Bridge anti-collision method and device, electronic equipment and readable storage medium

Abstract

The invention provides a bridge anti-collision method and device, electronic equipment and a readable storage medium, the method and device are applied to a bridge anti-collision system, the bridge anti-collision system comprises a camera and radars arranged at the two ends of a bridge, and the method comprises the steps that images around the bridge are collected through the camera, and the height of a ship is determined based on the recognition result of the images; emitting an optical signal through a radar, and receiving an echo signal of the optical signal; wherein when the height of the ship is greater than or equal to the height of the bridge, the optical signal is reflected by the ship into an echo signal; and sending an early warning signal to the ship based on the echo signal and the identification result. In the mode, bridge anti-collision early warning can be carried out through the camera and the radar together, the accuracy and the early warning distance of bridge anti-collision early warning can be improved, and therefore the early warning effect of bridge anti-collision is enhanced.

Description

Technical Field

[0001] The present invention relates to the technical field of radar, and in particular to a bridge anti-collision method, device, electronic device and readable storage medium. Background Art

[0002] With the development of technology, waterway transportation has become increasingly developed, and the number of cases of collisions between ships and cross-river bridges has gradually increased. There are two main reasons for ship-bridge collision accidents: 1. Seasonal weather changes cause the water level to rise, resulting in the ship rising with the water level and causing collisions; 2. Ship yaw.

[0003] The existing devices for bridge anti-collision warning are as follows: 1. Camera monitoring, installing cameras on the bridge to detect passing ships, and measuring the height of the ship through algorithms to achieve the warning effect. 2. Ultrasonic ranging, using an ultrasonic module to emit ultrasonic waves, and calculating the distance based on the echo signal returned by the ultrasonic wave when it encounters an obstacle to achieve the warning effect. 3. Laser pair system, by installing infrared transmitting and receiving modules on the river bank beams on both sides of the river respectively, and distinguishing whether the height limit is exceeded by object occlusion.

[0004] However, among the above existing devices, camera monitoring mainly identifies ships through algorithms and roughly estimates the height of the ships, which is not accurate and is prone to misjudgment. Ultrasonic ranging has the function of accurately measuring the distance, but sound has the characteristic of divergence, and its detection range has a certain divergence angle, which is not suitable for straight planned waterways. The laser pair system uses the transmitting end to emit infrared light and the receiving end to receive infrared light. When a ship passes by and blocks the infrared light, if the receiving end cannot receive the infrared light, a warning signal is sent. However, the ranging distance of the laser pair system is short, and the ranging effect is reduced in rainy and foggy weather. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a bridge anti-collision method, device, electronic device and readable storage medium, so as to jointly carry out bridge anti-collision warning through cameras and radars, which can improve the accuracy and warning distance of bridge anti-collision warning, thereby enhancing the warning effect of bridge anti-collision.

[0006] In a first aspect, an embodiment of the present invention provides a bridge anti-collision method, which is applied to a bridge anti-collision system. The bridge anti-collision system includes a camera and radars arranged at both ends of the bridge. The method includes: collecting an image around the bridge through the camera, and determining the height of the ship based on the recognition result of the image; emitting an optical signal through the radar and receiving the echo signal of the optical signal; wherein, when the height of the ship is greater than or equal to the height of the bridge, the optical signal is reflected by the ship into an echo signal; and sending a warning signal to the ship based on the echo signal and the recognition result.

[0007] In an alternative embodiment of the present application, the step of sending a warning signal to the ship based on the echo signal and the recognition result includes: if there is an echo signal and the recognition result indicates that the height of the ship is greater than or equal to the height of the bridge, sending a warning signal to the ship.

[0008] In an alternative embodiment of the present application, the method further includes: if there is an echo signal and the recognition result indicates that the height of the ship is less than the height of the bridge, re-executing the steps of collecting images around the bridge through the camera and emitting an optical signal through the radar; if there is no echo signal and the recognition result indicates that the height of the ship is greater than or equal to the height of the bridge, re-executing the steps of collecting images around the bridge through the camera and emitting an optical signal through the radar.

[0009] In an alternative embodiment of the present application, the method further includes: converting the echo signal from an optical signal to an electrical signal by a photodetector; converting the electrical signal from an analog signal to a digital signal by an analog-to-digital converter; determining the distance between the ship and the bridge based on the digital signal.

[0010] In an alternative embodiment of the present application, the method further includes: determining the current pitch angle of the radar when emitting the optical signal; obtaining a target pitch angle, and adjusting the pitch angle of the radar based on the target pitch angle and the current pitch angle.

[0011] In an alternative embodiment of the present application, the method further includes: determining the current temperature of the photodetector; determining a target voltage corresponding to the current temperature based on a preset correspondence between temperature and voltage; adjusting the electrical signal output by the photodetector based on the target voltage.

[0012] In an alternative embodiment of the present application, the emission light source of the radar is a 1500 nm light source.

[0013] In an alternative embodiment of the present application, the analog-to-digital converter includes a dual-channel analog-to-digital conversion chip, and the conversion rate of the analog-to-digital conversion chip is 1 GHz.

[0014] In an alternative embodiment of the present application, the method further includes: determining a primary gain signal and a secondary gain signal of the echo signal; performing signal accumulation on the echo signal based on the primary gain signal and the secondary gain signal.

[0015] Second aspect, an embodiment of the present invention further provides a bridge anti-collision device, which is applied to a bridge anti-collision system. The bridge anti-collision system includes a camera and radars arranged at both ends of the bridge. The device includes: an image recognition module, configured to collect images around the bridge through the camera and determine the height of the ship based on the recognition result of the images; a radar detection module, configured to emit an optical signal through the radar and receive the echo signal of the optical signal; wherein, when the height of the ship is greater than or equal to the height of the bridge, the optical signal is reflected by the ship as an echo signal; a warning signal sending module, configured to send a third aspect, an embodiment of the present invention further provides an electronic device, including a processor and a memory. The memory stores computer-executable instructions that can be executed by the processor, and the processor executes the computer-executable instructions to implement the above-mentioned bridge anti-collision method.

[0016] Fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions cause the processor to implement the above-mentioned bridge anti-collision method.

[0017] The embodiments of the present invention bring the following beneficial effects:

[0018] The embodiments of the present invention provide a bridge anti-collision method, device, electronic device and readable storage medium. Images around the bridge are collected through a camera, and the height of the ship is determined based on the recognition result of the images; an optical signal is emitted through the radar, and the echo signal of the optical signal is received; wherein, when the height of the ship is greater than or equal to the height of the bridge, the optical signal is reflected by the ship as an echo signal; a warning signal is sent to the ship based on the echo signal and the recognition result. In this way, bridge anti-collision early warning can be jointly carried out through the camera and the radar, which can improve the accuracy and early warning distance of bridge anti-collision early warning, thereby enhancing the early warning effect of bridge anti-collision.

[0019] Other features and advantages of the present disclosure will be described in the following specification, or, some features and advantages can be inferred from the specification or determined without doubt, or can be known by implementing the above technologies of the present disclosure.

[0020] To make the above objects, features and advantages of the present disclosure more obvious and understandable, the following specific preferred embodiments are given below, and in conjunction with the accompanying drawings, the detailed description is as follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0022] Figure 1 Schematic diagram of a bridge anti-collision system provided by an embodiment of the present invention;

[0023] Figure 2 Flowchart of a bridge anti-collision method provided by an embodiment of the present invention;

[0024] Figure 3 Flowchart of another bridge anti-collision method provided by an embodiment of the present invention;

[0025] Figure 4 Schematic diagram of the functions of a system module provided by an embodiment of the present invention;

[0026] Figure 5 Schematic diagram of a laser module provided by an embodiment of the present invention;

[0027] Figure 6 Schematic diagram of the structure of a bridge anti-collision device provided by an embodiment of the present invention;

[0028] Figure 7 Schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. Specific embodiments

[0029] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions of the present invention with reference to the accompanying drawings. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art without creative efforts based on the embodiments of the present invention belong to the scope of protection of the present invention.

[0030] Currently, among the existing devices for bridge anti-collision warning, camera monitoring mainly identifies ships through algorithms and roughly estimates the height of ships, which is not accurate and prone to misjudgment. Ultrasonic ranging has the function of accurately measuring distance, but sound has the characteristic of divergence, and its detection range has a certain divergence angle, which is not suitable for straight planned waterways. The laser pair system uses the transmitting end to emit infrared light and the receiving end to receive infrared light. When a ship passes by and blocks the infrared light, if the receiving end cannot receive the infrared light, a warning signal is issued. However, the laser pair system has a short ranging distance, and the ranging effect is reduced in rainy and foggy weather.

[0031] Based on this, a bridge anti-collision method, device, electronic device and readable storage medium provided by an embodiment of the present invention specifically provide a bridge anti-collision radar based on a 1550nm fiber laser. The ultra-long-distance ranging ability of lidar can be utilized to achieve large-range anti-collision early warning, thus effectively avoiding ship-bridge collision accidents. In the embodiment of the present invention, the camera and the radar are jointly used for bridge anti-collision early warning, which can improve the accuracy and warning distance of bridge anti-collision early warning, thereby enhancing the warning effect of bridge anti-collision.

[0032] For the convenience of understanding this embodiment, first, a bridge anti-collision method disclosed by an embodiment of the present invention will be introduced in detail.

[0033] Embodiment 1:

[0034] An embodiment of the present invention provides a bridge anti-collision method, which is applied to a bridge anti-collision system. Refer to Figure 1 the schematic diagram of a bridge anti-collision system shown. The bridge anti-collision system includes a camera and radars arranged at both ends of the bridge.

[0035] As Figure 1 shown, the bridge anti-collision system in this embodiment may include a camera and radars. Among them, the number of cameras and radars in this embodiment is not specifically limited. The radars in this embodiment can be respectively arranged at both ends of the bridge.

[0036] Based on the above description, refer to Figure 2 the flowchart of a bridge anti-collision method shown. The bridge anti-collision method includes the following steps:

[0037] Step S202: Collect images around the bridge through the camera, and determine the height of the ship based on the recognition result of the images.

[0038] As Figure 1 shown, in this embodiment, images around the bridge can be collected through the camera. When the ship approaches the bridge, the images collected by the camera also include the bridge. Therefore, the recognition result of the images can be determined through image recognition, and thus the height of the ship can be determined.

[0039] Step S204: Send an optical signal through the radar and receive the echo signal of the optical signal; among them, when the height of the ship is greater than or equal to the height of the bridge, the optical signal is reflected by the ship as an echo signal.

[0040] The radar in this embodiment can emit an optical signal, and the optical signal is called an echo signal after being reflected by an object. If the height of the ship is less than the height of the bridge or the ship is not hit by the optical signal, the optical signal will not be reflected by the ship. Therefore, when the height of the ship is greater than or equal to the height of the bridge, the optical signal can be reflected by the ship as an echo signal.

[0041] Step S206: Send a warning signal to the ship based on the echo signal and the recognition result.

[0042] In this embodiment, bridge anti-collision warning can be jointly carried out based on the echo signal and the recognition result. It is jointly determined based on the echo signal and the recognition result whether there is a ship with a height greater than or equal to the height of the bridge. When there is a ship with a height greater than or equal to the height of the bridge, a warning signal can be sent.

[0043] An embodiment of the present invention provides a bridge anti-collision method. Images around the bridge are collected by a camera, and the height of the ship is determined based on the recognition result of the images; an optical signal is emitted by a radar, and the echo signal of the optical signal is received; wherein, when the height of the ship is greater than or equal to the height of the bridge, the optical signal is reflected by the ship as an echo signal; a warning signal is sent to the ship based on the echo signal and the recognition result. In this way, bridge anti-collision warning can be jointly carried out by the camera and the radar, which can improve the accuracy and warning distance of bridge anti-collision warning, thereby enhancing the warning effect of bridge anti-collision.

[0044] Embodiment 2:

[0045] This embodiment provides another bridge anti-collision method, which is implemented on the basis of the above embodiment. Refer to Figure 3 the flowchart of another bridge anti-collision method shown. This bridge anti-collision method includes the following steps:

[0046] Step S302: Collect images around the bridge by a camera, and determine the height of the ship based on the recognition result of the images.

[0047] Step S304: Emit an optical signal by a radar, and receive the echo signal of the optical signal; wherein, when the height of the ship is greater than or equal to the height of the bridge, the optical signal is reflected by the ship as an echo signal.

[0048] In some embodiments, the echo signal can also be converted from an optical signal to an electrical signal by a photodetector; the electrical signal is converted from an analog signal to a digital signal by an analog-to-digital converter; the distance between the ship and the bridge is determined based on the digital signal.

[0049] In this embodiment, the laser module of the radar can be controlled by an FPGA (Field Programmable Gate Array) to fire. The optical signal will return an echo signal when it encounters an object. The echo signal is converted into an electrical signal by a receiving module such as an APD (Avalanche Photo Diode) photodetector. The electrical signal is collected and converted into a digital signal by a high-speed ADC (Analog to Digital Converter), and the distance between the ship and the bridge is calculated through an algorithm, and finally uploaded to the upper computer through a network port.

[0050] Therefore, in the embodiments of the present invention, the distance between the ship and the bridge can be calculated, thereby further improving the accuracy of the bridge anti-collision warning and enhancing the warning effect of bridge anti-collision.

[0051] In some embodiments, the current pitch angle of the radar emitting the optical signal can also be determined; the target pitch angle is obtained, and the pitch angle of the radar is adjusted based on the target pitch angle and the current pitch angle.

[0052] Pitch angle control can also be performed in this embodiment. Since the water level in rivers and lakes is likely to change at any time, in this embodiment, the pitch angle of the radar can also be adjusted. First, the current pitch angle of the radar emitting the optical signal is obtained, and then the target pitch angle after the radar adjustment is determined. Among them, the target pitch angle can be manually input or determined by the staff, or can be automatically determined according to the water level in rivers and lakes.

[0053] After determining the target pitch angle and the current pitch angle, the pitch angle of the radar can be adjusted based on the target pitch angle and the current pitch angle. For example: if the current pitch angle is less than or equal to the target pitch angle, the pitch angle of the radar may not be adjusted; if the current pitch angle is greater than the target pitch angle, the optical signal may be emitted too high and cannot irradiate the ship with a height greater than or equal to the height of the bridge, and there may be some potential hazards. Therefore, it is necessary to reduce the pitch angle of the radar.

[0054] Therefore, in the embodiments of the present invention, the pitch angle of the radar can be adjusted based on the target pitch angle and the current pitch angle, thereby preventing the potential hazard that the optical signal cannot irradiate the ship with a height greater than or equal to the height of the bridge, improving the accuracy of the bridge anti-collision warning, and enhancing the warning effect of bridge anti-collision.

[0055] In some embodiments, the current temperature of the photodetector can also be determined; based on the preset correspondence between temperature and voltage, the target voltage corresponding to the current temperature is determined; and the electrical signal output by the photodetector is adjusted based on the target voltage.

[0056] In this embodiment, a suitable target voltage can be selected for the current temperature of the photodetector. In this embodiment, the correspondence between temperature and voltage can be preset (for example: a curve table of voltage output based on temperature), and the target voltage corresponding to the current temperature of the photodetector is determined according to the above correspondence as the target voltage of the electrical signal output by the photodetector.

[0057] Therefore, in the embodiments of the present invention, the target voltage of the electrical signal output by the photodetector can be adjusted as the current temperature of the photodetector changes, thereby ensuring the stable operation of the radar.

[0058] Step S306, if there is an echo signal and the recognition result indicates that the height of the ship is greater than or equal to the height of the bridge, send a warning signal to the ship.

[0059] In this embodiment, if there is an echo signal, it can be considered that the radar determines that the height of the ship is greater than or equal to the height of the bridge. If the recognition result of the image collected by the camera indicates that the height of the ship is greater than or equal to the height of the bridge, it can be considered that the camera determines that the height of the ship is greater than or equal to the height of the bridge.

[0060] Therefore, if there is an echo signal and the recognition result indicates that the height of the ship is greater than or equal to the height of the bridge, it can be considered that both the camera and the radar determine that the height of the ship is greater than or equal to the height of the bridge, and then a warning signal can be sent to the ship.

[0061] In addition, in some embodiments, if there is an echo signal and the recognition result indicates that the height of the ship is less than the height of the bridge, re-execute the steps of collecting images around the bridge by the camera and emitting optical signals by the radar; if there is no echo signal and the recognition result indicates that the height of the ship is greater than or equal to the height of the bridge, re-execute the steps of collecting images around the bridge by the camera and emitting optical signals by the radar.

[0062] If there is an echo signal and the recognition result indicates that the height of the ship is less than the height of the bridge, it can be considered that the camera determines that the height of the ship is greater than or equal to the height of the bridge, and the radar determines that the height of the ship is not greater than or equal to the height of the bridge.

[0063] If there is no echo signal and the recognition result indicates that the height of the ship is greater than or equal to the height of the bridge, it can be considered that the camera determines that the height of the ship is not greater than or equal to the height of the bridge, and the radar determines that the height of the ship is greater than or equal to the height of the bridge.

[0064] In the above two cases, the results judged by the radar and the camera are different. Therefore, in this embodiment, it is possible to re-judge through the radar and the camera, for example: re-execute the steps of collecting images around the bridge by the camera and emitting optical signals by the radar.

[0065] In addition, in addition to the above method of sending a warning signal to the ship only when both the camera and the radar determine that the height of the ship is greater than or equal to the height of the bridge, other methods of sending a warning signal to the ship can also be set in this embodiment. For example: when at least one of the camera and the radar determines that the height of the ship is greater than or equal to the height of the bridge, send a warning signal to the ship. That is, if there is an echo signal and / or the recognition result indicates that the height of the ship is greater than or equal to the height of the bridge, send a warning signal to the ship.

[0066] See Figure 4 The schematic diagram of a system module function shown in the figure. In this embodiment, the Xilinxxc7a50tcsg324 can be used as the main control chip. First, control the 1550nm laser module to emit an optical signal. When the optical signal encounters an object, it returns an echo signal. The echo signal is converted into an electrical signal through the APD, the electrical signal is collected by the high-speed ADC, converted into a digital signal, then the FPGA processes the digital signal, calculates the ranging value, and uploads it to the host computer.

[0067] As Figure 4 shown, a stepper motor and an angle sensor can also be installed in the system of this embodiment, and the radar elevation angle can be adjusted through the host computer. To adapt to different temperature environments, a multi-channel ADC is added to the system to measure the temperature and the voltage value of the APD. When the temperature changes, the high-voltage value can be automatically adjusted according to the temperature curve to make the radar operate stably.

[0068] In some embodiments, the emission light source of the radar is a 1500nm light source. In this embodiment, a 1550nm light source can be used as the emission light source. The 1550nm light source has the characteristic of eye safety, which can avoid harm to pedestrians. The 1550nm light source has a higher emission power under the condition of ensuring eye safety, so the ranging ability of the radar is stronger. In this embodiment, the ranging range of the radar can reach 2km.

[0069] See Figure 5 The schematic diagram of a laser module shown in the figure. The laser in this embodiment can be a 1550nm fiber laser. This module can write parameters such as TEC (Thermo-Electric Cooler, semiconductor refrigeration chip), frequency, current, and pump mode through the serial port. The emission state of the seed source is detected according to whether there is an external trigger and whether the seed source is detected. The temperature sensor reads the pump temperature and the whole machine temperature respectively, and the parameters are used to monitor the laser state.

[0070] In some embodiments, the analog-to-digital converter includes a dual-channel analog-to-digital conversion chip, and the conversion rate of the analog-to-digital conversion chip is 1GHZ.

[0071] In this embodiment, the motherboard design uses a single dual-channel 1GHZ high-speed ADC, and this chip can be a dual-channel ADC. First, the hardware phase-locked loop chip outputs a 500Mddr clock to the ADC chip, that is, the conversion rate is 500m×2 = 1G; each ADC has two groups of LVDS (Low-Voltage Differential Signaling) data outputs, and the clock per channel is 250MDDR, that is, the data rate is converted to 250M×2×2 = 1GHZ.

[0072] After the LVDS data enters the FPGA, it is first converted into single-ended data by the primitive IBUFD (differential input buffer), and then the double-edge data can be obtained through the primitive IDDR2. In this operation, in order to avoid the problem of race hazard caused by inconsistent delays in the high-speed data path, the clock that comes with the data enters the internal phase-locked loop of the FPGA, and the phase of the output clock of the phase-locked loop is adjusted to synchronize the data.

[0073] In addition, the data obtained for each clock is integrated and sorted through adc_data_combinatio, then enters the shift register, and then is output through the fifo (cross-clock).

[0074] In some embodiments, the primary gain signal and the secondary gain signal of the echo signal can also be determined; the echo signal is signal-accumulated based on the primary gain signal and the secondary gain signal.

[0075] In this embodiment, a two-channel ranging algorithm module can be used. The first channel is the input of adc0_di data, which is the primary gain signal of the echo signal; the second channel is the input of adc0_dq data, which is the secondary gain signal of the echo signal; the secondary gain signal first enters the (accumulate_signal_avr) module for signal accumulation. After 128 superpositions, the signal-to-noise ratio of the echo signal can be improved.

[0076] The above method provided by the embodiment of the present invention has the following advantages:

[0077] (1) Bridge collision prevention warning can be jointly carried out by the camera and the radar, which can improve the accuracy and warning distance of bridge collision prevention warning, thereby enhancing the warning effect of bridge collision prevention.

[0078] (2) The distance between the ship and the bridge can be calculated, thereby further improving the accuracy of bridge collision prevention warning, and thus enhancing the warning effect of bridge collision prevention.

[0079] (3) The elevation angle of the radar can be adjusted based on the target elevation angle and the current elevation angle, thereby preventing the hidden danger that the optical signal cannot irradiate the ship with a height greater than or equal to the height of the bridge, improving the accuracy of bridge collision prevention warning, and thus enhancing the warning effect of bridge collision prevention.

[0080] (4) The target voltage of the electrical signal output by the optical detector can be adjusted according to the change of the current temperature of the optical detector, thereby ensuring the stable operation of the radar.

[0081] Embodiment Three:

[0082] Corresponding to the above method embodiment, the embodiment of the present invention provides a bridge collision prevention device, which is applied to a bridge collision prevention system. The bridge collision prevention system includes a camera and radars arranged at both ends of the bridge. See Figure 6Schematic structural diagram of a bridge anti-collision device shown, the bridge anti-collision device comprising:

[0083] An image recognition module 61, configured to collect images around the bridge through a camera and determine the height of the ship based on the recognition result of the images;

[0084] A radar detection module 62, configured to emit an optical signal through the radar and receive the echo signal of the optical signal; wherein, when the height of the ship is greater than or equal to the height of the bridge, the optical signal is reflected by the ship as an echo signal;

[0085] An early warning signal sending module 63, configured to send an early warning signal to the ship based on the echo signal and the recognition result.

[0086] An embodiment of the present invention provides a bridge anti-collision device, which collects images around the bridge through a camera and determines the height of the ship based on the recognition result of the images; emits an optical signal through the radar and receives the echo signal of the optical signal; wherein, when the height of the ship is greater than or equal to the height of the bridge, the optical signal is reflected by the ship as an echo signal; sends an early warning signal to the ship based on the echo signal and the recognition result. In this way, bridge anti-collision early warning can be jointly carried out by the camera and the radar, which can improve the accuracy and warning distance of bridge anti-collision early warning, thereby enhancing the early warning effect of bridge anti-collision.

[0087] The above-mentioned early warning signal sending module is configured to send an early warning signal to the ship if there is an echo signal and the recognition result indicates that the height of the ship is greater than or equal to the height of the bridge.

[0088] The above-mentioned early warning signal sending module is further configured to, if there is an echo signal and the recognition result indicates that the height of the ship is less than the height of the bridge, re-execute the steps of collecting images around the bridge through the camera and emitting an optical signal through the radar; if there is no echo signal and the recognition result indicates that the height of the ship is greater than or equal to the height of the bridge, re-execute the steps of collecting images around the bridge through the camera and emitting an optical signal through the radar.

[0089] The above-mentioned device further comprises: a ranging module, configured to convert the echo signal from an optical signal into an electrical signal through an optical detector; convert the electrical signal from an analog signal into a digital signal through an analog-to-digital converter; and determine the distance between the ship and the bridge based on the digital signal.

[0090] The above-mentioned device further comprises: a pitch angle control module, configured to determine the current pitch angle of the optical signal emitted by the radar; obtain a target pitch angle, and adjust the pitch angle of the radar based on the target pitch angle and the current pitch angle.

[0091] The above device further includes: a voltage control module, configured to determine the current temperature of the optical detector; determine a target voltage corresponding to the current temperature based on a preset correspondence between temperature and voltage; and adjust the electrical signal output by the optical detector based on the target voltage.

[0092] The transmitting light source of the above radar is a light source of 1500 nm.

[0093] The above analog-to-digital converter includes a dual-channel analog-to-digital conversion chip, and the conversion rate of the analog-to-digital conversion chip is 1 GHz.

[0094] The above device further includes: a signal accumulation module, configured to determine a first-stage gain signal and a second-stage gain signal of the echo signal; and perform signal accumulation on the echo signal based on the first-stage gain signal and the second-stage gain signal.

[0095] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working process of the above-described bridge anti-collision system can refer to the corresponding process in the embodiment of the foregoing bridge anti-collision method, and will not be elaborated herein.

[0096] Embodiment 4:

[0097] The embodiment of the present invention further provides an electronic device for running the above bridge anti-collision method; see Figure 7 the structural schematic diagram of an electronic device shown. The electronic device includes a memory 100 and a processor 101. Among them, the memory 100 is used to store one or more computer instructions, and the one or more computer instructions are executed by the processor 101 to implement the above bridge anti-collision method.

[0098] Further, Figure 7 the electronic device shown further includes a bus 102 and a communication interface 103, and the processor 101, the communication interface 103, and the memory 100 are connected through the bus 102.

[0099] Among them, the memory 100 may include a high-speed random access memory (RAM, Random Access Memory), and may also include a non-volatile memory, such as at least one disk memory. Through at least one communication interface 103 (which can be wired or wireless), a communication connection is realized between the system network element and at least one other network element, and the Internet, wide area network, local area network, metropolitan area network, etc. can be used. The bus 102 can be an ISA bus, a PCI bus, an EISA bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of convenience of representation, Figure 7 only a bidirectional arrow is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0100] The processor 101 may be an integrated circuit chip with the ability to process signals. In the implementation process, each step of the above method can be completed by the integrated logic circuit of the hardware in the processor 101 or the instructions in the form of software. The above-mentioned processor 101 may be a general-purpose processor, including a central processing unit (CPU for short), a network processor (NP for short), etc.; it may also be a digital signal processor (DSP for short), an application specific integrated circuit (ASIC for short), a field-programmable gate array (FPGA for short), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. It can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present invention. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The steps of the method disclosed in combination with the embodiments of the present invention can be directly embodied as being executed and completed by the hardware decoding processor, or executed and completed by a combination of the hardware and software modules in the decoding processor. The software module may be located in a mature storage medium in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. This storage medium is located in the memory 100, and the processor 101 reads the information in the memory 100 and combines its hardware to complete the steps of the method in the foregoing embodiments.

[0101] The embodiments of the present invention also provide a computer-readable storage medium. The computer-readable storage medium stores computer-executable instructions. When the computer-executable instructions are called and executed by the processor, the computer-executable instructions cause the processor to implement the above-mentioned bridge anti-collision method. For the specific implementation, reference can be made to the method embodiments, and details are not described herein again.

[0102] The computer program product of the bridge anti-collision method, device, electronic device, and readable storage medium provided by the embodiments of the present invention includes a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the methods in the foregoing method embodiments. For the specific implementation, reference can be made to the method embodiments, and details are not described herein again.

[0103] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the above-described system and / or device can refer to the corresponding processes in the foregoing method embodiments, and details are not described herein again.

[0104] In addition, in the description of the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0105] If a function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods in the various embodiments of the present invention. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs that can store program codes.

[0106] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0107] Finally, it should be noted that the above-described embodiments are only specific embodiments of the present invention, used to illustrate the technical solutions of the present invention, rather than limiting them. The protection scope of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that any person skilled in the art within the technical scope disclosed by the present invention can still modify the technical solutions described in the foregoing embodiments, or can easily think of changes, or perform equivalent replacements on some of the technical features; and these modifications, changes, or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A bridge anti-collision method, characterized in that, Applied to a bridge anti-collision system, the bridge anti-collision system includes a camera and radars installed at both ends of the bridge, and the method includes: Collecting an image around the bridge through the camera, and determining the height of the ship based on the recognition result of the image; Sending an optical signal through the radar and receiving the echo signal of the optical signal; wherein, when the height of the ship is greater than or equal to the height of the bridge, the optical signal is reflected by the ship as the echo signal; Sending a warning signal to the ship based on the echo signal and the recognition result.

2. The method according to claim 1, wherein The step of sending a warning signal to the ship based on the echo signal and the recognition result includes: If there is the echo signal and the recognition result indicates that the height of the ship is greater than or equal to the height of the bridge, sending a warning signal to the ship.

3. The method according to claim 2, wherein The method further includes: If there is the echo signal and the recognition result indicates that the height of the ship is less than the height of the bridge, re-executing the steps of collecting the image around the bridge through the camera and sending the optical signal through the radar; If there is no echo signal and the recognition result indicates that the height of the ship is greater than or equal to the height of the bridge, re-executing the steps of collecting the image around the bridge through the camera and sending the optical signal through the radar.

4. The method according to claim 1, wherein The method further includes: Converting the echo signal from an optical signal to an electrical signal through an optical detector; Converting the electrical signal from an analog signal to a digital signal through an analog-to-digital converter; Determining the distance between the ship and the bridge based on the digital signal.

5. The method according to claim 1, characterized in that The method further includes: Determining the current pitch angle of the radar for sending the optical signal; Obtaining a target pitch angle, and adjusting the pitch angle of the radar based on the target pitch angle and the current pitch angle.

6. The method according to claim 4, characterized in that, The method further includes: Determining the current temperature of the optical detector; Determining the target voltage corresponding to the current temperature based on the preset correspondence between temperature and voltage; Adjusting the electrical signal output by the optical detector based on the target voltage.

7. The method according to any one of claims 1 to 6, characterized in that The emission light source of the radar is a 1500nm light source.

8. The method according to claim 4, wherein The analog-to-digital converter includes a dual-channel analog-to-digital conversion chip, and the conversion rate of the analog-to-digital conversion chip is 1GHZ.

9. The method according to claim 4, wherein The method further includes: Determining the primary gain signal and the secondary gain signal of the echo signal; Performing signal accumulation on the echo signal based on the primary gain signal and the secondary gain signal.

10. A bridge anti-collision device, characterized in that, Applied to a bridge anti-collision system, the bridge anti-collision system includes a camera and radars installed at both ends of the bridge, and the device includes: An image recognition module, configured to collect an image around the bridge through the camera and determine the height of the ship based on the recognition result of the image; A radar detection module, configured to send an optical signal through the radar and receive the echo signal of the optical signal; wherein, when the height of the ship is greater than or equal to the height of the bridge, the optical signal is reflected by the ship as the echo signal; A warning signal sending module, configured to send a warning signal to the ship based on the echo signal and the recognition result.

11. An electronic device, characterized in that, It includes a processor and a memory. The memory stores computer-executable instructions that can be executed by the processor. The processor executes the computer-executable instructions to implement the bridge anti-collision method according to any one of claims 1 to 9.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions cause the processor to implement the bridge anti-collision method according to any one of claims 1 to 9.

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