Marine panoramic monitoring system

Abstract

The utility model discloses a panoramic monitoring system for a ship. The panoramic monitoring system for the ship comprises an image splicing device, a display terminal and an annular camera device deployed at a ship target installation position, the annular camera device comprises an annular structure body, a white light camera and an infrared camera, wherein the white light camera and the infrared camera are installed at different positions of the annular structure body. The white light camera is used for collecting a first environment image corresponding to a ship in a daytime period in normal weather; the infrared camera is used for collecting a second environment image corresponding to the ship at night and / or in abnormal weather; and the image splicing device is used for splicing the first environment images into a first panoramic image and displaying the first panoramic image on the display terminal, and splicing the second environment images into a second panoramic image and displaying the second panoramic image on the display terminal. According to the technical scheme provided by the embodiment of the utility model, the deployment cost can be reduced, the monitoring effect can be improved, and the effect of ensuring the ship running safety and stability can be achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to ship technology field especially relates to a marine panoramic monitoring system. BACKGROUND

[0002] With the development of shipping industry, ship collision accidents occur from time to time, these collision accidents can affect people's personal safety, and also can cause serious property loss. Therefore, when the ship is sailing, the environment around the ship needs to be monitored in real time, so as to intuitively check whether there is an obstacle around through the monitoring information, and understand the distance and direction of the obstacle, so as to prevent the occurrence of collision accidents.

[0003] The existing monitoring system is usually to install the camera at different positions around the ship, and the environmental information around the ship is collected through the cameras at different positions. This kind of monitoring system not only has high deployment cost, but also is prone to inaccurate deployment, leading to incomplete monitoring, at the same time, it is also difficult to adapt to the monitoring demand in complex environment. UTILITY MODEL CONTENT

[0004] The utility model provides a marine panoramic monitoring system to realize the technical effect of reducing the deployment cost while improving the monitoring effect, and achieving the safety and stability of the ship driving.

[0005] According to an aspect of the utility model, a marine panoramic monitoring system is provided, which comprises:

[0006] An image splicing device, a display terminal and a ring camera device arranged at the target installation position of the ship, wherein,

[0007] The ring camera device comprises a ring structure body and a white light camera and an infrared camera arranged at different positions of the ring structure body;

[0008] The white light camera is used for collecting a first environment image corresponding to the ship in the daytime section under normal weather, and sending the first environment image to the image splicing device;

[0009] The infrared camera is used for collecting a second environment image corresponding to the ship in the night section and / or under abnormal weather, and sending the second environment image to the image splicing device;

[0010] The image splicing device is used for receiving the first environment image sent by each white light camera, splicing each first environment image into a first panoramic image, and displaying the first panoramic image on the display terminal, and receiving the second environment image sent by each infrared camera, splicing each second environment image into a second panoramic image, and displaying the second panoramic image on the display terminal.

[0011] Optionally, the angle of the annular structure body is 360 degrees, and the annular structure body comprises a first ring body and a second ring body; wherein,

[0012] The first ring body comprises a plurality of first cavities, and the second ring body comprises a plurality of second cavities;

[0013] The white light cameras of different routes are arranged in different first cavities of the first ring body;

[0014] The infrared cameras of different routes are arranged in different second cavities of the second ring body.

[0015] Optionally, the horizontal field angles of two white light cameras at adjacent positions partially overlap.

[0016] When the roll angle of the ship in the water area plane is a preset first angle, the line segment between the intersection between a first ray in the vertical field angle of the white light camera and the water area plane and the center of gravity of the ship is a preset length.

[0017] Optionally, the horizontal field angles of two infrared cameras at adjacent positions partially overlap.

[0018] When the roll angle of the ship in the water area plane is a preset first angle, the line segment between the intersection between a second ray in the vertical field angle of the infrared camera and the water area plane and the center of gravity of the ship is a preset length.

[0019] Optionally, the target installation position is a position on the mast of the ship; and the angle between the line connecting the target installation position and the center of gravity of the ship and the horizontal plane of the ship is a preset second angle.

[0020] Optionally, the image stitching device comprises a first multi-stage stitching module and a first image fusion module; wherein,

[0021] The first multi-stage stitching module is configured to receive the first environment images sent by each white light camera, stitch the first environment images sent by the white light cameras in the same white light module into a first regional image, and send each first regional image to the first image fusion module; the white light module comprises a plurality of white light cameras at adjacent positions; the white light cameras in different white light modules are different;

[0022] The first image fusion module is configured to receive the first regional images sent by the first multi-stage stitching module, stitch each first regional image into a first panoramic image, and display the first panoramic image on the display terminal.

[0023] Optionally, the image stitching device comprises a second multi-stage stitching module and a second image fusion module; wherein,

[0024] The second multi-stage stitching module is configured to receive the second environment images sent by each of the infrared cameras, stitch the second environment images sent by the infrared cameras in the same infrared module into a second regional image, and send each of the second regional images to the second image fusion module; the infrared module comprises a plurality of the infrared cameras that are adjacent in position; the infrared cameras in different infrared modules are different;

[0025] The second image fusion module is configured to receive the second regional images sent by the second multi-stage stitching module, stitch each of the second regional images into a second panoramic image, and display the second panoramic image on the display terminal.

[0026] Optionally, the image stitching device further comprises a defogging module; wherein,

[0027] The defogging module is configured to remove fog in the first environment images and the second environment images.

[0028] Optionally, the marine panoramic monitoring system further comprises a switching network component;

[0029] The image stitching device is configured to send the first panoramic image and the second panoramic image to the switching network component;

[0030] The switching network component is configured to receive the first panoramic image and the second panoramic image sent by the image stitching device, and send the first panoramic image and the second panoramic image to the display terminal for display.

[0031] Optionally, the marine panoramic monitoring system further comprises a controller; wherein,

[0032] The controller is configured to control the white light camera to send the first environment images to the image stitching device, and control the infrared camera to send the second environment images to the image stitching device;

[0033] The controller is further configured to control the image stitching device to communicate with the display terminal through the switching network component, so as to control the first panoramic image and the second panoramic image sent by the image stitching device to be sent to the display terminal for display through the switching network component.

[0034] The technical scheme of the embodiment of the utility model discloses a ring camera device is arranged at the target installation position of the ship, and the ring camera device comprises a ring structure body, white light cameras and infrared cameras which are installed at different positions of the ring structure body, the first environment image of the ship in the day section under the normal weather is collected through the white light camera, the first environment image is sent to the image splicing device, the second environment image of the ship in the night section and / or under the abnormal weather is collected, and the second environment image is sent to the image splicing device, the first environment image sent by each white light camera is received through the image splicing device, each first environment image is spliced into a first panoramic image, the first panoramic image is displayed on the display terminal, the second environment image sent by each infrared camera is received through the image splicing device, each second environment image is spliced into a second panoramic image, and the second panoramic image is displayed on the display terminal, the problem that the deployment cost is high, and the monitoring is not comprehensive and it is difficult to adapt to the monitoring demand of complex environment in the prior art is solved, the ring camera device is arranged at the target installation position of the ship, the ring camera device comprises a ring structure body, white light cameras and infrared cameras which are installed at different positions of the ring structure body, the first environment image of the ship in the day section under the normal weather is collected through the white light camera, the second environment image of the ship in the night section and / or under the abnormal weather is collected through the infrared camera, each first environment image is spliced into a first panoramic image through the image splicing device, the first panoramic image is displayed on the display terminal, and the surrounding environment of the ship under the good weather is monitored. Each second environment image is spliced into a second panoramic image through the image splicing device, the second panoramic image is displayed on the display terminal, the surrounding environment of the ship under the complex weather is monitored, the monitoring demand of complex environment is met, and the monitoring accuracy is ensured. Meanwhile, the panoramic monitoring of the surrounding environment of the ship is carried out through the ring camera device, the monitoring accuracy and comprehensiveness are improved, the deployment cost of the camera is reduced, and therefore the safety and stability of the ship running can be effectively ensured.

[0035] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the utility model, and is not used to limit the scope of the utility model. Other features of the utility model will become easy to understand through the following description. BRIEF DESCRIPTION OF DRAWINGS

[0036] In order to more clearly illustrate the technical scheme in the embodiment of the utility model, the drawings needed to be used in the embodiment description will be briefly introduced below, and obviously, the drawings in the following description are only some embodiments of the utility model, and other drawings can be obtained by those skilled in the art without creating labor.

[0037] Figure 1 is a structural schematic diagram of a marine panoramic monitoring system according to an embodiment of the present application;

[0038] Figure 2 is a bottom view schematic diagram of the annular camera device according to the embodiment of the present application;

[0039] Figure 3 is a top view schematic diagram of the annular camera device according to the embodiment of the present application;

[0040] Figure 4 is a schematic diagram for representing the field of view angle of the annular camera device according to the embodiment of the present application;

[0041] Figure 5 is a structural schematic diagram of a marine panoramic monitoring system according to the embodiment of the present application. DETAILED DESCRIPTION

[0042] In order to make the personnel in the technical field better understand the present application scheme, the technical scheme in the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by the person skilled in the art without creative labor should belong to the scope of protection of the present application.

[0043] It should be noted that the terms "first", "second" and the like in the specification and claims of the present application and the above drawings are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0044] Embodiment one

[0045] Figure 1 is a structural schematic diagram of a marine panoramic monitoring system according to an embodiment of the present application, and the present embodiment can be applicable to the case of using the marine panoramic monitoring system to perform panoramic monitoring on the surrounding environment of the ship navigation.

[0046] As Figure 1 shown, the marine panoramic monitoring system provided by the embodiment includes: an image stitching device 1, a display terminal 2, and a ring camera 3 arranged at a target installation position of a ship; the ring camera 3 includes a ring structure body and a white light camera 31 and an infrared camera 32 arranged at different positions of the ring structure body; wherein,

[0047] The white light camera 31 is configured to collect a first environment image corresponding to the ship in a daytime period under normal weather, and send the first environment image to the image stitching device 1.

[0048] The infrared camera 32 is configured to collect a second environment image corresponding to the ship in a nighttime period and / or under abnormal weather, and send the second environment image to the image stitching device 1.

[0049] The image stitching device 1 is configured to receive the first environment image sent by each white light camera 31, stitch each first environment image into a first panoramic image, and display the first panoramic image on the display terminal 2, and receive the second environment image sent by each infrared camera 32, stitch each second environment image into a second panoramic image, and display the second panoramic image on the display terminal 2.

[0050] The daytime period can refer to a time period corresponding to the daytime of a day, and the nighttime period can refer to a time period corresponding to the nighttime of a day. The daytime period and the nighttime period constitute the entire length of a day. The normal weather can be used to represent good weather, for example, the normal weather can be sunny, foggy with visibility greater than a preset visibility, etc. The abnormal weather can refer to complex weather, for example, the abnormal weather can be overcast, foggy, snowy, hailing, windy, etc. with visibility less than a preset threshold. It should be noted that the time of the daytime period and the nighttime period can be dynamically determined according to the sunrise and sunset time of the day. The abnormal weather can be determined according to the weather that actually affects the normal navigation of the ship. The display terminal can be a display terminal in the driver's cabin, or a terminal device such as a mobile phone, a computer, or a tablet.

[0051] In the embodiment, the annular camera device 3 can be deployed at the target installation position of the ship. When the ship sails on the water area plane, the white light camera 31 can be controlled to collect the image of the surrounding environment of the ship as a first environment image when the ship sails in the daytime under normal weather, and the first environment image is sent to the image stitching device 1. After the image stitching device 1 receives the first environment image sent by each white light camera 31, each first environment image can be stitched into a first panoramic image according to the deployment position of the white light camera 31, and the first panoramic image is sent to the display terminal 2, and the first panoramic image is displayed to enable the user to obtain the surrounding environment information of the ship through the first panoramic image. When the ship sails at night and / or under abnormal weather, the infrared camera 32 can be controlled to collect the image of the surrounding environment of the ship as a second environment image, and then the second environment image is sent to the image stitching device 1. After the image stitching device 1 receives the second environment image sent by each infrared camera 32, each second environment image can be stitched into a second panoramic image according to the deployment position of the infrared camera 32, and the second panoramic image is sent to the display terminal 2, and the second panoramic image is displayed to enable the user to obtain the surrounding environment information of the ship in the complex environment through the second panoramic image.

[0052] The technical scheme of the embodiment of the utility model, only need to deploy annular camera device in the target installation position of the ship, the annular camera device includes annular structure body and white light camera and infrared camera installed at different positions of annular structure body, through white light camera gather first environment image of ship in daytime section under good weather, through infrared camera gather second environment image of ship at night and / or under abnormal weather, through image stitching device, each first environment image is spliced into first panoramic image, first panoramic image is displayed to display terminal, realize the monitoring of surrounding environment of ship under good weather, through image stitching device, each second environment image is spliced into second panoramic image, second panoramic image is displayed to display terminal, realize the monitoring of surrounding environment of ship under complex weather, satisfy the monitoring demand of complex environment, ensure the monitoring accuracy, at the same time, through annular camera device, panoramic monitoring is carried out to the surrounding environment of ship, improve the monitoring accuracy and comprehensiveness, reduce the deployment cost of camera, thereby can effectively guarantee the safety and stability of ship driving.

[0053] Figure 2 It is the bottom view schematic diagram of the annular camera device according to the embodiment of the utility model, Figure 2As shown, the angle of the annular structure body in the annular camera device 3 is 360 degrees; the annular structure body includes a first ring body 331 and a second ring body 332; wherein the first ring body 331 includes a plurality of first cavities; the second ring body 332 includes a plurality of second cavities; different routes of white light cameras 31 are arranged in different first cavities of the first ring body 331; different routes of infrared cameras 32 are arranged in different second cavities of the second ring body 332.

[0054] In the embodiment, the first cavities capable of mounting cameras are equidistantly arranged on the first ring body 331, and different routes of white light cameras 31 can be uniformly distributed at different first cavity positions of the first ring body 331, so that all the white light cameras 31 can collect large-view-angle panoramic images of the environment around the ship. The second cavities capable of mounting cameras are equidistantly arranged on the second ring body 332, and different routes of infrared cameras 32 can be uniformly distributed at different second cavity positions of the second ring body 332, so that all the infrared cameras 32 can also collect large-view-angle panoramic images of the environment around the ship. For example, see Figure 3 , Figure 3 The top view schematic diagram of the annular camera device can be represented as a circular base structure, and the cavities capable of mounting cameras are equidistantly arranged on the annular structure body. According to the actual horizontal and vertical field of view angles, different numbers of white light cameras 31 and infrared cameras 32 can be arranged as needed.

[0055] The advantage of such a setting is that by using two rings of the annular structure body to arrange two types of cameras respectively, the two types of cameras can be better and more uniformly placed in the rings, and the placement of the camera view angle is blocked to ensure the integrity of the captured images. It should be noted that the annular structure body is not limited to a 360-degree circle, but can also be other shapes, such as a rectangle, an ellipse, a triangle, a polygon, etc. Of course, the shape of the annular structure body can also be any shape of deformation.

[0056] On the basis of the above device, the horizontal field of view angles of two white light cameras 31 at adjacent positions partially overlap; when the roll angle of the ship in the water plane is a preset first angle, the line segment between the intersection between the first ray in the vertical field of view angle of the white light camera 31 and the water plane and the center of gravity of the ship is a preset length. The horizontal field of view angles of two infrared cameras 32 at adjacent positions partially overlap; when the roll angle of the ship in the water plane is a preset first angle, the line segment between the intersection between the second ray in the vertical field of view angle of the infrared camera 32 and the water plane and the center of gravity of the ship is a preset length.

[0057] In the embodiment, the single white light camera 31 is placed with the horizontal field of view angle (i.e. horizontal field of view angle) of adjacent cameras partially overlapping. When the ship is at a preset first angle of roll in the water plane, the line segment between the intersection between the first ray in the vertical field of view angle of the white light camera 31 and the water plane and the center of gravity of the ship is of a preset length, so that the vertical field of view angle of the white light camera 31 meets the visual angle requirement in the roll state of the ship, and the sum of all the horizontal field of view angles can cover the surrounding environment area of the ship. Similarly, the horizontal field of view angles of two adjacent infrared cameras 32 partially overlap, and when the ship is at a preset first angle of roll in the water plane, the line segment between the intersection between the second ray in the vertical field of view angle of the infrared camera 32 and the water plane and the center of gravity of the ship is of a preset length, so that the vertical field of view angle of the infrared camera 32 meets the visual angle requirement in the roll state of the ship, and the sum of all the horizontal field of view angles can cover the surrounding environment area of the ship. It should be noted that the preset first angle can be determined according to the maximum roll angle of the actual ship. Correspondingly, the preset length can be determined according to the horizontal length of the surrounding environment area of the ship.

[0058] For example, referring to Figure 4 , A is the target installation position of the ring camera device, G is the center of gravity of the ship, ∠BAC is the vertical visual angle in the stable state of the ship, and ∠DAE is the vertical visual angle in the roll state of the ship (i.e. the vertical field of view angle of the white light camera when the ship is at a preset first angle of roll in the water plane). AE is the first ray, the intersection between the first ray and the water plane is F, and FG is the vertical camera blind area (i.e. the preset length). The horizontal field of view angle of a single camera meets the requirement of overlapping the field of view angles of adjacent cameras, and the vertical field of view angle of a single camera meets the visual angle requirement in the roll state of the ship.

[0059] The advantage of such a setting is that by adjusting the rotation angle of the camera when it is installed at the target installation position in combination with the vertical field of view angle and the horizontal field of view angle of the camera, the panoramic image can still be effectively captured in the roll state of the ship, improving the accuracy of monitoring and adapting to the monitoring of the surrounding environment of the ship in complex environments. At the same time, the panoramic image can meet the real-time monitoring requirement of the environment within the specified distance and horizontal and vertical visual angle, improving the monitoring effect.

[0060] It should be noted that the technical scheme provided by the embodiment of the utility model, also can through adjusting the number of camera, pitch angle parameter etc., so that the camera reaches the same visual range, also can install the rotating platform to promote the visual range of camera. Also can use the holder or motion sensor to compensate the stability of camera. At the same time, the way of replacing camera can also be used, and the replaced camera can also achieve this kind of monitoring effect, such as using starlight level camera.

[0061] Optionally, continuing to refer to Figure 4 , A represents the target installation position, and the target installation position can be a position on the mast of the ship;The angle between the line connecting the target installation position and the center of gravity of the ship and the horizontal plane of the ship is a preset second angle. For example, the preset second angle is 90 degrees, indicating that the line connecting the target installation position and the center of gravity of the ship is perpendicular to the horizontal plane of the ship.

[0062] The advantage of such a setting is that when the ship is sailing in a stable state, the vertical field angle of each camera in the annular camera device and the angle between the water area plane of the ship are basically the same, which facilitates the unified deployment of each camera, improves the deployment convenience, improves the comprehensiveness and uniformity of shooting, facilitates subsequent image splicing processing, and ensures the integrity of the panoramic image.

[0063] Figure 5 The structure diagram of the ship panoramic monitoring system provided by the embodiment of the utility model is shown in Figure 5 As shown in the figure, the image splicing device 1 comprises: a first multi-level splicing module 11 and a first image fusion module 12;Wherein the first multi-level splicing module 11 is used for receiving the first environment image sent by each white light camera 31, splicing the first environment image sent by the white light camera 31 in the same white light module into a first regional image, and sending each first regional image to the first image fusion module 12;The first image fusion module 12 is used for receiving the first regional image sent by the first multi-level splicing module 11, splicing each first regional image into a first panoramic image, and displaying the first panoramic image on the display terminal 2.

[0064] Wherein, the white light module comprises a plurality of white light cameras adjacent in position;The white light cameras in different white light modules are different.

[0065] In the embodiment, each white light camera 31 can send the collected first environment image to the first multi-stage splicing module 11. After receiving the first environment image sent by each white light camera 31, the first multi-stage splicing module 11 can use a splicing algorithm to splice the first environment images sent by the white light cameras 31 located in the same white light module to obtain a first area image. Correspondingly, the white light module corresponding to each white light module is obtained, and each first area image can be sent to the first image fusion module 12. After receiving the first area image sent by the first multi-stage splicing module 11, the first image fusion module 12 can splice each first area image again into a panoramic image, which is the first panoramic image, and then display the first panoramic image on the display terminal 2.

[0066] The advantage of such a setting is that by dividing each white light camera into the corresponding white light module, splicing the first environment images collected by the white light cameras at adjacent positions, and then splicing the spliced first area image again, the accuracy of splicing can be effectively improved, a complete large-view-angle panoramic monitoring image can be formed, and the monitoring effect on the environment around the ship can be improved.

[0067] Continuing to refer to Figure 5 , the image splicing device 1 further includes a second multi-stage splicing module 13 and a second image fusion module 14. The second multi-stage splicing module 13 is configured to receive the second environment image sent by each infrared camera 32, splice the second environment images sent by the infrared cameras 32 in the same infrared module into a second area image, and send each second area image to the second image fusion module 14. The second image fusion module 14 is configured to receive the second area image sent by the second multi-stage splicing module 13, splice each second area image into a second panoramic image, and display the second panoramic image on the display terminal 2.

[0068] The infrared module includes multiple infrared cameras at adjacent positions, and the infrared cameras in different infrared modules are different.

[0069] In the embodiment, each infrared camera 32 can send the collected second environment image to the second multi-stage splicing module 13. After receiving the second environment image sent by each infrared camera 32, the second multi-stage splicing module 13 can use a splicing algorithm to splice the second environment images sent by the infrared cameras 32 located in the same infrared module to obtain a second area image. Correspondingly, the infrared module corresponding to each infrared module is obtained, and each second area image can be sent to the second image fusion module 14. After receiving the second area image sent by the second multi-stage splicing module 13, the second image fusion module 14 can splice each second area image again into a panoramic image, which is the second panoramic image, and then display the second panoramic image on the display terminal 2.

[0070] The advantage of such a setting is that by dividing the infrared cameras into corresponding infrared modules, splicing the second environment images collected by the infrared cameras at adjacent positions, and then splicing the spliced second area images again, the accuracy of splicing can be effectively improved, a complete large-view-angle panoramic monitoring image can be formed, and the monitoring effect on the environment around the ship can be improved. At the same time, using such a splicing image method can effectively improve the stability and efficiency of image splicing.

[0071] On the basis of the above device, the image splicing device 1 further comprises a defogging module; wherein the defogging module is configured to remove fog in the first environment image and the second environment image.

[0072] Specifically, in the process of splicing the first environment image and the second environment image respectively, the defogging module can use a defogging algorithm to perform defogging processing on the images to remove the fog in the first environment image and the second environment image, so as to improve the definition of the images, improve the accuracy of image splicing, and ensure the accuracy and integrity of the finally generated panoramic image.

[0073] Continuing to refer to Figure 5 The marine panoramic monitoring system further comprises a switching network component 4; the image splicing device 1 is configured to send the first panoramic image and the second panoramic image to the switching network component 4; and the switching network component 4 is configured to receive the first panoramic image and the second panoramic image sent by the image splicing device 1, and send the first panoramic image and the second panoramic image to the display terminal 2 for display.

[0074] The switching network component can be an Ethernet.

[0075] In the embodiment, the image stitching device 1 can send the generated first panoramic image and second panoramic image to the switching network component 4. The first panoramic image and second panoramic image are sent to the display terminal 2 for display through the switching network component 4. The switching network component is provided to efficiently process and forward the image data, meet various network communication requirements, and ensure the accuracy of data transmission.

[0076] On the basis of the above device, the marine panoramic monitoring system further comprises a controller, wherein the controller is configured to control the white light camera 31 to send the first environment image to the image stitching device 1 and control the infrared camera 32 to send the second environment image to the image stitching device 1; and the controller is further configured to control the image stitching device 1 to communicate with the display terminal 2 through the switching network component 4, so as to control the switching network component 4 to send the first panoramic image and second panoramic image sent by the image stitching device 1 to the display terminal 2 for display.

[0077] In the embodiment, the controller can be used to control the white light camera 31 to send the first environment image to the image stitching device 1 and control the infrared camera 32 to send the second environment image to the image stitching device 1. In addition, the controller can be used to control the image stitching device 1 to communicate with the display terminal 2 through the switching network component 4, so as to control the switching network component 4 to send the first panoramic image and second panoramic image sent by the image stitching device 1 to the display terminal 2 for display. That is, the controller can be used to realize the communication control and management of the modules in the system, or the controller can be used to realize the communication control and management of the modules in the system by the outside. It should be noted that the controller can also be used to perform the storage operation of the first panoramic image and second panoramic image, so that the user can know the navigation situation in the navigation process through the stored first panoramic image and second panoramic image.

[0078] The technical scheme of the embodiment of the utility model discloses a distributed combination arrangement of white light camera and infrared camera, and obtains annular camera device. Further, the white light camera in the annular camera device is used for ship environment monitoring in the day section under normal weather condition, and the infrared camera is used for ship environment monitoring in the night section under abnormal weather condition, which effectively improves the monitoring applicability and flexibility of the system under different environments (such as day, night or bad weather). Meanwhile, by installing different numbers of cameras in the cavity of the annular structure, the visual angle range in the horizontal and vertical directions is controlled, the calibration requirement is reduced, the monitoring requirement of different field angles is adapted, and the comprehensiveness of environment monitoring is improved. Meanwhile, the images generated by each camera are processed in real time by the split module, such as cutting and splicing, to finally form a complete large-angle panoramic image, which effectively improves the efficiency and quality of image splicing, thereby improving the quality of panoramic image, improving the monitoring effect, and further ensuring the safety and stability of ship driving.

[0079] It should be noted that the above are only preferred embodiments of the utility model and the technical principles applied. Those skilled in the art will understand that the utility model is not limited to the specific embodiments described herein, and those skilled in the art can make various obvious changes, readjustments and substitutions without departing from the protection scope of the utility model. Therefore, although the utility model has been described in more detail through the above embodiments, the utility model is not limited to the above embodiments, and can include more other equivalent embodiments without departing from the utility model concept, and the scope of the utility model is determined by the appended claims.

Claims

1. A marine panoramic monitoring system, characterized in that, The application relates to an image splicing device, a display terminal and a ring camera device arranged at a target installation position of a ship, wherein the ring camera device comprises a ring structure body and white light cameras and infrared cameras arranged at different positions of the ring structure body; the white light cameras are used for collecting first environment images corresponding to the ship in a daytime period under normal weather and sending the first environment images to the image splicing device; the infrared cameras are used for collecting second environment images corresponding to the ship in a nighttime period and / or under abnormal weather and sending the second environment images to the image splicing device; the image splicing device is used for receiving the first environment images sent by each of the white light cameras, splicing each of the first environment images into a first panoramic image and displaying the first panoramic image on the display terminal, and receiving the second environment images sent by each of the infrared cameras, splicing each of the second environment images into a second panoramic image and displaying the second panoramic image on the display terminal. The angle of the ring structure body is 360 degrees, and the ring structure body comprises a first ring body and a second ring body; wherein The first ring body comprises a plurality of first cavities, and the second ring body comprises a plurality of second cavities; Different white light cameras are arranged in different first cavities of the first ring body; Different infrared cameras are arranged in different second cavities of the second ring body. The horizontal field angles of two white light cameras arranged at adjacent positions partially overlap; 2. The marine panoramic monitoring system of claim 1, wherein, When the roll angle of the ship in a water area plane is a preset first angle, the line segment between the intersection between a first ray in the vertical field angle of the white light camera and the water area plane and the center of gravity of the ship is a preset length. The horizontal field angles of two infrared cameras arranged at adjacent positions partially overlap; When the roll angle of the ship in a water area plane is a preset first angle, the line segment between the intersection between a second ray in the vertical field angle of the infrared camera and the water area plane and the center of gravity of the ship is a preset length. The target installation position is a position on a mast of the ship, and the angle between the line connecting the target installation position and the center of gravity of the ship and the horizontal plane of the ship is a preset second angle.

3. The marine panoramic monitoring system of claim 1, wherein, The image splicing device comprises a first multi-stage splicing module and a first image fusion module; wherein The first multi-stage splicing module is used for receiving the first environment images sent by each of the white light cameras, splicing the first environment images sent by the white light cameras in a same white light module into a first regional image, and sending each of the first regional images to the first image fusion module; the white light module comprises a plurality of white light cameras arranged at adjacent positions; the white light cameras in different white light modules are different; 4. The marine panoramic monitoring system of claim 1, wherein, The first image fusion module is used for receiving the first regional images sent by the first multi-stage splicing module, splicing each of the first regional images into a first panoramic image, and displaying the first panoramic image on the display terminal. ​ 5. The marine panoramic monitoring system of claim 1, wherein, ​ 6. The marine panoramic monitoring system of claim 1, wherein, ​ ​ ​ 7. The marine panoramic monitoring system of claim 1, wherein, The image stitching device comprises a second multi-stage stitching module and a second image fusion module; wherein The second multi-stage stitching module is configured to receive the second environment images sent by each of the infrared cameras, stitch the second environment images sent by the infrared cameras in the same infrared module into a second regional image, and send each of the second regional images to the second image fusion module; the infrared module comprises a plurality of the infrared cameras that are adjacent in position; the infrared cameras in different infrared modules are different; The second image fusion module is configured to receive the second regional images sent by the second multi-stage stitching module, stitch each of the second regional images into a second panoramic image, and display the second panoramic image on the display terminal.

8. The marine panoramic monitoring system according to claim 1, 6 or 7, characterized in that, The image stitching device further comprises a defogging module; wherein The defogging module is configured to remove fog in the first environment images and the second environment images.

9. The marine panoramic monitoring system of claim 1, wherein, The marine panoramic monitoring system further comprises an exchange network component; The image stitching device is configured to send the first panoramic image and the second panoramic image to the exchange network component; The exchange network component is configured to receive the first panoramic image and the second panoramic image sent by the image stitching device, and send the first panoramic image and the second panoramic image to the display terminal for display.

10. The marine panoramic monitoring system of claim 1, wherein, The marine panoramic monitoring system further comprises a controller; wherein The controller is configured to control the white light camera to send the first environment images to the image stitching device, and control the infrared camera to send the second environment images to the image stitching device; The controller is further configured to control the image stitching device to communicate with the display terminal through the exchange network component, so as to control the first panoramic image and the second panoramic image sent by the image stitching device to be sent to the display terminal for display through the exchange network component.

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