CN107682422A - Dock ship state identification method, apparatus and system - Google Patents
Dock ship state identification method, apparatus and system Download PDFInfo
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- CN107682422A CN107682422A CN201710864980.3A CN201710864980A CN107682422A CN 107682422 A CN107682422 A CN 107682422A CN 201710864980 A CN201710864980 A CN 201710864980A CN 107682422 A CN107682422 A CN 107682422A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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Abstract
The invention provides a kind of dock ship state identification method, apparatus and system, is related to Vessel's Description monitoring technology field.The dock ship state identification method includes：Obtain the spacing variable condition of ship and harbour in preset time period；Vessel's Description is obtained according to the spacing variable condition.Dock ship state identification method proposed by the present invention, apparatus and system provide a kind of more convenient, accurate and effective automation solutions for harbour monitoring, the set system is easy except deployment, wide adaptability, outside the advantages that cost is cheap, high-precision Vessel's Description identification can also be provided, the input of site administrator can be effectively reduced, prevents the situation of all kinds of operations privately.In addition, this programme can also provide docking for identifying system and various information system, lift the normalization and automatization level of dock operation.
Description
Technical field
The present invention relates to Vessel's Description monitoring technology field, in particular to a kind of dock ship state identification method,
Apparatus and system.
Background technology
With the continuous development of national economy, the water industry in China is also being surging forward, and from coastal major port, arrives
The littoral various harbour of rivers, and as one of most important part in logistics transportation link.
But for many middle marinas, a managerial problem can be usually encountered, i.e. Field Force permits privately
Perhaps ship is stopped and carries out handling operation.There is the main nothing more than this some reason of such case：
1. cost-effective, harbour does not arrange substantial amounts of monitoring device；
2. monitoring device is arranged immediately, it is also on duty without dispatcher, operation phenomenon privately can not be found in time；
3. reviewing monitoring device wastes time and energy, the energy and cost paid are high；
4. managerial skills are not kept pace with, it can not be recorded by equipment operation, come in and go out on-the-spot record to carry out management and control.
Certainly, in general, these phenomenons mainly appear on middle marina, and for major port, ship pulls in shore to need
Want substantial amounts of personnel and equipment to coordinate, less this event can occur.
All kinds of middle marinas in order to solve the problems, such as operation privately, are judged by video monitoring system：
1. camera judges that ship is stopped by figure identification；
2. data storage；
3. to related side's transmission information.
However, this judgement common accurate based on video monitoring system is very low, general very busy, the meeting in harbour scene
There are a large amount of ships to appear in picture, the ratio of in general figure identification error is very high, and high-precision figure identification needs again
Pay substantial amounts of learning time.
The content of the invention
It is an object of the invention to provide a kind of dock ship state identification method, apparatus and system, and it can effectively change
Kind above mentioned problem.
What embodiments of the invention were realized in：
In a first aspect, the embodiments of the invention provide a kind of dock ship state identification method, methods described includes：Obtain
The spacing variable condition of ship and harbour in preset time period；Vessel's Description is obtained according to the spacing variable condition.
Second aspect, the embodiment of the present invention additionally provide a kind of dock ship status identification means, and it includes pose acquisition
Module, the pose current for obtaining mechanical arm；Range finder module, become for obtaining the spacing of ship and harbour in preset time period
Change state；State acquisition module, for obtaining Vessel's Description according to the spacing variable condition.
The third aspect, the embodiment of the present invention additionally provide a kind of dock ship state recognition system, and it includes ranging sensing
Device, sensor cableway, buoyant device, conduction device and system server, the conduction device are arranged on the sensor rope
On road, at least one distance measuring sensor is installed on each conduction device, the buoyant device fills with the conduction
Connection is put, the buoyant device is used for the conduction device described in jacking when water level rises, to avoid the distance measuring sensor by water
Flood, the distance measuring sensor and system server communication connection, the distance measuring sensor are used to obtain preset time period
The spacing variable condition of interior ship and harbour, and the spacing variable condition is sent to the system server, the system
Server is used to receive the spacing variable condition sent by the distance measuring sensor, and is obtained according to the spacing variable condition
Take Vessel's Description.
Dock ship state identification method provided in an embodiment of the present invention, apparatus and system, by obtaining preset time period
The spacing variable condition of interior ship and harbour, with know ship whether close to harbour or away from harbour or with the distance of harbour not
Become；Vessel's Description is obtained further according to the spacing variable condition, you can is extracted from spacing variable condition obtained in the previous step
The ship information of each side such as travel speed, travel direction, current location and the destination of ship, according to these information
Obtain various substandard Vessel's Descriptions.Compared to the prior art, dock ship state identification method provided by the invention, device
And system provides a kind of more convenient, accurate and effective automation solutions for harbour monitoring, the set system is except deployment
Simplicity, wide adaptability, outside the advantages that cost is cheap, additionally it is possible to high-precision Vessel's Description identification is provided, can effectively be reduced
The input of site administrator, prevent the situation of all kinds of operations privately.In addition, this programme can also provide identifying system with
The docking of various information system, lift the normalization and automatization level of dock operation.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below by embodiment it is required use it is attached
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore be not construed as pair
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 is a kind of structured flowchart for the electronic equipment that can be applied in the embodiment of the present invention；
Fig. 2 is the FB(flow block) for the dock ship state identification method that first embodiment of the invention provides；
Fig. 3 is the FB(flow block) of step S300 in first embodiment of the invention；
Fig. 4 is the FB(flow block) of step S400 and S410 in first embodiment of the invention；
Fig. 5 is the FB(flow block) of step S500 and S510 in first embodiment of the invention；
Fig. 6 is the FB(flow block) of step S600 in first embodiment of the invention；
Fig. 7 is the FB(flow block) of step S700 in first embodiment of the invention；
Fig. 8 is the FB(flow block) of step S800 in first embodiment of the invention；
Fig. 9 is the structured flowchart for the dock ship status identification means that second embodiment of the invention provides；
Figure 10 is the structural representation for the dock ship state recognition system that third embodiment of the invention provides.
Embodiment
Below in conjunction with accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Ground describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.Generally exist
The component of the embodiment of the present invention described and illustrated in accompanying drawing can be configured to arrange and design with a variety of herein.Cause
This, the detailed description of the embodiments of the invention to providing in the accompanying drawings is not intended to limit claimed invention below
Scope, but it is merely representative of the selected embodiment of the present invention.Based on embodiments of the invention, those skilled in the art are not doing
The every other embodiment obtained on the premise of going out creative work, belongs to the scope of protection of the invention.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent accompanying drawing in individual accompanying drawing.Meanwhile the present invention's
In description, term " first ", " second " etc. are only used for distinguishing description, and it is not intended that instruction or hint relative importance.
Fig. 1 shows a kind of structured flowchart for the electronic equipment 100 that can be applied in the embodiment of the present application.As shown in figure 1,
Electronic equipment 100 can include memory 110, storage control 120, processor 130, display screen 140 and dock ship shape
State identification device.For example, the electronic equipment 100 can be PC (personal computer, PC), tablet personal computer, intelligence
Energy mobile phone, personal digital assistant (personal digital assistant, PDA) etc..
It is directly or indirectly electric between memory 110, storage control 120, processor 130,140 each element of display screen
Connection, to realize the transmission of data or interaction.For example, one or more communication bus or signal can be passed through between these elements
Bus realizes electrical connection.The dock ship state identification method respectively include it is at least one can be with software or firmware
(firmware) form is stored in the software function module in memory 110, such as the dock ship status identification means
Including software function module or computer program.
Memory 110 can store various software programs and module, the dock ship shape provided such as the embodiment of the present application
Programmed instruction/module corresponding to state recognition methods and device.Processor 130 is by running the software of storage in the memory 110
Program and module, so as to perform various function application and data processing, that is, realize the dock ship in the embodiment of the present application
State identification method.Memory 110 can include but is not limited to random access memory (Random Access Memory,
RAM), read-only storage (Read Only Memory, ROM), programmable read only memory (Programmable Read-Only
Memory, PROM), erasable read-only memory (Erasable Programmable Read-Only Memory, EPROM),
Electricallyerasable ROM (EEROM) (Electric Erasable Programmable Read-Only Memory, EEPROM) etc..
Processor 130 can be a kind of IC chip, have signal handling capacity.Above-mentioned processor can be general
Processor, including central processing unit (Central Processing Unit, abbreviation CPU), network processing unit (Network
Processor, abbreviation NP) etc.；It can also be digital signal processor (DSP), application specific integrated circuit (ASIC), ready-made programmable
Gate array (FPGA) either other PLDs, discrete gate or transistor logic, discrete hardware components.It can
To realize or perform disclosed each method, step and the logic diagram in the embodiment of the present application.General processor can be micro-
Processor or the processor can also be any conventional processors etc..
Electronic equipment 100 applied in the embodiment of the present invention should also possess from aobvious to realize dock ship state recognition
Show function, display screen 140 therein can be provided between the electronic equipment 100 and user an interactive interface (such as
User interface) or for display image data give user reference.For example, it can show that harbour Vessel's Description identification device obtains
The related data such as Vessel's Description and ship image for taking.
First embodiment
Fig. 2 is refer to, present embodiments provides a kind of dock ship state identification method, methods described includes：
Step S200：Obtain the spacing variable condition of ship and harbour in preset time period；
The spacing variable condition of the ship and harbour, can be ship and code in preset time period in the present embodiment
The spacing of head reduces, or spacing increase, or spacing is constant.Particularly, the spacing variable condition of the ship and harbour, also
The pace of change of spacing, change direction etc. between ship and harbour can be included in preset time period.In addition, when described default
Between section can be set or be obtained in real time the spacing of ship and harbour according to demand.In the present embodiment, the spacing
Variable condition can be measured by distance measuring sensor or other equipment.
Step S210：Vessel's Description is obtained according to the spacing variable condition.
In the present embodiment, the ship and the spacing variable condition of harbour that are obtained by above-mentioned steps can be from the spacing
The various transport conditions of ship, such as the travel speed of ship, travel direction, current location and mesh are extracted in variable condition
The each side such as ground ship information, can obtain various substandard Vessel's Descriptions according to these information.For example, work as the ship
The standard of oceangoing ship state be ship close to harbour, ship away from harbour or during slack ship, obtained by analyzing previous step
Spacing variable condition, you can judge in current slot, ship whether close to harbour away from harbour or slack.
It is understood that when the spacing of the ship and harbour reduces, it is believed that ship is close to harbour；When the ship with
During the spacing increase of harbour, it is believed that ship is away from harbour；When the spacing of the ship and harbour is constant, it is believed that ship
Oceangoing ship carries out circular motion or transfixion centered on harbour.If the standard of the Vessel's Description be ship landing pier or
The non-landing pier of ship, then it can determine whether that ship rests in harbour by extracting the spacing distance of ship and harbour,
Such as when the spacing distance of ship and harbour is in the range of a certain appropriate distance, it can be determined that the ship rests in harbour.
As a kind of preferred scheme, the step S210 can be specifically：Ship is judged according to the spacing variable condition
Whether stop or leave.Now, the standard of the Vessel's Description is whether ship is stopped or left,
Fig. 3 is refer to, in the present embodiment, it is preferred that can carry out following steps before the step S200：
Step S300：Judge whether ship occur in the range of the default stop appropriate distance of harbour.
In the present embodiment, the default stop appropriate distance scope can be the detection triggering distance range of sensor, when
The detection for being smaller than sensor triggering distance between ship and sensor on harbour, i.e., described ship exist
When in the detection range of the sensor, sensor can start to detect the distance of ship and harbour (sensor).Particularly, institute
The default detection range stopped appropriate distance scope and be also less than sensor is stated, such as ship enters the detection of the sensor
In the range of after, sensor persistently detects the spacing variable condition (performing the step S200) of ship and harbour, but works as ship
When oceangoing ship is entered in the range of the default stop appropriate distance, just judge to go out spot in the range of the default stop appropriate distance of harbour
Oceangoing ship, it can now carry out follow-up report and send, open the other modes such as shooting with to the further monitoring of Vessel's Description.Therefore,
It is understood that the step S300 can also be carried out after step S200, differ only in and first judge, obtain afterwards, or
It is first to obtain, judge afterwards.
Fig. 4 is refer to, in the present embodiment, it is preferred that can also carry out following steps after the step S300：
Step S400：The image in the range of harbour observable is obtained in real time；
, can when step S300 judges to have ship to enter in the range of the default stop appropriate distance of harbour in the present embodiment
To open the monitoring camera being arranged near harbour, the image of ship is shot.
Step S410：Determine whether that ship is stopped or left according to described image.
In the present embodiment, via the image in the range of the harbour observable of monitoring device shooting, it can be used for more intuitively
Judge whether ship is stopped or left.Particularly, when the result of spectral discrimination is consistent with the Vessel's Description that step S210 is drawn,
The transport condition of ship is can confirm that, situation about being judged by accident with avoiding spectral discrimination single in the prior art from easily occurring, is improved
The accuracy of Vessel's Description identification.
Fig. 5 is refer to, in the present embodiment, it is preferred that can carry out following steps before the step S200：
Step S500：Set the quantity, distribution and stop appropriate distance value range of distance measuring sensor；
Before the various monitorings of Vessel's Description are carried out, can the first quantity to distance measuring sensor, distribution, Yi Jiting
Closing reason distance range value is set.Setting for distance measuring sensor quantity, typically according to port berth size, stop ship
Feature, has different distance measuring sensor requirements, and in general, distance measuring sensor quantity is more, and Vessel's Description is judged to get over
Accurately.The distribution of setting sensor, refer to set the orientation between single distance measuring sensor and other sensors, distance is believed
Breath and the ranging frequency.According to the characteristics of harbour, between distance measuring sensor to ship, can all there is a rational distance range
Value, as stop appropriate distance value range, when ship and when being smaller than this value of harbour, it is believed that ship apart from harbour very
Closely, may rest near harbour.
Step S510：The distance measuring sensor is connected, and prompts whether the distance measuring sensor connects in place.
After each state parameter setting of sensor, sensor can be connected and tested, when sensor does not have
During connection, prompting can be sent to operating personnel, to carry out maintenance work in time.
Fig. 6 is refer to, in the present embodiment, it is preferred that can carry out following steps before the step S200：
Step S600：Minimum trigger condition is set, the minimum trigger condition includes triggered as normal and exception-triggered.
In the present embodiment, minimum trigger condition is set, including triggering distance measuring sensor quantity (such as detect the biography of ship
Sensor quantity reaches a certain numerical value), data mode change (such as the spacing of ship and harbour narrows down to a certain numerical value), triggering when
Limit (such as ship enter sensor detection range in reach sometime length).Specifically, trigger condition is divided into triggered as normal
And exception-triggered, triggered as normal refer to the triggering of ship normal activity, exception-triggered refers to because artificial, natural conditions cause equipment
Can not normal work triggering.When the minimum trigger condition is reached, foregoing various monitorings bring into operation with judgement.
Fig. 7 is refer to, in the present embodiment, it is preferred that can also carry out following steps after the step S210：
Step S700：Generation judges report, described to judge that report includes Vessel's Description, triggering reason, sensor states, survey
Away from data, judge at least one of reason, monitoring image.
It is understood that described judge that report can also be other forms, ship and harbour state can be reflected
All kinds of relevant informations.
Fig. 8 is refer to, in the present embodiment, it is preferred that can also carry out following steps after the step S700：
Step S800：The judgement report is sent to user terminal.
In the present embodiment, after system generates judgement report, the judgement report can be sent to all kinds of servers, letter
Storage system or each Terminal Type are ceased, can be distributed by forms such as short message, mail, APP, with call user's attention with timely
Take measures.
The dock ship state identification method that the present embodiment provides, by monitoring distance value between analysis ship and harbour
Change, ship stop or leave state can be accurately identified, this identifies to be difficult accurately to accomplish by existing figure.It is existing
In technology, whether be ship, figure identification is vulnerable to various interference sources (Field Force, equipment, neighbouring ship etc.) if accurately identifying
Influence, the present embodiment by set effective trigger condition with stop distance value, the influence for the factor that will not be interfered, reduce
Erroneous judgement.In addition, the method that the present embodiment provides can also adapt to SEA LEVEL VARIATION influence, by taking the Changjiang river as an example, flood season level is up to 27
Rice even more than, during low water level only 15 meters it is even following, only shot by camera, camera angle is slightly worse to be all difficult
Preferable picture is got, further increases the difficulty of figure identification, and this method is not influenceed by image angle, will not be become because of water level
Change impact effect.Relative to prior art, this method can more accurately determine whether ship, raising efficiency, realize accurate
Judge, equipment can be effectively improved and use the efficiency with harbour management.Particularly, this method can also be applied to other large-scale things
The resting state monitoring of body, such as applied to station, factory etc..
Second embodiment
Fig. 9 is refer to, present embodiments provides a kind of dock ship status identification means 900, it includes：
Range finder module 910, for obtaining the spacing variable condition of ship and harbour in preset time period；
State acquisition module 920, for obtaining Vessel's Description according to the spacing variable condition.
3rd embodiment
Figure 10 is refer to, present embodiments provides a kind of dock ship state recognition system 1000, including distance measuring sensor
1100th, sensor cableway 1200, buoyant device 1300, conduction device 1400 and system server 1500.Wherein, the conduction
Device 1400 is arranged on the sensor cableway 1200, and at least one survey is provided with each conduction device 1400
Away from sensor 1100.The buoyant device 1300 is connected with the conduction device 1400, and the buoyant device 1300 is used in water
Conduction device 1400 described in jacking when position rises, to avoid the distance measuring sensor 1100 by water submerged.In general, according to setting
The distribution of distance measuring sensor 1100 set carrys out install sensor cableway 1200, and the cableway of file needs to be arranged on same cableway
In.
In the present embodiment, the conduction device 1400 can change in sensor cableway 1200 with buoyancy to be moved.It is described
Buoyant device 1300 can be foam, plank, filled with the air-tight bottle of air or other the device of buoyancy can be provided.
In the present embodiment, the distance measuring sensor 1100 and the system server 1500 communicate to connect, and the ranging passes
Sensor 1100 is used to obtain the spacing variable condition of ship and harbour in preset time period, and the spacing variable condition is sent
To the system server 1500, the system server 1500 is used to receive as described in being sent the distance measuring sensor 1100
Spacing variable condition, and Vessel's Description is obtained according to the spacing variable condition.
The dock ship state recognition system 1000 that the present embodiment provides, can take into full account SEA LEVEL VARIATION feature, automatically
The height of sensor is adjusted, goes for the deployment of various harbours and business scenario, it is automated by high accuracy, height
Vessel's Description identifies, can effectively reduce human time's input of site administrator.
Dock ship state identification method provided in an embodiment of the present invention, apparatus and system, by obtaining preset time period
The spacing variable condition of interior ship and harbour, with know ship whether close to harbour or away from harbour or with the distance of harbour not
Become；Vessel's Description is obtained further according to the spacing variable condition, you can is extracted from spacing variable condition obtained in the previous step
The ship information of each side such as travel speed, travel direction, current location and the destination of ship, according to these information
Obtain various substandard Vessel's Descriptions.Compared to the prior art, dock ship state identification method provided by the invention, device
And system provides a kind of more convenient, accurate and effective automation solutions for harbour monitoring, the set system is except deployment
Simplicity, wide adaptability, outside the advantages that cost is cheap, additionally it is possible to high-precision Vessel's Description identification is provided, can effectively be reduced
The input of site administrator, prevent the situation of all kinds of operations privately.In addition, this programme can also provide identifying system with
The docking of various information system, lift the normalization and automatization level of dock operation.It the foregoing is only the preferred of the present invention
Embodiment, be not intended to limit the invention, for those skilled in the art, the present invention can have it is various change and
Change.Within the spirit and principles of the invention, any modification, equivalent substitution and improvements made etc., should be included in this hair
Within bright protection domain.
Claims (10)
1. a kind of dock ship state identification method, it is characterised in that methods described includes：
Obtain the spacing variable condition of ship and harbour in preset time period；
Vessel's Description is obtained according to the spacing variable condition.
2. according to the method for claim 1, it is characterised in that Vessel's Description, bag are obtained according to the spacing variable condition
Include：
Judge whether ship is stopped or left according to the spacing variable condition.
3. according to the method for claim 1, it is characterised in that methods described also includes：
Judge whether ship occur in the range of the default stop appropriate distance of harbour.
4. according to the method for claim 3, it is characterised in that in the range of the default stop appropriate distance judged in harbour
After whether there is ship, in addition to：
The image in the range of harbour observable is obtained in real time；
Determine whether that ship is stopped or left according to described image.
5. according to the method for claim 1, it is characterised in that methods described also includes：
Set the quantity, distribution and stop appropriate distance value range of distance measuring sensor；
The distance measuring sensor is connected, and prompts whether the distance measuring sensor connects in place.
6. according to the method for claim 1, it is characterised in that methods described also includes：
Minimum trigger condition is set, the minimum trigger condition includes triggered as normal and exception-triggered.
7. according to the method for claim 1, it is characterised in that methods described also includes：
Generation judgement is reported, described to judge that report includes Vessel's Description, triggering reason, sensor states, ranging data, judgement original
At least one of cause, monitoring image.
8. according to the method for claim 7, it is characterised in that methods described also includes：
The judgement report is sent to user terminal.
A kind of 9. dock ship status identification means, it is characterised in that including：
Range finder module, for obtaining the spacing variable condition of ship and harbour in preset time period；
State acquisition module, for obtaining Vessel's Description according to the spacing variable condition.
10. a kind of dock ship state recognition system, it is characterised in that including distance measuring sensor, sensor cableway, buoyancy dress
Put, conduction device and system server,
The conduction device is arranged on the sensor cableway, and at least one survey is provided with each conduction device
Away from sensor,
The buoyant device is connected with the conduction device, and the buoyant device is used to conduct dress described in jacking when water level rises
Put, to avoid the distance measuring sensor by water submerged,
The distance measuring sensor and system server communication connection,
The distance measuring sensor is used to obtain the spacing variable condition of ship and harbour in preset time period, and the spacing is become
Change state is sent to the system server,
The system server is used to receiving the spacing variable condition that is sent by the distance measuring sensor, and according between described
Vessel's Description is obtained away from variable condition.
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| CN201710864980.3A CN107682422A (en) | 2017-09-22 | 2017-09-22 | Dock ship state identification method, apparatus and system |
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| CN201710864980.3A CN107682422A (en) | 2017-09-22 | 2017-09-22 | Dock ship state identification method, apparatus and system |
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| CN112512913B (en) * | 2018-06-21 | 2022-07-08 | 麦克格雷戈瑞典股份公司 | Ship cargo ramp positioning system |
| CN113627234A (en) * | 2021-06-22 | 2021-11-09 | 宁波金涛船舶有限责任公司 | Ship harbor entry identification method, system, terminal and storage medium |
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