Navigation light inspection method and device, electronic equipment and storage medium

Abstract

The invention discloses a navigation light inspection method and device, electronic equipment and a storage medium, and relates to the ship signal light inspection technology, and the method comprises the steps: obtaining the ship position information and the observation position information of a navigation light to be detected; the observation position information is obtained based on the appearance position or disappearance position of the navigation light to be detected detected by the unmanned aerial vehicle equipment; determining the azimuth angle of the unmanned aerial vehicle equipment relative to the ship compass system according to the ship position information and the observation position information; and obtaining a deviation angle of the ship compass system, determining a test angle of the navigation light to be tested according to the deviation angle and the azimuth angle, and checking whether the installation of the navigation light to be tested is qualified or not according to the test angle. According to the method, the azimuth angle required by calculation can be obtained by operating the unmanned aerial vehicle, and the test angle of the navigation light to be detected can be calculated by combining the deviation angle of the ship compass system, so that the detection process is simplified, and the beneficial effects of improving the detection efficiency and reducing the detection cost are achieved.

Description

Technical Field

[0001] The present application relates to the technical field of ship signal light inspection, and in particular to a navigation light inspection method, device, electronic equipment and storage medium. Background Art

[0002] Navigation lights are indicators used to indicate a vessel's position and direction during nighttime navigation or in poor visibility. These five lights, including the forward masthead, aft masthead, port light, starboard light, and sternlight, are crucial for safe navigation. To prevent collisions at sea, the installation of each navigation light must comply with certain international standards. Therefore, verifying the illumination range of each light during sea trials is essential.

[0003] Traditional navigation light inspection is usually carried out by tugboats circling the ship during the ship's sea trials. Figure 1 , Figure 1 This diagram illustrates the structure of a tugboat's navigation lights, as provided by an existing solution. The system observes the appearance and disappearance of each navigation light on the tugboat. After the observations are complete, the illumination range of each navigation light is calculated by converting the signal values ​​from the ship's radar and the tugboat's radar. This illumination range is then used to further verify that each navigation light installation meets requirements.

[0004] The above-mentioned tugboat-based test and inspection scheme needs to be carried out at night, and multiple observers are required to cooperate on the tugboat to realize the corresponding data measurement. There is a risk of falling into the water when the sea conditions are bad, and the cost of using the tugboat is extremely high. Summary of the Invention

[0005] The present application provides a navigation light inspection method, device, electronic device and storage medium, which can improve the existing navigation light inspection solution.

[0006] In a first aspect, the present application provides a navigation light inspection method, comprising:

[0007] Obtaining ship position information and observed position information of the navigation light to be tested; the ship position information is obtained based on the ship's compass system, and the observed position information is obtained based on the appearance or disappearance position of the navigation light to be tested detected by the UAV device;

[0008] Determining the azimuth angle of the UAV device relative to the ship compass system based on the ship position information and the observation position information;

[0009] The offset angle of the ship compass system is obtained, and a test angle of the navigation light to be tested is determined according to the offset angle and the azimuth angle, so as to check whether the installation of the navigation light to be tested is qualified according to the test angle.

[0010] In a second aspect, the present application provides a navigation light inspection device, the device comprising:

[0011] A position information acquisition module, configured to acquire the ship's position information and the observed position information of the navigation light to be tested; the ship's position information is obtained based on the ship's compass system, and the observed position information is obtained based on the position where the navigation light to be tested appears or disappears as detected by the drone device;

[0012] an azimuth angle determination module, configured to determine the azimuth angle of the UAV device relative to the ship's compass system based on the ship's position information and the observation position information;

[0013] The navigation light inspection module is used to obtain the offset angle of the ship compass system, determine the test angle of the navigation light to be tested according to the offset angle and the azimuth angle, and inspect whether the installation of the navigation light to be tested is qualified according to the test angle.

[0014] In a third aspect, the present application further provides an electronic device, comprising:

[0015] at least one processor; and

[0016] a memory communicatively connected to the at least one processor; wherein,

[0017] The memory stores a computer program that can be executed 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 navigation light inspection method described in any embodiment of the present application.

[0018] In a fourth aspect, the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the navigation light inspection method described in any embodiment of the present application when executed.

[0019] In a fifth aspect, the present application also provides a computer program product, comprising a computer program, which, when executed by a processor, implements the navigation light inspection method described in any embodiment of the present application.

[0020] The navigation light inspection scheme provided in the embodiment of the present application first obtains the ship's position information and the observed position information of the navigation light to be tested, wherein the ship's position information is obtained based on the ship's compass system, and the observed position information is obtained based on the detection of the unmanned aerial vehicle equipment; then, the azimuth angle of the unmanned aerial vehicle equipment relative to the ship's compass system is determined based on the ship's position information and the observed position information; finally, the test angle of the navigation light to be tested is determined based on the offset angle and azimuth angle of the ship's compass system, so that the installation of the navigation light to be tested can be verified based on the test angle. The scheme provided in this embodiment can obtain the azimuth angle required for calculation by simply operating the unmanned aerial vehicle, and can calculate the test angle of the navigation light to be tested by combining the offset angle of the ship's compass system. This scheme not only simplifies the detection process, but also achieves the beneficial effects of improving detection efficiency and reducing detection costs.

[0021] It should be noted that the above-mentioned computer instructions may be stored in whole or in part on a computer-readable storage medium. The computer-readable storage medium may be packaged together with the processor of the navigation light inspection device or separately from the processor of the navigation light inspection device, and this application does not limit this.

[0022] The descriptions of the second, third, fourth and fifth aspects of this application can refer to the detailed description of the first aspect; and the beneficial effects of the descriptions of the second, fourth and fifth aspects can refer to the analysis of the beneficial effects of the first aspect, which will not be repeated here.

[0023] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present application, nor is it intended to limit the scope of the present application. Other features of the present application will become easily understood through the following description.

[0024] It is understandable that before using the technical solutions disclosed in the embodiments of this application, the type, scope of use, and usage scenarios of the personal information involved in this application should be informed to the user and the user's authorization should be obtained in an appropriate manner in accordance with relevant laws and regulations. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0026] Figure 1 It is a structural diagram of a tugboat inspection navigation light provided by an existing solution.

[0027] Figure 2 This is a flow chart of a navigation light inspection method provided by an embodiment of the present application;

[0028] Figure 3 This is a structural diagram of the navigation light test angle provided by an embodiment of the present application;

[0029] Figure 4 This is a structural diagram of the illumination range and error angle of the navigation light provided in an embodiment of the present application;

[0030] Figure 5 This is another flowchart of the navigation light inspection method provided by an embodiment of the present application;

[0031] Figure 6 This is a schematic diagram of a structure for determining an azimuth angle based on a spherical coordinate system provided in an embodiment of the present application;

[0032] Figure 7 This is a structural diagram of determining a correction angle provided in an embodiment of the present application;

[0033] Figure 8 This is a structural diagram of a navigation light inspection device provided in an embodiment of the present application;

[0034] Figure 9 It is a structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0035] In order to enable those skilled in the art to better understand the present invention, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in this embodiment. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0036] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in a sequence other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0037] The present application will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are intended only to illustrate the present application and are not intended to limit the present application. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions of the present application, not all of the structures.

[0038] Figure 2 This is a flow chart of a navigation light inspection method provided in an embodiment of the present application. This embodiment is applicable to inspecting whether navigation lights installed on a vessel meet standards. The method can be performed by a navigation light inspection device, which can be implemented in hardware and / or software and integrated into the electronic device that performs the method. Preferably, the electronic device in the embodiment of the present application can be a server, a computer, or the like.

[0039] refer to Figure 2 The navigation light inspection method of this embodiment includes but is not limited to the following steps:

[0040] S110: Obtaining the ship's position information and the observed position information of the navigation light to be tested.

[0041] Vessel position information refers to the specific coordinates of a vessel in geographic space, representing the vessel's real-time position during navigation. In this embodiment, vessel position information is obtained using the vessel's compass system. The compass system is a core device for ship navigation, primarily used to determine the vessel's heading and position. It provides a precise orientation reference for the vessel by sensing the Earth's magnetic field (e.g., a magnetic compass) or utilizing inertial navigation principles (e.g., a gyrocompass / gyrocompass).

[0042] The navigation light to be tested refers to any of the following: the fore-mast light, aft-mast light, port light, starboard light, and stern light. Observed position information refers to the spatial coordinates of the navigation light to be tested, as detected by the drone's onboard sensors (such as cameras and infrared equipment), when it appears or disappears from the field of view. This information includes the drone's geographic coordinates (latitude, longitude, and altitude) at the time of detection, the navigation light's azimuth relative to the drone, and other parameters, which are used for subsequent analysis of the light's actual position or for spatial positioning calculations.

[0043] Among them, each inspection of the navigation lights requires that all the navigation lights to be tested be inspected in sequence. Therefore, in order to improve the inspection efficiency, when obtaining the observation position information of the navigation lights to be tested, the appearance position and disappearance position of each navigation light can be obtained in sequence based on the drone, and then recorded in the computer system; finally, it is only necessary to calculate the experimental angle corresponding to each navigation light to be tested in sequence on the server side.

[0044] When conducting drone light inspection at sea, the position of the ship will still drift due to the influence of wind, waves and currents even when anchored. Therefore, it is necessary to use the Differential Global Positioning System (DGPS) of the drone equipment and the compass DGPS system on the ship to complete dynamic positioning. The inspection at sea needs to be completed by the collaboration of three people, including the drone pilot, the ship position recorder and the data processor. Then the specific method of obtaining the ship position information and the observed position information of the navigation light to be tested can be: the pilot operates the drone equipment to fly to the position where the light disappears and appears about 1 nautical mile away from the ship (adjusted according to the sea conditions), and quickly issues a command after confirmation, and records the current position of the drone to determine the observed position information of the navigation light to be tested, and simultaneously records the ship position information of the current ship based on the ship's compass system, and records the observed position information and ship position information into the computer system.

[0045] S120. Determine the azimuth angle of the UAV device relative to the ship's compass system based on the ship's position information and the observed position information.

[0046] The azimuth angle refers to the direction of the drone relative to the ship's compass system in the true north direction. That is, it is measured clockwise or counterclockwise to the direction of the drone, based on the ship's current heading (usually with the ship's bow as the 0° or 180° reference line).

[0047] For details, please refer to Figure 3 , Figure 3 This is a structural diagram of the navigation light test angle provided by the embodiment of the present application. Figure 3 In the figure, the red mark on the ship indicates the location of the ship's compass system, and the azimuth angle of the UAV equipment relative to the ship's compass system is represented by θ in the figure; Figure 3 Where ε represents the deviation angle of the ship's direction of travel relative to the true north; λ represents the test angle of the navigation light to be tested.

[0048] Among them, the method for determining the azimuth angle θ of the UAV equipment relative to the ship compass system based on the ship position information and the observation position information can be: first, the obtained ship position information and the observation position information are converted into coordinates, such as converting the longitude and latitude into plane rectangular coordinates or spherical coordinate systems; then, the trigonometric function theorem is combined in the plane coordinate system or the spherical coordinate system to obtain the azimuth angle θ, etc.

[0049] In the solution provided in this embodiment, the longitude and latitude position information of the ship and the drone are converted into relative azimuth angles through coordinate conversion and angle calculation, providing basic positioning capabilities for applications such as drone inspection and ship monitoring.

[0050] S130: Obtain the offset angle of the ship's compass system, determine the test angle of the navigation light to be tested according to the offset angle and the azimuth angle, and verify whether the installation of the navigation light to be tested is qualified according to the test angle.

[0051] The offset angle of the ship's compass system is the offset angle base of the ship's direction of travel relative to the true north direction, that is, Figure 3 In ε, the offset angle can be directly obtained based on the ship's compass system.

[0052] For further information, please refer to Figure 3 The test angle λ of the navigation light to be tested is determined according to the offset angle and the azimuth angle. The difference between the azimuth angle and the offset angle is the test angle of the navigation light to be tested.

[0053] When checking whether the installation of the navigation lights to be tested is qualified according to the test angle, it is necessary to clarify the installation standards of each navigation light to be tested in advance. Figure 4 , Figure 4 This is a schematic diagram of the illumination range and tolerance angles of navigation lights provided in an embodiment of the present application. According to maritime collision avoidance regulations, the masthead light's visibility range is 225° from directly in front of the ship, the sidelights' visibility range is 112.5° from directly in front of the ship to the port and starboard sides, and the sternlight's visibility range is 135° from directly behind the ship. The port light's tolerance is +3°, the starboard light's tolerance is -3°, and the remaining navigation lights are allowed to have a tolerance of ±5°.

[0054] Specifically, whether the installation of the navigation light to be tested is qualified is determined based on the obtained test angle of the navigation light to be tested, the corresponding visual range angle and the corresponding allowable error. If it is unqualified, it needs to be adjusted according to the actual situation to avoid major accidents.

[0055] The navigation light inspection method provided in this embodiment first obtains the ship's position information and the observed position information of the navigation light to be tested, wherein the ship's position information is obtained based on the ship's compass system, and the observed position information is obtained based on the detection of the unmanned aerial vehicle (UAV) equipment. The azimuth angle of the UAV equipment relative to the ship's compass system is then determined based on the ship's position information and the observed position information. Finally, the test angle of the navigation light to be tested is determined based on the offset angle and azimuth angle of the ship's compass system. This test angle can then be used to verify the installation of the navigation light to be tested. The solution provided in this embodiment simply obtains the required azimuth angle by operating the UAV, and combines this with the offset angle of the ship's compass system to calculate the test angle of the navigation light to be tested. This solution not only simplifies the inspection process, but also achieves the beneficial effects of improving inspection efficiency and reducing inspection costs.

[0056] Figure 5It is another flow chart of the navigation light inspection method provided in an embodiment of the present application. The embodiment of the present application is optimized on the basis of the above embodiments. The specific optimization is: this embodiment explains in detail the implementation process of "determining the azimuth angle of the UAV equipment relative to the ship compass system based on the ship position information and the observation position information" in the above embodiment, and the implementation process of "obtaining the offset angle of the ship compass system, determining the test angle of the navigation light to be tested based on the offset angle and the azimuth angle, and checking whether the installation of the navigation light to be tested is qualified based on the test angle" in the above embodiment.

[0057] See also Figure 5 The navigation light inspection method of this embodiment includes but is not limited to the following steps:

[0058] S210: Obtain the ship's position information and the observed position information of the navigation light to be tested.

[0059] The ship's position information is obtained based on the ship's compass system, and the observed position information is obtained based on the appearance or disappearance position of the navigation light to be tested detected by the UAV equipment.

[0060] S220. Map the ship position information and the observation position information into a spherical coordinate system, and determine, based on the spherical coordinate system, spherical intersection position information at the same longitude as the observation position information and at the same latitude as the ship position information.

[0061] For details, please refer to Figure 6 , Figure 6 This is a schematic diagram of a structure for determining an azimuth angle based on a spherical coordinate system provided by an embodiment of the present application. Figure 6 In the example, point A is the observation location information, assumed to be (Long1, lat1), and point B is the ship location information, assumed to be (Long2, lat2). The determined spherical intersection location information at the same longitude as the observation location information and the same latitude as the ship location information is point B′.

[0062] S221. Determine a first relative distance according to the spherical intersection position information and the observation position information.

[0063] The first relative distance is the distance between the observation position A and the spherical intersection point B', which is recorded as Specifically, based on Figure 6 The method of determining the first relative distance in the provided schematic diagram can be implemented by the following steps a) and b):

[0064] a) Determine the longitude angle based on the ship's longitude and the observed longitude.

[0065] The observation position information includes the observation longitude, and the ship position information includes the ship longitude. The longitude angle can be obtained according to the difference between the ship longitude and the observation longitude, that is, Figure 6 Specifically, the longitude angle α is the angle between the spherical intersection position information, the observation position information, and the longitude center of the longitude circle (the circle with O as the center) obtained based on the spherical intersection position information B′ and the observation position information A, that is, ∠AOB′.

[0066] b) determining a first relative distance according to the longitude angle and the longitude radius corresponding to the longitude circle.

[0067] The longitude radius corresponding to the longitude circle is Figure 6 The method for determining the first relative distance according to the longitude angle and the longitude radius corresponding to the longitude circle marked R in the figure can be obtained by the following formula:

[0068]

[0069] S222: Determine a second relative distance based on the spherical intersection position information and the ship position information.

[0070] The second relative distance is the distance between the ship position information point B and the spherical intersection point B', which is recorded as Specifically, based on Figure 6 The method for determining the second relative distance in the provided schematic diagram can be implemented by the following steps c) and d):

[0071] c) Determine the latitude angle based on the ship's latitude and the observation latitude.

[0072] The observation position information includes the observation latitude, and the ship position information includes the ship latitude. The latitude angle can be obtained according to the difference between the ship latitude and the observation latitude, that is, Figure 6 Specifically, the latitude angle β is the angle between the spherical intersection position information, the observation position information, and the center of the latitude circle corresponding to the latitude circle (the circle with O′ as the center) obtained based on the spherical intersection position information B′ and the observation position information B, that is, ∠BO′B′.

[0073] d) determining a second relative distance according to the latitude angle and the latitude radius corresponding to the latitude circle.

[0074] The latitude radius corresponding to the latitude circle is Figure 6 The method for determining the second relative distance based on the latitude angle and the latitude radius corresponding to the latitude circle can be obtained by the following formula:

[0075]

[0076] S223. Determine the azimuth angle of the UAV device relative to the ship's compass system based on the first relative distance and the second relative distance.

[0077] Specifically, the azimuth angle θ of the UAV device relative to the ship's compass system determined based on the first relative distance and the second relative distance can be expressed by the following formula:

[0078]

[0079] The relationship between the longitude radius R and the latitude radius r can be expressed by the following formula:

[0080] r=R·cos(δ)(4)

[0081] In the above formula, δ is the latitude of point B, that is, Figure 6 ∠B′OD in.

[0082] Furthermore, by simplifying the above formulas (1) to (4), the azimuth angle θ of the UAV equipment relative to the ship's compass system can be expressed by the following formula:

[0083]

[0084] S230: Obtain an offset angle of the ship's compass system.

[0085] S240: Determine a correction angle of the UAV device relative to the navigation light to be measured based on the ship position information and the observed position information.

[0086] The purpose of determining the correction angle in this application is that the above steps obtain the azimuth angle of the UAV equipment relative to the ship's compass system, not the angle between the UAV equipment and the navigation lights to be measured. This is because the ship's compass system is generally set at the bow or in the middle of the ship to indicate the relative positions of all the navigation lights to be measured on the ship. In this case, there are certain differences, so the measured azimuth angle needs to be corrected based on the correction angle. The relative position relationship between the specific UAV equipment, navigation signal lights and the ship's compass system (i.e., the location of the ship's compass) is as follows: Figure 7 As shown, Figure 7 It is a structural diagram of determining the correction angle provided in an embodiment of the present application.

[0087] In a preferred implementation, the above step S240 can be implemented specifically through the following steps:

[0088] A third relative distance is determined based on the actual position information of the navigation light to be tested and the ship position information; a fourth relative distance is determined based on the ship position information and the observed position information, and a relative angle generated by the UAV equipment relative to the ship compass system is determined based on the ship position information and the observed position information; and a correction angle is obtained based on the third relative distance, the fourth relative distance and the relative angle.

[0089] Please continue to refer to Figure 7, where the third relative distance is the distance a between the navigation signal light (actual position information of the navigation light to be measured) and the position of the ship compass (ship position information); the fourth relative distance is the distance b between the drone (observation position information) and the position of the ship compass. The relative angle between the drone and the ship compass system is

[0090] When the longitude and latitude corresponding to the ship position information and the observation position information are known, the relationship between b and b can be calculated based on the trigonometric function.

[0091] Specifically, when the observation position information at point A is (Long1, lat1) and the ship position information at point B is (Long2, lat2), the fourth relative distance b can be determined by the following formula:

[0092]

[0093] Assuming the plane coordinates of the compass position are (x1, y1), and the plane coordinates of the navigation light position are (x2, y2), the relative angle is determined as The method can be realized by the following formula:

[0094]

[0095] Finally, the correction angle obtained according to the third relative distance, the fourth relative distance and the relative angle is in a trigonometric function relationship. The cosine theorem can be used to obtain the expression formula of the correction angle A as follows:

[0096]

[0097] From the above, we can see that when the navigation light and the ship's compass are close in position, the calculated correction angle A is also small. In actual engineering applications, this error can be ignored. However, when the distance difference is large, the impact of the correction cannot be ignored.

[0098] S241. Obtain a standard angle of the UAV device relative to the navigation light to be measured based on the correction angle and the azimuth angle.

[0099] Specifically, the obtained correction angle should include a direction, such as represented by a positive or negative sign, so that the test angle can be determined according to the relative position relationship between the navigation light to be tested and the ship's compass system.

[0100] For example, taking the ship compass system as an example, the correction angle corresponding to the navigation light to be tested before the ship compass system is a positive value, and the correction angle corresponding to the navigation light to be tested after the ship compass system is a negative value, so that the standard angle is obtained by adding the correction angle and the pre-obtained azimuth angle.

[0101] Specifically, the method of obtaining the standard angle can be expressed by the following formula:

[0102] θ′=θ-A(9)

[0103] Among them, whether the obtained azimuth angle needs to be corrected is related to whether the ship is undergoing a sea trial or a dock test. For example, when conducting a UAV sea trial, the ship's position will still drift even when it is anchored due to the influence of wind, waves, and currents. Therefore, it is necessary to use both the UAV DGPS system and the ship's compass DGPS system to complete dynamic positioning, and use the first method mentioned above to correct the test angle of the navigation light. When conducting a dock test (that is, the ship is in a fixed state), the ship is berthed at the dock, and the bow direction and the position of the navigation lights are fixed. Therefore, the position of each navigation light can be recorded in advance, and the azimuth angle of the UAV equipment and the navigation light can be directly calculated through the relevant data obtained, without the need for angle correction.

[0104] S242. Obtain a test angle of the navigation light to be tested according to the standard angle and the offset angle.

[0105] In this embodiment, the method of obtaining the test angle of the navigation light to be tested according to the standard angle and the offset angle can be expressed by the following formula:

[0106] λ=θ-ε(10)

[0107] S250. Check whether the installation of the navigation lights to be tested is qualified according to the test angle.

[0108] Since the determination of whether the installation of the navigation light to be tested is qualified is determined by the visual range angle of the navigation light to be tested, the visual range angle of each navigation light to be tested is obtained by detecting the appearance position and disappearance position of the navigation light. Therefore, in this embodiment, when the observation position information of the navigation light to be tested is the appearance position of the navigation light to be tested, the obtained test angle can be determined as the first angle of the navigation light to be tested; further, it is necessary to calculate the disappearance position of the navigation light to be tested and the azimuth angle of the drone equipment relative to the ship's compass system, the correction angle of the drone equipment relative to the navigation light to be tested, etc., to obtain the test angle at the disappearance position, such as determined as the second angle of the navigation light to be tested; thus, the visual range angle of the navigation light to be tested can be obtained based on the first angle and the second angle.

[0109] In another preferred implementation, the solution provided in this embodiment may further perform the following operations after obtaining the visible range angle of the navigation light to be tested:

[0110] Determine whether the navigation light to be tested meets the corresponding installation standards based on the test angle; calculate the next navigation light to be tested until all the navigation lights to be tested meet the corresponding installation standards; determine the adjustment strategy for the navigation light to be tested based on the azimuth angle, so as to make the navigation light to be tested meet the corresponding installation standards according to the adjustment strategy.

[0111] For each navigation light to be tested, the obtained test angle is compared with the corresponding standard visual range angle. If it is within the standard visual range angle, it indicates that the current navigation light to be tested meets the installation standards, and the solution provided in this embodiment will be continued to be executed for the next navigation light to be tested; if it does not meet the installation standards, the adjustment strategy for the navigation light to be tested can be determined based on the test angle and / or azimuth angle.

[0112] Specifically, the adjustment strategy for the navigation lights to be tested can be determined based on the azimuth angle. Since the azimuth angle is determined through a combination of the drone equipment and the ship's compass system, there is a problem with inaccurate observation position information obtained by the drone due to excessive sea waves. Therefore, the adjustment strategy is determined based on the current weather conditions and the difference between the test angle obtained based on the azimuth angle and the actual standard range. If the weather is inclement, the output may indicate that the current situation is not suitable for navigation light testing. If, despite stable weather, the test angle deviates significantly from the actual standard range, the adjustment strategy may include rotating the navigation lights to the left or right by x degrees, etc. The specific output of the adjustment strategy shall be subject to actual testing.

[0113] The navigation light inspection method provided in the embodiment of the present application first obtains the ship's position information and the observed position information of the navigation light to be tested, wherein the ship's position information is obtained based on the ship's compass system, and the observed position information is obtained based on the detection of the unmanned aerial vehicle equipment; then, the azimuth angle of the unmanned aerial vehicle equipment relative to the ship's compass system is determined based on the ship's position information and the observed position information; finally, the test angle of the navigation light to be tested is determined based on the offset angle and azimuth angle of the ship's compass system, so that the installation of the navigation light to be tested can be verified based on the test angle. The solution provided in this embodiment can obtain the azimuth angle required for calculation by simply operating the unmanned aerial vehicle, and can calculate the test angle of the navigation light to be tested by combining the offset angle of the ship's compass system. This solution not only simplifies the detection process, but also achieves the beneficial effects of improving detection efficiency and reducing detection costs.

[0114] Figure 8 This is a structural diagram of a navigation light inspection device provided in an embodiment of the present application, which is suitable for executing the navigation light inspection method provided in an embodiment of the present application. Figure 8 As shown, the device may specifically include: a position information acquisition module 310, an azimuth angle determination module 320 and a navigation light detection module 330.

[0115] in:

[0116] The position information acquisition module 310 is used to obtain the ship's position information and the observed position information of the navigation light to be tested; the ship's position information is obtained based on the ship's compass system, and the observed position information is obtained based on the position where the navigation light to be tested appears or disappears as detected by the UAV device;

[0117] An azimuth angle determination module 320 is configured to determine an azimuth angle of the UAV device relative to the ship's compass system based on the ship's position information and the observation position information;

[0118] The navigation light inspection module 330 is used to obtain the offset angle of the ship compass system, determine the test angle of the navigation light to be tested according to the offset angle and the azimuth angle, and inspect whether the installation of the navigation light to be tested is qualified according to the test angle.

[0119] The navigation light inspection device provided in this embodiment first obtains the ship's position information and the observed position information of the navigation light to be tested, wherein the ship's position information is obtained based on the ship's compass system, and the observed position information is obtained based on the detection of the unmanned aerial vehicle (UAV) equipment. The azimuth angle of the UAV equipment relative to the ship's compass system is then determined based on the ship's position information and the observed position information. Finally, the test angle of the navigation light to be tested is determined based on the offset angle and azimuth angle of the ship's compass system. This allows the installation of the navigation light to be tested to be verified based on the test angle. The solution provided in this embodiment can obtain the required azimuth angle by simply operating the UAV, and can calculate the test angle of the navigation light to be tested based on the offset angle of the ship's compass system. This solution not only simplifies the detection process, but also achieves the beneficial effects of improving detection efficiency and reducing detection costs.

[0120] In one embodiment, the azimuth angle determination module 320 includes a position information determination unit, a first distance determination unit, a second distance determination unit, and an azimuth angle determination unit, wherein:

[0121] a position information determining unit, configured to map the ship position information and the observation position information into a spherical coordinate system, and determine, based on the spherical coordinate system, spherical intersection position information at the same longitude as the observation position information and at the same latitude as the ship position information;

[0122] a first distance determining unit, configured to determine a first relative distance based on the spherical intersection position information and the observation position information;

[0123] a second distance determining unit, configured to determine a second relative distance based on the spherical intersection position information and the ship position information;

[0124] An azimuth angle determination unit is used to determine the azimuth angle of the UAV device relative to the ship compass system based on the first relative distance and the second relative distance.

[0125] In one embodiment, the observed position information includes the observed longitude, and the ship position information includes the ship longitude;

[0126] The first distance determination unit is specifically used to determine the longitude angle based on the ship longitude and the observed longitude, where the longitude angle is the angle formed by the spherical intersection position information, the observed position information, and the longitude center of the longitude circle corresponding to the longitude circle obtained based on the spherical intersection position information and the observed position information; and the first relative distance is determined based on the longitude angle and the longitude radius corresponding to the longitude circle.

[0127] In one embodiment, the observation position information includes observation latitude, and the ship position information includes ship latitude;

[0128] The second distance determination unit is specifically used to determine the latitude angle based on the ship latitude and the observation latitude, where the latitude angle is the angle formed by the spherical intersection position information, the ship position information and the latitude center corresponding to the latitude circle in the latitude circle obtained based on the spherical intersection position information and the ship position information; and the second relative distance is determined based on the latitude angle and the latitude radius corresponding to the latitude circle.

[0129] In one embodiment, the navigation light inspection module 330 includes a correction angle determination unit, a standard angle determination unit, and a test angle determination unit, wherein:

[0130] a correction angle determination unit, configured to determine a correction angle of the UAV device relative to the navigation light to be measured based on the ship position information and the observation position information;

[0131] a standard angle determination unit, configured to obtain a standard angle of the UAV device relative to the navigation light to be tested according to the correction angle and the azimuth angle;

[0132] A test angle determination unit is used to obtain the test angle of the navigation light to be tested according to the standard angle and the offset angle.

[0133] In one embodiment, the correction angle determination unit is specifically used to determine a third relative distance based on the actual position information of the navigation light to be tested and the ship position information; determine a fourth relative distance based on the ship position information and the observation position information, and determine a relative angle generated by the UAV device relative to the ship compass system based on the ship position information and the observation position information; and obtain the correction angle based on the third relative distance, the fourth relative distance and the relative angle.

[0134] In one embodiment, the navigation light inspection module 330 is specifically used to determine whether the navigation light to be tested meets the corresponding installation standard based on the test angle; if the navigation light to be tested does not meet the corresponding installation standard, an adjustment strategy for the navigation light to be tested is determined based on the azimuth angle, so as to make the navigation light to be tested meet the corresponding installation standard according to the adjustment strategy.

[0135] Those skilled in the art will clearly understand that for the sake of convenience and brevity of description, only the division of the above-mentioned functional modules is used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the functional modules described above can refer to the corresponding process in the aforementioned method embodiment and will not be repeated here.

[0136] An embodiment of the present application also provides an electronic device, comprising: 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 navigation light inspection method described in any embodiment of the present application.

[0137] An embodiment of the present application further provides a computer-readable medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the navigation light inspection method described in any embodiment of the present application when executed.

[0138] Reference below Figure 9 , Figure 9 FIG1 is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application, which shows a schematic diagram of the structure of a computer system 500 suitable for implementing the electronic device in an embodiment of the present application. Figure 9 The electronic device shown is merely an example and should not limit the functions and scope of use of the embodiments of the present application.

[0139] like Figure 9As shown, the computer system 500 includes a central processing unit (CPU) 501, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 502 or a program loaded from a storage unit 508 into a random access memory (RAM) 503. Various programs and data required for the operation of the system 500 are also stored in the RAM 503. The CPU 501, ROM 502, and RAM 503 are connected to each other via a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0140] The following components are connected to the I / O interface 505: an input section 506 including a keyboard, a mouse, and the like; an output section 507 including devices such as a cathode ray tube (CRT), a liquid crystal display (LCD), and a speaker; a storage section 508 including a hard disk; and a communication section 509 including a network interface card such as a LAN card or a modem. The communication section 509 performs communication processing via a network such as the Internet. A drive 510 is also connected to the I / O interface 505 as needed. A removable medium 511, such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, is installed in the drive 510 as needed, so that computer programs read therefrom can be installed into the storage section 508 as needed.

[0141] In particular, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program comprising program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via the communication section 509, and / or installed from a removable medium 511. When the computer program is executed by the central processing unit (CPU) 501, the above-mentioned functions defined in the system of the present application are executed.

[0142] It should be noted that the computer-readable medium shown in this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this application, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, device, or device. In this application, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. This propagated data signal can take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device. Program code embodied on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, and optical cables, or any suitable combination thereof.

[0143] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, program segment, or a part of code, and the above-mentioned module, program segment, or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of the boxes in the block diagram or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0144] The modules and / or units described in the embodiments of this application may be implemented via software or hardware. The modules and / or units described may also be provided within a processor. For example, a processor may be described as including a position information acquisition module, an azimuth angle determination module, and a navigation light detection module. The names of these modules do not, in some cases, limit the modules themselves.

[0145] As another aspect, the present application further provides a computer-readable medium, which may be included in the device described in the above embodiment; or may exist independently and not be assembled into the device. The computer-readable medium carries one or more programs, and when the one or more programs are executed by a device, the device includes: obtaining ship position information and observation position information of the navigation light to be tested; the ship position information is obtained based on the ship compass system, and the observation position information is obtained based on the appearance position or disappearance position of the navigation light to be tested detected by a drone device; determining the azimuth angle of the drone device relative to the ship compass system based on the ship position information and the observation position information; obtaining the offset angle of the ship compass system, and determining the test angle of the navigation light to be tested based on the offset angle and the azimuth angle, so as to verify whether the installation of the navigation light to be tested is qualified based on the test angle.

[0146] According to the technical solution of this embodiment, the azimuth angle required for calculation can be obtained by simply operating the drone, and the test angle of the navigation light to be tested can be calculated in combination with the offset angle of the ship's compass system. This solution not only simplifies the detection process, but also achieves the beneficial effects of improving detection efficiency and reducing detection costs.

[0147] The above specific embodiments do not constitute a limitation on the scope of protection of this application. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may occur depending on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application shall be included within the scope of protection of this application.

Claims

1. A navigation light inspection method, characterized in that: include: Obtain the ship's position information and the observed position information of the navigation light to be tested; The ship position information is obtained based on the ship compass system, and the observed position information is obtained based on the appearance or disappearance position of the navigation light to be tested detected by the UAV equipment; Determining the azimuth angle of the UAV device relative to the ship compass system based on the ship position information and the observation position information; The offset angle of the ship compass system is obtained, and a test angle of the navigation light to be tested is determined according to the offset angle and the azimuth angle, so as to check whether the installation of the navigation light to be tested is qualified according to the test angle.

2. The navigation light inspection method according to claim 1, characterized in that: The determining the azimuth angle of the UAV device relative to the ship compass system according to the ship position information and the observation position information includes: Mapping the ship position information and the observation position information into a spherical coordinate system, and determining, based on the spherical coordinate system, spherical intersection position information at the same longitude as the observation position information and the same latitude as the ship position information; Determine a first relative distance according to the spherical intersection position information and the observation position information; determining a second relative distance according to the spherical intersection position information and the ship position information; The azimuth angle of the UAV device relative to the ship compass system is determined according to the first relative distance and the second relative distance.

3. The navigation light inspection method according to claim 2, characterized in that: The observed position information includes the observed longitude, and the ship position information includes the ship longitude; The determining the first relative distance according to the spherical intersection position information and the observation position information includes: Determining a longitude angle based on the ship longitude and the observed longitude, the longitude angle being the angle formed by the spherical intersection position information, the observed position information, and the longitude center of the longitude circle in a longitude circle obtained based on the spherical intersection position information and the observed position information; The first relative distance is determined according to the longitude angle and the longitude radius corresponding to the longitude circle.

4. The navigation light inspection method according to claim 2, characterized in that: The observation position information includes the observation latitude, and the ship position information includes the ship latitude; The determining the second relative distance according to the spherical intersection position information and the ship position information includes: Determining a latitude angle based on the ship latitude and the observation latitude, the latitude angle being the angle formed by the latitude centers corresponding to the spherical intersection position information, the ship position information, and the latitude circle in a latitude circle obtained based on the spherical intersection position information and the ship position information; The second relative distance is determined according to the latitude angle and the latitude radius corresponding to the latitude circle.

5. The navigation light inspection method according to claim 1, characterized in that: The step of determining the test angle of the navigation light to be tested according to the offset angle and the azimuth angle includes: Determining a correction angle of the UAV device relative to the navigation light to be tested according to the ship position information and the observation position information; Obtaining a standard angle of the UAV device relative to the navigation light to be tested according to the correction angle and the azimuth angle; A test angle of the navigation light to be tested is obtained according to the standard angle and the offset angle.

6. The navigation light inspection method according to claim 5, characterized in that: The determining, based on the ship position information and the observation position information, a correction angle of the UAV device relative to the navigation light to be tested includes: determining a third relative distance according to the actual position information of the navigation light to be tested and the position information of the ship; determining a fourth relative distance based on the ship position information and the observation position information, and determining a relative angle generated by the UAV device relative to the ship compass system based on the ship position information and the observation position information; The correction angle is obtained according to the third relative distance, the fourth relative distance and the relative angle.

7. The navigation light inspection method according to claim 1, characterized in that: The step of inspecting whether the navigation light to be tested is installed properly according to the test angle includes: determining whether the navigation light to be tested complies with corresponding installation standards according to the test angle; If the navigation light to be tested does not meet the corresponding installation standard, an adjustment strategy for the navigation light to be tested is determined according to the azimuth angle, so as to make the navigation light to be tested meet the corresponding installation standard according to the adjustment strategy.

8. A navigation light inspection device, characterized in that: include: Position information acquisition module, used to obtain the ship's position information and the observed position information of the navigation light to be tested; The ship position information is obtained based on the ship compass system, and the observed position information is obtained based on the appearance or disappearance position of the navigation light to be tested detected by the UAV equipment; an azimuth angle determination module, configured to determine the azimuth angle of the UAV device relative to the ship's compass system based on the ship's position information and the observation position information; The navigation light inspection module is used to obtain the offset angle of the ship compass system, determine the test angle of the navigation light to be tested according to the offset angle and the azimuth angle, and inspect whether the installation of the navigation light to be tested is qualified according to the test angle.

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 to enable the at least one processor to perform the navigation light inspection method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the navigation light inspection method as described in any one of claims 1 to 7 is implemented.

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