CN113947950B - Anti-collision early warning method and system for ship lock gate and readable storage medium - Google Patents
Anti-collision early warning method and system for ship lock gate and readable storage medium Download PDFInfo
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Abstract
The invention discloses a ship lock gate anti-collision early warning method, a system and a readable storage medium, wherein the method comprises the following steps: scanning data obtained by scanning a warning surface where a gate warning line is located by a laser scanner is obtained in real time, wherein the scanning data comprises distance information and included angle information of a plurality of scanning points; establishing a rectangular coordinate system by taking a laser scanner as an origin, taking a warning line as an X axis and taking a vertical line from the laser scanner to the warning line as a Y axis, and calculating each scanning point in scanning data as a coordinate to draw in the rectangular coordinate system to form a scanning image; acquiring a water level value in a scanning image according to the first scanning data; and when the second scanning data is acquired, judging that the ship touches a warning line, and sending an alarm instruction to the audible and visual alarm. The invention can solve the problems that the prior art can not process the water level change and is greatly influenced by the environmental illumination condition.
Description
Technical Field
The invention relates to the technical field of shipping management data processing, in particular to a ship lock gate anti-collision early warning method, a ship lock gate anti-collision early warning system and a readable storage medium.
Background
When a ship enters and exits the ship lock, in the opening process or in the closing state of a lock gate, the ship does not enter and exit the lock gate according to the required specification or a ship cable is not tied due to negligence, so that the accident that the ship collides with the lock gate can occur, the lock equipment and the ship hull are damaged slightly, and casualties are caused seriously. In order to reduce and avoid the accidents as much as possible, the lock uses a mode of marking a gate warning line, and all the ships touch the warning line in the opening process or the closed state can give an alarm to remind the ship owner and the lock manager in time and take action to prevent possible collision accidents.
At present, the existing technical scheme is mainly to protect the gate through an infrared detection module on a warning line, and specifically, the infrared detection module is installed on the side surface of the gate wall or the gate. Still another method is a video recognition method, which monitors and recognizes whether there is a ship on the warning line in real time by a camera installed on the side of the gate, and if so, gives an alarm.
The infrared detection module mainly outputs a result signal by detecting whether an object is intruded into a coverage area, so that the object can not be accurately measured and identified, and the problem such as water level change can not be solved although the infrared detection module has a certain early warning effect.
The common fault of the video identification mode is that the video identification mode is greatly influenced by the ambient illumination condition, identification failure or frequent false alarm can be caused in cloudy days, rainy days, foggy days, night and even sunlight reflection, and the real-time performance of video identification is poor.
Disclosure of Invention
Therefore, an object of the present invention is to provide a ship lock gate anti-collision early warning method, so as to solve the problems that the prior art cannot deal with water level variation and is greatly influenced by ambient lighting conditions.
The invention provides an anti-collision early warning method for a ship lock gate, which comprises the following steps:
scanning data obtained by scanning a warning surface where a gate warning line is located by a laser scanner is obtained in real time, wherein the scanning data comprises distance information and included angle information of a plurality of scanning points;
establishing a rectangular coordinate system by taking the laser scanner as an origin, the warning line as an X axis and a vertical line from the laser scanner to the warning line as a Y axis, and calculating each scanning point in the scanning data as a coordinate and drawing the coordinate in the rectangular coordinate system to form a scanning graph;
acquiring a water level value in the scanning map according to first scanning data, wherein the first scanning data meets a conditional expression: y1max-Y1min< Kw, wherein Y1maxY-axis coordinate value Y1 representing the scanning point of the first scanning data where the Y-axis coordinate value is the maximumminRepresenting the first scan dataThe Y-axis coordinate value of the scanning point with the minimum middle Y-axis coordinate value, and Kw represents a threshold value;
when second scanning data are acquired, judging that the ship touches a warning line, and sending an alarm instruction to an audible and visual alarm, wherein the second scanning data meet the conditional expression: y2max-Y2minNot less than Kw, wherein Y2maxA Y-axis coordinate value Y2 representing a scanning point having a maximum Y-axis coordinate value in the second scanning dataminAnd a Y-axis coordinate value indicating a scanning point of the second scanning data at which the Y-axis coordinate value is the smallest.
According to the ship lock gate anti-collision early warning method provided by the invention, the warning surface where the warning line is located can be scanned at high speed in real time based on the laser scanning of the laser scanner, the scanning map is constructed according to the constructed rectangular coordinate system and the coordinates of all scanning points in the scanned warning surface, the water level value is obtained based on the scanning map, the water surface position can be found out in real time, and then the ship touch warning line is accurately judged when the second scanning data is obtained, and the alarm instruction is sent to the audible and visual alarm.
In addition, the anti-collision early warning method for the lock gate of the ship lock can also have the following additional technical characteristics:
further, according to the first scanning data, in the step of obtaining the water level value in the scanning map, the water level value is calculated by adopting the following formula:
wherein Hw represents the water level value, n represents the number of scanning points in the first scanning data, k represents the kth scanning point in the first scanning data, ykAnd the Y-axis coordinate value corresponding to the k-th scanning point is shown.
Further, when the second scanning data is acquired, the step of determining that the ship touches the warning line and sending an alarm instruction to the audible and visual alarm specifically includes:
when second scanning data are acquired, scanning points with Y-axis coordinate values smaller than Hw + Kw/2 are removed from the scanning image, so that a contour map of the object touching the warning line is obtained;
judging whether the size of the contour map of the object touching the warning line exceeds a preset size or not;
if yes, judging that the ship touches a warning line, and sending an alarm instruction to an audible and visual alarm.
Further, the step of determining whether the size of the contour map of the object touching the warning line exceeds a preset size specifically includes:
judging whether the width of the contour map of the object touching the warning lines is greater than a width threshold value or not and whether the height of the contour map of the object touching the warning lines is greater than a height threshold value or not;
and if the width of the contour map of the object touching the warning line is greater than the width threshold value and the height of the contour map of the object touching the warning line is greater than the height threshold value, determining that the size of the contour map of the object touching the warning line exceeds a preset size.
Further, before the step of acquiring scanning data obtained by scanning the warning surface where the gate warning line is located by the laser scanner in real time, the method further includes:
and acquiring a gate state through a gate PLC control module, wherein the gate state comprises an opening state or a closing state.
The invention also aims to provide a ship lock gate anti-collision early warning system to solve the problems that the prior art cannot deal with water level change and is greatly influenced by environmental illumination conditions.
The invention provides a ship lock gate anti-collision early warning system, which comprises:
the first acquisition module is used for acquiring scanning data obtained by scanning a warning surface where a gate warning line is located by a laser scanner in real time, wherein the scanning data comprises distance information and included angle information of a plurality of scanning points;
the coordinate establishing module is used for establishing a rectangular coordinate system by taking the laser scanner as an origin, the warning line as an X axis and a vertical line from the laser scanner to the warning line as a Y axis, and calculating each scanning point in the scanning data as a coordinate to be drawn in the rectangular coordinate system to form a scanning graph;
a second obtaining module, configured to obtain a water level value in the scanogram according to first scan data, where the first scan data satisfies a conditional expression: y1max-Y1min< Kw, wherein Y1maxY-axis coordinate value Y1 representing the scanning point of the first scanning data where the Y-axis coordinate value is the maximumminA Y-axis coordinate value indicating a scanning point of the first scanning data at which the Y-axis coordinate value is minimum, Kw indicating a threshold value;
the acquisition and determination module is used for determining that the ship touches the warning line and sending an alarm instruction to the audible and visual alarm when second scanning data are acquired, wherein the second scanning data meet the conditional expression: y2max-Y2minNot less than Kw, wherein Y2maxA Y-axis coordinate value Y2 representing a scanning point having a maximum Y-axis coordinate value in the second scanning dataminAnd a Y-axis coordinate value indicating a scanning point of the second scanning data at which the Y-axis coordinate value is the smallest.
According to the ship lock gate anti-collision early warning system provided by the invention, the warning surface where the warning line is located can be scanned at high speed in real time based on the laser scanning of the laser scanner, the scanning diagram is constructed according to the constructed rectangular coordinate system and the coordinates of all scanning points in the scanned warning surface, the water level value is obtained based on the scanning diagram, the water surface position can be found out in real time, and then the ship touch warning line is accurately judged when the second scanning data is obtained, and the warning instruction is sent to the audible and visual alarm.
In addition, the anti-collision early warning system for the lock gate of the ship lock can also have the following additional technical characteristics:
further, the second obtaining module is configured to calculate the water level value by using the following formula:
wherein Hw represents the water level value, n represents the number of scanning points in the first scanning data, k represents the kth scanning point in the first scanning data, ykAnd the Y-axis coordinate value corresponding to the k-th scanning point is shown.
Further, the obtaining and determining module is specifically configured to:
when second scanning data are acquired, scanning points with Y-axis coordinate values smaller than Hw + Kw/2 are removed from the scanning image, so that a contour map of the object touching the warning line is obtained;
judging whether the size of the contour map of the object touching the warning line exceeds a preset size or not;
if yes, judging that the ship touches a warning line, and sending an alarm instruction to an audible and visual alarm.
Further, the obtaining determination module is further configured to:
judging whether the width of the contour map of the object touching the warning lines is greater than a width threshold value or not and whether the height of the contour map of the object touching the warning lines is greater than a height threshold value or not;
and if the width of the contour map of the object touching the warning line is greater than the width threshold value and the height of the contour map of the object touching the warning line is greater than the height threshold value, determining that the size of the contour map of the object touching the warning line exceeds a preset size.
Further, the system further comprises:
and the state acquisition module is used for acquiring the state of the gate through the gate PLC control module, wherein the state of the gate comprises a state in which the gate is opened or a state in which the gate is closed.
The invention also proposes a readable storage medium on which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of embodiments of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of a method of pre-warning collision prevention for a lock gate according to an embodiment of the invention;
FIG. 2 is an exemplary scan;
FIG. 3 is another exemplary scan;
FIG. 4 is a detailed flowchart of step S105 in FIG. 1;
fig. 5 is a block diagram of a collision avoidance warning system for a lock gate according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a ship lock gate anti-collision early warning method according to an embodiment of the present invention includes steps S101 to S105:
s101, acquiring a gate state through a gate PLC control module, wherein the gate state comprises a state of being opened or being closed.
The application environment of the embodiment includes a laser scanner, an audible and visual alarm (indoor or outdoor), an anti-collision processor, and an exchange. The anti-collision processor is responsible for acquiring the state of the gate, processing the analysis and early warning of the scanning data of the laser scanner and controlling the audible and visual alarm to give an alarm indoors and outdoors. The main execution body of the embodiment is the anti-collision processor.
The anti-collision processor acquires the state of the gate through the gate PLC control module, and performs early warning processing only when the gate is in an opening state or a closing state.
And S102, scanning data obtained by scanning the warning surface where the warning line of the gate is located by the laser scanner is obtained in real time, wherein the scanning data comprises distance information and included angle information of a plurality of scanning points.
The anti-collision processor is specifically connected with the laser scanner through a local area network to acquire laser scanning data in real time, and the scanning data comprises distance information and included angle information of each scanning point in a plurality of scanning points.
S103, use the laser scanner is the original point, the warning line is the X axle, the laser scanner arrives the perpendicular line of warning line is the Y axle, establishes rectangular coordinate system, and will every scanning point calculation in the scanning data is drawn as the coordinate in rectangular coordinate system to form the scanning map.
In step S102, distance information and included angle information of each scanning point are obtained, so that each scanning point can be calculated as a two-dimensional coordinate and drawn in the rectangular coordinate system, thereby forming a scanning map. An exemplary scan is shown in fig. 2, where the X-axis and Y-axis are in meters in the cartesian coordinate system of fig. 2.
S104, acquiring a water level value in the scanning map according to first scanning data, wherein the first scanning data meets a conditional expression: y1max-Y1min< Kw, wherein Y1maxY-axis coordinate value Y1 representing the scanning point of the first scanning data where the Y-axis coordinate value is the maximumminAnd a Y-axis coordinate value indicating a scanning point having a smallest Y-axis coordinate value in the first scanning data, and Kw indicates a threshold value.
In a frame of scan data, when the Y value difference of all scan points is smaller than a set threshold Kw (i.e. the difference between the Y-axis coordinate value of the highest point and the Y-axis coordinate value of the lowest point in the scan map is smaller than Kw, that is, Y1max-Y1min< Kw), the scan pattern formed by the frame of scan data can be considered as a water surface scan pattern, and the scan pattern shown in fig. 2 is the water surface scan pattern. Specifically, Kw may be set according to the size of the water surface wave, and usually, the difference between the wave crest and the wave trough of the ship lock wave is not more than 0.3 m, so generally Kw may be set to 0.3 m.
Specifically, after determining that a scan formed by the frame of scan data is a water surface scan, calculating the water level value by using the following formula:
wherein Hw represents the water level value, n represents the number of scanning points in the first scanning data, k represents the kth scanning point in the first scanning data, ykAnd the Y-axis coordinate value corresponding to the k-th scanning point is shown.
S105, when second scanning data are acquired, judging that the ship touches a warning line, and sending an alarm instruction to an audible and visual alarm, wherein the second scanning data meet the conditional expression: y2max-Y2minNot less than Kw, wherein Y2maxA Y-axis coordinate value Y2 representing a scanning point having a maximum Y-axis coordinate value in the second scanning dataminAnd a Y-axis coordinate value indicating a scanning point of the second scanning data at which the Y-axis coordinate value is the smallest.
Wherein, when the Y value difference of all the scanning points in another frame of scanning data is greater than or equal to the threshold Kw (i.e. the difference between the Y-axis coordinate value of the highest point and the Y-axis coordinate value of the lowest point in the scanning map is greater than or equal to Kw, i.e. Y2max-Y2minKw) is determined, at this time, an object is determined to touch the warning line, another exemplary scanning diagram is shown in FIG. 3, the scanning diagram shown in FIG. 3 can determine that the object touches the warning line, the size of the object is calculated and the ship body is determined, and then an alarm instruction can be sent to the audible and visual alarm to make the audible and visual alarm give an alarm.
Based on the reason that the size of the ship body is larger, whether the object touching the warning line is the ship body or not can be determined through further calculation.
Specifically, referring to fig. 4, when the second scanning data is acquired, the step of determining that the ship touches the warning line and sending an alarm instruction to the audible and visual alarm specifically includes steps S1051 to S1053:
s1051, when second scanning data are obtained, scanning points with Y-axis coordinate values smaller than Hw + Kw/2 are removed from the scanning image, so that a contour map of the object touching the warning line is obtained;
s1052, judging whether the size of the outline graph of the object touching the warning line exceeds a preset size;
and S1053, if yes, determining that the ship touches a warning line, and sending an alarm instruction to an audible and visual alarm.
The step of judging whether the size of the contour map of the object touching the warning line exceeds a preset size specifically comprises the following steps:
judging whether the width of the contour map of the object touching the warning lines is greater than a width threshold value or not and whether the height of the contour map of the object touching the warning lines is greater than a height threshold value or not;
if the width of the object contour map touching the warning line is greater than the width threshold value and the height of the object contour map touching the warning line is greater than the height threshold value, it is determined that the size of the object contour map touching the warning line exceeds the preset size, at this time, it can be determined that the ship touches the warning line, and an alarm instruction can be sent to the audible and visual alarm
On the contrary, if the width of the contour map of the object touching the warning line is not greater than the width threshold value, or the height of the contour map of the object touching the warning line is not greater than the height threshold value, it indicates that the size of the object touching the warning line is smaller, and the ship body is not the object touching the warning line, and no alarm is given in such a situation.
In summary, according to the anti-collision warning method for the ship lock gate provided by this embodiment, based on the laser scanning of the laser scanner, the warning surface where the warning line is located can be scanned at high speed in real time, the scanning map is constructed according to the constructed rectangular coordinate system and the coordinates of all the scanning points in the scanned warning surface, the water level value is obtained based on the scanning map, the water surface position can be found out in real time, and then when the second scanning data is obtained, the ship touch warning line is accurately determined, and an alarm instruction is sent to the audible and visual alarm.
Referring to fig. 5, an anti-collision warning system for a lock gate according to an embodiment of the present invention includes:
the first acquisition module is used for acquiring scanning data obtained by scanning a warning surface where a gate warning line is located by a laser scanner in real time, wherein the scanning data comprises distance information and included angle information of a plurality of scanning points;
the coordinate establishing module is used for establishing a rectangular coordinate system by taking the laser scanner as an origin, the warning line as an X axis and a vertical line from the laser scanner to the warning line as a Y axis, and calculating each scanning point in the scanning data as a coordinate to be drawn in the rectangular coordinate system to form a scanning graph;
a second obtaining module, configured to obtain a water level value in the scanogram according to first scan data, where the first scan data satisfies a conditional expression: y1max-Y1min< Kw, wherein Y1maxY-axis coordinate value Y1 representing the scanning point of the first scanning data where the Y-axis coordinate value is the maximumminA Y-axis coordinate value indicating a scanning point of the first scanning data at which the Y-axis coordinate value is minimum, Kw indicating a threshold value;
the acquisition and determination module is used for determining that the ship touches the warning line and sending an alarm instruction to the audible and visual alarm when second scanning data are acquired, wherein the second scanning data meet the conditional expression: y2max-Y2minNot less than Kw, wherein Y2maxA Y-axis coordinate value Y2 representing a scanning point having a maximum Y-axis coordinate value in the second scanning dataminAnd a Y-axis coordinate value indicating a scanning point of the second scanning data at which the Y-axis coordinate value is the smallest.
In this embodiment, the second obtaining module is configured to calculate the water level value by using the following formula:
wherein Hw represents the water level value, n represents the number of scanning points in the first scanning data, k represents the kth scanning point in the first scanning data, ykAnd the Y-axis coordinate value corresponding to the k-th scanning point is shown.
In this embodiment, the acquisition determining module is specifically configured to:
when second scanning data are acquired, scanning points with Y-axis coordinate values smaller than Hw + Kw/2 are removed from the scanning image, so that a contour map of the object touching the warning line is obtained;
judging whether the size of the contour map of the object touching the warning line exceeds a preset size or not;
if yes, judging that the ship touches a warning line, and sending an alarm instruction to an audible and visual alarm.
In this embodiment, the obtaining and determining module is further configured to:
judging whether the width of the contour map of the object touching the warning lines is greater than a width threshold value or not and whether the height of the contour map of the object touching the warning lines is greater than a height threshold value or not;
and if the width of the contour map of the object touching the warning line is greater than the width threshold value and the height of the contour map of the object touching the warning line is greater than the height threshold value, determining that the size of the contour map of the object touching the warning line exceeds a preset size.
In this embodiment, the system further includes:
and the state acquisition module is used for acquiring the state of the gate through the gate PLC control module, wherein the state of the gate comprises a state in which the gate is opened or a state in which the gate is closed.
According to the ship lock gate anti-collision early warning system provided by the embodiment, the warning surface where the warning line is located can be scanned at a high speed in real time based on laser scanning of the laser scanner, the scanning diagram is constructed according to the constructed rectangular coordinate system and the coordinates of all scanning points in the scanned warning surface, the water level value is obtained based on the scanning diagram, the water surface position can be found out in real time, and then when the second scanning data is obtained, the ship touch warning line is accurately judged, and an alarm instruction is sent to the audible and visual alarm.
Furthermore, an embodiment of the present invention also proposes a readable storage medium, on which a computer program is stored, which when executed by a processor implements the steps of the method described in the above embodiment.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (9)
1. The anti-collision early warning method for the ship lock gate is characterized by comprising the following steps:
scanning data obtained by scanning a warning surface where a gate warning line is located by a laser scanner is obtained in real time, wherein the scanning data comprises distance information and included angle information of a plurality of scanning points;
establishing a rectangular coordinate system by taking the laser scanner as an origin, the warning line as an X axis and a vertical line from the laser scanner to the warning line as a Y axis, and calculating each scanning point in the scanning data as a coordinate and drawing the coordinate in the rectangular coordinate system to form a scanning graph;
acquiring a water level value in the scanning map according to first scanning data, wherein the first scanning data meets a conditional expression: y1max-Y1min< Kw, wherein Y1maxY-axis coordinate value Y1 representing the scanning point of the first scanning data where the Y-axis coordinate value is the maximumminPresentation instrumentA Y-axis coordinate value of a scanning point having a smallest Y-axis coordinate value in the first scanning data, Kw representing a threshold value;
when second scanning data are acquired, judging that the ship touches a warning line, and sending an alarm instruction to an audible and visual alarm, wherein the second scanning data meet the conditional expression: y2max-Y2minNot less than Kw, wherein Y2maxA Y-axis coordinate value Y2 representing a scanning point having a maximum Y-axis coordinate value in the second scanning dataminA Y-axis coordinate value indicating a scanning point of the second scanning data at which the Y-axis coordinate value is minimum;
when the second scanning data is acquired, the steps of judging that the ship touches the warning line and sending an alarm instruction to the audible and visual alarm specifically comprise:
when second scanning data are acquired, scanning points with Y-axis coordinate values smaller than Hw + Kw/2 are removed from the scanning graph to obtain a contour graph of the object touching the warning line, wherein Hw represents the water level value;
judging whether the size of the contour map of the object touching the warning line exceeds a preset size or not;
if yes, judging that the ship touches a warning line, and sending an alarm instruction to an audible and visual alarm.
2. The ship lock gate anti-collision early warning method according to claim 1, wherein in the step of obtaining the water level value in the scan map according to the first scan data, the water level value is calculated by using the following formula:
wherein n represents the number of scanning points in the first scanning data, k represents the k-th scanning point in the first scanning data, ykAnd the Y-axis coordinate value corresponding to the k-th scanning point is shown.
3. The ship lock gate anti-collision early warning method according to claim 1, wherein the step of judging whether the size of the object profile map touching the warning line exceeds a preset size specifically comprises the steps of:
judging whether the width of the contour map of the object touching the warning lines is greater than a width threshold value or not and whether the height of the contour map of the object touching the warning lines is greater than a height threshold value or not;
and if the width of the contour map of the object touching the warning line is greater than the width threshold value and the height of the contour map of the object touching the warning line is greater than the height threshold value, determining that the size of the contour map of the object touching the warning line exceeds a preset size.
4. The ship lock gate anti-collision early warning method according to claim 1, wherein before the step of acquiring scanning data obtained by scanning a warning surface where a gate warning line is located by a laser scanner in real time, the method further comprises:
and acquiring a gate state through a gate PLC control module, wherein the gate state comprises an opening state or a closing state.
5. The utility model provides a ship lock gate anticollision early warning system which characterized in that includes:
the first acquisition module is used for acquiring scanning data obtained by scanning a warning surface where a gate warning line is located by a laser scanner in real time, wherein the scanning data comprises distance information and included angle information of a plurality of scanning points;
the coordinate establishing module is used for establishing a rectangular coordinate system by taking the laser scanner as an origin, the warning line as an X axis and a vertical line from the laser scanner to the warning line as a Y axis, and calculating each scanning point in the scanning data as a coordinate to be drawn in the rectangular coordinate system to form a scanning graph;
a second obtaining module, configured to obtain a water level value in the scanogram according to first scan data, where the first scan data satisfies a conditional expression: y1max-Y1min< Kw, wherein Y1maxY-axis coordinate value Y1 representing the scanning point of the first scanning data where the Y-axis coordinate value is the maximumminA Y-axis coordinate value indicating a scanning point having a minimum Y-axis coordinate value in the first scanning data, Kw representsA threshold value;
the acquisition and determination module is used for determining that the ship touches the warning line and sending an alarm instruction to the audible and visual alarm when second scanning data are acquired, wherein the second scanning data meet the conditional expression: y2max-Y2minNot less than Kw, wherein Y2maxA Y-axis coordinate value Y2 representing a scanning point having a maximum Y-axis coordinate value in the second scanning dataminA Y-axis coordinate value indicating a scanning point of the second scanning data at which the Y-axis coordinate value is minimum;
the acquisition determining module is specifically configured to:
when second scanning data are acquired, scanning points with Y-axis coordinate values smaller than Hw + Kw/2 are removed from the scanning graph to obtain a contour graph of the object touching the warning line, wherein Hw represents the water level value;
judging whether the size of the contour map of the object touching the warning line exceeds a preset size or not;
if yes, judging that the ship touches a warning line, and sending an alarm instruction to an audible and visual alarm.
6. The ship lock gate anti-collision warning system of claim 5, wherein the second obtaining module is configured to calculate the water level value using the following formula:
wherein Hw represents the water level value, n represents the number of scanning points in the first scanning data, k represents the kth scanning point in the first scanning data, ykAnd the Y-axis coordinate value corresponding to the k-th scanning point is shown.
7. The ship lock gate collision avoidance and early warning system of claim 5, wherein the acquisition decision module is further configured to:
judging whether the width of the contour map of the object touching the warning lines is greater than a width threshold value or not and whether the height of the contour map of the object touching the warning lines is greater than a height threshold value or not;
and if the width of the contour map of the object touching the warning line is greater than the width threshold value and the height of the contour map of the object touching the warning line is greater than the height threshold value, determining that the size of the contour map of the object touching the warning line exceeds a preset size.
8. The ship lock gate collision avoidance warning system of claim 5, wherein the system further comprises:
and the state acquisition module is used for acquiring the state of the gate through the gate PLC control module, wherein the state of the gate comprises a state in which the gate is opened or a state in which the gate is closed.
9. A readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-4.
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