Canal ship high-precision trajectory reconstruction and collision risk dynamic prediction device

Abstract

The invention provides a canal ship high-precision trajectory reconstruction and collision risk dynamic prediction device, which comprises a multi-source data acquisition module, a high-precision trajectory reconstruction module, a collision risk dynamic prediction module, a main control and communication module and an early warning output and man-machine interaction module, a video image acquisition unit in the multi-source data acquisition module comprises a multi-mode sensing tower main body, the top end of the multi-mode sensing tower main body is fixedly connected with a mounting seat, a damping box is fixedly connected above the mounting seat, a vertical block is arranged above the damping box, a first servo motor is fixedly mounted at the bottom of the vertical block, and a second servo motor is fixedly mounted at the bottom of the vertical block. And a damping assembly is arranged between the bottom of the first servo motor and the damping box. Interference of ship vibration, wind power and the like is effectively counteracted through the damping assembly of the multi-mode sensing tower, automatic lens cleaning is achieved through the protection cleaning assembly, it is ensured that video images are clear in the rain, fog and dust environment, and the problem that performance of traditional video equipment is reduced in severe weather is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of canal ship navigation safety monitoring and intelligent early warning, in particular to a canal ship high-precision trajectory reconstruction and collision risk dynamic prediction device. BACKGROUND

[0002] As a core project of the new land-sea corridor in the west, the Pinglu Canal has a large navigation density, complex hub water area, and frequent ship intersection. There are problems such as frequent abnormal behaviors of ships and high risk coupling degree in key areas such as lock area, narrow bend, and intersection. The technology mainly relies on AIS, video monitoring, radar and other sensors for ship monitoring. Single AIS data has low update frequency, is easy to be disturbed and has blind area. The traditional video and radar performance decreases in rain and fog weather, and it is difficult to achieve full coverage in curved waterways. There is a lack of a kind of infrastructure that can actively, synchronously and high-precisely obtain multi-dimensional data, making it difficult to achieve high-precision trajectory reconstruction. At the same time, the existing collision warning system relies on a single data source and lacks dynamic coupling analysis of ship behavior, environmental factors and risk evolution, resulting in low warning accuracy and high false alarm rate, which cannot meet the needs of active prevention and control of canal shipping safety. SUMMARY

[0003] In view of the deficiencies in the prior art, the present application aims to provide a canal ship high-precision trajectory reconstruction and collision risk dynamic prediction device to solve the problems raised in the background art. The present application has a novel structure. By adopting the "visual positioning priority fusion" strategy, the trajectory is completed by combining Kalman filter and LSTM neural network, solving the problem of trajectory interruption and drift in complex water areas by traditional single data source. By fusing ship dynamics, environment, channel geography and historical accident data, the collision and ship-bridge contact risks are evaluated by special sub-models, overcoming the limitations of traditional systems relying on a single data source. By ship domain model and traffic conflict recognition, potential risks are perceived in advance. Combined with graphical display, sound and light alarm and mobile terminal push, the crew is provided with an intuitive risk heat map and collision avoidance route suggestion, realizing the active prevention and control closed loop of "risk prediction - decision support - emergency disposal", improving the intelligent level of canal shipping safety supervision, effectively offsetting the interference of ship vibration, wind and other factors by the damping components of the multi-modal perception tower, and realizing the automatic cleaning of the lens by the protection and cleaning components, ensuring the clarity of video images in rain, fog and dust environment, and solving the problem of performance decline of traditional video equipment in bad weather.

[0004] In order to achieve the above-mentioned purpose, the present application is realized by the following technical scheme: a canal ship high-precision trajectory reconstruction and collision risk dynamic prediction device, comprising a multi-source data acquisition module, a high-precision trajectory reconstruction module, a collision risk dynamic prediction module, a main control and communication module, and an early warning output and man-machine interaction module.

[0005] The multi-source data acquisition module comprises an AIS receiving unit, a Beidou / GPS positioning unit, a video image acquisition unit and a ship state monitoring unit.

[0006] The high-precision trajectory reconstruction module comprises a space-time alignment algorithm unit, a trajectory completion algorithm unit and a behavior feature extraction unit.

[0007] The collision risk dynamic prediction module comprises a ship domain model unit, a traffic conflict identification unit and a risk probability calculation unit.

[0008] The main control and communication module comprises an embedded processor, a data storage and a communication interface.

[0009] The man-machine interaction module comprises an audible and visual alarm, a graphic display screen and a mobile terminal interface.

[0010] The video image acquisition unit comprises a multi-modal perception tower body arranged at key hubs, curved roads, bridge areas and the like of the canal, a mounting seat fixedly connected to the top of the multi-modal perception tower body, a damping box fixedly connected to the top of the mounting seat, a vertical block arranged above the damping box, a first servo motor fixedly installed at the bottom of the vertical block, a damping assembly arranged between the bottom of the first servo motor and the damping box, a video image acquisition device arranged on one side of the vertical block, a protection and cleaning assembly arranged on one side of the vertical block and matched with a lens of the video image acquisition device, a second servo motor fixedly installed on one side of the top of the vertical block, a swing arm fixedly connected to an output shaft of the second servo motor, and the video image acquisition device fixedly installed on one side of the swing arm.

[0011] Further, an output end of the multi-source data acquisition module is connected to an input end of the high-precision trajectory reconstruction module, an output end of the high-precision trajectory reconstruction module is connected to an input end of the collision risk dynamic prediction module, the main control and communication module is bidirectionally connected to the multi-source data acquisition module, the high-precision trajectory reconstruction module, the collision risk dynamic prediction module and the early warning output and man-machine interaction module respectively, and an output end of the collision risk dynamic prediction module is connected to an input end of the early warning output and man-machine interaction module.

[0012] Further, the damping assembly comprises a damping block installed in the damping box, a mounting groove is arranged in the circumferential array of the inner wall of the damping box, a mounting block in the circumferential array of the side of the damping block is arranged in the mounting groove, and a plurality of mounting holes are arranged on the upper side of the damping block.

[0013] Further, a plurality of fixing plates matched with the mounting blocks are arranged on the side of the damping block, first bevel blocks are arranged on the upper and lower sides of the fixing plates, and a limiting groove is arranged on the upper side of each of the first bevel blocks.

[0014] Further, the upper and lower sides of the mounting block are provided with second bevel blocks matched with the first bevel blocks, and the opposite sides of the two second bevel blocks are provided with limiting blocks slidingly matched in the limiting grooves.

[0015] Further, the two limiting blocks and the bevels of the two second bevel blocks are provided with dampers and buffer springs.

[0016] Further, the protection and cleaning assembly comprises a lifting plate arranged on one side of the vertical block below the video image collector, one side of the vertical block is provided with a sliding groove, one side of the lifting plate is fixedly connected with a sliding block slidingly matched in the sliding groove, and the inner wall of the sliding groove is fixedly installed with an electric telescopic rod, and one end of the telescopic shaft of the electric telescopic rod is fixedly connected to one side of the sliding block.

[0017] Further, the upper side of the lifting plate is fixedly connected with a fixing pin, the circumferential side of the arc-shaped edge of the bottom of the swing arm is provided with a fixing groove matched with the fixing pin, and the upper side of the lifting plate is provided with a cleaning disc matched with the lens of the video image collector.

[0018] Further, the bottom of the cleaning disc is fixedly connected with a connecting shaft, and the upper side of the lifting plate is downwardly provided with a through groove in rotation and sliding cooperation with the connecting shaft.

[0019] Further, the circumferential side of the connecting shaft is provided with a closed groove extending in a spiral shape along the axial direction and connected at the head and tail, the closed groove forms a continuous spiral closed structure around the circumference of the connecting shaft, the inner wall of the through groove is fixedly connected with a fixed column matched with the closed groove, and the bottom of the cleaning disc is fixedly connected with a return spring.

[0020] The beneficial effects of the present application are as follows:

[0021] 1. The canal ship high-precision trajectory reconstruction and collision risk dynamic prediction device adopts a "visual positioning priority fusion" strategy, combines Kalman filtering and LSTM neural network to complete the trajectory, solves the problems of trajectory interruption and drift in complex water areas by traditional single data source, fuses ship dynamics, environment, channel geography and historical accident data, assesses collision and ship-bridge contact risks through special sub-models, overcomes the limitations of traditional systems relying on single data source, perceives potential risks in advance through ship field model and traffic conflict recognition, provides intuitive risk heat map and collision avoidance route suggestion for crew members through graphical display, sound and light alarm and mobile terminal push, realizes the active prevention and control closed loop of "risk prediction - decision support - emergency disposal", and improves the intelligent level of canal shipping safety supervision.

[0022] 2. The canal ship high-precision trajectory reconstruction and collision risk dynamic prediction device effectively offsets the ship vibration, wind and other interference through the damping assembly of the multi-modal perception tower, realizes automatic cleaning of the lens by the protection and cleaning assembly, ensures clear video images in rain, fog and dust environment, and solves the problem of performance decline of traditional video equipment in bad weather. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 It is the overall structure block diagram of the device of the application;

[0024] Figure 2 It is the workflow diagram of the trajectory reconstruction module of the application;

[0025] Figure 3 It is the algorithm architecture diagram of the collision risk prediction module of the application;

[0026] Figure 4 It is the structure schematic diagram of the main body of the multi-modal perception tower of the application;

[0027] Figure 5 It is the structure schematic diagram of the video image collector of the application;

[0028] Figure 6 It is the structure schematic diagram of the protection and cleaning assembly of the application;

[0029] Figure 7 It is the structure schematic diagram of the lifting plate part side section of the application;

[0030] Figure 8 It is the structure schematic diagram of the damping box and damping assembly connection of the application;

[0031] Figure 9 It is the structure schematic diagram of the damping assembly part connecting of the application;

[0032] Figure 10 It is the structure schematic diagram of the mounting block in the damping assembly of the application.

[0033] In the figure: 1, multi-modal perception tower main body; 2, mounting seat; 3, shock absorbing box; 4, vertical block; 5, first servo motor; 6, shock absorbing assembly; 6, shock absorbing assembly; 601, shock absorbing block; 602, mounting groove; 603, mounting block; 604, mounting hole; 605, fixed plate; 606, first bevel block; 607, limiting groove; 608, second bevel block; 609, limiting block; 610, damper; 611, buffer spring; 7, video image collector; 8, protection and cleaning assembly; 801, lifting plate; 802, sliding groove; 803, sliding block; 804, electric telescopic rod; 805, fixed pin; 806, fixed groove; 807, cleaning disc; 808, connecting shaft; 809, through groove; 810, closing groove; 811, fixed column; 812, return spring; 9, second servo motor; 10, swing arm. DETAILED DESCRIPTION

[0034] In order to make the technical means, creative features, purposes and effects realized by the present application easy to understand, the present application will be further described below in conjunction with specific embodiments.

[0035] Please refer to Figures 1 to 10 The present application provides a technical solution: a canal ship high-precision trajectory reconstruction and collision risk dynamic prediction device, comprising: a multi-source data acquisition module, a high-precision trajectory reconstruction module, a collision risk dynamic prediction module, a main control and communication module, and an early warning output and man-machine interaction module.

[0036] The multi-source data acquisition module comprises: an AIS receiving unit for receiving ship automatic identification system signals; a Beidou / GPS positioning unit for obtaining satellite positioning data of the ship and surrounding ships; a video image acquisition unit for capturing channel visual information and ship images; and a ship state monitoring unit for collecting the ship's heading, speed, rudder angle, and main engine speed state data.

[0037] The high-precision trajectory reconstruction module comprises: a time-space alignment algorithm unit for synchronizing time stamps and unifying spatial coordinate systems of heterogeneous data from the multi-source data acquisition module; a trajectory completion algorithm unit using a sliding window-based Kalman filter algorithm and a long short-term memory neural network algorithm to repair and complete trajectory interruptions or drifts caused by signal obstruction; and a behavior feature extraction unit for extracting ship speed change rate, heading change rate, stopping point, turning point features and behavior features from the reconstructed trajectory data; the trajectory completion algorithm unit is configured to: in the blind area of the canal's curve, bridge area, hub area, preferentially use the data of the video image acquisition unit for visual positioning assistance, and fuse with the filtering and neural network prediction results to complete trajectory reconstruction.

[0038] The collision risk dynamic prediction module comprises: a ship field model unit, configured to dynamically calculate and generate an inviolable elliptical or polygonal safety area around a ship according to the type, size and speed of the ship; a traffic conflict identification unit, configured to detect whether the ship fields of two or more ships are in an overlapping or approaching state in real time based on the trajectory data output by the high-precision trajectory reconstruction module; and a risk probability calculation unit, configured to dynamically calculate the occurrence probability and risk level of a collision risk by fusing traffic conflict identification results, real-time hydrological and meteorological data and historical accident data using a Bayesian network and / or a deep learning time series prediction model; the risk probability calculation unit integrates a multi-dimensional risk prediction model, the model comprising special sub-models developed for collision, ship-bridge contact and grounding accident types, and the main control and communication module calls the corresponding sub-models to perform risk assessment according to the current position of the ship and the geographic information of the channel;

[0039] The main control and communication module comprises: an embedded processor serving as a computing core, configured to run data fusion algorithms, trajectory reconstruction algorithms and risk prediction models; a data storage, configured to store historical trajectory data, a historical accident case library, model parameters and algorithm programs; and a communication interface, supporting at least one of 5G, V2X and Beidou short message communication modes, configured to perform data interaction and early warning information uploading and issuing with a shore-based control center and other ship terminals.

[0040] The human-computer interaction module comprises: an audible and visual alarm, configured to issue an audible and visual alarm when the risk level exceeds a threshold; a graphic display screen, configured to visually display the real-time trajectory of the ship, the reconstructed trajectory, the ship field, the risk level, the risk heat map and the recommended collision avoidance route; and a mobile terminal interface, configured to push early warning information and disposal suggestions to the intelligent terminal of the crew.

[0041] The video image acquisition unit comprises a multi-modal perception tower 1 arranged at key hubs, bends and bridge areas of the canal, a mounting seat 2 is fixedly connected to the top of the multi-modal perception tower main body 1, a damping box 3 is fixedly connected to the upper side of the mounting seat 2, a vertical block 4 is arranged on the upper side of the damping box 3, a first servo motor 5 is fixedly installed at the bottom of the vertical block 4, a damping assembly 6 is arranged between the bottom of the first servo motor 5 and the damping box 3, a video image acquisition device 7 is arranged on one side of the vertical block 4, a protection and cleaning assembly 8 matched with the lens of the video image acquisition device 7 is arranged on one side of the vertical block 4, a second servo motor 9 is fixedly installed on one side of the top of the vertical block 4, a swing arm 10 is fixedly connected to the output shaft of the second servo motor 9, and the video image acquisition device 7 is fixedly installed on one side of the swing arm 10.

[0042] The output end of the multi-source data acquisition module is connected with the input end of the high-precision trajectory reconstruction module, for providing original data; the output end of the high-precision trajectory reconstruction module is connected with the input end of the collision risk dynamic prediction module, for providing high-precision trajectory data after reconstruction; the master control and communication module is bidirectionally connected with the multi-source data acquisition module, the high-precision trajectory reconstruction module, the collision risk dynamic prediction module and the early warning output and human-computer interaction module, for coordinating the work of each module, carrying out data fusion and calculation, and providing internal and external communication; the output end of the collision risk dynamic prediction module is connected with the input end of the early warning output and human-computer interaction module, for triggering risk early warning.

[0043] Specifically, the multi-source data acquisition module acquires ship identity and basic dynamic information through an AIS receiving unit, collects high-precision satellite positioning data of the ship and surrounding ships through a Beidou / GPS positioning unit, captures channel visual information and ship images through a video image acquisition unit (including a multi-modal perception tower), and acquires real-time state data such as the ship's heading and speed through a ship state monitoring unit. After the data of each unit is summarized by the master control and communication module, it is transmitted to the high-precision trajectory reconstruction module. The time and space alignment algorithm unit of the high-precision trajectory reconstruction module synchronizes the timestamps and unifies the spatial coordinate system of multi-source heterogeneous data, ensuring the consistency of data time and space. The trajectory completion algorithm unit, in view of the signal blind area such as the bend of the canal and the bridge area, preferentially fuses the visual positioning data of the video image acquisition unit, combines sliding window Kalman filtering and long short-term memory neural network, repairs the interrupted or drifting trajectory, and realizes continuous trajectory reconstruction. The behavior feature extraction unit extracts ship behavior features such as speed change rate and turning point from the reconstructed trajectory, providing a basis for risk prediction. The ship domain model unit of the collision risk dynamic prediction module dynamically generates an elliptical or polygonal safety area according to parameters such as ship type and size. The traffic conflict identification unit detects the overlapping or approaching state of the ship domain in real time based on the reconstructed trajectory. The risk probability calculation unit fuses the conflict identification result, hydrological and meteorological data and historical accident data, calls special sub-models (combined with ship position and channel geographic information) for accidents such as collision and ship-bridge contact through Bayesian network and deep learning time series prediction model, dynamically calculates the collision risk probability and level, and the master control and communication module runs the core algorithm through an embedded processor, coordinates the work of each module, a data storage stores historical data and model parameters, and a communication interface realizes data interaction with the shore base and other ships. The early warning output and human-computer interaction module pushes information such as risk level and collision avoidance suggestion to the crew and the supervision center in real time through a sound and light alarm, a graphic display screen and a mobile terminal interface, forming a closed-loop process of "data acquisition - trajectory reconstruction - risk prediction - early warning disposal".

[0044] The damping assembly 6 comprises a damping block 601 mounted in the damping box 3, the inner wall of the damping box 3 is provided with a circumferential array of mounting grooves 602, the circumferential array of the side of the damping block 601 is provided with mounting blocks 603 mounted in the mounting grooves 602, a plurality of mounting holes 604 are formed in the upper side of the damping block 601, a plurality of fixing plates 605 are arranged on the side of the damping block 601 and matched with the mounting blocks 603, the upper and lower sides of the fixing plates 605 are provided with first bevel blocks 606, the upper sides of the two first bevel blocks 606 are provided with limiting grooves 607, the upper and lower sides of the mounting blocks 603 are provided with second bevel blocks 608 matched with the first bevel blocks 606, the opposite sides of the two second bevel blocks 608 are provided with limiting blocks 609 slidably fitted in the limiting grooves 607, and the bevels between the two limiting blocks 609 and the two second bevel blocks 608 are provided with dampers 610 and buffer springs 611.

[0045] The protection and cleaning assembly 8 comprises a lifting plate 801 arranged on one side of the stand 4 below the video image collector 7, one side of the stand 4 is provided with a sliding groove 802, one side of the lifting plate 801 is fixedly connected with a sliding block 803 slidably fitted in the sliding groove 802, the inner wall of the sliding groove 802 is fixedly installed with an electric telescopic rod 804, one end of the telescopic shaft of the electric telescopic rod 804 is fixedly connected to one side of the sliding block 803, the upper side of the lifting plate 801 is fixedly connected with a fixed pin 805, the circumferential side of the bottom arc-shaped edge of the swing arm 10 is provided with a fixed groove 806 matched with the fixed pin 805, the upper side of the lifting plate 801 is provided with a cleaning disc 807 matched with the lens of the video image collector 7, the bottom of the cleaning disc 807 is fixedly connected with a connecting shaft 808, the upper side of the lifting plate 801 is downwardly provided with a through groove 809 rotatably and slidably fitted with the connecting shaft 808, the circumferential side of the connecting shaft 808 is provided with a closed groove 810 extending in a spiral shape along the axial direction and connected at the head and tail, the closed groove 810 forms a continuous spiral closed structure around the circumference of the connecting shaft 808, the inner wall of the through groove 809 is fixedly connected with a fixed column 811 matched with the closed groove 810, and the bottom of the cleaning disc 807 is fixedly connected with a return spring 812.

[0046] The multi-modal perception tower 1 deployed at key hubs, bends, bridge areas and other places of the canal enters the initial debugging stage, the first servo motor 5 at the bottom of the stand 4 drives the whole stand 4 to rotate horizontally, and the second servo motor 9 at one side of the top of the stand 4 drives the swing arm 10 to do the pitching rotation, both of which cooperatively adjust the video image collector 7 fixed at one side of the swing arm 10 to the preset monitoring angle, realizing the all-around coverage of the target monitoring area; during the operation of the device, if it encounters wind, water flow vibration or external impact interference, the damping components 6 in the damping box 3 immediately respond, the vibration energy is transmitted to the mounting block 603 on the side of the damping block 601, the second inclined edge block 608 on the upper and lower sides of the mounting block 603 slides along the inclined surface of the first inclined edge block 606 on the upper and lower sides of the fixed plate 605, at this time, the limiting block 609 on the opposite side of the second inclined edge block 608 synchronously slides in the limiting groove 607 on the upper side of the first inclined edge block 606, the damper 610 between the limiting block 609 and the inclined edge of the second inclined edge block 608 is compressed, the buffer spring 611 is deformed, both of which cooperatively absorb and consume the vibration energy, control the shaking amplitude of the video image collector 7 within the preset range, and ensure that it stably collects images; when the lens of the video image collector 7 is contaminated by dust, rain and fog or stains affecting imaging, the protective cleaning component 8 at one side of the stand 4 is automatically started, the electric telescopic rod 804 in the inner wall of the sliding groove 802 is stretched, the sliding block 803 is driven to rise along the sliding groove 802, and then the lifting plate 801 fixedly connected with the sliding block 803 is driven to move upwards, until the fixed pin 805 on the upper side of the lifting plate 801 is embedded into the fixed groove 806 on the arc-shaped side of the bottom of the swing arm 10, the accurate alignment of the cleaning disc 807 and the lens is completed; during the continuous upward movement of the lifting plate 801, the connecting shaft 808 at the bottom of the cleaning disc 807 moves upwards, and since the helical closed groove 810 on the side of the connecting shaft 808 interacts with the fixed column 811 on the inner wall of the through groove 809, the connecting shaft 808 rotates while rising, driving the cleaning disc 807 to rotate spirally around the lens; after cleaning, the electric telescopic rod 804 is retracted, the reset spring 812 at the bottom of the cleaning disc 807 pulls the cleaning disc 807 to reset, the fixed pin 805 is separated from the fixed groove 806, and the lifting plate 801 falls back to the initial position with the sliding block 803, avoiding blocking the lens; in the whole working process, the video image collector 7 continuously captures clear visual information and ship images of the channel, providing reliable visual data for subsequent high-precision trajectory reconstruction and dynamic prediction of collision risk, and the first servo motor 5 and the second servo motor 9 can dynamically adjust the angle of the video image collector 7 according to real-time monitoring requirements, ensuring that there is no dead angle coverage of the monitoring area.

[0047] The above shows and describes the basic principles and main features of the present application and the advantages of the present application, and it is obvious for those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, and the present application can be realized in other specific forms without departing from the spirit or essential characteristics of the present application.

[0048] Furthermore, it should be understood that although the specification is described in terms of embodiments, not every embodiment includes only one independent technical solution, and the specification is described in this way only for the sake of clarity, and those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that those skilled in the art can understand.

Claims

1. A device for high-precision trajectory reconstruction and dynamic collision risk prediction of canal vessels, characterized in that, include: Multi-source data acquisition module, high-precision trajectory reconstruction module, collision risk dynamic prediction module, main control and communication module, and early warning output and human-computer interaction module; The multi-source data acquisition module includes: an AIS receiving unit, a Beidou / GPS positioning unit, a video image acquisition unit, and a ship status monitoring unit; The high-precision trajectory reconstruction module includes: a spatiotemporal alignment algorithm unit, a trajectory completion algorithm unit, and a behavior feature extraction unit; The collision risk dynamic prediction module includes: a ship domain model unit, a traffic conflict identification unit, and a risk probability calculation unit; The main control and communication module includes: an embedded processor, a data storage device, and a communication interface; The human-computer interaction module includes: an audible and visual alarm, a graphic display screen, and a mobile terminal interface; The video image acquisition unit includes a multimodal sensing tower body (1) deployed at key hubs, bends, and bridge areas of the canal. A mounting base (2) is fixedly connected to the top of the multimodal sensing tower body (1). A shock-absorbing box (3) is fixedly connected above the mounting base (2). A vertical block (4) is set above the shock-absorbing box (3). A first servo motor (5) is fixedly installed at the bottom of the vertical block (4). A shock-absorbing component (6) is set between the bottom of the first servo motor (5) and the shock-absorbing box (3). A video image acquisition device (7) is set on one side of the vertical block (4). A protective cleaning component (8) that cooperates with the lens of the video image acquisition device (7) is set on one side of the vertical block (4). A second servo motor (9) is fixedly installed on one side of the top of the vertical block (4). A swing arm (10) is fixedly connected to the output shaft of the second servo motor (9). The video image acquisition device (7) is fixedly installed on one side of the swing arm (10).

2. The device for high-precision trajectory reconstruction and dynamic collision risk prediction of canal vessels according to claim 1, characterized in that: The output of the multi-source data acquisition module is connected to the input of the high-precision trajectory reconstruction module, and the output of the high-precision trajectory reconstruction module is connected to the input of the collision risk dynamic prediction module. The main control and communication module is bidirectionally connected to the multi-source data acquisition module, the high-precision trajectory reconstruction module, the collision risk dynamic prediction module, and the early warning output and human-machine interaction module, respectively. The output of the collision risk dynamic prediction module is connected to the input of the early warning output and human-machine interaction module.

3. The device for high-precision trajectory reconstruction and dynamic collision risk prediction of canal vessels according to claim 1, characterized in that: The shock absorption assembly (6) includes a shock absorption block (601) installed inside the shock absorption box (3). The inner wall of the shock absorption box (3) is provided with a circumferential array of mounting grooves (602). The circumferential array of the shock absorption block (601) is provided with mounting blocks (603) installed in the mounting grooves (602). The upper side of the shock absorption block (601) is provided with a plurality of mounting holes (604).

4. The device for high-precision trajectory reconstruction and dynamic collision risk prediction of canal vessels according to claim 3, characterized in that: The shock absorber (601) is provided with a plurality of fixing plates (605) that cooperate with the mounting block (603) on its periphery. The fixing plates (605) are provided with first inclined blocks (606) on both the upper and lower sides. Limiting grooves (607) are provided on the upper sides of the two first inclined blocks (606).

5. The device for high-precision trajectory reconstruction and dynamic collision risk prediction of canal vessels according to claim 4, characterized in that: The mounting block (603) is equipped with a second inclined block (608) that cooperates with the first inclined block (606) on both the upper and lower sides. On the opposite sides of the two second inclined blocks (608), there are limit blocks (609) that slide in the limit groove (607).

6. The device for high-precision trajectory reconstruction and dynamic collision risk prediction of canal vessels according to claim 5, characterized in that: A damper (610) and a buffer spring (611) are installed between the two limiting blocks (609) and the inclined sides of the two second inclined blocks (608).

7. The device for high-precision trajectory reconstruction and dynamic collision risk prediction of canal vessels according to claim 1, characterized in that: The protective cleaning component (8) includes a lifting plate (801) located on one side of the stand (4) below the video image acquisition device (7). A sliding groove (802) is provided on one side of the stand (4). A slider (803) is fixedly connected to one side of the lifting plate (801) and slides in the sliding groove (802). An electric telescopic rod (804) is fixedly installed on the inner wall of the sliding groove (802). One end of the telescopic shaft of the electric telescopic rod (804) is fixedly connected to one side of the slider (803).

8. The device for high-precision trajectory reconstruction and dynamic collision risk prediction of canal vessels according to claim 7, characterized in that: The upper side of the lifting plate (801) is fixedly connected with a fixing pin (805), and the periphery of the arc-shaped edge at the bottom of the swing arm (10) is provided with a fixing groove (806) that cooperates with the fixing pin (805). The upper side of the lifting plate (801) is provided with a cleaning disc (807) that cooperates with the lens of the video image acquisition device (7).

9. The device for high-precision trajectory reconstruction and dynamic collision risk prediction of canal vessels according to claim 8, characterized in that: The bottom of the cleaning tray (807) is fixedly connected to a connecting shaft (808), and the upper side of the lifting plate (801) is provided with a through groove (809) that rotates and slides with the connecting shaft (808).

10. The device for high-precision trajectory reconstruction and dynamic collision risk prediction of canal vessels according to claim 9, characterized in that: The connecting shaft (808) has a closed groove (810) extending spirally along its axial direction and connected end to end. The closed groove (810) forms a continuous spiral closed structure around the connecting shaft (808). The inner wall of the through groove (809) is fixedly connected with a fixed post (811) that cooperates with the closed groove (810). The bottom of the cleaning tray (807) is fixedly connected with a return spring (812).

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