CN111385541A - Ship berthing real-time image tracking system and method - Google Patents

Ship berthing real-time image tracking system and method Download PDF

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Publication number
CN111385541A
CN111385541A CN202010306346.XA CN202010306346A CN111385541A CN 111385541 A CN111385541 A CN 111385541A CN 202010306346 A CN202010306346 A CN 202010306346A CN 111385541 A CN111385541 A CN 111385541A
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ship
beidou positioning
camera
controllable
controllable camera
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李楠
徐米清
王帆
江学文
王宇聪
魏勇
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Hangzhou Jiyi Technology Co ltd
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Hangzhou Jiyi Technology Co ltd
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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
    • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
    • 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
    • G01S19/40—Correcting position, velocity or attitude
    • G01S19/41—Differential correction, e.g. DGPS [differential GPS]
    • 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
    • H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
    • H04N23/661—Transmitting camera control signals through networks, e.g. control via the Internet
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/029—Location-based management or tracking services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]

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  • Engineering & Computer Science (AREA)
  • Signal Processing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Multimedia (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention discloses a real-time image tracking system and a method, in particular to a real-time image tracking system and a method for ship berthing, belonging to the technical field of wharf ship berthing, comprising a ship body, a first controllable camera, a second controllable camera, a third controllable camera, a switch, a control server, a video server, a monitoring screen, a Beidou positioning base station and a Beidou positioning mobile station, wherein the periphery of the ship body is provided with a plurality of temporary test points at the edge of the ship, the first controllable camera, the second controllable camera and the third controllable camera are fixedly arranged at the wharf shore, the switch is used for exchanging data, the control server is connected with the switch through a network cable, the monitoring screen is connected with the switch through the network cable, and the corresponding video stream is displayed, the Beidou positioning base station is connected with the switch through a network cable, and the Beidou positioning mobile station is installed on the ship body. By implementing the invention, the effects of ship berthing monitoring and piloting are improved, and the functional practicability is stronger.

Description

Ship berthing real-time image tracking system and method
Technical Field
The invention relates to the technical field of berthing of ships at wharfs, in particular to a system and a method for tracking berthing real-time images of ships.
Background
The ship navigation and berthing monitoring system mainly comprises an AIS (automatic identification system) and a radar monitoring system which are suitable for remote monitoring to dynamically track the ship navigation, and for monitoring and piloting before berthing at a wharf, the main method comprises a berthing auxiliary system based on a laser ranging technology and a ship tracking system utilizing a laser scanning technology, wherein the berthing auxiliary system monitors the offshore distance, the speed, the course and the like of the ship by measuring the offshore distance between a bow and a stern in real time, and the ship tracking system acquires the scanning data of the ship body in real time by utilizing laser scanning and establishes a 2D (two-dimensional) model of the ship body to track the ship.
The defects of the prior art are mainly as follows:
the prior art mainly utilizes laser ranging or scanning technology to realize ship tracking, and the most important defect is that only extremely short distance can be detected, generally about tens of meters to one hundred meters, which is not beneficial to improving berthing monitoring and piloting effects.
The 2D model established by laser scanning is a simulation model, which sometimes affects human visual judgment and cannot complete restoring a real scene.
In summary, a system and a method for real-time image tracking of ship berthing are needed to solve the disadvantages of the prior art.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a ship berthing real-time image tracking system and a ship berthing real-time image tracking method, and aims to solve the problems that the monitoring ship is short in offshore distance and simulation is not a real scene.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a boats and ships lean on to berth real-time image tracking system, including the boats and ships body, first controllable camera, the second controllable camera, the third controllable camera, the switch, control server, video server, the monitor screen, big dipper location basic station and big dipper location mobile station, be equipped with a plurality of boats and ships marginal temporary test points around the boats and ships body, first controllable camera, second controllable camera and third controllable camera fixed mounting are in pier bank, and the quantity of controllable camera is confirmed according to on-the-spot pier berth quantity and other demands, the switch is used for exchanging data, control server passes through the net twine and is connected with the switch, the monitor screen passes through the net twine and is connected with the switch, and show corresponding video stream, big dipper location basic station passes through the net twine and is connected with the switch, big dipper location mobile station is installed on the boats and ships body.
Furthermore, the first controllable camera, the second controllable camera and the third controllable camera are all provided with controllable cloud platforms, control lens pitching angle and rotation angle, and are connected with the switch through network cables.
Further, the control server receives the accurate positioning data of the ship body, calculates the distance between the ship body and the controllable camera, designates the controllable camera closest to the ship body by using an algorithm, sends the adjusting parameters to the selected controllable camera, and designates the video server to transmit the corresponding video stream to the monitoring screen.
Furthermore, the big dipper location basic station is provided with radio station, receives big dipper satellite signal to on sending the location difference signal of this station to the boats and ships body through radio station, receive big dipper location mobile station's accurate positioning information and forward to control server.
Further, the three one set of big dipper location mobile station distributes in bow and stern, is provided with the radio station, receives big dipper satellite signal, receives the location difference signal of big dipper location basic station through the radio station simultaneously, and calculate the accurate positioning of big dipper location mobile station, accurate positioning information sends to big dipper location basic station through the radio station and finally to control server, big dipper location mobile station still includes first big dipper location mobile site P51, second big dipper location mobile site P52, third big dipper location mobile site P53.
A ship berthing real-time image tracking method comprises the following steps:
s1: and measuring the longitude and latitude elevations of the installation positions of the first controllable camera, the second controllable camera and the third controllable camera, measuring the offset pitching angle and the offset rotation angle of the pan-tilt head when the lens is pitched at 0 degree and rotated at 0 degree (namely the east-righting direction), and measuring the relation between the focal length of the lens and the target distance.
S2: analyzing the geometric relation between a Beidou positioning mobile station and the ship profile in a geodetic coordinate system, determining position data of temporary test points at the edge of a ship through a Beidou positioning system in a ship berthing state, and performing linear fitting through a least square method to obtain fitted lines of four line segments of a rectangular profile of the ship; calculating the coordinates of the four end points of the rectangular outline A, B, C, D, the line segment AB and the AC length L1，L2(ii) a And respectively calculating the distances from the first Beidou positioning mobile station P51, the second Beidou positioning mobile station P52 and the third Beidou positioning mobile station P53 to the AB and the AC.
S3: the method comprises the steps of establishing a ship local coordinate system with the AC midpoint as an origin, wherein ship local coordinate data comprise Beidou positioning mobile stations P51, P52, P53 and a ship centroid P54, the ship local coordinate data are inherent parameters after the Beidou positioning mobile stations P51, P52 and P53 are installed and measured, and the coordinate parameters can be obtained through S2.
S4: in the navigation process, real-time geodetic coordinate data of any two Beidou positioning mobile stations are selected, and a conversion matrix from a ship local coordinate system to a geodetic coordinate system is established through translation and rotation.
S5: and calculating to obtain the geodetic coordinates of the ship centroid P54 through the transformation matrix in S4.
S6: calculating the horizontal plane distances L between the first controllable camera, the second controllable camera, the third controllable camera and the ship centroid P54 by using the geodetic coordinate system154、L254、L354And taking the minimum controllable camera as tracking cameraAnd the camera calculates the pitch angle and the rotation angle of a connecting line of the lens of the tracking camera and the center of mass P54 of the ship.
S7: after the pitch angle and the rotation angle of the lens of the camera are tracked in the step S6, adding the offset pitch angle and the offset rotation angle of the pan-tilt head of the tracking camera pan-tilt head to obtain the real-time pitch angle and the real-time rotation angle of the tracking camera pan-tilt head; through L154And adjusting the focal length of the lens in real time.
The invention has the beneficial effects that:
1. in the invention, the monitoring personnel on the quay can monitor the real scene of the sailing ship in real time, the visual judgment of people is not influenced, and the judgment and piloting of the berthing process of the ship by the quay personnel are facilitated;
2. in the invention, the system can track images of ships at a longer distance, the effective distance is long, and the distance is determined by the receiving and sending performance of a radio station and the shooting performance of a camera;
3. according to the invention, the system can automatically adjust the shooting direction of the camera according to the accurate positioning information of the ship, automatically track and lock the ship in the berthing process in real time, and has an intelligent function;
4. the first Beidou positioning mobile station P51, the second Beidou positioning mobile station P52 and the third Beidou positioning mobile station P53 can be combined in any two ways, and the geodetic coordinates of the ship centroid P54 are solved; when one Beidou positioning mobile station is unavailable, the geodetic coordinate value of the ship centroid P54 can be obtained through other two points.
Drawings
FIG. 1 is a schematic block diagram of the system architecture of the present invention.
Fig. 2 is a schematic diagram of the conversion of the coordinate system of the ship according to the invention.
Fig. 3 is a control schematic diagram of the camera of the present invention.
In the figure: the method comprises the following steps of 1-a ship body, 2-a first controllable camera, 3-a second controllable camera, 4-a third controllable camera, 5-a switch, 6-a control server, 7-a video server, 8-a monitoring screen, 9-a Beidou positioning base station, 10-a Beidou positioning mobile station, P51-a first Beidou positioning mobile station, P52-a second Beidou positioning mobile station, P53-a third Beidou positioning mobile station, P54-a ship mass center and 101-a ship edge temporary test point.
Detailed Description
A ship berthing real-time image tracking system comprises a ship body 1, a first controllable camera 2, a second controllable camera 3, a third controllable camera 4, a switch 5, a control server 6, a video server 7, a monitoring screen 8, a Beidou positioning base station 9 and a Beidou positioning mobile station 10, wherein a plurality of ship edge temporary test points 101 are arranged around the ship body 1, the first controllable camera 2, the second controllable camera 3 and the third controllable camera 4 are fixedly arranged on the wharf shore, the number of the controllable cameras is determined according to the number of the berths of the wharf on site and other requirements, the switch 5 is used for exchanging data, the control server 6 is connected with the switch 5 through a network cable, the monitoring screen 8 is connected with the switch 5 through the network cable, and show corresponding video stream, big dipper location base station 9 is connected with switch 5 through the net twine, and big dipper location mobile station 10 is installed on boats and ships body 1.
The first controllable camera 2, the second controllable camera 3 and the third controllable camera 4 are all provided with controllable cloud platforms, control lens pitch angle and rotation angle, and are connected with the switch through network cables.
The control server 6 receives the accurate positioning data of the ship body 1, calculates the distances between the ship body 1 and the first controllable camera 2, the second controllable camera 3 and the third controllable camera 4, specifies the nearest available controllable camera to the ship body 1 by using an algorithm, sends the adjusting parameters to the selected controllable camera, and specifies the video server 7 to convey the corresponding video stream to the monitoring screen 8.
The Beidou positioning base station 9 is provided with a radio station, receives Beidou satellite signals, sends positioning differential signals of the station to the ship body 1 through the radio station, receives accurate positioning information of the Beidou positioning mobile station 10 and forwards the accurate positioning information to the control server 6.
Big dipper location mobile station 10 is three for one set, distribute in bow and stern, be provided with the radio station, receive big dipper satellite signal, receive big dipper positioning base station 9's location difference signal simultaneously through the radio station, and calculate big dipper location mobile station 10's accurate positioning, accurate positioning information sends to big dipper positioning base station 9 through the radio station and finally to control server 6, big dipper location mobile station 10 still includes first big dipper location mobile site P51, second big dipper location mobile site P52, third big dipper location mobile site P53.
According to the invention, when the controllable cameras (the first controllable camera 2, the second controllable camera 3 and the third controllable camera 4) are fixedly installed, the Beidou positioning equipment is used for accurately positioning the controllable cameras to obtain longitude and latitude and elevation data. When the ship body 1 sails to the coverage of a radio station set by the Beidou positioning base station 9, a signal of the Beidou positioning base station 9 is received immediately, accurate positioning information of the ship body 1 is returned to the control server 6, the control server 6 calculates the distance from the ship body 1 to each controllable camera, and selects an idle and nearest station as a tracking camera, the control server 6 calculates the pitch angle, the gyration angle and the focal length of the tracking camera according to the accurate positioning information of the ship body 1, controls the corresponding parameters of the tracking camera, and tracks and shoots the ship body 1 in real time after the controllable camera acquires the control parameters and acts, and a video stream of the video stream is output to the monitoring screen 8 under the control of the control server 6 and the video server 7.
In the process that the ship body 1 sails, the monitoring screen 8 can track the ship body 1 in real time and mark the position information of the ship body 1.
A ship berthing real-time image tracking method comprises the following steps:
s1: measuring longitude and latitude elevations of the installation positions of the first controllable camera 2, the second controllable camera 3 and the third controllable camera 4, and setting the measured geodetic coordinate position data as P1＝(x1，y1，e1)，P2＝(x2，y2，e2)，P3＝(x3，y3，e3)，xiIs longitude, yiAs latitude, eiIs in elevation. Measuring the cloud of the first controllable camera 2, the second controllable camera 3 and the third controllable camera 4 when the lens is tilted by 0 degree and rotated by 0 degree (namely, the east-righting direction)Offset pitch angle χ of stage11、χ21、χ31And offset gyration angle × (x)12、χ22、χ32(ii) a And measuring the relation between the focal length of the lens and the target distance.
S2, analyzing the geometric relation between the Beidou positioning mobile station 10 and the outline of the ship body 1 in the geodetic coordinate system, measuring position data of temporary ship edge test points 101 through a Beidou positioning system in a ship berthing state, and performing straight line fitting through a least square method to obtain fitted straight lines Y ═ X theta of four line segments of ship rectangular outlines AB, BC, CD and DA, wherein Y, X and theta are matrixes 1 × 4, 1 × 2 and 2 × 4 respectively.
Calculating the coordinates of the four end points of the rectangular outline A, B, C, D of the ship and obtaining the lengths L of the AB and the AC1，L2。
And the distance between the Beidou positioning mobile station 10 comprising a first Beidou positioning mobile station P51, a second Beidou positioning mobile station P52 and a third Beidou positioning mobile station P53 to the AB and the AC is calculated.
Definition of
Figure BDA0002455921050000061
The distance d from the first Beidou positioning mobile station P51 to the AB can be obtained1Is composed of
Figure BDA0002455921050000062
The distance d2 from the first Beidou positioning mobile station P51 to the AC can be obtained by the same method; the distance d3 from the second beidou positioning mobile station P52 to AB; the distance d4 from the second beidou positioning mobile station P52 to the AC; the third north dipper positioning mobile station P53 to distance d5 of AB; the third north dipper positions mobile station P53 a distance d6 from AC.
S3: and establishing a ship local coordinate system. And establishing a ship local coordinate system with the AC midpoint as an origin, wherein the x axis is the axis line of the ship, and the y axis is an AC line.
Ship local coordinate P of first Beidou positioning mobile station P51l51Is composed of
Figure BDA0002455921050000071
Ship local coordinate P of second Beidou positioning mobile station P52l52Is composed of
Figure BDA0002455921050000072
Ship local coordinate P of third Beidou positioning mobile station P53l53Is composed of
Figure BDA0002455921050000073
Ship local coordinate P of ship centroid P54l54Is composed of
Figure BDA0002455921050000074
The ship local coordinate data comprise Beidou positioning mobile stations P51, P52, P53 and a ship centroid P54, the Beidou positioning mobile stations P51, P52 and P53 are intrinsic parameters after being installed and measured, and the intrinsic parameters are set as Pl51(xl51，yl51)、Pl52(xl52，yl52)、Pl53(xl53，yl53)、Pl54(xl54，yl54)。
S4: and establishing a conversion matrix between a ship local coordinate system and a geodetic coordinate system. The Beidou positioning data of the first Beidou positioning mobile station P51, the second Beidou positioning mobile station P52 and the third Beidou positioning mobile station P53 in the sailing process is P51 (x)51，y51，e51)，P52(x52，y52，e52)，P53(x53，y53，e53)。
Arbitrarily choose 2 points of them, with P51 (x)51，y51，e51)，P52(x52，y52，e52) For example, the following steps are carried out:
will Pl51(xl51，yl51)、Pl52(xl52，yl52)、Pl53(xl53，yl53)、Pl54(xl54，yl54)、P51(x51，y51，e51)、P52(x52，y52，e52)、P54(x54，y54，e54) Is converted into Pl51-1(xl51，yl51，1)、Pl52-1(xl52，yl52，1)、Pl53-1(xl53，yl53，1)、Pl54-1(xl54，yl54，1)、P51-1(x51，y51，1)，P52-1(x52，y52，1)、P54-1(x54，y54，1)。
Set up with Pl51(xl51，yl51) And solving a conversion matrix between the ship local coordinate system and the geodetic coordinate system and the new coordinate system for the new coordinate system of the origin.
From Pl51-1(xl51，yl511) translation to the origin of the new coordinate system, translation matrix Tl51Is composed of
Figure BDA0002455921050000081
I.e. (0, 0, 1) ═ Pl51-1Tl51(ii) a From P51-1(x51，y511) translation to the origin of the new coordinate system, translation matrix T51Is composed of
Figure BDA0002455921050000082
I.e. (0, 0, 1) ═ P51T51. Translating from the origin of the new coordinate system to Pl51-1(xl51，yl511), translation matrix TS51Is composed of
Figure BDA0002455921050000083
Pl51-1＝(0，0，1)TSl51(ii) a Translating from the origin of the new coordinate system to P51-1(x51，y511), translation matrix TS51Is composed of
Figure BDA0002455921050000084
I.e. P51-1＝(0，0，1)TS51。
Solving from Pl52-1(xl52，yl52，1)、P52-1(x52，y521) translationTo the coordinates of the new coordinate system,
Figure BDA0002455921050000085
Figure BDA0002455921050000086
Figure BDA0002455921050000087
in a new coordinate system by
Figure BDA0002455921050000091
Computing
Figure BDA0002455921050000092
To
Figure BDA0002455921050000093
Angle α, to obtain
Figure BDA0002455921050000094
To
Figure BDA0002455921050000095
Of the rotation matrix
Figure BDA0002455921050000096
Coordinate transformation matrix from ship local coordinate system to geodetic coordinate system
Figure BDA0002455921050000097
S5: geodetic coordinates of the ship's centroid P54 are calculated.
Figure BDA0002455921050000098
Figure BDA0002455921050000099
Finding the center of mass of a shipGeodetic coordinate (x) of P5454，y54，e54) Wherein x is54、y54By P54-1The method comprises the steps of (1) obtaining,
Figure BDA00024559210500000910
the P51, the P52 and the P53 can be combined by two arbitrary methods, and three methods for solving the geodetic coordinates of the ship centroid P54 are provided. When one Beidou positioning mobile station is unavailable, x of P54 can be obtained through other two points54、y54Value of e54Then the elevations of the other two points are used for calculation.
S6: and calculating the pitching angle and the rotation angle of the lens of the controllable camera. Calculating the horizontal plane distances L between the first controllable camera 2, the second controllable camera 3, the third controllable camera 4 and the ship centroid P54 by using the geodetic coordinate system154、L254、L354And taking the camera with the minimum value as a tracking camera.
If the first controllable camera 2 is a tracking camera, the pitching angle of the lens of the tracking camera is set
β＝arctan((e54-e1)/L154)；
The normal east direction is taken as a rotation angle of 0 DEG, and the rotation direction angle gamma of the lens of the tracking camera is taken as
(1)x54≥x1，γ＝arcsin((y54-y1)/L154)；
(2)x54＜x1，y54≥y1，γ＝π-arcsin((y54-y1)/L154)；
(3)x54＜x1，y54＜y1，γ＝-π-arcsin((y54-y1)/L154)。
S7: and controlling the tracking camera. Control of pitching angle and rotation angle of the tracking camera holder: after the pitch angle and the swivel angle of the lens of the camera are tracked in the calculation step S6, the offset pitch angle and the offset swivel angle of the pan-tilt head of the tracking camera pan-tilt head are added to obtain the real-time pitch angle and the real-time swivel angle of the tracking camera pan-tilt head.
And (3) tracking camera focal length control: through L154And adjusting the focal length of the lens of the tracking camera in real time.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents or improvements made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (6)

1. A ship berthing real-time image tracking system comprises a ship body (1), a first controllable camera (2), a second controllable camera (3), a third controllable camera (4), a switch (5), a control server (6), a video server (7), a monitoring screen (8), a Beidou positioning base station (9) and a Beidou positioning mobile station (10), and is characterized in that a plurality of ship edge temporary test points (101) are arranged around the ship body (1), the first controllable camera (2), the second controllable camera (3) and the third controllable camera (4) are fixedly arranged at the wharf shore, the switch (5) is used for exchanging data, the control server (6) is connected with the switch (5) through a network cable, the monitoring screen (8) is connected with the switch (5) through the network cable and displays corresponding video streams, the Beidou positioning base station (9) is connected with the switch (5) through the network cable, the Beidou positioning mobile station (10) is arranged on the ship body (1).
2. The ship berthing real-time image tracking system according to claim 1, characterized in that the first controllable camera (2), the second controllable camera (3) and the third controllable camera (4) are all provided with controllable holders, the pitch angle and the rotation angle of the lens are controlled, the controllable holders are connected with the switch (5) through network cables, and the number of the controllable cameras is determined according to the number of berths of a field wharf and other requirements.
3. The ship berthing real-time image tracking system according to claim 1, characterized in that the control server (6) receives accurate positioning data of the ship body (1), calculates the distance between the ship body (1) and the controllable cameras, and uses an algorithm to designate the available controllable camera closest to the ship body (1), sends adjusting parameters to the selected controllable camera, and designates the video server (7) to transmit the corresponding video stream to the monitoring screen (8).
4. The ship berthing real-time image tracking system according to claim 1, characterized in that the Beidou positioning base station (9) is provided with a radio station, receives Beidou satellite signals, transmits positioning differential signals of the station to the ship body (1) through the radio station, receives accurate positioning information of the Beidou positioning mobile station (10) and forwards the accurate positioning information to the control server (6).
5. The ship berthing real-time image tracking system of claim 1, characterized in that the Beidou positioning mobile stations (10) are three in one set, distributed on the bow and the stern, provided with radio stations for receiving Beidou satellite signals, receiving positioning differential signals of a Beidou positioning base station (9) through the radio stations, calculating the accurate positioning of the Beidou positioning mobile stations (10), sending accurate positioning information to the Beidou positioning base station (9) through the radio stations and finally to the control server (6), wherein the Beidou positioning mobile stations (10) further comprise a first Beidou positioning mobile station P51, a second Beidou positioning mobile station P52 and a third Beidou positioning mobile station P53.
6. A ship berthing real-time image tracking method comprises the following steps:
s1: and measuring the longitude and latitude elevations of the installation positions of the first controllable camera (2), the second controllable camera (3) and the third controllable camera (4), measuring the offset pitching angle and the offset rotation angle of the pan-tilt head when the lens is pitched at 0 degree and rotated at 0 degree (namely the east-ward direction), and measuring the relation between the lens focal length and the target distance.
S2: analyzing the geometric relation between a Beidou positioning mobile station (10) and the ship profile under a geodetic coordinate system, determining position data of a ship edge point group through a Beidou positioning system in a ship berthing state, and performing linear fitting through a least square method to obtain a fitting straight line of four line segments of a rectangular profile of the ship; calculating shipCoordinates of four end points of rectangular outline A, B, C, D, line segment AB and AC length L1，L2(ii) a And respectively calculating the distances from the first Beidou positioning mobile station P51, the second Beidou positioning mobile station P52 and the third Beidou positioning mobile station P53 to the AB and the AC of the Beidou positioning mobile station (10).
S3: the method comprises the steps of establishing a ship local coordinate system with the AC midpoint as an origin, wherein ship local coordinate data comprise Beidou positioning mobile stations P51, P52, P53 and a ship centroid P54, the ship local coordinate data are inherent parameters after the Beidou positioning mobile stations P51, P52 and P53 are installed and measured, and the coordinate parameters can be obtained through S2.
S4: in the navigation process, real-time geodetic coordinate data of any two Beidou positioning mobile stations are selected, and a conversion matrix from a ship local coordinate system to a geodetic coordinate system is established through translation and rotation.
S5: and calculating to obtain the geodetic coordinates of the ship centroid P54 through the transformation matrix in S4.
S6: calculating the horizontal plane distances L between the first controllable camera (2), the second controllable camera (3), the third controllable camera (4) and the ship centroid P54 by using a geodetic coordinate system154、L254、L354And the controllable camera with the minimum value is used as a tracking camera, and the pitch angle and the rotation angle of a connecting line of the lens of the tracking camera and the ship centroid P54 are calculated.
S7: after the pitch angle and the rotation angle of the lens of the camera are tracked in the step S6, adding the offset pitch angle and the offset rotation angle of the pan-tilt head of the tracking camera pan-tilt head to obtain the real-time pitch angle and the real-time rotation angle of the tracking camera pan-tilt head; through L154And adjusting the focal length of the lens in real time.
CN202010306346.XA 2020-04-17 2020-04-17 Ship berthing real-time image tracking system and method Withdrawn CN111385541A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112444234A (en) * 2020-10-29 2021-03-05 同济大学 Beach monitoring method based on tidal model and photogrammetry technology
CN113573021A (en) * 2021-07-26 2021-10-29 嘉应学院 Method for monitoring surrounding conditions of orchard transport vehicle

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112444234A (en) * 2020-10-29 2021-03-05 同济大学 Beach monitoring method based on tidal model and photogrammetry technology
CN113573021A (en) * 2021-07-26 2021-10-29 嘉应学院 Method for monitoring surrounding conditions of orchard transport vehicle

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