Vessel image capturing method, device, terminal equipment and computer storage medium

Abstract

The present invention discloses a method, apparatus, terminal device, and computer storage medium for capturing images of a vessel. The method comprises: determining the navigation direction of a vessel to be photographed in a detection environment; detecting angle data between an image acquisition device's image capturing orientation for the vessel to be photographed and the navigation direction; and, upon determining that the angle data meets preset image capture conditions, controlling the image acquisition device to capture an image of the vessel to be photographed, thereby obtaining a sideways image of the vessel to be photographed. The present invention enables capturing images of the vessel's side profile at the optimal timing even when the vessel's heading is uncertain, thereby ensuring that high-quality images are captured for vessel identification and improving identification accuracy.

Description

Technical Field

[0001] The present invention relates to the field of intelligent monitoring technology, and in particular to a method, device, terminal equipment and computer storage medium for capturing images of ships. Background Art

[0002] Nowadays, in industries such as fishery administration, fishing ports, ocean, water transportation, water conservancy, hydropower, and border defense, it is essential to capture images of various types of vessels with license plate identification, such as fishing boats, sand dredging vessels, law enforcement boats, ferries, cargo ships, merchant ships, yachts, etc., so that the captured image materials can be used in possible scenarios where vessel identification is required.

[0003] However, the existing methods of capturing images of ships are mostly for capturing ships in fixed channels and fixed headings. In this way, when a ship is sailing in an open water environment where the channel is not actually fixed, if the ship is tilted in the shooting picture, it is not conducive to capturing the front of the hull, and thus is not conducive to capturing the ship license plate marking on the hull, which greatly reduces the accuracy of subsequent image-based ship recognition. Summary of the Invention

[0004] The main purpose of the present invention is to provide a method, device, terminal device and computer storage medium for capturing images of ships, aiming to capture images of ships at the best time for capturing the side of the ship when the ship's heading is uncertain, thereby ensuring that good quality images are captured for ship identification and improving identification accuracy.

[0005] In one aspect, to achieve the above-mentioned object, the present invention provides a method for capturing an image of a vessel, the method comprising:

[0006] Determine the navigation direction of the vessel to be photographed in the detection environment;

[0007] Detecting angle data between an image capturing direction of the vessel to be captured and the navigation direction by an image capturing device;

[0008] When it is determined that the angle data meets the preset image capture condition, the image acquisition device is controlled to capture the image of the ship to be photographed, so as to obtain a side image of the ship to be photographed.

[0009] In a feasible embodiment, after the step of detecting the angle data between the image capturing direction of the image acquisition device for the vessel to be captured and the navigation direction, the method further includes:

[0010] When it is determined that the angle data does not meet the preset image capture condition, continuously tracking the vessel to be photographed based on the environment detection device;

[0011] If it is determined that the angle data meets the preset image capture condition during continuous tracking of the vessel to be photographed, the image acquisition device is controlled to capture an image of the vessel to be photographed to obtain a side image of the vessel to be photographed.

[0012] In a feasible embodiment, the preset image capture condition includes: the angle data is greater than or equal to a preset first angle threshold, or the angle data is less than or equal to a preset second angle threshold, wherein the preset first angle threshold is less than the preset second angle threshold;

[0013] The step of controlling the image acquisition device to capture an image of the vessel to be photographed when it is determined that the angle data meets the preset image capture condition includes:

[0014] Determining whether the angle data is greater than or equal to the preset first angle threshold, or whether the angle data is less than or equal to the preset second angle threshold;

[0015] If the angle data is greater than or equal to the preset first angle threshold, or the angle data is less than or equal to the preset second angle threshold, it is determined that the angle data meets the preset image capture condition, and the image acquisition device is controlled to capture an image of the vessel to be photographed.

[0016] In a feasible embodiment, the preset image capture condition includes: the angle data showing a decreasing trend, and the step of controlling the image acquisition device to capture an image of the vessel to be photographed when it is determined that the angle data meets the preset image capture condition includes:

[0017] If it is determined that the angle data shows a decreasing trend, determining that the angle data meets the preset image capture condition, and determining the maximum angle value of the angle data in the trend;

[0018] If the maximum angle value belongs to the preset acute angle range, controlling the image acquisition device to capture an image of the vessel to be photographed;

[0019] If the maximum angle value belongs to a preset obtuse angle interval, then when the angle data decreases to a preset third angle threshold, the image acquisition device is controlled to capture an image of the vessel to be photographed, wherein the preset third angle threshold is less than or equal to the minimum value of the obtuse angle interval.

[0020] In a feasible embodiment, the preset image capture condition includes: the angle data presents an increasing trend, and the step of controlling the image acquisition device to capture an image of the vessel to be photographed when it is determined that the angle data meets the preset image capture condition includes:

[0021] If it is determined that the angle data shows an increasing trend, determining that the angle data meets the preset image capture condition, and determining a minimum angle value of the angle data in the trend;

[0022] If the minimum angle value belongs to the preset obtuse angle range, controlling the image acquisition device to capture an image of the vessel to be photographed;

[0023] If the minimum angle value belongs to a preset acute angle interval, then when the angle data increases to a preset fourth angle threshold, the image acquisition device is controlled to capture an image of the vessel to be photographed, wherein the preset fourth angle threshold is greater than or equal to the maximum value of the acute angle interval.

[0024] In a feasible embodiment, determining the navigation direction of the vessel to be photographed in the detection environment includes:

[0025] Acquire spatial coordinate points of the vessel to be photographed in the detection environment, wherein the number of the spatial coordinate points is greater than or equal to two;

[0026] The navigation direction of the vessel to be photographed in the detection environment is determined according to the coordinate direction of the line connecting the spatial coordinate points.

[0027] In addition, to achieve the above-mentioned object, the present invention further provides a device for capturing an image of a ship, the device comprising:

[0028] The ship detection module is used to determine the navigation direction of the ship to be photographed in the detection environment;

[0029] An angle detection module, used to detect angle data between the image capturing direction of the image acquisition device for the vessel to be captured and the navigation direction;

[0030] The image capture module is used to control the image acquisition device to capture the image of the vessel to be photographed when it is determined that the angle data meets the preset image capture conditions, so as to obtain the side image of the vessel to be photographed.

[0031] In a feasible embodiment, the device for capturing images of a vessel further includes:

[0032] A vessel tracking module, configured to continuously track the vessel to be photographed based on the environment detection device when it is determined that the angle data does not meet the preset image capture condition;

[0033] The image capture module is further configured to control the image acquisition device to capture an image of the vessel to be photographed, if it is determined that the angle data meets the preset image capture condition during the continuous tracking of the vessel to be photographed, so as to obtain a side view image of the vessel to be photographed;

[0034] The preset image capture condition includes: the preset image capture condition includes: the angle data is greater than or equal to a preset first angle threshold, or the angle data is less than or equal to a preset second angle threshold, wherein the preset first angle threshold is less than the preset second angle threshold; the image capture module is further used to determine whether the angle data is greater than or equal to the preset first angle threshold, or whether the angle data is less than or equal to the preset second angle threshold;

[0035] If the angle data is greater than or equal to the preset first angle threshold, or if the angle data is less than or equal to the preset second angle threshold, it is determined that the angle data meets the preset image capture condition, and the image acquisition device is controlled to capture an image of the vessel to be photographed;

[0036] The preset image capture condition includes: the angle data presents a decreasing trend; the image capture module includes:

[0037] a first angle determination unit, configured to determine that the angle data meets the preset image capture condition if it is determined that the angle data shows a decreasing trend, and determine a maximum angle value of the angle data in the trend;

[0038] a first capture control unit, configured to control the image acquisition device to capture an image of the vessel to be photographed if the maximum angle value falls within a preset acute angle interval;

[0039] a second capture control unit, configured to control the image acquisition device to capture an image of the vessel to be photographed when the angle data decreases to a preset third angle threshold if the maximum angle value belongs to a preset obtuse angle interval, wherein the preset third angle threshold is less than or equal to a minimum value of the obtuse angle interval;

[0040] The preset image capture condition includes: the angle data presents an increasing trend; the image capture module includes:

[0041] a second angle determination unit, configured to determine that the angle data meets the preset image capture condition if it is determined that the angle data shows an increasing trend, and determine a minimum angle value of the angle data in the trend;

[0042] a third capture control unit, configured to control the image acquisition device to capture an image of the vessel to be photographed if the minimum angle value falls within a preset obtuse angle interval;

[0043] a fourth capture control unit, configured to control the image acquisition device to capture an image of the vessel to be photographed when the angle data increases to a preset fourth angle threshold if the minimum angle value belongs to a preset acute angle interval, wherein the preset fourth angle threshold is greater than or equal to a maximum value of the acute angle interval.

[0044] Vessel detection module, including:

[0045] A coordinate acquisition unit, configured to acquire spatial coordinate points of the vessel to be photographed in the detection environment, wherein the number of the spatial coordinate points is greater than or equal to two;

[0046] A heading determination unit is used to determine the navigation direction of the vessel to be photographed in the detection environment according to the coordinate direction of the line connecting the spatial coordinate points.

[0047] Each functional module of the device for capturing an image of a ship according to the present invention implements the steps of the method for capturing an image of a ship as described above during operation.

[0048] In addition, to achieve the above-mentioned purpose, the present invention also provides a terminal device, which includes: a memory, a processor, and a ship image capture program stored in the memory and runnable on the processor. When the ship image capture program is executed by the processor, the steps of the ship image capture method described above are implemented.

[0049] In addition, to achieve the above-mentioned purpose, the present invention also proposes a computer storage medium, on which a ship image capture program is stored. When the ship image capture program is executed by a processor, the steps of the ship image capture method described above are implemented.

[0050] In an embodiment of the present invention, the navigation direction of the vessel to be photographed in the detection environment is determined; the angle data between the image capturing orientation of the vessel to be photographed and the navigation direction is detected; and when it is determined that the angle data meets the preset image capture conditions, the image capture device is controlled to capture the image of the vessel to be photographed, so as to obtain a side view image of the vessel to be photographed.

[0051] In this way, compared with the traditional method of needing to capture images of ships with fixed headings in a fixed channel, the present invention determines the angle between the heading of the ship and the shooting direction of the image acquisition device, and determines an optimal shooting time to capture the image of the ship based on the angle and preset image capture conditions, thereby ensuring that good quality images are captured as the best image material for subsequent operations such as ship identification, which can effectively improve the accuracy of identification based on ship images. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 1 is a flow chart of an embodiment of a method for capturing an image of a vessel according to the present invention;

[0053] Figure 2 Schematic diagram of an application scenario involved in an embodiment of a method for capturing an image of a vessel according to the present invention;

[0054] Figure 3 This is a schematic structural diagram of the functional modules involved in an embodiment of a device for capturing an image of a ship according to the present invention;

[0055] Figure 4 This is a schematic diagram of the structure of the hardware operating environment of the terminal device involved in the embodiment of the present invention.

[0056] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0057] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0058] Please refer to Figure 1 , Figure 1 FIG. 1 is a flow chart of a first embodiment of a method for capturing an image of a vessel according to the present invention.

[0059] The present invention provides embodiments of a method for capturing images of a vessel. It should be noted that although the flowcharts illustrate a logical sequence, in certain circumstances, the steps shown or described may be performed in a different order. Furthermore, in this embodiment, the method for capturing images of a vessel of the present invention may be performed by a terminal device configured as the aforementioned vessel image capture apparatus for capturing images of vessels navigating in an open water environment. For ease of understanding, the following description of the various embodiments of the method for capturing images of a vessel of the present invention will directly utilize the terminal device as the executing entity.

[0060] In this embodiment, the method for capturing an image of a vessel of the present invention includes:

[0061] Step S10, determining the navigation direction of the vessel to be photographed in the detection environment;

[0062] Step S20, detecting angle data between the image capturing direction of the vessel to be captured and the navigation direction;

[0063] Step S30 : When it is determined that the angle data meets the preset image capturing condition, the image acquisition device is controlled to capture an image of the vessel to be photographed, so as to obtain a side image of the vessel to be photographed.

[0064] In this embodiment, when capturing an image of a vessel sailing in an open water environment, the terminal device first calculates and determines the navigation direction of the vessel within the current detection environment of the environmental detection device based on data detected by a preset environmental detection device for the vessel to be captured at the current moment. The terminal device then further detects the angle between the image capture device's image capture orientation for the vessel and the navigation direction. Based on this angle data, the terminal device determines whether the current moment is the optimal time to capture an image of the vessel. Specifically, upon determining that the angle data meets the preset image capture conditions, the terminal device determines the system time as the optimal capture time, and the angle data as the optimal capture angle for capturing a side-on image of the vessel to be captured. Consequently, the terminal device immediately controls the image capture device to capture an image of the vessel to be captured, thereby obtaining a side-on image of the vessel to be captured.

[0065] It should be noted that, in this embodiment, the preset environment detection device includes: one or more of a shore-based radar, a ship-borne radar, and a ship-borne electronic compass.

[0066] Furthermore, in a feasible embodiment, the above step S10 may include:

[0067] Step S101, obtaining spatial coordinate points of the vessel to be photographed in the detection environment, wherein the number of the spatial coordinate points is greater than or equal to two;

[0068] Step S102 : determining the navigation direction of the vessel to be photographed in the detection environment according to the coordinate direction of the line connecting the spatial coordinate points.

[0069] In this embodiment, when the terminal device calculates and determines the navigation direction of the ship to be photographed in the current detection environment through the above-mentioned environment detection device, it first obtains multiple spatial coordinate points of the ship to be photographed in the detection environment at different times through the environment detection device, and then connects the multiple spatial coordinate points in sequence according to the order in which the multiple spatial coordinate points are obtained to obtain the connecting lines between the spatial coordinate points. Finally, the terminal device continues to extend the connecting line, so as to determine the target direction pointed by the extended line in the coordinate direction of the connecting line as the navigation direction of the ship to be photographed in the current detection environment.

[0070] Exemplarily, when the terminal device calculates the navigation direction of the ship to be photographed by using the coordinates of the ship to be photographed detected by a shore-based radar or a shipborne radar, it can be specifically determined by determining the first spatial coordinate point and the second spatial coordinate point of the ship to be photographed detected successively by the shore-based radar or the shipborne radar. Assuming that the time of collecting the second spatial coordinate point is after the time of collecting the first spatial coordinate point, the terminal device connects the first spatial coordinate point and the second spatial coordinate point with the first spatial coordinate point as the starting point to obtain a line between the first spatial coordinate point and the second spatial coordinate point. Afterwards, the terminal device continues to extend the line to obtain an extension line of the line. Finally, the terminal device determines the target direction pointed to by the extension line in the coordinate direction of the line (north at top, south at bottom, west at left, and east at right) as the navigation direction of the ship to be photographed in the current detection environment.

[0071] It should be noted that, in this embodiment, in addition to calculating the navigation direction of the ship to be photographed through the coordinates of the ship to be photographed detected by the shore-based radar or the ship-borne radar, the terminal device can also directly determine the navigation direction of the ship to be photographed by receiving communication data transmitted by the ship-borne electronic compass installed on the ship to be photographed.

[0072] In addition, the terminal device can specifically combine the shooting direction of the image acquisition device (also called the shooting line of sight, which is the axial setting direction of the main camera of the image acquisition device) to calculate and determine the angle data between the navigation direction of the ship to be photographed and the shooting direction.

[0073] For example, Figure 2 As shown, the terminal device draws lines on the sailing direction and the shooting direction respectively until the two lines intersect. In this way, the terminal device can determine the angle data (the first angle data or the second angle data shown in the figure) at the intersection of the two lines as the angle data between the sailing direction of the ship to be photographed and the shooting direction of the image acquisition device.

[0074] As a feasible implementation, the radar used to detect the coordinates of the vessel to be photographed can also be installed on a mobile law enforcement vessel. A terminal device can be mounted on the vessel to detect the coordinates of the vessel to be photographed via the radar equipment installed on the vessel and calculate the vessel's heading based on these coordinates. Subsequently, the terminal device detects the angle between the orientation of the vessel's image capture and the heading, as determined by an image capture device also mounted on the vessel. The terminal device can then determine the optimal timing for capturing the image based on whether this angle meets the aforementioned image capture conditions. The terminal device then controls the image capture device to capture the vessel at this optimal timing, thereby obtaining a sideways image of the vessel.

[0075] Furthermore, it should be noted that the aforementioned image capture device can be oriented at any angle within the detection environment. Specifically, the image capture device can rotate 360° relative to its own origin and remain at any angle for image capture. Furthermore, in actual capture scenarios, the image capture device can rotate in real time to a corresponding angle as the vessel to be captured moves. Alternatively, the image capture device can remain stationary throughout the process of the terminal device determining the optimal capture timing. The terminal device, using multiple known capture orientations for the image capture device, calculates the angle between the navigation direction of the vessel to be captured and the captured orientation. After determining the optimal capture timing based on this angle, the terminal device controls the image capture device via the PTZ pan / tilt system to rotate to a designated capture orientation (the designated orientation being one of the multiple capture orientations of the image capture device). The image capture device then captures an image of the vessel to be captured.

[0076] Furthermore, in some feasible embodiments, the aforementioned preset image capture conditions include: the angle data being greater than or equal to a preset first angle threshold, or the angle data being less than or equal to a preset second angle threshold, wherein the preset first angle threshold is less than the preset second angle threshold. Based on this, in the aforementioned step S30, the step of "controlling the image acquisition device to capture an image of the vessel to be photographed upon determining that the angle data meets the preset image capture conditions" may specifically include:

[0077] Step S301, determining whether the angle data is greater than or equal to the preset first angle threshold, or whether the angle data is less than or equal to the preset second angle threshold;

[0078] Step S302: If the angle data is greater than or equal to the preset first angle threshold, or if the angle data is less than or equal to the preset second angle threshold, it is determined that the angle data meets the preset image capture condition, and the image acquisition device is controlled to immediately capture an image of the vessel to be photographed.

[0079] In this embodiment, after detecting the angle data between the image capture device's image capturing orientation for the vessel to be photographed and the vessel's navigational direction, the terminal device further detects whether the angle data is greater than or equal to a preset first angle threshold. Thus, upon determining that the angle data is greater than or equal to the preset first angle threshold, the terminal device immediately determines that the angle data meets the preset image capture conditions. Furthermore, the terminal device immediately controls the image capture device to capture an image of the vessel to be photographed, thereby obtaining a sideways image of the vessel to be photographed.

[0080] Alternatively, after detecting the angle data between the image capturing direction of the vessel to be photographed by the image acquisition device and the navigation direction of the vessel to be photographed, the terminal device further detects and determines whether the angle data is less than or equal to a preset second angle threshold, and when it is determined that the angle data is less than or equal to the preset second angle threshold, it is also determined that the angle data meets the preset image capture conditions, and then, the terminal device immediately controls the image acquisition device to capture the image of the vessel to be photographed to obtain a side image of the vessel to be photographed.

[0081] It should be noted that, in this embodiment, the preset first angle threshold is the minimum capture angle pre-configured by the terminal device for capturing images of the side of the ship, and the preset second angle threshold is the maximum capture angle pre-configured by the terminal device for capturing images of the side of the ship.

[0082] For example, Figure 2 As shown, assuming that the preset first angle threshold—the minimum capture angle—is 65°, then, when the terminal device detects that a vessel to be photographed is entering the fishing port from a distance, and thus the first angle data between the image capture direction of the vessel to be photographed and the navigation direction of the vessel to be photographed increases from small to large, if the terminal device detects that the first angle data is greater than or equal to 65°, it indicates that the image capture device is approaching the side of the vessel to be photographed, and thus immediately determines that the angle data meets the preset image capture conditions, and immediately controls the image capture device to capture the vessel to be photographed, thereby obtaining a side image of the vessel to be photographed.

[0083] Or, as Figure 2As shown, assuming that the preset second angle threshold—the maximum capture angle—is 115°, then, when the terminal device detects that a vessel to be photographed enters the fishing port from a distance, and thus the second angle data between the image capture direction of the vessel to be photographed and the navigation direction of the vessel to be photographed decreases from large to small, if the terminal device detects that the second angle data is less than or equal to 115°, it indicates that the image capture device is approaching the side of the vessel to be photographed, and thus immediately determines that the angle data meets the preset image capture condition, and immediately controls the image capture device to capture the vessel to be photographed, thereby obtaining an image of the side of the vessel to be photographed.

[0084] Furthermore, in some feasible embodiments, in order to avoid repeated image capture of the vessel to be photographed, the terminal device controls the image acquisition device to capture the image of the vessel to be photographed only when the above-mentioned angle data is within the angle range between the above-mentioned preset first angle threshold and the preset second angle threshold, thereby effectively avoiding repeated image capture by the image acquisition device and saving image acquisition resources and image data processing resources.

[0085] Based on this, after the above step of "controlling the image acquisition device to capture an image of the vessel to be photographed when it is determined that the angle data meets the preset image capture condition", the image capture method of the vessel of the present invention may further include:

[0086] Determining whether the first angle data is greater than or equal to the preset second angle threshold, and determining whether the second angle data is less than or equal to the preset first angle threshold;

[0087] If the first angle data is greater than or equal to the preset second angle threshold, or the second angle data is less than or equal to the preset first angle threshold, the image acquisition device is controlled to stop capturing the image of the vessel to be photographed.

[0088] For example, Figure 2 As shown, when the terminal device detects and determines that the first angle data between the image capture device for the image capturing direction of the vessel to be captured and the navigation direction of the vessel to be captured is greater than or equal to the maximum capture angle of 115°, the terminal device immediately controls the image capture device to stop continuing to capture the image of the vessel to be captured, or when the terminal device detects and determines that the second angle data is less than or equal to the minimum capture angle of 65°, the terminal device also immediately controls the image capture device to stop continuing to capture the image of the vessel to be captured.

[0089] Furthermore, in some feasible embodiments, the aforementioned preset image capture condition includes: the angle data showing a decreasing trend, and the maximum angle value of the angle data in this trend falling within a preset acute angle range. Based on this, in the aforementioned step S30, the step of "controlling the image acquisition device to capture an image of the vessel to be photographed upon determining that the angle data meets the preset image capture condition" may specifically include:

[0090] Step S303: If it is determined that the angle data shows a decreasing trend, and the maximum angle value of the angle data in the trend belongs to a preset acute angle range, then it is determined that the angle data meets the preset image capture condition, and the image acquisition device is controlled to capture an image of the vessel to be photographed; or

[0091] Step S304: If the maximum angle value belongs to a preset obtuse angle interval, then when the angle data decreases to a preset third angle threshold, it is determined that the angle data meets the preset image capture condition, and the image acquisition device is controlled to capture an image of the vessel to be photographed, wherein the preset third angle threshold is less than or equal to the minimum value of the obtuse angle interval.

[0092] It should be noted that, in this embodiment, the terminal device takes into account the possible situation of emergency snapshot of the vessel to be photographed. When the angle data between the image capturing direction of the vessel to be photographed by the image acquisition device and the navigation direction of the vessel to be photographed is greater than the above-mentioned preset first angle threshold and less than the above-mentioned preset second angle threshold, the terminal device further determines the change trend of the angle data in the current continuous detection process of the vessel to be photographed, so that the terminal device determines the angle data ( Figure 2 When the change trend of the second angle data shown is decreasing, the image acquisition device is immediately controlled based on the change trend to capture an image of the vessel to be photographed, so as to obtain a side image of the vessel to be photographed.

[0093] In this embodiment, the terminal device takes into account a compensation scheme for emergency snapshots. When it determines that the angle data is decreasing, it determines the optimal time to capture the vessel based on the angle data, thereby ensuring that a relatively straight sideways image of the vessel can be captured under any circumstances. In the process of performing an emergency snapshot of the vessel to be captured, the terminal device first determines that the second angle data between the image capture direction and the vessel's navigation direction is decreasing. It then immediately determines the maximum angle value at which the angle data begins to decrease during the entire change trend, and detects whether the maximum angle value is within the pre-set acute angle range. If it is, it determines that the second angle data at the current moment meets the image capture conditions, and immediately controls the image acquisition device to capture the sideways image of the vessel to be captured.

[0094] It should be noted that, in this embodiment, the preset acute angle interval may specifically be an angle range determined in advance by the terminal device based on the appropriate minimum capture angle and maximum capture angle of the ship by the image acquisition device.

[0095] For example, Figure 2 As shown, when the three consecutive second angle data monitored by the terminal device within the specified time period are all reduced in sequence, it is determined that the angle data has a decreasing trend. At this time, the terminal device will determine the first angle data monitored within the specified time period as the maximum angle value of the angle data in the current entire trend of change. Assume that the acute angle range preset by the terminal device is 65° to 90°. Then, when the terminal device determines that the second angle data between the image capturing direction of the image acquisition device for the vessel to be photographed and the navigation direction of the vessel to be photographed, and the maximum angle value at the time of starting to decrease belongs to the angle range of 65° to 90°, it is determined that the current moment is the best capture time in the current emergency capture process of the vessel to be photographed, and thus the terminal device directly controls the image acquisition device to capture the image of the side of the vessel to be photographed.

[0096] In addition, in other feasible embodiments, considering that in the scenario where the terminal device controls the image acquisition device to capture an emergency image of a ship, the angle data between the image capturing direction and the navigation direction of the ship to be captured may not all decrease from the above-mentioned angle range of 65° to 90°, the terminal device can also use the maximum angle data of the angle data in the above-mentioned decreasing trend, even if it is less than the minimum value of the above-mentioned acute angle range (assuming it is 65°), the terminal device still determines that the current moment is the best capture time in the emergency capture process of the ship to be captured, and immediately controls the image acquisition device to capture the image of the ship to be captured, so as to obtain the side image of the ship to be captured.

[0097] Furthermore, in this embodiment, the preset obtuse angle interval can specifically be an angle range determined in advance by the terminal device based on the appropriate maximum capture angle of the ship by the image acquisition device, and the maximum angle data between the image capturing direction of the ship and the heading direction of the ship by the image acquisition device. For example, the obtuse angle interval can specifically be an angle interval of 90° to 179° including the maximum capture angle of 115°, and the preset third angle threshold is any angle value greater than 90° and less than or equal to the maximum capture angle of 115°.

[0098] In this embodiment, when the terminal device determines the maximum angle value of the real-time angle data from the overall decreasing trend and further detects that the maximum angle value is within the above-mentioned pre-set obtuse angle interval, the terminal device waits until the vessel to be photographed continues to sail until the above-mentioned angle data is reduced to a preset third angle threshold value that is less than or equal to the minimum value of the obtuse angle interval, determines that the angle data meets the preset image capture conditions, and immediately controls the image acquisition device to capture an image of the side of the vessel to be photographed.

[0099] For example, Figure 2 As shown, assuming that the terminal device pre-sets an obtuse angle range of 90° to 179°, the terminal device determines that the second angle data between the image capture device's image capturing orientation and the vessel's sailing direction falls within the 90° to 179° range when the maximum angle value at the beginning of the decrease is within the 90° to 179° range, and determines that the current moment is not the optimal capture opportunity for the emergency capture of the vessel. Therefore, the terminal device waits for the vessel to continue sailing until the angle data between the image capture orientation and the sailing direction decreases to any angle value between 90° and 115°. At this point, the terminal device determines that the current moment is the optimal capture opportunity and immediately controls the image capture device to capture the side view of the vessel.

[0100] Furthermore, in some feasible embodiments, the aforementioned preset image capture conditions include: the angle data showing an increasing trend, and the maximum angle value of the angle data in this trend falling within a preset obtuse angle range. Based on this, in the aforementioned step S30, the step of "controlling the image acquisition device to capture an image of the vessel to be photographed upon determining that the angle data meets the preset image capture conditions" may specifically include:

[0101] Step S305: If it is determined that the angle data shows an increasing trend, and the minimum angle value of the angle data in the trend belongs to a preset obtuse angle range, then it is determined that the angle data meets the preset image capture condition, and the image acquisition device is controlled to capture an image of the vessel to be photographed; or

[0102] Step S306: If the minimum angle value belongs to a preset acute angle interval, then when the angle data increases to a preset fourth angle threshold, it is determined that the angle data meets the preset image capture condition, and the image acquisition device is controlled to capture an image of the vessel to be photographed, wherein the preset fourth angle threshold is greater than or equal to the maximum value of the acute angle interval.

[0103] It should be noted that, in this embodiment, when the terminal device is performing an emergency snapshot of a vessel to be photographed, the angle data ( Figure 2 When the change trend of the first angle data shown is increasing, the image acquisition device is immediately controlled based on the change trend to capture the image of the ship to be photographed, so as to obtain the side image of the ship to be photographed.

[0104] In this embodiment, when the terminal device is performing emergency capture of the vessel to be photographed, first, when it is determined that the first angle data between the above-mentioned image shooting direction and the navigation direction of the vessel is increasing, it immediately determines the maximum angle value when the angle data begins to increase in the entire changing trend, and detects whether the maximum angle value is within the above-mentioned pre-set obtuse angle range. When it is determined that the first angle data meets the preset image capture conditions, it immediately controls the image acquisition device to capture the image of the side of the vessel to be photographed.

[0105] It should be noted that, in this embodiment, the preset obtuse angle interval can specifically be an angle range determined in advance by the terminal device based on the appropriate maximum capture angle of the ship by the image acquisition device, and the maximum angle data between the image shooting direction of the ship and the heading direction of the ship by the image acquisition device. For example, the obtuse angle interval can specifically be an angle interval of 90° to 179° including the maximum capture angle of 115°, and the preset third angle threshold is any angle value greater than 90° and less than or equal to the maximum capture angle of 115°.

[0106] For example, Figure 2As shown, when the three consecutive first angle data monitored by the terminal device within the specified time period all increase in sequence, it is determined that the angle data has an increasing trend of change. At this time, the terminal device will determine the first angle data monitored within the specified time period as the minimum angle value of the angle data in the current entire trend of change. Assume that the obtuse angle range preset by the terminal device is 90° to 115°. Then, when the terminal device determines that the first angle data between the image capturing direction of the image acquisition device for the vessel to be photographed and the navigation direction of the vessel to be photographed, and the minimum angle value at the time of the increase falls within the angle range of 90° to 115°, it is determined that the current moment is the best capture time in the current emergency capture process of the vessel to be photographed, and thus, the terminal device directly controls the image acquisition device to capture the image of the side of the vessel to be photographed.

[0107] In addition, in other feasible embodiments, considering that in the scenario where the terminal device controls the image acquisition device to capture an emergency image of a ship, the angle data between the image capturing direction and the sailing direction of the ship to be captured may not all decrease from the above-mentioned angle range of 95° to 115°, the terminal device can also use the minimum angle data in the above-mentioned increasing trend of the angle data, even if it is greater than the maximum value of the above-mentioned angle range (assuming it is 115°), the terminal device still determines that the current moment is the best capture time in the emergency capture process of the ship to be captured, and immediately controls the image acquisition device to capture the image of the ship to be captured, so as to obtain the side image of the ship to be captured.

[0108] Furthermore, in this embodiment, the preset acute angle range may specifically be an angle range pre-determined by the terminal device based on the appropriate minimum capture angle and maximum capture angle for the vessel by the image acquisition device. For example, the acute angle range may specifically be an angle range from 1° to 65°, with the minimum capture angle of 65° being the maximum value.

[0109] In this embodiment, when the terminal device determines the minimum angle value of the real-time angle data from the overall increasing trend and further detects that the minimum angle value is in the above-mentioned pre-set acute angle range, the terminal device waits until the vessel to be photographed continues to sail to the above-mentioned angle data and increases to a preset fourth angle threshold that is greater than or equal to the maximum value of the acute angle range, determines that the angle data meets the preset image capture conditions, and immediately controls the image acquisition device to capture an image of the side of the vessel to be photographed.

[0110] For example, Figure 2As shown, assuming that the terminal device has a preset acute angle range of 1° to 65°, the terminal device determines that the current moment is not the optimal time to capture the vessel in an emergency. The terminal device then waits for the vessel to continue sailing until the first angle between the image capturing direction and the sailing direction increases to greater than or equal to 65°. The terminal device then determines that the current moment is the optimal time to capture the vessel in an emergency. The terminal device then immediately controls the image capturing device to capture the side view of the vessel.

[0111] Furthermore, in some feasible embodiments, after detecting the angle data between the image capturing direction of the vessel to be captured and the navigation direction in the above-mentioned step S20, the method for capturing an image of a vessel of the present invention may further include:

[0112] Step S40: When it is determined that the angle data does not meet the preset image capture condition, continuously tracking the vessel to be photographed based on the environment detection device;

[0113] Step S50: If it is determined that the angle data meets the preset image capture condition during the continuous tracking of the vessel to be photographed, the image acquisition device is controlled to capture an image of the vessel to be photographed to obtain a side view image of the vessel to be photographed.

[0114] In this embodiment, after the terminal device detects the angle data between the image capturing direction of the image acquisition device for the vessel to be photographed and the navigation direction of the vessel to be photographed, and further determines whether the angle data meets the above-mentioned preset image capture conditions, if it is determined that the angle data does not meet the above-mentioned preset image capture conditions, that is, the angle data is greater than the above-mentioned preset first angle threshold, or the change trend of the angle data is increasing, then the terminal device immediately performs an analysis operation for continuous tracking of the vessel to be photographed based on the above-mentioned one or more environmental detection devices. Therefore, during the process of continuous tracking of the vessel to be photographed based on the environmental detection device, if the terminal device monitors that the above-mentioned angle data again meets the above-mentioned preset image capture conditions (the angle data changes to be less than or equal to the above-mentioned preset first angle threshold, or the change trend of the angle data changes to decreasing), the image acquisition device is immediately controlled to capture the image of the vessel to be photographed to obtain a side image of the vessel to be photographed.

[0115] Furthermore, in some feasible embodiments, the step of “controlling the image acquisition device to capture an image of the vessel to be photographed to obtain a side view image of the vessel to be photographed” may specifically include:

[0116] Determining the real-time coordinate position of the vessel to be photographed;

[0117] The real-time coordinate position is transmitted to the image acquisition device, and the image acquisition device is controlled to perform PTZ pan-tilt control according to the real-time coordinate position to continuously capture images of the vessel to be photographed, so as to obtain multiple frames of side images of the vessel to be photographed.

[0118] In this embodiment, when the terminal device determines that the aforementioned angle data meets the preset image capture conditions and thereby controls the image acquisition device to capture an image of the vessel to be captured, it first determines the real-time coordinate position of the vessel to be captured based on the parameters of the vessel to be captured transmitted by the one or more environmental detection devices. The terminal device then transmits these real-time coordinate positions to the image acquisition device, which then controls the PTZ pan / tilt (PTZ) pan / tilt (PTZ) pan / tilt (PTZ) pan / tilt control based on these real-time coordinate positions. After completing these PTZ pan / tilt control operations, the terminal device continuously captures images of the vessel to be captured, thereby obtaining multiple frames of side profile images of the vessel to be captured.

[0119] It should be noted that, in this embodiment, the terminal device can be specifically connected to N image acquisition devices through the above-mentioned 1 shore-based radar or shipborne radar, N radars are connected to 1 image acquisition device, or N radars are connected to M image acquisition devices.

[0120] Furthermore, in some feasible embodiments, the step of “determining the real-time coordinate position of the vessel to be photographed” may specifically include:

[0121] Acquiring vessel parameters obtained by the environmental detection device from detecting the vessel to be photographed;

[0122] The real-time coordinate position of the vessel to be photographed is calculated according to the vessel parameters.

[0123] In this embodiment, the terminal device detects the vessel to be photographed through one or more environmental detection devices to obtain various vessel parameters of the vessel to be photographed. The terminal device then calculates the real-time coordinate position of the vessel to be photographed based on the various vessel parameters.

[0124] For example, in this embodiment, it is assumed that the terminal device detects the vessel to be photographed using one or more environmental detection devices and obtains various vessel parameters of the vessel to be photographed, including the distance between the vessel to be photographed and the image acquisition device, the length of the vessel to be photographed, the speed of the vessel to be photographed, and the heading of the vessel to be photographed. The real-time coordinate position of the vessel to be photographed is specifically a three-dimensional coordinate position. Thus, after obtaining the various vessel parameters of the vessel to be photographed, the terminal device immediately combines the altitude data of the vessel's location to calculate the three-dimensional coordinate position of the vessel to be photographed in real time.

[0125] It should be noted that, in this embodiment, while calculating the real-time coordinate position of the vessel to be photographed, the terminal device also calculates a conservative magnification ratio based on the various ship parameters of the vessel to be photographed and the altitude data of the location of the vessel to be photographed (the conservative magnification ratio can also be preset by the terminal device, that is, assuming a cube with a length of 20 meters, a width of 5 meters, and a height of 3 meters, the overall target occupies about 1 / 8-1 / 4 of the screen after magnification at different distances, and a specific magnification conversion formula is generated in advance).

[0126] In addition, in this embodiment, after the terminal device transmits the calculated real-time coordinate position of the vessel to be photographed to the above-mentioned one or more image acquisition devices, the image acquisition device can specifically convert the real-time coordinate information into a PTZ value, and then adjust the image acquisition area corresponding to the image acquisition device to the area containing the image of the vessel to be photographed after performing real-time PTZ pan-tilt control, and then continuously perform multi-frame image capture operations.

[0127] Furthermore, in some feasible embodiments, the step of “controlling the image acquisition device to capture an image of the vessel to be photographed” may specifically include:

[0128] controlling the image acquisition device to perform an image analysis operation on the image to be photographed including the vessel to be photographed;

[0129] When the image of the vessel to be photographed is located at the middle position of the image to be photographed through the image analysis operation, the image acquisition device is controlled to continuously capture the image to be photographed.

[0130] In this embodiment, when the terminal device controls the image acquisition device to perform a capture operation on the vessel to be photographed at the optimal capture time and optimal capture angle, the terminal device first controls the image acquisition device to perform an image analysis operation on the image to be photographed containing the vessel to be photographed, thereby adjusting the vessel image to be photographed to the middle position of the image to be photographed of the image acquisition device. Thereafter, the terminal device controls the image acquisition device to continuously and immediately capture the vessel to be photographed to obtain the image to be photographed containing the vessel to be photographed.

[0131] Exemplarily, the terminal device controls the image acquisition device to automatically calculate a secondary magnification ratio according to the size of the image to be photographed, which includes the image of the ship to be photographed, so that the proportion of the ship to be photographed in the entire screen of the photographed image is enlarged to between 1 / 3 and 1 / 2. Afterwards, the terminal device controls the image acquisition device to switch to automatic tracking of the ship to be photographed, and divides the entire ship to be photographed into N equal parts, that is, into three parts: the bow, the middle of the ship, and the stern. Then, the terminal device controls the image acquisition device to move the field of view of the image to be photographed to the center position of the front equal part according to the traveling direction of the ship to be photographed. At this time, the terminal device chooses to zoom in again or not to zoom, and controls the image acquisition device to capture and record the ship to be photographed, thereby realizing dynamic centered capture of the ship to be photographed, so as to obtain a high-definition ship test image of the ship to be photographed.

[0132] In this embodiment, when a terminal device captures an image of a vessel sailing in an open water environment, it first calculates and determines the navigation direction of the vessel within the current detection environment of the environmental detection device based on data detected by a preset environmental detection device. The terminal device then further detects the angle between the image capture orientation of the image capture device and the navigation direction. Based on this angle data, the terminal device determines whether the current moment is the optimal time to capture an image of the vessel. Specifically, upon determining that the angle data meets the preset image capture conditions, the terminal device determines the system time as the optimal capture time, and the angle data as the optimal capture angle for capturing a side-on image of the vessel. Consequently, the terminal device immediately controls the image capture device to capture an image of the vessel, thereby obtaining a side-on image of the vessel.

[0133] In this way, compared with the traditional method of needing to capture images of ships with fixed headings in a fixed channel, the present invention determines the angle between the heading of the ship and the shooting direction of the image acquisition device, and determines an optimal shooting time to capture the image of the ship based on the angle and preset image capture conditions, thereby ensuring that good quality images are captured as the best image material for subsequent operations such as ship identification, which can effectively improve the accuracy of identification based on ship images.

[0134] Furthermore, an embodiment of the present invention also provides a device for capturing images of a ship.

[0135] Please refer to Figure 3 The image capturing device of a ship of the present invention comprises:

[0136] The vessel detection module 10 is used to determine the navigation direction of the vessel to be photographed in the detection environment;

[0137] An angle detection module 20 is used to detect the angle data between the image capturing direction of the image acquisition device for the vessel to be captured and the navigation direction;

[0138] The image capture module 30 is used to control the image acquisition device to capture the image of the vessel to be photographed when it is determined that the angle data meets the preset image capture conditions, so as to obtain the side image of the vessel to be photographed.

[0139] In a feasible implementation manner, the vessel image capturing device further includes:

[0140] A vessel tracking module, configured to continuously track the vessel to be photographed based on the environment detection device when it is determined that the angle data does not meet the preset image capture condition;

[0141] The image capture module 30 is further configured to control the image acquisition device to capture an image of the vessel to be photographed if it is determined that the angle data meets the preset image capture condition during continuous tracking of the vessel to be photographed, so as to obtain a side image of the vessel to be photographed.

[0142] In a feasible embodiment, the preset image capture condition includes: the preset image capture condition includes: the angle data is greater than or equal to a preset first angle threshold, or the angle data is less than or equal to a preset second angle threshold, wherein the preset first angle threshold is less than the preset second angle threshold; the image capture module 30 is further used to determine whether the angle data is greater than or equal to the preset first angle threshold, or whether the angle data is less than or equal to the preset second angle threshold;

[0143] If the angle data is greater than or equal to the preset first angle threshold, or the angle data is less than or equal to the preset second angle threshold, it is determined that the angle data meets the preset image capture condition, and the image acquisition device is controlled to capture an image of the vessel to be photographed.

[0144] In a feasible implementation manner, the preset image capture condition includes: the angle data presents a decreasing trend, and the image capture module 30 includes:

[0145] a first capture control unit, configured to, if it is determined that the angle data shows a decreasing trend and the maximum angle value of the angle data in the trend falls within a preset acute angle range, determine that the angle data meets the preset image capture condition, and control the image acquisition device to capture an image of the vessel to be photographed;

[0146] a second capture control unit, configured to determine, if the maximum angle value belongs to a preset obtuse angle interval, that the angle data meets the preset image capture condition when the angle data decreases to a preset third angle threshold, and control the image acquisition device to capture an image of the vessel to be photographed, wherein the preset third angle threshold is less than or equal to the minimum value of the obtuse angle interval.

[0147] In a feasible implementation manner, the preset image capture condition includes: the angle data presents an increasing trend, and the image capture module 30 further includes:

[0148] a third capture control unit, configured to, if it is determined that the angle data shows an increasing trend and the minimum angle value of the angle data in the trend falls within a preset obtuse angle range, determine that the angle data meets the preset image capture condition, and control the image acquisition device to capture an image of the vessel to be photographed;

[0149] a fourth capture control unit, configured to determine, if the minimum angle value belongs to a preset acute angle interval, that the angle data meets the preset image capture condition when the angle data increases to a preset fourth angle threshold, and control the image acquisition device to capture an image of the vessel to be photographed, wherein the preset fourth angle threshold is greater than or equal to the maximum value of the acute angle interval.

[0150] In a feasible embodiment, the vessel detection module 10 includes:

[0151] A coordinate acquisition unit, configured to acquire spatial coordinate points of the vessel to be photographed in the detection environment, wherein the number of the spatial coordinate points is greater than or equal to two;

[0152] A heading determination unit is used to determine the navigation direction of the vessel to be photographed in the detection environment according to the coordinate direction of the line connecting the spatial coordinate points.

[0153] In one feasible implementation, the image capture module 30 includes:

[0154] A coordinate determination unit, configured to determine the real-time coordinate position of the vessel to be photographed;

[0155] The capture control unit is used to transmit the real-time coordinate position to the image acquisition device, and control the image acquisition device to perform PTZ pan-tilt control according to the real-time coordinate position to continuously capture images of the vessel to be photographed, so as to obtain multiple frames of the side image of the vessel to be photographed.

[0156] In a feasible implementation manner, the coordinate determination unit is further configured to:

[0157] Obtaining vessel parameters obtained by the environmental detection device from detecting the vessel to be photographed; and calculating the real-time coordinate position of the vessel to be photographed based on the vessel parameters.

[0158] In a feasible embodiment, the image capturing device for a vessel of the present invention further includes:

[0159] an image analysis module, configured to control the image acquisition device to perform an image analysis operation on the image to be captured containing the vessel to be captured;

[0160] The image capturing module 30 is further configured to control the image acquisition device to continuously capture the image to be captured when the image of the vessel to be captured is located in the middle of the image to be captured through the image analysis operation.

[0161] The expanded contents of the specific implementation of the device for capturing an image of a ship of the present invention are substantially the same as those of the above-mentioned embodiments of the method for capturing an image of a ship, and are not described in detail here.

[0162] In addition, the embodiment of the present invention also provides a terminal device, such as Figure 4 As shown, Figure 4 It is a schematic diagram of the device structure of the hardware operating environment of the terminal device involved in the embodiment of the present invention.

[0163] It should be noted that the terminal device of the embodiment of the present invention can be a terminal device configured as an image capture device for ships to capture images of ships sailing in an open water environment. The terminal device can specifically be a PC (Personal Computer), a tablet computer, a smart phone, a server and other terminals, and no specific restrictions are made here.

[0164] like Figure 4 As shown, the terminal device may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, and a communication bus 1002. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 may be a high-speed RAM memory, or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may optionally be a storage device independent of the aforementioned processor 1001.

[0165] Those skilled in the art will understand that Figure 4 The device structure shown in the figure does not constitute a limitation on the terminal device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0166] like Figure 4 As shown, memory 1005, a computer storage medium, may include an operating system, a network communication module, a user interface module, and a vessel image capture program. The operating system is a program that manages and controls device hardware and software resources, supporting the operation of the vessel image capture program and other software or programs.

[0167] exist Figure 4 In the device shown, the user interface 1003 is mainly used to communicate data with the client; the network interface 1004 is mainly used to establish a communication connection with the server; and the processor 1001 can be used to call the ship image capture program stored in the memory 1005 and perform the following operations:

[0168] Determine the navigation direction of the vessel to be photographed in the detection environment;

[0169] Detecting angle data between an image capturing direction of the vessel to be captured and the navigation direction by an image capturing device;

[0170] When it is determined that the angle data meets the preset image capture condition, the image acquisition device is controlled to capture the image of the ship to be photographed, so as to obtain a side image of the ship to be photographed.

[0171] Furthermore, the processor 1001 may also be configured to call a vessel image capturing program stored in the memory 1005, and after executing the step of detecting the angle data between the image capturing direction of the vessel to be captured and the navigation direction, further perform the following operations:

[0172] When it is determined that the angle data does not meet the preset image capture condition, continuously tracking the vessel to be photographed based on the environment detection device;

[0173] If it is determined that the angle data meets the preset image capture condition during continuous tracking of the vessel to be photographed, the image acquisition device is controlled to capture an image of the vessel to be photographed to obtain a side image of the vessel to be photographed.

[0174] Furthermore, the preset image capture condition includes: the angle data is greater than or equal to a preset first angle threshold, or the angle data is less than or equal to a preset second angle threshold, wherein the preset first angle threshold is less than the preset second angle threshold. The processor 1001 may also be used to call an image capture program for a vessel stored in the memory 1005, and further perform the following operations:

[0175] Determining whether the angle data is greater than or equal to the preset first angle threshold, or whether the angle data is less than or equal to the preset second angle threshold;

[0176] If the angle data is greater than or equal to the preset first angle threshold, or the angle data is less than or equal to the preset second angle threshold, it is determined that the angle data meets the preset image capture condition, and the image acquisition device is controlled to immediately capture an image of the vessel to be photographed.

[0177] Furthermore, the preset image capture condition includes: the angle data showing a decreasing trend. The processor 1001 may also be configured to call a vessel image capture program stored in the memory 1005 and perform the following operations:

[0178] If it is determined that the angle data shows a decreasing trend, and the maximum angle value of the angle data in the trend belongs to a preset acute angle range, then it is determined that the angle data meets the preset image capture condition, and the image acquisition device is controlled to capture an image of the vessel to be photographed; or

[0179] If the maximum angle value belongs to a preset obtuse angle interval, then when the angle data decreases to a preset third angle threshold, it is determined that the angle data meets the preset image capture condition, and the image acquisition device is controlled to capture an image of the vessel to be photographed, wherein the preset third angle threshold is less than or equal to the minimum value of the obtuse angle interval.

[0180] Furthermore, the preset image capture condition includes: the angle data showing an increasing trend. The processor 1001 may also be configured to call a vessel image capture program stored in the memory 1005 and perform the following operations:

[0181] If it is determined that the angle data shows an increasing trend, and the minimum angle value of the angle data in the trend belongs to a preset obtuse angle range, then it is determined that the angle data meets the preset image capture condition, and the image acquisition device is controlled to capture an image of the vessel to be photographed; or

[0182] If the minimum angle value belongs to a preset acute angle interval, then when the angle data increases to a preset fourth angle threshold, it is determined that the angle data meets the preset image capture condition, and the image acquisition device is controlled to capture an image of the vessel to be photographed, wherein the preset fourth angle threshold is greater than or equal to the maximum value of the acute angle interval.

[0183] Furthermore, the processor 1001 may also be configured to call a vessel image capturing program stored in the memory 1005 and perform the following operations:

[0184] Acquire spatial coordinate points of the vessel to be photographed in the detection environment, wherein the number of the spatial coordinate points is greater than or equal to two;

[0185] The navigation direction of the vessel to be photographed in the detection environment is determined according to the coordinate direction of the line connecting the spatial coordinate points.

[0186] In addition, an embodiment of the present invention further provides a computer storage medium, on which a ship image capture program is stored. When the ship image capture program is executed by a processor, the steps of the ship image capture method described in the above embodiments are implemented.

[0187] The expanded content of the specific implementation of the computer storage medium of the present invention is basically the same as the various embodiments of the above-mentioned ship image capture method, and will not be repeated here.

[0188] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0189] The serial numbers of the above embodiments of the present invention are for description only and do not represent the advantages or disadvantages of the embodiments.

[0190] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better embodiment. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0191] The above are only preferred embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention description and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for capturing an image of a vessel, characterized in that: The image capture method of the vessel comprises: Determine the navigation direction of the vessel to be photographed in the detection environment; Detecting angle data between an image capturing direction of the vessel to be captured and the navigation direction by an image capturing device; When it is determined that the angle data meets the preset image capture condition, controlling the image acquisition device to capture an image of the vessel to be photographed, so as to obtain a side image of the vessel to be photographed; The step of controlling the image acquisition device to capture an image of the vessel to be photographed when it is determined that the angle data meets the preset image capture condition includes: if it is determined that the angle data shows a decreasing trend and the maximum angle value of the angle data in the trend belongs to a preset acute angle interval, then determining that the angle data meets the preset image capture condition and controlling the image acquisition device to capture an image of the vessel to be photographed; or, if the maximum angle value belongs to a preset obtuse angle interval, then determining that the angle data meets the preset image capture condition when the angle data decreases to a preset third angle threshold, and controlling the image acquisition device to capture an image of the vessel to be photographed, wherein the preset third angle threshold is less than or equal to the minimum value of the obtuse angle interval; Alternatively, the step of controlling the image acquisition device to capture the image of the vessel to be photographed when it is determined that the angle data meets the preset image capture condition includes: if it is determined that the angle data shows an increasing trend of change, and the minimum angle value of the angle data in the change trend belongs to a preset obtuse angle interval, then determining that the angle data meets the preset image capture condition, and controlling the image acquisition device to capture the image of the vessel to be photographed; or, if the minimum angle value belongs to a preset acute angle interval, then when the angle data increases to a preset fourth angle threshold, determining that the angle data meets the preset image capture condition, and controlling the image acquisition device to capture the image of the vessel to be photographed, wherein the preset fourth angle threshold is greater than or equal to the maximum value of the acute angle interval.

2. The method for capturing an image of a vessel according to claim 1, wherein: After the step of detecting the angle data between the image capturing direction of the vessel to be captured and the navigation direction by the image acquisition device, the method further includes: When it is determined that the angle data does not meet the preset image capture condition, continuously tracking the vessel to be photographed; If it is determined that the angle data meets the preset image capture condition during continuous tracking of the vessel to be photographed, the image acquisition device is controlled to capture an image of the vessel to be photographed to obtain a side image of the vessel to be photographed.

3. The method for capturing an image of a vessel according to claim 1, wherein: The preset image capture condition includes: the angle data is greater than or equal to a preset first angle threshold, or the angle data is less than or equal to a preset second angle threshold, wherein the preset first angle threshold is less than the preset second angle threshold; The step of controlling the image acquisition device to capture an image of the vessel to be photographed when it is determined that the angle data meets the preset image capture condition includes: Determining whether the angle data is greater than or equal to the preset first angle threshold, or whether the angle data is less than or equal to the preset second angle threshold; If the angle data is greater than or equal to the preset first angle threshold, or the angle data is less than or equal to the preset second angle threshold, it is determined that the angle data meets the preset image capture condition, and the image acquisition device is controlled to capture an image of the vessel to be photographed.

4. The method for capturing an image of a vessel according to any one of claims 1 to 3, wherein: Determining the navigation direction of the vessel to be photographed in the detection environment includes: Acquire spatial coordinate points of the vessel to be photographed in the detection environment, wherein the number of the spatial coordinate points is greater than or equal to two; The navigation direction of the vessel to be photographed in the detection environment is determined according to the coordinate direction of the line connecting the spatial coordinate points.

5. A device for capturing images of a vessel, characterized in that: The image capturing device of the vessel comprises: The ship detection module is used to determine the navigation direction of the ship to be photographed in the detection environment; An angle detection module, used to detect angle data between the image capturing direction of the image acquisition device for the vessel to be captured and the navigation direction; an image capture module, configured to control the image acquisition device to capture an image of the vessel to be photographed when it is determined that the angle data meets a preset image capture condition, so as to obtain a side image of the vessel to be photographed; The image capture module includes: a first capture control unit for determining that the angle data meets the preset image capture condition if it is determined that the angle data shows a decreasing trend and the maximum angle value of the angle data in the trend belongs to a preset acute angle interval, and controlling the image acquisition device to capture an image of the vessel to be captured; or a second capture control unit for determining that the angle data meets the preset image capture condition if the angle data decreases to a preset third angle threshold if the maximum angle value belongs to a preset obtuse angle interval, and controlling the image acquisition device to capture an image of the vessel to be captured, wherein the preset third angle threshold is less than or equal to the minimum value of the obtuse angle interval; Alternatively, the image capture module further includes: a third capture control unit for determining that the angle data meets the preset image capture condition if it is determined that the angle data shows an increasing trend and the minimum angle value of the angle data in the trend belongs to a preset obtuse angle interval, and controlling the image acquisition device to capture an image of the vessel to be photographed; or a fourth capture control unit for determining that the angle data meets the preset image capture condition if the minimum angle value belongs to a preset acute angle interval and when the angle data increases to a preset fourth angle threshold, and controlling the image acquisition device to capture an image of the vessel to be photographed, wherein the preset fourth angle threshold is greater than or equal to the maximum value of the acute angle interval.

6. The image capturing device for a vessel according to claim 5, wherein: The image capturing device of the vessel further includes: A vessel tracking module, configured to continuously track the vessel to be photographed based on an environment detection device when it is determined that the angle data does not meet the preset image capture condition; The image capture module is further configured to control the image acquisition device to capture an image of the vessel to be photographed, if it is determined that the angle data meets the preset image capture condition during the continuous tracking of the vessel to be photographed, so as to obtain a side view image of the vessel to be photographed; The preset image capture condition includes: the preset image capture condition includes: the angle data is greater than or equal to a preset first angle threshold, or the angle data is less than or equal to a preset second angle threshold, wherein the preset first angle threshold is less than the preset second angle threshold; the image capture module is further used to determine whether the angle data is greater than or equal to the preset first angle threshold, or whether the angle data is less than or equal to the preset second angle threshold; If the angle data is greater than or equal to the preset first angle threshold, or if the angle data is less than or equal to the preset second angle threshold, it is determined that the angle data meets the preset image capture condition, and the image acquisition device is controlled to capture an image of the vessel to be photographed; Vessel detection module, including: A coordinate acquisition unit, configured to acquire spatial coordinate points of the vessel to be photographed in the detection environment, wherein the number of the spatial coordinate points is greater than or equal to two; A heading determination unit is used to determine the navigation direction of the vessel to be photographed in the detection environment according to the coordinate direction of the line connecting the spatial coordinate points.

7. A terminal device, characterized in that: The terminal device includes: a memory, a processor, and a ship image capture program stored in the memory and executable on the processor. When the ship image capture program is executed by the processor, the steps of the ship image capture method according to any one of claims 1 to 4 are implemented.

8. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a ship image capturing program, which, when executed by a processor, implements the steps of the ship image capturing method according to any one of claims 1 to 4.

Images