CN116974305A - Marine vision tracking system and method - Google Patents
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Abstract
The invention discloses an offshore visual tracking system and method, and relates to the field of offshore autonomous tracking; the system comprises: the device comprises a triaxial holder, a visual control system and a wave glider; the visual control system sends out an operation instruction according to the position information of the preset task area; the triaxial holder determines a travelling route according to the operation instruction; the wave glider runs to a preset task area according to the running route; the vision control system acquires image data of a preset task area in real time, detects and identifies the image data to obtain identification data, calculates state data of the three-axis cradle head according to the identification data, and generates a tracking instruction; the triaxial cradle head drives the wave glider according to the tracking instruction to track the ship; the invention can monitor sea surface ships in real time and improve detection precision.
Description
Technical Field
The invention relates to the field of offshore autonomous tracking, in particular to an offshore visual tracking system and method.
Background
The current marine activities are very frequent, and the personnel and equipment required to maintain marine order are also increasing dramatically. Development of unmanned ship-based ship identification technology for maritime supervision, detection of suspicious ships and maintenance of maritime traffic safety is necessary. Because the sea inspection and monitoring needs to consume a large amount of manpower and material resources and has large operation risk, the sea cannot be monitored in real time, the detection of the suspicious ship is omitted, and the detection precision of the sea ship is low. Therefore, it is important to be able to monitor sea-surface vessels in real time and to improve the detection accuracy.
Disclosure of Invention
The invention aims to provide an offshore visual tracking system and method, which can monitor sea ships in real time and improve detection accuracy.
In order to achieve the above object, the present invention provides the following solutions: an offshore visual tracking system, the system comprising: triaxial cloud platform, vision control system and wave glider.
The triaxial holder and the visual control system are both arranged on the wave glider; the triaxial cradle head is connected with the wave glider; the visual control system is connected with the triaxial holder.
The visual control system is used for sending out an operation instruction according to the position information of the preset task area.
And the triaxial holder is used for determining a travelling route according to the running instruction.
The wave glider is used for driving to a preset task area according to the travelling route.
The vision control system is further configured to: and acquiring image data of a preset task area in real time.
Detecting and identifying the image data to obtain identification data; the identification data includes: the vessel and the position information of the vessel.
Calculating state data of the triaxial holder according to the identification data, and generating a tracking instruction; the status data includes: speed and acceleration.
The triaxial cradle head is further used for driving the wave glider according to the tracking instruction to track the ship.
Optionally, the vision control system comprises: the system comprises a controller, an image acquisition module, an identification module and a tracking module.
The image acquisition module, the identification module and the tracking module are all connected with the controller; the image acquisition module is connected with the identification module; the identification module is connected with the tracking module; the tracking module is connected with the triaxial holder.
The controller is used for controlling the image acquisition module to acquire image data of a preset task area in real time.
The identification module is used for: receiving the image data, and carrying out region segmentation on the image data to obtain image segmentation data; performing frame selection and feature extraction on the image segmentation data to obtain image feature data; and carrying out ship detection and identification on the image characteristic data by adopting an SSD algorithm to obtain identification data, and transmitting the identification data to the controller and the tracking module.
The tracking module is used for calculating the state data of the triaxial holder according to the identification data by adopting a feedforward pseudo-differential feedback control method.
The controller is further configured to generate tracking instructions based on the identification data and the status data.
Optionally, the system further comprises: a shore-based platform; the shore-based platform is connected with the controller.
The shore-based platform is used for sending control information; the control information includes: and presetting position information and acquisition instructions of a task area.
The controller is used for receiving the control information, sending out an operation instruction according to the position information of the preset task area, and controlling the image acquisition module to acquire the image data of the preset task area in real time according to the acquisition instruction.
Optionally, the vision control system further comprises: a storage module; the storage module is respectively connected with the identification module and the shore-based platform.
The storage module is used for: storing the image corresponding to the identification data obtained by the identification module to obtain a stored image; and compressing the stored image and transmitting the compressed stored image to the shore-based platform.
Optionally, the triaxial holder includes: three direct current brush motors; a speed reducer is arranged in each direct current brush motor; each direct current brush motor is connected with the vision control system.
Optionally, the wave glider comprises: a floating body vessel, a tractor and an armoured cable; the tractor and the armored cable are arranged on the floating body ship; the tractor is connected with the triaxial holder.
Optionally, the image acquisition module adopts a CCD camera.
Optionally, the shore-based platform and the vision control system are in signal connection through a Beidou communication satellite or a base station.
An offshore visual tracking method, the method employing the system described above, the method comprising: sending out an operation instruction according to the position information of the preset task area; the triaxial holder is controlled to determine a travelling route according to the running instruction; acquiring image data of a preset task area in real time; detecting and identifying the image data to obtain identification data; the identification data includes: the vessel and the positional information of the vessel; calculating state data of the triaxial holder according to the identification data, and generating a tracking instruction; the status data includes: speed and acceleration; and controlling the triaxial holder to drive the wave glider according to the tracking instruction so as to track the ship.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects: the invention provides an offshore visual tracking system and method, wherein the system comprises the following steps: the device comprises a triaxial holder, a visual control system and a wave glider; acquiring image data of a preset task area in real time through a visual control system, and detecting and identifying the image data to obtain identification data; calculating state data of the triaxial holder according to the identification data, and generating a tracking instruction; the wave glider is driven by the triaxial cradle head according to the tracking instruction to track the ship; according to the invention, by combining the triaxial holder with the vision control system, the sea surface ship can be monitored in real time, and the monitoring time length is prolonged, so that the ship omission is avoided, and the detection precision is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a block diagram of an offshore visual tracking system according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a triaxial holder according to an embodiment of the present invention.
Fig. 3 is a flowchart of an offshore visual tracking method according to an embodiment of the present invention.
Symbol description: the three-axis cradle head-1, the visual control system-2 and the wave glider-3.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide an offshore visual tracking system and method, which can monitor sea ships in real time and improve detection accuracy.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Example 1
As shown in fig. 1, an embodiment of the present invention provides an offshore visual tracking system, comprising: the three-axis cradle head 1, the vision control system 2 and the wave glider 3.
The three-axis cradle head 1 and the vision control system 2 are arranged on the wave glider 3; the triaxial cradle head 1 is connected with the wave glider 3; the vision control system 2 is connected with the triaxial holder 1.
Wherein the wave glider 3 comprises: a floating body vessel, a tractor and an armoured cable; the tractor and the armoured cable are arranged on the floating body ship; the tractor is connected with the triaxial holder 1.
The vision control system 2 is used for sending out an operation instruction according to the position information of the preset task area.
The triaxial holder 1 is used for determining a travel route according to an operation instruction.
The wave glider 3 is used for traveling to a preset mission area according to a traveling route.
The vision control system 2 is also used for acquiring image data of a preset task area in real time; the vision control system 2 detects and identifies the image data to obtain identification data; the identification data includes: the vessel and the position information of the vessel.
The vision control system 2 calculates state data of the triaxial holder 1 according to the identification data and generates a tracking instruction; the status data includes: speed and acceleration.
The triaxial holder 1 is also used for driving the wave glider 3 according to the tracking command to track the ship.
Specifically, the vision control system 2 includes: the system comprises a controller, an image acquisition module, an identification module and a tracking module.
The image acquisition module, the identification module and the tracking module are all connected with the controller; the image acquisition module is connected with the identification module; the identification module is connected with the tracking module; the tracking module is connected with the triaxial holder 1. The image acquisition module may adopt a CCD camera.
The controller is used for controlling the image acquisition module to acquire image data of a preset task area in real time.
The identification module is used for receiving the image data and carrying out region segmentation on the image data to obtain image segmentation data.
The identification module is used for carrying out frame selection and feature extraction on the image segmentation data to obtain image feature data.
The identification module is used for carrying out ship detection and identification on the image characteristic data by adopting an SSD algorithm to obtain identification data, and transmitting the identification data to the controller and the tracking module.
The tracking module is used for calculating the state data of the triaxial holder 1 according to the identification data by adopting a feedforward pseudo-differential feedback control method.
The controller is also configured to generate tracking instructions based on the identification data and the status data.
In one embodiment, the system further comprises: a shore-based platform; the shore-based platform is connected with the controller; the shore-based platform is used for sending control information; the control information includes: and presetting position information and acquisition instructions of a task area.
The controller is used for receiving the control information, sending out an operation instruction according to the position information of the preset task area, and controlling the image acquisition module to acquire the image data of the preset task area in real time according to the acquisition instruction.
Specifically, the vision control system 2 further includes: a storage module; the storage module is respectively connected with the identification module and the shore-based platform; the storage module is used for storing the image corresponding to the identification data obtained by the identification module to obtain a storage image.
The storage module is also used for compressing the stored image and transmitting the compressed stored image to the shore-based platform.
In one embodiment, the triaxial holder 1 comprises: three direct current brush motors; a speed reducer is arranged in each direct current brush motor. The schematic structural diagram of the triaxial holder 1 is shown in fig. 2.
Each direct current brush motor is connected with the vision control system 2.
Specifically, the triaxial holder 1 is composed of three direct current brush motors, and a speed reducer is installed in each motor to increase the torque of the direct current brush motor. The external force and the angle to be adjusted of each direct current brush motor are calculated, and the angle to be adjusted of the triaxial cradle head 1 is obtained after synthesis.
In practical applications, the vision control system 2 may also be composed of an 800 ten thousand pixel camera and a jetson nano core board as a master. The camera can be arranged at the tail end of the triaxial holder 1, and the triaxial holder 1 is used for circumferentially sweeping the sea surface, so that the sea surface can be tracked after a ship or a ship is captured.
The wave glider 3 is an unmanned water surface and underwater hybrid vessel for marine research. The wave glider 3 is mainly composed of three parts: a floating body vessel, a tractor and an armoured cable.
The shore-based platform is composed of Beidou communication and data receiving software. The shore-based platform may consist of a Beidou transceiver module on the wave glider 3 and a transceiver module of a base station on shore. The Jetson nano core board can transmit data to the Beidou transceiver module on the wave glider 3 through a network cable or other modes to send the data, and the transceiver module of the base station on the shore can display image information in corresponding application after receiving the instruction.
In one embodiment, the shore-based platform is in signal connection with the vision control system 2 via a Beidou communication satellite or base station.
In practical use, the wave glider 3 carries and provides energy for a triaxial vision tracking system. The three-axis vision tracking system is a combination of the three-axis cradle head 1 and the vision control system 2.
The wave glider 3 is further used for sending out control information to drive according to the shore-based platform, namely, firstly sending out an operation instruction according to the position information of the preset task area through the vision control system 2, then determining a running route according to the operation instruction by the triaxial holder 1, and finally, driving the wave glider 3 to the preset task area according to the running route. When the wave glider 3 runs to a preset task area, the shore-based platform sends an acquisition instruction, and the preset task area is subjected to real-time photographing monitoring and information acquisition through the triaxial holder 1 and the vision control system 2, namely image data of the preset task area are acquired in real time.
The image data is subjected to region segmentation through an identification module in the visual control system 2, after the image segmentation data is obtained, the image segmentation data is subjected to frame selection and feature extraction, and image feature data is obtained; and the identification module carries out ship detection and identification on the image characteristic data by adopting an SSD algorithm to obtain identification data.
After the identification is successful, the identification data is obtained, the image or the picture corresponding to the identification data is stored in the storage module, and the original image is compressed and transmitted back to the base station on the shore, namely, finally transmitted to the shore-based platform.
Regarding the SSD algorithm, before application, firstly training a weight file identified by a ship by using a self-built data set on a workstation, then embedding the SSD identification algorithm into a jetson nano core board, and setting a startup automatic start identification program to realize offshore automatic identification. The image preprocessing, the image segmentation and the image recognition frame selection in the SSD algorithm are all methods for selecting the SSD standard model.
When the identification module identifies the ship, i.e. after capturing the ship, the position information of the ship can be transmitted to the tracking module; the tracking module adopts a feedforward pseudo-differential feedback control method and calculates the state data of the triaxial holder 1 according to the identification data.
The feedforward pseudo-differential feedback control method considers the environmental resistance of the sea surface, wave fluctuation and the resistance and friction force of each direct current brush motor.
Specifically, the triaxial holder 1 is a precision machining operation platform composed of direct current brush motors with mutually perpendicular axes, and the model is as follows:
。
wherein, the liquid crystal display device comprises a liquid crystal display device,the position of a motor rotor of the direct current brush motor; />A motor force constant that is a DC brushed motor;motor force for a DC brush motor; />The mass of the three-axis cradle head; />Is a friction systemA number; />The total disturbance force of a motor rotor of the direct current brush motor; />Comprises->Friction force>External disturbance force and->Sea wind resistance. />The current is the current of the direct current brush motor; />Is time.
The position and the movement speed of the motor rotor of the direct current brush motor are selected as state variables, and at the moment, the position of the motor rotor of the direct current brush motor as the variables isThe method comprises the steps of carrying out a first treatment on the surface of the The movement speed is +.>。
The calculated state equation is shown below.
。
。
Wherein, the liquid crystal display device comprises a liquid crystal display device,is the instantaneous speed; />Is instantaneous acceleration; />Is the coefficient of friction; />The mass of the three-axis cradle head; />The total disturbance force of a motor rotor of the direct current brush motor; />Is the feedback gain.
Is an input value; wherein (1)>。
Further, a standard model of the triaxial holder 1 can be obtained by calculation. The three direct current brush motors are used for adjusting the angle combination to obtain the motion state of the triaxial holder 1. The standard model of the triaxial holder 1 is to calculate the speed and acceleration of each direct current brush motor respectively.
。
Wherein, the liquid crystal display device comprises a liquid crystal display device,acceleration for the 1 st DC brush motor; />Acceleration of the 2 nd direct current brush motor; />Acceleration of the 3 rd direct current brush motor; />Is the coefficient of friction; />The mass of the three-axis cradle head;the speed of the 1 st direct current brush motor; />The speed of the 2 nd direct current brush motor; />The speed of the 3 rd direct current brush motor; />The total disturbance force of the motor rotor of the 1 st direct current brush motor; />The total disturbance force of the motor rotor of the 2 nd direct current brush motor; />Is the total disturbance force of the motor rotor of the 3 rd direct current brush motor.
The input value of the 1 st direct current brush motor; />The input value of the 2 nd direct current brush motor; />Is the input value of the 3 rd direct current brush motor.
The controller generates a tracking instruction according to the identification data and the calculated state data, so that the ship is always kept in the center of the image, and the tracking purpose is realized.
Example 2
As shown in fig. 3, an embodiment of the present invention provides an offshore visual tracking method, which adopts the system in embodiment 1, and the method includes:
step 100: and sending out an operation instruction according to the position information of the preset task area.
Step 200: and controlling the triaxial holder to determine a travelling route according to the operation instruction.
Step 300: and acquiring image data of a preset task area in real time.
Step 400: detecting and identifying the image data to obtain identification data; the identification data includes: the vessel and the position information of the vessel.
Step 500: calculating state data of the triaxial holder according to the identification data, and generating a tracking instruction; the status data includes: speed and acceleration.
Step 600: and controlling the triaxial holder to drive the wave glider according to the tracking instruction so as to track the ship.
The wave glider is free from energy limitation, low in cost, long in cruising time, large in range and high in risk resistance, and can realize sea equipment inspection, sea information acquisition, sea pollution source distribution detection and the ability of approaching the reconnaissance field and performing autonomous operation on the sea in a low-altitude range. After the wave glider is provided with a visual control system to form formation networking, the wave glider can stably monitor a large-area sea area in real time. This not only improves the reliability of maintaining marine order, but also reduces the amount of offshore equipment and personnel used.
Meanwhile, the combination of the triaxial holder and the vision control system can realize automation, integration and intellectualization of maritime supervision. The suspicious ship can be tracked purposefully, and the safety of offshore traffic is ensured.
The SSD algorithm is adopted for identification, and the identification rate can reach 90%. The image acquisition module uses a CCD camera, the identification distance of the CCD camera can reach 10km, and the requirements of ship and ship detection can be completely met.
According to the invention, the wave glider has the advantages of global positioning, remote communication, autonomous navigation and position maintenance, and can realize long-term and large-range navigation, thereby overcoming the problems of difficult maritime traffic supervision and short supervision time and improving the maritime detection range of the unmanned ship.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (9)
1. An offshore visual tracking system, the system comprising: the device comprises a triaxial holder, a visual control system and a wave glider;
the triaxial holder and the visual control system are both arranged on the wave glider; the triaxial cradle head is connected with the wave glider; the visual control system is connected with the triaxial holder;
the visual control system is used for sending out an operation instruction according to the position information of the preset task area;
the triaxial holder is used for determining a travelling route according to the running instruction;
the wave glider is used for driving to a preset task area according to the travelling route;
the vision control system is further configured to:
acquiring image data of a preset task area in real time;
detecting and identifying the image data to obtain identification data; the identification data includes: the vessel and the positional information of the vessel;
calculating state data of the triaxial holder according to the identification data, and generating a tracking instruction; the status data includes: speed and acceleration;
the triaxial cradle head is further used for driving the wave glider according to the tracking instruction to track the ship.
2. The marine vision tracking system of claim 1, wherein the vision control system comprises: the device comprises a controller, an image acquisition module, an identification module and a tracking module;
the image acquisition module, the identification module and the tracking module are all connected with the controller; the image acquisition module is connected with the identification module; the identification module is connected with the tracking module; the tracking module is connected with the triaxial holder;
the controller is used for controlling the image acquisition module to acquire image data of a preset task area in real time;
the identification module is used for:
receiving the image data, and carrying out region segmentation on the image data to obtain image segmentation data;
performing frame selection and feature extraction on the image segmentation data to obtain image feature data;
performing ship detection and identification on the image characteristic data by adopting an SSD algorithm to obtain identification data, and transmitting the identification data to the controller and the tracking module;
the tracking module is used for calculating the state data of the triaxial holder according to the identification data by adopting a feedforward pseudo-differential feedback control method;
the controller is further configured to generate tracking instructions based on the identification data and the status data.
3. The marine vision tracking system of claim 2, wherein the system further comprises: a shore-based platform;
the shore-based platform is connected with the controller;
the shore-based platform is used for sending control information; the control information includes: presetting position information and an acquisition instruction of a task area;
the controller is used for receiving the control information, sending out an operation instruction according to the position information of the preset task area, and controlling the image acquisition module to acquire the image data of the preset task area in real time according to the acquisition instruction.
4. An offshore visual tracking system as claimed in claim 3, wherein the visual control system further comprises: a storage module;
the storage module is respectively connected with the identification module and the shore-based platform;
the storage module is used for:
storing the image corresponding to the identification data obtained by the identification module to obtain a stored image;
and compressing the stored image and transmitting the compressed stored image to the shore-based platform.
5. The marine vision tracking system of claim 1, wherein the tri-axial cradle head comprises: three direct current brush motors; a speed reducer is arranged in each direct current brush motor;
each direct current brush motor is connected with the vision control system.
6. The marine vision tracking system of claim 1, wherein the wave glider comprises: a floating body vessel, a tractor and an armoured cable;
the tractor and the armored cable are arranged on the floating body ship; the tractor is connected with the triaxial holder.
7. The marine vision tracking system of claim 2, wherein the image acquisition module employs a CCD camera.
8. The marine vision tracking system of claim 4, wherein a shore-based platform is in signal connection with the vision control system via a Beidou communication satellite or base station.
9. An offshore visual tracking method, characterized in that the method employs the system of any one of claims 1-8, the method comprising:
sending out an operation instruction according to the position information of the preset task area;
the triaxial holder is controlled to determine a travelling route according to the running instruction;
acquiring image data of a preset task area in real time;
detecting and identifying the image data to obtain identification data; the identification data includes: the vessel and the positional information of the vessel;
calculating state data of the triaxial holder according to the identification data, and generating a tracking instruction; the status data includes: speed and acceleration;
and controlling the triaxial holder to drive the wave glider according to the tracking instruction so as to track the ship.
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