A ship detection method, device, storage medium and electronic device

Abstract

Embodiments of the present application provide a ship detection method and device, a storage medium and an electronic device, wherein the method comprises: receiving first information of a first ship sent by a radar; detecting the first ship according to the first information; in the case that the first ship is not detected and second information of a second ship sent by the radar is received, terminating the detection of the first ship and detecting the second ship according to the second information. Through the present application, the problem that when the radar and the camera device are linked to detect the ship, the detection of the ship newly detected by the radar will be delayed by the camera device, resulting in missed detection or untimely detection, is solved, and the effect of timely detecting the new ship is achieved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of communications, and more specifically, to a ship detection method, apparatus, storage medium, and electronic device. Background Technology

[0002] With the development of the security industry, the concept of smart security is becoming increasingly refined, one branch of which is the construction of smart fishing ports. Within the scope of smart fishing port operations, vessel detection is required. The common technology for this is the coordinated detection of radar and cameras. However, when radar and cameras work together to detect vessels, the cameras must first complete the detection of the currently detected vessel before starting to detect new vessels based on information received before the previous detection was completed. This creates a lag in the detection of new vessels, leading to missed detections or untimely detection.

[0003] There is currently no effective solution to the problem of missed or untimely detection of ships in related technologies. Summary of the Invention

[0004] This invention provides a ship detection method, apparatus, storage medium, and electronic device to at least solve the problem in related technologies where, when radar and camera equipment work together to detect ships, the camera equipment's detection of the latest ship detected by the radar is delayed, leading to missed detections or untimely detection.

[0005] According to an embodiment of the present invention, a ship detection method is provided, comprising: receiving first information of a first ship transmitted by a radar, wherein the first ship is a ship detected by the radar that sequentially passes through a first stirrup and a second stirrup configured for the radar, and the first information includes motion information of the first ship detected by the radar; detecting the first ship according to the first information; and terminating the detection of the first ship and detecting the second ship according to the second information if the first ship is not detected and second information of a second ship transmitted by the radar is received, wherein the second ship is a ship detected by the radar that sequentially passes through the first stirrup and the second stirrup, and the second information includes motion information of the second ship detected by the radar.

[0006] In one exemplary embodiment, before detecting the first vessel based on the first information, the method further includes: detecting the vessel within a preset range, wherein the preset range includes areas outside the detection range of the radar.

[0007] In an exemplary embodiment, detecting the first vessel based on the first information includes: performing a linkage operation based on the position information, direction of motion information, and speed information of the first vessel detected by the radar included in the first information, wherein the linkage operation includes adjusting the lens magnification of the camera device and controlling the rotation of the gimbal mounted on the camera device; during the execution of the linkage operation, adjusting the white light laser fill light spot of the camera device to the maximum value supported by the camera device, and detecting the first vessel.

[0008] In an exemplary embodiment, when the first vessel is detected, the method further includes: when the first vessel is detected, performing motion tracking on the first vessel; during the motion tracking of the first vessel, adjusting the parameters of the camera device to identify target feature information of the first vessel; and superimposing the target feature information onto the video data captured by the camera device.

[0009] In an exemplary embodiment, adjusting the parameters of the camera device to identify the target feature information of the first vessel includes: adjusting the white light laser fill light spot of the camera device to a target value that matches the hull of the first vessel; after adjusting the white light laser fill light spot, adjusting the focal length of the camera device; and identifying the target feature information of the first vessel when it is determined that the camera device has successfully focused on the first vessel.

[0010] In an exemplary embodiment, after adjusting the focal length of the camera device, the method further includes: capturing an image of the first vessel if it is determined that the camera device has not successfully focused on the first vessel and third information of a third vessel transmitted by the radar is received, wherein the third vessel is a vessel detected by the radar that passes sequentially through the first and second stirrups, and the third information includes motion information of the third vessel detected by the radar; and detecting the third vessel based on the third information after determining that the capture of the first vessel is complete.

[0011] In one exemplary embodiment, before receiving the first information of the first vessel transmitted by the radar, the method further includes: if the radar detects a vessel passing through the first mixing line, identifying the vessel passing through the first mixing line as the first vessel; if the radar detects that the vessel passing through the second mixing line is a marked vessel, identifying the marked vessel passing through the second mixing line as the first vessel, and transmitting the first information of the first vessel to a camera device.

[0012] According to another embodiment of the present invention, a ship detection device is provided, comprising: a receiving module for receiving first information of a first ship transmitted by a radar, wherein the first ship is a ship detected by the radar that sequentially passes through a first stirrup and a second stirrup configured for the radar, and the first information includes motion information of the first ship detected by the radar; a first detection module for detecting the first ship according to the first information; and a second detection module for terminating the detection of the first ship and detecting the second ship according to the second information when the first ship is not detected and second information of a second ship transmitted by the radar is received, wherein the second ship is a ship detected by the radar that sequentially passes through the first stirrup and the second stirrup, and the second information includes motion information of the second ship detected by the radar.

[0013] According to yet another embodiment of the present invention, a computer-readable storage medium is also provided, wherein a computer program is stored therein, wherein the computer program is configured to perform the steps in any of the above method embodiments when executed.

[0014] According to yet another embodiment of the present invention, an electronic device is also provided, including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the steps in any of the above method embodiments.

[0015] This invention solves the problem in related technologies where, when radar and camera equipment work together to detect ships, the camera equipment needs to first complete the detection of the currently detected ship and then detect the new ship based on the information received before completing the current detection. This results in missed detections or untimely detection of new ships. The invention achieves the effect of timely detection of new ships. Attached Figure Description

[0016] Figure 1 This is a hardware structure block diagram of a ship detection method according to an embodiment of the present invention;

[0017] Figure 2 This is one of the flowcharts of a ship detection method according to an embodiment of the present invention;

[0018] Figure 3 This is a second flowchart of a ship detection method according to an embodiment of the present invention;

[0019] Figure 4 This is a structural block diagram of a ship detection device according to an embodiment of the present invention. Detailed Implementation

[0020] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings and examples.

[0021] It should be noted that the terms "first," "second," etc., in the specification, claims, and drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0022] The methods and embodiments provided in this application can be executed on a mobile terminal, computer terminal, or similar computing device. Taking running on a mobile terminal as an example, Figure 1 This is a hardware structure block diagram of a mobile terminal for a ship detection method according to an embodiment of the present invention. Figure 1 As shown, a mobile terminal may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. The mobile terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the mobile terminal described above. For example, the mobile terminal may also include components that are more... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0023] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the ship detection method in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the above-described method. The memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to a mobile terminal via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0024] The transmission device 106 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the mobile terminal's communication provider. In one example, the transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device 106 may be a Radio Frequency (RF) module, used for wireless communication with the Internet.

[0025] This embodiment provides a ship detection method. Figure 2 This is a flowchart of a ship detection method according to an embodiment of the present invention, such as... Figure 2 As shown, the process includes the following steps:

[0026] Step S202: Receive first information of the first vessel transmitted by the radar, wherein the first vessel is the vessel detected by the radar that passes sequentially through the first and second stirrups configured for the radar, and the first information includes the motion information of the first vessel detected by the radar.

[0027] Step S204: Detect the first vessel based on the first information;

[0028] Step S206: If the first vessel is not detected and the second information of the second vessel transmitted by the radar is received, the detection of the first vessel is terminated and the second vessel is detected according to the second information. The second vessel is the vessel detected by the radar that passes through the first and second mixing lines in sequence. The second information includes the motion information of the second vessel detected by the radar.

[0029] The entity performing the above steps may be a camera device with control capabilities, a control device or system associated with the camera device, or other devices or systems with similar processing capabilities.

[0030] In the above steps, the positions of the first and second radar checkpoints can be set within the maximum range that the camera equipment can detect ships. The configuration of the radar checkpoints includes, but is not limited to, the following steps:

[0031] 1. Set the first and second mixing lines on the electronic map.

[0032] 2. The radar control system can be connected to the electronic map system via network connection, serial port connection or other adapters.

[0033] 3. Convert the drift line information set on the electronic map into the format required by the radar control system, and transmit the data to the radar body through a communication protocol.

[0034] 4. After receiving the mixing line information, the radar control system analyzes and processes it and controls the radar body to make corresponding adjustments.

[0035] 5. After the radar body is adjusted accordingly, the status and results are fed back to the radar control system. The radar control system confirms the feedback information to ensure the accuracy and effectiveness of the line-tightening operation.

[0036] In the above steps, the first information includes, but is not limited to: the coordinates of the first vessel, the direction of motion of the first vessel, the straight-line distance of the first vessel, and the speed of the first vessel. The second information includes, but is not limited to: the coordinates of the second vessel, the direction of motion of the second vessel, the straight-line distance of the second vessel, and the speed of the second vessel.

[0037] Through the above steps, since the camera equipment immediately begins to detect the second vessel even when the first vessel has not been detected and the second information has been received, the problem of the camera equipment's detection of the latest vessel detected by the radar being delayed in the related technology, resulting in missed detection or untimely detection, is solved, and the detection speed of the second vessel is improved.

[0038] In an optional embodiment, before detecting the first vessel based on the first information, the method further includes: detecting the vessel within a preset range, wherein the preset range includes areas outside the detection range of the radar.

[0039] In the above steps, before receiving the information from the radar about vessels passing through the first and second check lines in sequence, the imaging device performs vessel detection within a preset range. This preset range includes, but is not limited to, vessels outside the radar's detection range or vessels partially overlapping with the radar's detection range. Before sending the information to the imaging device about vessels passing through the first and second check lines in sequence, the radar's detection range includes, but is not limited to, areas that the imaging device cannot detect. Only when the radar detects the vessels passing through the first and second check lines in sequence will the radar and the imaging device work together to detect and capture images of these vessels, thus avoiding unnecessary zoom-in searching for vessels moving irregularly.

[0040] In an optional embodiment, detecting the first vessel based on the first information includes: performing a linkage operation based on the position information, direction of motion information, and speed information of the first vessel detected by the radar included in the first information, wherein the linkage operation includes adjusting the lens magnification of the camera device and controlling the rotation of the gimbal mounted on the camera device; during the execution of the linkage operation, adjusting the white light laser fill light spot of the camera device to the maximum value supported by the camera device, and detecting the first vessel.

[0041] In the above steps, during the adjustment of the camera's lens magnification, the camera needs to change its focal length and field of view to better capture the first vessel. The gimbal can rotate under the control of the camera according to the movement direction of the first vessel (or it can rotate automatically based on the received position information of the vessel), thus ensuring the camera can continuously monitor and film the vessel. During the coordinated operation, the white laser illumination spot of the camera needs to be adjusted to the maximum value supported by the camera to ensure a softer visual appearance from the shore, uniform exposure, and stronger lighting conditions, enabling the camera to better detect and identify the target vessel in low-light environments.

[0042] In an optional embodiment, when the first vessel is detected, the method further includes: when the first vessel is detected, performing motion tracking on the first vessel; during the motion tracking of the first vessel, adjusting the parameters of the camera device to identify target feature information of the first vessel; and superimposing the target feature information onto the video data captured by the camera device.

[0043] In the above steps, the method by which the camera device detects the first vessel includes, but is not limited to, detecting the first vessel using a vessel detection algorithm. Once the first vessel is detected, the camera device can automatically perform motion tracking. By analyzing the position and motion information of the first vessel in real time, the camera device's pan-tilt head can adjust its rotation to ensure that the camera device always tracks the first vessel. This ensures that the first vessel remains visible within the camera device's field of view and its motion trajectory can be captured. Furthermore, the camera device can flexibly adjust parameters such as focal length, aperture, and exposure to ensure clear shooting and recording of the first vessel. The target feature information includes, but is not limited to, at least one of the following: vessel type, name, number, size, color and paint scheme, structural features, cargo status, empty / loaded attributes, etc. In addition, the camera device can overlay the identified target feature information onto the video data captured by the camera device. By overlaying the feature information of the first vessel onto the video, richer visual information can be provided, facilitating observation and analysis by operators.

[0044] In an optional embodiment, adjusting the parameters of the camera device to identify the target feature information of the first vessel includes: adjusting the white light laser fill light spot of the camera device to a target value that matches the hull of the first vessel; after adjusting the white light laser fill light spot, adjusting the focal length of the camera device; and identifying the target feature information of the first vessel when it is determined that the camera device has successfully focused on the first vessel.

[0045] In the above steps, the method for adjusting the white light laser fill spot of the camera device includes, but is not limited to: adjusting parameters such as the size, shape and brightness of the fill spot. By adjusting the white light laser fill spot of the camera device, it is ensured that the fill spot can completely cover the hull of the first vessel, and the fill light energy is concentrated to cover the area of ​​the vessel, thereby improving the signal-to-noise ratio of the capture quality and facilitating good image capture of the first vessel.

[0046] In an optional embodiment, after adjusting the focal length of the camera device, the method further includes: capturing an image of the first vessel if it is determined that the camera device has not successfully focused on the first vessel and third information of a third vessel transmitted by the radar is received, wherein the third vessel is a vessel detected by the radar that passes through the first and second stirrups in sequence, and the third information includes motion information of the third vessel detected by the radar; and detecting the third vessel based on the third information after determining that the capture of the first vessel has been completed.

[0047] In the above steps, the third information includes, but is not limited to: the coordinate information of the third vessel, the motion direction information of the third vessel, the spatial straight-line distance information of the third vessel, and the speed information of the third vessel. The methods for determining whether the camera device has successfully focused on the first vessel include, but are not limited to: determining whether the camera device has successfully focused on the first vessel based on the focus completion flag of the camera device's focusing module; determining whether the camera device has successfully focused on the first vessel by evaluating image sharpness; determining whether the camera device has successfully focused on the first vessel by comparing the image captured by the camera device with preset features, where the preset features may be information such as the shape, size, and color of the first vessel; and determining whether the camera device has successfully focused on the first vessel using an autofocus system.

[0048] By taking the above steps, if it is determined that the camera device has not successfully focused on the first vessel and the third information of the third vessel sent by the radar is received, the first vessel can be captured, which can ensure that the first vessel is not missed. After the first vessel is captured, the third vessel is detected according to the third information, which can ensure the timeliness of the detection of the third vessel.

[0049] In an optional embodiment, before receiving the first information of the first vessel transmitted by the radar, the method further includes: if the radar detects a vessel passing through the first mixing line, marking the vessel passing through the first mixing line; if the radar detects that the vessel passing through the second mixing line is a marked vessel, identifying the marked vessel passing through the second mixing line as the first vessel, and sending the first information of the first vessel to a camera device.

[0050] In the above steps, the process by which the radar transmits the first information of the first vessel to the camera equipment includes, but is not limited to, the following steps:

[0051] 1. The radar converts the acquired first information into a data format suitable for the camera device to receive.

[0052] 2. The radar selects an appropriate communication method to transmit data to the camera device.

[0053] Through the above steps, by setting two checkpoints, the vessel can only be identified as the first vessel if its direction of motion passes through the first checkpoint first and then the second checkpoint, and the first information is then sent to the camera device. This avoids unnecessary zoom-in search processes when the camera device detects irregularly moving vessels. Furthermore, it should be noted that setting two checkpoints is only one implementation method. In practical applications, to improve the accuracy of detecting the vessel's direction of motion, more checkpoints can be set, for example, three checkpoints.

[0054] The entity performing the above steps can be a terminal, but is not limited to this.

[0055] The following detailed description, using specific embodiments, illustrates how the present invention performs ship inspection:

[0056] Figure 3 This is a flowchart of a ship detection method according to a specific embodiment of the present invention, including:

[0057] S302, set up the first and second mixing lines for radar detection;

[0058] S304, the radar will mark the detected moving vessel as α when it passes the first mixing line;

[0059] S306, determine whether the moving vessel marked α has passed the second radar checkpoint. If it has passed, proceed to step S308; if it has not passed, proceed to step S330.

[0060] S308, corresponding to the moving vessel marked α, when passing the second radar crossbar, the radar transmits the detected vessel coordinates, direction of motion, and straight-line distance in space to the PTZ camera;

[0061] S310: The PTZ camera receives information about the vessels at the second mixing line of the radar and responds accordingly by adjusting the zoom level and rotating the PTZ.

[0062] S312, during the PTZ camera linkage process, the white laser filler spot is opened to the maximum, and the PTZ camera activates the ship detection algorithm at the same time;

[0063] S314, Determine whether the PTZ camera has detected a boat. If a boat is detected, proceed to step S316. If no boat is detected, proceed to step S332.

[0064] S316, the PTZ camera tracks the movement of the ship based on the detected results;

[0065] S318, PTZ camera white light laser fill light to reduce the light spot size to the size of the ship's hull;

[0066] S320, performing a focusing action;

[0067] S322, Determine whether focusing is complete. If complete, proceed to step S324; if not complete, proceed to step S328.

[0068] S324, the PTZ camera performs feature recognition, including ship name, cargo, empty and heavy load, and fuses the information into video data;

[0069] S326, triggers the capture mechanism to capture images of the vessel;

[0070] S328, Determine if there are any new moving vessels marked on the second radar line. If there are, proceed to step S326; otherwise, proceed to step S320.

[0071] S330, a PTZ camera, conducts ship inspections near the coastline in a panoramic view;

[0072] S332, the PTZ camera magnification is reduced to expand the search range;

[0073] S334, Determine if there are any newly marked moving vessels on the second radar line. If there are, proceed to step S336; otherwise, proceed to step S310.

[0074] S336, the PTZ camera receives the information of the newly marked moving vessel, and responds to the information by adjusting the magnification and rotating the PTZ, executing step S312.

[0075] In step S324, the cargo includes, but is not limited to: the type of cargo carried by the vessel, whether the vessel is carrying cargo, such as: a vessel carrying containers, a vessel carrying sand, an empty vessel, or a fully loaded vessel; the empty / loaded refers to the condition of the vessel as reflected by the waterline.

[0076] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0077] This embodiment also provides a ship detection device for implementing the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0078] Figure 4 This is a structural block diagram of a ship detection device according to an embodiment of the present invention, such as... Figure 4 As shown, the device includes: a receiving module 42, used to receive first information about a first vessel transmitted by a radar, wherein the first vessel is a vessel detected by the radar that passes sequentially through a first and a second stirrup configured for the radar, and the first information includes motion information of the first vessel detected by the radar; a first detection module 44, used to detect the first vessel based on the first information; and a second detection module 46, used to terminate the detection of the first vessel and detect the second vessel based on the second information if the first vessel is not detected and the second information about a second vessel transmitted by the radar is received, wherein the second vessel is a vessel detected by the radar that passes sequentially through the first and second stirrups, and the second information includes motion information of the second vessel detected by the radar.

[0079] In an optional embodiment, the apparatus further includes a third detection module for detecting a vessel within a preset range before detecting the first vessel based on the first information, wherein the preset range includes areas outside the detection range of the radar.

[0080] In an optional embodiment, the first detection module 44 includes: a linkage unit, configured to perform a linkage operation based on the position information, direction of motion information, and speed information of the first vessel detected by the radar included in the first information, wherein the linkage operation includes adjusting the lens magnification of the camera device and controlling the rotation of the gimbal mounted on the camera device; and a detection unit, configured to adjust the white light laser fill light spot of the camera device to the maximum value supported by the camera device during the execution of the linkage operation, and to detect the first vessel.

[0081] In an optional embodiment, the device further includes: a tracking module for tracking the motion of the first vessel when the first vessel is detected; an identification module for adjusting the parameters of the camera device during the motion tracking of the first vessel to identify target feature information of the first vessel; and an overlay module for overlaying the target feature information onto the video data captured by the camera device.

[0082] In an optional embodiment, the identification module includes: a first adjustment unit for adjusting the white light laser fill light spot of the camera device to a target value that matches the hull of the first vessel; a second adjustment unit for adjusting the focal length of the camera device after adjusting the white light laser fill light spot; and an identification unit for identifying the target feature information of the first vessel when it is determined that the camera device has successfully focused on the first vessel.

[0083] In an optional embodiment, the device further includes: a snapshot module, configured to capture an image of the first vessel after adjusting the focal length of the camera device, and after determining that the camera device has not successfully focused on the first vessel and receiving third information about a third vessel transmitted by the radar, wherein the third vessel is a vessel detected by the radar that passes sequentially through the first and second stirrups, and the third information includes motion information of the third vessel detected by the radar; and a fourth detection module, configured to detect the third vessel based on the third information after determining that the snapshot of the first vessel has been completed.

[0084] In an optional embodiment, the radar device includes: a marking module, configured to mark a vessel passing through the first mixing line if a vessel passing through the first mixing line is detected before the imaging device receives the first information of the first vessel transmitted by the radar; and a determining module, configured to determine the marked vessel passing through the second mixing line as the first vessel if a marked vessel is detected, and to send the first information of the first vessel to the imaging device.

[0085] It should be noted that the above modules can be implemented by software or hardware. For the latter, they can be implemented in the following ways, but are not limited to: all the above modules are located in the same processor; or, the above modules are located in different processors in any combination.

[0086] Embodiments of the present invention also provide a computer-readable storage medium storing a computer program, wherein the computer program is configured to perform the steps in any of the above method embodiments when executed.

[0087] In one exemplary embodiment, the aforementioned computer-readable storage medium may include, but is not limited to, various media capable of storing computer programs, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard disk, magnetic disk, or optical disk.

[0088] Embodiments of the present invention also provide an electronic device including a memory and a processor, the memory storing a computer program and the processor being configured to run the computer program to perform the steps in any of the above method embodiments.

[0089] In one exemplary embodiment, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor and the input / output device is connected to the processor.

[0090] Specific examples in this embodiment can be found in the examples described in the above embodiments and exemplary implementations, and will not be repeated here.

[0091] It is obvious to those skilled in the art that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those described herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0092] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for detecting ships, characterized in that, include: The system receives first information about a first vessel transmitted by a radar, wherein the first vessel is a vessel detected by the radar that passes sequentially through a first and a second stirrup configured for the radar, and the first information includes motion information of the first vessel detected by the radar. Based on the first information, the first vessel is inspected; If the first vessel is not detected and the second information of the second vessel transmitted by the radar is received, the detection of the first vessel is terminated and the second vessel is detected according to the second information, wherein the second vessel is the vessel detected by the radar that passes through the first and second mixing lines in sequence, and the second information includes the motion information of the second vessel detected by the radar.

2. The method according to claim 1, characterized in that, Before inspecting the first vessel based on the first information, the method further includes: Ship detection is performed within a preset range, wherein the preset range includes areas outside the detection range of the radar.

3. The method according to claim 1, characterized in that, Based on the first information, the detection of the first vessel includes: Based on the position information, direction of motion information, and speed information of the first vessel detected by the radar included in the first information, a linkage operation is executed, wherein the linkage operation includes adjusting the lens magnification of the camera equipment and controlling the rotation of the gimbal mounted on the camera equipment; During the execution of the linkage operation, the white laser fill light spot of the camera device is adjusted to the maximum value supported by the camera device, and the first ship is detected.

4. The method according to any one of claims 1 to 3, characterized in that, When inspecting the first vessel, the method further includes: If the first vessel is detected, motion tracking of the first vessel will be performed; During the motion tracking of the first vessel, the parameters of the camera equipment are adjusted to identify the target feature information of the first vessel; The target feature information is superimposed onto the video data captured by the camera device.

5. The method according to claim 4, characterized in that, Adjusting the parameters of the camera equipment to identify the target feature information of the first vessel includes: The white laser fill light spot of the camera device is adjusted to a target value that matches the hull of the first vessel; After adjusting the white laser filler spot, adjust the focal length of the camera device; If it is determined that the camera device has successfully focused on the first vessel, the target feature information of the first vessel is identified.

6. The method according to claim 5, characterized in that, After adjusting the focal length of the camera device, the method further includes: If the camera fails to focus on the first vessel and receives the third information of the third vessel sent by the radar, the first vessel is captured on camera. The third vessel is the vessel detected by the radar that passes through the first and second stirrups in sequence. The third information includes the motion information of the third vessel detected by the radar. After confirming that the first vessel has been captured, the third vessel is detected based on the third information.

7. The method according to claim 1, characterized in that, Before receiving the first information about the first vessel transmitted by radar, the method further includes: When the radar detects a vessel passing through the first mixing line, it identifies the vessel. When the radar detects that a vessel passing through the second mixing line is a marked vessel, it identifies the marked vessel as the first vessel and sends the first information of the first vessel to the camera device.

8. A ship detection device, characterized in that, include: A receiving module is used to receive first information about a first vessel transmitted by a radar, wherein the first vessel is a vessel detected by the radar that passes sequentially through a first stirrup and a second stirrup configured for the radar, and the first information includes motion information of the first vessel detected by the radar. The first detection module is used to detect the first vessel based on the first information; The second detection module is used to terminate the detection of the first vessel and detect the second vessel according to the second information when the first vessel is not detected and the second information of the second vessel sent by the radar is received. The second vessel is the vessel detected by the radar that passes through the first and second mixing lines in sequence, and the second information includes the motion information of the second vessel detected by the radar.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, wherein the computer program, when executed by a processor, implements the steps of the method described in any one of claims 1 to 7.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method described in any one of claims 1 to 7.

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