CN114166137B - Ship-to-ship filling interval intelligent detection system and method - Google Patents
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Abstract
The invention discloses an intelligent detection system and method for ship-to-ship filling space, wherein the intelligent detection system comprises an intelligent thermal imaging binocular camera module, a multi-line laser radar module, a processing module and a plurality of audible and visual alarm modules; the intelligent thermal imaging binocular camera module comprises two thermal imaging cameras, the two thermal imaging cameras are respectively arranged at the bow part and the stern part of the filling side of the filling ship, the optical axes of the two thermal imaging cameras are parallel, the multi-line laser radar is arranged near the filling pipe at the filling side, the processing module is used for calculating the filling distance according to the information acquired by the intelligent thermal imaging binocular camera module and the multi-line laser radar module, and the audible-visual alarm module sends different signals according to the filling distance. The invention can improve the unmanned intelligent degree of the ship to ship filling, and can accurately detect the ship to ship filling distance after the automatic recognition of the filling station, and can realize the anti-collision function while protecting the hose.
Description
Technical Field
The invention belongs to the technical field of intelligent detection and alarm of ships, and particularly relates to an intelligent detection system and method for ship-to-ship filling space.
Background
The low-temperature liquid cargo filling ship can realize filling without entering ports when the ship is filled, and can also be used for loading and unloading cargoes simultaneously, namely, the low-temperature liquid cargo filling ship has higher flexibility in the aspects of filling position, filling speed, filling amount and the like. However, there are more potential risks of ship-to-ship filling than shore-based filling, such as excessive movement between ships, ship bump and ship collision caused by poor sea conditions, and the like. Generally, when a large ship passes near the filling operation at a high speed, the ship may shake to generate relative displacement in front and back and up and down; if the relative positions of the two vessels are abnormally changed, the hoses are ensured to be separated and sealed in time in an emergency way in advance, so that leakage accidents caused by the breaking of the hoses are avoided. Therefore, before filling the liquefied natural gas vessels into the vessels each time, a set of hull separation detectors (Vessel Separation Detector, VSD) are respectively bound on the bow and the stern of the two vessels manually, and the safe operation of the filling hose is ensured by indirectly measuring the filling space (the linear space of the hose) between the bow and the stern of the two vessels. The working principle is that three ropes with different lengths are respectively bound between the bow part and the stern part of the two ships, and the mechanical device is triggered by the tension degree of the three ropes, so that the filling space between the two ships is indirectly reflected. Although the method is simple in principle, the method has the problems of low precision, large influence by human factors and the like; if the binding position on the injection vessel is different, the filling interval of the triggering mechanism is actually different. More importantly, the method can only detect whether the relative positions of the two vessels are too far or not, and cannot detect whether the distances of the two vessels are too close or not, so that the potential risk of collision exists when the vessels are filled.
In practice, the hose is protected by a fine distance which is not "face-to-face" or "point-to-face" but "point-to-point" in three dimensions, due to the relative displacement between the vessels, including the front-to-back, up-and-down positional relationship. Therefore, the intelligent detection alarm system is designed aiming at the special working condition of ship-to-ship filling operation, and the functions of hose protection, collision prevention and the like are realized by detecting the filling distance between two ships.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an intelligent detection system for ship-to-ship filling space, which integrates image recognition, radar ranging, detection alarm and other modules, and can realize the functions of hose protection, collision prevention and the like during ship-to-ship filling. In addition, the invention also provides an intelligent detection method for the ship-to-ship filling space.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the invention provides an intelligent detection system for ship-to-ship filling space, which comprises an intelligent thermal imaging binocular camera module, a multi-line laser radar module, a processing module and a plurality of audible and visual alarm modules;
The intelligent thermal imaging binocular camera module comprises two thermal imaging cameras, the two thermal imaging cameras are respectively arranged at the bow part and the stern part of the filling side of the filling ship, the optical axes of the two thermal imaging cameras are parallel, the multi-line laser radar is arranged near the filling pipe at the filling side, the processing module is used for calculating the filling distance according to the information acquired by the intelligent thermal imaging binocular camera module and the multi-line laser radar module, and the audible-visual alarm module sends different signals according to the filling distance.
According to a second aspect of the invention, an intelligent detection method for ship-to-ship filling space is provided, and the intelligent detection system comprises the following steps:
step one, collecting graphs and training an image recognition depth network of an intelligent thermal imaging binocular camera module;
step two, an intelligent thermal imaging binocular camera module detects whether a two-dimensional station target appears in the captured picture in real time, and if the target is found, the step three is entered;
starting a multi-line laser radar module to perform real-time scanning, and establishing a ship side model to be injected;
marking the injected station in the injected ship side model;
step five, the processing module tracks the injected station and calculates the real-time distance between the injected station and the injected station;
step six, judging whether the distance between the filling ship and the injected ship is a safe distance;
And step seven, outputting an alarm signal.
As a preferable technical scheme, the fourth step includes the following steps:
S4.1, calibrating the station to be injected in two-dimensional images identified by the intelligent thermal imaging binocular camera;
s4.2, calculating the depth of the pixel point of the station to be injected;
And S4.3, marking the pixel points of the station to be annotated in a radar coordinate system.
As a preferable technical scheme, the first step specifically includes:
And collecting pictures of the injection station under different angles, different distances and different light rays of a plurality of injection stations, inputting the pictures into the intelligent thermal imaging binocular camera module, and training an image recognition depth network.
As a preferable technical scheme, the second step specifically includes:
Detecting whether a station to be injected appears in the two-dimensional picture captured by the intelligent thermal imaging binocular camera module in real time;
If the two-dimensional picture is detected to not have the station, continuously and circularly detecting whether the two-dimensional picture has the station in real time;
And if the two-dimensional picture is detected to have the station, executing the third step to establish the ship side model.
As a preferable technical scheme, the fifth step specifically comprises:
Defining the length of a filling hose as L, and defining the real-time distance between a filling station and a filling station as L t;
When L t is more than 0.35 and less than 0.57L, the safety distance is attributed;
When L t is more than 0.3 and less than or equal to 0.35L or L t is more than or equal to 0.57 and less than or equal to 0.585L, the first type of dangerous distance is attributed;
when L t is less than or equal to 4.5m and less than 0.3L or L t is less than or equal to 0.775L, the second type of dangerous distance is attributed;
When L is equal to or less than 0.775 and is equal to or less than L t, the third dangerous distance is attributed.
As an optimal technical scheme, when the real-time distance belongs to the safety distance, continuously cycling the step six to judge whether the real-time distance is at the safety distance, and when the real-time distance does not belong to the safety distance, executing the step seven, and sending an alarm signal.
As a preferable technical scheme, the step seven specifically includes:
when the type of the dangerous distance is the first type of the dangerous distance, starting a first-level cargo alarm, and filling a yellow audible and visual alarm of an alarm lamp post in a cabin and a deck area of the ship;
When the type of the dangerous distance is the second type of the dangerous distance, starting secondary cargo alarming, and filling red audible and visual alarming of an alarming lamp post in a cabin and a deck area of the ship;
When the type of the dangerous distance is the third type of the dangerous distance, the general warning of the whole ship is started, and a signal is transmitted to the emergency separation connector, so that the hose is prepared for emergency separation and sealing.
Compared with the prior art, the invention has the following technical effects:
The invention can improve the unmanned intelligent degree of the ship to ship filling, and can precisely detect the ship to ship filling interval (the linear interval of the hose) after the automatic recognition of the filling station, and can realize the anti-collision function while protecting the hose. To a certain extent, the method can be incorporated into intelligent navigation or intelligent cargo management systems of intelligent ships to support high-quality development of intelligent ship technology.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the 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 flow chart of the intelligent detection method of the present invention.
Fig. 2 is a schematic structural diagram of the intelligent detection system of the present invention.
FIG. 3 is a schematic view of the depth calculation of the pixel points of the station according to the present invention.
Wherein, the reference numerals specifically explain as follows: multi-line laser radar 1, bow thermal imaging camera 2, stern thermal imaging camera 3, and filling side 4.
Detailed Description
In the description of the present invention, it should be understood that the terms "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
The embodiment provides an intelligent detection system for ship-to-ship filling space, which comprises an intelligent thermal imaging binocular camera module, a multi-line laser radar 1 module, a processing module and a plurality of audible and visual alarm modules;
The intelligent thermal imaging binocular camera module comprises two thermal imaging cameras, namely a bow thermal imaging camera 2 and a stern thermal imaging camera 3, the two thermal imaging cameras are respectively arranged on the bow and the stern of a filling side 4 of a filling ship, the models of the two thermal imaging cameras are the same, the optical axes are parallel, the multi-line laser radar 1 is arranged at a place, near a filling pipe, where no obstacle exists, of the filling side 4, the processing module is used for calculating the filling distance according to information acquired by the intelligent thermal imaging binocular camera module and the multi-line laser radar 1 module, and the audible-visual alarm module sends different signals according to the filling distance.
The embodiment also provides an intelligent detection method for the ship-to-ship filling space, which comprises the following steps:
Step one, image acquisition and training of a depth network:
collecting pictures of the injection stations of the injection ship under different angles, different distances and different light rays of a plurality of injection stations, inputting the pictures to the intelligent thermal imaging binocular camera module, and training an image recognition depth network;
Step two, detecting whether the two-dimensional picture appears in the station or not in real time:
Detecting whether a station to be injected appears in the two-dimensional picture captured by the intelligent thermal imaging binocular camera module in real time;
If the two-dimensional picture is detected to not have the station, continuously and circularly detecting whether the two-dimensional picture has the station in real time;
if the two-dimensional picture is detected to have the station, executing the third step to establish a ship side model;
Thirdly, establishing a ship side model to be injected:
starting the multi-line laser radar 1 module to scan in real time, and establishing a ship side model to be injected;
step four, the processing module performs data processing, and the calibrated injection station is positioned in the injection ship side model:
After the injection station is identified in two-dimensional images of the intelligent thermal imaging binocular camera, calibrating the injection station in the two-dimensional images, calculating the depth of the pixel point of the injection station, and calibrating the pixel point of the injection station in a radar coordinate system, wherein the method comprises the following steps of:
1) Calibrating the station to two-dimensional images
Calibrating the position of the injection station in the two-dimensional images, and calculating the coordinates (a XCi-1,aYCi-1)、(aXCi-2,aYCi-2) of the injection station pixel point a i on the plane of a bow camera coordinate system O C1-XC1-YC1 and the plane of a stern camera coordinate system O C2-XC2-YC2 respectively through conversion of a pixel coordinate system-an image coordinate system-a camera coordinate system;
Assuming that the bow pixel coordinate system O 1-U1-V1 uses the upper left of the image as the origin of coordinates, the axes U 1 and V 1 are respectively parallel to the image plane edge, in units of: pixels/millimeter (pixel/mm); therefore, the pixel coordinate of the center point of the bow image is known as (c u-1,cv-1);
Assuming that the bow image coordinate system o 1-x1-y1 takes the center point of the imaging plane as the origin of coordinates, the x 1 axis and the y 1 axis are respectively parallel to the edges of the imaging plane, and the units are as follows: millimeter (mm);
Assuming that the bow camera coordinate system O C1-XC1-YC1-ZC1 takes the optical center O C1 of the bow camera as a midpoint, the Z C1 axis is an optical axis perpendicular to the imaging plane of the camera, and the X C1、YC1 axis accords with the right rule;
Converting a bow pixel coordinate system O 1-U1-V1 to a bow image coordinate system O 1-x1-y1: after the position of the injection station is identified in the bow two-dimensional image, the bow pixel coordinate of the injection station pixel point a i can be calibrated to be (a ui-1,avi-1), and the bow two-dimensional image coordinate set of the injection station pixel point a i can be calculated to be (a xi-1,ayi-1) according to the conversion relation between the pixel coordinate system and the image coordinate system:
Wherein, alpha and beta are the size proportion of the pixel point on the x 1 axis and the y 1 axis, and are determined by the internal parameters of the camera;
converting a bow image coordinate system O 1-x1-y1 to a bow camera coordinate system O C1-XC1-YC1-ZC1: from the conversion relationship between the image coordinate system and the camera coordinate system, the coordinates (a XCi-2,aYCi-2) of the injection station pixel point a i on the plane of the bow camera coordinate system O C1-XC1-YC1 can be calculated as:
Wherein f is the focal length of the camera, determined by the intrinsic parameters of the bow camera, in units: a pixel (pixel);
According to the conversion method of the pixel coordinate system-image coordinate system-camera coordinate system, the coordinate set of the pixel point a i on the plane of the stern camera coordinate system O C2-XC2-YC2 can be calculated as (a XCi-2,aYCi-2) in the same way;
2) Calculating depth of pixel point of station
According to the triangle similarity principle, the depth a ZCi of the pixel point a i of the station can be calculated:
Wherein d is the baseline distance between the two cameras at the bow and the stern, f is the focal length of the cameras, and a XCi-1,aXCi-2 is the abscissa of the pixel point a i of the station under injection in the coordinate system of the cameras at the bow and the stern respectively;
Thus, it can be known that the coordinate sets of the pixel point a i in the camera coordinate systems of the bow and the stern are (a XCi-1,aYCi-1,aZCi)、(aXCi-2,aYCi-2,aZCi) respectively;
3) Calibrating pixel points of injected station in radar coordinate system
Because a certain distance exists between the mounting positions of the binocular camera and the radar, at the same time, a relation of rotation and three-dimensional translation exists between the coordinate systems of the bow camera and the stern camera and the radar coordinate system;
Assuming that the rotation and three-dimensional translation relationship between the thermal imaging camera 2 and the radar at the mounting position of the filling side 4 is that a third-order rotation matrix s=diag (S X,sY,sZ), and a third-order translation vector d= (D) X dY dZ)T
Then, the relation between the matrix C of the pixel point a i of the station in the bow camera coordinate system and the corresponding point cloud matrix R in the radar coordinate system is as follows:
C＝MR
wherein,
C＝[aXCi-1 aYCi-1 aZCi 1]TR＝[aXRi aYRi aZRi 1]T；S, D is determined by external position parameters of the bow camera and radar installation;
Thus, in the ship side model, the point cloud matrix R corresponding to the station pixel point a i can be expressed as:
Wherein, (a XCi-1,aYCi-1,aZCi) is the coordinates of the injection station pixel point a i in the bow camera coordinate system, and (a XRi,aYRi,aZRi) is the coordinates of the injection station pixel point a i in the radar coordinate system;
Step five, tracking the injected station and calculating the real-time distance:
the multi-line laser radar 1 tracks the position of a pixel point a i of the station under the radar coordinate system, and calculates a real-time distance l t;
Step six, judging whether the safety distance is:
Assuming that the length of a hose arranged on the filling ship is l=20m, judging whether the hose is at a safe distance according to the real-time distance L t calculated in the step five:
When 0.35L < L t < 0.57L, namely 7m < L t < 11.4 m;
When 0.3L < L t is less than or equal to 0.35L or 0.57L is less than or equal to L t is less than 0.585L, that is
L t is more than 6m and less than or equal to 7m or l t is more than or equal to 11.4m and less than or equal to 11.7m, and belongs to the first type of dangerous distance;
When L t is more than or equal to 4.5 and less than 0.3L or L t is more than or equal to 0.585L and less than 0.775L, namely
L t is more than or equal to 4.5 and less than 6m or l t is more than or equal to 11.7m and less than or equal to 11.5m, belonging to the second type of dangerous distance;
When L is more than or equal to 0.775 and less than or equal to L t, i.e. 15.5 m.ltoreq.l t, belonging to a third class of hazard distances;
When the real-time distance belongs to the safe distance, continuously cycling the step six to judge whether the real-time distance is at the safe distance; when the real-time distance belongs to any type of dangerous distance, executing the seventh step to output an alarm signal;
Step seven, outputting an alarm signal:
Outputting a corresponding alarm signal according to the judged dangerous distance type:
when the type of the dangerous distance is the first type of the dangerous distance, starting a first-level cargo alarm, and filling a yellow audible and visual alarm of an alarm lamp post in a cabin and a deck area of the ship;
When the type of the dangerous distance is the second type of the dangerous distance, starting secondary cargo alarming, and filling red audible and visual alarming of an alarming lamp post in a cabin and a deck area of the ship;
When the type of the dangerous distance is the third type of the dangerous distance, the general warning of the whole ship is started, and a signal is transmitted to the emergency separation connector, so that the hose is prepared for emergency separation and sealing.
While the foregoing embodiments have been described in detail and with reference to the present invention, it will be apparent to one skilled in the art that modifications and improvements can be made based on the disclosure without departing from the spirit and scope of the invention.
Claims (7)
1. The ship-to-ship filling interval intelligent detection method is characterized by further comprising a ship-to-ship filling interval intelligent detection system, wherein the system comprises an intelligent thermal imaging binocular camera module, a multi-line laser radar module, a processing module and a plurality of audible and visual alarm modules; the intelligent thermal imaging binocular camera module comprises two thermal imaging cameras, the two thermal imaging cameras are respectively arranged at the bow part and the stern part of the filling side of the filling ship, the optical axes of the two thermal imaging cameras are parallel, the multi-line laser radar is arranged near the filling pipe at the filling side, the processing module is used for calculating the filling distance according to the information acquired by the intelligent thermal imaging binocular camera module and the multi-line laser radar module, and the audible and visual alarm module sends different signals according to the filling distance;
The method comprises the following steps:
step one, collecting graphs and training an image recognition depth network of an intelligent thermal imaging binocular camera module;
step two, an intelligent thermal imaging binocular camera module detects whether a two-dimensional station target appears in the captured picture in real time, and if the target is found, the step three is entered;
starting a multi-line laser radar module to perform real-time scanning, and establishing a ship side model to be injected;
marking the injected station in the injected ship side model;
step five, the processing module tracks the injected station and calculates the real-time distance between the injected station and the injected station;
step six, judging whether the distance between the filling ship and the injected ship is a safe distance;
And step seven, outputting an alarm signal.
2. A ship-to-ship filling interval intelligent detection method according to claim 1, wherein the fourth step comprises the following steps:
S4.1, calibrating the station to be injected in two-dimensional images identified by the intelligent thermal imaging binocular camera;
s4.2, calculating the depth of the pixel point of the station to be injected;
And S4.3, marking the pixel points of the station to be annotated in a radar coordinate system.
3. The intelligent ship-to-ship filling interval detection method according to claim 1, wherein the first step is specifically:
And collecting pictures of the injection station under different angles, different distances and different light rays of a plurality of injection stations, inputting the pictures into the intelligent thermal imaging binocular camera module, and training an image recognition depth network.
4. The intelligent ship-to-ship filling interval detection method according to claim 1, wherein the second step is specifically:
Detecting whether a station to be injected appears in the two-dimensional picture captured by the intelligent thermal imaging binocular camera module in real time;
If the two-dimensional picture is detected to not have the station, continuously and circularly detecting whether the two-dimensional picture has the station in real time;
And if the two-dimensional picture is detected to have the station, executing the third step to establish the ship side model.
5. The ship-to-ship filling interval intelligent detection method according to claim 1, wherein the fifth step is specifically:
Defining the length of a filling hose as L, and defining the real-time distance between a filling station and a filling station as L t;
When 0.35L < t < 0.57L, the safety distance is attributed;
When 0.3L < t is less than or equal to 0.35L or 0.57L is less than or equal to t and is less than or equal to 0.585L, the first type of dangerous distance is attributed;
When L t is less than or equal to 4.5m and less than 0.3L or 0.585L is less than or equal to L t and less than 0.775L, the second type of dangerous distance is attributed;
When L is equal to or less than 0.775 and is equal to or less than L t, the third dangerous distance is attributed.
6. A ship-to-ship filling interval intelligent detection method according to claim 3, wherein when the real-time distance is attributed to the safety distance, the step six of continuously cycling judges whether the real-time distance is within the safety distance, and when the real-time distance is not within the safety distance, the step seven is executed, and an alarm signal is sent.
7. The intelligent ship-to-ship filling interval detection method according to claim 4, wherein the step seven specifically comprises:
when the type of the dangerous distance is the first type of the dangerous distance, starting a first-level cargo alarm, and filling a yellow audible and visual alarm of an alarm lamp post in a cabin and a deck area of the ship;
When the type of the dangerous distance is the second type of the dangerous distance, starting secondary cargo alarming, and filling red audible and visual alarming of an alarming lamp post in a cabin and a deck area of the ship;
When the type of the dangerous distance is the third type of the dangerous distance, the general warning of the whole ship is started, and a signal is transmitted to the emergency separation connector, so that the hose is prepared for emergency separation and sealing.
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| CN113627473A (en) * | 2021-07-06 | 2021-11-09 | 哈尔滨工程大学 | Water surface unmanned ship environment information fusion sensing method based on multi-mode sensor |
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