CN106097235B - It is a kind of based on machine vision from berthing job parameter calculation method - Google Patents
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Abstract
The present invention relates to a kind of based on machine vision from berthing job parameter calculation method, it include: to pre-establish hull coordinate system, image coordinate system, camera coordinate system and mark source coordinate system, stem reference point is measured at a distance from ship stern reference point, and camera installation site obtains the camera course angle and pitch angle that imaging moment is identified on camera opposite bank at a distance from stem reference point；Calculate the translation vector of mark source coordinate system to camera coordinate system；It calculates hull coordinate system and identifies the Eulerian angles of source coordinate system；It is calculated according to above-mentioned parameter from berthing job parameter, judges whether to terminate, if not, calculating from berthing job parameter again, to terminate until from berthing operation from berthing operation；If it is, terminating to calculate.The present invention guarantees that mark can be imaged in limited camera field range on the bank, relax the constraint to camera visual field, ship-to-shore position orientation relation, improve from berthing parameter calculation precision；Calculating process is simple, and operand is small.
Description
Technical field
The present invention relates to marine navigation technical field more particularly to it is a kind of by machine vision from berthing job parameter based on
Calculation method.
Background technique
With the development of shipping business, the progress across property is presented in shipbuilding technology and naval technology, and the enlargement of ship is
Reality is changed by a kind of trend.The features such as because of large ship quality and volume big, not easy to operate, it usually needs the assistance of tugboat
It could complete from berthing.Entering to moor angle, ship-to-shore distance and ship-to-shore speed is to pass through information from the important parameter of berthing operation process
Change equipment to calculate above-mentioned parameter in real time, provide accurate decision-making assistant information to drive the person of inducing one, is efficient, application solutions
Effective way of the large ship from berthing.In recent years, for assisting instrument and equipment of the large ship from berthing operation to obtain quickly
Development, making to drive the person of inducing one, set berthing develops to and utilizes sophisticated equipment digital quantitative berthing by feel by rule of thumb from past pure.
It is divided from working principle, laser can be divided into from berthing operating equipment and defend diversion berthing from berthing operating equipment, difference
Operating equipment, optics are from berthing operating equipment.Laser from berthing operating equipment and difference defend diversion berthing operating equipment development compared with
For maturation, it is widely applied in harbour, ship.Optics utilizes the particularity of day blind ultraviolet band from berthing operating equipment, can
It uses under the bad weather condition of the visibility such as rain, mist, has gradually developed in recent years.
Currently, optics includes: first is that not while considering to join from berthing operation from main problem existing for berthing operating equipment
Several coupled relations with camera course angle and pitch angle, when mark is in viewing field of camera edge on the bank, it is difficult to pass through multiple dimensions
Degree is adjusted camera angle, affects the image quality identified in viewing field of camera on the bank, reduces and joins from berthing operation
Number calculation accuracy；Second is that being identified using antarafacial, complicated from berthing job parameter calculation method, operand is larger.
Summary of the invention
In view of above-mentioned analysis, the present invention is intended to provide it is a kind of based on machine vision from berthing job parameter calculating side
Method, to solve the problems, such as that existing inadequate from berthing job parameter calculation accuracy and operation is complicated.
The purpose of the present invention is mainly achieved through the following technical solutions:
The present invention provides a kind of based on machine vision from berthing job parameter calculation method, comprising:
Pre-establish hull coordinate system Ob-XbYbZb, image coordinate system I-XY, camera coordinate system Oc-XcYcZcIt is sat with mark source
Mark system Ou-XuYuZu；
Measurement stem reference point is with ship stern reference point distance L and camera installation site at a distance from stem reference point
Lc；
Obtain the camera course angle ρ and pitch angle δ that imaging moment is identified on camera opposite bank；
Calculate mark source coordinate system Ou-XuYuZuTo camera coordinate system Oc-XcYcZcTranslation vector [Tx Ty Tz]T；
Calculate hull coordinate system Ob-XbYbZbWith mark source coordinate system Ou-XuYuZuEulerian angles
It is calculated according to above-mentioned parameter from berthing job parameter, judges whether to terminate from berthing operation, if not, reacquiring
The camera course angle ρ and pitch angle δ of imaging moment are identified on camera opposite bank, again from the calculating of berthing job parameter, until from leaning on
Pool operation terminates；If it is, terminating to calculate.
Further, described to include: from berthing job parameter
Enter to moor angle beta, stem and water front distance LB, ship stern and water front distance LS, lateral velocity V of the stem relative to water frontB、
Lateral velocity V of the ship stern relative to water frontS。
Further, it calculates according to the following formula from berthing job parameter:
LB=Tx cosρ+Ty sinρsinδ+Tz sinρcosδ-Lc sinβ
LS=LB+Lsinβ
Further, mark source coordinate system O is calculatedu-XuYuZuTo camera coordinate system Oc-XcYcZcTranslation vector [Tx Ty
Tz]TProcess specifically include:
According to image coordinate system I-XY and camera coordinate system Oc-XcYcZcDefinition, pass through camera calibration obtain image principal point
(Cx,Cy), lateral equivalent focal length Fx, longitudinal equivalent focal length Fy；
Calculate pose intermediate variable e1、e3、e4、e6、e7；
According to image principal point (Cx,Cy), lateral equivalent focal length Fx, longitudinal equivalent focal length FyAnd pose intermediate variable, it calculates
Calculate mark source coordinate system Ou-XuYuZuTo camera coordinate system Oc-XcYcZcTranslation vector [Tx Ty Tz]T。
Further, hull coordinate system O is calculatedb-XbYbZbWith mark source coordinate system Ou-XuYuZuEulerian anglesProcess specifically include:
θ=sin-1[(r6sinδ+r2cosδ)cosρ-r4sinρ]
Wherein, r1、r2、r3、r4、r5、r6It is determined by following formula:
r1=e7Tz
r2=e8Tz
The present invention has the beneficial effect that:
The present invention guarantees that mark can be imaged in limited camera field range on the bank, relax to camera visual field, ship
The constraint of bank position orientation relation is improved from berthing parameter calculation precision；Calculating process is simple, and operand is small.
Other features and advantages of the present invention will illustrate in the following description, also, partial become from specification
It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention can be by written explanation
Specifically noted structure is achieved and obtained in book, claims and attached drawing.
Detailed description of the invention
Attached drawing is only used for showing the purpose of specific embodiment, and is not to be construed as limiting the invention, in entire attached drawing
In, identical reference symbol indicates identical component.
Fig. 1 is the flow diagram of present invention method；
Fig. 2 is the schematic diagram from berthing working scene in the method for the embodiment of the present invention.
Specific embodiment
Specifically describing the preferred embodiment of the present invention with reference to the accompanying drawing, wherein attached drawing constitutes the application a part, and
Together with embodiments of the present invention for illustrating the principle of the present invention.
As shown in FIG. 1, FIG. 1 is described in the embodiment of the present invention based on machine vision from berthing job parameter calculation method
Flow diagram can specifically include the following steps:
Step 101: establishing hull coordinate system Ob-XbYbZb, image coordinate system I-XY, camera coordinate system Oc-XcYcZcAnd mark
Source coordinate system Ou-XuYuZu。
Each coordinate system is defined as follows:
Hull coordinate system Ob-XbYbZb: origin ObPositioned at hull mass center, XbAxis is directed toward the starboard of ship, YbAxis is directed toward stem,
ZbAxis is upward perpendicular to deck level, with XbAxis and YbAxis constitutes right-handed coordinate system.
Image coordinate system I-XY: origin I is located at the upper left angle point of image, and X-axis is directed toward the right side in the horizontal direction, and Y-axis is along vertical
Under direction is directed toward.
Camera coordinate system Oc-XcYcZc: origin OcPositioned at camera optical center, XcAxis and YcAxis respectively with the X-axis of image coordinate system
It is parallel with Y-axis, ZcAxis is vertical with flat image along camera optical axis.
Mark source coordinate system Ou-XuYuZu: origin OuPositioned at berth reference point, XuAxis is perpendicular to wharf apron line, with berthing
Direction is consistent, ZuIt is upward perpendicular to quay surface, YuIt is determined by right-handed coordinate system.
Step 102: according to step 101 about image coordinate system I-XY and camera coordinate system Oc-XcYcZcDefinition, pass through
Camera calibration obtains image principal point (Cx,Cy), lateral equivalent focal length Fx, longitudinal equivalent focal length Fy。
Wherein, Cx、Cy、FxAnd FyIt is positive real number.
Step 103: according to step 101 about mark source coordinate system Ou-XuYuZuDefinition, obtain Ou-YuZuIt is each in plane
A mark PiCoordinate (0 y of (i=1,2,3 ..., n)i zi)T。
Wherein, n is mark number, is positive integer and is not less than 4；yi、zi(i=1,2,3 ..., n) it is positive real number.
Step 104: measurement stem reference point is referred to ship stern reference point distance L and camera installation site and stem
The distance L of pointc。
Wherein, L and LcIt is positive real number.
Step 105: obtaining the camera course angle ρ and pitch angle δ that imaging moment is identified on camera opposite bank.
Wherein, ρ indicates the angle of camera optical axis and north orientation, and it is 0 when optical axis is overlapped with north orientation that value, which is 0≤ρ <, 2 π,
It rotates clockwise and is gradually increased；δ indicates the angle of camera optical axis and horizontal plane, and value isIt is positive upwards.
Step 106: to each mark Pi(i=1,2,3 ..., n) picpointed coordinate in the picture extracts, are denoted as
Wherein,WithIt is positive real number.
Step 107: to pose intermediate variable e1、e2、e3、e4、e5、e6、e7、e8It is calculated, divides the following two kinds situation:
(I) when mark source number is 4, i.e., when n=4 in step 103, e1、e2、e3、e4、e5、e6、e7、e8Using formula
(1) it is calculated:
Wherein, yi、zi、It is determined by step 103 and step 106.
(II) when mark source number is greater than 4, i.e., when n > 4 in step 3, e1、e2、e3、e4、e5、e6、e7、e8Using formula
(2) it is calculated:
In formula, yi、zi、It is determined by step 103 and step 106, in subsequent meter
In calculation, e is only used1、e3、e4、e6、e7This five amounts.
Step 108: calculating mark source coordinate system Ou-XuYuZuTo camera coordinate system Oc-XcYcZcTranslation vector [Tx Ty
Tz]T, calculation formula is as follows:
Wherein, e1、e3、e4、e6、e7It is determined by step 106, Cx、Cy、Fx、FyIt is determined by step 102.
Step 109: calculating hull coordinate system Ob-XbYbZbWith mark source coordinate system Ou-XuYuZuEulerian anglesCalculation formula is as follows:
θ=sin-1[(r6sinδ+r2cosδ)cosρ-r4sinρ] (6)
Wherein, r1、r2、r3、r4、r5、r6It is determined by following formula:
r1=e7Tz (9)
r2=e8Tz (10)
Step 110: calculating from berthing job parameter, including enter to moor angle beta, stem and water front distance LB, ship stern and water front away from
From LS, lateral velocity V of the stem relative to water frontB, lateral velocity V of the ship stern relative to water frontS, calculation formula is as follows:
LB=Tx cosρ+Ty sinρsinδ+Tz sinρcosδ-Lc sinβ (16)
LS=LB+Lsinβ (17)
Wherein, L and LcIt is determined by step 4, ρ and δ are determined by step 5, Tx、Ty、TzIt is determined by step 8,By step
109 determine.
Step 111: being completed after being calculated for the first time from berthing job parameter by step 101 to step 110, judge whether to tie
Beam (with a distance from stem and water front, when ship stern and water front distance are zero, terminates from berthing operation) from berthing operation, if not,
Following instant is carried out back to step 105 to calculate from berthing job parameter；If it is, terminating to calculate.
Embodiment the method to facilitate the understanding of the present invention will be illustrated below with a specific example.
As shown in Fig. 2, Fig. 2 is the schematic diagram in this example from berthing working scene, camera 1 is mounted on the starboard of ship,
Shooting angle is adjusted by rotary head, and camera 1 is Polaroid every mark progress on 1 second opposite bank, from berthing job parameter
Renewal frequency is 1Hz, and ship comes into effect starboard berthing from stationary state, and initial time stem reference point 2 is with water front distance
16.2 meters, ship stern reference point 3 and water front distance are 29.3 meters.
Based on scene shown in Fig. 2, can specifically include from the process of berthing operation:
Step 1: establishing hull coordinate system Ob-XbYbZb, image coordinate system I-XY, camera coordinate system Oc-XcYcZcAnd mark
Source coordinate system Ou-XuYuZu.Each coordinate system is defined as follows:
Hull coordinate system Ob-XbYbZb: origin ObPositioned at hull mass center, XbAxis is directed toward the starboard of ship, YbAxis is directed toward stem,
ZbAxis is upward perpendicular to deck level, with XbAxis and YbAxis constitutes right-handed coordinate system.
Image coordinate system I-XY: origin I is located at the upper left angle point of image, and X-axis is directed toward the right side in the horizontal direction, and Y-axis is along vertical
Under direction is directed toward.
Camera coordinate system Oc-XcYcZc: origin OcPositioned at camera optical center, XcAxis and YcAxis respectively with the X-axis of image coordinate system
It is parallel with Y-axis, ZcAxis is vertical with flat image along camera optical axis.
Mark source coordinate system Ou-XuYuZu: origin OuPositioned at berth reference point, XuAxis is perpendicular to wharf apron line, with berthing
Direction is consistent, ZuIt is upward perpendicular to quay surface, YuIt is determined by right-handed coordinate system.
Step 2: according to step 1 about image coordinate system I-XY and camera coordinate system Oc-XcYcZcDefinition, pass through picture
Machine calibration obtains image principal point (Cx,Cy), lateral equivalent focal length Fx, longitudinal equivalent focal length Fy。
Wherein, Cx、Cy、FxAnd FyIt is positive real number.
In the present embodiment, CxAnd CyIt is 300 pixels, FxAnd FyIt is 200 pixels.
Step 3: according to step 1 about mark source coordinate system Ou-XuYuZuDefinition, obtain Ou-YuZuIt is each in plane
Identify PiCoordinate (0 y of (i=1,2,3 ..., n)i zi)T。
Wherein, n is mark number, is positive integer and is not less than 4；yi、zi(i=1,2,3 ..., n) it is positive real number.
In the present embodiment, n=4；y1=2 meters, z1=1 meter；y2=3 meters, z2=6 meters；y3=6 meters, z3=5 meters；y4=7
Rice, z4=2 meters.
Step 4: measurement stem reference point 2 and 3 distance L of ship stern reference point and camera installation site and stem refer to
The distance L of point 1c。
Wherein, L and LcIt is positive real number.
In the present embodiment, L=150 meters, Lc=50 meters.
Step 5: obtaining the camera course angle ρ and pitch angle δ for identifying imaging moment on camera opposite bank.
Wherein, ρ indicates the angle of camera optical axis and north orientation, and it is 0 when optical axis is overlapped with north orientation that value, which is 0≤ρ <, 2 π,
It rotates clockwise and is gradually increased；δ indicates the angle of camera optical axis and horizontal plane, and value isIt is positive upwards.
In the present embodiment, ρ=85 °, δ=0.
Step 6: to each mark Pi(i=1,2,3 ..., n) picpointed coordinate in the picture extracts, are denoted as
Wherein,WithIt is positive real number.
In the present embodiment,Pixel,Pixel；Pixel,Pixel；Pixel,Pixel；Pixel,Pixel.
Step 7: to pose intermediate variable e1、e2、e3、e4、e5、e6、e7、e8It is calculated, divides the following two kinds situation:
(I) when mark source number is 4, i.e., when n=4 in step 3:
Wherein, yi、zi、It is determined by step 3 and step 6.
(II) when mark source number is greater than 4, i.e., when n > 4 in step 3:
In formula, yi、zi、It is determined by step 3 S6 and step 6 S9.
In this example, it is calculated using the method for (I), e1=-20, e2=0, e3=2700, e4=0, e5=-20,
e6=1500, e7=0, e8=0.
Step 8: calculating mark source coordinate system Ou-XuYuZuTo camera coordinate system Oc-XcYcZcTranslation vector [Tx Ty Tz]T,
Calculation formula is as follows:
Wherein, e1、e3、e4、e6、e7It is determined by step 6, Cx、Cy、Fx、FyIt is determined by step 2.
In this example, T is calculated to obtain by formula (22)-formula (24)x=120 meters, Ty=60 meters, Tz=10 meters.
Step 9: calculating hull coordinate system Ob-XbYbZbWith mark source coordinate system Ou-XuYuZuEulerian angles
Calculation formula is as follows:
θ=sin-1[(r6sinδ+r2cosδ)cosρ-r4sinρ] (25)
Wherein, r1、r2、r3、r4、r5、r6It is determined by following formula:
r1=e7Tz (28)
r2=e8Tz (29)
In the present embodiment, θ=0 is calculated to obtain by formula (25)-formula (33), γ=0,
Step 10: calculating from berthing job parameter, including enter to moor angle beta, stem and water front distance LB, ship stern and water front distance
LS, lateral velocity V of the stem relative to water frontB, lateral velocity V of the ship stern relative to water frontS, calculation formula is as follows:
LB=Tx cosρ+Ty sinρsinδ+Tz sinρcosδ-Lc sinβ (35)
LS=LB+Lsinβ (36)
Wherein, L and LcIt is determined by step 4, ρ and δ are determined by step 5, Tx、Ty、TzIt is determined by step 8,By step 9
It determines.
In the present embodiment, β=5 °, L are calculated to obtain through formula (34)-formula (38)B=16.06 meters, LS=29.14 meters, VB=
0.14 meter per second, VS=0.16 meter per second.
Step 11: completing after calculating from berthing job parameter for the first time by step 1 to step 10, judge whether to tie
Beam calculates if not, carrying out following instant back to step 5 from berthing job parameter from berthing operation；If it is, terminating
It calculates.
In conclusion the embodiment of the invention provides a kind of based on machine vision from berthing job parameter calculation method,
First is that considering the coupled relation from berthing job parameter and camera course angle and pitch angle, allow from hand in berthing operation process
Dynamic or adjust automatically camera angle guarantees that mark can be imaged in limited camera field range on the bank, relax to camera
The constraint of visual field, ship-to-shore position orientation relation is improved from berthing parameter calculation precision；Second is that giving based on four and four or more
Coplanar mark source from berthing job parameter calculation method, calculating process is simple, and operand is small, reduces real-time operation to calculating
The requirement of machine resource.
It will be understood by those skilled in the art that realizing all or part of the process of above-described embodiment method, meter can be passed through
Calculation machine program is completed to instruct relevant hardware, and the program can be stored in computer readable storage medium.Wherein, institute
Stating computer readable storage medium is disk, CD, read-only memory or random access memory etc..
Although the present invention and its advantage has been described in detail it should be appreciated that without departing from by the attached claims
Defined by can carry out various changes, substitution and transformation in the case where the spirit and scope of the present invention.Moreover, the model of the application
Enclose the specific embodiment for being not limited only to process, equipment described in specification, means, method and steps.In the art is common
Technical staff is from the disclosure it will be readily understood that execution and corresponding reality described herein can be used according to the present invention
Apply the essentially identical function of example or process that obtain the result essentially identical with it, that existing and future is to be developed, equipment,
Means, method or step.Therefore, the attached claims purport includes such process, equipment, hand in the range of them
Section, method or step.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.
Claims (5)
1. it is a kind of based on machine vision from berthing job parameter calculation method characterized by comprising
Pre-establish hull coordinate system Ob-XbYbZb, image coordinate system I-XY, camera coordinate system Oc-XcYcZcWith mark source coordinate system
Ou-XuYuZu；
Measure stem reference point and ship stern reference point distance L and camera installation site and stem reference point distance Lc；
Obtain the camera course angle ρ and pitch angle δ that imaging moment is identified on camera opposite bank；
Calculate mark source coordinate system Ou-XuYuZuTo camera coordinates system Oc-XcYcZcTranslation vector [Tx Ty Tz]T；
Calculate hull coordinate system Ob-XbYbZbWith mark source coordinate system Ou-XuYuZuEulerian angles
According to described L, Lc、ρ、δ、[Tx Ty Tz]T(θ γ φ)TIt calculates from berthing job parameter, judges whether to terminate from leaning on
Moor operation, if not, reacquire camera opposite bank on identify imaging moment camera course angle ρ and pitch angle δ, carry out again from
Berthing job parameter calculates, and terminates until from berthing operation；If it is, terminating to calculate.
2. the method according to claim 1, wherein described include: from berthing job parameter
Enter to moor angle beta, stem and water front distance LB, ship stern and water front distance LS, lateral velocity V of the stem relative to water frontB, ship stern
Lateral velocity V relative to water frontS。
3. according to the method described in claim 2, it is characterized in that, being calculated according to the following formula from berthing job parameter:
LB=Txcosρ+Tysinρsinδ+Tzsinρcosδ-Lcsinβ
LS=LB+Lsinβ
4. the method according to claim 1, wherein calculating mark source coordinate system Ou-XuYuZuTo camera coordinates system
Oc-XcYcZcTranslation vector [Tx Ty Tz]TProcess specifically include:
According to image coordinate system I-XY and camera coordinates system Oc-XcYcZcDefinition, pass through camera calibration obtain image principal point (Cx,
Cy), lateral equivalent focal length Fx, longitudinal equivalent focal length Fy；
Calculate pose intermediate variable e1、e3、e4、e6、e7；
According to image principal point (Cx,Cy), lateral equivalent focal length Fx, longitudinal equivalent focal length FyAnd pose intermediate variable, calculate mark
Source coordinate system Ou-XuYuZuTo camera coordinates system Oc-XcYcZcTranslation vector [Tx Ty Tz]T。
5. according to the method described in claim 4, it is characterized in that, calculating hull coordinate system Ob-XbYbZbWith mark source coordinate system
Ou-XuYuZuEulerian anglesProcess specifically include:
θ=sin-1[(r6sinδ+r2cosδ)cosρ-r4sinρ]
Wherein, r1、r2、r3、r4、r5、r6It is determined by following formula:
r1=e7Tz
r2=e8Tz
Wherein, e2、e5、e8For pose intermediate variable.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1384647A (en) * | 1972-05-11 | 1975-02-19 | Jones Healy Marine Ltd | Navigation aid |
| JP2005180949A (en) * | 2003-12-16 | 2005-07-07 | Tama Tlo Kk | Automatic berthing system for vessel |
| CN101162147A (en) * | 2007-11-27 | 2008-04-16 | 哈尔滨工程大学 | Marine fiber optic gyroscope attitude heading reference system mooring extractive alignment method under the large heading errors |
-
2016
- 2016-06-15 CN CN201610424345.9A patent/CN106097235B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1384647A (en) * | 1972-05-11 | 1975-02-19 | Jones Healy Marine Ltd | Navigation aid |
| JP2005180949A (en) * | 2003-12-16 | 2005-07-07 | Tama Tlo Kk | Automatic berthing system for vessel |
| CN101162147A (en) * | 2007-11-27 | 2008-04-16 | 哈尔滨工程大学 | Marine fiber optic gyroscope attitude heading reference system mooring extractive alignment method under the large heading errors |
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