Research On Vision Sensor Arrangement And Collaborative Technology In Intelligent Ship Sensing System

Ship sensing system is the basis of autonomous navigation decision-making and long-distance operating of intelligent ship,and is the prerequisite to ensure the safe navigation of intelligent ship.The traditional sensing devices mainly include shipborne radar and automatic identification system.Due to the limitation of their own working principle,these sensing devices have poor detection ability for small and weak targets at sea,which is difficult to meet the needs of intelligent ship navigation.The application of vision sensors such as infrared thermal imager and visible light camera in ship sensing system can make up for the shortcomings of traditional sensing devices such as radar and AIS.When the ship scale is large,it is necessary to use multiple visual sensor devices to arrange in different parts of the ship,and make them work together to form a visual sensor system,so as to achieve the purpose of all-round,seamless and high reliability perception of the ship navigation environment.This paper focused on the research of vision sensor layout in intelligent ship sensing system,and mainly contains the following three aspects:(1)Demand analysis of perception ability of intelligent ship.Based on the analysis of the requirements of intelligent ship in perception,combined with the characteristics and application of various kinds of ship sensors,this paper proposed a method to build an intelligent ship perception system based on the infrared thermal imager and visible light camera.(2)Single vision sensor deployment and perception analysis.The layout of single vision sensor is the first step for the construction of intelligent ship sensing system.At present,there is a lack of related theory of intelligent ship sensor layout.To solve this problem,this paper studied the conversion relationship among the world coordinate system,the camera coordinate system,the image coordinate system,and proposed the calculation method of the sensing range and the sensing ability of visual sensor under the given focal length,field angle,imaging plane size and other parameters.Combined with the perception ability of the visual sensor and the perception demand of the intelligent ship,this paper proposed a method of the placement of the visual sensor in the intelligent ship perception system,which ensures that the size of the unit size target in the video image in 'the perception scene is larger than the perception demand of the intelligent ship.(3)Multi vision sensor collaborative deployment method.In order to achieve the best perception effect of the intelligent ship's perception system,this paper construct a multi vision sensor cooperative arrangement model,and uses simulated annealing algorithm to solve the model,and obtains the cooperative deployment scheme.The experimental results show that the deployment scheme makes the final results meet the needs of intelligent ship perception in the largest area,and uses the least number of sensors.