CN110971816A - Camera adjusting method and device based on ship position - Google Patents
Camera adjusting method and device based on ship position Download PDFInfo
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- CN110971816A CN110971816A CN201911096382.1A CN201911096382A CN110971816A CN 110971816 A CN110971816 A CN 110971816A CN 201911096382 A CN201911096382 A CN 201911096382A CN 110971816 A CN110971816 A CN 110971816A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/67—Focus control based on electronic image sensor signals
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Abstract
The invention discloses a camera adjusting method and device based on ship positions, which are used for improving the efficiency of capturing ships and saving labor cost. The method comprises the following steps: receiving an AIS signal broadcast by a target vessel; determining position information of the target vessel relative to the camera according to the AIS signal broadcast by the target vessel; the camera is adjusted based on the position information of the target vessel relative to the camera. By adopting the scheme provided by the invention, after the AIS signal broadcasted by the target ship is received, the position information of the target ship relative to the camera can be automatically determined according to the AIS signal broadcasted by the target ship; the camera is adjusted according to the position information of the target ship relative to the camera, so that the camera can be automatically adjusted based on the ship position, the efficiency of capturing the ship is improved, and the labor cost is saved.
Description
Technical Field
The invention relates to the technical field of internet, in particular to a camera adjusting method and device based on ship positions.
Background
At present, in the business field of maritime management, ships need to be monitored, and particularly, the ships are monitored through a pan-tilt camera.
An Automatic Identification System (AIS) for ships is a novel navigation aid System applied to marine safety and communication between ships and shore and between ships, can form a marine traffic management and monitoring network, is a System capable of obtaining information of passing ships without radar detection, and can effectively reduce collision accidents of ships, in the prior art, when the AIS System is used for marine video monitoring, the adjustment of a rotating angle of a cradle head and an optical magnification of a machine core are mainly controlled by manpower, so that in the existing video monitoring System, as the rotating angle of the cradle head and the optical magnification of the machine core are mainly controlled by manpower, a monitoring camera cannot efficiently capture a ship target, and a large amount of labor cost is consumed, how to provide a scheme can automatically adjust the camera based on the position of the ship, thereby improving the capturing efficiency, the labor cost is saved, which is a technical problem to be solved urgently.
Disclosure of Invention
The invention provides a camera adjusting method and device based on ship positions, which are used for improving the efficiency of capturing ships and saving labor cost.
The invention provides a camera adjusting method based on ship positions, which comprises the following steps:
receiving an AIS signal broadcast by a target vessel;
determining position information of the target vessel relative to a camera based on the AIS signals broadcast by the target vessel;
adjusting the camera according to the position information of the target vessel relative to the camera.
The beneficial effect of this embodiment lies in: after receiving the AIS signal broadcasted by the target ship, automatically determining the position information of the target ship relative to the camera according to the AIS signal broadcasted by the target ship; the camera is adjusted according to the position information of the target ship relative to the camera, so that the camera can be automatically adjusted based on the ship position, the ship capturing efficiency is improved, and the labor cost is saved.
In one embodiment, determining position information of the target vessel relative to a camera based on the AIS signals of the target vessel comprises:
extracting longitude and latitude information of the target ship carried in the AIS information from the AIS signal broadcasted by the target ship;
determining longitude and latitude information of the camera;
and calculating the position information of the target ship relative to the camera according to the longitude and latitude information of the target ship and the longitude and latitude information of the camera.
In one embodiment, determining position information of the target vessel relative to a camera based on the AIS signals of the target vessel comprises:
acquiring information of all AIS signals broadcasted by the target ship and received by a preset number of base stations;
acquiring the time difference of the same AIS signal broadcasted by the target ship received by each base station according to the communication data;
and calculating the position information of the target ship relative to the camera according to the time difference of the same AIS signal broadcasted by the target ship received by each base station.
In one embodiment, determining position information of the target vessel relative to a camera based on the AIS signals of the target vessel comprises:
acquiring longitude and latitude information of the target ship carried in the AIS signal;
acquiring positioning information of the target ship according to a GPS;
comparing the longitude and latitude information of the target ship with the positioning information of the target ship to judge whether the error between the longitude and latitude information of the target ship and the positioning information of the target ship is smaller than a preset error or not;
and when the error between the longitude and latitude information of the target ship and the positioning information of the target ship is smaller than a preset error, calculating the position information of the target ship relative to the camera according to the longitude and latitude information of the target ship and the longitude and latitude information of the camera.
The method has the advantages that the position of the ship can be acquired simultaneously based on the AIS signal and the GPS signal, and then when the error between the longitude and latitude information of the target ship and the positioning information of the target ship is smaller than the preset error, the position information of the target ship relative to the camera is calculated according to the longitude and latitude information of the target ship and the longitude and latitude information of the camera, so that the error generated when the position of the target ship is determined is reduced.
In one embodiment, said adjusting a camera according to position information of said target vessel comprises:
acquiring the distance and the orientation of the target ship relative to the camera according to the position information of the target ship relative to the camera;
controlling a pan-tilt head where the camera is located to rotate according to the orientation of the target vessel relative to the camera so as to enable the camera to be aligned with the target vessel;
and adjusting the optical magnification and the focal length of the camera movement according to the distance between the target ship and the camera.
The beneficial effect of this embodiment lies in: the pan/tilt head on which the camera is located can be controlled to rotate based on the orientation of the target vessel relative to the camera to aim the camera at the target vessel; and the optical magnification and the focal length of the camera core can be adjusted according to the distance between the target ship and the camera, the shooting angle of the camera and the focal length of the camera can be adjusted simultaneously, and a clearer ship image can be shot in time.
In one embodiment, when the AIS information broadcast by the target vessel includes a plurality, the method further comprises:
extracting a plurality of AIS signals transmitted by a target ship;
ordering the longitude and latitude information carried in the received AIS signal;
and estimating the course and the ship speed of the target ship in the current time period according to the sorted longitude and latitude information.
In one embodiment, the method further comprises:
acquiring the course and the ship speed of the target ship in the current time period;
estimating the rotation speed of the camera by combining the course and the ship speed of the target ship in the current time period and the distance between the target ship and the camera to obtain an estimated first rotation speed;
rotating the camera according to the estimated first rotating speed;
judging whether the course and/or the ship speed of the target ship in the next time period are/is changed or not in the process of rotating the camera according to the first rotating speed;
when the camera does not change, continuing to rotate the camera according to the estimated first rotation speed;
when the change occurs, the rotation angle of the camera is estimated again to obtain an estimated second rotation speed;
and adjusting the rotation speed of the camera to a second rotation speed.
The beneficial effect of this embodiment lies in: the rotation angle of the camera can be estimated based on the course and the speed of the ship and the distance between the target ship and the camera, so that the ship can be always in the shooting range of the camera.
The invention also provides a camera adjusting device based on the ship position, which comprises:
the receiving module is used for receiving the AIS signals broadcasted by the target ship;
a determining module for determining the position information of the target vessel relative to the camera according to the AIS signal broadcast by the target vessel;
and the adjusting module is used for adjusting the camera according to the position information of the target ship relative to the camera.
In one embodiment, the determining module includes:
the third acquisition submodule is used for acquiring the longitude and latitude information of the target ship carried in the AIS signal;
the fourth acquisition submodule is used for acquiring the positioning information of the target ship according to the GPS;
the comparison submodule is used for comparing the longitude and latitude information of the target ship with the positioning information of the target ship so as to judge whether the error between the longitude and latitude information of the target ship and the positioning information of the target ship is smaller than a preset error or not;
and the third calculation sub-module is used for calculating the position information of the target ship relative to the camera according to the longitude and latitude information of the target ship and the longitude and latitude information of the camera when the error between the longitude and latitude information of the target ship and the positioning information of the target ship is smaller than a preset error.
In one embodiment, the apparatus is further configured to:
when the AIS information broadcasted by the target ship comprises a plurality of AIS signals, extracting the plurality of AIS signals transmitted by the target ship;
ordering the longitude and latitude information carried in the received AIS signal;
estimating the course and the ship speed of the target ship in the current time period according to the sorted longitude and latitude information;
acquiring the course and the ship speed of the target ship in the current time period;
estimating the rotation speed of the camera by combining the course and the ship speed of the target ship in the current time period and the distance between the target ship and the camera to obtain an estimated first rotation speed;
rotating the camera according to the estimated first rotating speed;
judging whether the course and/or the ship speed of the target ship in the next time period are/is changed or not in the process of rotating the camera according to the first rotating speed;
when the camera does not change, continuing to rotate the camera according to the estimated first rotation speed;
when the change occurs, the rotation angle of the camera is estimated again to obtain an estimated second rotation speed;
and adjusting the rotation speed of the camera to a second rotation speed.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a flow chart of a method for camera adjustment based on vessel position in one embodiment of the present invention;
FIG. 2A is a flow chart of a method for camera adjustment based on vessel position in accordance with an embodiment of the present invention;
FIG. 2B is a schematic diagram of the structure of the pan/tilt head and camera movement according to an embodiment of the present invention;
FIG. 3 is a block diagram of a camera adjustment device based on vessel position in one embodiment of the present invention;
fig. 4 is a block diagram of a camera adjustment device based on a ship position according to an embodiment of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
Fig. 1 is a flowchart of a method for adjusting a camera based on a ship position according to an embodiment of the present invention, and as shown in fig. 1, the method may be implemented as the following steps S101 to S103:
in step S101, receiving an AIS signal broadcast by a target vessel;
in step S102, determining position information of the target vessel relative to the camera based on the AIS signal broadcast by the target vessel;
in step S103, the camera is adjusted according to the position information of the target vessel relative to the camera.
The execution main body of the invention can be equipment which can receive AIS signals of the passing ships and can control the pan-tilt camera through wires or wireless, in particular, the AIS signals reported by the passing ships through broadcasting are received, and then the position information of the ships relative to the camera is determined according to the AIS signals broadcasted by the ships; the camera is adjusted based on the position information of the target vessel relative to the camera. Specifically, the cradle head can be rotated according to the position of the ship relative to the camera so as to achieve the purpose of adjusting the shooting angle of the camera, and the optical magnification and the focal length of the camera core can be adjusted according to the distance of the ship relative to the camera.
In addition, it should be noted that the target ship broadcast AIS signals are broadcasted according to a preset frequency, a plurality of AIS signals broadcasted by the target ship can be continuously received locally, then the latitude and longitude information carried in the received AIS signals is sequenced, and the course and the ship speed of the target ship are predicted according to the sequenced latitude and longitude information. When the camera is adjusted, the rotating direction of the holder can be adjusted based on the course and the ship speed of the target ship, and the ship can be ensured to be always in the shooting range of the camera. Of course, the target vessel's heading and speed may also be carried in the AIS signal. Meanwhile, the course and the ship speed of the target ship may change according to the change of time, so that when the change of the course and/or the ship speed of the target ship is detected according to the AIS signal, the course and the ship speed of the target ship can be predicted again, and then the rotating speed of the camera is adjusted again according to the course and the ship speed of the target ship.
The beneficial effect of this embodiment lies in: after receiving the AIS signal broadcasted by the target ship, the position information of the target ship relative to the camera can be automatically determined according to the AIS signal broadcasted by the target ship; the camera is adjusted according to the position information of the target ship relative to the camera, so that the camera can be automatically adjusted based on the ship position, the efficiency of capturing the ship is improved, and the labor cost is saved.
In one embodiment, the above step S102 can be implemented as the following steps A1-A3:
in step a1, extracting the latitude and longitude information of the target vessel carried in the AIS information from the AIS signal broadcast by the target vessel;
in step a2, determining latitude and longitude information of the camera;
in step a3, position information of the target vessel relative to the camera is calculated based on the latitude and longitude information of the target vessel and the latitude and longitude information of the camera.
In this embodiment, the received AIS signal carries the longitude and latitude information of the ship, and the longitude and latitude information of the camera is also stored locally, and when the longitude and latitude information of the ship carried in the AIS signal is received, the position information of the target ship relative to the camera can be calculated by combining the prestored longitude and latitude information of the camera.
In one embodiment, as shown in FIG. 2A, the above step S102 can be implemented as the following steps S201-S203:
in step S201, obtaining information of all AIS signals broadcasted by a target vessel received by a preset number of base stations;
in step S202, acquiring the time difference of the same AIS signal broadcasted by the target ship received by each base station according to the communication data;
in step S203, position information of the target vessel relative to the camera is calculated from the time difference at which the same AIS signal broadcast by the target vessel is received by each base station.
The AIS signals are propagated in the form of radio waves, although the propagation speed is high, when the positions of the base stations are different and the distance of each base station is long, time difference still exists between the time of the AIS signals propagated to each base station.
In one embodiment, the above step S102 can be implemented as the following steps B1-B4:
in step B1, acquiring latitude and longitude information of the target ship carried in the AIS signal;
in step B2, acquiring positioning information of the target vessel according to the GPS;
in step B3, comparing the longitude and latitude information of the target ship with the positioning information of the target ship to determine whether the error between the longitude and latitude information of the target ship and the positioning information of the target ship is less than a preset error;
in step B4, when the error between the latitude and longitude information of the target vessel and the positioning information of the target vessel is less than the preset error, the position information of the target vessel relative to the camera is calculated according to the latitude and longitude information of the target vessel and the latitude and longitude information of the camera.
The ship position determining method has the advantages that the ship position can be obtained simultaneously based on the AIS signals and the GPS signals, and then when the errors of the longitude and latitude information of the target ship and the positioning information of the target ship are smaller than the preset errors, the position information of the target ship relative to the camera is calculated according to the longitude and latitude information of the target ship and the longitude and latitude information of the camera, so that errors generated when the position of the target ship is determined are reduced.
In one embodiment, the above step S103 may be implemented as the following steps C1-C3:
in step C1, the distance and orientation of the target vessel relative to the camera are obtained from the position information of the target vessel relative to the camera;
in step C2, controlling the pan-tilt head where the camera is located to rotate according to the orientation of the target ship relative to the camera, so that the camera is aligned with the target ship;
in step C3, the optical power and focal length of the camera movement are adjusted according to the distance of the target vessel relative to the camera.
In the embodiment, the distance and the direction of the target ship relative to the camera are obtained according to the position information of the target ship relative to the camera; then, calculating the deflection angle and the deflection direction of a shooting lens of the camera according to the direction of the camera; controlling a tripod head where the camera is located to rotate according to the deflection angle, so that the camera is aligned to the target ship; and adjusting the optical magnification and the focal length of the camera movement according to the distance between the target ship and the camera.
Fig. 2B is a schematic structural diagram of a cradle head and a camera core, in which an AIS module may be used as an execution main body of the present invention, and receives AIS signals broadcasted by a target ship through an antenna, and then calculates a position of the target ship relative to the cradle head, thereby controlling rotation of the cradle head and adjustment of optical magnifications and focal lengths of a visible light camera and a thermal imaging camera through communication with a cradle head main control board. The AIS module can be a processor arranged in the holder, and can also be other equipment used for remotely controlling the holder.
The beneficial effect of this embodiment lies in: the tripod head where the camera is located can be controlled to rotate based on the direction of the target ship relative to the camera, so that the camera is aligned to the target ship; the optical magnification and the focal length of the camera core can be adjusted according to the distance between the target ship and the camera, the shooting angle of the camera and the focal length of the camera can be adjusted simultaneously, and clearer ship images can be shot in time.
In one embodiment, when the AIS information broadcast by the target vessel includes a plurality, the method may be implemented as steps D1-D2:
extracting a plurality of AIS signals transmitted by the target vessel in step D1;
in step D2, sorting the latitude and longitude information carried in the received AIS signal;
in step D3, the heading and the speed of the target ship in the current time period are estimated according to the sorted latitude and longitude information.
In one embodiment, the method may also be implemented as steps E1-E7:
in step E1, acquiring the heading and the ship speed of the target ship in the current time period;
in step E2, estimating the rotation speed of the camera by combining the heading, the ship speed and the distance between the target ship and the camera in the current time period of the target ship to obtain an estimated first rotation speed;
in step E3, rotating the camera according to the estimated first rotation speed;
in step E4, in the process of rotating the camera according to the first rotating speed, determining whether the heading and/or the ship speed of the target ship in the next time period changes;
continuing to rotate the camera according to the estimated first rotation speed when no change occurs in step E5;
in step E6, when the change occurs, re-estimating the rotation angle of the camera to obtain an estimated second rotation speed;
in step E7, the rotational speed of the camera is adjusted to a second rotational speed.
In this embodiment, the local station may continuously receive the plurality of AIS signals broadcasted by the target vessel, then sort the latitude and longitude information carried in the received AIS signals, and predict the course and the ship speed of the target vessel according to the sorted latitude and longitude information. When the camera is adjusted, the rotating direction of the holder can be adjusted based on the course and the ship speed of the target ship, and the ship can be ensured to be always in the shooting range of the camera. And the course and the ship speed of the target ship may change according to the change of time, so that when the course and/or the ship speed of the target ship are/is detected to be changed according to the AIS signals, the course and the ship speed of the target ship can be predicted again, and then the rotating speed of the camera is adjusted again according to the course and the ship speed of the target ship.
The beneficial effect of this embodiment lies in: the rotation angle of the camera can be estimated based on the course and the speed of the ship and the distance between the target ship and the camera, so that the ship can be always in the shooting range of the camera.
Fig. 3 is a block diagram of a camera adjusting apparatus based on a ship position according to an embodiment of the present invention, as shown in fig. 3, the apparatus includes the following modules:
a receiving module 31 for receiving AIS signals broadcast by the target vessel;
a determining module 32 for determining the position information of the target vessel relative to the camera based on the AIS signals broadcast by the target vessel;
and an adjusting module 33 for adjusting the camera according to the position information of the target ship relative to the camera.
In one embodiment, as shown in fig. 4, the determination module 32 includes:
an extraction sub-module 41, configured to extract latitude and longitude information of the target ship carried in the AIS information from the AIS signal broadcast by the target ship;
a determining submodule 42 for determining latitude and longitude information of the camera;
and the first calculating submodule 43 is used for calculating the position information of the target ship relative to the camera according to the longitude and latitude information of the target ship and the longitude and latitude information of the camera.
In one embodiment, the determining module includes:
the first acquisition submodule is used for acquiring information of all AIS signals broadcasted by a target ship received by a preset number of base stations;
the second acquisition submodule is used for acquiring the time difference of the same AIS signal broadcasted by the target ship received by each base station according to the communication data;
and the second calculation submodule is used for calculating the position information of the target ship relative to the camera according to the time difference of the same AIS signal broadcasted by the target ship received by each base station.
In one embodiment, the determining module includes:
the third acquisition submodule is used for acquiring the longitude and latitude information of the target ship carried in the AIS signal;
the fourth acquisition submodule is used for acquiring the positioning information of the target ship according to the GPS;
the comparison submodule is used for comparing the longitude and latitude information of the target ship with the positioning information of the target ship so as to judge whether the error between the longitude and latitude information of the target ship and the positioning information of the target ship is smaller than a preset error or not;
and the third calculation sub-module is used for calculating the position information of the target ship relative to the camera according to the longitude and latitude information of the target ship and the longitude and latitude information of the camera when the error between the longitude and latitude information of the target ship and the positioning information of the target ship is smaller than the preset error.
In one embodiment, the adjustment module includes:
the fifth acquisition submodule is used for acquiring the distance and the direction of the target ship relative to the camera according to the position information of the target ship relative to the camera;
the control submodule is used for controlling the holder where the camera is positioned to rotate according to the direction of the target ship relative to the camera so as to enable the camera to be aligned with the target ship;
and the adjusting sub-module is used for adjusting the optical magnification and the focal length of the camera movement according to the distance between the target ship and the camera.
In one embodiment, the apparatus is further configured to:
when the AIS information broadcasted by the target ship comprises a plurality of AIS signals, extracting the plurality of AIS signals transmitted by the target ship;
ordering the longitude and latitude information carried in the received AIS signal;
estimating the course and the ship speed of the target ship in the current time period according to the sorted longitude and latitude information;
acquiring the course and the ship speed of the target ship in the current time period;
estimating the rotation speed of the camera by combining the course and the ship speed of the target ship in the current time period and the distance between the target ship and the camera to obtain an estimated first rotation speed;
rotating the camera according to the estimated first rotating speed;
judging whether the course and/or the ship speed of the target ship in the next time period are/is changed or not in the process of rotating the camera according to the first rotating speed;
when the camera does not change, continuing to rotate the camera according to the estimated first rotation speed;
when the change occurs, the rotation angle of the camera is estimated again to obtain an estimated second rotation speed;
and adjusting the rotation speed of the camera to a second rotation speed.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A method for camera adjustment based on vessel position, comprising:
receiving an AIS signal broadcast by a target vessel;
determining position information of the target vessel relative to a camera based on the AIS signals broadcast by the target vessel;
adjusting the camera according to the position information of the target vessel relative to the camera.
2. The method of claim 1, wherein determining the position information of the target vessel relative to a camera based on the AIS signals of the target vessel comprises:
extracting longitude and latitude information of the target ship carried in the AIS information from the AIS signal broadcasted by the target ship;
determining longitude and latitude information of the camera;
and calculating the position information of the target ship relative to the camera according to the longitude and latitude information of the target ship and the longitude and latitude information of the camera.
3. The method of claim 1, wherein determining the position information of the target vessel relative to a camera based on the AIS signals of the target vessel comprises:
acquiring information of all AIS signals broadcasted by the target ship and received by a preset number of base stations;
acquiring the time difference of the same AIS signal broadcasted by the target ship received by each base station according to the communication data;
and calculating the position information of the target ship relative to the camera according to the time difference of the same AIS signal broadcasted by the target ship received by each base station.
4. The method of claim 1, wherein determining the position information of the target vessel relative to a camera based on the AIS signals of the target vessel comprises:
acquiring longitude and latitude information of the target ship carried in the AIS signal;
acquiring positioning information of the target ship according to a GPS;
comparing the longitude and latitude information of the target ship with the positioning information of the target ship to judge whether the error between the longitude and latitude information of the target ship and the positioning information of the target ship is smaller than a preset error or not;
and when the error between the longitude and latitude information of the target ship and the positioning information of the target ship is smaller than a preset error, calculating the position information of the target ship relative to the camera according to the longitude and latitude information of the target ship and the longitude and latitude information of the camera.
5. The method of claim 1, wherein said adjusting a camera based on the position information of the target vessel comprises:
acquiring the distance and the orientation of the target ship relative to the camera according to the position information of the target ship relative to the camera;
controlling a pan-tilt head where the camera is located to rotate according to the orientation of the target vessel relative to the camera so as to enable the camera to be aligned with the target vessel;
and adjusting the optical magnification and the focal length of the camera movement according to the distance between the target ship and the camera.
6. The method of claims 1-5, wherein when the AIS information broadcast by the target vessel includes a plurality, the method further comprises:
extracting a plurality of AIS signals transmitted by a target ship;
ordering the longitude and latitude information carried in the received AIS signal;
and estimating the course and the ship speed of the target ship in the current time period according to the sorted longitude and latitude information.
7. The method of claim 6, wherein the method further comprises:
acquiring the course and the ship speed of the target ship in the current time period;
estimating the rotation speed of the camera by combining the course and the ship speed of the target ship in the current time period and the distance between the target ship and the camera to obtain an estimated first rotation speed;
rotating the camera according to the estimated first rotating speed;
judging whether the course and/or the ship speed of the target ship in the next time period are/is changed or not in the process of rotating the camera according to the first rotating speed;
when the camera does not change, continuing to rotate the camera according to the estimated first rotation speed;
when the change occurs, the rotation angle of the camera is estimated again to obtain an estimated second rotation speed;
and adjusting the rotation speed of the camera to a second rotation speed.
8. A camera adjustment device based on vessel position, comprising:
the receiving module is used for receiving the AIS signals broadcasted by the target ship;
a determining module for determining the position information of the target vessel relative to the camera according to the AIS signal broadcast by the target vessel;
and the adjusting module is used for adjusting the camera according to the position information of the target ship relative to the camera.
9. The apparatus of claim 6, wherein the means for determining comprises:
the third acquisition submodule is used for acquiring the longitude and latitude information of the target ship carried in the AIS signal;
the fourth acquisition submodule is used for acquiring the positioning information of the target ship according to the GPS;
the comparison submodule is used for comparing the longitude and latitude information of the target ship with the positioning information of the target ship so as to judge whether the error between the longitude and latitude information of the target ship and the positioning information of the target ship is smaller than a preset error or not;
and the third calculation sub-module is used for calculating the position information of the target ship relative to the camera according to the longitude and latitude information of the target ship and the longitude and latitude information of the camera when the error between the longitude and latitude information of the target ship and the positioning information of the target ship is smaller than a preset error.
10. The apparatus of claim 8 or 9, wherein the apparatus is further configured to:
when the AIS information broadcasted by the target ship comprises a plurality of AIS signals, extracting the plurality of AIS signals transmitted by the target ship;
ordering the longitude and latitude information carried in the received AIS signal;
estimating the course and the ship speed of the target ship in the current time period according to the sorted longitude and latitude information;
acquiring the course and the ship speed of the target ship in the current time period;
estimating the rotation speed of the camera by combining the course and the ship speed of the target ship in the current time period and the distance between the target ship and the camera to obtain an estimated first rotation speed;
rotating the camera according to the estimated first rotating speed;
judging whether the course and/or the ship speed of the target ship in the next time period are/is changed or not in the process of rotating the camera according to the first rotating speed;
when the camera does not change, continuing to rotate the camera according to the estimated first rotation speed;
when the change occurs, the rotation angle of the camera is estimated again to obtain an estimated second rotation speed;
and adjusting the rotation speed of the camera to a second rotation speed.
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| CN201911096382.1A CN110971816A (en) | 2019-11-11 | 2019-11-11 | Camera adjusting method and device based on ship position |
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