A bridge under ship tracking and grabbing method, system, storage medium and intelligent terminal

Abstract

This application relates to a method, system, storage medium, and intelligent terminal for tracking and capturing vessels under bridges, and pertains to the field of environmental monitoring under bridges. The method includes: acquiring current identification information; filtering center identification information; determining current camera identification information; acquiring camera horizontal position information; determining alignment horizontal position information; calculating horizontal adjustment distance information; adjusting the camera horizontally according to the horizontal adjustment distance information and acquiring the current distance measurement information before the camera disappears; acquiring the camera's height from the bridge; calculating the current camera's height from the water; calculating the camera's adjustment height information; and adjusting the camera's height according to the camera's adjustment height information. This application ensures that the camera and the vessel are always at a certain shooting angle, facilitating computer calculations and thus improving the efficiency of image recognition.

Description

Technical Field

[0001] This application relates to the field of environmental monitoring under bridges, and in particular to a method, system, storage medium, and intelligent terminal for tracking and capturing ships under bridges. Background Technology

[0002] The Hangzhou Bay Bridge is a cross-sea bridge in Zhejiang Province, China, connecting Jiaxing and Ningbo. It is located in the Hangzhou Bay area and is part of the Shenyang-Haikou Expressway (National Expressway G15). It is also an important component of the urban expressway in northeastern Zhejiang Province.

[0003] Regarding the aforementioned technologies, the inventors believe that because the bridge spans a large area, ships must pass underneath. Since the water level rises and falls at different heights, it is necessary to monitor the ships to avoid collisions with the bridge structure. When monitoring ships, the varying water levels result in different ship sizes appearing in the captured images. Therefore, a series of image magnification and reduction operations are required before analysis to obtain the final image. This analysis process involves significant computer computation and can easily overload the system, indicating room for improvement. Summary of the Invention

[0004] To address the issue of high computational load during analysis, which can easily lead to excessive computer workload, this application provides a method, system, storage medium, and intelligent terminal for tracking and capturing vessels under bridges.

[0005] Firstly, this application provides a method for tracking and capturing vessels under bridges, employing the following technical solution:

[0006] A method for tracking and capturing vessels under bridges includes:

[0007] Obtain the current number information of the signal disappearance;

[0008] Filter out the center number information from the continuous current number information;

[0009] The camera number and center number information stored in the preset camera database are matched and analyzed to determine the camera number corresponding to the center number information, and the camera number is defined as the current camera number information.

[0010] Obtain the horizontal position information of the camera corresponding to the current camera number;

[0011] Matching analysis is performed based on the horizontal position information and center number information stored in the preset horizontal database to determine the horizontal position corresponding to the center number information, and this horizontal position is defined as the alignment horizontal position information;

[0012] The horizontal adjustment distance is calculated based on the camera's horizontal position information and the alignment horizontal position information.

[0013] The camera adjusts horizontally according to the horizontal distance information and then obtains the current distance measurement information before disappearing.

[0014] Obtain the distance from the bridge to the camera corresponding to the current camera number;

[0015] The current distance between the camera and the water is calculated based on the current ranging information and the camera's distance from the bridge.

[0016] The camera adjustment height information is calculated based on the current camera height above the water and the preset standard camera height above the water.

[0017] The camera adjusts its height according to the camera height adjustment information.

[0018] By adopting the above technical solution, the position of the transmitter that triggered the obstruction is obtained when the transmitter's signal is blocked by the ship, thus determining the center position. This ensures that the camera is always directly facing the center position. Then, the final water level information is obtained based on the distance measurement information before the signal disappears. The camera height is then adjusted according to the water level information to keep the camera at a certain height above the water surface. Ultimately, the camera and the ship are always at a certain shooting angle. Only the images within this angle need to be analyzed, and subsequent images can refer to the content and analysis data of the first image, which facilitates computer calculation and improves the efficiency of image recognition.

[0019] Optionally, methods for adjusting the transmitter height may include:

[0020] Obtain the current extension / retraction length information of the vertical pipe;

[0021] The transmitter height information and the current extension length information stored in the preset sea surface database are matched and analyzed to determine the transmitter height corresponding to the current extension length information, and the transmitter height is defined as the current transmitter height information.

[0022] The receiving tilt angle information is calculated based on the preset horizontal distance information, the height information of the receiving device, and the current height information of the transmitter;

[0023] The emission intensity is determined by matching and analyzing the emission intensity information stored in the preset intensity database with the current ranging information, and the emission intensity is defined as the theoretical emission intensity information.

[0024] The water level height information is calculated based on the preset water body weakening information, current ranging information, theoretical transmission intensity information, current transmitter height information, and receiver tilt angle information;

[0025] The theoretical tilt angle is calculated based on the water level height information, the height information of the receiving device, and the preset shooting horizontal distance information.

[0026] The theoretical transmitter height information is calculated based on the theoretical tilt angle information, the horizontal distance information, and the height information of the receiving device.

[0027] The telescopic length information stored in the sea surface database and the theoretical transmitter height information are matched and analyzed to determine the telescopic length corresponding to the theoretical transmitter height information, and this telescopic length is defined as the theoretical telescopic length information.

[0028] The transmitter is adjusted according to the theoretical telescopic length information.

[0029] By adopting the above technical solution, the intensity of the transmitter is judged to determine the degree of attenuation of the light emitted by the transmitter in the water and air. When the current ranging information is known, the penetration distance in the water can be obtained, and the water level can be obtained. Then, in order to ensure that the horizontal distance between the ship and the camera is a constant value, the telescopic rod on the transmitter is adjusted according to the theoretical telescopic length information, so that the intersection of the light emitted by the transmitter at the junction of water and air is always a constant value on the horizontal plane. This further ensures that the proportion of the ship in the camera is a constant value, further reducing the amount of data analyzed by the camera and improving the computer's data processing capabilities.

[0030] Optionally, methods for selecting images captured by the camera include:

[0031] Retrieve the quantity information of consecutive current number information;

[0032] Determine whether the quantity corresponding to the quantity information has changed;

[0033] If so, obtain the duration of maintenance before the change;

[0034] Filter out the maintenance duration information with the largest quantity corresponding to the quantity information, and define the maintenance duration information as the maximum maintenance duration information;

[0035] Filter out the intermediate time information and the image information captured by the camera corresponding to the maximum maintenance duration information;

[0036] If not, continue to obtain quantity information.

[0037] By adopting the above technical solution, the intermediate time information is filtered out so that the standard shooting distance in the captured image is as close as possible to the midship position, thus making the cross-section of the midship in the facing photo the most standard. All analysis data are based on the midship spreading to both sides, thereby obtaining the final image analysis structure, which improves the computer's data processing capabilities and speed.

[0038] Optionally, methods for determining the current camera ID information include:

[0039] Obtain vertical feedback distance information and corresponding sensor number information;

[0040] Filter out the center number of the sensor number information and define the center number as the vertical center number information;

[0041] Matching analysis is performed based on the horizontal position information and vertical center number information stored in the horizontal database to determine the horizontal position corresponding to the vertical center number information, and this horizontal position is defined as the comparison horizontal position information;

[0042] The ship's tilt angle is calculated based on the comparison of horizontal position information, alignment of horizontal position information, reception of horizontal distance information, and capture of horizontal distance information.

[0043] The actual camera position information and corresponding virtual number information are calculated based on the ship's tilt angle information, the horizontal alignment information, and the preset optimal shooting angle information.

[0044] The camera number information and virtual number information stored in the camera database are matched and analyzed to determine the camera number corresponding to the virtual number information, and the camera number is defined as the actual camera number information.

[0045] The camera corresponding to the actual camera number is moved according to the actual camera position information and takes pictures according to the ship's tilt angle information.

[0046] By adopting the above technical solution, the horizontal distance information corresponding to the center point of the transmitter number in the vertical direction and the transmitter number in the tilt direction is calculated to obtain the tilt angle information of the ship. Finally, the actual camera facing the ship is obtained through analysis, and the camera in the facing direction is captured, thus improving the accuracy of the camera capture.

[0047] Optionally, the method of moving the camera corresponding to the actual camera number information according to the actual camera position information and taking pictures according to the ship's tilt angle information includes:

[0048] Obtain the vertical feedback distance information corresponding to the vertical center number information, and define the vertical feedback distance information as the center vertical feedback distance information;

[0049] Calculate the feedback distance after the center number information disappears, and define this feedback distance as the center feedback distance information;

[0050] The travel length and vertical distance are calculated based on the theoretical tilt angle information, the ship tilt angle information, and the center feedback distance information.

[0051] Arbitrarily select a vertical distance information that is equal to the vertical feedback distance information at the same time, and obtain the time when the vertical feedback distance information is measured at the vertical center number information and the time when the vertical feedback distance information is measured at the center number information respectively. Define the time corresponding to the vertical center number information as the first moment information and the time corresponding to the center number information as the second moment information.

[0052] Calculate the difference between the information at the first moment and the information at the second moment, and define this difference as the driving time information;

[0053] The driving speed information is calculated based on the driving length information and driving time information;

[0054] The actual distance information is calculated based on the ship's tilt angle information and the horizontal distance information captured during the photograph.

[0055] The difference is calculated based on the actual distance information and the shooting horizontal distance information, and this difference is defined as the difference distance information.

[0056] The difference time information is calculated based on the difference distance information and the driving speed information;

[0057] The image is taken after the time corresponding to the intermediate time information corresponding to the maximum duration information and the duration corresponding to the difference time information.

[0058] By adopting the above technical solution, since the ship is tilted, the camera is not a vertical camera, so there is a gap between the actual distance information and the horizontal distance information. By taking into account the ship's speed, the time to narrow the gap is determined, and then the shot is taken at the corresponding moment, so that the shooting distance is as close as possible to the horizontal distance information, thus improving the accuracy and intelligence of the camera shooting.

[0059] Optionally, methods for correcting water level information when waves occur include:

[0060] Filter out the maximum and minimum values ​​in the water level information, define the maximum value as the highest water level information, and define the minimum value as the lowest water level information;

[0061] The difference between the highest and lowest water levels is calculated and defined as the maximum water level amplitude.

[0062] Filter out the current number information with the smallest water level amplitude information and determine whether the water level amplitude information corresponding to the current number information is less than the preset phase difference threshold information;

[0063] If so, then the standard water level information, the highest water level information, and the lowest water level information stored in the preset standard database are matched and analyzed to determine the standard water level corresponding to the highest water level information and the lowest water level information, and the standard water level is defined as the current standard water level information;

[0064] The water level information was corrected based on the current standard water level information.

[0065] If not, then the adjacent number information and the current number information stored in the preset number database are matched and analyzed to determine the adjacent number corresponding to the current number information, and the adjacent number is defined as the current adjacent number information.

[0066] Adjust the transmitter corresponding to the current adjacent number information according to the theoretical extension length information and continue to determine whether the water level amplitude information corresponding to the current number information is less than the phase difference threshold information;

[0067] If the difference is not less than the threshold information, the current adjacent number information is updated to the current number information, and then the current adjacent number information corresponding to the updated current number information is obtained until the water level amplitude is less than the threshold information.

[0068] By adopting the above technical solution, and by analyzing the difference between the heights of the highest and lowest water levels, a relatively stable number is selected. At this time, the water level fluctuation amplitude generally does not change significantly and is a uniform wave pattern. Therefore, the current standard water level information is obtained from a large number of experiments, and the current distance measurement information at the current standard water level is obtained. This determines the extension length information to reach the most standard position, improving the anti-interference and accuracy of the current distance measurement information.

[0069] Optionally, when two vessels correspond to the same current camera ID, the capture method includes:

[0070] Determine whether all current ID information and sensor ID information corresponding to the same camera ID information are consecutive;

[0071] If so, output the current camera number information and calculate the camera adjustment height information based on the current camera height above the water and the preset standard camera height above the water.

[0072] If not, then obtain the first occurrence of the intermediate time information, define the first occurrence of the intermediate time information as the first intermediate time information, and define the subsequent occurrences of the intermediate time information as the second intermediate time information.

[0073] Obtain the sensing number information corresponding to the first intermediate time information and the second intermediate time information respectively, and define the current number information corresponding to the first intermediate time information as the first sensing number information, and define the current number information corresponding to the second intermediate time information as the second sensing number information.

[0074] The critical number information of the first sensing number information and the critical number information of the second sensing number information are filtered respectively. The critical number information corresponding to the first sensing number information is defined as the first critical number information, and the critical number information corresponding to the second current sensing information is defined as the second critical number information.

[0075] Based on the cropping area information stored in the preset cropping database, a matching analysis is performed with the first critical number information and the second critical number information to determine the cropping areas corresponding to the first critical number information and the second critical number information respectively. The cropping area corresponding to the first critical number information is defined as the first cropping area information, and the cropping area corresponding to the second critical number information is defined as the second cropping area information.

[0076] Obtain the captured image information corresponding to the first intermediate time information and the second intermediate time information respectively, define the captured image information corresponding to the first intermediate time information as the first captured image information, and define the captured image information corresponding to the second intermediate time information as the second captured image information;

[0077] Obtain the first empty boat image information captured by the camera corresponding to the first captured image information when the first sensor number information and the second empty boat image information captured by the camera corresponding to the second captured image information when the first captured image information and the second captured image information do not exist;

[0078] The first captured image information is cropped according to the first cropping area information and then stitched together with the first empty ship image information. The second captured image information is cropped according to the second cropping area information and then stitched together with the second empty ship image information.

[0079] By adopting the above technical solution, the remaining parts of the two images are cut out by extracting the critical value of the non-sensitive numbering information in the two images, which facilitates image analysis without being affected by ships in the same area, and improves the anti-interference capability of image analysis.

[0080] Secondly, this application provides a bridge-under-bridge vessel tracking and capture system, which adopts the following technical solution:

[0081] A system for tracking and capturing vessels under bridges, comprising:

[0082] The acquisition module is used to acquire the current number information of the signal disappearance;

[0083] The processing module, connected to the acquisition and filtering modules, is used for information storage and processing.

[0084] The filtering module is used to filter out the center number information from the continuous current number information;

[0085] The processing module performs matching analysis based on the camera number information and center number information stored in the preset camera database to determine the camera number corresponding to the center number information, and defines the camera number as the current camera number information;

[0086] The acquisition module obtains the horizontal position information of the camera corresponding to the current camera number information;

[0087] The processing module performs matching analysis based on the horizontal position information and center number information stored in the preset horizontal database to determine the horizontal position corresponding to the center number information, and defines the horizontal position as the alignment horizontal position information;

[0088] The calculation module, connected to the processing module, is used to calculate the horizontal adjustment distance information based on the horizontal position information of the camera and the horizontal alignment information.

[0089] The control module, connected to the processing module, is used to control the camera to adjust horizontally according to the horizontal distance information and then obtain the current ranging information before it disappears.

[0090] The acquisition module obtains the distance from the bridge to the camera corresponding to the current camera number information;

[0091] The calculation module calculates the current distance between the camera and the water based on the current ranging information and the camera's distance from the bridge.

[0092] The calculation module calculates the camera adjustment height information based on the current camera height above the water and the preset standard camera height above the water.

[0093] The control module controls the camera to adjust its height according to the camera's height adjustment information.

[0094] By adopting the above technical solution, the position of the transmitter that triggered the obstruction is obtained when the transmitter's signal is blocked by the ship, thus determining the center position. This ensures that the camera is always directly facing the center position. Then, the final water level information is obtained based on the distance measurement information before the signal disappears. The camera height is then adjusted according to the water level information to keep the camera at a certain height above the water surface. Ultimately, the camera and the ship are always at a certain shooting angle. Only the images within this angle need to be analyzed, and subsequent images can refer to the content and analysis data of the first image, which facilitates computer calculation and improves the efficiency of image recognition.

[0095] Thirdly, this application provides a smart terminal, which adopts the following technical solution:

[0096] A smart terminal includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed by any of the above-mentioned methods for tracking and capturing ships under bridges.

[0097] By adopting the above technical solution, the position of the transmitter that triggered the obstruction is obtained when the transmitter's signal is blocked by the ship, thus determining the center position. This ensures that the camera is always directly facing the center position. Then, the final water level information is obtained based on the distance measurement information before the signal disappears. The camera height is then adjusted according to the water level information to keep the camera at a certain height above the water surface. Ultimately, the camera and the ship are always at a certain shooting angle. Only the images within this angle need to be analyzed, and subsequent images can refer to the content and analysis data of the first image, which facilitates computer calculation and improves the efficiency of image recognition.

[0098] Fourthly, this application provides a computer-readable storage medium capable of storing corresponding programs, characterized by fast response and rapid calculation.

[0099] A computer-readable storage medium adopts the following technical solution:

[0100] A computer-readable storage medium storing a computer program that can be loaded by a processor and executed by any of the above-described methods for tracking and capturing vessels under bridges.

[0101] By adopting the above technical solution, the position of the transmitter that triggered the obstruction is obtained when the transmitter's signal is blocked by the ship, thus determining the center position. This ensures that the camera is always directly facing the center position. Then, the final water level information is obtained based on the distance measurement information before the signal disappears. The camera height is then adjusted according to the water level information to keep the camera at a certain height above the water surface. Ultimately, the camera and the ship are always at a certain shooting angle. Only the images within this angle need to be analyzed, and subsequent images can refer to the content and analysis data of the first image, which facilitates computer calculation and improves the efficiency of image recognition.

[0102] In summary, this application includes at least one of the following beneficial technical effects:

[0103] 1. By obtaining the position of the transmitter that triggers the masking, the center position is determined, ensuring that the camera and the ship are always at a certain shooting angle, which facilitates computer calculation and improves the efficiency of image recognition.

[0104] 2. By calculating the ship's tilt angle, the actual camera directly facing the ship can be obtained through analysis, thus improving the accuracy of the camera's images;

[0105] 3. By cutting out the remaining parts of the two images, the images can be analyzed without being affected by ships in the same area, thus improving the anti-interference capability of image analysis. Attached Figure Description

[0106] Figure 1 This is a flowchart of a method for tracking and capturing ships under a bridge, as described in an embodiment of this application.

[0107] Figure 2 This is a schematic diagram of the ship tracking device under the bridge in the embodiments of this application.

[0108] Figure 3 This is a top view of the sea surface in an embodiment of this application.

[0109] Figure 4 This is a flowchart of a method for adjusting the transmitter height according to an embodiment of this application.

[0110] Figure 5 This is a flowchart of a method for selecting images captured by a camera in an embodiment of this application.

[0111] Figure 6 This is a flowchart of a method for determining the current camera ID information in an embodiment of this application.

[0112] Figure 7This is a flowchart illustrating a method in this application embodiment for moving the camera corresponding to the actual camera number information according to the actual camera position information and taking pictures according to the ship tilt angle information.

[0113] Figure 8 This is a flowchart of a method for correcting water level information when waves occur, as described in an embodiment of this application.

[0114] Figure 9 This is a flowchart of the capture method in this application embodiment when two ships correspond to the same current camera number information.

[0115] Figure 10 This is a block diagram of a method for tracking and capturing ships under a bridge, as described in an embodiment of this application. Detailed Implementation

[0116] To make the purpose, technical solution, and advantages of this application clearer, the following description is provided in conjunction with the appendix. Figure 1-10 The present application will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the application.

[0117] The embodiments of the present invention will now be described in further detail with reference to the accompanying drawings.

[0118] See Figure 1 This invention provides a method for tracking and capturing vessels under bridges. The main process of this method is described below:

[0119] Step 100: Obtain the current number information of the signal disappearance.

[0120] The current number information refers to the transmitter-receiver group number where the signal emitted by the transmitter was not received by the corresponding receiver. For example... Figure 2 As shown, there is a ranging transmitter on the side of the bridge that emits ranging sensing signals, with the transmission direction perpendicular to the bridge. This transmitter can emit a light wave, and there is a receiving instrument at a fixed position on the corresponding bridge to receive the information. If the signal is blocked by a ship, it cannot be emitted. The system marks and outputs the number of the transmitter-receiver group.

[0121] Step 101: Filter out the center number information from the continuous current number information.

[0122] The center number information is the middle number in a series of consecutive current numbers. It's important to note that if the current numbers are not consecutive, they are treated as two consecutive current numbers, resulting in two center numbers that need to be processed separately. This explanation uses a single center number as an example.

[0123] Step 102: Perform a matching analysis based on the camera number information and center number information stored in the preset camera database to determine the camera number corresponding to the center number information, and define the camera number as the current camera number information.

[0124] The current camera numbering information refers to the camera numbering information corresponding to the central numbering information along the vertical direction of the Hangzhou Bay Bridge. For example... Figure 2 and 3 As shown, this example uses a direct-shooting angle. The camera within the area containing the center number information is considered the shooting camera. This camera covers a certain range of the transmitter-receiver group within its own movement range. The database stores the mapping relationship between camera number information and center number information, obtained by those skilled in the art through input based on actual conditions—that is, observing which camera's range the signal emitted by the transmitter and the illuminated position fall into, and then recording the results. When the system receives the center number information, it automatically retrieves the corresponding camera number from the database and outputs the current camera number information.

[0125] Step 103: Obtain the horizontal position information of the camera corresponding to the current camera number information.

[0126] The horizontal position information of the camera refers to its position along the length of the bridge. This information can be obtained using a GPS locator.

[0127] Step 104: Perform a matching analysis based on the horizontal position information and center number information stored in the preset horizontal database to determine the horizontal position corresponding to the center number information, and define the horizontal position as the alignment horizontal position information.

[0128] The horizontal position information is the intersection point of the center number information along the launch direction (i.e., perpendicular to the bridge) and the length direction of the bridge. The database stores the mapping relationship between the horizontal position information and the center number information, which is obtained and recorded by those skilled in the art after the transmitter is installed, based on the actual situation. When the system receives the center number information, it automatically retrieves the corresponding horizontal position from the database to output the aligned horizontal position information.

[0129] Step 105: Calculate the horizontal adjustment distance information based on the camera's horizontal position information and the alignment horizontal position information.

[0130] The horizontal adjustment distance information refers to the distance the camera needs to be adjusted along the length of the bridge. It is calculated by subtracting the two values. It's important to note that positive and negative values ​​indicate direction. Essentially, it represents the vector information from the coordinate point corresponding to the camera's horizontal position information towards the coordinate point corresponding to the aligned horizontal position information.

[0131] Step 106: After adjusting the camera horizontally according to the horizontal distance information, obtain the current distance measurement information before it disappears.

[0132] The current ranging information is the distance between the transmitter's location and the receiver's location. It's important to note that the transmitter moves up and down with the water level, indirectly reflecting the water level's elevation. This information is obtained through reception by the receiver.

[0133] Step 107: Obtain the distance from the bridge to the camera corresponding to the current camera number information.

[0134] The camera's height above the bridge refers to the camera's current distance from the bridge surface. Since the camera is equipped with a device, such as a lead screw, to move it up and down, it's necessary to obtain the camera's current position. This information can be obtained using any distance measurement method, such as a rangefinder.

[0135] Step 108: Calculate the current distance between the camera and the water based on the current distance measurement information and the distance between the camera and the bridge.

[0136] The current camera height above the water refers to the height of the camera above the water surface. In this application, the current ranging information also includes the angle of the received signal, obtained by an angle sensor on the transmitter. Knowing the distance and angle values ​​of the current ranging information, the water level and the height of the water level above the bridge surface can be naturally obtained, thus revealing the current camera height above the water. It should be noted that in this embodiment, the receiver is located horizontally on the bridge surface, meaning the camera height above the bridge and the camera height above the receiver are the same. Therefore, when the water level above the bridge surface is known, the height of the camera above the receiver can also be determined.

[0137] Step 109: Calculate the camera adjustment height information based on the current camera height above the water and the preset standard camera height above the water.

[0138] The standard camera height above water information refers to the height of the camera above the water surface as per standard specifications. This is a manually set height, meaning all photos should be taken at this height so that all photos can be analyzed using the same set of analytical logic. The camera adjustment height information refers to the height adjustment required for the camera to move from the current height above water to the standard height above water.

[0139] Step 110: The camera adjusts its height according to the camera height adjustment information.

[0140] Reference Figure 4 It also includes methods for adjusting the transmitter height, including:

[0141] Step 200: Obtain the current extension / retraction length information of the vertical pipe.

[0142] The current telescopic length information refers to the telescopic length of the vertical pipe. For example... Figure 2 As shown, the transmitter is installed at the very top of the vertical tube, and its extension and retraction are driven by an internal motor to move the vertical tube up and down. Since the height difference due to water level changes is limited, only the upper part of the vertical tube needs to move, while the lower part is inserted directly into the seabed to fix its position. The purpose of obtaining this information is to determine the transmitter's current height above the sea surface.

[0143] Step 201: Perform a matching analysis based on the transmitter height information and the current extension length information stored in the preset sea surface database to determine the transmitter height corresponding to the current extension length information, and define the transmitter height as the current transmitter height information.

[0144] The current transmitter height information refers to the distance of the transmitter from the seabed. The sea surface database stores a mapping relationship between transmitter height information and current extension length information. This mapping relationship is determined by professionals in the field based on actual conditions—specifically, by extending or retracting the riser to a certain extent to obtain the extension length—and then measuring the transmitter height. When the system receives the current extension length information, it automatically retrieves the corresponding transmitter height from the database and outputs the current transmitter height information.

[0145] Step 202: Calculate the receiving tilt angle information based on the preset horizontal distance information, receiving device height information, and current transmitter height information.

[0146] The receiving tilt angle information refers to the receiving tilt angle from the transmitter to the receiver. The receiving horizontal distance information refers to the distance from the receiver to the transmitter along the direction perpendicular to the bridge. This information is manually set, i.e., the distance when the transmitter and receiver are installed. The receiving device height information is the height of the receiver, which has already been described in step 108 and will not be repeated here. Figure 2 As shown, the transmitter, receiver, and the transmitter's horizontal plane form a right triangle. Knowing the height information of the receiving device and the current height information of the transmitter, the difference between the two can be obtained. This difference is one leg of the right triangle, and the horizontal distance information is the other leg. The angle formed by the hypotenuse between the transmitter and receiver and the transmitter's horizontal plane can be analyzed through the right angle function of the two legs. This angle is the receiving tilt angle information.

[0147] Step 203: Perform a matching analysis based on the transmission intensity information stored in the preset intensity database and the current ranging information to determine the transmission intensity corresponding to the current ranging information, and define the transmission intensity as the theoretical transmission intensity information.

[0148] The theoretical transmission strength information refers to the signal strength that can be received when the distance from the transmitter to the receiver is the distance value corresponding to the current ranging information. This information represents the signal strength without attenuation by other media, and therefore is related to the transmission distance. The database stores the mapping relationship between transmission strength information and current ranging information. This mapping was obtained by experts in the field through extensive experiments and formula calculations. When the system receives the current ranging information, it automatically retrieves the corresponding theoretical transmission strength information from the database.

[0149] Step 204: Calculate the water level information based on the preset water weakening information, current ranging information, theoretical transmission intensity information, current transmitter height information, and receiver tilt angle information.

[0150] The water attenuation information refers to the magnitude of intensity reduction per unit distance during transmission in water. The water level information refers to the height of the water level above the seabed.

[0151] Since the current ranging information also includes the actual received intensity information, the difference between the actual intensity information and the theoretical transmission intensity information is the difference in attenuation in the water. Knowing the degree of attenuation in the water, the transmission distance can be determined. Then, based on the receiving tilt angle information, the height of the water level from the transmitter can be obtained, and finally, based on the current transmitter height information, the water level height information can be obtained.

[0152] Step 205: Calculate the theoretical tilt angle information based on the water level height information, the receiving device height information, and the preset shooting horizontal distance information.

[0153] The horizontal distance information refers to the distance between the camera and the ship. For example... Figure 2 As shown, when the signal received by the receiver is just interrupted, the intersection of the signal emitted by the transmitter and the water surface is the shooting point corresponding to the required horizontal shooting distance information. The theoretical tilt angle information is the angle between the transmitter and the receiver when shooting according to the horizontal shooting distance information, just when the signal emitted by the transmitter is blocked. When the corresponding water level and the height of the receiving device are known, the height of the device above the sea surface is also known, and when the distance information between the corresponding water surface intersection and the camera is known, the theoretical tilt angle information can be calculated.

[0154] Step 206: Calculate the theoretical transmitter height information based on the theoretical tilt angle information, the horizontal distance information, and the height information of the receiving device.

[0155] When the horizontal distance information and theoretical tilt angle information are received, the actual height information from the transmitter to the receiver can be obtained. Then, when the height information of the receiving device is known, the actual height information is subtracted to obtain the theoretical transmitter height information.

[0156] Step 207: Perform a matching analysis based on the telescopic length information and theoretical transmitter height information stored in the sea surface database to determine the telescopic length corresponding to the theoretical transmitter height information, and define the telescopic length as the theoretical telescopic length information.

[0157] The theoretical telescopic length information refers to the telescopic length required for the riser when adjusting based on the theoretical transmitter height information. The database was established in step 201 and will not be repeated here. When the system receives the corresponding theoretical transmitter height information, it automatically retrieves the corresponding telescopic length from the database and outputs it as the theoretical telescopic length information.

[0158] Step 208: The transmitter is adjusted according to the theoretical telescopic length information.

[0159] Once the theoretical telescopic length is known, adjustments can be made, with the adjustment amount being the difference between the theoretical and current telescopic lengths. This ensures that when the transmitter's signal is blocked, the ship is precisely at the location where the horizontal distance information is being captured.

[0160] Reference Figure 5 Methods for selecting images captured by the camera include:

[0161] Step 300: Obtain the quantity information of consecutive current number information.

[0162] The quantity information refers to the number of currently identified numbers, presented as consecutive digits. Its purpose is to measure the width of the obstruction. It is obtained by counting; when one of these numbers becomes the current number, the count is accumulated to 1.

[0163] Step 301: Determine whether the quantity corresponding to the quantity information has changed.

[0164] The purpose of the judgment is to determine whether the distance measured in the width direction has changed, so as to divide the hull into segments for calculation and obtain the time taken for each segment.

[0165] Step 3011: If so, obtain the duration information before the change.

[0166] The duration information is the time during which the quantity corresponding to the same current number information remains unchanged. If this is the case, it indicates that a change has occurred, so the recording of the current quantity information's duration ends and the recording of the next duration begins.

[0167] Step 3012: If not, continue to obtain quantity information.

[0168] If not, it means the quantity has not changed and has not yet left the corresponding ship width range. Then you can continue to obtain quantity information.

[0169] Step 302: Filter out the maintenance duration information with the largest quantity corresponding to the quantity information, and define the maintenance duration information as the maximum maintenance duration information.

[0170] The maximum maintenance duration information is the maintenance duration information corresponding to the largest quantity of quantity information. The purpose of this filtering is to obtain the maximum number of current number information, which corresponds to the widest width of the ship, including the midship section.

[0171] Step 303: Filter out the intermediate time information and the camera's captured image information corresponding to the maximum maintenance duration information.

[0172] The intermediate time information refers to the intermediate time corresponding to the maximum maintenance duration information. The captured image information refers to the image taken by the camera corresponding to the intermediate time information corresponding to the maximum maintenance duration information. Here, the maintenance duration is the duration of the symmetrical time before and after the time when the image is captured at the midship, that is, the duration of maintenance when the width is a certain multiple of the interval distance information of the transmitter corresponding to the current number information. Due to the characteristics of ships, the width is greatest at the midship and gradually narrows towards the front and rear ends. Therefore, when the maximum number is included, the image at the midship is included. And when the intermediate time is, the midship is exactly located at the horizontal distance information of the image capture. Therefore, for the convenience of the image reference, the image at which the midship is exactly located at the horizontal distance information of the image capture can be output.

[0173] Reference Figure 6 Methods for determining the current camera ID include:

[0174] Step 400: Obtain vertical feedback distance information and corresponding sensor number information.

[0175] The vertical feedback distance information is the feedback distance information received by another receiver on the transmitter. Here, the transmitter also transmits signals vertically upwards. When the upper part is blocked, the signal emitted by the transmitter is received by a receiver at the same location, thus obtaining the vertical feedback distance information. The sensor number information is the number of the receiver that received the vertical signal emitted by the transmitter.

[0176] Step 401: Filter out the center number of the sensing number information and define the center number as the vertical center number information.

[0177] The vertical center number information is the middle number in a continuous sequence of sensor numbers. The filtering method is to take the average of the numbers at both ends and round it down.

[0178] Step 402: Perform a matching analysis based on the horizontal position information and vertical center number information stored in the horizontal database to determine the horizontal position corresponding to the vertical center number information, and define the horizontal position as the comparison horizontal position information.

[0179] The horizontal position information is compared with the vertical center number information along the direction of launch (i.e., perpendicular to the bridge) and the intersection point along the length of the bridge. The database is established by the method in step 104, which will not be elaborated here. When the system receives the vertical center number information, it automatically looks up the corresponding horizontal position in the database and outputs the horizontal position information for comparison.

[0180] Step 403: Calculate the ship's tilt angle information based on the compared horizontal position information, aligned horizontal position information, received horizontal distance information, and photographed horizontal distance information.

[0181] When the horizontal position information and the received horizontal distance information are known, the orientation of the vertical center number information can be obtained. Then, when the horizontal position information and the horizontal distance information are known, the information of the intersection of the center number information transmitted signal and the water surface can be obtained. Both of these are located on the straight line of the keel in the middle of the ship. Therefore, the ship's tilt angle information can be determined based on these two points.

[0182] Step 404: Calculate the actual camera position information and corresponding virtual number information based on the ship tilt angle information, alignment horizontal position information and preset optimal shooting angle information.

[0183] The optimal shooting angle information refers to the best angle to shoot from a position relative to the ship's length. Here, we take 0° as an example, meaning the optimal shooting angle is directly facing the ship. The virtual number information corresponds to the transmitter number that the camera at that location is directly facing.

[0184] like Figure 2 and Figure 3 As shown, once the ship's tilt angle and alignment horizontal position information are obtained, the actual distance from the center number information transmission signal and the water surface to the bridge along the direction of the ship's tilt angle information can be obtained. Then, the horizontal distance from the alignment horizontal position information can be obtained, and based on this distance and the alignment horizontal position information, the actual camera position information can be obtained. Finally, based on this position, the corresponding transmitter number information can be obtained.

[0185] Step 405: Perform a matching analysis based on the camera number information and virtual number information stored in the camera database to determine the camera number corresponding to the virtual number information, and define the camera number as the actual camera number information.

[0186] The actual camera number information refers to the camera number that takes pictures in the direction directly facing the ship when the ship is in the tilt direction corresponding to the ship's tilt angle information. The database is established by the method in step 102, which will not be elaborated here. When the system receives virtual number information, it automatically converts it into central number information and finds the corresponding camera number, outputting the actual camera number information.

[0187] Step 406: Move the camera corresponding to the actual camera number information according to the actual camera position information and take pictures according to the ship's tilt angle information.

[0188] Once the actual camera location and number information are obtained, the camera is moved to the actual camera location and then rotated in the direction of the ship's tilt angle to take pictures directly facing the ship.

[0189] Reference Figure 7 The method of moving the camera corresponding to the actual camera number information according to the actual camera position information and taking pictures according to the ship's tilt angle information includes:

[0190] Step 500: Obtain the vertical feedback distance information corresponding to the vertical center number information, and define the vertical feedback distance information as the center vertical feedback distance information.

[0191] The vertical feedback distance information is the feedback distance information received by the receiver corresponding to the vertical center number information in the vertical direction.

[0192] Step 501: Calculate the feedback distance after the center number information disappears, and define the feedback distance as the center feedback distance information.

[0193] The center feedback distance information refers to the distance at which the signal emitted by the transmitter with the center number information is blocked. It is calculated by taking the distance between the transmitter's location and the intersection of the signal and the sea surface, thus obtaining the distance between the two points.

[0194] Step 502: Calculate the travel length and vertical distance information based on the theoretical tilt angle information, the ship tilt angle information, and the center feedback distance information.

[0195] The travel length information is the length from the position of the vertical center number information along the ship's inclination direction to the position corresponding to the intersection of the center number information's transmitted signal and the water surface. It is calculated by converting the center feedback distance information according to the ship's inclination angle information. The vertical distance information is the distance between the transmitter and the intersection of the center number information's transmitted signal and the water surface, obtained by converting the center feedback distance information according to the theoretical inclination angle information.

[0196] Step 503: Randomly select a vertical distance information that is equal to the vertical feedback distance information at the same time, and obtain the time when the vertical feedback distance information is measured at the vertical center number information and the time when the vertical feedback distance information is measured at the center number information respectively. Define the time corresponding to the vertical center number information as the first moment information and the time corresponding to the center number information as the second moment information.

[0197] The first moment information is the time when the vertical center number information is measured to obtain the vertical feedback distance information. The second moment information is the time when both the measured vertical distance information and the vertical feedback distance information are the same. It is important to note here that when all the vertical feedback distance information and the vertical distance information are the same, it means that they are located at the same rib position on the ship, indicating that the same position is being measured. Therefore, if the same vertical distance is measured again after the vertical distance is measured, it means that the corresponding rib position on the ship has moved from the transmitter's location to the intersection of the center number information transmission signal and the water surface.

[0198] Step 504: Calculate the difference between the information at the first moment and the information at the second moment, and define the difference as the driving time information.

[0199] The travel time information refers to the time it takes for the transmitter to move from its current location to the intersection of the center-numbered transmission signal and the water surface. It is calculated by subtracting the first-time information from the second-time information.

[0200] Step 505: Calculate the driving speed information based on the driving length information and driving time information.

[0201] The speed information refers to the ship's speed. It is calculated by dividing the distance traveled by the duration of travel.

[0202] Step 506: Calculate the actual distance information based on the ship's tilt angle information and the horizontal distance information captured.

[0203] The actual distance information is the distance from the intersection of the center-numbered signal and the water surface to the location corresponding to the actual camera position. It is calculated by using the horizontal distance as one side of a right angle and the ship's tilt angle as one of the interior angles, thus determining the length of the hypotenuse.

[0204] Step 507: Calculate the difference based on the actual distance information and the shooting horizontal distance information, and define the difference as the difference distance information.

[0205] The difference distance information is the difference between the actual distance information and the shooting horizontal distance information. It is calculated by subtracting the shooting horizontal distance information from the actual distance information.

[0206] Step 508: Calculate the difference time information based on the difference distance information and driving speed information.

[0207] The time difference information is the time required for the vessel to travel to the location of the horizontal distance information being photographed. It is calculated by dividing the time difference information by the vessel's speed information.

[0208] Step 509: Take a picture after the time corresponding to the intermediate time information corresponding to the maximum maintenance duration information and the duration corresponding to the difference time information.

[0209] At the midpoint of the time information, the ship's midships is located at the intersection of the center number information transmission signal and the water surface. At this time, the distance to the camera is the actual distance information. In order to fix the shooting distance to the shooting horizontal distance information, the ship's travel difference time information is needed. At this time, the ship has just moved forward by the difference distance information, so that the distance between the two is only the shooting horizontal distance information.

[0210] Reference Figure 8 Methods for correcting water level information when waves occur include:

[0211] Step 600: Filter out the maximum and minimum values ​​in the water level information, define the maximum value as the highest water level information, and define the minimum value as the lowest water level information.

[0212] The highest water level information is the height of the highest point of the water level when waves occur. The lowest water level information is the height of the lowest point of the water level when waves occur. The measurement process begins at the very beginning, before the riser has been extended or retracted. The selection method is based on numerical comparison.

[0213] Step 601: Calculate the difference based on the highest and lowest water level information, and define this difference as the maximum water level amplitude information.

[0214] The maximum water level amplitude information is the amplitude between the peak and trough of the water level. It is calculated by subtracting the two amplitudes.

[0215] Step 602: Filter out the current number information with the smallest water level amplitude information and determine whether the water level amplitude information corresponding to the current number information is less than the preset phase difference threshold information.

[0216] The phase difference threshold information refers to the critical value of the amplitude. Since larger waves are more irregular, we need information on smaller waves, which move in a sinusoidal pattern. The purpose of this filtering is to determine the actual water level.

[0217] Step 6021: If yes, then perform matching analysis based on the standard water level information, highest water level information and lowest water level information stored in the preset standard database to determine the standard water level corresponding to the highest water level information and the lowest water level information, and define the standard water level as the current standard water level information.

[0218] The current standard water level information represents the actual water level height after removing the influence of waves. The database stores the mapping relationship between standard water level information, highest water level information, and lowest water level information, obtained by professionals in the field based on observations from real-world situations. When the system receives highest and lowest water level information, it automatically retrieves the corresponding standard water level from the database and outputs the current standard water level information. If the difference is less than a preset threshold, it indicates that the waves are becoming more regular, and the system can then be analyzed according to the standard analysis mode, retrieving the corresponding current standard water level information from the database and outputting it.

[0219] Step 6022: If not, perform a matching analysis based on the adjacent number information and the current number information stored in the preset number database to determine the adjacent number corresponding to the current number information, and define the adjacent number as the current adjacent number information.

[0220] The current adjacent number information refers to the information of the numbers adjacent to the current number. The database stores the mapping relationship between adjacent number information and the current number information, which is input and recorded by personnel skilled in the art when the transmitter is installed and numbered according to the actual situation. When the system receives the current number information, it automatically looks up the corresponding adjacent number in the database and outputs it as the current adjacent number information. If not, it means that analysis cannot be performed using the current number information, and it is necessary to continue searching for other number information. To ensure that the water level height is not greatly affected by environmental factors, the search is performed using adjacent numbers.

[0221] Step 603: Correct the water level information based on the current standard water level information.

[0222] When the current standard water level information is obtained, the water level height information is updated according to the current standard water level information to remove the interference of waves.

[0223] Step 604: Adjust the transmitter corresponding to the current adjacent number information according to the theoretical extension length information and continue to determine whether the water level amplitude information corresponding to the current number information is less than the phase difference threshold information.

[0224] Once the current adjacent number information is known, the transmitter's vertical tube is adjusted according to the theoretical telescopic length information. Then, the highest and lowest water level information is obtained, and the operation is carried out according to steps 601-602.

[0225] Step 605: If the difference is not less than the threshold information, update the current adjacent number information to the current number information and continue to obtain the current adjacent number information corresponding to the updated current number information until the water level amplitude is less than the threshold information.

[0226] If it is not less than, it means that the wave at the current adjacent number information position still does not meet the requirements, so continue to search for the wave of the adjacent number until it meets the requirements.

[0227] Reference Figure 9 When two ships correspond to the same current camera ID, the capture methods include:

[0228] Step 700: Determine whether all current number information and sensor number information corresponding to the same camera number information are consecutive.

[0229] The purpose of the judgment is to determine whether there are two or more ships in the area corresponding to a camera; here we take two ships as an example.

[0230] Step 7001: If yes, output the current camera number information and calculate the camera adjustment height information based on the current camera height above the water and the preset standard camera height above the water.

[0231] If so, it means that there are no two or more ships at this time, or that the propagation of two or more ships is in a sequential relationship and does not affect each other, then the output is normal.

[0232] Step 7002: If not, obtain the first occurrence of the intermediate time information, define the first occurrence of the intermediate time information as the first intermediate time information, and define the subsequent occurrences of the intermediate time information as the second intermediate time information.

[0233] The first intermediate time information is the time when the first vessel displaying its current number is positioned at the intersection of the center number information transmission signal and the water surface. The second intermediate time information is the time when the second vessel displaying its current number is positioned at the intersection of the center number information transmission signal and the water surface. If not, it indicates that two vessels are positioned side-by-side, which would cause the camera to be unsure which direction to photograph.

[0234] Step 701: Obtain the current number information corresponding to the first intermediate time information and the second intermediate time information respectively, and define the current number information corresponding to the first intermediate time information as the first current number information, and define the current number information corresponding to the second intermediate time information as the second current number information.

[0235] The first current number information is the current number information corresponding to the first intermediate time information. It is obtained by getting the center number information from the first intermediate time information, and then using the number consecutive to the center number information as the first current number information. The second current number information is the current number information corresponding to the second intermediate time information.

[0236] Step 702: Filter the critical number information of the first current number information and the second current number information respectively, and define the critical number information corresponding to the first current number information as the first critical number information, and define the critical number information corresponding to the second current number information as the second critical number information.

[0237] The first critical numbering information consists of the two numbers with the largest and smallest values ​​among all the first current numbering information. The second critical numbering information consists of the two numbers with the largest and smallest values ​​among all the second current numbering information.

[0238] Step 703: Based on the cropping area information stored in the preset cropping database, perform matching analysis with the first critical number information and the second critical number information to determine the cropping areas corresponding to the first critical number information and the second critical number information respectively. Define the cropping area corresponding to the first critical number information as the first cropping area information, and define the cropping area corresponding to the second critical number information as the second cropping area information.

[0239] The first cropping region information is the information of the region where all images within the positions corresponding to all current number information are cropped, with the vertical upward line generated by the intersection of the boundary lines of the first critical number information and the adjacent numbers as the boundary lines. The second cropping region information is the information of the region where all images within the positions corresponding to all current number information are cropped, with the vertical upward line generated by the intersection of the boundary lines of the second critical number information and the adjacent numbers as the boundary lines. Since it has been explained in the previous steps of this embodiment that the camera is facing the ship, cropping at the number adjacent to the first or second critical number information will leave only the complete image of the ship, while the rest will be cut off. The database stores the mapping relationship between the cropping region information and the first critical number information. The dimensions of the remaining regions after cropping at the adjacent numbers of different critical number information from different angles by different cameras, calculated by those skilled in the art through extensive data analysis, are recorded in the database. When the system receives the first critical number information and the second critical number information, it automatically retrieves the corresponding first and second cropping region information from the database and outputs it.

[0240] Step 704: Obtain the captured image information corresponding to the first intermediate time information and the second intermediate time information respectively, define the captured image information corresponding to the first intermediate time information as the first captured image information, and define the captured image information corresponding to the second intermediate time information as the second captured image information.

[0241] The first captured image is an image taken at a first intermediate time, wherein the ship at the first intermediate time is in a facing position. The second captured image is an image taken at a second intermediate time, wherein the ship at the second intermediate time is in a facing position.

[0242] Step 705: Obtain the first empty ship image information captured by the camera corresponding to the first captured image information when the first current number information and the second current number information do not exist, and the second empty ship image information captured by the camera corresponding to the second captured image information.

[0243] The first empty ship image information is the image captured by the camera corresponding to the first captured image information when the first current number information does not exist. The second empty ship image information is the image captured by the camera corresponding to the second captured image information when the second current number information does not exist. The capture time is the time after the ship has completely passed the intersection of the center number information transmission signal and the water surface.

[0244] Step 706: The first captured image information is cropped according to the first cropping area information and then stitched together with the first empty ship image information; the second captured image information is cropped according to the second cropping area information and then stitched together with the second empty ship image information.

[0245] After the shooting is completed, the first cropped area information is extracted and then stitched onto the corresponding position of the first empty ship image information, so that the image contains only one ship, facilitating user analysis. The second cropped area information is then cropped and stitched onto the corresponding position of the second empty ship image information, so that the image also contains only one ship, facilitating user analysis.

[0246] Based on the same inventive concept, embodiments of the present invention provide a bridge-under-bridge vessel tracking and capture system, comprising:

[0247] Reference Figure 10 A system for tracking and capturing ships under bridges, comprising:

[0248] The acquisition module 803 is used to acquire the current number information of the signal disappearance.

[0249] The processing module 801, connected to the acquisition module 803 and the filtering module 802, is used for information storage and processing.

[0250] The filtering module 802 is used to filter out the center number information from the continuous current number information;

[0251] The processing module 801 performs matching analysis based on the camera number information and center number information stored in the preset camera database to determine the camera number corresponding to the center number information, and defines the camera number as the current camera number information;

[0252] The acquisition module 803 acquires the horizontal position information of the camera corresponding to the current camera number information;

[0253] The processing module 801 performs matching analysis based on the horizontal position information and center number information stored in the preset horizontal database to determine the horizontal position corresponding to the center number information, and defines the horizontal position as the alignment horizontal position information;

[0254] The calculation module 804, connected to the processing module 801, is used to calculate the horizontal adjustment distance information based on the camera's horizontal position information and the alignment horizontal position information.

[0255] The control module 805, connected to the processing module 801, is used to control the camera to adjust horizontally according to the horizontal distance information and then obtain the current distance measurement information before disappearing.

[0256] The determination module 806, connected to the processing module 801, is used to determine the current camera number information;

[0257] The correction module 807, connected to the processing module 801, is used to correct the water level information when waves occur.

[0258] The acquisition module 803 acquires the distance from the bridge to the camera corresponding to the current camera number information;

[0259] The calculation module 804 calculates the current distance between the camera and the water based on the current ranging information and the distance between the camera and the bridge.

[0260] The calculation module 804 calculates the camera adjustment height information based on the current camera height above the water and the preset standard camera height above the water.

[0261] The control module 805 controls the camera to adjust its height according to the camera height adjustment information.

[0262] This invention provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executed as a method for tracking and capturing ships under a bridge.

[0263] Computer storage media include, for example, USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media that can store program code.

[0264] Based on the same inventive concept, embodiments of the present invention provide a smart terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded and executed by the processor to a method for tracking and capturing ships under bridges.

[0265] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0266] The above are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Any feature disclosed in this specification (including the abstract and drawings) may be replaced by other equivalent or similar features unless specifically stated otherwise. That is, unless specifically stated otherwise, each feature is only one example of a series of equivalent or similar features.

Claims

1. A method for tracking and capturing ships under bridges, characterized in that, include: Get the current number information of the signal that disappeared from the transmitter. The current number information is the number of the corresponding transmitter-receiver group where the signal was not received by the corresponding receiver. Filter out the center number information from the continuous current number information; The camera number and center number information stored in the preset camera database are matched and analyzed to determine the camera number corresponding to the center number information, and the camera number is defined as the current camera number information. Obtain the horizontal position information of the camera corresponding to the current camera number; Matching analysis is performed based on the horizontal position information and center number information stored in the preset horizontal database to determine the horizontal position corresponding to the center number information, and this horizontal position is defined as the alignment horizontal position information; The horizontal adjustment distance is calculated based on the camera's horizontal position information and the alignment horizontal position information. After adjusting the camera horizontally according to the horizontal distance information, the current ranging information is obtained before the signal emitted by the transmitter disappears. The current ranging information is the distance from the position of the transmitter to the position of the receiver. Obtain the distance from the bridge to the camera corresponding to the current camera number; The current distance between the camera and the water is calculated based on the current ranging information and the camera's distance from the bridge. The camera adjustment height information is calculated based on the current camera height above the water and the preset standard camera height above the water. The camera adjusts its height according to the camera height adjustment information.

2. The method for tracking and capturing ships under bridges according to claim 1, characterized in that, Methods for adjusting the transmitter height also include: Obtain the current extension / retraction length information of the vertical pipe on which the transmitter is installed; The transmitter height information and the current extension length information stored in the preset sea surface database are matched and analyzed to determine the transmitter height corresponding to the current extension length information, and the transmitter height is defined as the current transmitter height information. The receiving tilt angle information is calculated based on the preset horizontal distance information, the height information of the receiving device, and the current height information of the transmitter; The emission intensity is determined by matching and analyzing the emission intensity information stored in the preset intensity database with the current ranging information, and the emission intensity is defined as the theoretical emission intensity information. The water level height information is calculated based on the preset water body weakening information, current ranging information, theoretical transmission intensity information, current transmitter height information, and receiver tilt angle information; The theoretical tilt angle is calculated based on the water level height information, the height information of the receiving device, and the preset shooting horizontal distance information. The theoretical transmitter height information is calculated based on the theoretical tilt angle information, the horizontal distance information, and the height information of the receiving device. The telescopic length information stored in the sea surface database and the theoretical transmitter height information are matched and analyzed to determine the telescopic length corresponding to the theoretical transmitter height information, and this telescopic length is defined as the theoretical telescopic length information. The transmitter is adjusted according to the theoretical telescopic length information.

3. The method for tracking and capturing ships under bridges according to claim 1, characterized in that, Methods for selecting images captured by a camera include: Retrieve the quantity information of consecutive current number information; Determine whether the quantity corresponding to the quantity information has changed; If so, obtain the duration of maintenance before the change; Filter out the maintenance duration information with the largest quantity corresponding to the quantity information, and define the maintenance duration information as the maximum maintenance duration information; Filter out the intermediate time information and the image information captured by the camera corresponding to the maximum maintenance duration information; If not, continue to obtain quantity information.

4. The method for tracking and capturing ships under bridges according to claim 2, characterized in that, Methods for determining the current camera ID include: Obtain vertical feedback distance information and corresponding sensor number information. The vertical feedback distance information is the feedback distance information received by another receiver on the transmitter, and the sensor number information is the number of the receiver that receives the vertical signal emitted by the transmitter. Filter out the center number of the sensor number information and define the center number as the vertical center number information; Matching analysis is performed based on the horizontal position information and vertical center number information stored in the horizontal database to determine the horizontal position corresponding to the vertical center number information, and this horizontal position is defined as the comparison horizontal position information; The ship's tilt angle is calculated based on the comparison of horizontal position information, alignment of horizontal position information, reception of horizontal distance information, and capture of horizontal distance information. The actual camera position information and the corresponding virtual number information are calculated based on the ship tilt angle information, the horizontal alignment position information and the preset optimal shooting angle information. The virtual number information is the transmitter number that the camera is facing at that position. The camera number information and virtual number information stored in the camera database are matched and analyzed to determine the camera number corresponding to the virtual number information, and the camera number is defined as the actual camera number information. The camera corresponding to the actual camera number is moved according to the actual camera position information and takes pictures according to the ship's tilt angle information.

5. The method for tracking and capturing ships under bridges according to claim 4, characterized in that, The methods for moving the camera corresponding to the actual camera number information according to the actual camera position information and taking pictures according to the ship's tilt angle information include: Obtain the vertical feedback distance information corresponding to the vertical center number information, and define the vertical feedback distance information as the center vertical feedback distance information; Calculate the feedback distance after the center number information disappears, and define this feedback distance as the center feedback distance information. The feedback distance is the distance between the transmitter's location and the intersection of the signal and the sea surface. Then the distance between the two points can be obtained. Based on the theoretical tilt angle information, ship tilt angle information, and center feedback distance information, the travel length information and vertical distance information are calculated. The vertical distance information is the distance between the center feedback distance information and the intersection of the center numbered signal and the water surface and the transmitter, obtained by converting the center feedback distance information according to the theoretical tilt angle information. Arbitrarily select a vertical distance information that is equal to the vertical feedback distance information at the same time, and obtain the time when the vertical feedback distance information is measured at the vertical center number information and the time when the vertical feedback distance information is measured at the center number information respectively. Define the time corresponding to the vertical center number information as the first moment information and the time corresponding to the center number information as the second moment information. Calculate the difference between the information at the first moment and the information at the second moment, and define this difference as the driving time information; The driving speed information is calculated based on the driving length information and driving time information; The actual distance information is calculated based on the ship's tilt angle information and the horizontal distance information captured during the photograph. The difference is calculated based on the actual distance information and the shooting horizontal distance information, and this difference is defined as the difference distance information. The difference time information is calculated based on the difference distance information and the driving speed information; The image is taken after the time corresponding to the intermediate time information corresponding to the maximum duration information and the duration corresponding to the difference time information.

6. The method for tracking and capturing ships under bridges according to claim 1, characterized in that, Methods for correcting water level information when waves occur include: Filter out the maximum and minimum values ​​in the water level information, define the maximum value as the highest water level information, and define the minimum value as the lowest water level information; The difference between the highest and lowest water levels is calculated and defined as the maximum water level amplitude. Filter out the current number information with the smallest water level amplitude information and determine whether the water level amplitude information corresponding to the current number information is less than the preset phase difference threshold information; If so, then the standard water level information, the highest water level information, and the lowest water level information stored in the preset standard database are matched and analyzed to determine the standard water level corresponding to the highest water level information and the lowest water level information, and the standard water level is defined as the current standard water level information; The water level information was corrected based on the current standard water level information. If not, the adjacent number information and the current number information stored in the preset numbering database are matched and analyzed to determine the adjacent number corresponding to the current number information. The adjacent number is defined as the current adjacent number information. The database stores the mapping relationship between adjacent number information and current number information. The data is entered and recorded by the person in the field when the transmitter is installed and numbered according to the actual situation. Adjust the transmitter corresponding to the current adjacent number information according to the theoretical extension length information and continue to determine whether the water level amplitude information corresponding to the current number information is less than the phase difference threshold information; If the difference is not less than the threshold information, the current adjacent number information is updated to the current number information, and then the current adjacent number information corresponding to the updated current number information is obtained until the water level amplitude is less than the threshold information.

7. The method for tracking and capturing ships under bridges according to claim 4, characterized in that, When two vessels correspond to the same current camera ID, the capture methods include: Determine whether all current ID information and sensor ID information corresponding to the same camera ID information are consecutive; If so, output the current camera number information and calculate the camera adjustment height information based on the current camera height above the water and the preset standard camera height above the water. If not, then obtain the first occurrence of the intermediate time information, define the first occurrence of the intermediate time information as the first intermediate time information, and define the subsequent occurrences of the intermediate time information as the second intermediate time information. Obtain the sensing number information corresponding to the first intermediate time information and the second intermediate time information respectively, and define the current number information corresponding to the first intermediate time information as the first sensing number information, and define the current number information corresponding to the second intermediate time information as the second sensing number information. The critical number information of the first sensing number information and the critical number information of the second sensing number information are filtered respectively. The critical number information corresponding to the first sensing number information is defined as the first critical number information, and the critical number information corresponding to the second current sensing information is defined as the second critical number information. Based on the cropping area information stored in the preset cropping database, a matching analysis is performed with the first critical number information and the second critical number information to determine the cropping areas corresponding to the first critical number information and the second critical number information respectively. The cropping area corresponding to the first critical number information is defined as the first cropping area information, and the cropping area corresponding to the second critical number information is defined as the second cropping area information. Obtain the captured image information corresponding to the first intermediate time information and the second intermediate time information respectively, define the captured image information corresponding to the first intermediate time information as the first captured image information, and define the captured image information corresponding to the second intermediate time information as the second captured image information; Obtain the first empty boat image information captured by the camera corresponding to the first captured image information when the first sensor number information and the second empty boat image information captured by the camera corresponding to the second captured image information when the first captured image information and the second captured image information do not exist; The first captured image information is cropped according to the first cropping area information and then stitched together with the first empty ship image information. The second captured image information is cropped according to the second cropping area information and then stitched together with the second empty ship image information.

8. A system for tracking and capturing ships under bridges, characterized in that, include: The acquisition module is used to acquire the current number information of the signal disappearance; The processing module, connected to the acquisition and filtering modules, is used for information storage and processing. The filtering module is used to filter out the center number information from the continuous current number information; The processing module performs matching analysis based on the camera number information and center number information stored in the preset camera database to determine the camera number corresponding to the center number information, and defines the camera number as the current camera number information; The acquisition module obtains the horizontal position information of the camera corresponding to the current camera number information; The processing module performs matching analysis based on the horizontal position information and center number information stored in the preset horizontal database to determine the horizontal position corresponding to the center number information, and defines the horizontal position as the alignment horizontal position information; The calculation module, connected to the processing module, is used to calculate the horizontal adjustment distance information based on the horizontal position information of the camera and the horizontal alignment information. The control module, connected to the processing module, is used to control the camera to adjust horizontally according to the horizontal distance information and then obtain the current ranging information before it disappears. The acquisition module obtains the distance from the bridge to the camera corresponding to the current camera number information; The calculation module calculates the current distance between the camera and the water based on the current ranging information and the camera's distance from the bridge. The calculation module calculates the camera adjustment height information based on the current camera height above the water and the preset standard camera height above the water. The control module controls the camera to adjust its height according to the camera's height adjustment information.

9. A smart terminal, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed as any one of the bridge-under-ship tracking and capture methods as described in claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The system stores a computer program that can be loaded by a processor and executed as any one of the methods for tracking and capturing vessels under a bridge as described in claims 1 to 7.

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