment of the present invention.

[0019] The realization, functional characteristics and advantages of the object of the present invention will be further described with reference to the embodiments and the accompanying drawings. Detailed Embodiments

[0020] It should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention.

[0021] An embodiment of the present application provides a method for measuring the navigation height of a ship. The execution subject of the method for measuring the navigation height of a ship includes, but is not limited to, at least one of electronic devices such as a server, a terminal, etc. that can be configured to execute the method provided by the embodiment of the present application. Among them, the server can be an independent server or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, Content Delivery Network (CDN), and big data and artificial intelligence platforms. In other words, the method for measuring the navigation height of a ship can be executed by software or hardware installed on a remote device or a server device, and the software can be a blockchain platform. The server includes, but is not limited to: a single server, a server cluster, a cloud server, or a cloud server cluster, etc.

[0022] Refer to Figure 1 As shown, it is a schematic flow chart of a method for measuring the navigation height of a ship provided by an embodiment of the present invention. In this embodiment, the method for measuring the navigation height of a ship includes the following steps S1 - S8: S1. Obtain the distance between the target ship to be measured and the intelligent measurement device at a preset moment based on the intelligent measurement device installed at the bottom of the bridge, and obtain the target ship distance. Among them, the intelligent measurement includes a laser ranging device and a camera device.

[0023] In the embodiment of the present invention, by combining a laser rangefinder and a camera device, the automatic and high-precision measurement of the height of the target ship is realized, thereby improving the water traffic safety, reducing the risk of bridge collision caused by the excessive height of the ship, and improving the navigation efficiency.

[0024] Furthermore, the laser ranging device in the intelligent measurement device is a high-precision measurement tool based on laser technology. By emitting a laser beam to the target ship and receiving the light reflected back from it, the distance is accurately calculated using the propagation speed and time difference of light, and a measurement accuracy of millimeter level or even micron level can be achieved. It has advantages such as non-contact measurement, high efficiency, and strong anti-interference ability. The camera device generally refers to an industrial camera, which is a device that uses optical principles for non-contact measurement. The camera device can provide intuitive image data, facilitating image recognition and analysis, realizing the automation and intelligence of the measurement process, and is suitable for complex measurement tasks that require image data support.

[0025] In addition, the intelligent measurement device can also transmit measurement data to a remote server or terminal device in real time through technologies such as wireless network, Bluetooth, and Internet of Things, facilitating users to obtain measurement results anytime and anywhere.

[0026] In the embodiment of the present invention, the intelligent measurement device can be installed either on the pier of a bridge or under the bridge deck.

[0027] Furthermore, when the intelligent measurement device performs measurements, it conducts ranging multiple times per second (such as 5 times) and eliminates abnormal data during the ranging process. Through the above operations, interference items in the measurement process can be effectively removed. For example, when ranging with the intelligent measurement device, there may be situations where birds fly by or other interference items interfere. At this time, if the ranging data is included, the ranging data will be significantly abnormal compared to the previous and subsequent ranging data, and then this data needs to be filtered as an outlier.

[0028] In another embodiment of the present invention, all measurement devices in the bridge can also be integrated to construct a bridge measurement host, and the laser ranging device in the intelligent measurement device is controlled by the bridge measurement host to conduct ranging multiple times per second, improving the accuracy of the acquired data.

[0029] Furthermore, the preset moment is not specifically limited and can be the moment of a measurement closest to the mean value among multiple measurements of the intelligent measurement device.

[0030] S2. Obtain the ship image of the target ship at the preset moment according to the intelligent measurement device to obtain the target ship image, and obtain the image resolution of the target ship image to obtain the ship image resolution.

[0031] In the embodiment of the present invention, the target ship image refers to the ship image captured by the intelligent measurement device (such as a camera device) at a specific moment. These images usually have a high resolution and can clearly capture the details of the ship, including the shape, size, and structural features of the ship. The target ship image has important applications in the fields of ship detection, recognition, monitoring, and intelligent control, providing intuitive and rich visual information for the automatic detection and recognition of ships.

[0032] Furthermore, the target ship image can be either the overall image of the target ship or the partial image of the highest part of the target ship.

[0033] In the embodiment of the present invention, the ship image resolution can display the clarity and precision of ship details in the image, usually represented by the number of pixels, including the horizontal resolution and the vertical resolution. The horizontal resolution refers to the number of pixels in the horizontal direction, representing the width of the image, and the vertical resolution refers to the number of pixels in the vertical direction, representing the height of the image.

[0034] Furthermore, the resolution of the target ship image can usually be directly achieved through the parameter settings of the imaging device. Most modern imaging devices, including cameras and camcorders, provide functions to query and set the resolution. For example, when the system connected to the intelligent measurement device is Windows, the FFmpeg tool can be used to query the list of resolutions and frame rates supported by the camera. After receiving a specific FFmpeg command, the imaging device will output detailed information including the supported video formats, resolutions, and corresponding frame rates.

[0035] S3. Perform image recognition on the target ship image to obtain the upper edge of the target ship in the target ship image, thereby obtaining the position of the ship's upper edge, and obtain the vertical field of view angle of the intelligent measurement device. Divide the vertical field of view angle evenly according to the ship image resolution, and combine the laser ranging device to calculate the angle of the center point of the target ship image to obtain the laser center angle.

[0036] It can be understood that by using image recognition technology to accurately locate the position of the target ship in the image, and combining the vertical field of view angle and image resolution of the intelligent measurement device, the angular position of the ship relative to the image center is calculated. This process improves the accuracy of ship height and position measurement, provides technical support for automated decision-making and traffic management, and enhances water traffic safety and efficiency.

[0037] In the embodiment of the present invention, the vertical field of view (VFoV) refers to the angular range formed from the center point of the imaging device lens vertically downward or upward to the image edge. It determines the scene range that the imaging device can capture in the vertical direction and directly affects the height information of the objects in the image and the accuracy of measurement. In short, the vertical field of view angle is a parameter that measures the field of view breadth of the imaging device in the vertical direction.

[0038] Furthermore, before performing image recognition on the target ship image to obtain the upper edge of the target ship in the target ship image and obtaining the position of the ship's upper edge, the method further includes: Use a preset image recognition model to recognize the image of the target ship to obtain the upper edge image of the target ship; Determine whether there are birds at the highest point in the upper edge image: If there are no birds at the highest point in the upper edge image, directly use the highest point of the upper edge image as the upper edge of the target ship to obtain the position of the ship's upper edge; If there are birds at the highest point in the upper edge image, use the image recognition model to recognize the size of the birds in the upper edge image and eliminate the influence of the birds in the upper edge image to obtain the position of the ship's upper edge.

[0039] In the embodiments of the present invention, the preset image recognition model can distinguish and process the interference factors in the image that may affect the judgment of the upper edge position of the ship, such as birds. When there are birds, the model can recognize the size of the birds and remove them from the image, so as to accurately obtain the upper edge position of the ship, ensuring that the target ship can be accurately recognized and located even in a complex environment, and improving the robustness and practicability of ship detection.

[0040] In the embodiments of the present invention, the image recognition model refers to a pre-trained algorithm model that can analyze and process images to identify and locate specific targets or features in the images. In the scenario of the target ship image, this model is specifically used to recognize the upper edge of the ship, that is, the topmost position of the ship in the image. The image recognition model is usually based on machine learning or deep learning technologies, such as convolutional neural networks, and can learn the recognition model from a large amount of image data. In practical applications, this model is trained to recognize the outline, shape and other related features of the ship in order to quickly and accurately find the upper edge of the ship in a new image.

[0041] Furthermore, the image recognition model can also detect the birds in the image and distinguish them from the ship to ensure that the interference of the birds is excluded when calculating the height of the ship.

[0042] In the embodiments of the present invention, the method of equally dividing the vertical field of view according to the resolution of the ship image and combining the laser ranging device to calculate the angle of the center point of the target ship image to obtain the laser center angle includes: Obtaining the vertical resolution of the target ship based on the resolution of the ship image, and equally dividing the vertical field of view according to the vertical resolution to obtain the pixel angle; Obtaining the position of the laser point in the target ship image when the laser ranging device measures the distance to obtain the laser point position; Obtaining the number of vertical pixels of the laser point position, and calculating the angle of the center point of the target ship according to the number of vertical pixels of the laser point position and the pixel angle to obtain the laser center angle.

[0043] Furthermore, when the laser ranging device performs laser ranging, it will send a laser to the target ship, and the laser will present a visible laser point in the target ship image.

[0044] In the embodiments of the present invention, the laser ranging device and the camera device in the intelligent measurement device are in a parallel state when shooting.

[0045] Further, after obtaining the ship image of the target ship at the preset moment according to the intelligent measurement device and obtaining the target ship image, the method further includes: Performing grayscale operation on the target ship image to obtain a grayscale ship image; Removing noise in the grayscale ship image through a preset filtering device to obtain a denoised ship image; Removing the distortion of the denoised ship image by using a preset pinhole model and calibration algorithm to obtain a standardized target ship image.

[0046] In the embodiment of the present invention, through the above series of image preprocessing steps, the quality of the target ship image is improved, making it more suitable for subsequent analysis and measurement, ensuring the accuracy and reliability of the image data, providing a clear and accurate target ship image for the intelligent measurement device, thereby improving the accuracy and efficiency of the entire measurement process.

[0047] In the embodiment of the present invention, the laser center angle is generally 0 degrees, that is, after the camera device in the intelligent measurement device is installed at the bottom of the target bridge, the image center during shooting remains horizontal.

[0048] S4. Obtain the maximum elevation angle of the target ship according to the position of the upper edge of the ship, the vertical field of view angle, and the ship image resolution, obtain the elevation angle of the target ship, and calculate the difference between the elevation angle of the target ship and the angle of the laser center angle to obtain the target ship angle difference.

[0049] In the embodiment of the present invention, by calculating the difference between the maximum elevation angle of the target ship and the laser center angle, the spatial position and attitude of the ship can be accurately determined, which is crucial for ship navigation, obstacle avoidance, safely passing through bridges, and other intelligent control applications. At the same time, it also improves the measurement accuracy and navigation safety.

[0050] Further, the elevation angle of the target ship refers to the angle between the straight line from the horizontal reference line of the intelligent measurement device to the upper edge of the target and the horizontal line. This angle reflects the inclination angle of the target ship relative to the intelligent measurement device in the vertical direction. In practical applications, such as an intelligent measurement device installed at the bottom of a bridge, this angle can be used to determine whether the height of the ship allows it to safely pass through the bridge, or for other scenarios that require accurate measurement of the vertical position of the ship. In short, the elevation angle of the target ship is an angle parameter that measures the vertical height change of the ship relative to the horizontal reference line.

[0051] In the embodiment of the present invention, obtaining the elevation angle of the target ship according to the position of the upper edge of the ship, the vertical field of view angle, and the ship image resolution includes: Divide the vertical field of view angle evenly according to the resolution of the ship image to obtain the pixel evenly divided angle. Obtain the pixel point position of the upper edge position of the ship to obtain the ship pixel position, and calculate the maximum elevation angle of the target ship according to the pixel evenly divided angle and the ship pixel position to obtain the target ship elevation angle.

[0052] S5. Judge whether the height of the target ship reaches the preset height of the intelligent measurement device according to the target ship angle difference.

[0053] In the embodiment of the present invention, the preset height is not necessarily the installation height of the intelligent measurement device. When there is an inclination in the shooting angle after the camera device is installed in the intelligent measurement device, the preset height will be the installation height of the intelligent measurement device plus the height of the center point of the camera device screen during shooting.

[0054] Among them, the height of the center of the screen during shooting is reflected on the target ship, that is, according to the center point in the captured image and combined with the resolution of the image for analysis, this height can be obtained on the target ship.

[0055] In the embodiment of the present invention, the judging whether the height of the target ship reaches the preset height of the intelligent measurement device according to the target ship angle difference includes: Judge whether the height of the target ship exceeds the preset height of the intelligent measurement device according to the positive and negative values of the ship angle difference; When the ship angle difference is negative, it means that the height of the target ship is below the laser center during shooting and does not reach the preset height of the intelligent measurement device; When the ship height difference is positive, it means that the height of the target ship is above the laser center during shooting and reaches the preset height of the intelligent measurement device.

[0056] S6. When the height of the target ship does not reach the preset height of the intelligent measurement device, notify the target ship to navigate through a preset communication means.

[0057] In the embodiment of the present invention, the preset communication means refers to a series of communication technologies used for sending and receiving information in the intelligent measurement device, including radio communication, satellite communication, Automatic Identification System (AIS), Global Maritime Distress and Safety System (GMDSS), digital navigation equipment and Controller Area Network Bus (CAN), as well as Internet and wireless communication technologies. These means ensure that the device can transmit data and information to the target ship and other relevant parties in a timely and accurate manner.

[0058] In another embodiment of the present invention, the height of the bridge tunnel where the intelligent measuring device is installed can be the lowest bridge tunnel height in the subsequent route of the target ship. Therefore, when the target ship can pass through the bridge, there is no need to remeasure the height of the target ship in the subsequent route.

[0059] S7. When the height of the target ship reaches the preset height of the intelligent measuring device, the relative height of the target ship is calculated according to the target ship angle difference and the target ship distance to obtain the relative height of the ship.

[0060] Further, the calculating the relative height of the target ship according to the target ship angle difference and the target ship distance to obtain the relative height of the ship includes: Based on the ship angle difference and the target ship distance, the relative height of the target ship is calculated using a trigonometric function formula to obtain the relative height of the target ship.

[0061] Furthermore, the trigonometric formula for calculating the relative height of the target ship is: in, is the relative height of the target ship, is the target ship distance, is the angle difference of the ship.

[0062] S8. Obtain the ship height of the target ship according to the relative height of the ship and the preset height of the intelligent measuring device, obtain the bridge height parameter of the bridge, and notify the target ship whether navigation is allowed according to the bridge height parameter and the ship height.

[0063] In the embodiment of the present invention, the preset height is the height at which the bridge is expected to allow ships to pass, and the ship height is the sum of the relative height of the ship and the preset height.

[0064] Furthermore, by comparing the relative height of the ship and the preset height of the intelligent measuring device, the system can calculate the actual height of the ship, and combined with the height parameters of the bridge, automatically determine and notify the ship whether it is allowed to navigate. This automated evaluation and notification mechanism improves the efficiency and safety of ship traffic management, reduces the possibility of human error, and ensures the safety of bridges and ships, while optimizing the passage process of ships. In short, this process achieves precise control of ship navigation rights through intelligent measurement and judgment, ensuring smooth and safe water traffic.

[0065] In an embodiment of the present invention, the distance between a target ship to be measured and the intelligent measurement device at a preset moment is obtained by an intelligent measurement device installed at the bottom of a bridge, and a target ship distance is obtained. Among them, the intelligent measurement includes a laser ranging device and a camera device; according to the intelligent measurement device, a ship image of the target ship at the preset moment is obtained to obtain a target ship image, and the image resolution of the target ship image is obtained to obtain a ship image resolution; the target ship image is subjected to image recognition to obtain the upper edge of the target ship in the target ship image to obtain the position of the upper edge of the ship, and the vertical field of view angle of the intelligent measurement device is obtained. The vertical field of view angle is evenly divided according to the ship image resolution, and the angle of the center point of the target ship image is calculated in combination with the laser ranging device to obtain a laser center angle. The recognition of the upper edge of the ship facilitates subsequent calculations; according to the position of the upper edge of the ship, the vertical field of view angle, and the ship image resolution, the maximum elevation angle of the target ship is obtained to obtain the elevation angle of the target ship, and the difference between the elevation angle of the target ship and the angle of the laser center angle is calculated to obtain a target ship angle difference; according to the target ship angle difference, it is determined whether the height of the target ship reaches the preset height of the intelligent measurement device; when the height of the target ship does not reach the preset height of the intelligent measurement device, the target ship is notified to navigate through a preset communication means; when the height of the target ship reaches the preset height of the intelligent measurement device, the relative height of the target ship is calculated according to the target ship angle difference and the target ship distance to obtain a ship relative height, and how much higher the ship is relative to the preset height is obtained; according to the ship relative height and the preset height of the intelligent measurement device, the ship height of the target ship is obtained, and the bridge height parameter of the bridge is obtained. According to the bridge height parameter and the ship height, it is notified whether the target ship is allowed to navigate. Therefore, the ship navigation height measurement method, device, electronic device, and computer-readable storage medium proposed by the present invention measure the ship height through an intelligent measurement device combining a laser ranging device and a camera device, improving the accuracy of ship height measurement.

[0066] As Figure 2 shown, it is a module schematic diagram of the ship navigation height measurement device of the present invention.

[0067] The ship navigation height measurement device 100 of the present invention can be installed in an electronic device. According to the functions achieved, the ship navigation height measurement device may include a ship image acquisition module 101, an angle difference calculation module 102, a navigation condition judgment module 103, and a ship height calculation module 104. The modules of the present invention can also be referred to as units, which refer to a series of computer program segments that can be executed by a processor of an electronic device and can complete fixed functions, and are stored in the memory of the electronic device.

[0068] In this embodiment, the functions of each module / unit are as follows: The ship image acquisition module 101 is configured to obtain the distance between the target ship to be measured and the intelligent measurement device at a preset moment based on the intelligent measurement device installed at the bottom of the bridge, so as to obtain the target ship distance, where the intelligent measurement includes a laser ranging device and a camera device; According to the intelligent measurement device, obtain the ship image of the target ship at the preset moment to obtain the target ship image, and obtain the image resolution of the target ship image to obtain the ship image resolution; The angle difference calculation module 102 is configured to perform image recognition on the target ship image, obtain the upper edge of the target ship in the target ship image to obtain the position of the upper edge of the ship, and obtain the vertical field of view angle of the intelligent measurement device. Divide the vertical field of view angle according to the ship image resolution, and combine the laser ranging device to calculate the angle of the center point of the target ship image to obtain the laser center angle; According to the position of the upper edge of the ship, the vertical field of view angle and the ship image resolution, obtain the maximum elevation angle of the target ship to obtain the elevation angle of the target ship, and calculate the difference between the elevation angle of the target ship and the angle of the laser center angle to obtain the target ship angle difference; The navigation condition judgment module 103 is configured to judge whether the height of the target ship reaches the preset height of the intelligent measurement device according to the target ship angle difference; When the height of the target ship does not reach the preset height of the intelligent measurement device, notify the target ship to navigate through a preset communication means; When the height of the target ship reaches the preset height of the intelligent measurement device, calculate the relative height of the target ship according to the target ship angle difference and the target ship distance to obtain the ship relative height; The ship height calculation module 104 is configured to obtain the ship height of the target ship according to the ship relative height and the preset height of the intelligent measurement device, and obtain the bridge height parameter of the bridge. According to the bridge height parameter and the ship height, notify the target ship whether navigation is permitted.

[0069] Specifically, each module in the ship navigation height measurement device 100 in the embodiment of the present invention adopts the same technical means as the above-mentioned Figure 1 The ship navigation height measurement method can produce the same technical effects and will not be elaborated here.

[0070] As Figure 3 shown, it is a schematic structural diagram of an electronic device for implementing the ship navigation height measurement method of the present invention.

[0071] The electronic device may include a processor 10, a memory 11, a communication bus 12, and a communication interface 13. It may also include a computer program stored in the memory 11 and executable on the processor 10, such as a ship navigation height measurement program.

[0072] Among them, in some embodiments, the processor 10 may be composed of integrated circuits. For example, it may be composed of a single packaged integrated circuit, or may be composed of multiple integrated circuits with the same or different functions, including a combination of one or more central processing units (CPUs), microprocessors, digital processing chips, graphics processors, and various control chips. The processor 10 is the control core (Control Unit) of the electronic device, connecting various components of the entire electronic device through various interfaces and lines. By running or executing programs or modules stored in the memory 11 (such as executing the ship navigation height measurement program, etc.), and calling data stored in the memory 11, it performs various functions of the electronic device and processes data.

[0073] The memory 11 includes at least one type of readable storage medium, which includes flash memory, mobile hard disks, multimedia cards, card-type memories (such as SD or DX memories, etc.), magnetic memories, magnetic disks, optical discs, etc. In some embodiments, the memory 11 may be an internal storage unit of the electronic device, such as the mobile hard disk of the electronic device. In other embodiments, the memory 11 may also be an external storage device of the electronic device, such as a plug-in mobile hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device. Further, the memory 11 may also include both an internal storage unit and an external storage device of the electronic device. The memory 11 can be used not only to store application software installed on the electronic device and various types of data, such as the code of the ship navigation height measurement program, etc., but also to temporarily store data that has been output or will be output.

[0074] The communication bus 12 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. This bus can be divided into an address bus, a data bus, a control bus, etc. The bus is configured to enable connection communication between the memory 11 and at least one processor 10, etc.

[0075] The communication interface 13 is used for communication between the above-mentioned electronic device and other devices, including a network interface and a user interface. Optionally, the network interface may include a wired interface and / or a wireless interface (such as a WI-FI interface, a Bluetooth interface, etc.), which is generally used to establish a communication connection between the electronic device and other electronic devices. The user interface may be a display (Display), an input unit (such as a keyboard (Keyboard)), and optionally, the user interface may also be a standard wired interface or a wireless interface. Optionally, in some embodiments, the display may be an LED display, a liquid crystal display, a touch liquid crystal display, and an OLED (Organic Light-Emitting Diode) toucher, etc. Among them, the display may also be appropriately referred to as a display screen or a display unit, which is used to display the information processed in the electronic device and to display a visual user interface.

[0076] Figure 3 Only the electronic device with components is shown. Those skilled in the art can understand that Figure 3 the shown structure does not constitute a limitation on the electronic device, and it may include fewer or more components than shown, or combine certain components, or have a different component arrangement.

[0077] For example, although not shown, the electronic device may further include a power source (such as a battery) for powering each component. Preferably, the power source may be logically connected to the at least one processor 10 through a power management device, so as to implement functions such as charge management, discharge management, and power consumption management through the power management device. The power source may also include any components such as one or more DC or AC power sources, a recharge device, a power failure detection circuit, a power converter or inverter, and a power status indicator. The electronic device may also include a variety of sensors, a Bluetooth module, a Wi-Fi module, etc., which will not be elaborated here.

[0078] It should be understood that the above embodiments are only for illustration purposes and are not limited by this structure in the scope of the patent application.

[0079] The ship navigation height measurement program stored in the memory 11 of the electronic device is a combination of multiple computer programs. When running in the processor 10, it can implement: Based on the intelligent measurement device installed at the bottom of the bridge, obtaining the distance between the target ship to be measured and the intelligent measurement device at a preset moment, so as to obtain the target ship distance. Among them, the intelligent measurement includes a laser ranging device and a camera device; According to the intelligent measurement device, obtaining the ship image of the target ship at the preset moment to obtain the target ship image, and obtaining the image resolution of the target ship image to obtain the ship image resolution; Perform image recognition on the target ship image to obtain the upper edge of the target ship in the target ship image, obtain the position of the upper edge of the ship, and obtain the vertical field of view angle of the intelligent measurement device. Divide the vertical field of view angle evenly according to the ship image resolution, and combine with the laser ranging device to calculate the angle of the center point of the target ship image to obtain the laser center angle; Obtain the maximum elevation angle of the target ship according to the position of the upper edge of the ship, the vertical field of view angle, and the ship image resolution, obtain the elevation angle of the target ship, and calculate the difference between the elevation angle of the target ship and the angle of the laser center angle to obtain the target ship angle difference; Judge whether the height of the target ship reaches the preset height of the intelligent measurement device according to the target ship angle difference; When the height of the target ship does not reach the preset height of the intelligent measurement device, notify the target ship to navigate through a preset communication means; When the height of the target ship reaches the preset height of the intelligent measurement device, calculate the relative height of the target ship according to the target ship angle difference and the target ship distance to obtain the relative height of the ship; Obtain the ship height of the target ship according to the relative height of the ship and the preset height of the intelligent measurement device, obtain the bridge height parameter of the bridge, and notify the target ship whether it is allowed to navigate according to the bridge height parameter and the ship height.

[0080] Specifically, for the specific implementation method of the above computer program by the processor 10, reference can be made to Figure 1 The description of the relevant steps in the corresponding embodiment will not be repeated here.

[0081] Furthermore, if the modules / units integrated in the electronic device are implemented in the form of software function units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium. The computer-readable storage medium can be volatile or non-volatile. For example, the computer-readable medium can include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disc, computer memory, read-only memory (ROM, Read-Only Memory).

[0082] The present invention also provides a computer-readable storage medium, and the readable storage medium stores a computer program, which when executed by a processor of an electronic device, can implement: Based on the intelligent measurement device installed at the bottom of the bridge, obtain the distance between the target ship to be measured and the intelligent measurement device at a preset moment, to obtain the target ship distance, where the intelligent measurement includes a laser ranging device and a camera device; According to the intelligent measurement device, obtain the ship image of the target ship at the preset moment, to obtain the target ship image, and obtain the image resolution of the target ship image, to obtain the ship image resolution; Perform image recognition on the target ship image, obtain the upper edge of the target ship in the target ship image, to obtain the ship upper edge position, and obtain the vertical field of view angle of the intelligent measurement device. Divide the vertical field of view angle evenly according to the ship image resolution, and combine with the laser ranging device to calculate the angle of the center point of the target ship image, to obtain the laser center angle; According to the ship upper edge position, vertical field of view angle and the ship image resolution, obtain the maximum elevation angle of the target ship, to obtain the target ship elevation angle, and calculate the difference between the target ship elevation angle and the angle of the laser center angle, to obtain the target ship angle difference; Judge whether the height of the target ship reaches the preset height of the intelligent measurement device according to the target ship angle difference; When the height of the target ship does not reach the preset height of the intelligent measurement device, notify the target ship to navigate through a preset communication means; When the height of the target ship reaches the preset height of the intelligent measurement device, calculate the relative height of the target ship according to the target ship angle difference and the target ship distance, to obtain the ship relative height; Obtain the ship height of the target ship according to the ship relative height and the preset height of the intelligent measurement device, and obtain the bridge height parameter of the bridge. Notify the target ship whether it is allowed to navigate according to the bridge height parameter and the ship height.

[0083] In several embodiments provided by the present invention, it should be understood that the disclosed devices, apparatuses and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the modules is only a logical function division, and there may be other division methods in actual implementation.

[0084] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0085] In addition, in each embodiment of the present invention, each functional module may be integrated into a processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above integrated unit may be implemented in the form of hardware, or in the form of a combination of hardware and software functional modules.

[0086] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and without departing from the spirit or basic characteristics of the present invention, the present invention can be implemented in other specific forms.

[0087] Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be encompassed by the present invention. Any reference signs in the claims should not be construed as limiting the claims involved.

[0088] The blockchain referred to in the present invention is a new application mode of computer technologies such as distributed data storage, peer-to-peer transmission, consensus mechanism, and encryption algorithm. Blockchain, in essence, is a decentralized database, a string of data blocks generated by using cryptographic methods. Each data block contains information about a batch of network transactions, which is used to verify the validity (anti-counterfeiting) of the information and generate the next block. The blockchain may include a blockchain underlying platform, a platform product service layer, an application service layer, etc.

[0089] The embodiments of the present application may acquire and process relevant data based on artificial intelligence technology. Among them, artificial intelligence (AI) is to use a digital computer or a machine controlled by a digital computer to simulate, extend, and expand human intelligence, perceive the environment, acquire knowledge, and use knowledge to obtain the best results in theory, methods, technologies, and application systems.

[0090] In addition, obviously, the word "including" does not exclude other units or steps, and the singular does not exclude the plural. The multiple units or devices stated in the system claims may also be implemented by one unit or device through software or hardware. Words such as "second" are used to indicate names and do not indicate any specific order.

[0091] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A method for measuring the navigation height of a ship, characterized in that: The method comprises: Based on the intelligent measuring device installed at the bottom of the bridge, the distance between the target ship to be measured and the intelligent measuring device at a preset time is obtained to obtain the target ship distance, wherein the intelligent measurement includes a laser distance measuring device and a camera device; Acquire the ship image of the target ship at the preset time according to the intelligent measurement device to obtain the target ship image, and acquire the image resolution of the target ship image to obtain the ship image resolution; Perform image recognition on the target ship image, obtain the upper edge of the target ship in the target ship image, obtain the upper edge position of the ship, and obtain the vertical field angle of the intelligent measurement device, average the vertical field angle according to the resolution of the ship image, and calculate the angle of the center point of the target ship image in combination with the laser ranging device to obtain the laser center angle; According to the upper edge position of the ship, the vertical field of view angle and the ship image resolution, the highest elevation angle of the target ship is obtained to obtain the elevation angle of the target ship, and the difference between the elevation angle of the target ship and the angle of the laser center is calculated to obtain the target ship angle difference; Determining whether the height of the target ship reaches a preset height of the intelligent measuring device according to the angle difference of the target ship; When the height of the target ship does not reach the preset height of the intelligent measuring device, the target ship is notified to pass through the preset communication means; When the height of the target ship reaches the preset height of the intelligent measuring device, the relative height of the target ship is calculated according to the target ship angle difference and the target ship distance to obtain the relative height of the ship; The ship height of the target ship is obtained according to the relative height of the ship and the preset height of the intelligent measuring device, and the bridge height parameter of the bridge is obtained, and the target ship is notified whether navigation is allowed according to the bridge height parameter and the ship height.

2. The method for measuring the ship's navigation height according to claim 1, characterized in that: The step of averaging the vertical field of view angle according to the ship image resolution and calculating the angle of the center point of the target ship image in combination with the laser ranging device to obtain the laser center angle includes: Acquire the vertical resolution of the target ship based on the ship image resolution, and average the vertical field of view angle according to the vertical resolution to obtain a pixel angle; Acquire the position of the laser point in the target ship image when the laser ranging device is measuring the distance, and obtain the laser point position; The number of vertical pixels at the laser point position is obtained, and the angle of the center point of the target ship is calculated according to the number of vertical pixels at the laser point position and the pixel angle to obtain the laser center angle.

3. The method for measuring the ship's navigation height according to claim 1, characterized in that: Before performing image recognition on the target ship image, obtaining the upper edge of the target ship in the target ship image, and obtaining the upper edge position of the ship, the method further includes: Recognize the image of the target ship by using a preset image recognition model to obtain an upper edge image of the target ship; Determine whether there is a bird at the highest point in the upper edge image: If there is no bird at the highest point in the upper edge image, directly use the highest point of the upper edge image as the upper edge of the target ship to obtain the upper edge position of the ship; If there is a bird at the highest point in the upper edge image, the size of the bird in the upper edge image is identified by the image recognition model, and the influence of the bird is eliminated in the upper edge image to obtain the upper edge position of the ship.

4. The method for measuring the ship's navigation height according to claim 1, characterized in that: After obtaining the target ship image by using the intelligent measurement device to obtain the target ship image at the preset time, the method further includes: Performing a grayscale operation on the target ship image to obtain a grayscale ship image; Removing noise from the grayscale ship image by a preset filtering device to obtain a denoised ship image; The distortion of the denoised ship image is removed by using a preset pinhole model and correction algorithm to obtain a standardized target ship image.

5. The method for measuring the ship's navigation height according to claim 1, characterized in that: The step of obtaining the highest elevation angle of the target ship according to the upper edge position of the ship, the vertical field of view angle and the ship image resolution, and obtaining the elevation angle of the target ship comprises: Average the vertical field of view angle according to the ship image resolution to obtain a pixel average angle; The pixel point position of the upper edge of the ship is obtained to obtain the ship pixel position, and the highest elevation angle of the target ship is calculated according to the pixel average angle and the ship pixel position to obtain the target ship elevation angle.

6. The method for measuring the ship's navigation height according to claim 1, characterized in that: The step of judging whether the height of the target ship reaches a preset height of the intelligent measuring device according to the target ship angle difference comprises: Determining whether the height of the target ship exceeds a preset height of the intelligent measuring device according to the positive and negative values ​​of the ship angle difference; When the ship angle difference is a negative value, it means that the height of the target ship is below the center of the laser during shooting and does not reach the preset height of the intelligent measuring device; When the ship height difference is a positive value, it means that the target ship height is above the laser center during shooting and reaches the preset height of the intelligent measuring device.

7. The method for measuring the ship's navigation height according to any one of claims 1 to 6, characterized in that: The step of calculating the relative height of the target ship according to the target ship angle difference and the target ship distance to obtain the relative height of the ship comprises: Based on the ship angle difference and the target ship distance, the relative height of the target ship is calculated using a trigonometric function formula to obtain the relative height of the target ship; The trigonometric formula for calculating the relative height of the target ship is: in, is the relative height of the target ship, is the target ship distance, is the angle difference of the ship.

8. A ship navigation height measuring device, characterized in that: The device comprises: A ship image acquisition module, used to acquire the distance between the target ship to be measured and the intelligent measurement device at a preset time based on the intelligent measurement device installed at the bottom of the bridge, so as to obtain the target ship distance, wherein the intelligent measurement includes a laser distance measuring device and a camera device; Acquire the ship image of the target ship at the preset time according to the intelligent measurement device to obtain the target ship image, and acquire the image resolution of the target ship image to obtain the ship image resolution; An angle difference calculation module, used to perform image recognition on the target ship image, obtain the upper edge of the target ship in the target ship image, obtain the upper edge position of the ship, and obtain the vertical field angle of the intelligent measurement device, average the vertical field angle according to the resolution of the ship image, and calculate the angle of the center point of the target ship image in combination with the laser ranging device to obtain the laser center angle; According to the upper edge position of the ship, the vertical field of view angle and the ship image resolution, the highest elevation angle of the target ship is obtained to obtain the elevation angle of the target ship, and the difference between the elevation angle of the target ship and the angle of the laser center is calculated to obtain the target ship angle difference; A navigation condition judgment module, used to judge whether the height of the target ship reaches the preset height of the intelligent measuring device according to the angle difference of the target ship; When the height of the target ship does not reach the preset height of the intelligent measuring device, the target ship is notified to pass through the preset communication means; When the height of the target ship reaches the preset height of the intelligent measuring device, the relative height of the target ship is calculated according to the target ship angle difference and the target ship distance to obtain the relative height of the ship; The ship height calculation module is used to obtain the ship height of the target ship according to the relative height of the ship and the preset height of the intelligent measuring device, and obtain the bridge height parameter of the bridge, and notify the target ship whether navigation is allowed according to the bridge height parameter and the ship height.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and, a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the ship navigation height measurement method according to any one of claims 1 to 7.

10. A computer-readable storage medium, comprising a data storage area and a program storage area, wherein the data storage area stores created data and the program storage area stores a computer program; wherein: When the computer program is executed by a processor, the method for measuring the ship's navigation altitude according to any one of claims 1 to 7 is implemented.

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