CN113591627A - Ship identification method and device and computer readable storage medium - Google Patents
Ship identification method and device and computer readable storage medium Download PDFInfo
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Abstract
The invention provides a ship identification method, a ship identification device and a computer readable storage medium. The ship identification method comprises the following steps: acquiring dynamic data information of a plurality of ships within a preset range according to a preset time interval; acquiring static data information of the plurality of ships in real time; matching the dynamic data information of the multiple ships with the static data information of the multiple ships through the MMSI corresponding to each ship to obtain complete data information of each ship; when the target ship triggers a preset snapshot condition, the target ship is snapshot, the real-time motion state of each ship is calculated according to the complete data information of each ship, the snapshot video information of the target ship is matched with the real-time motion state of each ship, the complete data information of the target corresponding to the target ship is obtained, and the effectiveness and the reliability of ship supervision are improved.
Description
Technical Field
The invention relates to the field of ship monitoring, in particular to a ship identification method and device and a computer readable storage medium.
Background
In port and navigation section bayonet snapshot system, because boats and ships do not have the position recognition function of standard, lead to boats and ships can't realize through an effectual mode that the snapshot picture is associated with the MMSI sign indicating number in the boats and ships AIS data, so can lead to the AIS equipment to carry out the matching rate of discerning to boats and ships to reach about 80%.
Disclosure of Invention
In order to solve the problems, the invention provides a ship identification method, a ship identification device and a computer readable storage medium, wherein dynamic data information and static data information of ships acquired by AIS equipment are matched to obtain complete data information associated with the static data information and the dynamic data information of each ship, the complete data information corresponding to a target ship is matched at a snapshot time, association between snapshot pictures and ship complete information data is completed, and the success rate of ship identification is improved.
In order to achieve the above object, the present invention provides a ship identification method, including: acquiring dynamic data information of a plurality of ships within a preset range according to a preset time interval; wherein, the acquiring of the dynamic data information of the plurality of ships within the preset range comprises: acquiring a first longitude and latitude coordinate P1 of the position of the snapshot machine, calculating a second longitude and latitude coordinate P3 of the position of the foot perpendicular to the river bank to obtain the position of the snapshot machine, and calculating a third longitude and latitude coordinate P2 of the position of the midpoint of the first longitude and latitude coordinate P1 and the second longitude and latitude coordinate P3; sequentially calculating the target distance L from each ship to the third longitude and latitude coordinate P2 according to the longitude and latitude coordinates in the dynamic data information; comparing the target distance L of the current ship with a preset distance L0, and if L is less than or equal to L0, storing dynamic data information of the current ship; acquiring static data information of the plurality of ships in real time; matching the dynamic data information of the multiple ships with the static data information of the multiple ships through the MMSI corresponding to each ship to obtain complete data information of each ship; when a target ship triggers a preset snapshot condition, the target ship is snapshot; judging the left and right navigation directions of the target ship in the snapshot picture; calculating a fifth longitude and latitude coordinate B2 of each ship at the current moment according to a fourth longitude and latitude coordinate B1, speed data and an absolute motion direction of the nearest moment of each ship in turn, taking a line segment P1P3 formed by connecting the first longitude and latitude coordinate P1 with the second longitude and latitude coordinate P3 as a reference line, and calculating the vertical distance from the fifth longitude and latitude coordinate B2 to the reference line; and calculating the left and right navigation directions of each ship according to the dynamic data information, if the left and right navigation directions of the current ship are consistent with the left and right navigation directions of the target ship and the corresponding vertical distance is minimum, judging that the complete data information of the current ship is the target complete data information corresponding to the target ship, and using the target complete data information as the identification information of the target ship.
Further optionally, the calculating the left and right sailing directions of each ship according to the dynamic data information includes: when the ship enters the preset range, recording the first obtained longitude and latitude coordinate as a sixth longitude and latitude coordinate B3; calculating a first coordinate S of the sixth longitude latitude coordinate B3 relative to an origin O by taking the first longitude latitude coordinate P1 as the origin O, and obtaining a vector OS; taking the first longitude and latitude coordinate P1 as an origin O, calculating a second coordinate E of the fourth longitude and latitude coordinate B1 relative to the origin O, and obtaining a vector OE; calculating a vector product R of the vector OS and the vector OE; if R is larger than 0, judging that the ship sails leftwards in the snapshot picture; and if R is less than 0, judging that the ship sails rightwards in the snapshot picture.
Further optionally, after the using the target complete data information as the identification information of the target ship, the method includes: calculating a line segment P1B2 connecting the fifth longitude latitude coordinate B2 and the first longitude latitude coordinate P1 of each ship; calculating a coordinate angle Q of the line segment P1B2 and the line segment P1P 3; calculating an average angle value Avg of the coordinate angles Q of the predetermined number of vessels; rotating the average angle value Avg by taking the first longitude and latitude coordinate P1 as an origin point of the line segment P1P3 to obtain an intersection point of an extension line of the rotated line segment P1P3 and a river opposite bank, and marking as a seventh longitude and latitude coordinate P4; and taking a line segment P1P4 formed by connecting the first longitude and latitude coordinate P1 and the seventh longitude and latitude coordinate P4 as a latest reference line, and updating the reference line to the latest reference line.
Further optionally, the target distance L is calculated according to the following formula:
wherein WA is the latitude of the current ship, WB is the latitude of a third longitude and latitude coordinate P2 point, JA is the longitude of the current ship, JB is the longitude of a third longitude and latitude coordinate P2 point, and R is the radius of the earth.
Further optionally, the obtaining static data information of the multiple ships in real time includes: receiving ship name data information corresponding to the MMSI codes of the multiple ships and establishing an accumulated data table; receiving ship length data information corresponding to the MMSI codes of the multiple ships; ship length data information is associated with corresponding ship name data information in the cumulative data table by the MMSI code of each ship.
Further optionally, the comparing the target distance L of the current ship with the predetermined distance L0, and if L is less than or equal to L0, after saving the dynamic data information of the current ship, the method includes: storing and recording the MMSI code of each ship; storing the current time T and the longitude and latitude coordinates of each ship at the current time T in real time; and continuously recording M longitude and latitude coordinates for each ship.
Further optionally, the preset capturing condition is that the target ship reaches a center line position of a video monitored by the capturing machine.
In another aspect, the present invention provides a ship identification device, including: the dynamic data information acquisition module is used for acquiring dynamic data information of a plurality of ships within a preset range according to a preset time interval; wherein, the dynamic data information acquisition module comprises: the coordinate acquisition submodule is used for acquiring a first longitude and latitude coordinate P1 of the position of the snapshot machine, calculating a second longitude and latitude coordinate P3 of the position of the foot perpendicular to the river opposite to the bank where the snapshot machine is located, and calculating a third longitude and latitude coordinate P2 of the position of the midpoint of the first longitude and latitude coordinate P1 and the second longitude and latitude coordinate P3; the distance calculation submodule is used for calculating the target distance L from each ship to the third longitude and latitude coordinate P2 according to the longitude and latitude coordinates in the dynamic data information in sequence; the comparison submodule is used for comparing the target distance L of the current ship with a preset distance L0, and if L is less than or equal to L0, the dynamic data information of the current ship is stored; the static data information acquisition module is used for acquiring the static data information of the plurality of ships in real time; the matching module is used for matching the dynamic data information of the multiple ships with the static data information of the multiple ships through the MMSI corresponding to each ship to obtain the complete data information of each ship; the snapshot module is used for snapshotting the target ship when preset snapshot conditions are triggered by the target ship; the direction judging module is used for judging the left and right navigation directions of the target ship in the snapshot picture; the estimation module is used for calculating a fifth longitude and latitude coordinate B2 of each ship at the current moment according to a fourth longitude and latitude coordinate B1, speed data and an absolute motion direction of the latest moment of each ship in turn, taking a line segment P1P3 formed by connecting the first longitude and latitude coordinate P1 with the second longitude and latitude coordinate P3 as a datum line, and calculating the vertical distance from the fifth longitude and latitude coordinate B2 to the datum line; and the selection module is used for calculating the left and right navigation directions of each ship according to the dynamic data information, judging that the complete data information of the current ship is the target complete data information corresponding to the target ship if the left and right directions of the current ship are consistent with the left and right navigation directions of the target ship and the corresponding vertical distance is minimum, and taking the target complete data information as the identification information of the target ship.
Further optionally, the selecting module includes: the longitude and latitude coordinate acquisition sub-module is used for recording the first acquired longitude and latitude coordinate as a sixth longitude and latitude coordinate B3 after the ship enters the preset range; a vector determination submodule, configured to calculate a first coordinate S of the sixth longitude latitude coordinate B3 relative to an origin O with the first longitude latitude coordinate P1 as the origin O, and obtain a vector OS; taking the first longitude and latitude coordinate P1 as an origin O, calculating a second coordinate E of the fourth longitude and latitude coordinate B1 relative to the origin O, and obtaining a vector OE; a vector product calculation submodule for calculating a vector product R of the vector OS and the vector OE; the course judgment submodule is used for judging that the ship sails leftwards in the snapshot picture if R is larger than 0; and if R is less than 0, judging that the ship sails rightwards in the snapshot picture.
Further optionally, the apparatus further comprises: a connection determining module for calculating a line segment P1B2 connecting the fifth longitude and latitude coordinate B2 and the first longitude and latitude coordinate P1 of each ship; a coordinate angle determination module for calculating a coordinate angle Q of the line segment P1B2 and the line segment P1P 3; an average value calculating module for calculating an average angle value Avg of the coordinate angles Q of the predetermined number of ships; the updating module is used for rotating the average angle value Avg by taking the first longitude and latitude coordinate P1 as an origin point of the line segment P1P3 to obtain an intersection point of an extension line of the rotated line segment P1P3 and a river opposite bank, and the intersection point is marked as a seventh longitude and latitude coordinate P4; and the datum line updating module is used for taking a line segment P1P4 formed by connecting the first longitude and latitude coordinate P1 and the seventh longitude and latitude coordinate P4 as a latest datum line and updating the datum line into the latest datum line.
Further optionally, the static data information obtaining module includes: the table establishing submodule is used for receiving ship name data information corresponding to the MMSI codes of the multiple ships and establishing an accumulated data table; the receiving submodule is used for receiving ship length data information corresponding to the MMSI codes of the multiple ships; and the association submodule is used for associating the ship length data information with the corresponding ship name data information in the accumulated data table through the MMSI code of each ship.
In another aspect, the present invention also provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor, implements the vessel identification method as described above.
The technical scheme has the following beneficial effects: the ship dynamic data information received by the AIS equipment is matched with the static data information in an associated mode to obtain complete data information corresponding to each ship, the ship complete data information closest to a target ship is matched at the snapshot time, the complete data information of the target ship is associated with the snapshot picture, the identification accuracy is improved, the effectiveness and the reliability of supervision of the ship are improved, the emergency response speed of maritime water managers is improved, and the working efficiency of managers is improved.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart of a ship identification method according to an embodiment of the present invention;
fig. 2 is a flowchart of a method for acquiring dynamic data information of a plurality of ships within a preset range according to an embodiment of the present invention;
FIG. 3 is a flowchart of a method for calculating a left-right sailing direction of a ship according to an embodiment of the present invention;
FIG. 4 is a flowchart of a method for updating a baseline according to an embodiment of the present invention;
FIG. 5 is a flowchart of a method for obtaining static data information of a ship according to an embodiment of the present invention;
FIG. 6 is a flowchart of a method for obtaining multiple longitude and latitude coordinates of a ship according to an embodiment of the present invention;
fig. 7 is a block diagram of a ship identification device according to an embodiment of the present invention;
fig. 8 is a block diagram of a dynamic data information obtaining module according to an embodiment of the present invention;
FIG. 9 is a block diagram of a selection module according to an embodiment of the present invention;
fig. 10 is a block diagram showing a structure of a ship identifying apparatus according to another embodiment of the present invention;
fig. 11 is a block diagram of a static data information obtaining module according to an embodiment of the present invention.
Reference numerals: 100-dynamic data information acquisition module 1001-coordinate acquisition submodule 1002-distance calculation submodule 1003-comparison submodule 200-static data information acquisition module 2001-table establishment submodule 2002-receiving submodule 2003-association submodule 300-matching module 400-snapshot module 500-direction judgment module 600-estimation module 700-selection module 7001-latitude and longitude coordinate acquisition submodule 7002-vector determination submodule 7003-vector product calculation submodule 7004-course judgment submodule 800-connection line determination module 900-coordinate angle determination module 1000-average value calculation module 1100-coordinate point update module 1200-datum line update module
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the prior art, in a port section bayonet snapshot system, dynamic data information and static data information of a ship received by an AIS device are separated, so that when the ship is identified, only the dynamic data information or the static data information of the ship can be received, and the dynamic data information or the static data information and the static data information are not related. Therefore, in the above case, the AIS equipment has a low recognition and matching rate for the ship.
In order to solve the above problem, an embodiment of the present invention provides a ship identification method, as shown in fig. 1, including:
s100, acquiring dynamic data information of a plurality of ships within a preset range according to a preset time interval;
the AIS equipment is arranged on the ship and on the shore of the port section bayonet and used for receiving and transmitting AIS data, and the AIS data comprises dynamic data information and static data information. The dynamic data information of the ship specifically comprises: MMSI code, ship longitude and latitude coordinates, ship speed, ship direction and the like, and the AIS equipment on the bank can receive dynamic data information of the ship once every 30 seconds or so.
The AIS equipment on the shore can receive AIS data of all ships within a signal receiving range, and subsequent data processing amount can be increased if dynamic data information of the ships is completely acquired. In order to reduce the data processing amount and increase the identification precision, the embodiment of the invention presets a preset range, the dynamic data information of the ship is acquired when the ship drives into the preset range, and the ship outside the preset range is not included in the data processing range because the possibility of reaching the snapshot position in the next period of time is low, so that the data processing amount of the system can be reduced.
Fig. 2 is a flowchart of a method for acquiring dynamic data information of a plurality of ships within a preset range according to an embodiment of the present invention, as shown in fig. 2, where the step S100 of acquiring the dynamic data information of the plurality of ships within the preset range includes:
s1001, obtaining a first longitude and latitude coordinate P1 of the position of the snapshot machine, calculating a second longitude and latitude coordinate P3 of the position of the foot perpendicular to the river opposite bank of the position of the snapshot machine, and calculating a third longitude and latitude coordinate P2 of the position of the midpoint of the first longitude and latitude coordinate P1 and the second longitude and latitude coordinate P3;
installing a snapshot machine and AIS equipment on one side of a river bank, preferably installing the snapshot machine and AIS equipment on a vertical rod about 10 meters away from the bank, and recording a first longitude and latitude coordinate P1 of the position; and drawing a straight line to the opposite bank by taking the P1 as a starting point and being vertical to the bank, recording a second longitude and latitude coordinate P3 of the intersection point position of the straight line and the opposite bank, and taking the middle point of the first longitude and latitude coordinate P1 and the second longitude and latitude coordinate P3 as a third longitude and latitude coordinate P2.
S1002, sequentially calculating a target distance L from each ship to the third longitude and latitude coordinate P2 according to the longitude and latitude coordinates in the dynamic data information;
and calculating the straight-line distance of each ship from the reference point by taking the third longitude and latitude coordinate P2 as the reference point.
S1003, comparing the target distance L of the current ship with a preset distance L0, and if L is not more than L0, storing dynamic data information of the current ship;
and acquiring dynamic data information of the ship with the target distance within the preset distance, and performing subsequent data processing by taking the dynamic data information of the ship as a data base. That is, the dynamic data information of all the ships within the circumferential range defined by the third longitude and latitude coordinate P2 as the center L0 as the radius is acquired and stored. Preferably, L0 is set at 600 meters.
S101, acquiring static data information of the plurality of ships in real time;
the static data information of boats and ships is also sent by the AIS equipment of boats and ships, and the AIS equipment on bank receives, and wherein, the static data information of boats and ships specifically includes: MMSI code, ship name information, ship length information, etc. Because the data in the static data information is the data which is not changed, the static data can be stored after being acquired and does not need to be updated after being acquired, and the data volume is small. In addition, the AIS equipment can receive static data information of all ships within a signal receiving range, and also can receive static data information of part of ships within a preset range, and the receiving range of the static data information can be flexibly selected according to needs.
S102, matching the dynamic data information of the multiple ships with the static data information of the multiple ships through the MMSI corresponding to each ship to obtain complete data information of each ship;
as can be seen from the specific types of the dynamic data information and the static data information, the same data of the two data information is an MMSI code, i.e., a marine mobile service identification code, which is transmitted by a ship radio communication system on a radio channel thereof and can uniquely identify a list of nine-digit digital codes of various stations and group call stations.
The dynamic data information and the static data information of each ship can be associated and matched through the MMSI code, namely, the ship name information, the ship length information and other data of the ship static data information are matched on the basis of the ship longitude and latitude coordinates, the ship speed, the ship direction and other data of the obtained dynamic data information of the ship, and the dynamic data information and the static data information which correspond to the MMSI code of the ship and are associated with each other, namely the complete data information of the ship, are obtained. That is, each ship has a unique MMSI code, and dynamic data information and static data information of the ship can be obtained by acquiring complete data information of the ship.
S103, when preset snapshot conditions triggered by a target ship exist, the target ship is snapshot;
and a snapshot machine for snapshot is further arranged on the shore and is used for snapshot of the target ship when the ship triggers a preset snapshot condition. During snapshot, any information of the ship cannot be obtained, so that the complete data information of the target ship needs to be matched in a plurality of complete data information.
S104, judging the left and right navigation directions of the target ship in the snapshot picture;
and determining the left and right sailing directions of the ship by using a deep learning algorithm in the pictures captured by the capturing machine.
S105, sequentially calculating a fifth longitude and latitude coordinate B2 of each ship at the current moment according to a fourth longitude and latitude coordinate B1, speed data and an absolute motion direction of the nearest moment of each ship, taking a line segment P1P3 formed by connecting the first longitude and latitude coordinate P1 with the second longitude and latitude coordinate P3 as a reference line, and calculating the vertical distance from the fifth longitude and latitude coordinate B2 to the reference line;
since the dynamic data information is acquired every predetermined time, the real-time motion states of all ships cannot be accurately judged at the moment of snapshotting the target ship. In order to select one complete data message most matched with a target ship from the complete data messages of a plurality of ships, the real-time motion state of each ship at the current moment needs to be known.
Extracting dynamic data information acquired at the moment closest to the current moment, namely the latest dynamic data information of the primary ship, determining a fourth longitude and latitude coordinate B1 of the ship acquired at the latest moment, wherein the fourth longitude and latitude coordinate B1 is a determined value, and calculating a fifth longitude and latitude coordinate B2 of the ship at the current moment on the basis of the determined value by combining the speed data and the absolute motion direction of the ship, and the fifth longitude and latitude coordinate B2 is an estimated value. After the fifth longitude and latitude coordinate B2 is determined, the vertical distance from the fifth longitude and latitude coordinate B2 to a reference line is calculated, wherein the reference line refers to a line segment P1P3 formed by connecting the first longitude and latitude coordinate P1 and the second longitude and latitude coordinate P3.
S106, calculating the left and right navigation directions of each ship according to the dynamic data information, if the left and right navigation directions of the current ship are consistent with the left and right navigation directions of the target ship and the corresponding vertical distance is minimum, judging that the complete data information of the current ship is the complete target data information corresponding to the target ship, and taking the complete target data information as the identification information of the target ship.
And determining complete data information of a ship which is most matched with the target ship on the basis of the acquired data. Specifically, comparing the left and right sailing directions of the target ship with the left and right sailing directions of each ship, only a ship having the same left and right sailing directions as the target ship is likely to be the target ship. In addition, the vertical distances between the reference lines and a plurality of ships are compared, and the complete data of the ship having the left and right sailing directions which are the same as the left and right sailing directions of the target ship and the minimum vertical distance from the reference line is selected as the complete data of the target ship. Therefore, the complete data of the target ship corresponding to the shot target ship picture is obtained, the identification accuracy of the ship is improved, and the follow-up supervision and management of the target ship are facilitated.
As an alternative implementation manner, fig. 3 is a flowchart of a method for calculating a left-right sailing direction of a ship according to an embodiment of the present invention, and as shown in fig. 3, the step S106 of calculating the left-right sailing direction of each ship according to the dynamic data information includes:
s1061, recording the first acquired longitude and latitude coordinate as a sixth longitude and latitude coordinate B3 after the ship enters the preset range;
s1062, calculating a first coordinate S of the sixth longitude latitude coordinate B3 relative to an origin O by taking the first longitude latitude coordinate P1 as the origin O, and obtaining a vector OS;
s1063, calculating a second coordinate E of the fourth longitude and latitude coordinate B1 relative to an origin O by taking the first longitude and latitude coordinate P1 as the origin O, and obtaining a vector OE;
s1064, calculating a vector product R of the vector OS and the vector OE;
s1065, if R is larger than 0, judging that the ship sails leftwards in the snapshot picture; and if R is less than 0, judging that the ship sails rightwards in the snapshot picture.
And acquiring a first longitude and latitude coordinate after the ship enters a preset range, namely a sixth longitude and latitude coordinate B3. With the first latitudinal coordinate P1 as the origin of coordinates O (0,0), the coordinates S (x1, y1) of the sixth latitudinal coordinate B3 relative to the first latitudinal coordinate P1 are calculated.
And acquiring the money at the moment of snapshot, namely the last longitude and latitude coordinate of the ship, namely a fourth longitude and latitude coordinate B1. With the first latitudinal coordinate P1 as the origin of coordinates O (0,0), the coordinate E (x2, y2) of the fourth latitudinal and longitudinal coordinate B1 relative to the first latitudinal coordinate P1 is calculated.
The vector OS and the vector OE are cross-multiplied by a formula
And calculating a result R, if R is greater than 0, indicating that the ship takes O as an origin in the snapshot picture and is in a counterclockwise direction (equivalent to the leftward direction in the snapshot picture), and if R is less than 0, indicating that the ship takes O as an origin in the snapshot picture and is in a clockwise direction (equivalent to the rightward direction in the snapshot picture).
As an optional implementation manner, fig. 4 is a flowchart of a method for updating a reference line according to an embodiment of the present invention, and as shown in fig. 4, after the target complete data information is used as the identification information of the target ship, the method includes:
s107, calculating a line segment P1B2 formed by connecting the fifth longitude latitude coordinate B2 and the first longitude latitude coordinate P1 of each ship;
s108, calculating a coordinate angle Q of the line segment P1B2 and the line segment P1P 3;
s109, calculating an average angle value Avg of the coordinate angles Q of the ships with the preset number;
s110, rotating the average angle value Avg by taking the first longitude and latitude coordinate P1 as an origin point of the line segment P1P3 to obtain an intersection point of an extension line of the rotated line segment P1P3 and a river opposite bank, and marking as a seventh longitude and latitude coordinate P4;
and S111, taking a line segment P1P4 formed by connecting the first longitude and latitude coordinate P1 and the seventh longitude and latitude coordinate P4 as a latest reference line, and updating the reference line to the latest reference line.
The angle information of the ships with the preset number is integrated, the position of the datum line is adjusted, the position of the ship is accurately identified, and therefore the accuracy of final ship identification is improved.
As an optional implementation manner, the preset snapshot condition is that the target ship reaches a center line position of a video monitored by the snapshot machine.
As a preferred embodiment, the center line position of the monitoring video of the snapshot machine reached by the target ship is used as a snapshot condition, and the snapshot machine takes a snapshot of the ship after triggering the snapshot condition to obtain a snapshot picture of the target ship.
On the basis of the above scheme, as a specific implementation manner, the target distance L is calculated according to the following formula:
wherein WA is the latitude of the current ship, WB is the latitude of a third longitude and latitude coordinate P2 point, JA is the longitude of the current ship, JB is the longitude of a third longitude and latitude coordinate P2 point, and R is the radius of the earth and is about 6378137 meters.
To increase reliability of data, as an optional implementation manner, fig. 5 is a flowchart of a method for acquiring static data information of a ship according to an embodiment of the present invention, and as shown in fig. 5, the step S101 of acquiring static data information of a plurality of ships in real time includes:
s1011, receiving ship name data information corresponding to the MMSI codes of the multiple ships, and establishing an accumulated data table;
s1012, receiving ship length data information corresponding to the MMSI codes of the multiple ships;
and S1013, associating ship length data information with corresponding ship name data information in the accumulated data table through the MMSI code of each ship.
Since the static data information of the ship includes the MMSI code, ship name data information, and ship length data information, these data are now stored as an accumulated data table. Therefore, in the embodiment of the invention, ship name data information corresponding to MMSI codes of a plurality of ships is obtained and stored in an accumulated data table. And then, acquiring ship length data information corresponding to the MMSI code of the ship, and storing the ship length data information in an accumulated data table in association with corresponding ship name data. Other specific static data information may also be associated with the corresponding vessel name data in the cumulative data table according to the method.
In order to reduce the amount of stored data, a storage time TS is set, and the information corresponding to each MMSI code in the accumulated data table is deleted when the information reaches the storage time TS from the beginning of the storage completion timing, preferably, the TS is less than or equal to 10 hours.
As an optional implementation manner, fig. 6 is a flowchart of a method for obtaining multiple longitude and latitude coordinates of a ship according to an embodiment of the present invention, and as shown in fig. 6, the S1003 compares the target distance L of the current ship with a predetermined distance L0, and if L is less than or equal to L0, after saving dynamic data information of the current ship, the method includes:
s1004, storing and recording the MMSI code of each ship;
s1005, storing the current time T and the longitude and latitude coordinates of each ship at the current time T in real time;
and S1006, continuously recording M longitude and latitude coordinates by each ship.
Because the dynamic data information of each ship is constantly changed, in order to more accurately obtain the motion state of each ship, the embodiment of the invention stores M times T of each ship and the longitude and latitude coordinates of the ship at each time T, and the data can form the navigation track of the ship, thereby facilitating the subsequent calculation of the real-time motion state of the ship. Preferably, M is less than or equal to 64.
As an optional implementation manner, after the complete information matching of the target ship is completed, the identification information of the target ship and the corresponding snapshot picture are uploaded to the cross-section bayonet platform server and stored.
The identification information of the target ship and the snapshot picture thereof are correspondingly uploaded to the cross-section bayonet platform server and stored, so that the maritime personnel can conveniently monitor each ship passing through the bayonet and subsequently search and manage the ship.
As an alternative implementation, fig. 7 is a block diagram of a structure of a ship recognition device according to an embodiment of the present invention, and as shown in fig. 7, the present invention provides a ship recognition device, including:
a dynamic data information obtaining module 100, configured to obtain dynamic data information of multiple ships within a preset range according to a preset time interval;
the AIS equipment is arranged on the ship and on the shore of the port section bayonet and used for receiving and transmitting AIS data, and the AIS data comprises dynamic data information and static data information. The dynamic data information of the ship specifically comprises: MMSI code, ship longitude and latitude coordinates, ship speed, ship direction and the like, and the AIS equipment on the bank can receive dynamic data information of the ship once every 30 seconds or so.
The AIS equipment on the shore can receive AIS data of all ships within a signal receiving range, and subsequent data processing amount can be increased if dynamic data information of the ships is completely acquired. In order to reduce the data processing amount and increase the identification precision, the embodiment of the invention presets a preset range, the dynamic data information of the ship is acquired when the ship drives into the preset range, and the ship outside the preset range is not included in the data processing range because the possibility of reaching the snapshot position in the next period of time is low, so that the data processing amount of the system can be reduced.
Fig. 8 is a block diagram of a dynamic data information obtaining module according to an embodiment of the present invention, as shown in fig. 8, where the dynamic data information obtaining module 100 includes:
the coordinate obtaining submodule 1001 is used for obtaining a first longitude and latitude coordinate P1 of the position of the snapshot machine, calculating a second longitude and latitude coordinate P3 of the position of the foot perpendicular to the river opposite to the bank where the snapshot machine is located, and calculating a third longitude and latitude coordinate P2 of the position of the midpoint of the first longitude and latitude coordinate P1 and the second longitude and latitude coordinate P3;
installing a snapshot machine and AIS equipment on one side of a river bank, preferably installing the snapshot machine and AIS equipment on a vertical rod about 10 meters away from the bank, and recording a first longitude and latitude coordinate P1 of the position; and drawing a straight line to the opposite bank by taking the P1 as a starting point and being vertical to the bank, recording a second longitude and latitude coordinate P3 of the intersection point position of the straight line and the opposite bank, and taking the middle point of the first longitude and latitude coordinate P1 and the second longitude and latitude coordinate P3 as a third longitude and latitude coordinate P2.
The distance calculation submodule 1002 is configured to calculate a target distance L from each ship to the third longitude and latitude coordinate P2 according to the longitude and latitude coordinates in the dynamic data information in sequence;
and calculating the straight-line distance of each ship from the reference point by taking the third longitude and latitude coordinate P2 as the reference point.
The comparison submodule 1003 compares the target distance L of the current ship with a preset distance L0, and if L is less than or equal to L0, the dynamic data information of the current ship is stored;
and acquiring dynamic data information of the ship with the target distance within the preset distance, and performing subsequent data processing by taking the dynamic data information of the ship as a data base. That is, the dynamic data information of all the ships within the circumferential range defined by the third longitude and latitude coordinate P2 as the center L0 as the radius is acquired and stored. Preferably, L0 is set at 600 meters.
A static data information obtaining module 200, configured to obtain static data information of the multiple ships in real time;
the static data information of boats and ships is also sent by the AIS equipment of boats and ships, and the AIS equipment on bank receives, and wherein, the static data information of boats and ships specifically includes: MMSI code, ship name information, ship length information, etc. Because the data in the static data information is the data which is not changed, the static data can be stored after being acquired and does not need to be updated after being acquired, and the data volume is small. In addition, the AIS equipment can receive static data information of all ships within a signal receiving range, and also can receive static data information of part of ships within a preset range, and the receiving range of the static data information can be flexibly selected according to needs.
The matching module 300 is configured to match the dynamic data information of the multiple ships with the static data information of the multiple ships through the MMSI code corresponding to each ship to obtain complete data information of each ship;
as can be seen from the specific types of the dynamic data information and the static data information, the same data of the two data information is an MMSI code, i.e., a marine mobile service identification code, which is transmitted by a ship radio communication system on a radio channel thereof and can uniquely identify a list of nine-digit digital codes of various stations and group call stations.
The dynamic data information and the static data information of each ship can be associated and matched through the MMSI code, namely, the ship name information, the ship length information and other data of the ship static data information are matched on the basis of the ship longitude and latitude coordinates, the ship speed, the ship direction and other data of the obtained dynamic data information of the ship, and the dynamic data information and the static data information which correspond to the MMSI code of the ship and are associated with each other, namely the complete data information of the ship, are obtained. That is, each ship has a unique MMSI code, and dynamic data information and static data information of the ship can be obtained by acquiring complete data information of the ship.
The snapshot module 400 is used for snapshotting a target ship when preset snapshot conditions are triggered by the target ship;
and a snapshot machine for snapshot is further arranged on the shore and is used for snapshot of the target ship when the ship triggers a preset snapshot condition. During snapshot, any information of the ship cannot be obtained, so that the complete data information of the target ship needs to be matched in a plurality of complete data information.
The direction judging module 500 is used for judging the left and right navigation directions of the target ship in the snapshot picture;
and determining the left and right sailing directions of the ship by using a deep learning algorithm in the pictures captured by the capturing machine.
The estimation module 600 calculates a fifth longitude and latitude coordinate B2 of each ship at the current time according to a fourth longitude and latitude coordinate B1, speed data and an absolute motion direction of the ship at the latest time in sequence, and calculates a vertical distance from the fifth longitude and latitude coordinate B2 to a reference line by taking a line segment P1P3 formed by connecting the first longitude and latitude coordinate P1 and the second longitude and latitude coordinate P3 as the reference line;
since the dynamic data information is acquired every predetermined time, the real-time motion states of all ships cannot be accurately judged at the moment of snapshotting the target ship. In order to select one complete data message most matched with a target ship from the complete data messages of a plurality of ships, the real-time motion state of each ship at the current moment needs to be known.
Extracting dynamic data information acquired at the moment closest to the current moment, namely the latest dynamic data information of the primary ship, determining a fourth longitude and latitude coordinate B1 of the ship acquired at the latest moment, wherein the fourth longitude and latitude coordinate B1 is a determined value, and calculating a fifth longitude and latitude coordinate B2 of the ship at the current moment on the basis of the determined value by combining the speed data and the absolute motion direction of the ship, and the fifth longitude and latitude coordinate B2 is an estimated value. After the fifth longitude and latitude coordinate B2 is determined, the vertical distance from the fifth longitude and latitude coordinate B2 to a reference line is calculated, wherein the reference line refers to a line segment P1P3 formed by connecting the first longitude and latitude coordinate P1 and the second longitude and latitude coordinate P3.
The selecting module 700 calculates the left and right sailing directions of each ship according to the dynamic data information, and if the left and right sailing directions of the current ship are consistent with the left and right sailing directions of the target ship and the corresponding vertical distance is the minimum, it is determined that the complete data information of the current ship is the complete data information of the target corresponding to the target ship, and the complete data information of the target is used as the identification information of the target ship.
And determining complete data information of a ship which is most matched with the target ship on the basis of the acquired data. Specifically, comparing the left and right sailing directions of the target ship with the left and right sailing directions of each ship, only a ship having the same left and right sailing directions as the target ship is likely to be the target ship. In addition, the vertical distances between the reference lines and a plurality of ships are compared, and the complete data of the ship having the left and right sailing directions which are the same as the left and right sailing directions of the target ship and the minimum vertical distance from the reference line is selected as the complete data of the target ship. Therefore, the complete data of the target ship corresponding to the shot target ship picture is obtained, the identification accuracy of the ship is improved, and the follow-up supervision and management of the target ship are facilitated.
As an alternative implementation, fig. 9 is a block diagram of a structure of a selection module according to an embodiment of the present invention, and as shown in fig. 9, the selection module 700 includes:
the longitude and latitude coordinate acquisition sub-module 7001 is used for recording the first acquired longitude and latitude coordinate as a sixth longitude and latitude coordinate B3 after the ship enters the preset range;
a vector determination submodule 7002, configured to calculate a first coordinate S of the sixth latitudinal coordinate B3 relative to an origin O with the first latitudinal coordinate P1 as the origin O, and obtain a vector OS; taking the first longitude and latitude coordinate P1 as an origin O, calculating a second coordinate E of the fourth longitude and latitude coordinate B1 relative to the origin O, and obtaining a vector OE;
a vector product calculation submodule 7003 for calculating a vector product R of the vector OS and the vector OE;
the course judgment sub-module 7004 is used for judging that the ship sails leftwards in the snapshot picture if R is larger than 0; and if R is less than 0, judging that the ship sails rightwards in the snapshot picture.
And acquiring a first longitude and latitude coordinate after the ship enters a preset range, namely a sixth longitude and latitude coordinate B3. With the first latitudinal coordinate P1 as the origin of coordinates O (0,0), the coordinates S (x1, y1) of the sixth latitudinal coordinate B3 relative to the first latitudinal coordinate P1 are calculated.
And acquiring the money at the moment of snapshot, namely the last longitude and latitude coordinate of the ship, namely a fourth longitude and latitude coordinate B1. With the first latitudinal coordinate P1 as the origin of coordinates O (0,0), the coordinate E (x2, y2) of the fourth latitudinal and longitudinal coordinate B1 relative to the first latitudinal coordinate P1 is calculated.
The vector OS and the vector OE are cross-multiplied by a formula
And calculating a result R, if R is greater than 0, indicating that the ship takes O as an origin in the snapshot picture and is in a counterclockwise direction (equivalent to the leftward direction in the snapshot picture), and if R is less than 0, indicating that the ship takes O as an origin in the snapshot picture and is in a clockwise direction (equivalent to the rightward direction in the snapshot picture).
As an alternative implementation, fig. 10 is a block diagram of a structure of a ship identification device according to another embodiment of the present invention, and as shown in fig. 10, the device further includes:
a link determining module 800, configured to calculate a line segment P1B2 connecting the fifth longitude and latitude coordinate B2 and the first longitude and latitude coordinate P1 of each ship;
a coordinate angle determination module 900 for calculating a coordinate angle Q of the line segment P1B2 and the line segment P1P 3;
an average value calculating module 1000 for calculating an average angle value Avg of the coordinate angles Q of the predetermined number of ships;
a coordinate point updating module 1100, configured to rotate the average angle value Avg by using the first longitude and latitude coordinate P1 as an origin of the line segment P1P3, to obtain an intersection point of an extension line of the rotated line segment P1P3 and a river opposite bank, which is marked as a seventh longitude and latitude coordinate P4;
the datum line updating module 1200 is configured to take a line segment P1P4 formed by connecting the first longitude and latitude coordinate P1 and the seventh longitude and latitude coordinate P4 as a latest datum line, and update the datum line to the latest datum line.
The angle information of the ships with the preset number is integrated, the position of the datum line is adjusted, the position of the ship is accurately identified, and therefore the accuracy of final ship identification is improved.
As an optional implementation manner, fig. 11 is a block diagram of a structure of a static data information obtaining module according to an embodiment of the present invention, and as shown in fig. 11, the static data information obtaining module 200 includes:
the table establishing sub-module 2001 is configured to receive ship name data information corresponding to the MMSI codes of the multiple ships, and establish an accumulated data table; the receiving submodule 2002 is configured to receive ship length data information corresponding to the MMSI codes of the multiple ships; an association submodule 2003 for associating ship length data information with corresponding ship name data information in the accumulated data table by the MMSI code of each ship.
Since the static data information of the ship includes the MMSI code, ship name data information, and ship length data information, these data are now stored as an accumulated data table. Therefore, in the embodiment of the invention, ship name data information corresponding to MMSI codes of a plurality of ships is obtained and stored in an accumulated data table. And then, acquiring ship length data information corresponding to the MMSI code of the ship, and storing the ship length data information in an accumulated data table in association with corresponding ship name data. Other specific static data information may also be associated with the corresponding vessel name data in the cumulative data table according to the method.
In order to reduce the amount of stored data, a storage time TS is set, and the information corresponding to each MMSI code in the accumulated data table is deleted when the information reaches the storage time TS from the beginning of the storage completion timing, preferably, the TS is less than or equal to 10 hours.
As an alternative embodiment, the invention also provides a computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, carries out the vessel identification method as described above.
The storage medium stores the software, and the storage medium includes but is not limited to: optical disks, floppy disks, hard disks, erasable memory, etc.
The technical scheme has the following beneficial effects: the ship dynamic data information received by the AIS equipment is matched with the static data information in an associated mode to obtain complete data information corresponding to each ship, the ship complete data information closest to a target ship is matched at a snapshot time, the complete data information of the target ship is associated with a snapshot picture, the identification accuracy is improved, the effectiveness and the reliability of supervision of the ship are improved, the emergency response speed of maritime water managers is improved, and the working efficiency of managers is improved.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (12)
1. A ship identification method, comprising:
acquiring dynamic data information of a plurality of ships within a preset range according to a preset time interval;
wherein, the acquiring of the dynamic data information of the plurality of ships within the preset range comprises: acquiring a first longitude and latitude coordinate P1 of the position of the snapshot machine, calculating a second longitude and latitude coordinate P3 of the position of the foot perpendicular to the river bank to obtain the position of the snapshot machine, and calculating a third longitude and latitude coordinate P2 of the position of the midpoint of the first longitude and latitude coordinate P1 and the second longitude and latitude coordinate P3; sequentially calculating the target distance L from each ship to the third longitude and latitude coordinate P2 according to the longitude and latitude coordinates in the dynamic data information; comparing the target distance L of the current ship with a preset distance L0, and if L is less than or equal to L0, storing dynamic data information of the current ship;
acquiring static data information of the plurality of ships in real time;
matching the dynamic data information of the multiple ships with the static data information of the multiple ships through the MMSI corresponding to each ship to obtain complete data information of each ship;
when a target ship triggers a preset snapshot condition, the target ship is snapshot;
judging the left and right navigation directions of the target ship in the snapshot picture;
calculating a fifth longitude and latitude coordinate B2 of each ship at the current moment according to a fourth longitude and latitude coordinate B1, speed data and an absolute motion direction of the nearest moment of each ship in turn, taking a line segment P1P3 formed by connecting the first longitude and latitude coordinate P1 with the second longitude and latitude coordinate P3 as a reference line, and calculating the vertical distance from the fifth longitude and latitude coordinate B2 to the reference line;
and calculating the left and right navigation directions of each ship according to the dynamic data information, if the left and right navigation directions of the current ship are consistent with the left and right navigation directions of the target ship and the corresponding vertical distance is minimum, judging that the complete data information of the current ship is the target complete data information corresponding to the target ship, and using the target complete data information as the identification information of the target ship.
2. The ship identification method according to claim 1, wherein said calculating the left and right sailing directions of each ship according to the dynamic data information comprises:
when the ship enters the preset range, recording the first obtained longitude and latitude coordinate as a sixth longitude and latitude coordinate B3;
calculating a first coordinate S of the sixth longitude latitude coordinate B3 relative to an origin O by taking the first longitude latitude coordinate P1 as the origin O, and obtaining a vector OS;
taking the first longitude and latitude coordinate P1 as an origin O, calculating a second coordinate E of the fourth longitude and latitude coordinate B1 relative to the origin O, and obtaining a vector OE;
calculating a vector product R of the vector OS and the vector OE;
if R is larger than 0, judging that the ship sails leftwards in the snapshot picture;
and if R is less than 0, judging that the ship sails rightwards in the snapshot picture.
3. The ship identification method according to claim 1, wherein the step of using the target complete data information as the identification information of the target ship comprises:
calculating a line segment P1B2 connecting the fifth longitude latitude coordinate B2 and the first longitude latitude coordinate P1 of each ship;
calculating a coordinate angle Q of the line segment P1B2 and the line segment P1P 3;
calculating an average angle value Avg of the coordinate angles Q of the predetermined number of vessels;
rotating the average angle value Avg by taking the first longitude and latitude coordinate P1 as an origin point of the line segment P1P3 to obtain an intersection point of an extension line of the rotated line segment P1P3 and a river opposite bank, and marking as a seventh longitude and latitude coordinate P4;
and taking a line segment P1P4 formed by connecting the first longitude and latitude coordinate P1 and the seventh longitude and latitude coordinate P4 as a latest reference line, and updating the reference line to the latest reference line.
4. The ship identification method according to claim 1, wherein the target distance L is calculated according to the following formula:
wherein WA is the latitude of the current ship, WB is the latitude of a third longitude and latitude coordinate P2 point, JA is the longitude of the current ship, JB is the longitude of a third longitude and latitude coordinate P2 point, and R is the radius of the earth.
5. The ship identification method according to claim 1, wherein the obtaining static data information of the plurality of ships in real time comprises:
receiving ship name data information corresponding to the MMSI codes of the multiple ships and establishing an accumulated data table;
receiving ship length data information corresponding to the MMSI codes of the multiple ships;
ship length data information is associated with corresponding ship name data information in the cumulative data table by the MMSI code of each ship.
6. The method of claim 1, wherein the comparing the target distance L of the current ship with a predetermined distance L0, if L ≦ L0, after saving dynamic data information of the current ship, comprises:
storing and recording the MMSI code of each ship;
storing the current time T and the longitude and latitude coordinates of each ship at the current time T in real time;
and continuously recording M longitude and latitude coordinates for each ship.
7. The ship identification method according to claim 1, wherein the preset snapshot condition is that the target ship reaches a center line position of a snapshot machine monitoring video.
8. A ship recognition device, characterized by comprising:
the dynamic data information acquisition module is used for acquiring dynamic data information of a plurality of ships within a preset range according to a preset time interval;
wherein, the dynamic data information acquisition module comprises: the coordinate acquisition submodule is used for acquiring a first longitude and latitude coordinate P1 of the position of the snapshot machine, calculating a second longitude and latitude coordinate P3 of the position of the foot perpendicular to the river opposite to the bank where the snapshot machine is located, and calculating a third longitude and latitude coordinate P2 of the position of the midpoint of the first longitude and latitude coordinate P1 and the second longitude and latitude coordinate P3; the distance calculation submodule is used for calculating the target distance L from each ship to the third longitude and latitude coordinate P2 according to the longitude and latitude coordinates in the dynamic data information in sequence; the comparison submodule is used for comparing the target distance L of the current ship with a preset distance L0, and if L is less than or equal to L0, the dynamic data information of the current ship is stored;
the static data information acquisition module is used for acquiring the static data information of the plurality of ships in real time;
the matching module is used for matching the dynamic data information of the multiple ships with the static data information of the multiple ships through the MMSI corresponding to each ship to obtain the complete data information of each ship;
the snapshot module is used for snapshotting the target ship when preset snapshot conditions are triggered by the target ship;
the direction judging module is used for judging the left and right navigation directions of the target ship in the snapshot picture;
the estimation module is used for calculating a fifth longitude and latitude coordinate B2 of each ship at the current moment according to a fourth longitude and latitude coordinate B1, speed data and an absolute motion direction of the latest moment of each ship in turn, taking a line segment P1P3 formed by connecting the first longitude and latitude coordinate P1 with the second longitude and latitude coordinate P3 as a datum line, and calculating the vertical distance from the fifth longitude and latitude coordinate B2 to the datum line;
and the selection module is used for calculating the left and right navigation directions of each ship according to the dynamic data information, judging that the complete data information of the current ship is the target complete data information corresponding to the target ship if the left and right navigation directions of the current ship are consistent with the left and right navigation directions of the target ship and the corresponding vertical distance is minimum, and taking the target complete data information as the identification information of the target ship.
9. The vessel identifying device of claim 8, wherein the selection module comprises:
the longitude and latitude coordinate acquisition sub-module is used for recording the first acquired longitude and latitude coordinate as a sixth longitude and latitude coordinate B3 after the ship enters the preset range;
a vector determination submodule, configured to calculate a first coordinate S of the sixth longitude latitude coordinate B3 relative to an origin O with the first longitude latitude coordinate P1 as the origin O, and obtain a vector OS; taking the first longitude and latitude coordinate P1 as an origin O, calculating a second coordinate E of the fourth longitude and latitude coordinate B1 relative to the origin O, and obtaining a vector OE;
a vector product calculation submodule for calculating a vector product R of the vector OS and the vector OE;
the course judgment submodule is used for judging that the ship sails leftwards in the snapshot picture if R is larger than 0; and if R is less than 0, judging that the ship sails rightwards in the snapshot picture.
10. The ship recognition device according to claim 8, further comprising:
a connection determining module for calculating a line segment P1B2 connecting the fifth longitude and latitude coordinate B2 and the first longitude and latitude coordinate P1 of each ship;
a coordinate angle determination module for calculating a coordinate angle Q of the line segment P1B2 and the line segment P1P 3;
an average value calculating module for calculating an average angle value Avg of the coordinate angles Q of the predetermined number of ships;
a coordinate point updating module, configured to rotate the average angle value Avg with the first longitude and latitude coordinate P1 as an origin for the line segment P1P3, to obtain an intersection point of an extension line of the rotated line segment P1P3 and a river opposite bank, which is marked as a seventh longitude and latitude coordinate P4;
and the datum line updating module is used for taking a line segment P1P4 formed by connecting the first longitude and latitude coordinate P1 and the seventh longitude and latitude coordinate P4 as a latest datum line and updating the datum line into the latest datum line.
11. The ship recognition device of claim 8, wherein the static data information acquisition module comprises:
the table establishing submodule is used for receiving ship name data information corresponding to the MMSI codes of the multiple ships and establishing an accumulated data table;
the receiving submodule is used for receiving ship length data information corresponding to the MMSI codes of the multiple ships;
and the association submodule is used for associating the ship length data information with the corresponding ship name data information in the accumulated data table through the MMSI code of each ship.
12. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the vessel identification method according to any one of claims 1 to 7.
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| KR20160044801A (en) * | 2014-10-16 | 2016-04-26 | 한국해양과학기술원 | Method for ship classification and identification |
| CN109636921A (en) * | 2018-12-17 | 2019-04-16 | 武汉理工大学 | Intelligent vision ship sensory perceptual system and data processing method based on cloud platform |
| CN111368614A (en) * | 2019-06-05 | 2020-07-03 | 杭州海康威视系统技术有限公司 | Ship identification method and device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR20160044801A (en) * | 2014-10-16 | 2016-04-26 | 한국해양과학기술원 | Method for ship classification and identification |
| CN109636921A (en) * | 2018-12-17 | 2019-04-16 | 武汉理工大学 | Intelligent vision ship sensory perceptual system and data processing method based on cloud platform |
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Application publication date: 20211102 |