基于操纵推理与视频检测的船桥主动避碰系统研究
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摘要
自有统计桥梁事故的报告公布以来,因船舶和桥梁相撞事故造成的损失乃至灾难便常常见诸报端,船桥碰撞问题已经成为当前研究的热点。目前,国内外大量的学者在桥梁防撞领域做出了大量的研究和努力,但其研究重点集中在对桥梁墩身结构的加强及桥墩防护装置的研究设计、对船舶碰撞桥梁的风险概率研究以及碰撞事故发生后的致因分析上,这些研究均属于被动避碰的范畴。并未较好的关注船舶操纵人员本身的因素。比较而言,在碰撞未发生之前,通过有效的预警预控手段对船舶驾驶人员进行关键时刻船舶关键操作上的提示与指导以达到主动避碰的效果,则是更有意义的研究课题。
本文基于学科交叉融合的思想,将船舶操纵仿真技术与图像识别技术相结合,提出了基于操纵推理与视频检测的船桥主动避碰系统,该系统包括船桥碰撞危险态势预报和船舶操纵避碰两个部分：船桥碰撞危险态势预报是对桥区船舶航迹偏移的预警和船舶碰撞桥梁(桥墩)风险态势分析；船舶操纵避碰则是结合船舶操纵运动及其仿真知识的船舶运动智能控制方法。实现了对特定船型在特定桥区主动避碰的最小纵距参数的预报和船舶桥区航迹预判与避碰决策选取的主要功能。
论文完成了以下工作：
(1)综述国内外研究相关文献,统计船桥碰撞事故发生的原因,阐述当前船桥碰撞问题的研究方法,介绍视频检测以及操纵模拟在桥梁防撞领域的应用现状,引出本文的技术路线和创新点。
(2)运用船舶操纵运动理论,依据分离式操纵运动建模思想并且考虑实际操纵过程中各种外界条件影响,建立了适合桥区船舶控制的操纵运动模型。针对桥区水域通航船舶受风、流影响较大的特点,建立了桥区水域船舶在风、流作用下的漂移运动数学模型。提出了以《内河通航规范》为前提的桥区船舶航迹预报模型,并采用传统经验算法以及ALE(Arbitrary Lagrangian Eulerian)方法进行船舶停车冲程的计算研究。研究结果显示,该算法能够准确的计算出不同船型在变化风、流条件下的停车冲程值。
(3)以武桥水道鹦鹉洲至武汉长江大桥航道段作为研究水域、3000DWT江海直达代表船型为研究船型,利用第2章建立的桥区水域操纵运动数学模型开展桥区水域船舶航行仿真实验。依据船舶自身的车、舵、锚等控制方式的使用情况以及其失控的可能性,进行了9种典型的桥区船舶操纵避碰桥墩的数值模拟工况实验,对该9种工况下从接受系统指令到操纵结束时船舶运行时程曲线进行了分析。实验结果表明,选定的3000DWT在武桥水道避碰桥墩的极限安全距离为346m,该距离参数可以为武桥水道同类船型的安全避碰桥墩提供参考。
(4)根据选定的代表船型的各型尺度参数,按照自由自航船模实验的相似准则要求并结合船舶性能露天操纵水池的尺度,选用1：40缩尺比制作了3000DWT江海直达代表船型的物理模型,并依照模型制作缩尺比搭建了物模实验的模拟航道硬件环境设施。结合实际物理模型的实验条件进行了7种船模航行控制避碰桥墩工况的实验。对物模实验工况的数据进行统计分析,并对第3章数模实验各工况的结果进行相似准则变换。分析比较结论显示,采用物理模型实验和数模实验相结合的研究方法能够有效确定特定船型在特定桥区水域的最小避碰纵距值。
(5)研究并开发了基于计算机视觉检测的船桥主动避碰系统。首先对智能船桥避碰系统IC4S(Intelligent Collision Avoidance System)的构建框架、关键技术进行阐述,研究了桥区复杂动态背景下船舶等运动物标的检测与航迹关联技术,采用现场手动拍摄视频导入预置检测算法的方式检测所建立的船桥主动避碰算法平台的有效性。实验结果表明,船舶在正常通过桥梁航行状态下,主动避碰平台有较好的适用性。
本文在综合相关研究现状的基础上,提出了结合操纵运动理论模型和计算机视觉信息处理与图像人工智能识别技术的桥区船舶航迹预报和预控的模型,并建立基于该模型的船桥主动避碰的综合系统。通过对部分现场实船航行视频检测来检验所建立的主动避碰系统的有效性。本文的研究成果为船舶驾驶人员和桥梁管理部门提供了一种新的桥梁安全保障途径。
本文的创新点主要有以下几点：
(1)运用船舶操纵仿真技术与图像识别技术,研发出了一个船桥主动避碰系统,通过计算机软件编程,实现了智能化、可视化的船桥主动避碰功能,提出了一种全新的桥梁主动避碰方法。
(2)将数值模拟仿真实验与物理模型实验相结合,通过相似换算推导出船舶桥区避碰距离参数,提出了特定桥区特定船型的最小避碰纵距值的预报方法。
(3)将ALE算法引入船舶停车冲程的计算中,对不同船型船舶在各类桥区及各种风、流等外界影响下的停车冲程进行了良好预报。
Scince the first bridge collision accident was reported, it is easy for the people to get the news involved with losses and disasters from the ship-bridge collision affairs either in china or in the world wide. Altough many experts around the world have made extremely great efforts to study on the ship-birdge collision avoidance and have acquired many achievements, they do not work out an effective pattern for the ship-bridge collision avoidance.By analysis, we find that there is no pattern in which the ship-bridge collision avoidance theory is studied comprehensively.The current patterns focus on either strengthening the bridge piers or the risk probability research.One of the common features of those patterns is that the factor of the ship's operators have been neglected totally.In other words, the early-warning and pre-control way for guiding and reminding the operators to handle the ship is neglected.
In this dissertation,the ship-bridge collision avoidance technology based on the ship maneuvering equations and the video information detection includes two parts,i.e.,the situation prediction technology and the ship's maneuvering and track pre-controlling&collision avoidance technology.The former is focused on predicting the ship's track in the water area near the bridge and judging the collision situation, the latter is an intelligent controlling technology which combines the ship's maneuvering knowledge and the imitation knowledge.
The author tries to solve this problem more effectively by using the multidisciplinary way. Thus, a comprehensive active ship-bridge collision avoidance system is established, which intergrates the video information detection system and the ship maneuvering&controlling system in the water areas near the bridge. Based on the factors above, the main achievements of the dissertation are as follows:
(1) Through reviewing the ship-bridge collision cases in the literature around the world, the dissertation illustrates the reasons cause the accident elaborates the current study patterns in collision avoidance describes the application of the two main centered goals,i.e.,computer video detection and maneuvering imitation in the ship-bridge collision avoidance aspect, and presents the technical routes and the innovations points.
(2) Based on the theory of ship maneuvering motion, using the MMG model and considering various external influences, a model of ship's motion equation referring to the water area near the bridge is established.According to the great effects from the wind¤t while the ships are navigating in the water near the bridge,a ship's drifting model under those external wind¤t load is also established in the dissertaion.The established the track prediction model in waters areas near the bridge is based on the Navigation Standard of Inland Waterway, Two algorithms including the traditional empirical method and the ALE (Arbitrary Lagrangian Eulerian) technique used for calculation of the ship's stopping engine stoke are compared, which provide the track pre-controlling algorithms for the active collision avoidance system.
(3) The navigation simultation experiment is done according to the abome mentioned numerical model of shipinfluences, a model of ship's motion equation referring to the water area near Yangtze river bridge is chosen as the water areas of simulation experimental and the3000DWT river-sea going ship from the National Twelfth Five-Year Plan for the Golden Waterway of Yangtze as the typical study ships. According to the various controlling methods by using the ship's controlling equipments such as engines, steerings, anchors, moorings;considering the situation of malfunction of each controlling method based on those equipments,4main groups and9load case of typical numerical maneuvering simultation are set up. The time and displacement curves of those load cases are recorded and analyzed for the purpose of providing the comparison with the later physical model experiments.
(4) According to each load case in the numerical experiment, a series of load cases in the physical model experiments are carried out. A physical model of the3000DWT river-sea going ship in a scale ration of1:40is made following the similarity criterion and considering the dimensions of the mother ship and the size of the existing experimental facility—the open-air ship performance maneuvering tank of our school.The simulation channel is set up with the same scale ratio.Considering the load cases of numerical experimental and the limitations of the physical model's feedback channel,7load cases of pysical model experimental are carried out. An alalysis report is completed according to the experimental data. Following the similarity criterion the data of corresponding load cases of the numerical experimental are transformed and compared with the those of the physical model.A data correlation list is given.These results will give the support to the active collision avoidance system in determine the minimum distance parameter.
(5) An active ship-bridge collision avoidance system based on computer vision detection is developed. At the beginning, the construct frame and the key technique of the ICAS (Intelligent Collision Avoidance System) are illustrated, Then, the target motion detection and the track correlation technique are studied under the dynamic complex background.In order to check the validation of the detection algorithm, we use video camera on the spot to get the video in manual and import a preset detection algorithm. The experimental results show that, in the case of ship navigating in normal situation in the water areas near the bridge, the algorithm has strong robustness.
The author has built an active ship-bridge collision avoidance system based on the motion equations and the computer vision detection, through comparing and analyszing the data of particular load cases of numerical and physical experiments of the ships in typical water channel, and has checked the validation of the system by the on spot video from the bridge area.The present results could be used as a new method to improve the security of the bridge for the navigators and the bridge security ensurance department.
本文基于学科交叉融合的思想,将船舶操纵仿真技术与图像识别技术相结合,提出了基于操纵推理与视频检测的船桥主动避碰系统,该系统包括船桥碰撞危险态势预报和船舶操纵避碰两个部分：船桥碰撞危险态势预报是对桥区船舶航迹偏移的预警和船舶碰撞桥梁(桥墩)风险态势分析；船舶操纵避碰则是结合船舶操纵运动及其仿真知识的船舶运动智能控制方法。实现了对特定船型在特定桥区主动避碰的最小纵距参数的预报和船舶桥区航迹预判与避碰决策选取的主要功能。
论文完成了以下工作：
(1)综述国内外研究相关文献,统计船桥碰撞事故发生的原因,阐述当前船桥碰撞问题的研究方法,介绍视频检测以及操纵模拟在桥梁防撞领域的应用现状,引出本文的技术路线和创新点。
(2)运用船舶操纵运动理论,依据分离式操纵运动建模思想并且考虑实际操纵过程中各种外界条件影响,建立了适合桥区船舶控制的操纵运动模型。针对桥区水域通航船舶受风、流影响较大的特点,建立了桥区水域船舶在风、流作用下的漂移运动数学模型。提出了以《内河通航规范》为前提的桥区船舶航迹预报模型,并采用传统经验算法以及ALE(Arbitrary Lagrangian Eulerian)方法进行船舶停车冲程的计算研究。研究结果显示,该算法能够准确的计算出不同船型在变化风、流条件下的停车冲程值。
(3)以武桥水道鹦鹉洲至武汉长江大桥航道段作为研究水域、3000DWT江海直达代表船型为研究船型,利用第2章建立的桥区水域操纵运动数学模型开展桥区水域船舶航行仿真实验。依据船舶自身的车、舵、锚等控制方式的使用情况以及其失控的可能性,进行了9种典型的桥区船舶操纵避碰桥墩的数值模拟工况实验,对该9种工况下从接受系统指令到操纵结束时船舶运行时程曲线进行了分析。实验结果表明,选定的3000DWT在武桥水道避碰桥墩的极限安全距离为346m,该距离参数可以为武桥水道同类船型的安全避碰桥墩提供参考。
(4)根据选定的代表船型的各型尺度参数,按照自由自航船模实验的相似准则要求并结合船舶性能露天操纵水池的尺度,选用1：40缩尺比制作了3000DWT江海直达代表船型的物理模型,并依照模型制作缩尺比搭建了物模实验的模拟航道硬件环境设施。结合实际物理模型的实验条件进行了7种船模航行控制避碰桥墩工况的实验。对物模实验工况的数据进行统计分析,并对第3章数模实验各工况的结果进行相似准则变换。分析比较结论显示,采用物理模型实验和数模实验相结合的研究方法能够有效确定特定船型在特定桥区水域的最小避碰纵距值。
(5)研究并开发了基于计算机视觉检测的船桥主动避碰系统。首先对智能船桥避碰系统IC4S(Intelligent Collision Avoidance System)的构建框架、关键技术进行阐述,研究了桥区复杂动态背景下船舶等运动物标的检测与航迹关联技术,采用现场手动拍摄视频导入预置检测算法的方式检测所建立的船桥主动避碰算法平台的有效性。实验结果表明,船舶在正常通过桥梁航行状态下,主动避碰平台有较好的适用性。
本文在综合相关研究现状的基础上,提出了结合操纵运动理论模型和计算机视觉信息处理与图像人工智能识别技术的桥区船舶航迹预报和预控的模型,并建立基于该模型的船桥主动避碰的综合系统。通过对部分现场实船航行视频检测来检验所建立的主动避碰系统的有效性。本文的研究成果为船舶驾驶人员和桥梁管理部门提供了一种新的桥梁安全保障途径。
本文的创新点主要有以下几点：
(1)运用船舶操纵仿真技术与图像识别技术,研发出了一个船桥主动避碰系统,通过计算机软件编程,实现了智能化、可视化的船桥主动避碰功能,提出了一种全新的桥梁主动避碰方法。
(2)将数值模拟仿真实验与物理模型实验相结合,通过相似换算推导出船舶桥区避碰距离参数,提出了特定桥区特定船型的最小避碰纵距值的预报方法。
(3)将ALE算法引入船舶停车冲程的计算中,对不同船型船舶在各类桥区及各种风、流等外界影响下的停车冲程进行了良好预报。
Scince the first bridge collision accident was reported, it is easy for the people to get the news involved with losses and disasters from the ship-bridge collision affairs either in china or in the world wide. Altough many experts around the world have made extremely great efforts to study on the ship-birdge collision avoidance and have acquired many achievements, they do not work out an effective pattern for the ship-bridge collision avoidance.By analysis, we find that there is no pattern in which the ship-bridge collision avoidance theory is studied comprehensively.The current patterns focus on either strengthening the bridge piers or the risk probability research.One of the common features of those patterns is that the factor of the ship's operators have been neglected totally.In other words, the early-warning and pre-control way for guiding and reminding the operators to handle the ship is neglected.
In this dissertation,the ship-bridge collision avoidance technology based on the ship maneuvering equations and the video information detection includes two parts,i.e.,the situation prediction technology and the ship's maneuvering and track pre-controlling&collision avoidance technology.The former is focused on predicting the ship's track in the water area near the bridge and judging the collision situation, the latter is an intelligent controlling technology which combines the ship's maneuvering knowledge and the imitation knowledge.
The author tries to solve this problem more effectively by using the multidisciplinary way. Thus, a comprehensive active ship-bridge collision avoidance system is established, which intergrates the video information detection system and the ship maneuvering&controlling system in the water areas near the bridge. Based on the factors above, the main achievements of the dissertation are as follows:
(1) Through reviewing the ship-bridge collision cases in the literature around the world, the dissertation illustrates the reasons cause the accident elaborates the current study patterns in collision avoidance describes the application of the two main centered goals,i.e.,computer video detection and maneuvering imitation in the ship-bridge collision avoidance aspect, and presents the technical routes and the innovations points.
(2) Based on the theory of ship maneuvering motion, using the MMG model and considering various external influences, a model of ship's motion equation referring to the water area near the bridge is established.According to the great effects from the wind¤t while the ships are navigating in the water near the bridge,a ship's drifting model under those external wind¤t load is also established in the dissertaion.The established the track prediction model in waters areas near the bridge is based on the Navigation Standard of Inland Waterway, Two algorithms including the traditional empirical method and the ALE (Arbitrary Lagrangian Eulerian) technique used for calculation of the ship's stopping engine stoke are compared, which provide the track pre-controlling algorithms for the active collision avoidance system.
(3) The navigation simultation experiment is done according to the abome mentioned numerical model of shipinfluences, a model of ship's motion equation referring to the water area near Yangtze river bridge is chosen as the water areas of simulation experimental and the3000DWT river-sea going ship from the National Twelfth Five-Year Plan for the Golden Waterway of Yangtze as the typical study ships. According to the various controlling methods by using the ship's controlling equipments such as engines, steerings, anchors, moorings;considering the situation of malfunction of each controlling method based on those equipments,4main groups and9load case of typical numerical maneuvering simultation are set up. The time and displacement curves of those load cases are recorded and analyzed for the purpose of providing the comparison with the later physical model experiments.
(4) According to each load case in the numerical experiment, a series of load cases in the physical model experiments are carried out. A physical model of the3000DWT river-sea going ship in a scale ration of1:40is made following the similarity criterion and considering the dimensions of the mother ship and the size of the existing experimental facility—the open-air ship performance maneuvering tank of our school.The simulation channel is set up with the same scale ratio.Considering the load cases of numerical experimental and the limitations of the physical model's feedback channel,7load cases of pysical model experimental are carried out. An alalysis report is completed according to the experimental data. Following the similarity criterion the data of corresponding load cases of the numerical experimental are transformed and compared with the those of the physical model.A data correlation list is given.These results will give the support to the active collision avoidance system in determine the minimum distance parameter.
(5) An active ship-bridge collision avoidance system based on computer vision detection is developed. At the beginning, the construct frame and the key technique of the ICAS (Intelligent Collision Avoidance System) are illustrated, Then, the target motion detection and the track correlation technique are studied under the dynamic complex background.In order to check the validation of the detection algorithm, we use video camera on the spot to get the video in manual and import a preset detection algorithm. The experimental results show that, in the case of ship navigating in normal situation in the water areas near the bridge, the algorithm has strong robustness.
The author has built an active ship-bridge collision avoidance system based on the motion equations and the computer vision detection, through comparing and analyszing the data of particular load cases of numerical and physical experiments of the ships in typical water channel, and has checked the validation of the system by the on spot video from the bridge area.The present results could be used as a new method to improve the security of the bridge for the navigators and the bridge security ensurance department.
引文
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