CN108919299A - Ship freeboard intelligence sensing system and method based on multi-thread laser Surface scan - Google Patents
Ship freeboard intelligence sensing system and method based on multi-thread laser Surface scan Download PDFInfo
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- CN108919299A CN108919299A CN201810675913.1A CN201810675913A CN108919299A CN 108919299 A CN108919299 A CN 108919299A CN 201810675913 A CN201810675913 A CN 201810675913A CN 108919299 A CN108919299 A CN 108919299A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B71/00—Designing vessels; Predicting their performance
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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Abstract
The present invention relates to a kind of ship freeboard intelligence method for sensing based on multi-thread laser Surface scan, including：AIS equipment and multi-line laser radar are set up on the bank of target bridge approach, and obtains the ship moldeed depth and specified draft value of target ship using AIS equipment, and utilize the side profile data of multi-line laser radar acquisition target ship；Data processing centre extracts the side profile data of the target ship of multi-line laser radar acquisition, calculate practical freeboard, and extract ship moldeed depth and specified draft acquired in AIS equipment, calculate specified freeboard, practical freeboard and specified freeboard are compared, if practical freeboard is less than specified freeboard, it is judged to overloading, it is on the contrary then be judged to not overloading.The beneficial effects of the invention are as follows：Make measurement data accurate in real time by data intelligence processing, ship status caused by artificial subjective factor can be overcome to judge incorrectly, guarantees Navigation in Navigable efficiency and safety.
Description
Technical field
The present invention relates to fields of measurement, and in particular to a kind of intelligently sense of the ship freeboard based on multi-thread laser Surface scan
Examining system and method.
Background technique
In recent years, with the development in an all-round way of China's economic situation, domestic economy transition, production adjustment, inland navigation craft transport
Overloading is substantially improved, and grounding accident takes place frequently, and has very important destructiveness to shipping safety and shipping efficiency.Cause ship
Oceangoing ship surpasses the water level depth difference that the reason of drinking water includes different navigation channels, even if same navigation channel allows navigation ship in different times
Extreme draft also has corresponding change according to SEA LEVEL VARIATION；On the other hand, ship overload, conceal drinking water etc. subjective reasons it is equally tight
Ghost image rings navigation safety.
The key for administering the super drinking water problem of ship is to sense drauht, and conventional method is mostly to set on ship
Water line is set, pulls in shore to check by range estimation or ship to judge ship draught, this greatly reduces working efficiency；In addition, phase
Pressure sensor method, electric water gauge, the pond marker recognition based on image procossing and sonar measuring technique have been researched and proposed in pass, so
And in terms of measuring shipping draft, all there is some disadvantages for the above-mentioned several method being previously mentioned, first in manual measurement
In shipping draft, which has significant limitation.On the one hand, due to being influenced by water level fluctuation, ship freeboard
The measurement error of value can be very big；On the other hand, since manual measurement method carries out detection of going on board, this strong influence
The shipping efficiency of the basin ship.In pressure sensor method, electric water gauge method and shipping depth gauge degree based on image processing techniques
In number method of identification, these measuring devices require the intersection for being mounted on ship and horizontal plane, due to the long-term leaching by river water
The beating of bubble and wave, is very easy to lead to the damage of equipment.Even there are some shipowners to hide detection, deliberately destroys and set
It is standby.There is also another drawbacks in shipping depth gauge degree method of identification based on image processing techniques, since it is to read ship
On water gauge carry out the draft of surveying vessel, such precision is very low.With sonar technique come when measuring shipping draft, mainly
Equipment is mounted on the water surface hereinafter, easily leading to the silting under river bed in this way, equipment is covered, the final effect for influencing measurement
Fruit.Above method is haveed the defects that different.Some method needs use water gauge to measure the freeboard of ship, this will lead
Cause the low of measurement efficiency；Some methods need for measuring device to be mounted on ship, this will lead to the equipment and is highly prone to more
Change or damages；And some methods need for equipment to be mounted on river bed, this will lead to equipment and is easily buried in turn by the silt in river
Influence the measurement of data.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of ship freeboard intelligence based on multi-thread laser Surface scan
Energy sensing system and method, to overcome the deficiencies in the prior art described above.
The technical solution that the present invention solves above-mentioned technical problem is as follows：A kind of ship freeboard based on multi-thread laser Surface scan
The intelligent method for sensing of height, includes the following steps：
S1, AIS equipment and multi-line laser radar are set up on the bank of target bridge approach, and obtains mesh using AIS equipment
Mark the ship moldeed depth and specified draft value of ship, and the side profile number using multi-line laser radar acquisition target ship
According to；
S2, data processing centre extract the side profile data of the target ship of multi-line laser radar acquisition, calculate reality
Border freeboard, and ship moldeed depth and specified draft acquired in AIS equipment are extracted, specified freeboard is calculated,
Practical freeboard and specified freeboard are compared, if practical freeboard is less than specified freeboard, are determined as
Overload, it is on the contrary then be judged to not overloading.
The beneficial effects of the invention are as follows：
1) multi-thread lasing area scanning technique is applied to maritime control field, changes and always artificial is sensed for freeboard
Method realizes real-time, accurate and round-the-clock drauht sensing；
2) make measurement data accurate in real time by data intelligence processing, ship caused by artificial subjective factor can be overcome
State misjudgment, guarantees Navigation in Navigable efficiency and safety；
3) AIS equipment and multi-line laser radar are laid in the bank of bridge approach, the mode of land survey can be high
The flexible measurement completed to detected drauht information of effect, overcome previous measurement process conduct in water decaying and by
The shortcomings that weather, stormy waves etc. interfere.
Based on the above technical solution, the present invention can also be improved as follows.
Further, side profile data include ship deck upper surface point cloud data and water surface point cloud data in the S1.
Further, specific step is as follows for the practical freeboard of calculating in the S2：
It is denoised with ship deck upper surface point cloud data of the frame differential method to acquisition, extracts clearly ship
Then deck data are completely shown the profile being overlapped in extracted clearly ship deck data using trigonometric function
Come, and carry out image superposition on same projection plane, it is practical for obtaining the maximum position of signal strength by projection superposition
Practical freeboard is finally calculated to obtain according to the difference of practical deck position and water surface elevation in deck position.
A kind of ship freeboard intelligence sensing system based on multi-thread laser Surface scan, including hull monitoring device sum number
According to processing center, the hull monitoring device includes AIS equipment and multi-line laser radar, the AIS equipment and multi-thread laser thunder
Up to being electrically connected respectively with the data processing centre.
It further, further include early warning and monitoring panel and terminal control part, at the early warning and monitoring panel and the data
The electrical connection of reason center, the early warning and monitoring panel and the data processing centre are electrically connected with the terminal control part respectively.
Further, combined aural and visual alarm, tri-colour LED and image collecting device are equipped in the early warning and monitoring panel；It is described
Display screen, function button group and VHF very high frequency(VHF) intercom are equipped in terminal control part.
It is using above-mentioned further beneficial effect：Multi-thread lasing area scanning technique is applied to maritime control field, is changed
Become and sensed consistent manual method for freeboard, has realized real-time, accurate and round-the-clock drauht sensing；Pass through intelligence
Data processing makes measurement data accurate in real time, and ship status caused by artificial subjective factor can be overcome to judge incorrectly, and guarantees
Navigation in Navigable efficiency and safety.
Detailed description of the invention
Fig. 1 is the flow chart of the ship freeboard intelligence method for sensing of the present invention based on multi-thread laser Surface scan；
Fig. 2, which is that the ship freeboard intelligence sensing system of the present invention based on multi-thread laser Surface scan is practical, to be laid
Figure；
Fig. 3 is the framework map of the ship freeboard intelligence sensing system of the present invention based on multi-thread laser Surface scan；
Fig. 4 is the measuring principle of the ship freeboard intelligence sensing system of the present invention based on multi-thread laser Surface scan
Schematic diagram.
Specific embodiment
The principle and features of the present invention will be described below with reference to the accompanying drawings, and the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the invention.
As Figure 1 and Figure 4, a kind of ship freeboard intelligence method for sensing based on multi-thread laser Surface scan, including such as
Lower step：
S1, AIS equipment 5 and multi-line laser radar 6 are set up on the bank of target bridge approach, and is obtained using AIS equipment 5
The ship moldeed depth of target ship and specified draft value, and taken turns using the side that multi-line laser radar 6 acquires target ship
Wide data, wherein side profile data include ship deck upper surface point cloud data and water surface point cloud data；
S2, data processing centre 2 extract the side profile data for the target ship that multi-line laser radar 6 acquires, and calculate
Practical freeboard, and ship moldeed depth and specified draft acquired in AIS equipment 5 are extracted, calculate specified freeboard
Degree, practical freeboard and specified freeboard are compared, if practical freeboard is less than specified freeboard, are determined
It is on the contrary then be judged to not overloading for overload.
Calculating practical freeboard, the specific method is as follows：
2 pairs of S210, data processing centre ship deck upper surface point cloud datas extracted denoise, and extract clearly
Ship deck data；
S220, using the point cloud data library PCL (Point Cloud Library), will with the mapping relations of trigonometric function
The profile being overlapped in extracted clearly ship deck data is completely shown, and image is carried out on same projection plane
Superposition, obtaining the maximum position of signal strength by projection superposition is practical deck position, finally according to practical deck position
And the difference of water surface elevation calculates to obtain practical freeboard.
Clearly the specific method is as follows for ship deck data for extraction：
S211, continuous three frames image is chosen from the point cloud data of ship deck upper surface, wherein first frame image fk-1
(x, y), the second frame image fk(x, y), third frame image fk+1(x, y), and gray proces are carried out to image, in order to guarantee to compare
As a result accuracy, is converted with following formula：
Y=0.299*R+0.587*G+0.114*B
Wherein R, G, B are three components of each pixel color respectively, and Y value is brought into and replaces R, G in RGB (R, G, B),
B obtains corresponding gray level image；
Corresponding two-value is calculated with difference algorithm in gray level image by S212, the basic principle using frame differential method
Change image, specifically, calculating fk(x, y) frame image and fk-1The difference D of (x, y) frame image1(x, y) obtains the change of target
It after change amount, is handled by inter-frame difference, obtains the bianry image of object variations amount, be formulated as：
S213, f is calculatedk+1(x, y) frame image and fkThe difference D of (x, y) frame image2(x, y) obtains object variations amount
Afterwards, inter-frame difference processing is also passed through, is obtained by fk+1(x, y) frame image and fkDifference institute's target of (x, y) frame image becomes
The bianry image of change amount, formula are expressed as：
S214, frame difference D is sought1(x, y) and D2The intersection of (x, y), i.e., progress AND operation, obtain three-frame difference image D (x,
Y), three-frame difference image D (x, y) at this time is the coarse moving region image of moving target, wherein three-frame difference image D
(x, y) is formulated as：
S215, according to the gray value of the coarse moving region image of moving target come threshold value, find out in image first
Maximum gradation value and minimum gradation value, take its average value as initial threshold and be denoted as T, when the difference of two frames be greater than threshold value T when, it is poor
Being worth value is 255, and when the difference absolute value of two frames is less than threshold value T, difference takes 0, can be obtained by by such difference processing
The binary image of gray level image；
S216, after obtaining binary image, then with mathematical morphology expansion and erosion operation method to binary picture
As carrying out denoising, the edge of the image border expanded after expansion, the target that can will test out is either internal
Voiding filling, thus achieve the effect that a certain degree remove picture noise, and erosion operation to image have tighten
Effect, " burr " at the edge in bianry image can be weeded out, and extra part is sharpened, keeps edge contour more clear
It is clear, so that objective contour be made to be more clear, keep the target that detected more accurate,
The operational formula of expansion is：
The operational formula of caustic solution is：
The calculation method of practical freeboard：
Using the point cloud data library PCL (Point Cloud Library), with the mapping relations of trigonometric function by three-dimensional point
It is two dimension that cloud atlas, which carries out projective transformation, is specifically included：
In the three-dimensional point cloud atlas measured, the ship deck profile for being blocked and being overlapped is sensed via positive direction, can be passed through
It is acquired with triangulate decomposition method the positions such as ship other profiles such as ship top, bow；
It after the profile of overlapping is completely shown, can be overlapped automatically, the maximum position, that is, repeated acquisition of signal strength
Deck position；
The difference of altitude above deck and water surface elevation is practical freeboard.
As shown in Figure 2 and Figure 3, a kind of ship freeboard intelligence sensing system based on multi-thread laser Surface scan, including ship
Body monitoring device 1, data processing centre 2, early warning and monitoring panel 3 and terminal control part 4；
Hull monitoring device 1 is integrated on overhead, and fixed point is installed on the bank of bridge approach, and hull monitoring device 1 includes
AIS equipment 5 (Automatic Identification System) and multi-line laser radar 6, AIS equipment 5 is via anti-interference
Strong and support multicast communication RS485 control line is electrically connected with data processing centre 2, and multi-line laser radar 6 is via anti-interference
Strong and support multicast communication RS485 control line is electrically connected with data processing centre 2, and laser radar, AIS equipment 5 are as entire
The information source of system worked well provides metadata for video analysis, freeboard measurement, data analysis, has ship to enter the monitoring
When region, laser radar acquires the side profile data of ship, including ship deck based on range measurement principle in a manner of line scanning
Upper surface point cloud data and water surface point cloud data, while AIS equipment 5 obtains ship moldeed depth and specified draft value；
The message information that data processing centre 2 sends with screening AIS equipment 5 for identification, extracts ship moldeed depth therein
With specified draft, to calculate specified freeboard, while the side profile data of laser radar acquisition are extracted,
In, side profile data include ship deck upper surface point cloud data and water surface point cloud data, deck upper level and the water surface
The difference of height, can calculate practical freeboard；
Early warning and monitoring panel 3 includes combined aural and visual alarm 7, tri-colour LED 8 and image collecting device 9, wherein data processing
Center 2 is via strong interference immunity and the RS485 control line of multicast communication is supported to be electrically connected with early warning and monitoring panel 3, terminal control
Part 4 includes display screen 10, function button group 11 and VHF very high frequency(VHF) intercom 12, hull monitoring device 1, data processing centre 2
It is connected respectively by wireless network with terminal control part 4 with early warning and monitoring panel 3, realizes data transmission, early warning and monitoring panel 3
The ship freeboard comparing result come in by the transmission of data processing centre 2 is received, when practical freeboard is less than specified freeboard
When, overload warning is issued, combined aural and visual alarm 7 issues overload warning, and tri-colour LED 8 is red by green turn, indicate in the hole,
Image collecting device 9 carries out evidence obtaining of taking pictures, and shows super draft value, the function of terminal control part 4 on the display screen 10
Key group 11 is connected by route with early warning display panel, once there is abnormal conditions (overload dangerous situation), passes through function
Key group 11 keys in operational order or executes the instruction achieved, and VHF very high frequency(VHF) intercom 12 issues phonetic order automatically.
Application examples：
Channel span：About 260 meters
Multi-line laser radar 6 uses 16 line scanning radar of Velodnye
Hull sensing part：Fixed point is mounted on the bank of bridge approach, is carried out by optical fiber to the data between items of equipment
Transmission；The information source that 16 line scanning radar of Velodnye, AIS equipment 5 are worked normally as whole system, be video analysis,
Freeboard measurement, data analysis provide metadata；16 line scanning radar of Velodnye has sensed ship into the monitoring area
When, the side profile data of ship, including ship deck upper surface point cloud data and water surface point cloud data are acquired, while AIS is set
Standby 5 obtain ship moldeed depth and specified draft value.
Data processing centre 2：It is integrated in the internal system, first with frame differential method to the Velodnye 16 of acquisition
Line scanning radar point cloud chart is denoised, and clearly ship deck data are extracted, and is then utilized triangulate decomposition method, is obtained
Image superposition in three-dimensional point cloud atlas on same projection plane, obtaining the biggish line segment of signal strength by projection superposition is figure
The position of middle ship freeboard, on the other hand, the specified freeboard that the freeboard angle value of actual measurement and AIS equipment 5 are sent back to
Value compares, final to differentiate whether ship overloads, super drinking water, if the calculated freeboard value of ship is less than the specified freeboard of ship
Value, then it is assumed that ship overload, if the calculated freeboard value of ship is greater than the specified freeboard value of ship, then it is assumed that ship does not surpass
It carries.
Early warning display panel：Included combined aural and visual alarm 7, tri-colour LED 8 and image collecting device 9.Early warning display surface
Plate receives the ship freeboard comparing result come in by the transmission of data processing centre 2, when the difference of ship moldeed depth and freeboard is greater than
When maximum draft, combined aural and visual alarm 7 issues overload warning, and tri-colour LED 8 is red by green turn, indicates in the hole,
Image collecting device 9 carries out evidence obtaining of taking pictures.
Terminal control part 4：It is connected with early warning display panel by wireless network, once there is abnormal conditions (overload
Dangerous situation), display screen 10 shows ship overload data information, keys in operational order by function button group 11 or executes and has deposited
The instruction of shelves, VHF issue voice command automatically.
This testing procedure is as follows：
One, Velodyne16 line laser radar is fixed on cantilever tip, adjusting bracket handle is in laser range finder
Vertical state；
Two, the detection range for adjusting Velodyne16 line laser radar keeps the ship target motion state of river surface clear
On the computer screen, the spot area in interface is the ship profile information occurred in detection zone, light spot shape and boat for display
Ship profile and position can be overlapped in road；
Three, the data acquiring frequency of Velodyne16 line laser radar is set as 10Hz, to dealing different shape, size
Ship carries out freeboard sensing, specifically includes：
First with the noise at random in frame differential method removal point cloud chart, three-dimensionalreconstruction goes out clearly ship profile；
Continuous three frames image is chosen from the point cloud data of ship deck upper surface, wherein first frame image fk-1(x, y),
Second frame image fk(x, y), third frame image fk+1(x, y), and gray proces are carried out to image, in order to guarantee comparison result
Accuracy is converted with following formula：
Y=0.299*R+0.587*G+0.114*B
Wherein R, G, B are three components of each pixel color respectively, and Y value is brought into and replaces R, G in RGB (R, G, B),
B obtains corresponding gray level image；
Using the basic principle of frame differential method, corresponding binary picture is calculated with difference algorithm in gray level image
Picture, specifically, calculating fk(x, y) frame image and fk-1The difference D of (x, y) frame image1(x, y) obtains the variable quantity of target
Afterwards, it is handled by inter-frame difference, obtains the bianry image of object variations amount, be formulated as：
Calculate fk+1(x, y) frame image and fkThe difference D of (x, y) frame image2(x, y), after obtaining object variations amount, together
Sample is handled by inter-frame difference, is obtained by fk+1(x, y) frame image and fkThe difference institute object variations amount of (x, y) frame image
Bianry image, formula is expressed as：
Seek frame difference D1(x, y) and D2The intersection of (x, y), i.e. progress AND operation, obtains three-frame difference image D (x, y), this
When three-frame difference image D (x, y) be the coarse moving region image of moving target, wherein three-frame difference image D1(x,y)
It is formulated as：
According to the gray value of present image come threshold value, the maximum gradation value and minimal gray in image are found out first
Value, takes its average value as initial threshold and is denoted as T, and when the difference of two frames is greater than threshold value T, difference value is 255, when the difference of two frames
When absolute value is less than threshold value T, difference takes 0, can be obtained by the binary image of gray level image by such difference processing；
After obtaining binary image, then with the expansion of mathematical morphology and erosion operation method to binary image progress
Denoising, the image border expanded after expansion, the either internal cavity in the edge for the target that can will test out
Change filling, thus achieving the effect that remove picture noise to a certain degree, and erosion operation has the function of tightening to image, it can
To weed out " burr " at the edge in bianry image, extra part is sharpened, keeps edge contour apparent, to make
Objective contour is more clear, and keeps the target that detected more accurate,
The operational formula of expansion is：
The operational formula of caustic solution is：
Four, 5 message of AIS equipment is obtained in real time, is extracted wherein about ship unique identifier, ship moldeed depth, draft
Etc. information, be sent to data processing centre 2 and calculate the specified freeboard of ship；
Five, the specified freeboard of ship is compared with practical freeboard by data processing centre 2, it is final to determine
Shippping traffic is with the presence or absence of overload, the violation navigation of super drinking water.
Six, terminal control part 4 is connected by wireless network with early warning display panel, once it is (super abnormal conditions occur
Carry dangerous situation), display screen 10 shows ship overload data information, keys in operational order by function button group 11 or executes
The instruction of archive, VHF very high frequency(VHF) intercom 12 issue voice command automatically.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (7)
1. a kind of ship freeboard intelligence method for sensing based on multi-thread laser Surface scan, which is characterized in that including walking as follows
Suddenly：
S1, AIS equipment and multi-line laser radar are set up on the bank of target bridge approach, and obtains object ship using AIS equipment
The ship moldeed depth of oceangoing ship and specified draft value, and the side profile data using multi-line laser radar acquisition target ship；
S2, data processing centre extract the side profile data of the target ship of multi-line laser radar acquisition, calculate practical dry
Side of a ship height, and ship moldeed depth and specified draft acquired in AIS equipment are extracted, specified freeboard is calculated, it will be real
Border freeboard is compared with specified freeboard, if practical freeboard is less than specified freeboard, is judged to overloading,
It is on the contrary then be judged to not overloading.
2. a kind of ship freeboard intelligence method for sensing based on multi-thread laser Surface scan according to claim 1,
It is characterized in that, side profile data include ship deck upper surface point cloud data and water surface point cloud data in the S1.
3. a kind of ship freeboard intelligence method for sensing based on multi-thread laser Surface scan according to claim 2,
It is characterized in that, practical freeboard is calculated in the S2, and specific step is as follows：
It is denoised with ship deck upper surface point cloud data of the frame differential method to acquisition, extracts clearly ship deck
Then data are completely shown the profile being overlapped in extracted clearly ship deck data using trigonometric function, and
Image superposition is carried out on same projection plane, obtaining the maximum position of signal strength by projection superposition is practical deck position
It sets, practical freeboard is finally calculated to obtain according to the difference of practical deck position and water surface elevation.
4. a kind of ship freeboard intelligence method for sensing based on multi-thread laser Surface scan according to claim 1,
It is characterized in that, the specified freeboard is subtracted each other by ship moldeed depth and specified draft and obtained.
5. a kind of ship freeboard intelligence sensing system based on multi-thread laser Surface scan, which is characterized in that supervised including hull
Measurement equipment and data processing centre, the hull monitoring device include AIS equipment and multi-line laser radar, the AIS equipment and
Multi-line laser radar is electrically connected with the data processing centre respectively.
6. a kind of ship freeboard intelligence sensing system based on multi-thread laser Surface scan according to claim 5,
It is characterized in that, further includes early warning and monitoring panel and terminal control part, the early warning and monitoring panel and the data processing centre
Electrical connection, the early warning and monitoring panel and the data processing centre are electrically connected with the terminal control part respectively.
7. a kind of ship freeboard intelligence sensing system based on multi-thread laser Surface scan according to claim 6,
It is characterized in that, combined aural and visual alarm, tri-colour LED and image collecting device is equipped in the early warning and monitoring panel；The terminal control
System is equipped with display screen, function button group and VHF very high frequency(VHF) intercom in part.
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| CN111486822A (en) * | 2020-04-30 | 2020-08-04 | 中国舰船研究设计中心 | Ship navigation safety detection method based on image recognition |
| CN112001962A (en) * | 2020-07-24 | 2020-11-27 | 北京驭光科技发展有限公司 | Ship height measuring and calculating method and system |
| CN112083437A (en) * | 2020-07-10 | 2020-12-15 | 南京智慧水运科技有限公司 | Marine laser radar and video combined target capturing system and method |
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| CN115258959B (en) * | 2022-09-19 | 2023-01-03 | 杭州飞步科技有限公司 | Sling control method, equipment and storage medium |
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