CN104599534B - In a kind of vessel traffic navigation system, CCTV monitors method to ship tracking - Google Patents
In a kind of vessel traffic navigation system, CCTV monitors method to ship tracking Download PDFInfo
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- CN104599534B CN104599534B CN201510018885.2A CN201510018885A CN104599534B CN 104599534 B CN104599534 B CN 104599534B CN 201510018885 A CN201510018885 A CN 201510018885A CN 104599534 B CN104599534 B CN 104599534B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G3/00—Traffic control systems for marine craft
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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Abstract
The invention discloses CCTV in a kind of vessel traffic navigation system and ship tracking is monitored method, comprise the following steps: obtain longitude and latitude and the height of the distance water surface of CCTV control point camera lens；Obtain boats and ships height, width and the length of monitored boats and ships；Obtain boats and ships longitude and latitude, course, the speed of a ship or plane, drinking water information and data genaration time in real time；Prediction obtains the longitude and latitude of monitored boats and ships current location, calculates monitored boats and ships relative to the X deflection angle of control point camera lens and horizontal range；Obtain the monitored boats and ships vertical deflection angle relative to control point camera lens；And obtain the focal length value that camera lens monitoring boats and ships need；Control The Cloud Terrace deflection and regulation camera lens to corresponding focal length value；Repeat the above steps, it is achieved the CCTV control point camera lens tracing and monitoring to boats and ships.The present invention can guarantee that during tracing and monitoring, and different size, the ratio that the boats and ships of different courses state are shared in monitored picture are identical, reach preferable tracing and monitoring effect.
Description
Technical field
The present invention relates to a kind of CCTV and ship tracking is monitored method, particularly to a kind of vessel traffic navigation be
In system, CCTV monitors method to ship tracking, belongs to the technical field of ship monitor.
Background technology
In VTS system (vessel traffic navigation system), including subsystem have: Radar Sub System, VHF
Subsystem, AIS subsystem, CCTV subsystem, database subsystem etc..Radar Sub System is swept by radar
Retouch and actively vessel position and the voyage conditions of radar overlay area is detected；VHF subsystem passes through VHF
Emphasis boats and ships in monitored space are manually indicated and follow the tracks of by communication system；AIS subsystem is by being arranged on ship
On AIS ship platform send the mmsi of boats and ships, longitude and latitude, the speed of a ship or plane, course, dimension of ship, drauht etc.
Information, is received the AIS information of boats and ships, it is achieved the tracking to AIS ship oceangoing ship by the bank base AIS station；Closed-circuit television
Monitoring system CCTV (for the abbreviation of Closed CircuitTelevision System) is with video recording as information
The site supervision means intuitively of acquisition means, can be directly acquainted with the boat of on-the-spot boats and ships by CCTV subsystem
The information such as row situation and Ship Types；The information such as database subsystem preserves the basic document of boats and ships, boats and ships are broken rules and regulations.
For emphasis boats and ships, as dangerous goods shipping, passenger steamer, visitor's roller and other need the boats and ships of key monitoring,
When boats and ships enter the emphasis waters of navigation scheduling, it is to be understood that where not only, speed of a ship or plane course is how many, and
It is also required to that this kind of boats and ships are carried out scene supervise in overall process, it is achieved the automatic all-the-way tracking of CCTV camera, to guarantee this
The navigation safety of class boats and ships, therefore realizes CCTV and is very important ship tracking monitoring.Traditional with
In track monitoring implementation method, only account for the latitude and longitude information of boats and ships, without reference to the water of different monitoring time period
The information such as position, the length of boats and ships, width, boats and ships water surface level above, course, can cause different size or same
The sample ratio that the boats and ships in course account in monitored picture that varies in size is excessive or too small, it is also possible to cause some water level
In the case of boats and ships can not be monitored accurately, thus can not reach good tracing and monitoring effect.
Summary of the invention
The technical problem to be solved is to overcome the deficiencies in the prior art, it is provided that a kind of vessel traffic is led
In boat system, CCTV monitors method to ship tracking, it is achieved that the CCTV tracing and monitoring to boats and ships, and
The ratio phase shared in monitored picture of boats and ships of different size, different courses state during tracing and monitoring
With, reach preferable tracing and monitoring effect.
The present invention solves above-mentioned technical problem the most by the following technical solutions:
In a kind of vessel traffic navigation system, CCTV monitors method to ship tracking, comprises the following steps:
(1) longitude and latitude and the height of the distance of camera lens water surface of CCTV control point camera lens are obtained；
(2) boats and ships height, width and the length of monitored boats and ships are obtained；
(3) the monitored longitude and latitude of boats and ships, course, the speed of a ship or plane, drinking water information and data genaration time are obtained in real time；
(4) extract the longitude and latitude of monitored boats and ships of up-to-date acquisition, course, the speed of a ship or plane and with the data genaration time,
Prediction obtains the longitude and latitude of monitored boats and ships current location；By longitude and latitude and the prison of monitored boats and ships current location
The calculation of longitude & latitude of control point camera lens obtains monitored boats and ships relative to the X deflection angle of control point camera lens and water
Flat distance；
(5) being monitored boats and ships according to the height of monitored boats and ships and the drinking water information acquisition of current time acquisition ought
Front water surface level above, the water surface level above current further according to monitored boats and ships and acquired control point
It is relative that the height of the distance of camera lens water surface, the horizontal range of monitored boats and ships to camera lens calculate the monitored boats and ships of acquisition
Vertical deflection angle in control point camera lens；
(6) according to the water surface that the length of monitored boats and ships obtained, width, course and monitored boats and ships are current
Level above, control point camera lens calculate what acquisition camera lens monitoring boats and ships needed to the horizontal range of monitored boats and ships
Focal length value；
(7) control the X deflection angle that calculates to step (4) of cloud platform rotation and step (5) calculates
Vertical deflection angle, and the focal length value calculated to step (6) by The Cloud Terrace regulation camera lens；
(8) above-mentioned (3) to (7) step is repeated, it is achieved the CCTV control point camera lens tracing and monitoring to boats and ships.
Further, as an optimal technical scheme of the present invention: described step (5) obtains monitored boats and ships
Relative to the computational methods of the vertical deflection angle, θ of control point camera lens it is:
θ '=arctan ((H-h/n)/d)
θ=-θ '
Wherein, H is the height of the control point distance of camera lens water surface；H is more than the water surface that monitored boats and ships are current
Highly；D is the monitored boats and ships horizontal ranges to control point camera lens；N is coefficient, and 0 < n < h.
Further, as an optimal technical scheme of the present invention: described step (6) calculates and obtains camera lens prison
The computational methods of the focal length value that control boats and ships need comprise the following steps:
Step (6-1) obtains the monitored boats and ships actual range D to control point camera lens, wherein
D=sqrt (d2+(H-h/n)2)
In formula, d is the monitored boats and ships horizontal ranges to control point camera lens；H is control point distance of camera lens water
The height in face；N is coefficient, and 0 < n < h；
Step (6-2) determines the angle α of monitored ship course and control point camera lens tangential direction, reentry by
Monitoring boats and ships projected length L in control point camera lens, wherein
L=max (l*cos α, w)
In formula, l is the length of monitored boats and ships；W is the height of monitored boats and ships；
Step (6-3) according to the monitored boats and ships obtained actual projected length L in control point camera lens and
Current water surface level above h calculates respectively and obtains two focal length value f1 and f2 that camera lens monitoring boats and ships need,
Wherein
F1=vD/L
F2=uD/h
In formula, v represents monitored boats and ships imaging width on ccd target surface；U represents that monitored boats and ships are at ccd
Image height on target surface；
Two focal length value f1 and f2 that the camera lens monitoring boats and ships that step (6-4) is obtained from step (6-3) need
Choose smaller value as the focal length value f being actually needed, i.e. f=min (f1, f2).
Further, as an optimal technical scheme of the present invention: the value of described coefficient n is 2.
Further, as an optimal technical scheme of the present invention: described step (5) obtains control point mirror
The height of the head distance water surface comprises the following steps:
Step (5-1) presets several time periods, and obtains control point distance of camera lens water under each time period respectively
The height in face；
Step (5-2) determines the time period at place according to current time, will obtain control point camera lens under this time period
The height of the distance water surface is as the height of the current acquired control point distance of camera lens water surface.
The present invention uses technique scheme, can produce following technique effect:
(1) in the vessel traffic navigation system of the present invention, CCTV monitors method to ship tracking, comprehensively examines
Consider monitored vessel position longitude and latitude, length, width, highly, currently to absorb water information, course, the speed of a ship or plane etc. many
Ship tracking is monitored by the CCTV of factor, and ensures during tracing and monitoring, different size, difference
The boats and ships of course state ratio shared by monitored picture is identical, it is achieved the CCTV tracing and monitoring to boats and ships,
Reach preferable tracing and monitoring effect.
Accompanying drawing explanation
Fig. 1 be the present invention vessel traffic navigation system in CCTV to ship tracking monitoring method schematic flow sheet.
Fig. 2 is the monitored boats and ships schematic diagram relative to control point camera lens vertical deflection angle calculation of the present invention.
Detailed description of the invention
Below in conjunction with Figure of description, embodiments of the present invention are described.
As it is shown in figure 1, the present invention devises CCTV in a kind of vessel traffic navigation system, ship tracking is supervised
Prosecutor method, on the basis of vessel traffic navigation system, makes improvement at CCTV in ship tracking monitoring,
Specifically include following steps:
(1) longitude and latitude and the height of the distance water surface of CCTV control point camera lens are measured；Measure the distance of camera lens water surface
Height can only measure one group of data in one day, it is also possible to different time sections measure many groups of acquisition
Data；Organize measurement data to obtain more, one day is set as several time periods, and divides under each time period
Not Huo Qu one group of data of height of the control point distance of camera lens water surface, by measuring to obtain the different time of a day
Section lower CCTV control point distance of camera lens water surface elevation.
(2) the AIS system from vessel traffic navigation system obtains boats and ships MMIS or user manually will be supervised
Control boats and ships associate with the ship information in data base, obtain monitored the boats and ships height of boats and ships, width from data base
Degree and length information.
(3) in real time the AIS system from vessel traffic navigation system or radar system obtain monitored boats and ships
Longitude and latitude, course, the speed of a ship or plane, drinking water information and data genaration time.
(4) extract the longitude and latitude of monitored boats and ships of up-to-date acquisition, course, the speed of a ship or plane and with the data genaration time,
Prediction obtains the longitude and latitude of monitored boats and ships current location；By longitude and latitude and the prison of monitored boats and ships current location
The calculation of longitude & latitude of control point camera lens obtains monitored boats and ships relative to the X deflection angle of control point camera lens and water
Flat distance.
(5) being monitored boats and ships according to the height of monitored boats and ships and the drinking water information acquisition of current time acquisition ought
Front water surface level above, according to the time period in current time comparison step (1), determines current time institute
Time period, using obtain the control point distance of camera lens water surface under this time period height as current acquired prison
The height of the control point distance of camera lens water surface；The water surface level above current further according to monitored boats and ships is acquired with current
The height of the control point distance of camera lens water surface, the horizontal range of monitored boats and ships to camera lens calculates and obtains the ship that is monitored
Oceangoing ship is relative to the vertical deflection angle of control point camera lens.Computational methods are: as in figure 2 it is shown, be the quilt of the present invention
Monitoring boats and ships are relative to the schematic diagram of control point camera lens vertical deflection angle calculation, if the control point distance of camera lens water surface
Height be H, the current water surface level above of monitored boats and ships is that (height of monitored boats and ships deducts boats and ships to h
Currently absorb water height), the horizontal range of monitored boats and ships to control point camera lens is d, and sets coefficient n, then by
Monitoring boats and ships relative to the computing formula of the vertical deflection angle, θ of control point camera lens are:
θ '=arctan ((H-h/n)/d) (1)
θ=-θ ' (2)
In formula (2), vertical deflection angle, θ takes negative value and represents it is to deflect down；The prison of camera lens is controlled by h/n
The part of boats and ships vertical direction, desirable 0 < n < Arbitrary Digit in h of n are pointed in control picture center.
When coefficient n value is 2, monitored boats and ships are based on the vertical deflection angle, θ of control point camera lens
Calculation formula is:
θ ＇=arctan ((H-h/2)/d) (3)
Thus under state, boats and ships vertical direction center is pointed at the monitored picture center of control point camera lens, carries further
The high monitoring effect to boats and ships.
(6) according to the water surface that the length of monitored boats and ships obtained, width, course and monitored boats and ships are current
Level above, control point camera lens calculate what acquisition camera lens monitoring boats and ships needed to the horizontal range of monitored boats and ships
Focal length value.Computational methods are: the first angle α of the tangential direction of Ship ' course and camera lens, the calculating of α
Method is: set the monitored boats and ships that calculate in step (4) X deflection angle relative to control point camera lens
For γ, then the triangular angular at the position of a shot at boats and ships place has two, is respectively as follows:
κ1=(γ+90) %360 (4)
κ2=(γ+270) %360 (5)
Wherein, in above-mentioned formula (4) and (5), " % " refers to remainder number.
If the course of boats and ships is ψ, then ship course with the angle α of camera lens tangential direction is:
α=min (abs (κ1-ψ),abs(κ2-ψ)) (6)
If boats and ships captain is l, the beam is w, and the height of the camera lens current distance water surface is H, the current water surface of boats and ships
Level above is h, and the horizontal range of boats and ships to camera lens is d, and sets coefficient n, then boats and ships are to the reality of camera lens
The expression formula of border distance D is:
D=sqrt (d2+(H-h/n)2) (7)
In formula (7), sparse n takes 0 < n < Arbitrary Digit in h, it may be preferred to coefficient n value is 2.
During by monitored ship course difference, monitored boats and ships projected length in control point camera lens is the most not
With.During monitored boats and ships normal/cruise, the direction of hull is consistent with course, when monitored boats and ships are along control point
When the tangential direction of camera lens travels, monitored boats and ships projected length in control point camera lens is boat length, when
Monitored boats and ships along camera lens radial direction travels time, the boats and ships projected length in control point camera lens that is monitored is ship
Oceangoing ship width.The computing formula of monitored boats and ships projected length L in camera lens is as follows:
L=max (l*cos α, w) (8)
Current further according to the monitored boats and ships actual projected length L in control point camera lens and monitored boats and ships
Water surface level above h, calculates two focal length value f1 and f2 respectively, and computing formula is as follows:
F1=vD/L (9)
F2=uD/h (10)
In above-mentioned two formula: v represents the width of image, the boats and ships that are i.e. monitored become image width on ccd target surface
Degree；U represents the height of image, and be i.e. monitored boats and ships image height on ccd target surface.
In order to ensure in the monitoring image of control point camera lens it can be seen that complete boats and ships image, actual focal length
Value f can take the expression formula of the smaller value in two focal length values, i.e. focal distance f:
F=min (f1, f2) (11)
(7) control the X deflection angle that calculates to step (4) of cloud platform rotation and step (5) calculates
Vertical deflection angle, and the focal length value calculated to step (6) by The Cloud Terrace regulation camera lens.
(8) above-mentioned (3) to (7) step is repeated, it is achieved the CCTV control point camera lens tracing and monitoring to boats and ships.
To sum up, in the vessel traffic navigation system of the present invention, CCTV monitors method to ship tracking, comprehensively examines
Consider monitored vessel position longitude and latitude, length, width, highly, currently to absorb water information, course, the speed of a ship or plane etc. many
Ship tracking is monitored by the CCTV of factor, and ensures during tracing and monitoring, different size, difference
The boats and ships of course state ratio shared by monitored picture is identical, it is achieved the CCTV tracing and monitoring to boats and ships,
Reach preferable tracing and monitoring effect.
Above in conjunction with accompanying drawing, embodiments of the present invention are explained in detail, but the present invention is not limited to above-mentioned
Embodiment, in the ken that those of ordinary skill in the art are possessed, it is also possible to without departing from the present invention
Make a variety of changes on the premise of objective.Any change done on the basis of technical scheme, all falls
Within entering scope.
Claims (5)
1. the method that in a vessel traffic navigation system, ship tracking is monitored by CCTV, it is characterised in that include
Following steps:
(1) longitude and latitude and the height of the distance of camera lens water surface of CCTV control point camera lens are obtained；
(2) boats and ships height, width and the length of monitored boats and ships are obtained；
(3) the monitored longitude and latitude of boats and ships, course, the speed of a ship or plane, drinking water information and data genaration time are obtained in real time；
(4) extract the longitude and latitude of monitored boats and ships of up-to-date acquisition, course, the speed of a ship or plane and with the data genaration time,
Prediction obtains the longitude and latitude of monitored boats and ships current location；By longitude and latitude and the prison of monitored boats and ships current location
The calculation of longitude & latitude of control point camera lens obtains monitored boats and ships relative to the X deflection angle of control point camera lens and water
Flat distance；
(5) being monitored boats and ships according to the height of monitored boats and ships and the drinking water information acquisition of current time acquisition ought
Front water surface level above, the water surface level above current further according to monitored boats and ships and acquired control point
It is relative that the height of the distance of camera lens water surface, the horizontal range of monitored boats and ships to camera lens calculate the monitored boats and ships of acquisition
Vertical deflection angle in control point camera lens；
(6) according to the water surface that the length of monitored boats and ships obtained, width, course and monitored boats and ships are current
Level above, control point camera lens calculate what acquisition camera lens monitoring boats and ships needed to the horizontal range of monitored boats and ships
Focal length value；
(7) control the X deflection angle that calculates to step (4) of cloud platform rotation and step (5) calculates
Vertical deflection angle, and the focal length value calculated to step (6) by The Cloud Terrace regulation camera lens；
(8) above-mentioned (3) to (7) step is repeated, it is achieved the CCTV control point camera lens tracing and monitoring to boats and ships.
The method that the most according to claim 1, in vessel traffic navigation system, ship tracking is monitored by CCTV, its
It is characterised by: described step (5) obtains the monitored boats and ships vertical deflection angle, θ relative to control point camera lens
Computational methods are:
θ ＇=arctan ((H-h/n)/d)
θ=-θ '
Wherein, H is the height of the control point distance of camera lens water surface；H is more than the water surface that monitored boats and ships are current
Highly；D is the monitored boats and ships horizontal ranges to control point camera lens；N is coefficient, and 0 < n < h.
The method that the most according to claim 2, in vessel traffic navigation system, ship tracking is monitored by CCTV, its
Be characterised by: described step (6) calculate the computational methods of focal length value obtaining camera lens monitoring boats and ships and needing include with
Lower step:
Step (6-1) obtains the monitored boats and ships actual range D to control point camera lens, wherein
D=sqrt (d2+(H-h/n)2)
In formula, d is the monitored boats and ships horizontal ranges to control point camera lens；H is control point distance of camera lens water
The height in face；H is the water surface level above that monitored boats and ships are current；N is coefficient, and 0 < n < h；
Step (6-2) determines the angle α of monitored ship course and control point camera lens tangential direction, reentry by
Monitoring boats and ships projected length L in control point camera lens, wherein
L=max (l*cos α, w)
In formula, l is the length of monitored boats and ships；W is the height of monitored boats and ships；
Step (6-3) according to the monitored boats and ships obtained actual projected length L in control point camera lens and
Current water surface level above h calculates respectively and obtains two focal length value f1 and f2 that camera lens monitoring boats and ships need,
Wherein
F1=vD/L
F2=uD/h
In formula, v represents monitored boats and ships imaging width on ccd target surface；U represents that monitored boats and ships are at ccd
Image height on target surface；
Two focal length value f1 and f2 that the camera lens monitoring boats and ships that step (6-4) is obtained from step (6-3) need
Choose smaller value as the focal length value f being actually needed, i.e. f=min (f1, f2).
The method that the most according to claim 2, in vessel traffic navigation system, ship tracking is monitored by CCTV, its
It is characterised by: the value of described coefficient n is 2.
The method that the most according to claim 1, in vessel traffic navigation system, ship tracking is monitored by CCTV, its
It is characterised by: described step (5) obtains the height of the control point distance of camera lens water surface and comprises the following steps:
Step (5-1) presets several time periods, and obtains control point distance of camera lens water under each time period respectively
The height in face；
Step (5-2) determines the time period at place according to current time, will obtain control point camera lens under this time period
The height of the distance water surface is as the height of the current acquired control point distance of camera lens water surface.
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| CN105430326A (en) * | 2015-11-03 | 2016-03-23 | 中国电子科技集团公司第二十八研究所 | Smooth CCTV (Closed Circuit Television System) ship video tracking method |
| CN107566802A (en) * | 2017-09-27 | 2018-01-09 | 福建四创软件有限公司 | It is a kind of based on AIS, video monitoring port in ship GIS positional information searching methods |
| CN109001777A (en) * | 2018-05-15 | 2018-12-14 | 中国水产科学研究院南海水产研究所 | Bimodulus Shipborne terminal and method based on big dipper satellite navigation system positioning communication |
| CN108712633B (en) * | 2018-05-18 | 2020-05-05 | 中船重工鹏力（南京）大气海洋信息系统有限公司 | Monitoring method for simultaneously tracking ship relay by multi-channel CCTV |
| CN111724629B (en) * | 2020-06-23 | 2021-10-29 | 上海埃威航空电子有限公司 | AIS ship track extrapolation method for video monitoring system |
| CN112164097B (en) * | 2020-10-20 | 2024-03-29 | 南京莱斯网信技术研究院有限公司 | Ship video detection sample collection method |
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| JP2002042140A (en) * | 2000-07-28 | 2002-02-08 | Mitsubishi Electric Corp | Moving object measuring device and traffic flow measured image processing device |
| CN104010167A (en) * | 2014-06-16 | 2014-08-27 | 交通运输部天津水运工程科学研究所 | Real-time virtual ship video displaying method for AIS data |
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| KR101045323B1 (en) * | 2011-04-07 | 2011-06-29 | (주)에디넷 | Realtime image control system using multiple view point camera and control method therefor |
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| JP2002042140A (en) * | 2000-07-28 | 2002-02-08 | Mitsubishi Electric Corp | Moving object measuring device and traffic flow measured image processing device |
| CN104010167A (en) * | 2014-06-16 | 2014-08-27 | 交通运输部天津水运工程科学研究所 | Real-time virtual ship video displaying method for AIS data |
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Effective date of registration: 20230802 Address after: 211106 No. 32, Changqing street, Jiangning Development Zone, Nanjing, Jiangsu Patentee after: China Shipbuilding Pengli (Nanjing) Atmospheric and Ocean Information System Co.,Ltd. Patentee after: CSSC Pengli (Nanjing) Technology Group Co.,Ltd. Patentee after: JIANGSU MARITIME SAFETY ADMINISTRATION OF THE PEOPLE'S REPUBLIC OF CHINA Address before: 211106 No. 32, Changqing street, Jiangning Development Zone, Nanjing, Jiangsu Patentee before: CSSC Pengli (Nanjing) Technology Group Co.,Ltd. Patentee before: JIANGSU MARITIME SAFETY ADMINISTRATION OF THE PEOPLE'S REPUBLIC OF CHINA Patentee before: CSIC PRIDE(Nanjing)Intelligent Equipment System Co.,Ltd |