CN111710192A - Ship bridge collision accident early warning and recording method, device and system - Google Patents
Ship bridge collision accident early warning and recording method, device and system Download PDFInfo
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Abstract
The invention relates to the technical field of ship and bridge collision early warning and recording, and discloses a ship and bridge collision accident early warning and recording method, which comprises the following steps: acquiring a reflected wave signal received after a radar wave is transmitted to a ship body from a bridge body and an image signal of a ship shot from the angle of the bridge body, calculating the collision probability of a ship-bridge collision accident according to the reflected wave signal and the image signal, and performing collision early warning according to the collision probability; acquiring stress information of a bridge body, judging whether a ship bridge collision accident occurs according to the stress information, if not, recording a reflected wave signal, an image signal and stress information in a first set time period recently, if so, recording the reflected wave signal, the image signal and the stress information in a second set time period, acquiring current position information, and sending the current position information to a remote terminal. The invention can detect, early warn, record and report the collision accident of the ship bridge in the water environment.
Description
Technical Field
The invention relates to the technical field of ship and bridge collision early warning and recording, in particular to a ship and bridge collision accident early warning and recording method, device and system and a computer storage medium.
Background
In recent years, various bridge projects crossing rivers and seas are increased day by day, the construction of the bridges greatly facilitates land transportation and promotes the development of local economy, but the bridges are used as fixed buildings crossing a channel and objectively form obstacles for ship navigation, so that difficulty and safety risk are increased for ship navigation, and a ship bridge collision accident can be caused by carelessness.
At present, in some other application scenes, some collision accident early warning systems exist, such as traffic accident collision early warning and tower crane collision accident early warning, but the early warning systems are not suitable for ship bridge collision accidents in the water environment.
Disclosure of Invention
The invention aims to overcome the technical defects, provides a method, a device and a system for early warning and recording a bridge collision accident and a computer storage medium, and solves the technical problem that the bridge collision accident in the water environment cannot be warned in the prior art.
In order to achieve the technical purpose, the technical scheme of the invention provides a ship bridge collision accident early warning and recording method, which comprises the following steps:
acquiring a reflected wave signal received after a radar wave is transmitted to a ship body from a bridge body and an image signal of a ship shot from the angle of the bridge body, calculating the collision probability of a ship-bridge collision accident according to the reflected wave signal and the image signal, and performing collision early warning according to the collision probability;
acquiring stress information of a bridge body, judging whether a ship bridge collision accident occurs according to the stress information, if not, recording a reflected wave signal, an image signal and stress information in a first set time period recently, if so, recording the reflected wave signal, the image signal and the stress information in a second set time period, acquiring current position information, and sending the current position information to a remote terminal.
The invention also provides a device for early warning and recording the ship and bridge collision accident, which comprises a processor and a memory, wherein the memory is stored with a computer program, and the computer program is executed by the processor to realize the method for early warning and recording the ship and bridge collision accident.
The invention also provides a system for early warning and recording the ship bridge collision accident, which comprises the device for early warning and recording the ship bridge collision accident, a radar, an early warning device, a camera and a pressure sensor;
the radar is arranged on the bridge body, and is used for transmitting radar waves to the ship body, receiving reflected wave signals and transmitting the reflected wave signals to the ship bridge collision accident early warning and recording device;
the early warning device is used for receiving the early warning signal and giving an alarm;
the camera is arranged on the bridge body and used for shooting an image signal of a target ship and sending the image signal to the ship-bridge collision accident early warning and recording device;
the pressure sensor is arranged on the bridge pier and used for detecting stress information borne by the bridge body and sending the stress information to the ship bridge collision accident early warning and recording device.
The invention also provides a computer storage medium, on which a computer program is stored, wherein the computer program is executed by a processor to realize the ship and bridge collision accident early warning and recording method.
Compared with the prior art, the invention has the beneficial effects that: the invention utilizes radar detection technology and image processing technology to firstly carry out early warning of ship and bridge collision accidents in the water environment. Meanwhile, whether a ship and bridge collision accident occurs is judged according to the stress information of the bridge body, and if the ship and bridge collision accident occurs, data recording and uploading are carried out on the ship and bridge collision accident, so that backtracking analysis can be conveniently carried out on the accident.
Drawings
FIG. 1 is a flow chart of an embodiment of a method for warning and recording a collision accident of a bridge according to the present invention;
FIG. 2 is a flow chart illustrating the detection of one embodiment of target detection provided by the present invention;
FIG. 3 is a tracking schematic diagram of one embodiment of target tracking provided by the present invention;
FIG. 4 is a prediction flow diagram of one embodiment of the trajectory prediction provided by the present invention;
FIG. 5 is a management schematic diagram of one embodiment of trajectory management provided by the present invention;
FIG. 6 is a schematic structural diagram of an embodiment of a device for early warning and recording a collision accident of a ship and a bridge according to the present invention
Fig. 7 is a schematic structural diagram of an embodiment of a ship bridge collision accident early warning and recording system provided by the invention.
Reference numerals:
1. a device for early warning and recording a bridge collision accident; 11. an SD card; 12. a GPS locator; 13. a sonar emitter; 14. a standby power supply; 15. a processor; 16. a memory; 2. a radar; 3. an early warning device; 4. a camera; 5. a pressure sensor.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example 1
As shown in fig. 1, an embodiment 1 of the present invention provides a method for early warning and recording a bridge collision accident, including the following steps:
s1, acquiring reflected wave signals received after the radar waves are transmitted to the ship body from the bridge body and image signals of the ship shot from the angle of the bridge body, calculating the collision probability of ship and bridge collision accidents according to the reflected wave signals and the image signals, and performing collision early warning according to the collision probability;
s2, acquiring stress information of the bridge body, judging whether a ship bridge collision accident occurs according to the stress information, if not, recording a reflected wave signal, an image signal and stress information in a first set time period recently, if so, recording the reflected wave signal, the image signal and the stress information in a second set time period, acquiring current position information, and sending the current position information to a remote terminal.
The embodiment firstly utilizes the radar detection technology and the image processing technology to carry out early warning of the ship bridge collision accident in the water environment. Meanwhile, whether a ship and bridge collision accident occurs is judged according to the stress information of the bridge body, and if the ship and bridge collision accident occurs, data recording and uploading are carried out on the ship and bridge collision accident, so that backtracking analysis can be conveniently carried out on the accident.
Specifically, judging the ship bridge collision accident according to the stress information specifically comprises the following steps: and judging whether the stress information is greater than a collision threshold value, if so, judging that a collision accident occurs, and otherwise, judging that no collision accident occurs.
Preferably, the collision probability of the ship bridge collision accident is calculated according to the reflected wave signals and the image signals, and collision early warning is performed according to the collision probability, specifically:
carrying out target detection according to the reflected wave signal to obtain a target ship;
performing target tracking on the target ship by combining the reflected wave signal and the image signal to obtain a real-time track of the target ship;
carrying out track prediction on the target ship according to the real-time track to obtain a predicted track;
and calculating the collision probability of the target ship colliding with the bridge body according to the predicted track, outputting an early warning signal if the collision probability is greater than a set probability, and otherwise, performing detection and early warning on the next target ship.
The present embodiment first acquires a reflected wave signal using a radar detection technique, and identifies a target ship from the reflected wave signal. And after the target ship is identified, tracking and predicting the track of the target ship by using the reflected wave signals and the image signals, carrying out collision early warning according to the predicted track, if the predicted collision probability is higher, sending an alarm to remind the target ship to change the course, and if the collision probability is lower, continuously detecting the next ship. This embodiment has realized the early warning of ship bridge collision accident in the aquatic environment.
Preferably, the target detection is performed according to the reflected wave signal to obtain a target ship, and specifically, the method includes:
performing signal processing on the reflected wave signals to obtain a plurality of detection targets;
according to the preset existence probability of various objects, primarily screening the detection target, and screening out the detection target with the existence probability larger than the set probability as a primarily screened target;
screening out primary screening targets which are not in the detection range according to the detection range of the radar;
and calculating a signal difference value between adjacent frame reflected wave signals of the primary screening target, and screening out the primary screening target with the signal difference value larger than a set difference value to obtain the target ship.
The original reflected wave signal detected by the radar contains a large amount of clutter and false signals, and target detection processing is required to remove the interference. Specifically, as shown in fig. 2, after a target signal is obtained through signal analysis, target primary selection is performed according to an object existence probability data bit built in a radar controller, then an invalid target outside a radar detection range is removed, and finally, a part of data points with too large jumps are removed according to a continuity relation between data frames, so that target detection is finally achieved. S in FIG. 2minIndicating the lower limit of the radar detection range, SmaxRepresents the upper limit value of the radar detection range, S (k) represents the reflected wave signal value at the time k, S (k +1) represents the reflected wave signal value at the time k + 1, k1Indicating a set difference.
The radar has a far detection range, so that the reflected wave signal is firstly adopted for target detection, and after a target ship is detected, the reflected wave signal and the image signal are combined for track tracking, and the specific description is as follows.
Preferably, the target tracking is performed on the target ship by combining the reflected wave signal and the image signal to obtain a real-time track of the target ship, and the method specifically includes:
acquiring first position information of a target ship according to a reflected wave signal of the target ship;
acquiring second position information of the target ship according to the image signal of the target ship;
respectively converting the first position information and the second position information into a coordinate system established by taking the bridge body as a reference object, and fusing to obtain relative position information between the target ship and the bridge body;
and establishing a mapping relation between the relative position information and time by combining a plurality of frames of reflected wave signals and a plurality of frames of image signals of the target ship to obtain the real-time track.
Specifically, as shown in fig. 3, a coordinate system is first established, in this embodiment, a pier coordinate system is established with a certain point on the pier as an origin O, the position information measured by the radar and the position information measured by the image are converted into the same coordinate system, so as to obtain the fused relative position information, and the position information obtained by the fusion may be the midpoint of a connecting line of the two position information. In fig. 3, the solid small black dots are relative position information, for example, z is marked on the target ship 11,z2,…,zkA total of k relative positions.
After the real-time flight path is obtained, the prediction flight path is obtained by using a Kalman filtering algorithm, which is specifically explained as follows,
preferably, the track prediction is performed on the target ship according to the real-time track to obtain a predicted track, and specifically, the method comprises the following steps:
calculating the speed and the course of the target ship according to the real-time track;
and taking the navigational speed and the course as state vectors, and predicting the position of the target ship at the next moment by using a Kalman filtering algorithm to obtain predicted position information:
X(k+1|k)＝A(k)X(k|k)
P(k+1|k)＝A(k)P(k|k)AT(k)+Q(k)
wherein X (k +1| k) is the predicted state vector at time k +1 predicted from the state vector at time k, and P (k +1| k) is X (k +1| k) corresponding covariance, A (k) is the state transition matrix, AT(k) Is a transposed matrix of A (k), X (k | k) is an optimal state vector at the moment of k, P (k | k) is a covariance corresponding to X (k | k), and Q (k) is a covariance of process noise;
calculating the optimal state vector at the moment k +1 according to the predicted state vector at the moment k +1 and the actual state vector at the moment k + 1:
X(k+1|k+1)＝X(k+1|k)+K(k+1)[Z(k+1)-H(k+1)X(k+1|k)]
wherein, X (K +1| K +1) is an optimal state vector, K (K +1) is Kalman gain, Z (K +1) is an actual state vector measured at the moment of K +1, and H (K +1) is a measurement coefficient matrix;
K(k+1)＝P(k+1|k)HT(k+1)[H(k+1)·P(k+1|k)HT(k+1)+V(k+1)]-1
wherein HT(k +1) is the transpose matrix of H (k +1), V (k +1) is the measurement noise;
obtaining the predicted position information according to the optimal state vector;
updating the covariance:
P(k+1|k+1)＝[I-K(k+1)H(k+1)]P(k+1|k)
wherein I is an identity matrix of all 1 s;
applying the updated covariance to a next location prediction;
and establishing a tracking gate according to the predicted position information, and performing data association on subsequent measuring points according to the tracking gate to obtain the predicted flight path.
And the state vector of Kalman filtering is obtained by establishing a target ship motion model. When the target ship model is established, the shape characteristics of the ship are not considered and are regarded as a particle in the space. The motion state parameters of the ship are the position and the speed of the ship at a certain moment, and because the sampling interval of the radar is very short, the target ship can be assumed to do uniform acceleration motion within two sampling intervals. And calculating the navigational speed and the course of the target ship according to the time and position relation between the target ship and the bridge pier. The positional relationship between the pier and the target vessel is shown in fig. 3. In FIG. 3, v1Representing the speed, v, of the target vessel 12Representing the speed of the target vessel 2. The navigational speed can be obtained by dividing the distance between the positions corresponding to the two adjacent frames of data by the acquisition time interval between the two adjacent frames
Specifically, the process noise and the measurement noise are zero-mean white noise, and satisfy the following conditions:
wherein V (k) is process noise at time k, V '(j) is process noise at time j, W (k) is measurement noise at time k, W' (j) is measurement noise at time j, E [ solution ]]Representing the mathematical expectation, Q (k) is the covariance of the process noise, R (k) is the covariance of the metrology noise,kjis an intermediate parameter.
In this embodiment, the state vector of kalman filtering is:
wherein, x is the speed of the ship,
is the first derivative of the speed of the flight,
the second derivative of the speed, y the heading,
is the first derivative of the heading direction and,
is the second derivative of the heading;
the measurement vector is:
the state transition coefficient matrix is:
wherein T is a measurement period;
the measurement coefficient matrix is:
the covariance matrix corresponding to the process noise is:
wherein the content of the first and second substances,
the covariance matrix corresponding to the measured noise is:
wherein R isx＝Ry＝1m，Rvx＝Rvy＝5m/s。
Preferably, the tracking gate is established according to the predicted position information, specifically:
calculating the real-time navigational speed and the real-time course of a target ship, setting a tracking range according to the real-time navigational speed and the real-time course by taking the real-time position of the target ship as the center, and dividing an area in the tracking range to be used as a tracking door.
Specifically, as shown in fig. 4, for all detected target ships, the position of the target at the next moment is predicted by using a kalman filter prediction algorithm, then a tracking gate is established according to the predicted position and the speed of the target, all measurement targets (i.e., measurement points/measurement ships) falling into the tracking gate are considered to be trackable targets, and since a cross phenomenon may occur between tracks of different target ships and measurement clutter noise may be generated due to factors such as environment, a data association algorithm is required to perform association of the tracks at this time.
Preferably, the data association is performed on the subsequent measurement points according to the tracking gate to obtain the predicted track, specifically:
calculating a normalized distance between the measurement point and the predicted location:
wherein d isijZ (k +1) is the position information of the measuring point at the time k + 1,
predicted position information for time k + 1
And (3) carrying out tracking gate limitation on the measuring points, and screening out the measuring points with the normalized distance smaller than a tracking gate threshold value:
dij≤Gij
wherein G isijIs a tracking gate threshold constant;
constructing an allocation function, calculating allocation function values of the measuring points and each real-time track, and selecting the real-time track with the minimum allocation function value as a pairing track of the measuring points:
wherein the content of the first and second substances,
Dmaxis a set maximum distance value;
m is the number of actual tracks, and n is the number of measuring points;
and combining the measuring points with the corresponding paired flight paths to obtain the predicted flight path.
The tracking gate is used for determining a part of the possible emergence range of the measuring target by taking the predicted position of the target ship as a center. The tracking gate can be used for carrying out preliminary verification on the measurement target results of the reflected wave signals and the image signals, and carrying out subsequent data correlation processing on the measurement target falling into the tracking gate, so that a complete track is formed. The method comprises the steps of calculating a normalized distance when data association is carried out, carrying out tracking gate limitation on a measurement target, constructing an allocation function when association allocation is carried out on an actual flight path and a measurement point path in a global nearest neighbor algorithm, wherein a matching scheme when the minimum value of the allocation function is solved is a matching scheme of each actual flight path and each measurement point. Meanwhile, the actual track of each target ship is allocated with one measuring point at most, and each measuring point is allocated with the actual track of one target ship at most, so parameters in the allocation function need to satisfy the following formula:
as shown in fig. 4, all the measurement targets falling within the tracking gate are tracked, when the measurement targets in the set period meet the track start condition, a track is started, and when the measurement targets reach the track end condition, the track is deleted and ended, so that the management of the predicted track is realized. The predicted trajectory management is to perform operations of adding, maintaining and deleting on the predicted trajectory, and runs through the whole target trajectory tracking process.
In this embodiment, the sliding window method is adopted to perform track start and track end of the track, thereby implementing track management. As shown in fig. 5, the track start is specifically: and arranging the track points of the target ship in a plurality of radar detection periods into a point track sequence according to the time sequence. If the trace of the point detected at the ith time is within the corresponding tracking gate, then xi1, otherwise xi0. Setting a sliding window with a set size, and judging x in the sliding windowiWhether the point with the value of 1 reaches the set number m or not, if so, the track starting is successful; otherwise, the scanning sliding window continues to slide forward. Meanwhile, the width n of the sliding window can be set, and the track starting speed is controlled by the ratio of m to n, for example, when the ratio is greater than 2/3, the track starting speed is quickly started; normal and fast are relative concepts when the ratio is greater than 3/4 normal onset.
The track termination specifically includes: the tracking of the track is finished and the invalid target track of radar and video detection is cleared. Due to the external environment or the state of the sensor, in the process of tracking the target, the target being tracked may leave the radar and video detection range, and at this time, the tracker is required to make a decision to terminate the track. In the embodiment, a time accumulation trajectory termination algorithm is adopted, that is, the number of the lost targets in the continuous scanning for A times reaches the value B to terminate the trajectory.
Example 2
As shown in fig. 6, an embodiment 2 of the present invention provides a device 1 for early warning and recording a ship bridge collision accident, which is hereinafter referred to as the device, and includes a processor 15 and a memory 16, where the memory 16 stores a computer program, and when the computer program is executed by the processor 15, the method for early warning and recording a ship bridge collision accident provided in embodiment 1 is implemented.
The ship and bridge collision accident early warning and recording device 1 provided by the embodiment of the invention is used for realizing the early warning and recording method based on the ship and bridge collision accident, so that the ship and bridge collision accident early warning and recording device 1 has the technical effects of the ship and bridge collision accident early warning and recording method, and the details are not repeated herein.
Preferably, as shown in fig. 6, the device further comprises an SD card 11, a GPS locator 12, a sonar emitter 13, a standby power supply 14 and a sealed housing;
the processor 15, the memory 16, the SD card 11, the GPS locator 12, the sonar emitter 13 and the standby power supply 14 are all arranged in the sealed shell;
the SD card 11 is used for storing the bridge detection data and stress information;
the GPS locator 12 is configured to acquire the current location information and send the current location information to the processor 15;
the sonar emitter 13 is configured to receive current position information sent by the processor 15, and send the current position information to a remote terminal;
the processor 15 is further configured to: when a ship bridge collision accident occurs, the standby power supply 14 is triggered to supply power to the processor 15, the GPS locator 12, the sonar emitter 13 and the memory 16.
Specifically, in the present embodiment, the SD card 11, the GPS positioning device 12, the sonar transmitter 13, the backup power supply 14, and the sealed case are added to the processor 15 and the memory 16, and the black box is formed as a whole. The ship and bridge collision accident early warning and recording device 1 is hereinafter referred to as a black box, the black box has a sealed housing with high waterproof and anti-collision levels, and the SD card 11, the GPS locator 12, the sonar emitter 13, the processor 15, the memory 1666 and the standby power supply 14 are all arranged in the sealed housing. When a ship bridge collision accident occurs, the GPS locator 12 can collect the position information of the black box, transmit signals through the sonar emitter 13, report the position information, and facilitate the black box to go round. The SD card 11 is used to store force information, image signals, and reflected wave signals. When no collision accident occurs, the detection data is continuously updated, only the detection data in a first set time period, for example, the last 24 hours, is reserved, if a collision accident occurs, the processor 15 controls the memory 16 to record the set time periods before and after the accident occurs, for example, the data updating is stopped after all the detection data in each 24 hours before and after the accident occurs, the processor 15 triggers the standby power supply 14 to supply power to the GPS locator 12, further, the GPS locator 12 is used for collecting position information, the processor 15 simultaneously triggers the standby power supply 14 to supply power to the sonar emitter 13, the sonar emitter 13 is used for emitting signals, and the black box can be conveniently found back to analyze the accident cause.
Example 3
As shown in fig. 7, embodiment 3 of the present invention provides a ship and bridge collision accident early warning and recording system, including the ship and bridge collision accident early warning and recording apparatus 1 provided in embodiment 2, further including a radar 2, an early warning apparatus 3, a camera 4, and a pressure sensor 5;
the radar 2 is arranged on the bridge body, and the radar 2 is used for sending radar 2 waves to the ship body and receiving reflected wave signals and sending the reflected wave signals to the ship bridge collision accident early warning and recording device 1;
the early warning device 3 is used for receiving the early warning signal and giving an alarm.
The camera 4 is installed on the bridge body and used for shooting image signals of a target ship and sending the image signals to the ship bridge collision accident early warning and recording device 1.
The pressure sensor 5 is arranged on the bridge pier and used for detecting stress information borne by the bridge body and sending the stress information to the ship bridge collision accident early warning and recording device 1.
Black box image signal stress information black box
In this embodiment, the black box, the pressure sensor 5, the camera 4, and the radar 2 are all installed on the bridge pier. The camera 4 collects image signals in the channel. The radar 2 adopts millimeter radar waves and is used for collecting reflected wave signals and further calculating distance information between the ship and the bridge body. Early warning device 3 sends out the police dispatch newspaper immediately when receiving early warning signal, reminds the place ahead boats and ships to change the course, prevents the emergence of ship bridge collision accident, reduces casualties and financial loss. The pressure sensor 5 is an optical fiber pressure sensor, is arranged on the anti-collision protective string and is used for recording the stress condition of the pier when the pier is collided. The SD card 11 in the black box stores detection data of the pressure sensor 5, the camera 4, and the radar 2.
Specifically, the probe waves of the millimeter wave radar 2 are divided into short-distance waves and long-distance waves. Wherein the detection range of the long-distance wave is 200 m/+/-10 degrees; the short-distance wave detection range is 60 m/+ -30 deg. Long-distance wave detection mainly captures a far target and improves the detection distance; short-distance wave detection mainly expands the radar visual angle and reduces detection blind areas. The millimeter wave radar of long distance wave is selected to this embodiment, combines camera 4, realizes long distance and short distance's combination detection. Specifically, the millimeter wave radar 2 adopted in the present embodiment is an ARS300 series radar provided by the germany continental corporation, the operating frequency is 77GHz, and at most 40 targets can be simultaneously detected, and a dedicated controller is provided. The millimeter wave radar 2 has the advantages of being small in size, strong in anti-interference capability, stable in detection and the like. The camera 4 adopts an SAQN/SAQING 500 ten thousand network high definition dome camera H.265 high definition intelligent zooming fast ball camera 4.
Example 4
Embodiment 4 of the present invention provides a computer storage medium having a computer program stored thereon, where the computer program, when executed by a processor, implements the method for warning and recording a collision accident of a ship and bridge provided in embodiment 1.
The computer storage medium provided by the embodiment of the invention is used for the early warning and recording method of the ship and bridge collision accident, so that the technical effect of the early warning and recording method of the ship and bridge collision accident is achieved by the computer storage medium, and the details are not repeated herein.
The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. A ship bridge collision accident early warning and recording method is characterized by comprising the following steps:
acquiring a reflected wave signal received after a radar wave is transmitted to a ship body from a bridge body and an image signal of a ship shot from the angle of the bridge body, calculating the collision probability of a ship-bridge collision accident according to the reflected wave signal and the image signal, and performing collision early warning according to the collision probability;
acquiring stress information of a bridge body, judging whether a ship bridge collision accident occurs according to the stress information, if not, recording a reflected wave signal, an image signal and stress information in a first set time period recently, if so, recording the reflected wave signal, the image signal and the stress information in a second set time period, acquiring current position information, and sending the current position information to a remote terminal.
2. The method for early warning and recording a ship bridge collision accident according to claim 1, wherein the collision probability of the ship bridge collision accident is calculated according to the reflected wave signal and the image signal, and collision early warning is performed according to the collision probability, specifically:
carrying out target detection according to the reflected wave signal to obtain a target ship;
performing target tracking on the target ship by combining the reflected wave signal and the image signal to obtain a real-time track of the target ship;
carrying out track prediction on the target ship according to the real-time track to obtain a predicted track;
and calculating the collision probability of the target ship colliding with the bridge body according to the predicted track, outputting an early warning signal if the collision probability is greater than a set probability, and otherwise, performing detection and early warning on the next target ship.
3. The ship bridge collision accident early warning and recording method according to claim 2, wherein target detection is performed according to the reflected wave signal to obtain a target ship, specifically:
performing signal processing on the reflected wave signals to obtain a plurality of detection targets;
according to the preset existence probability of various objects, primarily screening the detection target, and screening out the detection target with the existence probability larger than the set probability as a primarily screened target;
screening out primary screening targets which are not in the detection range according to the detection range of the radar;
and calculating a signal difference value between adjacent frame reflected wave signals of the primary screening target, and screening out the primary screening target with the signal difference value larger than a set difference value to obtain the target ship.
4. The ship bridge collision accident early warning and recording method according to claim 2, wherein the target ship is subjected to target tracking by combining the reflected wave signal and the image signal to obtain a real-time track of the target ship, specifically:
acquiring first position information of a target ship according to a reflected wave signal of the target ship;
acquiring second position information of the target ship according to the image signal of the target ship;
respectively converting the first position information and the second position information into a coordinate system established by taking the bridge body as a reference object, and fusing to obtain relative position information between the target ship and the bridge body;
and establishing a mapping relation between the relative position information and time by combining a plurality of frames of reflected wave signals and a plurality of frames of image signals of the target ship to obtain the real-time track.
5. The ship bridge collision accident early warning and recording method according to claim 2, wherein a track prediction is performed on the target ship according to the real-time track to obtain a predicted track, and specifically the method comprises the following steps:
calculating the speed and the course of the target ship according to the real-time track;
and taking the navigational speed and the course as state vectors, and predicting the position of the target ship at the next moment by using a Kalman filtering algorithm to obtain predicted position information:
and establishing a tracking gate according to the predicted position information, and performing data association on subsequent measuring points according to the tracking gate to obtain the predicted flight path.
6. The ship bridge collision accident early warning and recording method according to claim 4, wherein the predicted track is obtained by performing data association on subsequent measurement points according to the tracking gate, and specifically comprises the following steps:
calculating a normalized distance between the measurement point and the predicted location:
wherein d isijZ (k +1) is the position information of the measuring point at the time k +1,
predicted position information for time k +1
And (3) carrying out tracking gate limitation on the measuring points, and screening out the measuring points with the normalized distance smaller than a tracking gate threshold value:
dij≤Gij
wherein G isijIs a tracking gate threshold constant;
constructing an allocation function, calculating allocation function values of the measuring points and each real-time track, and selecting the real-time track with the minimum allocation function value as a pairing track of the measuring points:
wherein the content of the first and second substances,
Dmaxis a set maximum distance value;
m is the number of actual tracks, and n is the number of measuring points;
and combining the measuring points with the corresponding paired flight paths to obtain the predicted flight path.
7. A device for warning and recording a collision accident of a bridge, comprising a processor and a memory, wherein the memory stores a computer program, and the computer program is executed by the processor to implement the method for warning and recording a collision accident of a bridge according to any one of claims 1 to 6.
8. The ship bridge collision accident early warning and recording device according to claim 7, characterized by further comprising an SD card, a GPS locator, a sonar emitter, a standby power supply and a sealed housing;
the processor, the memory, the SD card, the GPS locator, the sonar emitter and the standby power supply are all arranged in the sealed shell;
the SD card is used for storing the ship bridge detection data and stress information;
the GPS locator is used for acquiring the current position information and sending the current position information to the processor;
the sonar emitter is used for receiving current position information sent by the processor and sending the current position information to a remote terminal;
the processor is further configured to: when a ship bridge collision accident occurs, the standby power supply is triggered to supply power to the processor, the GPS locator, the sonar emitter and the storage.
9. A bridge collision accident early warning and recording system, comprising the bridge collision accident early warning and recording device of claim 7, further comprising a radar, an early warning device, a camera and a pressure sensor;
the radar is arranged on the bridge body, and is used for transmitting radar waves to the ship body, receiving reflected wave signals and transmitting the reflected wave signals to the ship bridge collision accident early warning and recording device;
the early warning device is used for receiving the early warning signal and giving an alarm;
the camera is arranged on the bridge body and used for shooting an image signal of a target ship and sending the image signal to the ship-bridge collision accident early warning and recording device;
the pressure sensor is arranged on the bridge pier and used for detecting stress information borne by the bridge body and sending the stress information to the ship bridge collision accident early warning and recording device.
10. A computer storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements a method for warning and recording of a bridge collision accident according to any of claims 1-6.
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