CN-122020576-A - Data fusion method and system of dredger based on environment self-adaption

CN122020576ACN 122020576 ACN122020576 ACN 122020576ACN-122020576-A

Abstract

The invention discloses a data fusion method and system of a dredger based on environment self-adaption, which relates to the technical field of data fusion, and determining the environmental state change rate according to the environmental temperature quantized value, the visibility quantized value, the precipitation intensity quantized value, the sea state level quantized value and the illumination intensity quantized value, marking the corresponding environmental state change content, and improving the accuracy of the quantized environmental state change rate. And if the change rate of the environmental state is higher than a preset change rate threshold of the environmental state, triggering the real-time update of the environmental self-adaptive combination, and adjusting the priority of each environmental detection part in the environmental self-adaptive combination so as to adapt to the change environment of the dredger, output a final environmental sensing result and ensure the accuracy of the final environmental sensing result.

Inventors

GU YONG
MA ZHONGXIAN
DING HAIMING
XU CHANGWEI
FU YI
ZHANG XIAOLIN
CHEN HONGLIANG
ZHANG HONGSHENG

Assignees

中交上海航道局有限公司

Dates

Publication Date: 20260512
Application Date: 20260415

Claims (10)

1. A method for data fusion of an environmentally adaptive dredger, comprising: marking the current position of the dredger, triggering environmental multisource perception according to the current position of the dredger so as to acquire original data of precipitation intensity, visibility, air temperature and sea state, and determining corresponding environmental temperature quantized values, visibility quantized values, precipitation intensity quantized values and sea state grade quantized values according to mapping of a plurality of original data; Determining a corresponding light intensity quantization value based on the identification of the image acquired by the camera of the dredger, determining an environmental state change rate according to the environmental temperature quantization value, the visibility quantization value, the precipitation intensity quantization value, the sea state level quantization value and the light intensity quantization value, and marking corresponding environmental state change content; marking a plurality of sensors of the dredger, determining corresponding performance content based on detection of each sensor, determining performance evaluation indexes of the sensors according to the performance content and the current working scene of the dredger, performing data fusion on each performance evaluation index, and outputting environment self-adaptive combination; if the environmental state change rate is higher than the preset environmental state change rate threshold, triggering real-time update of the environmental self-adaptive combination, adjusting the priority of each environmental detection part in the environmental self-adaptive combination to adapt to the change environment of the dredger, and outputting a final environmental sensing result.
2. The method of claim 1, wherein marking the current position of the dredger and triggering the environmental multisource perception according to the current position of the dredger to collect raw data of precipitation intensity, visibility, air temperature, sea state, and determining corresponding environmental temperature quantization value, visibility quantization value, precipitation intensity quantization value, and sea state grade quantization value according to a mapping of the plurality of raw data comprises: The dredger is provided with a shipborne weather instrument, the environmental detection of the shipborne weather instrument is triggered according to the current position of the dredger and the scene where the dredger is located, and the environmental multisource sensing is carried out on the dredger so as to monitor and collect the original data of the rainfall intensity, the visibility, the air temperature and the sea condition in real time.
3. The method of claim 2, wherein the marking the current position of the dredger triggers the environmental multisource perception according to the current position of the dredger to collect the original data of precipitation intensity, visibility, air temperature and sea state, and determines the corresponding environmental temperature quantization value, visibility quantization value, precipitation intensity quantization value and sea state grade quantization value according to the mapping of the plurality of original data, further comprising: The method comprises the steps of carrying out quantization processing on each piece of original data, converting the original data into a unified standardized environment parameter matrix to determine a corresponding environment temperature quantized value, a visibility quantized value, a precipitation intensity quantized value and a sea state level quantized value, mapping air temperature data to a zone of 0-1 according to the environment temperature quantized value, wherein 0 represents no influence on temperature, 1 represents extreme temperature saturation, mapping visibility data to a zone of 0-1 according to the visibility quantized value, wherein 0 represents an excellent visual environment, 1 represents an extremely poor visual environment, and mapping precipitation intensity data to a zone of 0-1 according to the precipitation intensity quantized value, wherein 0 represents no precipitation and 1 represents extremely strong precipitation.
4. The method for data fusion of an environment-based adaptive dredger according to claim 1, wherein the determining the corresponding light intensity quantization value based on the recognition of the image collected by the camera of the dredger, determining the environmental state change rate according to the environmental temperature quantization value, the visibility quantization value, the precipitation intensity quantization value, the sea state level quantization value and the light intensity quantization value, and marking the corresponding environmental state change content comprises: the camera of the dredger is marked, the peripheral area of the dredger is shot based on the camera, corresponding images are collected, image identification is carried out on the images, a plurality of illumination intensity elements are determined in the identification process, and corresponding illumination intensity quantization values are determined according to quantization of the plurality of illumination intensity elements.
5. The method of claim 4, wherein the determining the corresponding light intensity quantization value based on the recognition of the image collected by the camera of the dredger, determining the environmental state change rate based on the environmental temperature quantization value, the visibility quantization value, the precipitation intensity quantization value, the sea state level quantization value, and the light intensity quantization value, and marking the corresponding environmental state change content, further comprises: The method comprises the steps of obtaining an environmental temperature quantized value, a visibility quantized value, a precipitation intensity quantized value, a sea state level quantized value and an illumination intensity quantized value, inputting the environmental temperature quantized value, the visibility quantized value, the precipitation intensity quantized value, the sea state level quantized value and the illumination intensity quantized value into the same environmental parameter matrix, and iterating in the environmental parameter matrix to determine a corresponding environmental state change rate and present corresponding environmental state change content.
6. The method of data fusion for an environmentally adaptive dredger of claim 1, wherein the marking of the plurality of sensors of the dredger and determining the corresponding performance content based on the detection of each sensor, determining the performance evaluation index of the sensor based on the performance content and the current operational scenario of the dredger, data fusing each performance evaluation index, and outputting the environmentally adaptive combination comprises: A plurality of sensors are determined based on the detection of the dredger, and autonomous detection of the plurality of sensors is triggered, in each sensor, performance content of each performance dimension is determined according to the autonomous detection of the sensor, and performance evaluation indexes of the sensor are determined based on the performance content and the current working scene of the dredger so as to mark the performance evaluation indexes of each sensor.
7. The method of data fusion for an environmentally adaptive dredger of claim 6, wherein the marking of the plurality of sensors of the dredger and determining the corresponding performance content based on the detection of each sensor, determining the performance evaluation index of the sensor based on the performance content and the current operational scenario of the dredger, data fusing each performance evaluation index, and outputting an environmentally adaptive combination, further comprises: Marking the positions of the sensors, combining the performance evaluation indexes to perform multi-factor fusion so as to determine corresponding data combinations, fusing the data combinations, and constructing corresponding environment self-adaptive combinations according to the priorities of the performance evaluation indexes in the fusion process.
8. The method for data fusion of an environment-based adaptive dredger according to claim 1, wherein if the rate of change of the environmental state is higher than a preset threshold value of the rate of change of the environmental state, triggering real-time update of the environment-adaptive combination, and adjusting the priority of each environment detection part in the environment-adaptive combination to adapt to the changing environment of the dredger, and outputting a final environment sensing result, comprising: And acquiring a preset environmental state change rate threshold, comparing the preset environmental state change rate threshold with the environmental state change rate, if the environmental state change rate is higher than the preset environmental state change rate threshold, presenting a non-matching event of the environment self-adaptive combination and the current scene of the dredger, and triggering real-time update of the environment self-adaptive combination based on the non-matching event.
9. The method for data fusion of an environment-based adaptive dredger according to claim 8, wherein if the rate of change of the environmental state is higher than a preset threshold value of the rate of change of the environmental state, the method triggers real-time update of the environment-adaptive combination, adjusts the priority of each environment detection part in the environment-adaptive combination to adapt to the changing environment of the dredger, and outputs a final environment sensing result, and further comprises: The dredger encounters an environment change condition in the current scene, marks the change environment of the dredger, fuses the change environment of the dredger with the environment self-adaptive combination, and determines a final environment sensing result in the fusion process.
10. An environment-adaptive dredger-based data fusion system, wherein the environment-adaptive dredger-based data fusion system is applied to the environment-adaptive dredger-based data fusion method according to any one of claims 1 to 9, and the environment-adaptive dredger-based data fusion system comprises: the quantization module is used for marking the current position of the dredger, triggering environmental multisource perception according to the current position of the dredger so as to acquire original data of precipitation intensity, visibility, air temperature and sea conditions, and determining corresponding environmental temperature quantization values, visibility quantization values, precipitation intensity quantization values and sea condition level quantization values according to mapping of a plurality of original data; The environment change module is used for determining a corresponding light intensity quantized value based on the identification of the image acquired by the camera of the dredger, determining an environment state change rate according to the environment temperature quantized value, the visibility quantized value, the precipitation intensity quantized value, the sea state level quantized value and the light intensity quantized value, and marking corresponding environment state change content; the environment self-adaptive module is used for marking a plurality of sensors of the dredger, determining corresponding performance content based on detection of each sensor, determining performance evaluation indexes of the sensors according to the performance content and the current working scene of the dredger, carrying out data fusion on each performance evaluation index, and outputting environment self-adaptive combination; And the environment sensing result module is used for triggering the real-time update of the environment self-adaptive combination if the environment state change rate is higher than the preset environment state change rate threshold value, adjusting the priority of each environment detection part in the environment self-adaptive combination so as to adapt to the change environment of the dredger and outputting the final environment sensing result.

Description

Data fusion method and system of dredger based on environment self-adaption Technical Field The invention relates to the technical field of data fusion, in particular to a data fusion method and system of a dredger based on environment self-adaption. Background The dredger is used as core equipment for dredging operation, an operation water area is often covered with barriers such as pontoons, pipelines and auxiliary ships, frequent steering and turning are needed in the operation process, the draft is also greatly changed due to the change of the ship body load, potential safety hazards such as shallow points and submerged reefs in a near-ship area are prominent, and in order to realize the safety situation perception of the operation water area, the conventional mode of marine radar, AIS and manual observation is mainly relied on by the dredger at present. In the prior art, the environmental state is usually evaluated by only single meteorological data or simple visual judgment, and comprehensive sensing and management of a plurality of environmental dimensions such as precipitation intensity, visibility, air temperature, sea condition, illumination intensity and the like are lacked, so that the system cannot accurately capture the fine change of the environmental state, the change of the environmental state is difficult to determine, the accuracy of the change rate of the environmental state is influenced, and the accuracy of a final environmental sensing result is lower. Disclosure of Invention The invention aims to overcome the defects of the prior art, and provides a data fusion method and system of a dredger based on environment self-adaption. The embodiment of the invention provides a data fusion method of a dredger based on environment self-adaption, which comprises the following steps: marking the current position of the dredger, triggering environmental multisource perception according to the current position of the dredger so as to acquire original data of precipitation intensity, visibility, air temperature and sea state, and determining corresponding environmental temperature quantized values, visibility quantized values, precipitation intensity quantized values and sea state grade quantized values according to mapping of a plurality of original data; Determining a corresponding light intensity quantization value based on the identification of the image acquired by the camera of the dredger, determining an environmental state change rate according to the environmental temperature quantization value, the visibility quantization value, the precipitation intensity quantization value, the sea state level quantization value and the light intensity quantization value, and marking corresponding environmental state change content; marking a plurality of sensors of the dredger, determining corresponding performance content based on detection of each sensor, determining performance evaluation indexes of the sensors according to the performance content and the current working scene of the dredger, performing data fusion on each performance evaluation index, and outputting environment self-adaptive combination; if the environmental state change rate is higher than the preset environmental state change rate threshold, triggering real-time update of the environmental self-adaptive combination, adjusting the priority of each environmental detection part in the environmental self-adaptive combination to adapt to the change environment of the dredger, and outputting a final environmental sensing result. The embodiment of the invention provides a data fusion system of an environment-based self-adaptive dredger, which is applied to the data fusion method of the environment-based self-adaptive dredger, and comprises the following steps: the quantization module is used for marking the current position of the dredger, triggering environmental multisource perception according to the current position of the dredger so as to acquire original data of precipitation intensity, visibility, air temperature and sea conditions, and determining corresponding environmental temperature quantization values, visibility quantization values, precipitation intensity quantization values and sea condition level quantization values according to mapping of a plurality of original data; The environment change module is used for determining a corresponding light intensity quantized value based on the identification of the image acquired by the camera of the dredger, determining an environment state change rate according to the environment temperature quantized value, the visibility quantized value, the precipitation intensity quantized value, the sea state level quantized value and the light intensity quantized value, and marking corresponding environment state change content; the environment self-adaptive module is used for marking a plurality of sensors of the dredger, determining corresponding performance content based on detection of