Anti-collision warning system for marine vehicle and anti-collision analysis method

• US 7,679,530 B2
• Filed: 03/14/2007
• Issued: 03/16/2010
• Est. Priority Date: 09/29/2004
• Status: Expired due to Fees

• Current Assignee: Sea O.N. Line
• Original Assignee: Sea O.N. Line
• Inventors: Waquet, Philippe
• Primary Examiner(s): Wu; Daniel
• Assistant Examiner(s): Lu; Shirley
• Application Number:
  US11/685,788
• Publication Number:
  US 20070188734A1
• Time in Patent Office: 1,098 Days
• Field of Search: 340/903, 340/435, 340/961, 340/937, 340/984, 348/148, 348/149, 701/301
• US Class Current: 340/984
• CPC Class Codes: G01S 17/93 for anti-collision purposes

Abstract

An anti-collision warning system for marine vehicle includes, an optical sensor covering at least partially the horizon of the marine vehicle, image processing means for extracting in real time from each image position information of objects visible on the surface of the sea, and anti-collision analysis means, which periodically calculate the evolution of the position information of each visible object, and which assess a risk of the marine vehicle colliding with each visible object according to the evolution of the position information of the visible object.

Claims

1. An anti-collision warning system for marine vehicle comprising:

at least one optical sensor covering at least partially the horizon of the marine vehicle, and supplying images;

an image processor that searches in real time in each image supplied by the optical sensor for groups of adjacent pixels according to the light intensity of each pixel of the image, that assesses a repeated appearance of each group of pixels in a predetermined number of successive images, that extracts groups constituting persistent objects visible on the surface of the sea, according to their repeated appearances while removing groups constituting non-persistent objects comprising at least one of waves, reflections, and foam, and that determines position and dimension information of at least one of the visible persistent objects; and

anti-collision analysis control that periodically calculates the evolution of the position and dimension information of the at least one visible persistent object, and that assesses a risk of the marine vehicle colliding with the visible persistent object according to the evolution of the position and dimension information of the visible persistent object.

2. The system according to claim 1, wherein the optical sensor comprises at least one video camera fixed in relation to the marine vehicle and covers at least a substantial portion of the horizon continuously.

3. The system according to claim 1, wherein the optical sensor comprises at least one video camera the optical field of which can be oriented to cover the horizon by rotation.

4. The system according to claim 3, wherein the optical sensor comprises:

a video camera comprising a lens having an optical axis oriented substantially vertically;

a rotating assembly driven by a motor and bearing a mirror arranged in the optical field of the lens and oriented substantially at 45°

in relation to the optical axis of the lens; and

a device that measures the angular position of the rotating assembly.

5. The system according to claim 1, further comprising:

a housing made up of a base used as a stand; and

a stabilized tank mounted onto a stabilization device, and used as a stand for the optical sensor.

6. The system according to claim 5, wherein the stabilization device comprises a gimbal and a gyro wheel.

7. The system according to claim 3, wherein the sensor comprises a single-line video camera rotatably-driven around a vertical axis.

8. The system according to claim 7, further comprising:

a housing,

a rotating assembly held in the housing and driven by a vertical axis motor,

a protection cover for protecting the rotating assembly having an opening,

a digital video camera fixed onto the rotating assembly, and comprising a single-line detecting element; and

a lens the optical axis of which is capable of scanning the horizon by rotation of the rotating assembly.

9. The system according to claim 8, wherein the sensor comprises a protective glass ventilated using an exhaust fan to protect the lens.

10. The system according to claim 8, wherein image processing integrated circuit cards are fitted into the rotating assembly.

11. The system according to claim 8, comprising a measuring device that measures the angular position of the rotating assembly.

12. The system according to claim 8, wherein the digital output data of the optical sensor are transmitted through rotating contacts which also ensure the contact of the power supply of the units of the rotating assembly.

13. The system according to claim 1, comprising means for interfacing with a compass.

14. The system according to claim 1, comprising means for interfacing with other sensors and analysis means performing an analysis of consistency with information supplied by the other sensors.

15. The system according to claim 1, comprising a signaling output to signal that a dangerous object is detected.

16. The system according to claim 1, wherein the position information of each visible object comprises an azimuth and a dimension of the object.

17. An anti-collision warning method in an anti-collision warning system for marine vehicle comprising at least one optical sensor covering at least partially the horizon of the marine vehicle, the method comprising:

acquiring from the optical sensor images including a portion of the horizon of the marine vehicle;

searching in real time in each image acquired for groups of adjacent pixels according to the light intensity of each pixel of the image;

assessing a repeated appearance of each group of pixels in a predetermined number of successive images acquired;

extracting groups constituting persistent objects visible on the surface of the sea, according to their repeated appearances while removing groups constituting non-persistent objects comprising at least one of waves, reflections, and foam,

determining position and dimension information of at least one of the visible persistent objects;

periodically calculating the evolution of the position and dimension information of the visible persistent object; and

assessing a risk of the marine vehicle colliding with the visible persistent object according to the evolution of the position and dimension information of the visible persistent object, a visible persistent object being considered dangerous if there is a risk of the marine vehicle colliding with the visible persistent object.

18. The method according to claim 17, further comprising:

displaying information concerning each dangerous object; and

sending a warning signal as soon as a new dangerous object is detected.

19. The method according to claim 17, wherein the search in each image for groups of adjacent pixels comprises:

a) framing the useful portion of the image supplied by the optical sensor;

b) measuring the average light intensity of the pixels on at least the useful portion of the image;

c) comparing each pixel of the useful portion of the image with the average light intensity, and allocating a binary value to the pixel according to the result of the comparison; and

d) searching for pixels of a given binary value forming groups of adjacent pixels.

20. The method according to claim 19, wherein the framing of the useful portion comprises an automatic detection of the sky-line.

21. The method according to claim 17, comprising steps of measuring a position and dimensions of the objects visible in each image, and of determining the dangerous objects according to variations in the position and/or the dimensions of the objects visible in successive images.

22. The method according to claim 17, wherein the determining groups and determining position and dimension information are performed for each image.