Ship draft video tracking method based on tide level data and related equipment

Abstract

The application provides a ship water gauge video tracking method based on tide level data and related equipment, and relates to the technical field of ship water gauge measurement. In the prior art, because the installation position of a shore camera device is usually fixed and the distance between the camera device and a ship is relatively short, dynamic changes can easily cause the water gauge intersection point to move out of the field of view of a video monitoring picture, thereby destroying the continuity of video observation and making continuous measurement based on video impossible. The application ensures that the water gauge intersection point with the water edge line is always in the video monitoring picture by acquiring tide level data in real time and dynamically adjusting the focal length, pitch angle and azimuth angle of the camera device, and has the advantages of realizing continuous video monitoring, improving measurement accuracy and not needing to interrupt loading and unloading operations.

Description

Technical Field

[0001] This invention relates to the field of ship draft measurement technology, and in particular to a ship draft video tracking method and related equipment based on tide level data. Background Technology

[0002] Draft survey is a method for calculating the weight of cargo carried by a ship and is also a basis for judging whether a ship is unbalanced and unstable.

[0003] Traditional ship draft surveying relies on manual experience, which has many shortcomings. For example, it requires stopping cargo loading and unloading, which seriously affects the efficiency of dock operations; it can only be carried out at key points and cannot be conducted continuously; and the measurement results depend on manual experience, making it difficult to guarantee accuracy.

[0004] With the development of digitalization, methods for draft surveying via video have emerged. This method decouples video observation from draft surveying, offering advantages such as uninterrupted operation, full traceability, and high accuracy. However, a key technical bottleneck has arisen in practical applications: during ship loading and unloading, factors such as tidal fluctuations, cargo weight changes, and ship drift cause continuous dynamic changes in the ship's draft and position. This results in the point where the draft gauge mark intersects with the waterline constantly moving up and down and left and right within the camera's field of view. Since shore-based cameras are typically installed in fixed positions and close to the ship, these dynamic changes easily cause the draft gauge intersection point to move out of the video monitoring frame's field of view, thus disrupting the continuity of video observation and making continuous video-based measurement impossible.

[0005] Therefore, existing technologies lack a technical solution that can automatically, continuously, and stably keep the water level gauge boundary point always within the video monitoring screen of the camera device under dynamic changes in the external environment. Summary of the Invention

[0006] In existing technologies, shore-based cameras are typically installed in fixed locations close to ships. Dynamic changes in these locations can easily cause the draft gauge boundary to shift out of the video monitoring frame, disrupting the continuity of video observation and making continuous video-based measurements impossible. This invention proposes a ship draft gauge video tracking method based on tide level data, comprising:

[0007] Acquire initial tide level data and initial parameters of the camera device, including the installation position of the camera device, initial azimuth angle, initial pitch angle and initial focal length. Under these initial parameters, the intersection of the water gauge and the waterline is at a preset position on the monitoring screen.

[0008] Based on the initial parameters and the initial tide data, determine the first distance between the camera device and the intersection of the water gauge and the waterline;

[0009] Real-time acquisition of current tide level data; and calculation of the second distance between the camera device and the intersection of the water gauge and the waterline based on the current tide level data and the installation location.

[0010] The focal length adjustment value of the camera device is determined based on the first distance, the second distance, and the initial focal length;

[0011] The pitch angle adjustment value is determined based on the current tide level data, the second distance, and the initial pitch angle.

[0012] Obtain the initial tracking area of ​​the water gauge image, wherein the initial tracking area includes the intersection point of the water gauge and the water edge line;

[0013] The azimuth adjustment value is determined based on the initial tracking area and the current video surveillance image;

[0014] The camera device is adjusted based on the focal length adjustment value, pitch angle adjustment value, and azimuth angle adjustment value.

[0015] Furthermore, the lower boundary of the initial tracking area is at least higher than the horizontal center line of the video surveillance screen by a first preset distance, and the upper boundary of the initial tracking area is at least lower than the upper edge line of the video surveillance screen by a second preset distance.

[0016] Furthermore, determining the first distance between the camera device and the intersection of the water gauge and the waterline based on the initial parameters and the initial tide data includes:

[0017] Calculate the first height difference based on the installation location and the initial tide level data;

[0018] A right triangle is constructed based on the first height difference, the horizontal distance from the intersection of the water gauge and the waterline to the camera device, and the first distance.

[0019] The first distance is calculated based on trigonometric functions, the first height difference, and the initial pitch angle.

[0020] Furthermore, determining the focal length adjustment value of the camera device based on the first distance, the second distance, and the initial focal length includes:

[0021] The focal length adjustment value is calculated based on the formula C=C0×L / L0, where C is the focal length adjustment value, C0 is the initial focal length, L is the second distance, and L0 is the first distance.

[0022] Furthermore, determining the pitch angle adjustment value based on the current tide level data, the second distance, and the initial pitch angle includes:

[0023] Calculate the second height difference based on the current tide level data and the installation location;

[0024] The required pitch angle is calculated based on the second height difference and the second distance;

[0025] The pitch angle adjustment value is calculated based on the required pitch angle and the initial pitch angle.

[0026] Furthermore, determining the azimuth adjustment value based on the initial tracking area and the current video surveillance image includes:

[0027] Real-time acquisition of the third distance between the upper boundary of the initial tracking area and the horizontal center line of the current video surveillance screen;

[0028] The fourth distance between the lower boundary of the initial tracking area and the current video surveillance screen is obtained in real time.

[0029] If the third distance is less than the first preset distance or the fourth distance is less than the second preset distance, the initial tracking area is adjusted using an image tracking algorithm to obtain the adjusted tracking area.

[0030] The azimuth adjustment value is calculated based on the center of the current video surveillance image and the center of the adjusted tracking area.

[0031] Furthermore, after adjusting the camera device based on the focal length adjustment value, pitch angle adjustment value, and azimuth angle adjustment value, the method further includes:

[0032] The image quality of the tracking area is evaluated based on the image recognition model to obtain the quality evaluation result, which includes sharpness score, contrast score and occlusion information.

[0033] When the quality assessment result does not meet the preset standard, the parameters of the camera device are adjusted to optimize the image quality or to initiate digital image enhancement processing.

[0034] The adjustment of the parameters of the camera device includes:

[0035] Adjust the focus if the image is not sharp enough;

[0036] If the contrast is insufficient, adjust the pitch or azimuth angle to avoid glare;

[0037] In the presence of obstructions, adjust the azimuth or pitch angle to avoid obstruction.

[0038] A ship draft ticket video tracking device based on tidal data, the device employing the ship draft ticket video tracking method based on tidal data as described above, specifically including the following modules:

[0039] The first acquisition module is used to acquire initial tide level data and initial parameters of the camera device. The initial parameters include the installation position of the camera device, initial azimuth angle, initial pitch angle and initial focal length. Under the initial parameters, the intersection of the water gauge and the waterline is at a preset position on the monitoring screen.

[0040] The first determining module, connected to the first acquiring module, is used to determine the first distance between the camera device and the intersection of the water gauge and the waterline based on the initial parameters and the initial tide data.

[0041] The second acquisition module is connected to the first acquisition module and is used to acquire the current tide level data in real time and calculate the second distance between the camera device and the intersection of the water gauge and the waterline based on the current tide level data and the installation position.

[0042] The second determining module, connected to the first determining module and the second acquiring module, is used to determine the focal length adjustment value of the camera device based on the first distance, the second distance and the initial focal length.

[0043] The third determining module, connected to the first acquiring module and the second acquiring module, is used to determine the pitch angle adjustment value based on the current tide level data, the second distance and the initial pitch angle;

[0044] The third acquisition module, connected to the third determination module, is used to acquire the initial tracking area of ​​the water gauge image, the initial tracking area including the intersection point of the water gauge and the water edge line;

[0045] The fourth determining module, connected to the third acquiring module, is used to determine the azimuth adjustment value based on the initial tracking area and the current video surveillance screen;

[0046] An adjustment module, connected to the second determining module, the third determining module, and the fourth determining module, is used to adjust the camera device based on the focal length adjustment value, the pitch angle adjustment value, and the azimuth angle adjustment value.

[0047] An electronic device, the device comprising: a processor and a memory storing computer program instructions;

[0048] When the processor executes the computer program instructions, it implements a ship draft video tracking method based on tide data as described above.

[0049] A computer-readable storage medium, characterized in that the computer-readable storage medium stores computer program instructions, which, when executed by a processor, implement a ship draft video tracking method based on tidal data as described in any one of the preceding claims.

[0050] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0051] Firstly, this invention is comprehensive; by acquiring tide level data in real time and dynamically adjusting the focal length, pitch angle, and azimuth angle of the camera device, it ensures that the intersection of the water gauge and the waterline is always within the video monitoring frame, which has the advantages of realizing continuous video monitoring, improving measurement accuracy, and not requiring interruption of loading and unloading operations.

[0052] Secondly, by setting a first preset distance, the waterline that is constantly shaking is prevented from entering the rectangular area of ​​the water gauge screen. By setting a second preset distance, the tracking area is prevented from leaving the video monitoring screen over time, which would cause image tracking failure.

[0053] Third, the camera's pitch angle is adjusted according to the rising tide to effectively prevent the point where the draft gauge meets the waterline from moving out of the video monitoring frame due to changes in the ship's draft, ensuring the continuity of video observation and providing a stable source of visual data for draft gauge measurements. Attached Figure Description

[0054] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0055] Figure 1 This is a flowchart illustrating a ship draft video tracking method based on tidal data in Example 1;

[0056] Figure 2 This is a plan view showing the installation location of the camera device in Example 1;

[0057] Figure 3 This is a plan view showing the monitoring screen of the camera device in Example 1;

[0058] Figure 4 This is a structural block diagram illustrating a ship draft video tracking device based on tide level data, as shown in Example 2.

[0059] Figure 5 This is a structural block diagram illustrating an electronic device in Example 3.

[0060] 1. Camera device; 2. Dock safety railing; 3. Ship; 4. Video surveillance view at the intersection of the water gauge and the waterline; 5. Water gauge; 6. Waterline; 7. Initial tracking area; 8. Upper boundary of the initial tracking area and the video surveillance view; 9. Lower boundary of the initial tracking area and the video surveillance view. Detailed Implementation

[0061] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0062] The specific embodiments of the present invention will be described below.

[0063] In existing technologies, shore-based cameras are typically installed in fixed locations close to ships. Dynamic changes in these locations can easily cause the water level mark to shift out of the video monitoring frame's field of view, disrupting the continuity of video observation and making continuous video-based measurements impossible. This invention addresses this by acquiring tidal data in real-time and dynamically adjusting the camera's focal length, pitch angle, and azimuth angle to ensure the water level mark's intersection with the waterline remains within the video monitoring frame. This approach offers advantages such as continuous video monitoring, improved measurement accuracy, and the ability to operate without interrupting loading and unloading operations.

[0064] Example 1

[0065] like Figure 1 As shown, this invention proposes a ship draft video tracking method based on tide level data, which specifically includes the following steps:

[0066] Step S1: Obtain initial tide level data and initial parameters of the camera device. The initial parameters include the installation position of the camera device, initial azimuth angle, initial pitch angle, and initial focal length. Under the initial parameters, the intersection of the water gauge and the waterline is at a preset position on the monitoring screen.

[0067] The installation location is a fixed coordinate point of the camera device on the dock or shoreline, which can be determined using a GPS positioning module. In this embodiment, the camera device is installed on the dock, such as... Figure 2 As shown, camera device 1 is installed on the dock, and a dock anti-collision railing 2 is installed outside camera device 1. Camera device 1 is used to capture the water gauge line and water boundary line of the ship 3. The monitoring screen captured by camera device 1 is the video monitoring screen 4 of the intersection of the water gauge and the water boundary line. The initial parameters of the camera device can be determined manually, such as manually controlling the azimuth angle, pitch angle and focal length of the camera device, aligning it with the intersection of the water gauge and the water boundary line so that the intersection of the water gauge and the water boundary line is located in the center of the video monitoring screen, i.e., the preset position. Alternatively, it can be automatically determined according to the initial tide data and the installation position of the camera device.

[0068] The automatic determination based on tide data and camera installation location includes: determining the initial height difference based on initial tide data and installation location; obtaining the horizontal distance between the camera and the intersection of the water gauge and the waterline; constructing a right triangle based on the straight-line distance between the camera and the intersection of the water gauge and the waterline, the horizontal distance from the intersection of the water gauge and the waterline to the camera, and the initial height difference; calculating the initial pitch angle based on trigonometric functions, horizontal distance, and initial height difference; determining the initial azimuth angle through the center point of the video monitoring screen and the intersection of the water gauge and the waterline; and determining the initial focal length through the horizontal distance. The horizontal distance and the initial focal length are mapped, with each horizontal distance corresponding to a specific initial focal length, and this mapping relationship is pre-set.

[0069] Among them, tide level data can be obtained through tide level sensors or tide level stations, horizontal distance can be obtained through distance sensors, and there are no specific limitations on this. The camera device can be an integrated pan-tilt camera.

[0070] Step S2: Determine the first distance between the camera device and the intersection of the water gauge and the waterline based on the initial parameters and the initial tide data.

[0071] Specifically, step S2 includes: calculating a first height difference based on the installation location and the initial tide level data; constructing a right triangle based on the first height difference, the horizontal distance from the intersection of the water gauge and the waterline to the camera device, and a first distance; and calculating the first distance based on trigonometric functions, the first height difference, and the initial pitch angle.

[0072] In this embodiment, the first vertical height difference is calculated by using the three-dimensional coordinates of the camera installation location and the water level elevation of the initial tide data, transforming the three-dimensional spatial positioning problem into a two-dimensional planar geometry problem. A right-angled triangle model containing the first height difference, horizontal distance, and first distance is established on the horizontal plane, where the first height difference corresponds to one right-angled side, the horizontal distance corresponds to the other right-angled side, and the first distance corresponds to the hypotenuse. The first distance is calculated by using the cosine function relationship of the initial pitch angle and the first height difference.

[0073] Step S3: Acquire the current tide level data in real time, and calculate the second distance between the camera device and the intersection of the water gauge and the waterline based on the current tide level data and the installation position.

[0074] In this embodiment, the second distance can be calculated using the Pythagorean theorem. The height difference is determined by calculating the current tide level data and the installation position, the horizontal distance is obtained by a distance sensor, and the second distance is calculated based on the horizontal distance, the height difference, and the Pythagorean theorem.

[0075] Step S4: Determine the focal length adjustment value of the camera device based on the first distance, the second distance, and the initial focal length.

[0076] Step S4 specifically includes: calculating the focal length adjustment value based on the formula C=C0×L / L0, where C is the focal length adjustment value, C0 is the initial focal length, L is the second distance, and L0 is the first distance.

[0077] In this embodiment, when the tide level changes and the distance between the water gauge boundary point and the camera device changes from the initial distance L0 to the real-time distance L, the initial focal length C0 will be processed according to the L / L0 ratio. For example, when the real-time distance L is 1.5 times the initial distance L0, the focal length adjustment value C is adjusted to 1.5 times the initial focal length, so that the imaging size of the water gauge boundary point in the video monitoring screen remains consistent with the initial state. Only the initial parameters and the real-time distance are needed to complete the focal length compensation, ensuring that the proportion of the water gauge scale in the screen is constant and avoiding image blurring or the water gauge boundary point exceeding the field of view due to distance changes.

[0078] Step S5: Determine the pitch angle adjustment value based on the current tide level data, the second distance, and the initial pitch angle.

[0079] Step S5 specifically includes: calculating a second height difference based on the current tide level data and the installation position; calculating the required pitch angle based on the second height difference and the second distance; and calculating the pitch angle adjustment value based on the required pitch angle and the initial pitch angle.

[0080] In this embodiment, when the tide level changes, the vertical height difference between the current water surface and the camera device is first calculated using the installation location and real-time tide data, i.e., the second height difference is calculated. Combined with the second distance between the camera device and the intersection point of the water gauge and the waterline, the required pitch angle of the camera device is calculated using trigonometric functions. The required pitch angle is compared with the current actual pitch angle of the camera device, and the camera device is controlled to adjust its pitch based on the comparison result. For example, when the tide level rises and the water surface rises, the second height difference decreases, and the required pitch angle increases accordingly. At this time, the downward tilt angle of the camera device is increased so that the water gauge intersection point in the video monitoring screen is always within the visible range.

[0081] Step S6: Obtain the initial tracking area of ​​the water gauge image, wherein the initial tracking area includes the intersection point of the water gauge and the water edge line.

[0082] The lower boundary of the initial tracking area is at least higher than the horizontal center line of the video monitoring screen by a first preset distance, and the upper boundary of the initial tracking area is at least lower than the upper edge line of the video monitoring screen by a second preset distance.

[0083] The initial tracking area is the area of ​​the screen that includes the intersection of the waterline and the water edge line. This can be achieved by using a rectangular selection area, such as... Figure 3 As shown, the camera's monitoring screen includes a water level gauge 5, a water boundary line 6, an initial tracking area 7, the upper boundary of the initial tracking area and the video monitoring screen 8, and the lower boundary of the initial tracking area and the video monitoring screen 9. The first preset distance and the second preset distance refer to the distance between the tracking area boundary and the center line or boundary of the screen. By setting the first preset distance, the water boundary line, which is always in a shaking state, is prevented from entering the rectangular area of ​​the water level gauge screen. By setting the second preset distance, the tracking area is prevented from leaving the video monitoring screen over time, which would cause image tracking failure.

[0084] Step S7: Determine the azimuth adjustment value based on the initial tracking area and the current video surveillance image.

[0085] Step S7 specifically includes: acquiring in real time the third distance between the upper boundary of the initial tracking area and the horizontal center line of the current video surveillance screen; acquiring in real time the fourth distance between the lower boundary of the initial tracking area and the current video surveillance screen; adjusting the initial tracking area to obtain an adjusted tracking area when the third distance is less than the first preset distance or the fourth distance is less than the second preset distance; and calculating the azimuth adjustment value based on the center of the current video surveillance screen and the center position of the adjusted tracking area.

[0086] In this embodiment, the third distance and the fourth distance can be determined by calculating the pixel coordinate difference, which is used to determine the degree of positional offset of the tracking area in the image. The adjusted tracking area refers to the target tracking area after dynamic correction. The target center position can be repositioned using image tracking algorithms, such as feature matching or motion prediction algorithms, to adapt to the positional changes of the target in the image.

[0087] In this embodiment, when the distance between the upper boundary of the initial tracking area and the horizontal center line of the screen is less than the first preset distance, the target tracking area may shift upward and approach the edge of the screen. At this time, the target center position is repositioned by the image tracking algorithm and an adjusted tracking area is generated. The horizontal offset between the center of the adjusted tracking area and the center of the screen is converted into an azimuth adjustment value. For example, when the lower boundary distance is detected to be less than the second preset distance, the tracking area is expanded downward and the center point is recalculated. The azimuth adjustment value is determined based on the center offset.

[0088] The image tracking algorithm uses perceptual hashing and Hamming distance to determine the confidence of the target tracking model in real time. The perceptual hashing algorithm generates an image fingerprint by processing the image (such as reducing size, simplifying colors, DCT transformation, etc.), and then calculates the Hamming distance between the fingerprints of the current frame and the initial frame. The smaller the Hamming distance, the higher the confidence of the tracking model, and vice versa. If the confidence of the tracking model in the current frame is less than a preset threshold, the tracking model is considered reliable and the classifier continues to be updated. If the confidence of the tracking model is lower than the threshold, the classifier is stopped from being updated to avoid introducing incorrect model information. When the confidence of the tracking model is low, a template matching algorithm (such as the squared difference matching method) is used to relocate the target.

[0089] For example, when the boundary point between the water gauge and the waterline shifts due to tidal changes or ship drift, the image tracking algorithm identifies the direction and amount of movement of the boundary point by comparing the changes of feature points in the video monitoring frame by frame. For instance, when the boundary point moves upward beyond the initial tracking area, the image tracking algorithm determines the new coordinate position of the boundary point by calculating the edge gradient changes of the water gauge scale in adjacent frames, and then redefines the upper and lower boundaries of the tracking area based on the new coordinates.

[0090] Step S8: Adjust the camera device based on the focal length adjustment value, pitch angle adjustment value, and azimuth angle adjustment value.

[0091] In this embodiment, the camera device is adjusted by adjusting the focal length, pitch angle, and azimuth angle to ensure that the water level mark boundary is always in the video monitoring screen of the camera device under dynamic changes in the external environment. The specific value of the azimuth angle is calculated based on the initial azimuth angle and the azimuth angle adjustment value. After each adjustment of the azimuth angle, the adjusted azimuth angle is used as the initial azimuth angle.

[0092] After adjusting the camera device based on the focal length adjustment value, pitch angle adjustment value, and azimuth angle adjustment value, the method further includes: evaluating the image quality of the tracking area based on an image recognition model to obtain a quality evaluation result, which includes a sharpness score, a contrast score, and occlusion information; when the quality evaluation result does not meet a preset standard, adjusting the parameters of the camera device to optimize image quality or performing image enhancement processing; wherein, adjusting the parameters of the camera device includes: adjusting the focal length when sharpness is insufficient; adjusting the pitch angle or azimuth angle to avoid reflection when contrast is insufficient; and adjusting the azimuth angle or pitch angle to avoid occlusion when occlusion exists.

[0093] In this embodiment, the image recognition model is a trained neural network model. The image of the tracking area is extracted from the video surveillance screen and input into the image recognition model for evaluation to obtain the evaluation result.

[0094] The evaluation results include: Sharpness score: calculated based on image gradient information such as Laplacian variance, with a score range of 0-100 points and a preset value of ≥80 points; Contrast score: calculated based on the distribution range of image gray levels, with a score range of 0-100 points and a preset value of ≥70 points; Occlusion information: the image recognition model detects and outputs the type of occlusion and its occlusion ratio within the tracking area, with a preset value of occlusion ratio <5%.

[0095] The evaluation results are compared with the corresponding preset values. If any one of them fails to meet the standard, the focal length, azimuth angle, or pitch angle is adjusted. The adjustment values ​​for the focal length, azimuth angle, or pitch angle are determined using a PID algorithm. Image enhancement processing includes, but is not limited to, applying adaptive histogram equalization to improve contrast, applying dehazing algorithms to enhance image clarity, and using information from undamaged areas in the image to fill and repair occluded or contaminated areas using a BSCB model based on partial differential equations or deep learning methods.

[0096] Example 2

[0097] like Figure 4 As shown, the present invention also proposes a ship draft video tracking device based on tide level data, using a ship draft video tracking device based on tide level data as described in any one of Embodiment 1, comprising the following modules:

[0098] The first acquisition module is used to acquire initial tide level data and initial parameters of the camera device. The initial parameters include the installation position of the camera device, initial azimuth angle, initial pitch angle and initial focal length. Under the initial parameters, the intersection of the water gauge and the waterline is at a preset position on the monitoring screen.

[0099] The first determining module, connected to the first acquiring module, is used to determine the first distance between the camera device and the intersection of the water gauge and the waterline based on the initial parameters and the initial tide data.

[0100] The second acquisition module is connected to the first acquisition module and is used to acquire the current tide level data in real time and calculate the second distance between the camera device and the intersection of the water gauge and the waterline based on the current tide level data and the installation position.

[0101] The second determining module, connected to the first determining module and the second acquiring module, is used to determine the focal length adjustment value of the camera device based on the first distance, the second distance and the initial focal length.

[0102] The third determining module, connected to the first acquiring module and the second acquiring module, is used to determine the pitch angle adjustment value based on the current tide level data, the second distance and the initial pitch angle;

[0103] The third acquisition module, connected to the third determination module, is used to acquire the initial tracking area of ​​the water gauge image, the initial tracking area including the intersection point of the water gauge and the water edge line;

[0104] The fourth determining module, connected to the third acquiring module, is used to determine the azimuth adjustment value based on the initial tracking area and the current video surveillance screen;

[0105] An adjustment module, connected to the second determining module, the third determining module, and the fourth determining module, is used to adjust the camera device based on the focal length adjustment value, the pitch angle adjustment value, and the azimuth angle adjustment value.

[0106] To address the technical problem in existing technologies where shore-based cameras are typically installed in fixed positions close to ships, dynamic changes can easily cause the water level mark boundary to shift out of the video monitoring frame's field of view, disrupting the continuity of video observation and making continuous video-based measurements impossible, this invention provides a solution. It responds in real-time to the combined interference caused by tidal changes and ship displacement. Through coordinated adjustment of three-dimensional parameters, it ensures the water level mark boundary remains within the effective area of ​​the video monitoring frame. Dynamic focal length compensation maintains the image clarity of the target object, real-time adjustment of the pitch angle offsets the vertical displacement caused by tidal fluctuations, and feedback control of the azimuth angle compensates for the horizontal offset caused by ship drift. This overcomes the limitations of fixed camera installations, achieving continuous and stable video tracking measurements and providing reliable technical support for water level mark detection.

[0107] Example 3

[0108] Figure 5 This is a structural block diagram of an electronic device provided in an embodiment of this application. Figure 5 As shown, the electronic device includes a memory, a processor, and a communication bus; the memory and the processor are connected via the communication bus. The memory stores a ship draft video tracking method based on tide data, which can be loaded and executed by the processor, as provided in the above embodiment.

[0109] The memory can be used to store instructions, programs, code, code sets, or instruction sets. The memory 301 may include a program storage area and a data storage area. The program storage area may store instructions for implementing an operating system, instructions for at least one function, and instructions for implementing the ship draft video tracking method based on tide data provided in the above embodiments. The data storage area may store data involved in the ship draft video tracking method based on tide data provided in the above embodiments.

[0110] The processor may include one or more processing cores. The processor executes instructions, programs, code sets, or instruction sets stored in memory, and calls data stored in memory to perform various functions and process data as described in this application. The processor may be at least one of the following: Application-Specific Integrated Circuit (ASIC), Digital Signal Processor (DSP), Digital Signal Processing Device (DSPD), Programmable Logic Device (PLD), Field Programmable Gate Array (FPGA), Central Processing Unit (CPU), controller, microcontroller, and microprocessor. It is understood that, for different devices, the electronic devices used to implement the above-described processor functions may also be other types, and the embodiments of this application do not specifically limit this.

[0111] A communication bus can include a pathway for transmitting information between the aforementioned components. The communication bus can be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Communication buses can be categorized into address buses, data buses, control buses, etc. For ease of representation, Figure 5 The symbol is represented by a single double arrow, but this does not mean that there is only one bus or one type of bus.

[0112] Example 4

[0113] This application provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executed as described in the above embodiments, a ship draft video tracking method based on tidal data.

[0114] In this embodiment, the computer-readable storage medium can be a tangible device that holds and stores instructions used by an instruction execution device. The computer-readable storage medium can be, but is not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any combination thereof. Specifically, the computer-readable storage medium can be a portable computer disk, a hard disk, a USB flash drive, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), staging random access memory (SRAM), portable compact disc read-only memory (CD-ROM), digital multifunction disc (DVD), memory stick, floppy disk, optical disk, magnetic disk, mechanical encoding device, or any combination thereof.

[0115] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the technical solutions of the embodiments of the present invention.

Claims

1. A method for video tracking of ship draft data based on tidal level data, characterized in that, include: Acquire initial tide level data and initial parameters of the camera device, including the installation position of the camera device, initial azimuth angle, initial pitch angle and initial focal length. Under these initial parameters, the intersection of the water gauge and the waterline is at a preset position on the monitoring screen. Based on the initial parameters and the initial tide data, determine the first distance between the camera device and the intersection of the water gauge and the waterline; Real-time acquisition of current tide level data; and calculation of the second distance between the camera device and the intersection of the water gauge and the waterline based on the current tide level data and the installation location. The focal length adjustment value of the camera device is determined based on the first distance, the second distance, and the initial focal length; The pitch angle adjustment value is determined based on the current tide level data, the second distance, and the initial pitch angle. Obtain the initial tracking area of ​​the water gauge image, wherein the initial tracking area includes the intersection point of the water gauge and the water edge line; The azimuth adjustment value is determined based on the initial tracking area and the current video surveillance image; The camera device is adjusted based on the focal length adjustment value, pitch angle adjustment value, and azimuth angle adjustment value; Determining the first distance between the camera device and the intersection of the water gauge and the waterline based on the initial parameters and the initial tide data includes: Calculate the first height difference based on the installation location and the initial tide level data; A right triangle is constructed based on the first height difference, the horizontal distance from the intersection of the water gauge and the waterline to the camera device, and the first distance. The first distance is calculated based on trigonometric functions, the first altitude difference, and the initial pitch angle; The initial tide data includes water level elevation.

2. The method for video tracking of ship draft data based on tidal level data according to claim 1, characterized in that, The lower boundary of the initial tracking area is at least higher than the horizontal center line of the video monitoring screen by a first preset distance, and the upper boundary of the initial tracking area is at least lower than the upper edge line of the video monitoring screen by a second preset distance.

3. The method for video tracking of ship draft data based on tidal level data according to claim 1, characterized in that, Determining the focal length adjustment value of the camera device based on the first distance, the second distance, and the initial focal length includes: The focal length adjustment value is calculated based on the formula C=C0×L / L0, where C is the focal length adjustment value, C0 is the initial focal length, L is the second distance, and L0 is the first distance.

4. The method for video tracking of ship draft data based on tidal level data according to claim 1, characterized in that, The step of determining the pitch angle adjustment value based on the current tide level data, the second distance, and the initial pitch angle includes: Calculate the second height difference based on the current tide level data and the installation location; The required pitch angle is calculated based on the second height difference and the second distance; The pitch angle adjustment value is calculated based on the required pitch angle and the initial pitch angle.

5. The method for video tracking of ship draft data based on tidal level data according to claim 1, characterized in that, The step of determining the azimuth adjustment value based on the initial tracking area and the current video surveillance image includes: Real-time acquisition of the third distance between the upper boundary of the initial tracking area and the horizontal center line of the current video surveillance screen; The fourth distance between the lower boundary of the initial tracking area and the current video surveillance screen is obtained in real time. If the third distance is less than the first preset distance or the fourth distance is less than the second preset distance, the initial tracking area is adjusted using an image tracking algorithm to obtain the adjusted tracking area. The azimuth adjustment value is calculated based on the center of the current video surveillance image and the center of the adjusted tracking area.

6. The method for video tracking of ship draft data based on tidal level data according to claim 1, characterized in that, After adjusting the camera device based on the focal length adjustment value, pitch angle adjustment value, and azimuth angle adjustment value, the method further includes: The image quality of the tracking area is evaluated based on the image recognition model to obtain the quality evaluation result, which includes sharpness score, contrast score and occlusion information. When the quality assessment result does not meet the preset standard, the parameters of the camera device are adjusted to optimize the image quality or to initiate digital image enhancement processing. The adjustment of the parameters of the camera device includes: Adjust the focus if the image is not sharp enough; If the contrast is insufficient, adjust the pitch or azimuth angle to avoid glare; In the presence of obstructions, adjust the azimuth or pitch angle to avoid obstruction.

7. A ship drafts video tracking device based on tidal data, characterized in that, The device employs a ship draft video tracking method based on tidal data as described in any one of claims 1 to 6, specifically comprising the following modules: The first acquisition module is used to acquire initial tide level data and initial parameters of the camera device. The initial parameters include the installation position of the camera device, initial azimuth angle, initial pitch angle and initial focal length. Under the initial parameters, the intersection of the water gauge and the waterline is at a preset position on the monitoring screen. The first determining module, connected to the first acquiring module, is used to determine the first distance between the camera device and the intersection of the water gauge and the waterline based on the initial parameters and the initial tide data. The second acquisition module is connected to the first acquisition module and is used to acquire the current tide level data in real time and calculate the second distance between the camera device and the intersection of the water gauge and the waterline based on the current tide level data and the installation position. The second determining module, connected to the first determining module and the second acquiring module, is used to determine the focal length adjustment value of the camera device based on the first distance, the second distance and the initial focal length. The third determining module, connected to the first acquiring module and the second acquiring module, is used to determine the pitch angle adjustment value based on the current tide level data, the second distance and the initial pitch angle; The third acquisition module, connected to the third determination module, is used to acquire the initial tracking area of ​​the water gauge image, the initial tracking area including the intersection point of the water gauge and the water edge line; The fourth determining module, connected to the third acquiring module, is used to determine the azimuth adjustment value based on the initial tracking area and the current video surveillance screen; An adjustment module, connected to the second determining module, the third determining module, and the fourth determining module, is used to adjust the camera device based on the focal length adjustment value, the pitch angle adjustment value, and the azimuth angle adjustment value; Determining the first distance between the camera device and the intersection of the water gauge and the waterline based on the initial parameters and the initial tide data includes: Calculate the first height difference based on the installation location and the initial tide level data; A right triangle is constructed based on the first height difference, the horizontal distance from the intersection of the water gauge and the waterline to the camera device, and the first distance. The first distance is calculated based on trigonometric functions, the first altitude difference, and the initial pitch angle; The initial tide data includes water level elevation.

8. An electronic device, characterized in that, The device includes: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, it implements a ship draft video tracking method based on tidal data as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer program instructions, which, when executed by a processor, implement a ship draft video tracking method based on tidal data as described in any one of claims 1-6.

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