System and method for automatically controlling line type of floating bridge based on computer vision

Abstract

A computer vision-based floating bridge linear automatic control system disclosed by the present invention comprises a shore-based control end and a plurality of pontoon control ends, the shore-based control end is arranged on a river bank, the shore-based control end comprises a camera, an image acquisition card and an industrial computer, and the pontoon control ends are respectively arranged on each pontoon and are located at the same side. The pontoon control end comprises targets located on pontoons, an environment data acquisition unit and a driving unit used for driving the pontoons to move, the camera is used for monitoring and capturing images of the targets on the pontoons, and the image acquisition card converts the images into digital signals and transmits the digital signals to the industrial computer; the industrial computer is used for analyzing the image, judging whether the linear deviation of the floating bridge exceeds a preset threshold value or not, controlling the environment data acquisition unit to acquire information according to a judgment result, and controlling the driving unit to drive the floating pontoon to move and adjust after analysis. According to the invention, automatic monitoring and adjustment of the line type of the floating bridge are realized, the adjustment efficiency and accuracy are improved, and the stability and safety of the floating bridge are enhanced.

Description

Technical Field

[0001] The present invention relates to the technical field of water transportation facilities, and particularly relates to an automatic control system and control method for the floating bridge line type based on computer vision. Background Art

[0002] With the development of water transportation facilities, as an important means of transportation connecting both sides of a water area, the stability and safety of a floating bridge are of crucial importance. Currently, a common floating bridge can be formed by several floating ships and the bridge decks carried thereon. Its load-bearing capacity mainly comes from the buoyancy of water. However, its lateral stiffness is relatively weak and it is easily affected by wind, water flow, and waves, making it difficult to ensure that the line type between several floating ships is straight.

[0003] When a traditional floating bridge is in use, the line type adjustment between several floating ships relies on manual operation, which is a cumbersome process with low accuracy and relatively low efficiency.

[0004] Therefore, there is an urgent need for an automatic control system and control method for the floating bridge line type based on computer vision to solve the problem of low efficiency in line type adjustment between several floating ships when a traditional floating bridge is in use. Summary of the Invention

[0005] In view of the deficiencies in the prior art, the present invention provides an automatic control system and control method for the floating bridge line type based on computer vision to solve the problem of low efficiency in line type adjustment between several floating ships when a traditional floating bridge is in use.

[0006] To achieve the above object, the present invention adopts the following technical solutions:

[0007] An automatic control system for the floating bridge line type based on computer vision, characterized in that: it includes a shore-based control terminal and several floating ship control terminals. The shore-based control terminal is arranged on the river bank and includes a camera, an image acquisition card, and an industrial computer. The floating ship control terminals are respectively arranged on each floating ship and are located on the same side. Several of the floating ships are mutually erected to form a floating bridge. The floating ship control terminal includes a target on the floating ship, an environmental data acquisition unit, and a driving unit for driving the floating ship to move. The camera is used to monitor and capture the target images on several floating ships, and the image acquisition card converts the images into digital signals and transmits them to the industrial computer. The industrial computer is used to analyze the images and judge whether the floating bridge line type deviation exceeds a preset threshold, and according to the judgment result, control the environmental data acquisition unit to collect information on wind speed and direction, flow velocity and direction, and draft depth. Then, the industrial computer analyzes the information collected by the environmental data acquisition unit and controls the driving unit to drive the floating ship to move until the floating bridge line type deviation meets the threshold.

[0008] To optimize the above technical solution, the specific measures taken further include:

[0009] Further, the industrial computer includes an image processing module, an image analysis module, a data processing module, an instruction generation module, and a wireless communication module. The image processing module is used for image processing. The image analysis module is used to analyze the processed image, identify the corresponding target offset and offset speed, and determine whether the floating bridge line type deviation exceeds a preset threshold. The instruction generation module generates control instructions according to the analysis results and sends them to the environmental data acquisition unit through the wireless communication module. The data processing module is used to analyze and calculate the information data collected by the environmental data acquisition unit, and then control the drive unit on the corresponding floating ship for drive adjustment according to the calculation results through the instruction generation module and the wireless communication module.

[0010] Further, the floating ship control end further includes a wireless communication module, a control unit, and a power supply module. The environmental data acquisition unit includes an anemometer and wind vane for collecting wind speed and direction, and an acoustic Doppler current profiler for collecting current velocity, direction, and draft depth. The drive unit includes a drive motor and a propeller. The wireless communication module is used for receiving and sending information. The control unit is used to control the output force and output direction of the drive motor to drive the propeller according to the received information. The power supply module is used for power supply.

[0011] Further, the anemometer and wind vane adopts an RS485 anemometer and wind vane integrated sensor of model XM8189B.

[0012] Further, the acoustic Doppler current profiler for collecting current velocity, direction, and draft depth adopts an acoustic Doppler current profiler of model AN-HWDF6.

[0013] Further, a control method for an automatic floating bridge line type control system based on computer vision is characterized by including the following steps:

[0014] The camera monitors and captures target images on several floating ships. The image acquisition card converts the images into digital signals and transmits them to the industrial computer. The industrial computer analyzes the images and determines whether the floating bridge line type deviation exceeds a preset threshold. When it is determined that the floating bridge line type deviation exceeds the preset threshold, the industrial computer controls the environmental data acquisition unit to collect information on wind speed and direction, current velocity, direction, and draft depth, and performs calculation and analysis through the data processing module in the industrial computer according to the collected information, and then controls the drive unit of the corresponding floating ship for output according to the calculation results to move until the floating bridge line type deviation meets the threshold.

[0015] Further, the environmental data acquisition unit collects the water flow velocity v water , flow direction θ water , wind speed v wind , wind direction θ wind and draft depth data, and the camera collects the lateral offset d and offset speed of the floating ship perpendicular to the reference line at present

[0016] Furthermore, the camera cooperates with the target detection algorithm in the data processing module to collect the lateral offset d and the offset speed of the floating ship perpendicular to the reference line at present.

[0017] Furthermore, the calculation of the data processing module includes the following steps:

[0018] Preset system parameters: water density ρ water , air density ρ air , water resistance coefficient air resistance coefficient cross-sectional area A of the underwater part of the floating ship water , cross-sectional area A of the above-water part of the floating ship wind , maximum thrust T of the propeller max ;

[0019] Input the parameter data collected by the environmental data acquisition unit and the camera, calculate the acting forces of the water flow and the wind on the floating ship, and decompose them to the normal direction θ of the reference line base :

[0020] Water flow force:

[0021]

[0022] Wind force:

[0023]

[0024] Total environmental force:

[0025] F env = F water + F wind

[0026] Among them: the cross-sectional area A of the underwater part of the floating ship water and the cross-sectional area A of the above-water part of the floating ship wind , are converted through the data of the draft depth combined with the pre-input cross-sectional area of the floating ship;

[0027] According to the calculated total environmental force, obtain the opposite force used to counteract it:

[0028] F feedforward = -F env

[0029] According to the current state of the floating ship, including the offset d and the offset speed Calculate the restoring force:

[0030]

[0031] Where: k p is the proportional gain, which determines the response intensity to the offset; k d is the derivative gain, which determines the response intensity to the offset speed;

[0032] The formula for calculating the total restoring force:

[0033]

[0034] Combined with the maximum thrust T of the propeller max , calculate the thrust:

[0035]

[0036] Where: the sign function sign(F restore ) is used to extract the direction of F restore . If F restore > 0, then sign(F restore ) = 1. If F restore < 0, then sign(F restore ) = -1, and the direction of the thrust T is the same as that of F restore . The drive unit outputs according to the obtained thrust T and the direction of the thrust T.

[0037] Furthermore, the following steps are further included: the camera continuously monitors the adjusted floating bridge line type, and the shore-based control terminal continuously receives new images and analyzes them to form a closed-loop control.

[0038] The beneficial effects of the present invention are:

[0039] The present invention collects and analyzes the target images on several floating boats in real time through the camera, image acquisition card and industrial computer of the shore-based control terminal, so as to judge whether the line type deviation of the floating bridge formed by several floating boats exceeds the preset threshold; when it exceeds the threshold, the environmental data acquisition unit is controlled to collect information on wind speed and direction, flow velocity and direction, and draft depth, and then the industrial computer analyzes the information collected by the environmental data acquisition unit, and controls the drive unit to drive the floating boat to move until the line type deviation of the floating bridge meets the threshold according to the analysis result, so as to realize the automatic monitoring and adjustment of the floating bridge line type, significantly improve the adjustment efficiency and accuracy, enhance the stability and safety of the floating bridge, and provide a new solution for the intelligent management of water transportation facilities.

[0040] Aiming at the problems of poor lateral stability of the floating bridge, being easily affected by wind, water flow and waves, and difficult to ensure a straight line type, the present invention combines modern computer vision technology and wireless communication technology to realize the automatic monitoring and adjustment of the floating bridge line type, thereby improving the stability and safety of the floating bridge and solving the problems of low efficiency and poor accuracy in manually adjusting the floating bridge line type in the prior art. Description of the Drawings

[0041] Figure 1 Schematic diagram of an automatic control system for the floating bridge line type based on computer vision proposed by the present invention;

[0042] Figure 2 Implementation schematic diagram of an automatic control system for the floating bridge line type based on computer vision proposed by the present invention.

[0043] Reference numerals: 1 - camera, 2 - industrial computer, 3 - river bank, 4 - bridge deck, 5 - floating ship, 6 - target, 7 - propeller, 8 - wind speed and direction meter, 9 - flow velocity, flow direction and draft meter. Specific implementation manner

[0044] Now, the present invention will be further described in detail with reference to the accompanying drawings.

[0045] As shown in the attached Figure 1 and attached Figure 2 An automatic control system for the floating bridge line type based on computer vision according to an embodiment of the present invention includes a shore - based control terminal and several floating - ship control terminals. The shore - based control terminal is arranged on the river bank 3 and includes a camera 1, an image acquisition card and an industrial computer 2. The floating - ship control terminals are respectively arranged on each floating ship 5 and are located on the same side. Several floating ships 5 are mutually erected into a floating bridge through the bridge decks 4 thereon. The floating - ship control terminal includes a target 6, an environmental data acquisition unit and a driving unit for driving the floating ship 5 to move on the floating ship 5. The camera 1 is used to monitor and capture the images of the targets 6 on several floating ships 5, and the image acquisition card converts the images into digital signals and transmits them to the industrial computer 2. The industrial computer 2 is used to analyze the images and judge whether the deviation of the floating bridge line type exceeds a preset threshold, and according to the judgment result, control the environmental data acquisition unit to collect wind speed and direction, flow velocity and direction, and draft information. Then, the industrial computer 2 analyzes the information collected by the environmental data acquisition unit, and according to the analysis result, controls the driving unit to drive the floating ship 5 to move until the deviation of the floating bridge line type meets the threshold.

[0046] The present invention uses the camera 1, the image acquisition card and the industrial computer 2 of the shore - based control terminal to collect and analyze the images of the targets 6 on several floating ships 5 in real time, so as to judge whether the deviation of the floating bridge formed by several floating ships 5 exceeds a preset threshold; when it exceeds the threshold, control the environmental data acquisition unit to collect wind speed and direction, flow velocity and direction, and draft information. Then, the industrial computer 2 analyzes the information collected by the environmental data acquisition unit, and according to the analysis result, controls the driving unit to drive the floating ship 5 to move until the deviation of the floating bridge line type meets the threshold, thereby realizing the automatic monitoring and adjustment of the floating bridge line type, significantly improving the adjustment efficiency and accuracy, enhancing the stability and safety of the floating bridge, and providing a new solution for the intelligent management of water transportation facilities.

[0047] In a further specific embodiment based on the above, the industrial computer 2 includes an image processing module, an image analysis module, a data processing module, an instruction generation module, and a wireless communication module. The image processing module is used for image processing, including filtering, edge detection, feature extraction, etc. The image analysis module is used to analyze the processed image, identify the offset and offset speed of the corresponding target 6, and determine whether the floating bridge line type deviation exceeds a preset threshold. The instruction generation module generates control instructions according to the analysis results and sends them to the environmental data acquisition unit through the wireless communication module. The data processing module is used to analyze and calculate the information data collected by the environmental data acquisition unit, and then control the drive unit on the corresponding floating ship 5 to perform drive adjustment according to the calculation results through the instruction generation module and the wireless communication module.

[0048] In a further specific embodiment based on the above, the floating ship control end further includes a wireless communication module, a control unit, and a power supply module. The environmental data acquisition unit includes an anemometer 8 for collecting wind speed and direction and a flow velocity, flow direction, and draft meter 9 for collecting flow velocity, flow direction, and draft depth. The drive unit includes a drive motor and a propeller 7. The wireless communication module is used for receiving and sending information. The control unit is used to control the output force and output direction of the drive motor to drive the propeller 7 according to the received information. The propeller 7 pushes the floating ship 5 to move according to the control instruction to adjust the floating bridge line type. The power supply module is used for power supply.

[0049] Among them, the above anemometer 8 adopts an RS485 wind speed and direction integrated sensor of model XM8189B. The above flow velocity, flow direction, and draft depth meter 9 adopts an acoustic Doppler flow velocity meter of model AN-HWDF6.

[0050] A control method for an automatic floating bridge line type control system based on computer vision includes the following steps:

[0051] The camera 1 monitors and captures images of the targets 6 on several floating ships 5. The image acquisition card converts the images into digital signals and transmits them to the industrial computer 2. The industrial computer 2 analyzes the images and determines whether the floating bridge line type deviation exceeds a preset threshold. When it is determined that the floating bridge line type deviation exceeds the preset threshold, the industrial computer 2 controls the environmental data acquisition unit to collect information on wind speed and direction, flow velocity, flow direction, and draft depth, and performs calculation and analysis through the data processing module in the industrial computer 2 according to the collected information, and then controls the drive unit of the corresponding floating ship 5 to output and move until the floating bridge line type deviation meets the threshold.

[0052] Further, the environmental data acquisition unit collects the water flow velocity v water 、flow direction θ water 、wind speed ν wind 、wind direction θ windand the draft data, the camera 1 collects the lateral offset d and the offset speed of the floating ship 5 perpendicular to the reference line at present Among them, the camera 1 cooperates with the target detection algorithm in the data processing module to collect the lateral offset d and the offset speed of the floating ship 5 perpendicular to the reference line at present

[0053] Among them, the calculation of the above data processing module includes the following steps:

[0054] Preset system parameters: water density ρ water 、air density ρ air 、water resistance coefficient air resistance coefficient Cross-sectional area A of the underwater part of the floating ship water 、cross-sectional area A of the above-water part of the floating ship wind 、maximum thrust T of the propeller max 、thrust-power mapping relationship P = f(T);

[0055] Input the parameter data collected by the environmental data acquisition unit and the camera 1, calculate the forces of the water flow and the wind on the floating ship, and decompose them into the normal direction θ of the reference line base :

[0056] Water flow force:

[0057]

[0058] Wind force:

[0059]

[0060] Total environmental force:

[0061] F env = F water + F wind

[0062] Among them: cross-sectional area A of the underwater part of the floating ship water and cross-sectional area A of the above-water part of the floating ship wind , are converted through the draft data combined with the pre-input cross-sectional area of the floating ship 5;

[0063] According to the calculated total environmental force, obtain the opposite force used to offset it:

[0064] F feedforward = -F env

[0065] According to the current state of the floating ship, including the offset d and the offset speed Calculate the restoring force:

[0066]

[0067] Where: k p is the proportional gain, which determines the response intensity to the offset; k d is the derivative gain, which determines the response intensity to the offset speed;

[0068] The formula for calculating the total restoring force:

[0069]

[0070] Combined with the maximum thrust T of the propeller max , calculate the thrust:

[0071]

[0072] Where: the sign function sign(F restore ) is used to extract the direction (positive or negative) of F restore . If F restore > 0, then sign(F restore ) = 1. If F restore < 0, then sign(F restore ) = -1. The direction of the thrust T is the same as that of F restore . The drive unit outputs according to the obtained thrust T and the direction of the thrust T. The output power of the drive unit can be obtained through the thrust-power mapping relationship P = f(T).

[0073] Furthermore, it further includes the following steps: The camera 1 continuously monitors the adjusted floating bridge line shape. The shore-based control terminal continuously receives new images and analyzes them to form a closed-loop control.

[0074] Aiming at the problems of poor lateral stability of the floating bridge, being easily affected by wind, water flow and waves, and difficult to ensure a straight line shape, the present invention combines modern computer vision technology and wireless communication technology to realize the automatic monitoring and adjustment of the floating bridge line shape, thereby improving the stability and safety of the floating bridge, solving the problems of low efficiency and poor accuracy in manually adjusting the floating bridge line shape in the prior art, and providing a new solution for the intelligent management of water transportation facilities.

[0075] A specific embodiment of the present invention is as follows:

[0076] 1. The camera 1 captures the target image on the floating ship 5;

[0077] 2. The image acquisition card converts the image into a digital signal and transmits it to the industrial computer 2;

[0078] 3. The image processing module of the industrial computer 2 performs image processing, including filtering, edge detection, feature extraction, etc.;

[0079] IV. The image analysis module analyzes the processed image to identify the target offset and offset speed, and obtains the current state of the floating ship 5: the current lateral offset d perpendicular to the reference line and the offset speed. Determine whether the deviation of the floating bridge line type exceeds the preset threshold.

[0080] V. When the deviation of the floating bridge line type exceeds the preset threshold, the instruction generation module generates a control instruction according to the analysis result and sends it to the environmental data acquisition unit at the floating ship control end through the wireless communication module.

[0081] VI. The environmental data acquisition unit collects the wind speed and direction, the flow velocity and direction, and the draft, and obtains the environmental data: the water flow velocity v water flow direction θ water ; wind speed v wind , wind direction θ wind and the draft used to convert the cross-sectional areas of the above-water and underwater parts of the floating ship, and transmits the data to the data processing module.

[0082] VII. The data processing module calculates the output power of the propeller and the moving direction of the floating ship according to the built-in algorithm.

[0083] The specific algorithm is as follows:

[0084] 1. Input parameters

[0085] Preset system parameters: water resistance coefficient air resistance coefficient cross-sectional area A of the floating ship water (underwater part), A wind (above-water part), maximum thrust T of the propeller max , thrust-power mapping relationship P = f(T). Input the above-obtained parameters, including the lateral offset d and offset speed of the floating ship 5 water flow velocity v water flow direction θ water ; wind speed v wind , wind direction θ wind and the draft.

[0086] 2. Calculate the environmental force

[0087] Calculate the forces exerted on the floating ship by the water flow and the wind, and decompose them in the direction normal to the reference line:

[0088] Water flow force:

[0089]

[0090] Wind force:

[0091]

[0092] Total environmental force:

[0093] f env = F water + F wind

[0094] 3. Calculate the control force (feedforward compensation + PD control)

[0095] Feedforward compensation: Calculate the total environmental force F env , and a contrary force can be directly applied to offset it.

[0096] F feedforward = -F env

[0097] PD control: Calculate the restoring force according to the current state of the floating ship (offset d and offset speed ).

[0098] Proportional control (P): Calculate the restoring force according to the offset d, and rapidly reduce the offset.

[0099] Derivative control (D): Calculate the restoring force according to the offset speed to suppress oscillation.

[0100]

[0101] where: k p is the proportional gain, determining the response intensity to the offset; k d is the derivative gain, determining the response intensity to the offset speed.

[0102] Calculate the total restoring force:

[0103]

[0104] 4. Propeller thrust constraint

[0105] By restricting the amplitude of the thrust T, ensure that it does not exceed the maximum thrust T max of the propeller. This is to avoid overloading the propeller and ensure the physical realizability of the control system.

[0106]

[0107] The sign function sign(F restore ) is used to extract the direction (positive or negative) of F restore .

[0108] If F restore > 0, then sign(F restore ) = 1. If F restore < 0, then sign(F restore ) = -1.

[0109] 5. Power and Direction Calculation

[0110] Thrust direction: same as F restore in the same direction.

[0111] Power mapping: P = f(T).

[0112] VIII. The wireless communication module sends the calculated control instructions to the floating ship control terminal;

[0113] IX. The wireless communication module of the floating ship control terminal receives the control signal;

[0114] X. The control unit analyzes the signal and generates specific instructions for controlling the propeller 7;

[0115] XI. The drive motor controls the output power and propulsion direction of the propeller 7 according to the instructions of the control unit;

[0116] XII. The propeller 7 pushes the floating ship 5 to move to adjust the alignment of the floating bridge;

[0117] XIII. The power module provides power for the floating ship control terminal;

[0118] XIV. The camera 1 continuously monitors the adjusted alignment of the floating bridge. The shore-based control terminal continuously receives new images and analyzes them to form a closed-loop control.

[0119] It should be noted that the terms such as "up", "down", "left", "right", "front", "back", etc. cited in the invention are only for the convenience of clear description, rather than to limit the scope of implementation of the present invention. The change or adjustment of their relative relationship, without substantial change in the technical content, should also be regarded as the scope of implementation of the present invention.

[0120] The above is only the preferred implementation mode of the present invention. The protection scope of the present invention is not limited to the above embodiments. All technical solutions falling within the idea of the present invention belong to the protection scope of the present invention. It should be pointed out that for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, refinements and variations can be made to these embodiments without departing from the principle and spirit of the present invention, and should be regarded as the protection scope of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A floating bridge linear automatic control system based on computer vision, characterized by: The invention comprises a shore-based control end and a plurality of floating boat control ends. The shore-based control end is arranged on a river bank (3). The shore-based control end comprises a camera (1), an image acquisition card and an industrial computer (2). The floating boat control end is respectively arranged on each floating boat (5) and is located on the same side. The plurality of floating boats (5) are mutually constructed to form a floating bridge. The floating boat control end comprises a target (6) located on the floating boat (5), an environmental data acquisition unit and a drive unit for driving the floating boat (5) to move. The camera (1) is used to monitor and capture images of the targets (6) on the plurality of floating boats (5). The image acquisition card converts the images into digital signals and transmits them to the industrial computer (2). The industrial computer (2) is used to analyze the images and determine whether the linear deviation of the floating bridge exceeds a preset threshold value. The environmental data acquisition unit is controlled to acquire wind speed and direction, flow speed and direction and draft information according to the determination result. The industrial computer (2) then analyzes the information acquired by the environmental data acquisition unit and controls the drive unit to drive the floating boat (5) to move until the linear deviation of the floating bridge meets the threshold value according to the analysis result.

2. The computer vision-based floating bridge linear automatic control system according to claim 1, characterized in that: The industrial computer (2) comprises an image processing module, an image analysis module, a data processing module, an instruction generation module and a wireless communication module. The image processing module is used for performing image processing. The image analysis module is used for analyzing the processed image, identifying the offset and offset speed of the corresponding target (6), and judging whether the linear deviation of the floating bridge exceeds a preset threshold. The instruction generation module generates a control instruction according to the analysis result and sends it to the environmental data acquisition unit through the wireless communication module. The data processing module is used for analyzing the information data collected by the environmental data acquisition unit and performing calculations, and then controlling the drive unit on the corresponding floating ship (5) to perform drive adjustment through the instruction generation module and the wireless communication module according to the calculation result.

3. The computer vision-based floating bridge linear automatic control system according to claim 1, characterized in that: The floating boat control end also includes a wireless communication module, a control unit and a power module; the environmental data acquisition unit includes an anemometer (8) for acquiring wind speed and direction and a flow velocity, flow direction and draft depth meter (9) for acquiring flow velocity, flow direction and draft depth; the drive unit includes a drive motor and a propeller (7); the wireless communication module is used for receiving and sending information; the control unit is used for controlling the output force and output direction of the drive motor driving the propeller (7) according to the received information; and the power module is used for supplying power.

4. The computer vision-based floating bridge linear automatic control system according to claim 3 is characterized in that: The anemometer (8) adopts an RS485 wind speed and direction integrated sensor with model number XM8189B.

5. The computer vision-based floating bridge linear automatic control system according to claim 3 is characterized in that: The flow velocity, flow direction and draft depth meter (9) is an acoustic Doppler flow velocity meter of model AN-HWDF6.

6. A control method for a floating bridge linear automatic control system based on computer vision according to any one of claims 1 to 5, characterized in that: The steps include: The camera (1) monitors and captures images of targets (6) on several floating boats (5); the image acquisition card converts the images into digital signals and transmits them to the industrial computer (2); the industrial computer (2) analyzes the images and determines whether the floating bridge line deviation exceeds a preset threshold value; when it is determined that the floating bridge line deviation exceeds the preset threshold value, the industrial computer (2) controls the environmental data acquisition unit to collect wind speed and direction, flow speed and direction, and draft depth information, and performs calculation and analysis based on the collected information through the data processing module in the industrial computer (2); and then controls the driving unit of the corresponding floating boat (5) to output based on the calculation result, and moves until the floating bridge line deviation meets the threshold value.

7. The control method of a floating bridge linear automatic control system based on computer vision according to claim 6 is characterized in that: The environmental data acquisition unit acquires the water flow velocity v water , flow direction θ water , wind speed v wind 、wind directionθ wind and draft data, the camera (1) collects the current lateral offset d and offset speed of the floating vessel (5) perpendicular to the reference line 8. The control method of the floating bridge linear automatic control system based on computer vision according to claim 7 is characterized by: The camera (1) cooperates with the target detection algorithm in the data processing module to collect the current lateral offset d and the offset speed of the floating ship (5) perpendicular to the reference line.

9. The control method of a floating bridge linear automatic control system based on computer vision according to claim 7, characterized in that: The calculation of the data processing module includes the following steps: Preset system parameters: water density ρ water , air density ρ air , water resistance coefficient Air resistance coefficient The cross-sectional area of ​​the underwater part of the floating vessel A water , cross-sectional area of ​​the floating vessel above water A wind , Maximum propeller thrust T max ; Input the parameter data collected by the environmental data acquisition unit and the camera (1), calculate the force of water flow and wind on the floating ship, and decompose it into the normal direction of the baseline θ base : Water force: Wind power: Total environmental force: F env =F water +F wind Where: The cross-sectional area of ​​the underwater floating vessel is A water and the cross-sectional area of ​​the floating vessel above water A wind , the draft depth data is combined with the pre-input cross-sectional area of ​​the floating vessel (5) for conversion; Based on the calculated total environmental force, find the opposing force to counteract it: F feedforward =-F env According to the current state of the floating ship, including the offset d and the offset speed Calculate the restoring force: Where: k p is the proportional gain, which determines the response strength to the offset; k d is the differential gain, which determines the intensity of the response to the offset velocity; The formula for calculating the total restoring force is: Combined propeller maximum thrust T max , calculate the thrust: Among them: the symbol function sign(F restore ) is used to extract F restore direction, if F restore >0, then sign(F restore )=1. If F restore <0, then sign(F restore )=-1, thrust T direction and F restore In the same direction, the drive unit outputs according to the thrust T and the direction of the thrust T.

10. The control method of a floating bridge linear automatic control system based on computer vision according to claim 6, characterized in that: The method further comprises the following steps: the camera (1) continuously monitors the adjusted floating bridge line shape, and the shore-based control end continuously receives and analyzes new images to form a closed-loop control.

Images