Scene-aware optimal viewing angle determination control method and system for ship navigation

Abstract

The present application relates to the technical field of ship navigation assistance, and discloses a ship navigation optimal visual angle determination control method and system based on scene perception, which comprises the following steps: determining a first monitoring visual angle according to the positional relationship between a target ship and an associated water object; determining a second monitoring visual angle according to fixed navigation visual angle requirements, and determining a third monitoring visual angle according to navigation scene environmental conditions; and determining an optimal monitoring visual angle of the target ship according to the first monitoring visual angle, the second monitoring visual angle and the third monitoring visual angle, wherein the optimal monitoring visual angle is used to generate a real-time monitoring top view of the target ship corresponding to multiple monitoring dimensions, and the multiple monitoring dimensions comprise a combination of one or more of multiple monitoring directions, multiple monitoring angles and multiple monitoring distances. It can be seen that the present application can improve the diversity, flexibility and pertinence of the determination visual angle information of the optimal monitoring visual angle, improve the accuracy and reliability of the optimal monitoring visual angle, and improve the safety of ship navigation and the real-time monitoring of the ship.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of ship navigation assistance, and in particular to a ship navigation optimal viewing angle determination control method and system based on scene perception. BACKGROUND

[0002] Under the background of global economic globalization, trade between countries and regions is increasing, and water transportation is also developing rapidly. Because there are many unstable factors in water navigation, monitoring the viewing angle of ship navigation has become a major focus of ensuring maritime traffic safety.

[0003] Currently, the monitoring viewing angle determination method for ship navigation is mainly to use a fixed and single position device for monitoring, and the monitoring range is strictly limited by the installation position and angle. The single monitoring method is easily affected by interference or failure, especially in complex water areas or high-density navigation areas, which can easily lead to monitoring blind spots and increase the risk of collision. Therefore, the existing ship navigation monitoring viewing angle determination method has the problems of low accuracy and reliability of the monitoring viewing angle. Therefore, it is particularly important to provide a ship navigation optimal viewing angle determination method that improves the accuracy and reliability of the ship navigation monitoring viewing angle. SUMMARY

[0004] The present application provides a ship navigation optimal viewing angle determination control method and system based on scene perception, which can improve the accuracy and reliability of the determined ship navigation optimal viewing angle, and thus improve the safety and real-time monitoring of ship navigation.

[0005] To solve the above technical problems, the present application discloses a ship navigation optimal viewing angle determination control method based on scene perception, which comprises:

[0006] When the target ship has an associated water object in the current water area, the position relationship between the target ship and the associated water object is determined according to the first position information and the first navigation parameter information of the target ship, the second position information and the second position change parameter information of the associated water object, and the object volume area information.

[0007] According to the position relationship, the first monitoring viewing angle of the target ship that covers the associated water object in real time is determined.

[0008] According to the determined fixed navigation viewing angle requirement of the target ship, the second monitoring viewing angle of the target ship is determined, and according to the navigation scene environment condition of the current water area, the third monitoring viewing angle of the target ship is determined.

[0009] According to the first monitoring view angle, the second monitoring view angle and the third monitoring view angle, an optimal monitoring view angle of the target ship is determined, and the optimal monitoring view angle is used to generate a real-time monitoring overhead view of the target ship corresponding to a multi-monitoring dimension, wherein the multi-monitoring dimension comprises a combination of one or more of a plurality of monitoring positions, a plurality of monitoring angles and a plurality of monitoring distances.

[0010] As an optional implementation, after the optimal monitoring view angle of the target ship is determined according to the first monitoring view angle, the second monitoring view angle and the third monitoring view angle in the first aspect of the present application, the method further comprises:

[0011] determining whether the optimal monitoring view angle meets a preset effective view angle content condition;

[0012] when it is determined that the optimal monitoring view angle meets the effective view angle content condition, performing a corresponding overhead view calculation conversion operation according to the optimal monitoring view angle to obtain a real-time monitoring overhead view of the target ship;

[0013] when it is determined that the optimal monitoring view angle does not meet the effective view angle content condition, performing a corresponding invalid view angle content processing operation according to the optimal monitoring view angle to obtain reasonable monitoring view angle content, and generating a real-time monitoring overhead view of the target ship according to the reasonable monitoring view angle content.

[0014] As an optional implementation, in the first aspect of the present application, the performing of the corresponding invalid view angle content processing operation according to the optimal monitoring view angle to obtain reasonable monitoring view angle content comprises:

[0015] determining a corresponding monitoring view angle picture for each frame according to the optimal monitoring view angle;

[0016] determining at least one monitoring view angle picture that meets a preset content incoherence condition from all the monitoring view angle pictures as a conflict view angle picture according to picture content of each monitoring view angle picture, wherein the preset content incoherence condition comprises a mismatched object state condition;

[0017] determining other view angle pictures associated with the conflict view angle picture from all the monitoring view angle pictures, and determining whether the conflict view angle picture and the other view angle pictures meet a preset monitoring time matching condition;

[0018] determining a first credibility according to the conflict view picture and a second credibility according to the other view picture when it is judged that the conflict view picture and the other view picture satisfy the monitoring time matching condition; performing corresponding adjustment operation on the conflict view picture or the other view picture according to the first credibility and the second credibility based on all the monitoring view pictures, to obtain reasonable monitoring view content;

[0019] determining rationality of occurrence of object state change phenomenon in the conflict view picture when it is judged that the conflict view picture and the other view picture do not satisfy the monitoring time matching condition;

[0020] determining all the monitoring view pictures as reasonable monitoring view content when it is judged that the rationality is greater than or equal to the preset rationality threshold;

[0021] performing corresponding processing operation on the conflict view picture based on all the monitoring view pictures to obtain reasonable monitoring view content when it is judged that the rationality is less than the preset rationality threshold.

[0022] As an optional implementation form, in the first aspect of the present application, the performing corresponding invalid view content processing operation according to the optimal monitoring view to obtain reasonable monitoring view content comprises:

[0023] determining corresponding each frame monitoring view picture according to the optimal monitoring view;

[0024] determining at least two monitoring view pictures satisfying preset content overlap condition from all the monitoring view pictures as overlap view pictures according to picture content of each monitoring view picture;

[0025] determining corresponding specialty quality information of each overlap view picture, and analyzing replaceability of each overlap view picture according to the specialty quality information of each overlap view picture, wherein the specialty quality information comprises one or more of picture definition information, picture acquisition device level information, picture acquisition device function information and picture special application information;

[0026] judging whether all the overlap view pictures satisfy preset necessary application requirement condition according to the replaceability of each overlap view picture;

[0027] determining all the monitoring view pictures as reasonable monitoring view content when it is judged that all the overlap view pictures satisfy the necessary application requirement condition;

[0028] When it is judged that all the overlap view pictures do not satisfy the necessary application requirement condition, based on all the monitoring view pictures, a corresponding replacement / deletion operation is performed on the determined overlap view picture which does not satisfy the necessary application requirement condition, to obtain reasonable monitoring view content.

[0029] As an optional implementation, in the first aspect of the present application, the method further comprises:

[0030] determining a current monitoring application scenario corresponding to the target ship and the real-time monitoring overhead view;

[0031] judging whether the optimal monitoring view angle satisfies a preset view angle addition requirement condition according to the real-time monitoring overhead view and the current monitoring application scenario;

[0032] When it is judged that the optimal monitoring view angle satisfies the view angle addition requirement condition, a monitoring view angle to be added is determined according to the real-time monitoring overhead view and the current monitoring application scenario;

[0033] judging whether the target ship satisfies an existing configuration implementation condition for the monitoring view angle to be added according to the determined existing ship monitoring device configuration information of the target ship;

[0034] When it is judged that the target ship satisfies the existing configuration implementation condition, a corresponding update regulation operation is performed on the target ship and the optimal monitoring view angle based on the monitoring view angle to be added;

[0035] When it is judged that the target ship does not satisfy the existing configuration implementation condition, a monitoring device configuration increase scheme corresponding to the target ship is generated according to the monitoring view angle to be added; a corresponding device configuration optimization operation is performed on the target ship according to the monitoring device configuration increase scheme, and a corresponding update regulation operation is performed on the target ship and the optimal monitoring view angle.

[0036] As an optional implementation, in the first aspect of the present application, the judging whether the optimal monitoring view angle satisfies a preset effective view angle content condition comprises:

[0037] judging whether the optimal monitoring view angle satisfies a preset view angle content conflict condition;

[0038] When it is judged that the optimal monitoring view angle satisfies the view angle content conflict condition, it is determined that the optimal monitoring view angle does not satisfy the preset effective view angle content condition;

[0039] When it is judged that the optimal monitoring view angle does not satisfy the view angle content conflict condition, it is determined that the optimal monitoring view angle satisfies the preset effective view angle content condition;

[0040] and / or,

[0041] determining whether the optimal monitoring view angle meets a preset overlapping view angle content condition;

[0042] when it is determined that the optimal monitoring view angle does not meet the overlapping view angle content condition, determining that the optimal monitoring view angle meets a preset effective view angle content condition;

[0043] when it is determined that the optimal monitoring view angle meets the overlapping view angle content condition, determining that the optimal monitoring view angle does not meet a preset effective view angle content condition.

[0044] As an optional implementation, in the first aspect of the present application, the method further comprises:

[0045] determining other ships in a current water area where the target ship is located;

[0046] determining a comprehensive ship function requirement of the target ship; according to the comprehensive ship function requirement, determining whether the target ship and the other ships meet a preset real-time tracking monitoring condition to obtain a first determination result; when the first determination result is yes, determining that the target ship has a related water object in the current water area; and / or,

[0047] determining a real-time distance condition of the target ship and the other ships; according to the real-time distance condition, determining whether the target ship and the other ships meet a preset distance interval monitoring condition to obtain a second determination result; when the second determination result is yes, determining that the target ship has a related water object in the current water area; and / or,

[0048] determining whether the target ship and the other ships belong to the same navigation team to obtain a third determination result; when the third determination result is yes, determining that the target ship has a related water object in the current water area.

[0049] The second aspect of the present application discloses a ship navigation optimal view angle determination control system based on scene perception, which comprises:

[0050] an information determination module, configured to, when a target ship has a related water object in a current water area, determine a position relationship condition of the target ship and the related water object according to first position information and first navigation parameter information of the target ship, second position information and second position change parameter information of the related water object, and object volume and area information;

[0051] a monitoring view angle determination module, configured to determine a first monitoring view angle of the target ship corresponding to the related water object according to the position relationship condition.

[0052] The monitoring view angle determination module is further configured to determine a second monitoring view angle of the target ship according to the determined fixed sailing view angle requirement of the target ship, and determine a third monitoring view angle of the target ship according to a sailing scene environment condition of the current water area;

[0053] An optimal view angle determination module is configured to determine an optimal monitoring view angle of the target ship according to the first monitoring view angle, the second monitoring view angle and the third monitoring view angle, the optimal monitoring view angle being used to generate a real-time monitoring overhead view of the target ship corresponding to a multi-monitoring dimension, the multi-monitoring dimension including a combination of one or more of a plurality of monitoring positions, a plurality of monitoring angles and a plurality of monitoring distances.

[0054] As an optional implementation, in the second aspect, the system further includes:

[0055] A judgment module is configured to judge whether the optimal monitoring view angle meets a preset effective view angle content condition after the optimal view angle determination module determines the optimal monitoring view angle of the target ship according to the first monitoring view angle, the second monitoring view angle and the third monitoring view angle.

[0056] An overhead view determination module is configured to perform a corresponding overhead view calculation and conversion operation according to the optimal monitoring view angle to obtain a real-time monitoring overhead view of the target ship when the judgment module judges that the optimal monitoring view angle meets the effective view angle content condition.

[0057] A view angle content processing module is configured to perform a corresponding invalid view angle content processing operation according to the optimal monitoring view angle to obtain reasonable monitoring view angle content when the judgment module judges that the optimal monitoring view angle does not meet the effective view angle content condition.

[0058] The overhead view determination module is further configured to generate a real-time monitoring overhead view of the target ship according to the reasonable monitoring view angle content.

[0059] As an optional implementation, in the second aspect, the view angle content processing module performs a corresponding invalid view angle content processing operation according to the optimal monitoring view angle to obtain reasonable monitoring view angle content, including:

[0060] Determine a corresponding monitoring view angle picture for each frame according to the optimal monitoring view angle;

[0061] Determine at least one monitoring view angle picture meeting a preset content incoherence condition from all the monitoring view angle pictures as a conflict view angle picture according to picture content of each monitoring view angle picture, the preset content incoherence condition including a mismatched object state condition.

[0062] determining other view pictures associated with the conflict view picture from all the monitoring view pictures, and judging whether the conflict view picture and the other view pictures satisfy a preset monitoring time matching condition;

[0063] when it is judged that the conflict view picture and the other view pictures satisfy the monitoring time matching condition, determining a first credibility according to the conflict view picture, and determining a second credibility according to the other view pictures; based on all the monitoring view pictures, performing corresponding adjustment operation on the conflict view picture or the other view pictures according to the first credibility and the second credibility, to obtain reasonable monitoring view content;

[0064] when it is judged that the conflict view picture and the other view pictures do not satisfy the monitoring time matching condition, determining a rationality of appearance of object state change phenomenon according to the conflict view picture; judging whether the rationality is greater than or equal to a preset rationality threshold value;

[0065] when it is judged that the rationality is greater than or equal to the rationality threshold value, determining all the monitoring view pictures as reasonable monitoring view content;

[0066] when it is judged that the rationality is less than the rationality threshold value, performing corresponding processing operation on the conflict view picture based on all the monitoring view pictures, to obtain reasonable monitoring view content.

[0067] As an optional implementation, in the second aspect of the present application, the view content processing module performs corresponding invalid view content processing operation according to the optimal monitoring view, to obtain reasonable monitoring view content, including:

[0068] determining corresponding each frame monitoring view picture according to the optimal monitoring view;

[0069] determining at least two monitoring view pictures satisfying a preset content overlap condition from all the monitoring view pictures as overlap view pictures according to picture content of each monitoring view picture;

[0070] determining corresponding specialty quality information of each overlap view picture, and analyzing replaceability of each overlap view picture according to the specialty quality information of each overlap view picture, the specialty quality information including one or more of picture definition information, picture acquisition device level information, picture acquisition device function information and picture special application information;

[0071] judging whether all the overlap view pictures satisfy a preset necessary application requirement condition according to the replaceability of each overlap view picture;

[0072] when it is judged that all the overlap view pictures satisfy the necessary application requirement condition, determining all the monitoring view pictures as reasonable monitoring view content;

[0073] when it is judged that all the overlap view pictures do not satisfy the necessary application requirement condition, performing corresponding replacement / deletion operation on the determined overlap view picture which does not satisfy the necessary application requirement condition based on all the monitoring view pictures, to obtain reasonable monitoring view content.

[0074] As an optional implementation form, in the second aspect, the information determining module is further configured to determine a current monitoring application scenario corresponding to the target ship and the real-time monitoring overhead view;

[0075] The judging module is further configured to judge whether the optimal monitoring view angle satisfies a preset view angle addition requirement condition according to the real-time monitoring overhead view and the current monitoring application scenario;

[0076] The information determining module is further configured to, when the judging module judges that the optimal monitoring view angle satisfies the view angle addition requirement condition, determine a to-be-added monitoring view angle according to the real-time monitoring overhead view and the current monitoring application scenario;

[0077] The judging module is further configured to judge whether the target ship satisfies an existing configuration implementation condition for the to-be-added monitoring view angle according to the determined existing ship monitoring equipment configuration information of the target ship;

[0078] The system further comprises:

[0079] An updating and regulating module, configured to, when the judging module judges that the target ship satisfies the existing configuration implementation condition, perform corresponding updating and regulating operation on the target ship and the optimal monitoring view angle based on the to-be-added monitoring view angle;

[0080] The updating and regulating module is further configured to, when the judging module judges that the target ship does not satisfy the existing configuration implementation condition, generate a monitoring equipment configuration increasing scheme corresponding to the target ship according to the to-be-added monitoring view angle, perform corresponding equipment configuration optimization operation on the target ship according to the monitoring equipment configuration increasing scheme, and perform corresponding updating and regulating operation on the target ship and the optimal monitoring view angle.

[0081] As an optional implementation form, in the second aspect, the manner in which the judging module judges whether the optimal monitoring view angle satisfies the preset effective view angle content condition specifically comprises:

[0082] determine whether the optimal monitoring view angle meets a preset view angle content conflict condition;

[0083] when it is determined that the optimal monitoring view angle meets the view angle content conflict condition, determine that the optimal monitoring view angle does not meet a preset effective view angle content condition;

[0084] when it is determined that the optimal monitoring view angle does not meet the view angle content conflict condition, determine that the optimal monitoring view angle meets a preset effective view angle content condition;

[0085] and / or,

[0086] determine whether the optimal monitoring view angle meets a preset overlapping view angle content condition;

[0087] when it is determined that the optimal monitoring view angle does not meet the overlapping view angle content condition, determine that the optimal monitoring view angle meets a preset effective view angle content condition;

[0088] when it is determined that the optimal monitoring view angle meets the overlapping view angle content condition, determine that the optimal monitoring view angle does not meet a preset effective view angle content condition.

[0089] As an optional implementation, in the second aspect of the present application, the information determination module is further configured to determine other ships in a current water area where the target ship is located;

[0090] and the system further comprises:

[0091] an associated object determination module configured to determine a comprehensive ship function requirement of the target ship, determine whether the target ship and the other ships meet a preset real-time tracking monitoring condition according to the comprehensive ship function requirement, and obtain a first determination result; when the first determination result is yes, determine that the target ship has an associated water object in the current water area; and / or, determine a real-time distance condition of the target ship and the other ships, determine whether the target ship and the other ships meet a preset distance interval monitoring condition according to the real-time distance condition, and obtain a second determination result; when the second determination result is yes, determine that the target ship has an associated water object in the current water area; and / or, determine whether the target ship and the other ships belong to the same navigation team, and obtain a third determination result; when the third determination result is yes, determine that the target ship has an associated water object in the current water area.

[0092] A third aspect of the present application discloses another scene-aware ship navigation optimal view angle determination control system, which comprises:

[0093] a memory storing executable program codes;

[0094] a processor coupled to the memory;

[0095] The processor invokes the executable program code stored in the memory to execute the scene-aware based optimal viewing angle determination control method for ship navigation disclosed in the first aspect of the present application.

[0096] The fourth aspect of the present application discloses a computer storage medium, which stores computer instructions, when invoked, for executing the scene-aware based optimal viewing angle determination control method for ship navigation disclosed in the first aspect of the present application.

[0097] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0098] In the embodiments of the present application, when there is an associated water object in the current water area of the target ship, the position relationship between the target ship and the associated water object is determined according to the first position information and the first navigation parameter information of the target ship, the second position information and the second position change parameter information of the associated water object, and the object volume area information; the first monitoring viewing angle of the target ship encompassing the associated water object in real time is determined according to the position relationship; the second monitoring viewing angle of the target ship is determined according to the determined fixed navigation viewing angle requirement of the target ship, and the third monitoring viewing angle of the target ship is determined according to the navigation scene environment condition of the current water area; the optimal monitoring viewing angle of the target ship is determined according to the first monitoring viewing angle, the second monitoring viewing angle and the third monitoring viewing angle, and the optimal monitoring viewing angle is used to generate the real-time monitoring overhead view of the target ship in multiple monitoring dimensions, which includes one or more combinations of multiple monitoring directions, multiple monitoring angles and multiple monitoring distances. It can be seen that the first monitoring viewing angle encompassing the associated water object in real time, the second monitoring viewing angle based on the fixed navigation viewing angle requirement, and the third monitoring viewing angle based on the navigation scene environment condition can be determined, and the optimal monitoring viewing angle of the target ship is determined according to the first monitoring viewing angle, the second monitoring viewing angle and the third monitoring viewing angle, which is beneficial to improve the comprehensiveness and rationality of the optimal monitoring viewing angle determination method of the target ship, and further beneficial to improve the diversity, flexibility and pertinence of the determined viewing angle information of the optimal monitoring viewing angle, thereby improving the accuracy and reliability of the determined optimal monitoring viewing angle, and further improving the safety and monitoring real-time performance of the ship navigation. BRIEF DESCRIPTION OF DRAWINGS

[0099] In order to make the technical solutions in the embodiments of the present application clearer, the accompanying drawings needed in the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present application, and all other embodiments obtained by those of ordinary skill in the art without any creative work on the basis of these drawings are within the protection scope of the present application.

[0100] Figure 1 is a flowchart of a scene-aware ship navigation optimal viewing angle determination control method disclosed by an embodiment of the present application;

[0101] Figure 2 is a flowchart of another scene-aware ship navigation optimal viewing angle determination control method disclosed by an embodiment of the present application;

[0102] Figure 3 is a structural diagram of a scene-aware ship navigation optimal viewing angle determination control system disclosed by an embodiment of the present application;

[0103] Figure 4 is a structural diagram of another scene-aware ship navigation optimal viewing angle determination control system disclosed by an embodiment of the present application;

[0104] Figure 5 is a structural diagram of still another scene-aware ship navigation optimal viewing angle determination control system disclosed by an embodiment of the present application. DETAILED DESCRIPTION

[0105] In order to make the technical solutions in the embodiments of the present application clearer, the accompanying drawings needed in the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present application, and all other embodiments obtained by those of ordinary skill in the art without any creative work on the basis of these drawings are within the protection scope of the present application.

[0106] The terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned accompanying drawings are used to distinguish different objects, and are not used to describe a specific order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, device, product or end including a series of steps or units is not limited to the listed steps or units, but can optionally include steps or units not listed or can optionally include other steps or units inherent to the process, method, product or end.

[0107] Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase "in an embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are they necessarily mutually exclusive of one another. It is expressly understood that any of the embodiments described herein can be combined with any of the other embodiments unless specifically noted otherwise.

[0108] The application discloses a scene-aware-based ship navigation optimal view angle determination control method and system, which can determine a first monitoring view angle including associated water objects in real time, a second monitoring view angle based on fixed navigation view angle requirements, and a third monitoring view angle based on navigation scene environment conditions, and determine an optimal monitoring view angle of a target ship according to the first monitoring view angle, the second monitoring view angle, and the third monitoring view angle, thereby improving the comprehensiveness and rationality of the optimal monitoring view angle determination mode of the target ship, and further improving the diversity, flexibility, and pertinence of the determined optimal monitoring view angle information, so as to improve the accuracy and reliability of the determined optimal monitoring view angle, and further improve the safety and monitoring real-time performance of ship navigation. The following will be described in detail.

[0109] Embodiment one

[0110] Please refer to Figure 1 , Figure 1 is a flowchart of a scene-aware-based ship navigation optimal view angle determination control method disclosed by the embodiment of the application. Wherein, Figure 1 The described method can be applied to a scene-aware-based ship navigation optimal view angle determination control system, wherein the system can include a server, wherein the server includes a local server or a cloud server, and the embodiment of the application is not limited. As Figure 1 The scene-aware-based ship navigation optimal view angle determination control method includes the following operations:

[0111] 101、When there is an associated water object in the current water area of the target ship, the position relationship between the target ship and the associated water object is determined according to the first position information and the first navigation parameter information of the target ship, the second position information and the second position change parameter information of the associated water object, and the object volume area information.

[0112] Optionally, the associated water object can include but is not limited to one or more of a related ship, a related device, a related biological object, and other objects in the current water area, and the embodiment of the application is not limited.

[0113] Optionally, the first navigation parameter information can include, but is not limited to, one or more of a navigation speed, a navigation direction, a navigation acceleration, a navigation form, a navigation mode, and the like, and the embodiments of the present application are not limited thereto.

[0114] Optionally, the second position change parameter information of the associated water object can include, but is not limited to, one or more of position change speed information, position change angle information, position change direction information, position change acceleration information, position change form information, position change efficiency frequency information, position change habit information, and other position change information, and the embodiments of the present application are not limited thereto.

[0115] 102. According to the position relationship, the first monitoring visual angle of the target ship encompassing the associated water object in real time is determined.

[0116] Optionally, the first monitoring visual angle can be a monitoring visual angle of the target ship that can encompass the associated water object in real time, and further can be a monitoring area range greater than or equal to the associated water object as a target point, or can be a monitoring area range just including the associated water object as a target point, and the embodiments of the present application are not limited thereto.

[0117] 103. According to the determined fixed navigation visual angle requirement of the target ship, the second monitoring visual angle of the target ship is determined, and according to the navigation scene environment condition of the current water area, the third monitoring visual angle of the target ship is determined.

[0118] Optionally, the fixed navigation visual angle requirement can be understood as a visual angle that needs to be monitored fixedly during navigation of the ship, and the embodiments of the present application are not limited thereto.

[0119] Optionally, for the navigation scene environment condition and the third monitoring visual angle, for example, the third monitoring visual angle is used to monitor a place where an environment / scene phenomenon is abnormal in the navigation scene environment condition, for example, the third monitoring visual angle is used to monitor a place where a special environment / scene phenomenon is shown in the navigation scene environment condition, for example, the third monitoring visual angle is used to monitor a place where a special environment / scene phenomenon is shown in the navigation scene environment condition, and the embodiments of the present application are not limited thereto.

[0120] 104. According to the first monitoring visual angle, the second monitoring visual angle, and the third monitoring visual angle, the optimal monitoring visual angle of the target ship is determined, and the optimal monitoring visual angle is used to generate a real-time monitoring overhead view of the target ship corresponding to a plurality of monitoring dimensions, and the plurality of monitoring dimensions include one or more combinations of a plurality of monitoring positions, a plurality of monitoring angles, and a plurality of monitoring distances.

[0121] Optionally, the multi-visual angle perception of the ship is realized by AIS, radar, camera, and other ship perception devices, and the embodiments of the present application are not limited thereto.

[0122] Optionally, the first monitoring view angle, the second monitoring view angle and the third monitoring view angle are integrated as an optimal monitoring view angle of the target ship; further, it is illustrated that the overall monitoring view angle is obtained through the forward view angle, the left view angle, the right view angle, the rear view angle, the partial view angle, the medium-distance view angle, the long-distance view angle, the far-distance view angle and the near-distance view angle, and is taken as the optimal monitoring view angle, and the embodiments of the present application are not limited.

[0123] It can be seen that the scene-aware ship navigation optimal view angle determination control method described in the embodiments of the present application can determine the first monitoring view angle, the second monitoring view angle and the third monitoring view angle, which are related to the real-time associated water objects, the fixed navigation view angle requirement and the navigation scene environment condition, and determine the optimal monitoring view angle of the target ship according to the first monitoring view angle, the second monitoring view angle and the third monitoring view angle, which is beneficial to improving the comprehensiveness and rationality of the optimal monitoring view angle determination method of the target ship, and further beneficial to improving the diversity, flexibility and pertinence of the determined view angle information of the optimal monitoring view angle, thereby beneficial to improving the accuracy and reliability of the determined optimal monitoring view angle, and further beneficial to improving the safety and real-time monitoring of the ship navigation.

[0124] In an optional embodiment, the method can further include the following operations:

[0125] determining other ships in a current water area where the target ship is located;

[0126] determining the comprehensive ship function requirement of the target ship; judging whether the target ship and the other ships meet the preset real-time tracking monitoring condition according to the comprehensive ship function requirement, to obtain a first judgment result; when the first judgment result is yes, it is determined that the target ship has the associated water object in the current water area; and / or,

[0127] determining the real-time distance condition of the target ship and the other ships; judging whether the target ship and the other ships meet the preset distance interval monitoring condition according to the real-time distance condition, to obtain a second judgment result; when the second judgment result is yes, it is determined that the target ship has the associated water object in the current water area; and / or,

[0128] judging whether the target ship and the other ships belong to the same navigation team, to obtain a third judgment result; when the third judgment result is yes, it is determined that the target ship has the associated water object in the current water area.

[0129] Optionally, whether the preset real-time tracking monitoring condition is met is illustrated as follows: if the target ship includes the tracking monitoring function and needs to monitor a certain neighboring ship (i.e. the other ship) in real time, it is determined that the preset real-time tracking monitoring condition is met, and the embodiments of the present application are not limited.

[0130] Optionally, whether the preset distance interval monitoring condition is met is exemplified as follows: the target ship needs to keep a fixed sailing distance from a ship (i.e. other ship), and it is determined that the preset distance interval monitoring condition is met. The embodiments of the present application are not limited in this regard.

[0131] Optionally, when the target ship and the other ship meet the preset real-time tracking monitoring condition, when the target ship and the other ship meet the preset distance interval monitoring condition, and when the target ship and the other ship belong to the same sailing team, the "other ship" is a related water object existing in the current water area of the target ship. The embodiments of the present application are not limited in this regard.

[0132] Further optionally, the method further comprises the following operation steps:

[0133] When it is determined that the target ship and the other ship do not meet the preset real-time tracking monitoring condition, it is determined that the target ship does not have a related water object in the current water area; and / or,

[0134] When it is determined that the target ship and the other ship do not meet the preset distance interval monitoring condition, it is determined that the target ship does not have a related water object in the current water area; and / or,

[0135] When it is determined that the target ship and the other ship do not belong to the same sailing team, it is determined that the target ship does not have a related water object in the current water area.

[0136] Optionally, the above-mentioned determining whether the target ship and the other ship meet the preset distance interval monitoring condition according to the real-time distance condition can comprise:

[0137] Determining a real-time distance value according to the real-time distance condition;

[0138] Determining whether the real-time distance value is less than or equal to a preset real-time distance threshold value; when it is determined that the real-time distance value is less than or equal to the real-time distance threshold value, it is determined that the target ship and the other ship meet the preset distance interval monitoring condition; when it is determined that the real-time distance value is greater than the real-time distance threshold value, it is determined that the target ship and the other ship do not meet the preset distance interval monitoring condition; or,

[0139] Determining whether the real-time distance value is greater than or equal to a preset real-time distance threshold value; when it is determined that the real-time distance value is greater than or equal to the real-time distance threshold value, it is determined that the target ship and the other ship meet the preset distance interval monitoring condition; when it is determined that the real-time distance value is less than the real-time distance threshold value, it is determined that the target ship and the other ship do not meet the preset distance interval monitoring condition.

[0140] Optionally, for example, the distance between ships is too close to require visual angle monitoring to prevent collision, or for example, the distance between ships is too far to accurately confirm by the naked eye, and visual angle monitoring is required. For different determinations of whether there is an associated water object, embodiments of the present application are not limited.

[0141] It can be seen that the optional embodiment can determine the existence of the associated water object of the target ship by determining the target ship and other ships for real-time tracking monitoring conditions and / or distance interval monitoring conditions and / or the same navigation team membership, which is beneficial to improve the comprehensiveness and rationality of the associated water object existence determination method, and is beneficial to improve the diversity and flexibility of the associated water object existence determination method, thereby improving the accuracy and reliability of the determined associated water object existence, thereby improving the timeliness and accuracy of the determination of the first monitoring visual angle based on the associated water object existence.

[0142] Embodiment two

[0143] Please refer to Figure 2 , Figure 2 is another flowchart of a ship navigation optimal visual angle determination control method based on scene perception disclosed by the embodiments of the present application. Wherein, Figure 2 The method described can be applied to a ship navigation optimal visual angle determination control system based on scene perception, wherein the system can include a server, wherein the server includes a local server or a cloud server, and embodiments of the present application are not limited. As Figure 2 The ship navigation optimal visual angle determination control method based on scene perception includes the following operations:

[0144] 201、When the target ship has an associated water object in the current water area, according to the first position information and the first navigation parameter information of the target ship, the second position information and the second position change parameter information of the associated water object, and the object volume area information, the position relationship between the target ship and the associated water object is determined; according to the position relationship, the first monitoring visual angle of the target ship corresponding to the associated water object is determined.

[0145] 202、According to the determined fixed navigation visual angle requirement of the target ship, the second monitoring visual angle of the target ship is determined, and according to the navigation scene environment condition of the current water area, the third monitoring visual angle of the target ship is determined.

[0146] 203、According to the first monitoring visual angle, the second monitoring visual angle and the third monitoring visual angle, the optimal monitoring visual angle of the target ship is determined, and the optimal monitoring visual angle is used to generate the real-time monitoring overhead view of the target ship corresponding to the multiple monitoring dimensions, which includes one or more combinations of multiple monitoring directions, multiple monitoring angles and multiple monitoring distances.

[0147] 204. Determine whether the optimal monitoring view meets the preset effective view content conditions. If the determination result is yes, proceed to step 205; if the determination result is no, proceed to step 206.

[0148] Optional, valid viewpoint content conditions, for example: viewpoint content overlap condition, viewpoint content conflict condition, viewpoint content disappearance condition, etc., are not limited in the embodiments of the present invention.

[0149] 205. Based on the optimal monitoring perspective, perform the corresponding top-view calculation and transformation operation to obtain the real-time monitoring top-view of the target ship.

[0150] 206. Based on the optimal monitoring perspective, perform corresponding invalid perspective content processing operations to obtain reasonable monitoring perspective content; based on the reasonable monitoring perspective content, generate a real-time monitoring top view of the target vessel.

[0151] In this embodiment of the invention, for other descriptions of steps 201-206, please refer to the other detailed descriptions of steps 101-104 in Embodiment 1. These descriptions will not be repeated in this embodiment of the invention.

[0152] As can be seen, the embodiments of the present invention can determine a first monitoring perspective encompassing related waterborne objects in real time, a second monitoring perspective based on fixed navigation perspective requirements, and a third monitoring perspective based on navigation scene environmental conditions. Based on the first, second, and third monitoring perspectives, the optimal monitoring perspective for the target vessel is determined. This improves the comprehensiveness and rationality of the method for determining the optimal monitoring perspective for the target vessel, thereby enhancing the diversity, flexibility, and relevance of the perspective information used to determine the optimal monitoring perspective. Consequently, it improves the accuracy and reliability of the determined optimal monitoring perspective, further enhancing the safety and real-time monitoring performance of vessel navigation. Furthermore, it can also provide a monitoring perspective based on the optimal monitoring perspective. The real-time monitoring top-down view generation method for angles directly transforms the optimal monitoring view to obtain the monitoring top-down view when the effective viewing angle content conditions are met. When the effective viewing angle content conditions are not met, an invalid viewing angle content processing operation is performed to obtain reasonable monitoring angle content and then generate the monitoring top-down view. This method is beneficial to improving the comprehensiveness and rationality of the method for determining the monitoring top-down view of a ship, as well as its diversity, flexibility, and relevance. In addition, it is beneficial to improve the accuracy and timeliness of the invalid viewing angle content processing operation, thereby improving the accuracy and reliability of the processing of invalid viewing angle content, and ultimately improving the accuracy and reliability of the determined monitoring top-down view.

[0153] In an optional embodiment, based on the optimal monitoring viewpoint, performing corresponding invalid viewpoint content processing operations to obtain reasonable monitoring viewpoint content may include:

[0154] determining a corresponding monitoring view picture of each frame according to the optimal monitoring view angle;

[0155] determining at least one monitoring view picture satisfying a preset content incoherence condition from all the monitoring view pictures according to the picture content of each monitoring view picture, as a conflict view picture, the preset content incoherence condition including a mismatched object state condition;

[0156] determining other view pictures associated with the conflict view picture from all the monitoring view pictures, and judging whether the conflict view picture and the other view pictures satisfy a preset monitoring time matching condition;

[0157] when it is judged that the conflict view picture and the other view pictures satisfy the monitoring time matching condition, determining a first credibility according to the conflict view picture, and determining a second credibility according to the other view pictures; based on all the monitoring view pictures, performing corresponding adjustment operation on the conflict view picture or the other view pictures according to the first credibility and the second credibility, to obtain reasonable monitoring view content;

[0158] when it is judged that the conflict view picture and the other view pictures do not satisfy the monitoring time matching condition, determining a rationality of an object state change phenomenon appearing in the conflict view picture; judging whether the rationality is greater than or equal to a preset rationality threshold;

[0159] when it is judged that the rationality is greater than or equal to the rationality threshold, determining all the monitoring view pictures as reasonable monitoring view content;

[0160] when it is judged that the rationality is less than the rationality threshold, performing corresponding processing operation on the conflict view picture based on all the monitoring view pictures, to obtain reasonable monitoring view content.

[0161] Optionally, the object state in the mismatched object state condition can include one or more of existence state, action state, behavior state, etc., but is not limited thereto; further, for example, the same batch of surrounding adjacent monitoring view angles do not appear the target object, while the conflict view picture appears the target object, and thus the existence state is mismatched; here, the same batch can be the same collection time or different collection times, which is not limited by the embodiments of the present application.

[0162] Optionally, the other view pictures associated with the conflict view picture include, for example, other view pictures of the same angle direction but involving different distances, i.e., the far distance picture content (i.e., the other view picture) of the close distance picture content (i.e., the conflict view picture), which is not limited by the embodiments of the present application.

[0163] Further optionally, the judging whether the conflict view picture meets the preset monitoring time matching condition with the other view pictures can comprise:

[0164] judging whether the information collection time of the conflict view picture is consistent with that of the other view pictures;

[0165] When the judging result is yes, it is determined that the conflict view picture meets the preset monitoring time matching condition with the other view pictures; and when the judging result is no, it is determined that the conflict view picture does not meet the preset monitoring time matching condition with the other view pictures.

[0166] Optionally, the credibility of the view picture can be determined by, but not limited to, the equipment level, the equipment function configuration, the instrument precision, the collection time accuracy, the accuracy of historical collection information, the frequency of historical used application, and the like of the monitoring device; further, the higher the equipment level, the better the equipment function configuration, the higher the instrument precision, the higher the collection time accuracy, the higher the accuracy of historical collection information, and the higher the frequency of historical used application, the higher the credibility of the view picture, which is not limited by the embodiments of the present application.

[0167] Optionally, the adjusting the conflict view picture or the other view picture based on the first credibility and the second credibility according to all the monitoring view pictures to obtain reasonable monitoring view content can comprise:

[0168] Further optionally, the adjusting the conflict view picture or the other view picture based on the first credibility and the second credibility according to all the monitoring view pictures to obtain reasonable monitoring view content can comprise:

[0169] When the first credibility is greater than the second credibility, adjusting the other view picture based on the conflict view picture to obtain an adjusted other view picture; and determining reasonable monitoring view content according to all the monitoring view pictures, the adjusted other view picture, and the conflict view picture;

[0170] When the first credibility is less than the second credibility, based on the other view angle picture, the corresponding adjustment operation is performed on the conflict view angle picture to obtain an adjusted conflict view angle picture; and based on all the monitoring view angle pictures, the adjusted conflict view angle picture and the other view angle picture, reasonable monitoring view angle content is determined.

[0171] Optionally, the monitoring time matching condition is not met between the conflict view angle picture and the other view angle picture, for example, when the monitoring collection time is inconsistent, the reasonability of the sudden appearance of the biological object in the conflict view angle picture is determined, for example, it is known that the biological object can appear from underwater to the upper, and at this time, the sudden appearance of the object state change phenomenon in the conflict view angle picture is reasonable, that is, the reasonability is greater than or equal to the reasonability threshold, and it is determined that the conflict view angle picture is reasonable and effective; on the contrary, it is determined that the sudden appearance of the object state change phenomenon in the conflict view angle picture is unreasonable, and the conflict view angle picture needs to be processed, and the embodiment of the present application is not limited.

[0172] Optionally, based on all the monitoring view angle pictures, the corresponding processing operation is performed on the conflict view angle picture to obtain reasonable monitoring view angle content, which can be that the conflict view angle picture in all the monitoring view angle pictures is deleted to obtain reasonable monitoring view angle content, and can also be that the conflict view angle picture is adjusted and replaced based on all the monitoring view angle pictures to obtain reasonable monitoring view angle content, and the embodiment of the present application is not limited.

[0173] It can be seen that the optional embodiment can provide a corresponding reasonable monitoring view angle content determination mode for invalid view angle content including the conflict view angle picture, and the corresponding reasonable monitoring view angle content determination mode is matched according to the monitoring time matching condition and the comparison between the reasonability of the appearance of the object state change phenomenon and the size of the corresponding reasonability threshold, which is beneficial to improve the comprehensiveness, reasonability and layer-by-layer progression of the reasonable monitoring view angle content determination mode, and is beneficial to improve the diversity, flexibility and pertinence of the reasonable monitoring view angle content determination mode, and further is beneficial to improve the accuracy and reliability of the determined reasonable monitoring view angle content.

[0174] In another optional embodiment, the corresponding invalid view angle content processing operation is performed on the optimal monitoring view angle to obtain reasonable monitoring view angle content, which can include:

[0175] According to the optimal monitoring view angle, each frame of monitoring view angle picture corresponding to the optimal monitoring view angle is determined.

[0176] According to the picture content of each monitoring view angle picture, at least two monitoring view angle pictures satisfying a preset content overlap condition are determined from all the monitoring view angle pictures as overlapping view angle pictures.

[0177] determining the special property information corresponding to each overlap view picture, and analyzing the replaceability of each overlap view picture according to the special property information of each overlap view picture, the property information including one or more of picture definition information, picture acquisition device level information, picture acquisition device function information, and picture special application information;

[0178] judging whether all overlap view pictures satisfy the preset necessary application requirement condition according to the replaceability of each overlap view picture;

[0179] when it is judged that all overlap view pictures satisfy the necessary application requirement condition, determining all monitoring view pictures as reasonable monitoring view content;

[0180] when it is judged that all overlap view pictures do not satisfy the necessary application requirement condition, performing corresponding replacement / deletion operation on the determined overlap view picture which does not satisfy the necessary application requirement condition based on all monitoring view pictures, to obtain reasonable monitoring view content.

[0181] Optionally, the special property information and the replaceability of the overlap view picture are exemplified as follows: when the picture definition is higher, the picture acquisition device level is higher, the picture acquisition device function is more accurate and more critical, the picture has more special applications, and the picture is used to connect and associate with other pictures, etc., it is determined that the replaceability is lower, and other cases can be obtained in the same way, and the embodiments of the present application are not limited.

[0182] Further optionally, the above judging whether all overlap view pictures satisfy the preset necessary application requirement condition according to the replaceability of each overlap view picture can include:

[0183] for each overlap view picture, judging whether the replaceability of the overlap view picture is less than or equal to a preset replaceability threshold;

[0184] when it is judged that the replaceability of the overlap view picture is less than or equal to the replaceability threshold, it is determined that the overlap view picture satisfies the preset necessary application requirement condition; when it is judged that the replaceability of the overlap view picture is greater than the replaceability threshold, it is determined that the overlap view picture does not satisfy the preset necessary application requirement condition.

[0185] It can be seen that the optional embodiment can provide a corresponding reasonable monitoring view content determination manner for the overlapping view picture of invalid view content, and respectively match a corresponding reasonable monitoring view content determination manner for the overlapping view picture that all meets the necessary application requirement condition or does not all meet the necessary application requirement condition, which is beneficial to improve the comprehensiveness, rationality and layer-by-layer progression of the reasonable monitoring view content determination manner, and is beneficial to improve the diversity, flexibility and pertinence of the reasonable monitoring view content determination manner, and is further beneficial to improve the accuracy and reliability of the determined reasonable monitoring view content.

[0186] In yet another optional embodiment, the method can further include the following operations:

[0187] determining a current monitoring application scenario corresponding to the target ship and the real-time monitoring overhead view;

[0188] determining whether the optimal monitoring view meets the preset view addition requirement condition according to the real-time monitoring overhead view and the current monitoring application scenario;

[0189] when it is determined that the optimal monitoring view meets the view addition requirement condition, determining a to-be-added monitoring view according to the real-time monitoring overhead view and the current monitoring application scenario;

[0190] judging whether the target ship meets the existing configuration implementation condition for the to-be-added monitoring view according to the existing ship monitoring device configuration information of the target ship determined;

[0191] when it is determined that the target ship meets the existing configuration implementation condition, performing a corresponding update control operation on the target ship and the optimal monitoring view based on the to-be-added monitoring view;

[0192] when it is determined that the target ship does not meet the existing configuration implementation condition, generating a monitoring device configuration increase scheme corresponding to the target ship according to the to-be-added monitoring view; performing a corresponding device configuration optimization operation on the target ship according to the monitoring device configuration increase scheme, and performing a corresponding update control operation on the target ship and the optimal monitoring view.

[0193] Further optionally, the above determining whether the optimal monitoring view meets the preset view addition requirement condition according to the real-time monitoring overhead view and the current monitoring application scenario can include:

[0194] determining a demand monitoring view of the target ship according to the current monitoring application scenario, and determining an existing monitoring view according to the real-time monitoring overhead view;

[0195] judging whether the existing monitoring view completely includes the demand monitoring view;

[0196] when the judgment result is yes, determining that the optimal monitoring view does not meet the preset view addition requirement condition;

[0197] When the determination result is no, it is determined that the optimal monitoring view angle meets the preset view angle addition demand condition.

[0198] Further optionally, the method can further include the following operations:

[0199] When it is determined that the optimal monitoring view angle does not meet the view angle addition demand condition, the step of determining the current monitoring application scenario corresponding to the target ship and the real-time monitoring overhead view is executed again.

[0200] Optionally, the existing ship monitoring device configuration information of the target ship is determined to judge whether the target ship meets the existing configuration implementation condition for the to-be-added monitoring view angle. For example, when the existing ship monitoring device configuration of the target ship (i.e., only the operating parameters of the existing ship monitoring device need to be adjusted) can perform monitoring of the to-be-added monitoring view angle, it is determined that the existing configuration implementation condition for the to-be-added monitoring view angle is met. When the target ship needs to be newly configured with a monitoring device to be able to perform monitoring of the to-be-added monitoring view angle, it is determined that the existing configuration implementation condition for the to-be-added monitoring view angle is not met. The embodiments of the present application are not limited.

[0201] Optionally, the target ship and the optimal monitoring view angle are updated and regulated based on the to-be-added monitoring view angle. For example, the operating parameters of the related devices in the target ship that can achieve monitoring of the to-be-added monitoring view angle are regulated to obtain an updated optimal monitoring view angle containing the to-be-added monitoring view angle. The embodiments of the present application are not limited.

[0202] Optionally, the monitoring device configuration increase scheme can be understood as a scheme of newly configuring the target ship with a device for achieving the monitoring function of the to-be-added monitoring view angle. The embodiments of the present application are not limited.

[0203] Optionally, the target ship and the optimal monitoring view angle are updated and regulated based on the to-be-added monitoring view angle. For example, the operating parameters of the related devices in the target ship that can achieve monitoring of the to-be-added monitoring view angle are regulated to obtain an updated optimal monitoring view angle containing the to-be-added monitoring view angle. The embodiments of the present application are not limited.

[0204] It can be seen that the optional embodiment can provide a monitoring view angle addition function, when the view angle addition demand condition is met and the existing configuration implementation condition for the to-be-added monitoring view angle is met, the corresponding existing configuration update regulation operation is performed, when the existing configuration implementation condition for the to-be-added monitoring view angle is not met, the monitoring device configuration increase scheme is determined and the corresponding device configuration optimization and update regulation operation is performed, which is beneficial to improve the comprehensiveness and rationality of the monitoring view angle addition method, improve the diversity, flexibility and pertinence of the monitoring view angle addition method, and further improve the timeliness, accuracy and efficiency of the monitoring view angle addition, thereby improving the comprehensiveness, accuracy and fittingness of the optimal monitoring view angle.

[0205] In yet another optional embodiment, the above determining whether the optimal monitoring view angle meets the preset effective view angle content condition can include:

[0206] determining whether the optimal monitoring view angle meets a preset view angle content conflict condition;

[0207] when it is determined that the optimal monitoring view angle meets the view angle content conflict condition, it is determined that the optimal monitoring view angle does not meet the preset effective view angle content condition;

[0208] when it is determined that the optimal monitoring view angle does not meet the view angle content conflict condition, it is determined that the optimal monitoring view angle meets the preset effective view angle content condition;

[0209] and / or,

[0210] determining whether the optimal monitoring view angle meets a preset overlapping view angle content condition;

[0211] when it is determined that the optimal monitoring view angle does not meet the overlapping view angle content condition, it is determined that the optimal monitoring view angle meets the preset effective view angle content condition;

[0212] when it is determined that the optimal monitoring view angle meets the overlapping view angle content condition, it is determined that the optimal monitoring view angle does not meet the preset effective view angle content condition.

[0213] Further optionally, the above determining whether the optimal monitoring view angle meets the preset view angle content conflict condition can include:

[0214] determining whether all monitoring view angle pictures corresponding to the optimal monitoring view angle include a conflict view angle picture; when the determination result is yes, it is determined that the optimal monitoring view angle meets the preset view angle content conflict condition; when the determination result is no, it is determined that the optimal monitoring view angle does not meet the preset view angle content conflict condition.

[0215] Further optionally, the above determining whether the optimal monitoring view angle meets the preset overlapping view angle content condition can include:

[0216] determine that the optimal monitoring visual angle meets the preset overlapping visual angle content condition when the determination result is yes, and determine that the optimal monitoring visual angle does not meet the preset overlapping visual angle content condition when the determination result is no.

[0217] It can be seen that the optional embodiment can determine the effective visual angle content condition satisfaction result through the visual angle content conflict condition satisfaction situation and / or the overlapping visual angle content condition satisfaction situation, which is beneficial to improving the comprehensiveness and rationality of the effective visual angle content condition satisfaction result determination manner, improving the diversity, flexibility and pertinence of the effective visual angle content condition satisfaction result determination manner, and further improving the accuracy and reliability of the determined effective visual angle content condition satisfaction result.

[0218] Embodiment three

[0219] Please refer to Figure 3 , Figure 3 is a structure schematic diagram of a ship navigation optimal visual angle determination control system based on scene perception disclosed by the embodiment of the application. Among them, Figure 3 The described system can include a server, wherein the server includes a local server or a cloud server, and the embodiment of the application does not limit it. As Figure 3 indicated, the ship navigation optimal visual angle determination control system based on scene perception can include:

[0220] The information determination module 301 is configured to, when the target ship has an associated water object in the current water area, determine the position relationship between the target ship and the associated water object according to the first position information and the first navigation parameter information of the target ship, the second position information and the second position change parameter information of the associated water object, and the object volume area information.

[0221] The monitoring visual angle determination module 302 is configured to determine the first monitoring visual angle of the target ship according to the position relationship, which covers the associated water object in real time.

[0222] The monitoring visual angle determination module 302 is further configured to determine the second monitoring visual angle of the target ship according to the determined fixed navigation visual angle requirement of the target ship, and determine the third monitoring visual angle of the target ship according to the navigation scene environment condition of the current water area.

[0223] The optimal visual angle determination module 303 is configured to determine the optimal monitoring visual angle of the target ship according to the first monitoring visual angle, the second monitoring visual angle and the third monitoring visual angle, and the optimal monitoring visual angle is used to generate the real-time monitoring overhead view of the target ship corresponding to multiple monitoring dimensions, which includes one or more combinations of multiple monitoring directions, multiple monitoring angles and multiple monitoring distances.

[0224] It can be seen that the implementation Figure 3 The scene-aware-based ship navigation optimal view angle determination control system described can determine a first monitoring view angle encompassing associated water objects in real time, a second monitoring view angle based on fixed navigation view angle requirements, and a third monitoring view angle based on navigation scene environmental conditions, and determine an optimal monitoring view angle of the target ship according to the first monitoring view angle, the second monitoring view angle, and the third monitoring view angle, which is conducive to improving the comprehensiveness and rationality of the optimal monitoring view angle determination manner of the target ship, and further conducive to improving the diversity, flexibility, and pertinence of the determined view angle information of the optimal monitoring view angle, thereby improving the accuracy and reliability of the determined optimal monitoring view angle, and further improving the safety and monitoring real-time performance of ship navigation.

[0225] In an optional embodiment, as Figure 4 The system can further include:

[0226] The judgment module 304 is configured to judge whether the optimal monitoring view angle meets a preset valid view angle content condition after the optimal view angle determination module 303 determines the optimal monitoring view angle of the target ship according to the first monitoring view angle, the second monitoring view angle, and the third monitoring view angle.

[0227] The overhead view determination module 305 is configured to perform corresponding overhead view calculation and conversion operations according to the optimal monitoring view angle when the judgment module 304 judges that the optimal monitoring view angle meets the valid view angle content condition, to obtain a real-time monitoring overhead view of the target ship.

[0228] The view angle content processing module 306 is configured to perform corresponding invalid view angle content processing operations according to the optimal monitoring view angle when the judgment module 304 judges that the optimal monitoring view angle does not meet the valid view angle content condition, to obtain reasonable monitoring view angle content.

[0229] The overhead view determination module 305 is further configured to generate a real-time monitoring overhead view of the target ship according to the reasonable monitoring view angle content.

[0230] It can be seen that the implementation Figure 4 The system described can provide a real-time monitoring overhead view generation manner based on the optimal monitoring view angle, directly convert the optimal monitoring view angle to obtain a monitoring overhead view when the valid view angle content condition is met, and perform invalid view angle content processing operations to obtain reasonable monitoring view angle content to further generate a monitoring overhead view when the valid view angle content condition is not met, which is conducive to improving the comprehensiveness and rationality of the monitoring overhead view determination manner of the ship, improving the diversity, flexibility, and pertinence of the monitoring overhead view determination manner of the ship, and further improving the execution accuracy and timeliness of the invalid view angle content processing operations, thereby improving the processing accuracy and reliability of the invalid view angle content, and further improving the accuracy and reliability of the determined monitoring overhead view.

[0231] In another optional embodiment, the view angle content processing module 306 performs corresponding invalid view angle content processing operation according to the optimal monitoring view angle, to obtain reasonable monitoring view angle content, which can include:

[0232] According to the optimal monitoring view angle, determine corresponding monitoring view angle picture of each frame;

[0233] According to the picture content of each monitoring view angle picture, determine at least one monitoring view angle picture meeting preset content incoherence condition from all monitoring view angle pictures as conflict view angle picture, the preset content incoherence condition including object state mismatch condition in the picture;

[0234] Determine other view angle picture associated with the conflict view angle picture from all monitoring view angle pictures, and judge whether the conflict view angle picture and the other view angle picture meet preset monitoring time matching condition;

[0235] When it is judged that the conflict view angle picture and the other view angle picture meet the monitoring time matching condition, determine first credibility according to the conflict view angle picture, and determine second credibility according to the other view angle picture; based on all monitoring view angle pictures, perform corresponding adjustment operation on the conflict view angle picture or the other view angle picture according to the first credibility and the second credibility, to obtain reasonable monitoring view angle content;

[0236] When it is judged that the conflict view angle picture and the other view angle picture do not meet the monitoring time matching condition, determine the rationality of the appearance of object state change phenomenon according to the conflict view angle picture; judge whether the rationality is greater than or equal to preset rationality threshold;

[0237] When it is judged that the rationality is greater than or equal to the rationality threshold, determine all monitoring view angle pictures as reasonable monitoring view angle content;

[0238] When it is judged that the rationality is less than the rationality threshold, perform corresponding processing operation on the conflict view angle picture based on all monitoring view angle pictures, to obtain reasonable monitoring view angle content.

[0239] It can be seen that the implementation Figure 4 The described system can also provide corresponding reasonable monitoring view angle content determination mode for invalid view angle content including conflict view angle picture, and match corresponding reasonable monitoring view angle content determination mode for monitoring time matching condition meeting situation and rationality of the appearance of object state change phenomenon and size comparison of corresponding rationality threshold, which is beneficial to improve the comprehensiveness, rationality and layer-by-layer progression of the reasonable monitoring view angle content determination mode, and is beneficial to improve the diversity, flexibility and pertinence of the reasonable monitoring view angle content determination mode, and further is beneficial to improve the accuracy and reliability of the determined reasonable monitoring view angle content.

[0240] In yet another optional embodiment, the view angle content processing module 306 performs corresponding invalid view angle content processing operations according to the optimal monitoring view angle to obtain reasonable monitoring view angle content, which can include:

[0241] determining corresponding monitoring view angle pictures of each frame according to the optimal monitoring view angle;

[0242] determining at least two monitoring view angle pictures that meet preset content overlap conditions from all monitoring view angle pictures as overlap view angle pictures according to picture content of each monitoring view angle picture;

[0243] determining special quality information corresponding to each overlap view angle picture, and analyzing the replaceability of each overlap view angle picture according to the special quality information of each overlap view angle picture, the quality information including one or more of picture definition information, picture acquisition device level information, picture acquisition device function information, and picture special application information;

[0244] judging whether all overlap view angle pictures meet preset necessary application requirement conditions according to the replaceability of each overlap view angle picture;

[0245] when it is judged that all overlap view angle pictures meet the necessary application requirement conditions, determining all monitoring view angle pictures as reasonable monitoring view angle content;

[0246] when it is judged that all overlap view angle pictures do not meet the necessary application requirement conditions, performing corresponding replacement / deletion operations on the determined overlap view angle pictures that do not meet the necessary application requirement conditions based on all monitoring view angle pictures to obtain reasonable monitoring view angle content.

[0247] It can be seen that the implementation Figure 4 The described system can also provide a corresponding reasonable monitoring view angle content determination method for invalid view angle content including overlap view angle pictures, and match corresponding reasonable monitoring view angle content determination methods for overlap view angle pictures that all meet necessary application requirement conditions or do not all meet necessary application requirement conditions, which is conducive to improving the comprehensiveness, rationality, and layer-by-layer progression of the reasonable monitoring view angle content determination method, and is conducive to improving the diversity, flexibility, and pertinence of the reasonable monitoring view angle content determination method, and thus is conducive to improving the accuracy and reliability of the determined reasonable monitoring view angle content.

[0248] In yet another optional embodiment, the information determination module 301 is also used to determine a current monitoring application scene corresponding to the target ship and the real-time monitoring overhead view.

[0249] The judgment module 304 is also used to judge whether the optimal monitoring view angle meets preset view angle addition requirement conditions according to the real-time monitoring overhead view and the current monitoring application scene.

[0250] The information determining module 301 is further configured to determine a to-be-added monitoring view angle according to the real-time monitoring overhead view and the current monitoring application scenario when the judging module 304 determines that the optimal monitoring view angle meets the view angle addition demand condition.

[0251] The judging module 304 is further configured to determine whether the target ship meets an existing configuration implementation condition for the to-be-added monitoring view angle according to the existing ship monitoring device configuration information of the target ship that is determined.

[0252] As shown in Figure 4 The system can further include:

[0253] The updating and regulating module 307 is configured to perform corresponding updating and regulating operations on the target ship and the optimal monitoring view angle based on the to-be-added monitoring view angle when the judging module 304 determines that the target ship meets the existing configuration implementation condition.

[0254] The updating and regulating module 307 is further configured to generate a monitoring device configuration increase scheme corresponding to the target ship according to the to-be-added monitoring view angle when the judging module 304 determines that the target ship does not meet the existing configuration implementation condition, perform corresponding device configuration optimization operations on the target ship according to the monitoring device configuration increase scheme, and perform corresponding updating and regulating operations on the target ship and the optimal monitoring view angle.

[0255] It can be seen that the system described in the embodiments Figure 4 The system described in the embodiments can also provide a monitoring view angle addition function. When the view angle addition demand condition is met and the existing configuration implementation condition for the to-be-added monitoring view angle is met, corresponding updating and regulating operations based on the existing configuration are performed. When the existing configuration implementation condition for the to-be-added monitoring view angle is not met, a monitoring device configuration increase scheme is determined and corresponding device configuration optimization and updating and regulating operations are performed. This is conducive to improving the comprehensiveness and rationality of the monitoring view angle addition method, improving the diversity, flexibility and pertinence of the monitoring view angle addition method, and further improving the timeliness, accuracy and efficiency of the monitoring view angle addition, thereby improving the comprehensiveness, accuracy and pertinence of the optimal monitoring view angle.

[0256] In another optional embodiment, the manner in which the judging module 304 determines whether the optimal monitoring view angle meets the preset effective view angle content condition specifically includes:

[0257] determining whether the optimal monitoring view angle meets a preset view angle content conflict condition;

[0258] determining that the optimal monitoring view angle does not meet the preset effective view angle content condition when it is determined that the optimal monitoring view angle meets the view angle content conflict condition;

[0259] When it is judged that the optimal monitoring view angle does not satisfy the view angle content conflict condition, it is determined that the optimal monitoring view angle satisfies the preset effective view angle content condition.

[0260] and / or,

[0261] It is judged whether the optimal monitoring view angle satisfies the preset overlapping view angle content condition.

[0262] When it is judged that the optimal monitoring view angle does not satisfy the overlapping view angle content condition, it is determined that the optimal monitoring view angle satisfies the preset effective view angle content condition.

[0263] When it is judged that the optimal monitoring view angle satisfies the overlapping view angle content condition, it is determined that the optimal monitoring view angle does not satisfy the preset effective view angle content condition.

[0264] It can be seen that, in the implementation Figure 4 The described system can also determine the effective view angle content condition satisfaction result through the view angle content conflict condition satisfaction condition and / or the overlapping view angle content condition satisfaction condition, which is advantageous to improve the comprehensiveness and rationality of the effective view angle content condition satisfaction result determination manner, and is advantageous to improve the diversity, flexibility and pertinence of the effective view angle content condition satisfaction result determination manner, and thus is advantageous to improve the accuracy and reliability of the determined effective view angle content condition satisfaction result.

[0265] In yet another optional embodiment, the information determination module 301 is further configured to determine other ships in the current water area where the target ship is located.

[0266] As Figure 4 shown, the system can also include:

[0267] The associated object judgment module 308 is configured to determine a comprehensive ship function demand of the target ship; determine, according to the comprehensive ship function demand, whether the target ship and the other ships satisfy a preset real-time tracking monitoring condition to obtain a first judgment result; when the first judgment result is yes, determine that the target ship has an associated water object in the current water area; and / or, determine a real-time distance condition of the target ship and the other ships; determine, according to the real-time distance condition, whether the target ship and the other ships satisfy a preset distance interval monitoring condition to obtain a second judgment result; when the second judgment result is yes, determine that the target ship has an associated water object in the current water area; and / or, determine whether the target ship and the other ships belong to the same navigation team to obtain a third judgment result; when the third judgment result is yes, determine that the target ship has an associated water object in the current water area.

[0268] It can be seen that, in the implementation Figure 4The described system can also determine the existence of the associated water object of the target ship by determining the target ship and other ships meeting the real-time tracking monitoring condition and / or the distance interval monitoring condition and / or the same voyage team affiliation condition, which can improve the comprehensiveness and rationality of the associated water object existence determination method, improve the diversity and flexibility of the associated water object existence determination method, and further improve the accuracy and reliability of the determined associated water object existence, thereby improving the timeliness and accuracy of the determination of the first monitoring perspective based on the associated water object existence.

[0269] Embodiment four

[0270] Please refer to Figure 5 , Figure 5 is another structure diagram of a scene-aware ship navigation optimal view angle determination control system according to an embodiment of the present application. In this embodiment, Figure 5 The described system can include a server, wherein the server includes a local server or a cloud server, and the present application is not limited to this. As Figure 5 The system can include:

[0271] The memory 401 stores executable program codes.

[0272] The processor 402 is coupled to the memory 401.

[0273] Further, the system can further include an input interface 403 and an output interface 404 coupled to the processor 402.

[0274] The processor 402 calls the executable program codes stored in the memory 401 to execute the steps of the scene-aware ship navigation optimal view angle determination control method described in embodiment one or embodiment two.

[0275] Embodiment five

[0276] The present application discloses a computer storage medium storing a computer program for electronic data exchange, wherein the computer program causes a computer to execute the steps of the scene-aware ship navigation optimal view angle determination control method described in embodiment one or embodiment two.

[0277] Embodiment six

[0278] The present application discloses a computer program product, which includes a non-transitory computer readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute the steps of the scene-aware ship navigation optimal view angle determination control method described in embodiment one or embodiment two.

[0279] The apparatus embodiments described above are only illustrative, wherein the modules described as separate components can or can not be physically separated, and the components displayed as modules can or can not be physical modules, i.e., can be located in one place or distributed to multiple network modules. Part or all of the modules can be selected to achieve the purposes of the embodiments according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0280] Through the specific description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be realized by means of software and the necessary general hardware platform, and of course, can also be realized by hardware. Based on such understanding, the above technical solutions can be embodied in the form of a software product, which can be stored in a computer readable storage medium, including a Read-Only Memory (ROM), a Random Access Memory (RAM), a Programmable Read-Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), a One-time Programmable Read-Only Memory (OTPROM), an Electrically-Erasable Programmable Read-Only Memory (EEPROM), a Compact Disc Read-Only Memory (CD-ROM) or other optical disk storage, a magnetic disk storage, a magnetic tape storage, or any other computer readable medium that can be used to carry or store data.

[0281] Finally, it should be noted that: the ship navigation optimal visual angle determination control method and system based on scene perception disclosed by the embodiments of the present application are only the preferred embodiments of the present application, and are used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that; the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for determining the optimal viewpoint for ship navigation based on scene awareness, characterized in that, The method includes: When a target vessel has associated maritime objects in the current water area, the positional relationship between the target vessel and the associated maritime objects is determined based on the first position information and first navigation parameter information of the target vessel, the second position information and second position change parameter information of the associated maritime objects, and the volume and area information of the objects. Based on the positional relationship, determine the first monitoring perspective that encompasses the associated water objects in real time corresponding to the target vessel; Based on the determined fixed navigation perspective requirements of the target vessel, a second monitoring perspective of the target vessel is determined, and based on the current navigation scene environment conditions in the water area, a third monitoring perspective of the target vessel is determined. Based on the first monitoring perspective, the second monitoring perspective, and the third monitoring perspective, the optimal monitoring perspective of the target vessel is determined. The optimal monitoring perspective is used to generate a real-time monitoring top view of the target vessel with multiple monitoring dimensions. The multiple monitoring dimensions include one or more combinations of multiple monitoring orientations, multiple monitoring angles, and multiple monitoring distances.

2. The method for determining the optimal viewpoint for ship navigation based on scene awareness according to claim 1, characterized in that, After determining the optimal monitoring perspective of the target vessel based on the first monitoring perspective, the second monitoring perspective, and the third monitoring perspective, the method further includes: Determine whether the optimal monitoring view meets the preset effective view content conditions; When it is determined that the optimal monitoring perspective meets the effective perspective content conditions, the corresponding top view calculation and transformation operation is performed according to the optimal monitoring perspective to obtain the real-time monitoring top view of the target ship. When it is determined that the optimal monitoring view does not meet the conditions for the effective view content, the corresponding invalid view content processing operation is performed according to the optimal monitoring view to obtain reasonable monitoring view content; and a real-time monitoring top view of the target ship is generated according to the reasonable monitoring view content.

3. The method for determining the optimal viewpoint for ship navigation based on scene awareness according to claim 2, characterized in that, The step of performing corresponding invalid view content processing operations based on the optimal monitoring view to obtain reasonable monitoring view content includes: Based on the optimal monitoring angle, determine the corresponding monitoring angle image for each frame; Based on the content of each monitoring view, at least one monitoring view that satisfies the preset content discontinuity condition is determined from all the monitoring view views as conflicting view views. The preset content discontinuity condition includes the condition that the state of objects in the picture does not match. Identify other viewpoints associated with the conflicting viewpoint from all the monitoring viewpoints, and determine whether the conflicting viewpoint and the other viewpoints meet the preset monitoring time matching conditions. When it is determined that the conflicting view and the other view meet the monitoring time matching condition, a first confidence level is determined based on the conflicting view and a second confidence level is determined based on the other view. Based on all the monitoring view, and according to the first confidence level and the second confidence level, corresponding adjustment operations are performed on the conflicting view or the other view to obtain reasonable monitoring view content. When it is determined that the conflicting viewpoint image does not meet the monitoring time matching condition with the other viewpoint images, the rationality of the phenomenon of the change in the state of the object in the picture is determined based on the conflicting viewpoint image; it is then determined whether the rationality is greater than or equal to a preset rationality threshold. When the reasonableness is determined to be greater than or equal to the reasonableness threshold, all the monitoring view images are determined to be reasonable monitoring view content; When the reasonableness is determined to be less than the reasonableness threshold, based on all the monitoring view images, the corresponding processing operation is performed on the conflicting view images to obtain reasonable monitoring view content.

4. The method for determining the optimal viewpoint for ship navigation based on scene awareness according to claim 2, characterized in that, The step of performing corresponding invalid view content processing operations based on the optimal monitoring view to obtain reasonable monitoring view content includes: Based on the optimal monitoring angle, determine the corresponding monitoring angle image for each frame; Based on the content of each monitoring view, at least two monitoring view frames that satisfy the preset content overlap condition are determined from all the monitoring view frames and are used as overlapping view frames. Determine the unique property information corresponding to each overlapping viewpoint image, and analyze the substitutability of each overlapping viewpoint image based on the unique property information of each overlapping viewpoint image. The property information includes one or more of the following: image clarity information, image acquisition device level information, image acquisition device function information, and image special application information. Based on the substitutability of each overlapping viewpoint, determine whether all overlapping viewpoints meet the preset necessary application requirements. When it is determined that all the overlapping viewpoints meet the necessary application requirements, all the monitoring viewpoints are identified as reasonable monitoring viewpoint content. When it is determined that not all of the overlapping viewpoints meet the necessary application requirements, based on all the monitoring viewpoints, the overlapping viewpoints that do not meet the necessary application requirements are replaced or deleted accordingly to obtain reasonable monitoring viewpoint content.

5. The method for determining the optimal viewpoint for ship navigation based on scene awareness according to claim 2, characterized in that, The method further includes: Determine the target vessel and the current monitoring application scenario corresponding to the real-time monitoring top view; Based on the real-time monitoring top view and the current monitoring application scenario, determine whether the optimal monitoring angle meets the preset conditions for adding a new angle. When it is determined that the optimal monitoring view meets the conditions for adding the view, the monitoring view to be added is determined based on the real-time monitoring top view and the current monitoring application scenario. Based on the existing ship monitoring equipment configuration information of the target ship, determine whether the target ship meets the existing configuration implementation conditions for the additional monitoring perspective to be added; When it is determined that the target vessel meets the existing configuration implementation conditions, corresponding update and control operations are performed on the target vessel and the optimal monitoring perspective based on the additional monitoring perspective to be added. When it is determined that the target vessel does not meet the existing configuration implementation conditions, a monitoring equipment configuration addition plan corresponding to the target vessel is generated based on the monitoring perspective to be added; based on the monitoring equipment configuration addition plan, corresponding equipment configuration optimization operations are performed on the target vessel, and corresponding update and control operations are performed on the target vessel and the optimal monitoring perspective.

6. The scene-aware-based ship navigation optimal perspective determination control method according to any one of claims 2-5, characterized in that, The step of determining whether the optimal monitoring view meets the preset valid view content conditions includes: Determine whether the optimal monitoring view meets the preset view content conflict conditions; When it is determined that the optimal monitoring view meets the view content conflict condition, it is determined that the optimal monitoring view does not meet the preset valid view content condition. When it is determined that the optimal monitoring view does not meet the view content conflict condition, the optimal monitoring view is determined to meet the preset valid view content condition. And / or, Determine whether the optimal monitoring view meets the preset overlapping view content conditions; When it is determined that the optimal monitoring view does not meet the overlapping view content conditions, the optimal monitoring view is determined to meet the preset effective view content conditions. When it is determined that the optimal monitoring view meets the overlapping view content conditions, it is determined that the optimal monitoring view does not meet the preset effective view content conditions.

7. The method for determining the optimal viewpoint for ship navigation based on scene awareness according to any one of claims 1-5, characterized in that, The method further includes: Identify other vessels in the current water area where the target vessel is located; Determine the comprehensive functional requirements of the target vessel; based on the comprehensive functional requirements, determine whether the target vessel and the other vessels meet preset real-time tracking and monitoring conditions, and obtain a first determination result; when the first determination result is yes, determine that the target vessel has associated maritime objects in the current maritime area; and / or, Determine the real-time distance between the target vessel and the other vessels; based on the real-time distance, determine whether the target vessel and the other vessels meet a preset distance interval monitoring condition, and obtain a second determination result; when the second determination result is yes, determine that the target vessel has associated maritime objects in the current maritime area; and / or, Determine whether the target vessel and the other vessels belong to the same navigation group to obtain a third determination result; when the third determination result is yes, determine that the target vessel has associated maritime objects in the current water area.

8. A scene-aware-based optimal perspective determination and control system for ship navigation, characterized in that, The system includes: The information determination module is used to determine the positional relationship between the target vessel and the associated water object when the target vessel has associated water objects in the current water area, based on the first position information and first navigation parameter information of the target vessel, the second position information and second position change parameter information of the associated water object, and the object volume and area information. The monitoring perspective determination module is used to determine, based on the positional relationship, the first monitoring perspective corresponding to the target vessel that encompasses the associated water objects in real time. The monitoring perspective determination module is also used to determine a second monitoring perspective of the target vessel based on the determined fixed navigation perspective requirements of the target vessel, and to determine a third monitoring perspective of the target vessel based on the current navigation scene environment conditions of the water area. The optimal viewing angle determination module is used to determine the optimal monitoring angle of the target vessel based on the first monitoring angle, the second monitoring angle, and the third monitoring angle. The optimal monitoring angle is used to generate a real-time monitoring top view of the target vessel with multiple monitoring dimensions. The multiple monitoring dimensions include one or more combinations of multiple monitoring orientations, multiple monitoring angles, and multiple monitoring distances.

9. A scene-aware-based optimal perspective determination and control system for ship navigation, characterized in that, The system includes: Memory containing executable program code; A processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the scene-aware ship navigation optimal perspective determination control method as described in any one of claims 1-7.

10. A computer storage medium, characterized in that, The computer storage medium stores computer instructions, which, when invoked, are used to execute the scene-aware ship navigation optimal perspective determination control method as described in any one of claims 1-7.

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