AIS photoelectric linkage ship tracking method and device
By establishing a tolerance coordinate library and updating the coordinate correspondence relationship between AIS and optoelectronic devices using spatial neighborhood algorithms, the problem of coordinate correspondence relationship deviation is solved, and the target tracking efficiency and accuracy are improved.
Patent Information
- Application Number
- CN202411721047.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-28
- Publication Date
- 2025-03-21
AI Technical Summary
The coordinate correspondence between the existing AIS and the photoelectric tracking system will deviate with the aging of the equipment and changes in environmental factors, affecting the target tracking efficiency.
By establishing a tolerance coordinate library, update it using AIS coordinates and PTZ coordinates obtained by optoelectronic devices, and automatically adjust the correspondence relationships in combination with spatial neighborhood algorithms to ensure accuracy.
The accurate update of the correspondence between AIS coordinates and PTZ coordinates is achieved, the target tracking efficiency and accuracy of optoelectronic equipment are improved, and the workload of manual identification is reduced.
Smart Images
Figure CN119668307A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of target linkage tracking, and in particular to an AIS photoelectric linkage ship tracking method and device. Background Art
[0002] In related technologies, the shipborne Automatic Identification System (AIS) system can realize the exchange of navigation data between ships and between ships and shore stations. Shore-based management personnel can obtain the coordinate information of ships in the jurisdiction in real time through signal receivers, and realize dynamic monitoring of the ship's route and direction.
[0003] The optoelectronic tracking system is equipped with a day and night high-definition optical system, integrating a visible light telephoto lens, a medium-wave infrared night vision system, and an intelligent identification and tracking system. It can achieve high-resolution imaging and morphological recognition, realize day and night monitoring of targets, and obtain information such as ship shape, route, and ship number in a visual way.
[0004] For the AIS system, there are inherent defects in the recognition of target details and shapes. It can only passively accept agreed information and cannot autonomously detect and grasp the target shape and other movements. For the optoelectronic tracking system, the visual range is limited within a specific time and space, and it cannot achieve real-time all-round coverage.
[0005] The traditional AIS and optoelectronic fusion method only performs simple coordinate system calibration, establishes the correspondence between the AIS coordinates and the PTZ coordinates of the optoelectronic device, and stores the correspondence in a table. After the AIS finds the target, it looks up the table to obtain the PTZ position, and the optoelectronics performs target tracking based on the PTZ position. The above correspondence will change with various factors such as equipment aging, tides, geomagnetic environment, temperature and humidity, visibility, etc., causing deviations in the results after the table lookup, which seriously affects the target tracking efficiency. Summary of the invention
[0006] The present invention provides an AIS optoelectronic linkage ship tracking method and device, which can solve the problem of inaccurate correspondence between AIS coordinates and optoelectronic device PTZ coordinates in related technologies, which affects target tracking. The technical solution is as follows:
[0007] On the one hand, a method for tracking an AIS optoelectronically linked ship is provided, the method comprising:
[0008] Determine the PTZ coordinates corresponding to the AIS coordinates according to the AIS coordinates of the target obtained by AIS and the tolerance coordinate library;
[0009] Using the PTZ coordinates as guide coordinates, guiding the optoelectronic device to rotate so that the target falls within the field of view of the optoelectronic device;
[0010] When the target is a valid target, updating the tolerance coordinate library according to the AIS coordinates of the target obtained by the AIS and the PTZ coordinates of the target obtained by the optoelectronic device; and
[0011] According to the recognition result of the target by the optoelectronic device and the information library, it is determined whether the target is a key monitoring target. If so, the target is tracked according to the rotation tracking strategy recorded in the information library.
[0012] Optionally, the tolerance coordinate library is established by using a calibration method and a spatial neighborhood algorithm to generate data.
[0013] Optionally, updating the tolerance coordinate library according to the AIS coordinates of the target obtained by the AIS and the PTZ coordinates of the target obtained by the optoelectronic device includes:
[0014] The tolerance coordinate library is updated according to the AIS coordinates of the target obtained by the AIS and the PTZ coordinates of the target obtained by the optoelectronic device by using a spatial neighborhood algorithm.
[0015] Optionally, the information database is used to record target information, tracking priority, priority tracking time period and tracking time of each type of target.
[0016] Optionally, the tracking time is automatically updated according to historical tracking records.
[0017] Optionally, the tracking priority is automatically updated according to the recognition of the target by the optoelectronic device.
[0018] On the other hand, an AIS optoelectronically linked ship tracking device is provided, the device comprising:
[0019] A coordinate acquisition unit, adapted to determine the PTZ coordinates corresponding to the AIS coordinates according to the AIS coordinates of the target obtained by the AIS and a tolerance coordinate library;
[0020] a guiding unit, adapted to use the PTZ coordinates as guiding coordinates to guide the optoelectronic device to rotate so that the target falls within the field of view of the optoelectronic device;
[0021] an updating unit, adapted to update the tolerance coordinate library according to the AIS coordinates of the target obtained by the AIS and the PTZ coordinates of the target obtained by the optoelectronic device when the target is a valid target; and
[0022] The tracking unit is adapted to determine whether the target is a key monitoring target based on the recognition result of the target by the optoelectronic device and the information library, and if so, track the target according to the rotation tracking strategy recorded in the information library.
[0023] On the other hand, a computer device is provided, comprising a memory and a processor, wherein the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory to implement the steps of the above-mentioned AIS optoelectronic linkage ship tracking method.
[0024] On the other hand, a computer-readable storage medium is provided, wherein a computer program is stored in the storage medium, and when the computer program is executed by a processor, the steps of the above-mentioned AIS optoelectronic linkage ship tracking method are implemented.
[0025] On the other hand, a computer program product is provided, comprising a computer program, which implements the steps of the above-mentioned AIS optoelectronic linkage ship tracking method when executed by a processor.
[0026] The technical solution provided by the present invention can at least bring the following beneficial effects:
[0027] The advantages of AIS and optoelectronic systems are organically integrated. The advantages of AIS target positioning are combined with the detail control capabilities of optoelectronics to develop a set of methods and processes that can not only fully cover the monitoring area but also effectively observe the details, which has substantially improved the efficiency of shore-based monitoring.
[0028] The use of the tolerance coordinate library can automatically identify and eliminate comprehensive errors, and can be continuously updated, solving the deviation problem of the corresponding relationship between AIS coordinates and PTZ coordinates;
[0029] The intelligent rotation tracking strategy is established based on historical data. It uses a combination of time rotation and historical information to perform rotation tracking. It fully considers the user's usage habits, reduces the workload of manual identification, and greatly improves monitoring efficiency. BRIEF DESCRIPTION OF THE DRAWINGS
[0030] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
[0031] Figure 1 This is a flow chart of an AIS optoelectronic linkage ship tracking method provided by one embodiment of the present invention;
[0032] Figure 2 It is a schematic diagram of an AIS optoelectronic linkage ship tracking method provided by an embodiment of the present invention;
[0033] Figure 3 This is a structural diagram of an AIS optoelectronic linkage ship tracking device provided by one embodiment of the present invention;
[0034] Figure 4 It is a hardware architecture diagram of a computer device provided by an embodiment of the present invention. DETAILED DESCRIPTION
[0035] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.
[0036] As mentioned above, the correspondence between AIS coordinates and PTZ coordinates will change with factors such as equipment aging, tides, geomagnetic environment, temperature and humidity, visibility, etc., which will affect the identification and tracking of targets by optoelectronic devices. To this end, the present invention provides an AIS optoelectronic linkage ship tracking method, which can automatically update the correspondence between AIS coordinates and PTZ coordinates, thereby improving the target tracking efficiency of optoelectronic devices.
[0037] The specific implementation of the above concept is described below.
[0038] Please refer to Figure 1 , an embodiment of the present invention provides an AIS optoelectronic linkage ship tracking method, the method comprising:
[0039] Step 101, determining the PTZ coordinates corresponding to the AIS coordinates according to the AIS coordinates of the target obtained by AIS and a tolerance coordinate library;
[0040] Step 102, using the PTZ coordinates as guide coordinates to guide the optoelectronic device to rotate so that the target falls within the field of view of the optoelectronic device;
[0041] Step 103, when the target is a valid target, updating the tolerance coordinate library according to the AIS coordinates of the target obtained by the AIS and the PTZ coordinates of the target obtained by the optoelectronic device;
[0042] Step 104, judging whether the target is a key monitoring target according to the recognition result of the target by the optoelectronic device and the information database, and if so, tracking the target according to the rotation tracking strategy recorded in the information database.
[0043] The embodiment of the present invention performs multi-dimensional data fusion application based on AIS, establishes a tolerance coordinate library, and executes an intelligent rotation tracking strategy to achieve the purpose of stable tracking of the target.
[0044] Described below Figure 1 How the various steps are performed.
[0045] First, with respect to step 101 , the PTZ coordinates corresponding to the AIS coordinates are determined according to the AIS coordinates of the target obtained by the AIS and the tolerance coordinate library.
[0046] The tolerance coordinate library of this embodiment is used to record the corresponding relationship between the AIS coordinates and the PTZ coordinates.
[0047] The positioning of the target by the photoelectric device is expressed by the horizontal angle P, the pitch angle T, and the focal length Z, referred to as PTZ coordinates. The positioning of the target by AIS is expressed by the GPS coordinate system (hereinafter referred to as AIS coordinates), and the two have a direct correspondence. However, in the actual operation process, various factors such as the horizontality of the equipment installation surface, tides, wind force, equipment jitter, equipment aging, temperature and humidity, geomagnetism, etc. will have unpredictable effects on the correspondence between AIS coordinates and PTZ coordinates, and a simple coordinate system conversion cannot guarantee the corresponding accuracy of the two. To this end, the present invention establishes a continuously updated tolerance coordinate library, which can effectively solve the corresponding accuracy problem of AIS coordinates and PTZ coordinates.
[0048] The prototype of the tolerance coordinate library is established by calibration. The coordinate library stores the correspondence between the GPS coordinate information of the AIS and the PTZ information of the photoelectric turntable. The number of correspondences is determined by the area of the monitored sea area. Figure 2 As shown, the establishment of the tolerance coordinate library includes five steps: calibration point selection, GPS coordinate acquisition, PTZ coordinate acquisition, coordinate confirmation and pairing, and coordinate storage.
[0049] ①Selection of calibration points
[0050] In the monitored sea area, select a certain number of calibration points. Take 100 calibration points as an example. The point number is recorded as N. The points should be evenly distributed in the monitored sea area with reasonable intervals. The density of selected points can be increased in key areas. The selected points are initialization data. The more points selected, the more favorable it is for the accuracy of the initialization stage.
[0051] ②GPS coordinate acquisition
[0052] According to the location of the selected point, drive the ship to the designated point, turn on the shore-based AIS system, and identify the GPS coordinates of the ship [(L, A, H), N], (L, A, H) are the GPS coordinates.
[0053] ③PTZ coordinate acquisition
[0054] According to the position of the selected point, drive the ship to the specified point, adjust the PTZ position of the optoelectronic device until the details of the ship can be clearly observed, and record the current PTZ position of the optoelectronic device [(P, T, Z), N].
[0055] ④ Coordinate confirmation and pairing
[0056] Verify whether the coordinate information obtained in ②③ is complete and accurate. If the coordinate information is complete and accurate, pair the coordinate information to form coordinate information in the form of [(L, A, H), (P, T, Z), N].
[0057] ⑤ Coordinate storage
[0058] The coordinate information [(L, A, H), (P, T, Z), N] is stored in a database, namely, a tolerance database.
[0059] ⑥Continue to repeat steps ②-⑥ until all coordinate data are obtained according to the calibration points selected in ①, ensuring that all data are stored in the library. At this time, there are 100 pairs of data in the tolerance coordinate library.
[0060] After the tolerance coordinate library is established, it needs to be initialized. According to actual verification, in most conventional area monitoring sea areas, based on 100 sets of calibration data, the spatial neighborhood algorithm idea can be adopted to use these 100 sets of coordinates and use the algorithm to generate another 100 sets of data. The generated data is stored in the library and together with the 100 sets of calibrated data, it constitutes the initial data of the tolerance coordinate library.
[0061] The initialization process includes three steps: random GPS coordinate generation, random coordinate information generation and random coordinate information storage.
[0062] ①Random GPS coordinate generation
[0063] A random number function is used to generate 100 sets of GPS coordinates, the number is represented by n, and is recorded as [(l, a, h), n], where (l, a, h) is the GPS coordinate.
[0064] ②Generate random coordinate information
[0065] Among the 100 calibrated coordinates, select the three coordinates closest to [(l, a, h), n] in space, and calculate the average value of the PTZ coordinates corresponding to these three coordinates, recorded as (p, t, z), then [(l, a, h), (p, t, z), n] is the randomly generated coordinate information. Use the same method to generate 100 sets of random coordinate information for the 100 sets of GPS coordinates in ①.
[0066] ③ Random coordinate information storage
[0067] The 100 sets of random coordinate information generated in ② are stored in the tolerance coordinate library, and together with the calibrated 100 sets of coordinate information, they constitute the initialization data of the tolerance coordinate library.
[0068] The PTZ coordinates corresponding to the AIS coordinates are determined according to the AIS coordinates of the target obtained by AIS and the tolerance coordinate library.
[0069] In this step, after the AIS receiving system receives the GPS information of the target, the GPS coordinates of the target are defined as (Lt, At, Ht). The coordinates are substituted into the tolerance coordinate library retrieval process to find the three coordinate points (Lt1, At1, Ht1), (Lt2, At2, Ht2), and (Lt3, At3, Ht3) closest to the coordinates (Lt, At, Ht). At the same time, the PTZ coordinates corresponding to these three coordinate points, namely (Pt1, Tt1, Zt1), (Pt2, Tt2, Zt2), and (Pt3, Tt3, Zt3), are obtained. The average (PtA, TtA, ZtA) of (Pt1, Tt1, Zt1), (Pt2, Tt2, Zt2), and (Pt3, Tt3, Zt3) is calculated. The coordinates (PtA, TtA, ZtA) should be the PTZ coordinates corresponding to the AIS coordinates (Lt, At, Ht) of the target.
[0070] Then, for step 102, the PTZ coordinates are used as guide coordinates to guide the optoelectronic device to rotate so that the target falls within the field of view of the optoelectronic device.
[0071] The PTZ coordinates here refer to the PTZ coordinates (PtA, TtA, ZtA) corresponding to the AIS coordinates (Lt, At, Ht) of the target obtained in the previous step. The optoelectronic device is positioned using the PTZ coordinates. After positioning is completed, the target enters the field of view of the optoelectronic device, and the optoelectronic device enters the target recognition mode.
[0072] Then, for step 103, when the target is a valid target, the tolerance coordinate library is updated according to the AIS coordinates of the target obtained by the AIS and the PTZ coordinates of the target obtained by the optoelectronic device.
[0073] In the target recognition mode, the optoelectronic device automatically identifies the target and obtains the target visual information, extracts key information from the target visual information, and sends the key information back to the information library for comparison to confirm whether the target is valid. If the extracted key information is consistent with the key information of a target recorded in the information library, the target is considered valid. If the extracted key information is not recorded in the information library, the target is considered invalid. When the target is confirmed to be a valid target, the optoelectronic device takes over the target and continuously tracks the target, and at the same time, updates the tolerance coordinate library.
[0074] like Figure 2 As shown in the figure, the method for updating the tolerance coordinate library is as follows: after confirming that the target is valid, record the target's AIS coordinates (ll, aa, hh) and horizontal angle, pitch angle, and distance (pp, tt, zz), and update the data in the tolerance coordinate library after processing with the spatial neighborhood algorithm. Every time the optoelectronic device identifies a valid target, it updates the tolerance coordinate library according to the target's AIS coordinates and PTZ coordinates. The update of the tolerance coordinate library includes three steps: obtaining the correspondence relationship of valid information, determining the correspondence relationship of valid information, and updating the database using the spatial neighborhood algorithm.
[0075] ① Obtaining valid information correspondence
[0076] When the optoelectronic device recognizes a valid target or manually determines a valid target, the correspondence between the target's AIS coordinates and PTZ coordinates is regarded as a valid information correspondence, which is recorded as [(ll, aa, hh), (pp, tt, zz), nn].
[0077] ② Determination of the correspondence relationship of effective information
[0078] Search in the tolerance database according to the coordinate information of (ll, aa, hh). If the three valid points closest to (ll, aa, hh) cannot be found, (ll, aa, hh) is considered invalid data; otherwise, (ll, aa, hh) is considered valid data.
[0079] Among them, the valid points are determined by the sum of the interior angles of a triangle: the three points closest to (ll, aa, hh) found in the tolerance database can form a triangle. If the coordinate point (ll, aa, hh) is within the triangle, the three points are determined to be valid points.
[0080] ③Use spatial neighborhood algorithm to update the database
[0081] If (ll, aa, hh) is valid data, then there must be three points in the tolerance database that are closest to the point (ll, aa, hh). The coordinates of these three points are denoted as [(L1, A1, H1), (P1, T1, Z1), N1], [(L2, A2, H2), (P2, T2, Z2), N2], and [(L3, A3, H3), (P3, T3, Z3), N3] respectively. Calculate the mean value of the PTZ coordinates corresponding to these three points, denoted as (Pa, Ta, Zn). Calculate the distances between (Pa, Ta, Zn) and (P1, T1, Z1), (Pa, Ta, Zn) and (P2, T2, Z2), and (Pa, Ta, Zn) and (P3, T3, Z3) respectively. The information correspondence corresponding to the largest distance will be replaced by [(ll, aa, hh), (pp, tt, zz), nn]. For example, if the distance between (Pa, Ta, Zn) and (P1, T1, Z1) is calculated as d1, the distance between (Pa, Ta, Zn) and (P2, T2, Z2) is calculated as d2, and the distance between (Pa, Ta, Zn) and (P3, T3, Z3) is calculated as d3, and d1 < d2 < d3, then [(ll, aa, hh), (pp, tt, zz), nn] will be used to replace [(L3, A3, H3), (P3, T3, Z3), N3] in the tolerance database.
[0082] It has been proven by practice that in the port waters with medium traffic, the full database update can be completed within 36 hours, truly realizing the self-update of the fault-tolerant database and always maintaining accurate data.
[0083] Then, for step 104, according to the recognition result of the optoelectronic device for the target and the information database, it is judged whether the target belongs to the key monitoring target. If so, the target is tracked according to the rotation tracking strategy (refer to the rotation tracking algorithm shown in Figure 2 ) recorded in the information database.
[0084] The information database stores various information of the key monitoring targets. As shown in Figure 2 , the information database is established in the way of manual addition and automatic update.
[0085] (1) Manually improve and initialize the information database
[0086] According to the known valid information provided by the shore-based relevant department, add the known target types to the database as the basic data of the information database. Among them, the target types are described by priorities in this database. Determine the tracking priority of the target type according to the degree of attention of the target in this water area, and the priority needs to be associated with time. Finally, the priority information of multiple targets is summarized to form a priority database that changes continuously with time, which is called the information database.
[0087] In the information database, each target information can be represented by (I, D, M, R), where I is the target information, D is the priority, M is the priority tracking time period, and R is the tracking time.
[0088] Priority D can be divided into general priority, regular priority, suspicious tracking target, and highest priority from low to high, among which the highest priority target is the primary tracking target and the general priority is the lowest priority tracking target.
[0089] Tracking time period M, some targets will be automatically promoted to the highest priority within the tracking time period, and will be processed according to other priorities if they are not within the tracking time period.
[0090] Tracking time R, each target has a tracking time length, the time length is automatically updated according to the historical tracking records, after the tracking time is reached, the next target with the same priority will be tracked according to the rotation strategy.
[0091] Targets of the same priority level are tracked in rotation according to time, and targets of different priorities are tracked in rotation in descending order of priority. High priority targets can interrupt the tracking time of low priority targets.
[0092] (2) Automatically update the information database
[0093] After a suspicious target is found, it will be automatically added to the information library, including target information with inconsistencies between AIS information and automatic identification information. The inconsistencies between AIS information and automatic identification information mainly include the following situations: one is that the ship number identified by the image is inconsistent with the ship number in the AIS information; the other is that the coordinates fed back by GPS in AIS and the coordinates fed back by photoelectricity have large deviations. Both situations are considered suspicious targets.
[0094] ①Automatically add high-frequency targets
[0095] If a certain type of target is often locked by optoelectronic equipment, it can be defined as a high-frequency target of concern, and automatically added to the target information library. At the same time, the tracking time parameters are automatically defined according to the time of concern, and the priority of the target is defined as the normal priority.
[0096] ②Suspicious targets are automatically added
[0097] If the AIS information of a target is inconsistent with the automatically identified information, it is considered a suspicious target. At this time, the target is automatically added to the information library and the priority of the target is defined as suspicious priority.
[0098] ③ Automatically add targets without records
[0099] When an unrecorded target (a target that is not recorded in the information database) enters the tracking field of view for the first time, the priority of the target is defined as general priority. If the target enters the tracking field of view multiple times, it is processed according to ① and its priority is defined as regular priority.
[0100] ④Automatically add frequently appearing suspicious targets
[0101] Frequently appearing suspicious targets are automatically added to the information base and their priority is defined as the highest priority.
[0102] ⑤ Tracking time updates
[0103] When continuously tracking a target, if there is manual intervention, it means that this target is a target that needs to modify the tracking time, and the target tracking time needs to be updated in the information database according to the actual tracking time.
[0104] Manual priority adjustment
[0105] The priority and tracking duration in the information base can be automatically updated in the above manner, or can be subject to manual intervention, where the user manually adjusts the target priority and tracking duration.
[0106] When there are multiple suspicious targets, the information database can automatically identify the target with the highest priority and give the tracking time for the target. The optoelectronic equipment starts tracking the target with the highest priority. When multiple targets with the same priority appear, they are tracked in rotation according to their respective tracking time until a higher priority target appears.
[0107] When multiple targets are matched in the information database, the information database can provide a rotation tracking strategy for the multiple targets based on the current time, weather and other information.
[0108] The embodiment of the present invention is based on AIS data and combines spatial calibration technology, intelligent recognition technology, and automatic tracking technology to achieve accurate and sustainable tracking of ship targets, facilitate the back-end intelligent recognition system to accurately identify targets, and at the same time provide stable and clear visual information for manual intervention to deeply identify targets.
[0109] Please refer to Figure 3 The embodiment of the present invention provides an AIS optoelectronic linkage ship tracking device, the device comprising:
[0110] A coordinate acquisition unit 301 is adapted to determine the PTZ coordinates corresponding to the AIS coordinates according to the AIS coordinates of the target obtained by the AIS and a tolerance coordinate library;
[0111] A guiding unit 302, adapted to use the PTZ coordinates as guiding coordinates to guide the optoelectronic device to rotate so that the target falls within the field of view of the optoelectronic device;
[0112] an updating unit 303, adapted to update the tolerance coordinate library according to the AIS coordinates of the target obtained by the AIS and the PTZ coordinates of the target obtained by the optoelectronic device when the target is a valid target; and
[0113] The tracking unit 304 is adapted to determine whether the target is a key monitoring target based on the recognition result of the target by the optoelectronic device and the information library, and if so, track the target according to the rotation tracking strategy recorded in the information library.
[0114] As a preferred embodiment of the present application, the tolerance coordinate library is established by using a calibration method and a spatial neighborhood algorithm to generate data.
[0115] As a preferred embodiment of the present application, the updating of the tolerance coordinate library according to the AIS coordinates of the target obtained by the AIS and the PTZ coordinates of the target obtained by the optoelectronic device includes:
[0116] The tolerance coordinate library is updated according to the AIS coordinates of the target obtained by the AIS and the PTZ coordinates of the target obtained by the optoelectronic device by using a spatial neighborhood algorithm.
[0117] As a preferred embodiment of the present application, the information base is used to record target information, tracking priority, priority tracking time period and tracking time of each type of target.
[0118] As a preferred embodiment of the present application, the tracking time is automatically updated according to the historical tracking records.
[0119] As a preferred embodiment of the present application, the tracking priority is automatically updated according to the recognition of the target by the optoelectronic device.
[0120] It should be noted that the AIS optoelectronic linkage ship tracking device provided in the above embodiment is only illustrated by the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the AIS optoelectronic linkage ship tracking device provided in the above embodiment and the AIS optoelectronic linkage ship tracking method embodiment belong to the same concept. The specific implementation process is detailed in the method embodiment and will not be repeated here.
[0121] The embodiment of the present application also provides a computer device, please refer to Figure 4The computer device includes a processor and a memory, wherein at least one instruction, at least one program, a code set or an instruction set is stored in the memory, and the at least one instruction, at least one program, a code set or an instruction set is loaded and executed by the processor to implement the AIS optoelectronic linkage ship tracking method provided by the above-mentioned method embodiments.
[0122] An embodiment of the present application also provides a computer-readable storage medium, on which is stored at least one instruction, at least one program, code set or instruction set, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by a processor to implement the AIS optoelectronic linkage ship tracking method provided by the above-mentioned method embodiments.
[0123] An embodiment of the present application further provides a computer program product, which includes a computer program. A processor of a computer device reads the computer program from a computer-readable storage medium, and the processor executes the computer program, so that the computer device executes the AIS optoelectronic linkage ship tracking method described in any one of the above embodiments.
[0124] For the convenience of description, the above system or device is described by dividing it into various modules or units according to its functions. Of course, when implementing the present application, the functions of each unit can be implemented in the same or multiple software and / or hardware.
[0125] It can be known from the description of the above implementation methods that those skilled in the art can clearly understand that the present application can be implemented by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solution of the present application can be essentially or partly contributed to the prior art in the form of a software product, which can be stored in a storage medium such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in the various embodiments of the present application or certain parts of the embodiments.
[0126] Finally, it should be noted that, in this article, relational terms such as first, second, third and fourth are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.
[0127] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.
Claims
1. An AIS optoelectronic linkage ship tracking method, characterized in that: The method comprises: Determine the PTZ coordinates corresponding to the AIS coordinates according to the AIS coordinates of the target obtained by AIS and the tolerance coordinate library; Using the PTZ coordinates as guide coordinates, guiding the optoelectronic device to rotate so that the target falls within the field of view of the optoelectronic device; When the target is a valid target, updating the tolerance coordinate library according to the AIS coordinates of the target obtained by the AIS and the PTZ coordinates of the target obtained by the optoelectronic device; and According to the recognition result of the target by the optoelectronic device and the information library, it is determined whether the target is a key monitoring target. If so, the target is tracked according to the rotation tracking strategy recorded in the information library.
2. The method according to claim 1, characterized in that The tolerance coordinate library is established by using a calibration method and a spatial neighborhood algorithm to generate data.
3. The method according to claim 1 or 2, characterized in that The updating of the tolerance coordinate library according to the AIS coordinates of the target obtained by the AIS and the PTZ coordinates of the target obtained by the optoelectronic device comprises: The tolerance coordinate library is updated according to the AIS coordinates of the target obtained by the AIS and the PTZ coordinates of the target obtained by the optoelectronic device by using a spatial neighborhood algorithm.
4. The method according to claim 1, characterized in that The information base is used to record target information, tracking priority, priority tracking time period and tracking time of each type of target.
5. The method according to claim 4, characterized in that The tracking time is automatically updated according to the historical tracking records.
6. The method according to claim 4, characterized in that The tracking priority is automatically updated according to the identification of the target by the optoelectronic device.
7. An AIS optoelectronic linkage ship tracking device, characterized in that: The device comprises: A coordinate acquisition unit, adapted to determine the PTZ coordinates corresponding to the AIS coordinates according to the AIS coordinates of the target obtained by the AIS and a tolerance coordinate library; a guiding unit, adapted to use the PTZ coordinates as guiding coordinates to guide the optoelectronic device to rotate so that the target falls within the field of view of the optoelectronic device; an updating unit, adapted to update the tolerance coordinate library according to the AIS coordinates of the target obtained by the AIS and the PTZ coordinates of the target obtained by the optoelectronic device when the target is a valid target; and The tracking unit is adapted to determine whether the target is a key monitoring target based on the recognition result of the target by the optoelectronic device and the information library, and if so, track the target according to the rotation tracking strategy recorded in the information library.
8. A computer device, characterized in that: The computer device includes a memory and a processor, the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory to implement the steps of any one of the methods described in claims 1-6.
9. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method described in any one of claims 1 to 6 are implemented.
10. A computer program product, characterized in that The method comprises a computer program, wherein when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.