Inland river navigation system based on vision

Abstract

The utility model provides a vision-based inland ship navigation system, which comprises a camera, a positioning module, an AIS module, a display module and a main control module, and is characterized in that the camera is installed at the top of a ship and is used for collecting image information around the ship; the positioning module communicates with a positioning satellite and is used for collecting positioning information; the AIS module is in communication connection with the land base station; the display module is used for displaying the image information, the positioning information and the AIS information, the camera comprises an optical filter switching device, the optical filter switching device at least comprises a night vision optical filter and a fog-penetrating optical filter, and the night vision optical filter and the fog-penetrating optical filter can be switched through the optical filter switching device. And matching with the lens of the camera is formed. The corresponding night vision optical filter and the corresponding fog-penetrating optical filter as well as the corresponding optical filter switching device are additionally arranged on the camera, so that reliable night vision enhancement and fog-penetrating enhancement can be realized more simply.

Description

Technical Field

[0001] This application relates to the technical field of ship navigation, and specifically to a vision-based inland river navigation system. Background Art

[0002] The key to the safe navigation of ships lies in the effective perception of the surrounding navigation environment, and the driver can make timely and correct decisions based on the obtained information. The Automatic Identification System (AIS) of ships is currently the main means of environmental perception in the shipping industry. However, its perception means still have deficiencies, especially for special environments such as night and fog. Therefore, how to make up for the deficiencies of the existing perception means and improve the navigation safety of inland rivers has become a technical problem to be solved urgently. Summary of the Invention

[0003] The purpose of this application is to provide a vision-based inland river navigation system to solve the technical problem of how to make up for the deficiencies of the existing perception means and improve the navigation safety of inland rivers.

[0004] To achieve one of the above purposes, this application provides the following technical solutions:

[0005] A vision-based inland river ship navigation system includes: a camera, a positioning module, an AIS module, a display module, and a main control module. Among them, the camera is installed on the top of the ship and is used to collect image information around the ship; the positioning module communicates with positioning satellites and is used to collect positioning information; the AIS module is communicatively connected to a terrestrial base station; the display module is used to display the image information, positioning information, and AIS information. The camera includes a filter switching device, and the filter switching device at least includes a night vision filter and a fog-penetrating filter. The night vision filter and the fog-penetrating filter can cooperate with the lens of the camera through the switching of the filter switching device.

[0006] Optionally, the filter switching device includes: a switching component with a plurality of light-transmitting holes, and the night vision filter and the fog-penetrating filter are respectively arranged in different light-transmitting holes; a driving motor is connected to the switching component and is used to drive the switching component to switch the night vision filter to the lens position or switch the fog-penetrating filter to the lens position.

[0007] Optionally, the filter switching device further includes: an illuminance sensor and a fog detection sensor are respectively arranged on the hull, the illuminance sensor outputs a detection signal of a first level signal or a second level signal; the fog detection sensor is used to output a detection signal of a third level signal or a fourth level signal; a drive circuit, which is respectively connected to the output ends of the illuminance sensor and the fog detection sensor, receives the detection signals output by the illuminance sensor and the fog detection sensor, and can drive the drive motor under the trigger of the detection signal.

[0008] Optionally, the drive circuit includes: a first control switch, a second control switch, a third control switch, a fourth control switch and a fifth control switch; the first control switch is turned on under the trigger of the first level signal, the second control switch is turned on under the trigger of the second level signal, the third control switch is turned on under the trigger of the third level signal, the fourth control switch is turned on under the trigger of the fourth level signal, wherein, the control ends of the first control switch and the second control switch are connected to the output end of the illuminance sensor, the control ends of the third control switch and the fourth control switch are connected to the output end of the fog detection sensor, and, the output end of the fog detection sensor is connected to the control end of the second control switch; the first control switch and the second control switch are connected in series between the power supply and the ground, the third control switch and the fourth control switch are connected in series between the power supply and the ground; the first pole of the drive motor is connected between the first control switch and the second control switch, the second pole of the drive motor is connected between the third control switch and the fourth control switch; the output end of the fog detection sensor is connected to the control end of the fifth control switch, and, the fifth control switch is connected in series between the output end of the illuminance sensor and the control end of the first control switch / the second control switch.

[0009] Optionally, the filter switching device further includes: a first limit trigger and a second limit trigger, when the night vision filter is switched to the lens position, the switching component triggers the first limit trigger; when the fog penetration filter is switched to the lens position, the switching component triggers the second limit trigger; the drive circuit further includes a limit switch, which is connected in series on the main circuit of the drive motor, and the control end of the limit switch is respectively connected to the first limit trigger and the second limit trigger, and is turned off under the control of the trigger signal of the first limit trigger or the second limit trigger.

[0010] Optionally, the first limit trigger has a first enabling device, the first enabling device is connected to the output end of the illuminance sensor, and the first enabling device enables the first limit trigger under the trigger of the first level signal; the second limit trigger has a second enabling device, the second enabling device is connected to the output end of the fog detection sensor, and the second enabling device enables the second limit trigger under the trigger of the third level signal.

[0011] Optionally, a visible light filter is further provided on at least one light-transmitting hole of the switching component; the filter switching device further includes: a third limit trigger, when the visible light filter is switched to the lens position, the switching component triggers the third limit trigger; the control end of the limit switch is connected to the third limit trigger and is disconnected under the control of the trigger signal of the third limit trigger.

[0012] Optionally, the third limit trigger has a third enabling device, the output ends of the illuminance sensor and the fog detection sensor are connected to the control end of the third enabling device through a logic gate circuit, and the third enabling device is enabled under the common trigger of the second level signal and the fourth level signal.

[0013] Optionally, the AIS module includes: an AIS acquisition module, an AIS transmission module and a VHF antenna.

[0014] Optionally, the vision-based inland river navigation system further includes: an anti-shake pan-tilt, which is installed on the hull, and the camera is installed on the anti-shake pan-tilt. This application has at least the following

[0015] Advantageous effects:

[0016] In the vision-based inland river ship navigation system of the present application, it includes a camera, a positioning module, an AIS module, a display module, and a main control module. Among them, the camera is installed on the top of the ship and is used to collect image information around the ship; the positioning module communicates with positioning satellites and is used to collect positioning information; the AIS module is communicatively connected to a terrestrial base station; the display module is used to display the image information, positioning information, and AIS information. The camera includes a filter switching device, and the filter switching device at least includes a night vision filter and a fog-penetrating filter. The night vision filter and the fog-penetrating filter can be switched through the filter switching device to cooperate with the lens of the camera. The inland navigation system integrates AIS data, positioning data, and visual and other multi-sensory data for navigation. Among them, through visual enhancement methods such as night vision and fog penetration, the visual perception ability is improved. By installing corresponding night vision filters and fog-penetrating filters on the camera, as well as corresponding filter switching devices, reliable night vision enhancement and fog penetration enhancement can be realized more simply.

[0017] To make the above objects, features, and advantages of the present application more obvious and understandable, the following specifically enumerates preferred embodiments and, in conjunction with the accompanying drawings, makes a detailed description as follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] To more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application and should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0019] Figure 1 It is a schematic structural diagram of a vision-based inland river ship navigation system provided by an embodiment of the present application.

[0020] Figure 2 It is a schematic structural diagram of a filter switching device provided by an embodiment of the present application.

[0021] Figure 3 It is a schematic circuit diagram of the drive circuit of the filter switching device provided by an embodiment of the present application.

[0022] Figure 4 It is a circuit schematic diagram of a limiter in the filter switching device provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and illustrated in the drawings here can be arranged and designed in various different configurations. Therefore, the detailed description of the embodiments of the present application provided in the drawings below is not intended to limit the scope of the present application to be protected, but only represents the selected embodiments of the present application. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without creative efforts belong to the scope of protection of the present application.

[0024] As Figure 1 shown, in a vision-based inland river ship navigation system provided by an embodiment of the present application, it includes a camera 1, a positioning module 2, an AIS module 3, a display module 4, and a main control module 5. Among them, the camera 1 is installed on the top of the ship and is used to collect image information around the ship; the positioning module 2 communicates with positioning satellites and is used to collect positioning information; the AIS module 3 is communicatively connected to a land base station; the display module 4 is used to display the image information, positioning information, and AIS information. The camera 1 includes a filter switching device 10, and the filter switching device 10 at least includes a night vision filter 111 and a fog-penetrating filter 112. The night vision filter 111 and the fog-penetrating filter 112 can cooperate with the lens of the camera 1 through the switching of the filter switching device 10.

[0025] In this embodiment, the inland river navigation system integrates multiple perception data such as AIS data, positioning data, and vision for navigation. Among them, through vision enhancement methods such as night vision and fog penetration, the visual perception ability is improved. In this embodiment, by installing the corresponding night vision filter 111 and fog-penetrating filter 112 on the camera 1, as well as the corresponding filter switching device 10, it is possible to more simply achieve reliable night vision enhancement and fog penetration enhancement.

[0026] In one embodiment, as Figure 2 shown, the filter switching device 10 can be a switching component and a driving motor 12. Among them, the switching component has a plurality of light-transmitting holes, and the night vision filter 111 and the fog-penetrating filter 112 are respectively arranged on different light-transmitting holes. The switching component, under the drive of the driving motor 12, switches the night vision filter 111 to the lens position, or switches the fog-penetrating filter 112 to the lens position, so as to switch different forms of vision enhancement of the camera 1.

[0027] The switching component can be a long member with a rack, and a plurality of light-passing holes are provided at different positions in the axial direction of the long member. A night vision filter 111 and a fog penetration filter 112 are installed on the light-passing holes. A gear is installed on the driving motor 12. Driven by the gear, the long member moves along the axis to realize the switching of the positions of the light-passing holes. The switching component can also be a disc with a gear, and a plurality of light-passing holes are provided at different positions in the circumferential direction of the disc. A night vision filter 111 and a fog penetration filter 112 are installed on the light-passing holes. A gear is installed on the driving motor 12. Driven by the gear, the disc rotates to realize the switching of the positions of the light-passing holes.

[0028] In some embodiments, the driving motor 12 can be manually controlled to rotate, and then the switching component is driven to adjust the positions of different filters to realize the functions of night vision and fog penetration vision enhancement. In another embodiment, the driving motor 12 can also be automatically controlled. For example, by detecting the current ambient light intensity, after confirming that the night vision condition is met, the main control module 5 can output a motor drive signal to control the driving motor 12 to drive the switching component to switch the night vision filter 111 to the lens position; similarly, by detecting the fog in the current environment, after the fog reaches a certain concentration, the main control module 5 can output a motor drive signal to control the driving motor 12 to drive the switching component to switch the fog penetration filter 112 to the lens position.

[0029] To drive the motor 12 through the main control module 5, at least the main control module 5 needs to be able to receive the ambient light intensity signal, the ambient fog concentration signal, the control signal for controlling the night vision filter 111, the control signal for controlling the fog penetration filter 112, and the feedback signal when the night vision filter 111 and the fog penetration filter 112 reach the position, etc. Therefore, at least 6 IO ports are required. However, the main control module 5 is the main control module 5 of the navigation system and needs to fuse and process multi-source information. Therefore, the IO port resources are relatively tight. At the same time, integrating all data processing and hardware control in the main control module 5 will cause too much computational resource overhead for the main control module 5. Therefore, in another embodiment, the control function of the vision enhancement of the camera 1 can be realized through a relatively simple hardware circuit to save the IO port resources and computational resources of the main control module 5.

[0030] In this embodiment, the ambient light intensity can be detected by the illuminance sensor 13, and the fog concentration can be detected by the fog detection sensor 14. Specifically, the illuminance sensor 13 and the fog detection sensor 14 are respectively arranged on the hull. The illuminance sensor 13 outputs a detection signal of a first level signal or a second level signal; the fog detection sensor 14 is used to output a detection signal of a third level signal or a fourth level signal; the drive circuit 15 is respectively connected to the output ends of the illuminance sensor 13 and the fog detection sensor 14, receives the detection signals output by the illuminance sensor 13 and the fog detection sensor 14, and can drive the drive motor 12 under the trigger of the detection signal.

[0031] In this embodiment, when the illuminance sensor 13 detects that the ambient light intensity is lower than the light intensity threshold, it outputs a first level signal, and when it detects that the ambient light intensity is higher than the light intensity threshold, it outputs a second level signal. Among them, one of the first level signal and the second level signal is a high level signal, and the other is a low level signal. Similarly, when the fog detection sensor 14 detects that the ambient fog concentration is greater than the concentration threshold, it outputs a third level signal, and when it detects that the ambient light intensity is lower than the concentration threshold, it outputs a fourth level signal. Among them, one of the third level signal and the fourth level signal is a high level signal, and the other is a low level signal.

[0032] After the drive circuit 15 respectively receives the detection signals output by the illuminance sensor 13 and the fog detection sensor 14, under the trigger of the detection signal, it outputs a corresponding drive signal to the drive motor 12 to realize the switching of the filter.

[0033] In one embodiment, as Figure 3 shown, the drive circuit 15 may include a first control switch Q1, a second control switch Q2, a third control switch Q3, a fourth control switch Q4 and a fifth control switch Q5. Among them, the first control switch Q1 is turned on under the trigger of the first level signal, the second control switch Q2 is turned on under the trigger of the second level signal, the third control switch Q3 is turned on under the trigger of the third level signal, and the fourth control switch Q4 is turned on under the trigger of the fourth level signal.

[0034] Among them, the control ends of the first control switch Q1 and the second control switch Q2 are connected to the output end of the illuminance sensor 13, the control ends of the third control switch Q3 and the fourth control switch Q4 are connected to the output end of the fog detection sensor 14, and the output end of the fog detection sensor 14 is connected to the control end of the second control switch Q2;

[0035] The first control switch Q1 and the second control switch Q2 are connected in series between the power supply and the ground, and the third control switch Q3 and the fourth control switch Q4 are connected in series between the power supply and the ground;

[0036] The first pole of the drive motor 12 is connected between the first control switch Q1 and the second control switch Q2, and the second pole of the drive motor 12 is connected between the third control switch Q3 and the fourth control switch Q4;

[0037] The output end of the fog detection sensor 14 is connected to the control end of the fifth control switch Q5, and the fifth control switch Q5 is connected in series between the output end of the illuminance sensor 13 and the control end of the first control switch Q1 / the second control switch Q2.

[0038] In an exemplary embodiment, the first control switch Q1, the second control switch Q2, the third control switch Q3, the fourth control switch Q4, and the fifth control switch Q5 can be transistor switches or relays. The transistor switch can be a triode, a MOS transistor, an IGBT, or other transistor switches. In this embodiment, a triode is taken as an example for illustration. Exemplarily, taking the first level signal and the third level signal as high levels, and the second level signal and the fourth level signal as low levels, of course, the first level signal can also be a low level, the second level signal can also be a high level, the third level signal can also be a low level, and the fourth level signal can also be a high level. In this embodiment, the type of the corresponding triode can be configured according to the levels output by the illuminance sensor 13 and the fog detection sensor 14.

[0039] As Figure 3 shown, the first control switch Q1 and the third control switch Q3 can be NPN-type triodes, that is, they conduct when the level is high, and the second control switch Q2, the fourth control switch Q4, and the fifth control switch Q5 can be PNP-type triodes, that is, they conduct when the level is low.

[0040] Based on Figure 3 and Figure 4 the shown circuit diagram, the working principle of the drive circuit 15 is described as follows:

[0041] When the fog detection sensor 14 detects that the fog concentration is greater than the concentration threshold, it outputs a high-level signal, the third control switch Q3 conducts, and at the same time, the fourth control switch Q4 cuts off. After the high-level signal output by the fog detection sensor 14 passes through the inverter U1, the second control switch Q2 conducts. Therefore, a path is formed between the power supply, the third control switch Q3, the drive motor 12, the second control switch Q2, and the ground; the drive motor 12 rotates in the first direction, driving the switching component to rotate, and the switching component drives the fog-penetrating filter 112 to switch to the lens position. At the same time, the high-level signal output by the fog detection sensor 14 controls the fifth control switch Q5 to cut off. Therefore, regardless of the level signal output by the illuminance sensor 13, the first control switch Q1 and the second control switch Q2 are not triggered. Therefore, through the design of the fifth control switch Q5, the fog detection sensor 14 has the highest priority, and the fog-penetrating filter 112 can be switched as long as the fog concentration is greater than the concentration threshold during the day or at night.

[0042] When the fog detection sensor detects that the fog concentration is lower than the concentration threshold, it outputs a low-level signal, the third control switch Q3 cuts off, the fourth control switch Q4 conducts, and the fifth control switch Q5 conducts. At the same time, after the low-level signal output by the fog detection sensor 14 passes through the inverter U1, the second control switch Q2 cuts off; if the illuminance sensor 13 detects that the ambient light intensity is lower than the light intensity threshold and outputs a high level, the first control switch Q1 conducts. Therefore, a path is formed between the power supply, the first control switch Q1, the drive motor 12, the fourth control switch Q4, and the ground; the drive motor 12 rotates in the second direction, driving the switching component to rotate, and the switching component drives the night vision filter 111 to switch to the lens position.

[0043] In order to accurately control the drive motor 12 to drive the corresponding filter to rotate to the accurate lens position, in one embodiment, the filter switching device 10 further includes: a first limit trigger 16 and a second limit trigger 17. When the night vision filter 111 switches to the lens position, the switching component triggers the first limit trigger 16; when the fog-penetrating filter 112 switches to the lens position, the switching component triggers the second limit trigger 17; the drive circuit 15 further includes a limit switch Q6, which is connected in series on the main circuit of the drive motor 12, and the control ends of the limit switch Q6 are respectively connected to the first limit trigger 16 and the second limit trigger 17, and are disconnected under the control of the trigger signal of the first limit trigger 16 or the second limit trigger 17.

[0044] Among them, the first limit trigger 16 has a first enabling device 161. The first enabling device 161 is connected to the output end of the illuminance sensor 13. The first enabling device 161 enables the first limit trigger 16 under the trigger of the first level signal. The second limit trigger 17 has a second enabling device 171. The second enabling device 171 is connected to the output end of the fog detection sensor 14. The second enabling device 171 enables the second limit trigger 17 under the trigger of the third level signal.

[0045] In this embodiment, the first limit trigger 16 and the second limit trigger 17 can be limiters cooperating with the switching component. For example, they can be non-contact sensors such as photoelectric sensors and proximity sensors, or contact switch sensors such as mechanical switch limiters. The first limit trigger 16 and the second limit trigger 17 are respectively located at different positions of the switching component to Figure 2 Taking the switching component shown as an example, the first limit trigger 16 and the second limit trigger 17 are respectively located at different positions of the switching component. At the same time, a triggering member for triggering the first limit trigger 16 and the second limit trigger 17 is provided on the switching component. After the switching component rotates to a preset position, the triggering member triggers the first limit trigger 16 or the second limit trigger 17, outputs a limit switch Q6 control signal, controls the limit switch Q6 to disconnect, and further drives the motor 12 to stop rotating. In this embodiment, the limit switch Q6 can be a relay switch or a transistor switch.

[0046] In one embodiment, in order to prevent the first limit trigger 16 and the second limit trigger 17 from being mis-triggered, and because of the night vision filter 111 corresponding to the first limit trigger 16, when the illuminance sensor 13 outputs a high level, that is, when the detected ambient light intensity is less than the light intensity threshold, the first limit trigger 16 is enabled again. When the ambient light intensity is greater than the light intensity threshold, the first limit trigger 16 is not enabled. Similarly, for the second limit trigger 17 corresponding to the fog-penetrating filter 112, when the fog detection sensor 14 outputs a high level, that is, when the detected ambient fog concentration is greater than the concentration threshold, the second limit trigger 17 is enabled again. When the ambient fog concentration is less than the concentration threshold, the second limit trigger 17 is not triggered.

[0047] Therefore, when night vision is not required, the first limit trigger 16 is in a stopped working state and thus will not be mis-triggered. When fog penetration is not required, the second limit trigger 17 is in a stopped working state and thus will not be mis-triggered.

[0048] In one embodiment, the first enabling device 161 of the first limit trigger 16 and the second enabling device 171 of the second limiter can be control switch devices connected in series between the first limit trigger 16, the second limit trigger 17 and the corresponding power supply. The first enabling device 161 and the second enabling device 171 are turned off when the illuminance sensor 13 and the fog detection sensor 14 output a low level, disconnecting the first limit trigger 16 and the second limit trigger 17 from the corresponding power supply; they are turned on when the output is high, putting the first limit trigger 16 and the second limit trigger 17 in a standby working state. When triggered by a trigger member, they output corresponding control signals to control the limit switch Q6 to disconnect.

[0049] In order to capture a more realistic picture during the day with sufficient light, in this embodiment, a visible light transmission filter 113 can also be provided on the switching component to filter out the influence of infrared light, ultraviolet light and other lights on daytime imaging. Therefore, in this embodiment, a visible light transmission filter 113 is also provided on at least one light transmission hole of the switching component;

[0050] The filter switching device 10 further includes: a third limit trigger 18. When the visible light transmission filter 113 is switched to the lens position, the switching component triggers the third limit trigger 18;

[0051] The drive circuit 15 further includes a limit switch Q6 connected in series on the main circuit of the drive motor 12. The control end of the limit switch Q6 is connected to the third limit trigger 18 and is disconnected under the control of the trigger signal of the third limit trigger 18. Similarly, the third limit trigger 18 can be a limiter cooperating with the switching component, such as a non-contact sensor such as a photoelectric sensor or a proximity sensor, or a contact switch sensor such as a mechanical switch limiter. The third limit trigger 18 is located on the switching component at a different position from the first limit trigger 16 and the second limit trigger 17. At the same time, a trigger member for triggering the third limit trigger 18 is provided on the switching component. After the switching component rotates to a preset position, the trigger member triggers the third limit trigger 18 to output a limit switch Q6 control signal, controlling the limit switch Q6 to disconnect, and then the drive motor 12 stops rotating. In this embodiment, the limit switch Q6 can be a relay switch or a transistor switch.

[0052] In one embodiment, in order to prevent the third limit trigger 18 from being accidentally triggered, the third limit trigger 18 has a third enabling device 181. The output ends of the illuminance sensor 13 and the fog detection sensor 14 are connected to the third enabling device 181 through a logic gate circuit, and the third limit trigger 18 is enabled under the common triggering of the second level signal and the fourth level signal.

[0053] In this embodiment, an AND gate logic circuit or a NOT gate logic circuit can be adopted, specifically according to the type of the level signal output by the illuminance sensor 13 when the light intensity is greater than the light intensity threshold, the type of the level signal output by the fog detection sensor 14 when the fog concentration is less than the concentration threshold, and the type of the control signal of the third enabling device 181.

[0054] Exemplarily, when the illuminance sensor 13 outputs a low level signal when the light intensity is greater than the light intensity threshold, and the fog detection sensor 14 also outputs a low level signal when the fog concentration is less than the concentration threshold, and the third enabling device 181 is low-level effective, the logic gate circuit can adopt an OR gate U2.

[0055] When the illuminance sensor 13 outputs a high level signal when the light intensity is greater than the light intensity threshold, and the fog detection sensor 14 also outputs a high level signal when the fog concentration is less than the concentration threshold, and the third enabling device 181 is high-level effective, the logic gate circuit can adopt an AND gate.

[0056] In this embodiment, taking the logic gate circuit adopting an OR gate U2 as an example for illustration:

[0057] The third limit trigger 18 corresponds to the visible light filter 113. Therefore, when the illuminance sensor 13 and the fog detection sensor 14 output low levels, that is, when it is detected that the ambient light intensity is greater than the light intensity threshold and the fog concentration is less than the concentration threshold, the third limit trigger 18 is enabled again. When the ambient light intensity is less than the light intensity threshold and the ambient fog concentration is greater than the concentration threshold, the third limit trigger 18 is not triggered.

[0058] Therefore, during the day without fog, the third limit trigger 18 is in the working state, and at night or when the fog concentration is greater than the concentration threshold, the third limit trigger 18 is in the stopped working state. The third enabling device 181 of the third limit trigger 18 can be a control switch device connected in series between the third limit trigger 18 and the corresponding power supply. The third enabling device 181 is turned on when the illuminance sensor 13 and the fog detection sensor 14 output low levels, enabling the third limit trigger 18 to be in a standby working state, and is turned off when outputting high levels, disconnecting the third limit trigger 18 from the corresponding power supply. In one embodiment, the AIS module 3 includes: an AIS acquisition module, an AIS transmission module, and a VHF antenna. The AIS data transmission module is provided with a VHF antenna and a GPS antenna. The AIS data transmission module obtains the position data of the ship's navigation channel through the GPS antenna thereon. The AIS acquisition module is connected to the AIS data transmission module on the shore through the VHF antenna. In one embodiment, in order to further enhance vision, the camera 1 can be installed on an anti-shake cloud platform to prevent the influence of the jitter of the ship during navigation on the imaging quality.

[0059] In the description of the present application, it should be noted that the orientation or positional relationship indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of this application is customarily placed during use. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application. In addition, terms such as "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0060] In addition, terms such as "horizontal", "vertical", "hanging", etc. do not mean that the components are required to be absolutely horizontal or hanging, but can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0061] In the description of the present application, it should also be noted that unless otherwise clearly specified and defined, the terms "set", "installed", "connected", "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific situations.

[0062] The above are only the preferred embodiments of the present application and are not used to limit the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application. It should be noted that similar reference numerals and letters indicate similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

Claims

1. A vision-based inland river navigation system, characterized in that: include: A camera, a positioning module, an AIS module, a display module and a main control module, wherein the camera is installed on the top of the ship to collect image information around the ship; The positioning module communicates with the positioning satellite to collect positioning information; the AIS module is connected to the land base station in communication; the display module is used to display the image information, positioning information and AIS information, and the camera includes a filter switching device, and the filter switching device includes at least a night vision filter and a fog-penetrating filter. The night vision filter and the fog-penetrating filter can be switched by the filter switching device to cooperate with the lens of the camera.

2. The vision-based inland river navigation system according to claim 1, characterized in that: The filter switching device comprises: A switching component has a plurality of light-transmitting holes, and the night vision filter and the fog-penetrating filter are respectively arranged on different light-transmitting holes; A driving motor is connected to the switching component and is used to drive the switching component to switch the night vision filter to the lens position or to switch the fog-penetrating filter to the lens position.

3. The vision-based inland river navigation system according to claim 2, characterized in that: The filter switching device also includes: The illumination sensor and the fog detection sensor are respectively arranged on the hull, the illumination sensor outputs a detection signal of a first level signal or a second level signal; the fog detection sensor is used to output a detection signal of a third level signal or a fourth level signal; The driving circuit is connected to the output ends of the illumination sensor and the fog detection sensor respectively, receives the detection signals output by the illumination sensor and the fog detection sensor, and can drive the driving motor under the triggering of the detection signals.

4. The vision-based inland river navigation system according to claim 3, characterized in that: The driving circuit comprises: a first control switch, a second control switch, a third control switch, a fourth control switch and a fifth control switch; the first control switch is turned on when triggered by a first level signal, the second control switch is turned on when triggered by a second level signal, the third control switch is turned on when triggered by the third level signal, and the fourth control switch is turned on when triggered by the fourth level signal, Wherein, the control ends of the first control switch and the second control switch are connected to the output end of the illumination sensor, the control ends of the third control switch and the fourth control switch are connected to the output end of the fog detection sensor, and the output end of the fog detection sensor is connected to the control end of the second control switch; The first control switch and the second control switch are connected in series between a power source and a ground, and the third control switch and the fourth control switch are connected in series between the power source and the ground; The first pole of the drive motor is connected between the first control switch and the second control switch, and the second pole of the drive motor is connected between the third control switch and the fourth control switch; The output end of the fog detection sensor is connected to the control end of the fifth control switch, and the fifth control switch is connected in series between the output end of the illumination sensor and the control end of the first control switch / the second control switch.

5. The vision-based inland river navigation system according to claim 4, characterized in that: The filter switching device also includes: a first limit trigger and a second limit trigger, wherein when the night vision filter is switched to the lens position, the switching component triggers the first limit trigger; When the fog-penetrating filter is switched to the lens position, the switching component triggers the second limit trigger; The drive circuit also includes a limit switch, which is connected in series to the main circuit of the drive motor. The control end of the limit switch is connected to the first limit trigger and the second limit trigger respectively, and is disconnected under the control of the trigger signal of the first limit trigger or the second limit trigger.

6. The vision-based inland river navigation system according to claim 5, characterized in that: The first limit trigger has a first enabling device, the first enabling device is connected to the output end of the illumination sensor, and the first enabling device enables the first limit trigger under the triggering of the first level signal; The second limit trigger has a second enabling device, the second enabling device is connected to the output end of the fog detection sensor, and the second enabling device enables the second limit trigger when triggered by the third level signal.

7. The vision-based inland river navigation system according to claim 5, characterized in that: A visible light transmission filter is also provided on at least one light transmission hole of the switching component; The filter switching device further comprises: a third limit trigger, and when the visible light transmission filter is switched to the lens position, the switching component triggers the third limit trigger; The control end of the limit switch is connected to the third limit trigger and is disconnected under the control of a trigger signal of the third limit trigger.

8. The vision-based inland river navigation system according to claim 7, characterized in that: The third limit trigger has a third enabling device, and the output ends of the illumination sensor and the fog detection sensor are connected to the control end fog detection sensor of the third enabling device through a logic gate circuit, and the third limit trigger is enabled under the joint triggering of the second level signal and the fourth level signal.

9. The vision-based inland river navigation system according to claim 1, characterized in that: The AIS module includes: an AIS acquisition module, an AIS transmission module and a VHF antenna.

10. The vision-based inland river navigation system according to claim 1, characterized in that: Also includes: The anti-shake pan / tilt platform is installed on the hull, and the camera is installed on the anti-shake pan / tilt platform.

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