CN113359587B - Ship course angle detection method and device and ship berthing alarm system - Google Patents
Ship course angle detection method and device and ship berthing alarm system Download PDFInfo
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Abstract
The application relates to a ship course angle detection method and device and a ship berthing alarm system. The method comprises the following steps: receiving scanning data output by scanning equipment; the scanning data is obtained by scanning the ship wall close to the wharf side of the ship along the ship length direction through scanning equipment; obtaining coordinate data of a scanning point set on a first coordinate system based on the scanning data; performing data fitting on the coordinate data to obtain a first model; the first coordinate system is a coordinate system established by taking the scanning equipment as an origin; converting the first model to a second model based on a second coordinate system; the second coordinate system is a coordinate system established by taking any point on the plane where the wharf is located as an origin; and obtaining and outputting the course angle of the ship according to the second model. The ship and airplane separation distance detection method and device can be used for effectively detecting the course angle of the ship after berthing fast, greatly improving the detection efficiency and detection precision of the course angle, further being convenient for finding the loosening condition of the ship mooring rope in time, and avoiding the occurrence of safety risks such as collision due to too close ship and airplane separation distance.
Description
Technical Field
The application relates to the technical field of course detection, in particular to a ship course angle detection method and device and a ship berthing alarm system.
Background
When the ship stops at the wharf, the ship is fixed by the mooring rope, so that the ship cannot deviate from the wharf too much. In the actual operation process, receive factors such as tide, stormy waves, boats and ships drainage, loading operation, it is not hard to take place hawser is not hard up by the manual operation of water very easily, is difficult to real-time to the hawser elasticity adjust, this will cause the ship loader when normally operating to boats and ships, appear easily because the not hard up condition of the ship interval too near that causes of hawser, appear collision risk even.
When the cable is loosened, the most obvious embodiment is that the ship course changes and is not parallel to the wharf line any more, so that the situations such as whether the ship sends the cable or not can be judged in an auxiliary way by observing the ship course angle.
In the implementation process, the inventor finds that at least the following problems exist in the conventional technology: the traditional detection method for the course of the ship after berthing is low in accuracy.
Disclosure of Invention
Therefore, it is necessary to provide a method and a device for detecting a ship course angle and a ship berthing alarm system in order to solve the above technical problems.
A ship course angle detection method comprises the following steps:
receiving scanning data output by scanning equipment; the scanning data is obtained by scanning the ship wall close to the wharf side of the ship along the ship length direction through scanning equipment;
obtaining coordinate data of a scanning point set on a first coordinate system based on the scanning data; performing data fitting on the coordinate data to obtain a first model; the first coordinate system is a coordinate system established by taking the scanning equipment as an origin;
converting the first model to a second model based on a second coordinate system; the second coordinate system is a coordinate system established by taking any point on the plane where the wharf is located as an origin;
and obtaining and outputting the course angle of the ship according to the second model.
In one of the embodiments, the first and second electrodes are,
the first coordinate system is a rectangular coordinate system which takes the scanning device as an origin, takes a straight line parallel to the lens of the scanning device as a horizontal axis, and takes a straight line perpendicular to the lens of the scanning device as a vertical axis;
the scanning data is polar coordinate data of a scanning point set on a third coordinate system; the third coordinate system is a polar coordinate system which takes the scanning device as a pole and takes rays parallel to a lens of the scanning device as a polar axis;
obtaining coordinate data of a scanning point set on a first coordinate system based on the scanning data; and fitting data to the coordinate data to obtain a first model, comprising:
converting the polar coordinate data into rectangular coordinate data based on a first coordinate system;
and performing data fitting on the rectangular coordinate data by adopting a least square method to obtain a first model.
In one embodiment, the second coordinate system is a rectangular coordinate system which takes any point on the plane of the wharf as an origin, takes the length direction of the wharf on the plane of the wharf as a transverse axis and takes the width direction of the wharf on the plane of the wharf as a longitudinal axis;
the step of converting the first model into a second model based on a second coordinate system comprises:
obtaining a conversion relation of converting the first coordinate system into the second coordinate system according to the first coordinate system and the second coordinate system;
and processing the first model by adopting the conversion relation to obtain a second model.
In one embodiment, the transverse axis of the first coordinate system, the transverse axis of the second coordinate system and the polar axis of the third coordinate system are all parallel to the wharf line;
and a step of obtaining and outputting a course angle of the ship according to the second model, wherein the step comprises the following steps:
and determining an included angle between the second model and the transverse axis of the second coordinate system as a course angle of the ship, and outputting the course angle.
A ship course angle detection device, comprising:
the data receiving device is used for receiving the scanning data output by the scanning equipment; the scanning data is obtained by scanning the ship wall close to the wharf side of the ship along the ship length direction through scanning equipment;
the first model acquisition device is used for acquiring coordinate data of the scanning point set on a first coordinate system based on the scanning data; performing data fitting on the coordinate data to obtain a first model; the first coordinate system is a coordinate system established by taking the scanning equipment as an origin;
second model obtaining means for converting the first model into a second model based on a second coordinate system; the second coordinate system is a coordinate system established by taking any point on the plane of the wharf as an origin;
and the data output device is used for obtaining and outputting the course angle of the ship according to the second model.
A marine vessel berthing warning system comprising: the system comprises a server, scanning equipment and a ship loader, wherein the scanning equipment and the ship loader are connected with the server; the scanning equipment is used for scanning the ship wall close to the wharf side of the ship; the scanning direction of the scanning equipment is along the ship length direction;
the server is used for executing the steps of the ship course angle detection method; the ship loader is used for receiving the course angle output by the server and giving an alarm prompt under the condition that the course angle is larger than the alarm threshold value.
In one embodiment, the ship loader comprises a control device and an alarm device; the alarm device and the server are both connected with the control device;
the control device receives the course angle and outputs an alarm signal to the alarm device under the condition that the course angle is confirmed to be larger than the alarm threshold value;
and the alarm device carries out alarm prompt under the condition of receiving the alarm signal.
In one embodiment, the alarm device comprises a display unit and a broadcasting unit which are both connected with the control device;
the display unit carries out alarm prompt and displays alarm information under the condition of receiving the alarm signal;
the broadcasting unit carries out voice alarm under the condition of receiving the alarm signal.
In one embodiment, the scanning device is a two-dimensional laser scanner.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method.
One of the above technical solutions has the following advantages and beneficial effects:
this application scans the scan data that obtains through real-time reception scanning equipment to the ship wall that boats and ships are close to the wharf side along the ship length direction, obtain the coordinate data of scanning point set on the first coordinate system that uses scanning equipment to establish as the origin based on scan data to carry out data fitting to coordinate data and obtain first model, convert first model into the second model based on the coordinate system that uses arbitrary one point on the plane of wharf place to establish as the origin, thereby obtain and output the course angle of this boats and ships according to the second model. The ship and airplane separation distance detection method and device can be used for effectively detecting the course angle of the ship after berthing fast, greatly improving the detection efficiency and detection precision of the course angle, further being convenient for finding the loosening condition of the ship mooring rope in time, and avoiding the occurrence of safety risks such as collision due to too close ship and airplane separation distance.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments or the conventional technologies of the present application, the drawings used in the description of the embodiments or the conventional technologies will be briefly introduced below, it is obvious that the drawings in the description below are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic flow chart of a ship course angle detection method in one embodiment;
FIG. 2 is a schematic flow chart diagram illustrating the steps for obtaining a first model in one embodiment;
FIG. 3 is a flowchart illustrating the steps of converting a first model to a second model based on a second coordinate system in one embodiment;
FIG. 4 is a block diagram showing the structure of a ship course angle detection device according to an embodiment;
FIG. 5 is a block diagram of a ship berthing warning system in one embodiment;
FIG. 6 is a top view of a scanning device in one embodiment;
FIG. 7 is a side view of an embodiment of a scanner device in a position;
fig. 8 is a block diagram of a ship berthing warning system in another embodiment.
Detailed Description
To facilitate an understanding of the present application, the present application will now be described more fully with reference to the accompanying drawings. Embodiments of the present application are given in the accompanying drawings. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
It will be understood that, as used herein, the terms "first," "second," and the like may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another.
Spatial relational terms, such as "under," "below," "under," "over," and the like may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements or features described as "below" or "beneath" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary terms "under" and "under" can encompass both an orientation of above and below. In addition, the device may comprise additional orientations (e.g., rotated 90 degrees or other orientations) and the spatial descriptors used herein interpreted accordingly.
It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or be connected to the other element through intervening elements. Further, "connection" in the following embodiments is understood to mean "electrical connection", "communication connection", or the like, if there is a transfer of electrical signals or data between the connected objects.
As used herein, the singular forms "a", "an" and "the" may include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises/comprising," "includes" or "including," etc., specify the presence of stated features, integers, steps, operations, components, parts, or combinations thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof.
In one embodiment, as shown in fig. 1, a method for detecting a heading angle of a ship is provided, which may include:
step 202, receiving scanning data output by a scanning device; the scanning data is obtained by scanning the ship wall close to the wharf side of the ship along the ship length direction through scanning equipment;
step 204, obtaining coordinate data of the scanning point set on a first coordinate system based on the scanning data; performing data fitting on the coordinate data to obtain a first model; the first coordinate system is a coordinate system established by taking the scanning equipment as an origin;
step 206, converting the first model into a second model based on a second coordinate system; the second coordinate system is a coordinate system established by taking any point on the plane where the wharf is located as an origin;
and step 208, obtaining and outputting the course angle of the ship according to the second model.
Wherein, the ship is anchored at the wharf, and each berth has a certain distance; the scanning device can be arranged at a position, close to the middle, of the berth on the wharf along the line, the bollards are avoided, the bollards are located in the middle of the two bollards, a certain included angle can be formed between the plane where the lens of the scanning device is located and the plane where the wharf is located, the inclination angle is limited by the fact that the scanning range is not shielded by the wharf fender, and the scanning device is used for scanning the ship wall, close to the wharf side, of the ship.
Specifically, the scanning data obtained by scanning the ship wall close to the wharf side of the ship along the ship length direction by the scanning equipment is received, so that the coordinate data of the scanning point set on the first coordinate system is obtained, the coordinate system is a coordinate system established by taking the scanning equipment as an origin, and the coordinate data is subjected to data fitting, so that the first model can be obtained, and the first model is taken by taking the scanning equipment as a reference system. And converting the first model into a coordinate system established by taking any point on the plane of the wharf as an origin, namely a second model on a second coordinate system.
The method comprises the steps that scanning data obtained by scanning the ship wall close to the wharf side of a ship along the ship length direction through a receiving scanning device are obtained, coordinate data of a scanning point set on a first coordinate system are obtained based on the scanning data, and data fitting is carried out on the coordinate data to obtain a first model based on the first coordinate system; the first model is converted into a second model based on a second coordinate system, wherein the model uses any point on a plane where the wharf is located as an original point to establish the coordinate system, so that the course angle of the ship is obtained according to the second model.
In one of the embodiments, the first and second electrodes are,
the first coordinate system is a rectangular coordinate system which takes the scanning device as an origin, takes a straight line parallel to the lens of the scanning device as a horizontal axis and takes a straight line perpendicular to the lens of the scanning device as a vertical axis;
the scanning data is polar coordinate data of a scanning point set on a third coordinate system; the third coordinate system is a polar coordinate system which takes the scanning device as a pole and takes rays parallel to a lens of the scanning device as a polar axis;
obtaining coordinate data of a scanning point set on a first coordinate system based on the scanning data; the step 204 of fitting the coordinate data to obtain the first model, as shown in fig. 2, may include:
step 302, converting the polar coordinate data into rectangular coordinate data based on a first coordinate system;
and 304, performing data fitting on the rectangular coordinate data by using a least square method to obtain a first model.
The scanning device can be a two-dimensional laser scanner, and lines (formed by scanning point sets) scanned by the two-dimensional laser scanner are along the ship length direction; the first model may be a straight line equation.
Specifically, the scanning data output by the scanning device may be polar coordinate data, and the definition of a polar coordinate system of the scanning device may be indicated in a manual provided by the scanning device when the scanning device leaves a factory; the scan data may be polar coordinate data of the set of scan points in a third coordinate system having the scanning device as a pole and a ray parallel to a lens of the scanning device as a polar axis. The first coordinate system may be a rectangular coordinate system using the scanning device as an origin, a straight line parallel to the lens of the scanning device as a horizontal axis, and a straight line perpendicular to the lens of the scanning device as a longitudinal axis, and since the origin of the first coordinate system and the pole of the third coordinate system are the same point, polar coordinate data based on the third coordinate system is easily converted into the rectangular coordinate system based on the first coordinate system, and a least square method is adopted to perform data fitting on rectangular coordinate data of a scanning point set on the first coordinate system, and the fitting is a linear equation based on the first coordinate system, so that the scanning point set on the ship wall near the quay side is converted into a linear equation easy to analyze.
The method adopts the least square method to fit the rectangular coordinate data based on the first coordinate system into the first model, so that the scanning point set on the ship wall close to the wharf side is converted into a straight line equation which is visual and easy to analyze, and the analysis on the relation between the ship wall and the wharf along the line is facilitated.
In one embodiment, the second coordinate system is a rectangular coordinate system which takes any point on the plane of the wharf as an origin, takes the length direction of the wharf on the plane of the wharf as a transverse axis and takes the width direction of the wharf on the plane of the wharf as a longitudinal axis;
the step 206 of converting the first model into a second model based on a second coordinate system, as shown in fig. 3, may comprise:
step 402, obtaining a conversion relation of converting the first coordinate system into the second coordinate system according to the first coordinate system and the second coordinate system;
step 502, the first model is processed by adopting a conversion relation to obtain a second model.
Wherein the second model may be a straight line equation.
Specifically, the first coordinate system is a coordinate system established by taking the scanning device as an origin, and the second coordinate system is a coordinate system established by taking any point on the plane where the wharf is located as an origin, so that the first model based on the first coordinate system can be converted into the second model based on the second model according to the conversion relation between the first coordinate system and the second coordinate system, and the relation between the second model and the wharf along the line can be conveniently obtained.
A rectangular coordinate system which takes the scanning device as an origin, takes a straight line parallel to the lens of the scanning device as a horizontal axis and takes a straight line perpendicular to the lens of the scanning device as a vertical axis in a first coordinate system; and under the condition that the second coordinate system takes any point on the plane of the wharf as an origin, the length direction of the plane of the wharf as a transverse axis, the width direction of the wharf as a longitudinal axis and a straight line perpendicular to the plane of the wharf as a vertical axis, firstly determining the coordinate of the origin of the first coordinate system on the second coordinate system, namely determining the coordinate of the scanning equipment on the second coordinate system, wherein the first coordinate system is equivalent to the rotation of the second coordinate system along the transverse axis of the second coordinate system by a certain angle and then performing translation, the rotation angle is an included angle formed by the plane of the lens of the scanning equipment and the plane of the wharf, and the conversion relationship between the first coordinate system and the second coordinate system can be obtained by adding a coordinate translation amount to the rotation matrix. By processing the first model using the transformation relationship between the first coordinate system and the second coordinate system, the linear equation based on the first coordinate system can be quickly transformed into the linear equation based on the second coordinate system.
The linear equation based on the first coordinate system is processed by obtaining a conversion relation between a first coordinate system which takes a scanning device as an origin, a straight line parallel to a lens of the scanning device as a horizontal axis and a straight line perpendicular to the lens of the scanning device as a longitudinal axis and a second coordinate system which takes any point on a plane where a wharf is located as an origin, a length direction of the wharf along the plane where the wharf is located as a horizontal axis and a width direction of the wharf along the plane where the wharf is located as a longitudinal axis, so that the linear equation based on the second coordinate system can be quickly obtained.
In one embodiment, the transverse axis of the first coordinate system, the transverse axis of the second coordinate system and the polar axis of the third coordinate system are all parallel to the wharf line;
the step 208 of obtaining and outputting the heading angle of the ship according to the second model may include:
and determining an included angle between the second model and a horizontal axis of the second coordinate system as a course angle of the ship, and outputting.
Specifically, because the transverse axis of the first coordinate system is a straight line parallel to the lens of the scanning device, the transverse axis of the third coordinate system is a polar axis, and the transverse axis of the first coordinate system and the transverse axis of the third coordinate system are both parallel to the line along the dock, the included angle between the wall of the ship close to the dock side and the dock is equivalent to the included angle between a linear equation based on the first coordinate system and the transverse axis of the first coordinate system; the second coordinate system takes the length direction of the wharf on the plane where the wharf is located as a transverse axis, and the wharf line is generally parallel to the length direction of the wharf, namely the transverse axis of the second coordinate system is parallel to the wharf line, so that the included angle between the linear equation based on the first coordinate system and the transverse axis of the first coordinate system is equal to the included angle between the linear equation based on the second coordinate system and the transverse axis of the second coordinate system; and determining the course angle of the ship after berthing as the included angle between the ship wall close to the wharf side and the wharf of the ship, which is equivalent to the included angle between a linear equation based on the first coordinate system and the transverse axis of the first coordinate system, and is also equivalent to the included angle between a linear equation based on the second coordinate system and the transverse axis of the second coordinate system, so that the included angle between the linear equation based on the second coordinate system and the transverse axis of the second coordinate system is determined as the course angle of the ship, and outputting the course angle.
In the above way, the polar coordinate scanning data based on the third coordinate system is converted into rectangular coordinate data based on the first coordinate system, the rectangular coordinate data is subjected to data fitting by adopting a least square method to obtain a first linear equation based on the first coordinate system, the first linear equation is processed by adopting a conversion relation of converting the first coordinate system into the second coordinate system to obtain a second linear equation, wherein a transverse axis of the first coordinate system, a transverse axis of the second coordinate system and a transverse axis of the third coordinate system are all parallel to a wharf straight line, and an included angle between the second linear equation and the transverse axis of the second coordinate system is determined as a course angle of the ship. The method and the device can realize quick, convenient and effective acquisition of the course angle of the ship after berthing, have high accuracy of the course angle, are convenient for finding the change of the course angle of the ship in time, and avoid the phenomenon that the course of the ship changes when the ship is not found in time, the ship breaks away from a wharf, the distance between ships is too short during the ship loading operation, and the safety risks such as collision of the ship and the like are easy to occur.
It should be understood that although the various steps in the flowcharts of fig. 1-3 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not limited to being performed in the exact order illustrated and, unless explicitly stated herein, may be performed in other orders. Moreover, at least some of the steps in fig. 1-3 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least some of the steps or stages in other steps.
In one embodiment, as shown in fig. 4, there is provided a ship heading angle detecting device, which may include:
a data receiving device 110, configured to receive scan data output by the scanning apparatus; the scanning data is obtained by scanning the ship wall close to the wharf side of the ship along the ship length direction through scanning equipment;
a first model obtaining device 120, configured to obtain coordinate data of the scanning point set on a first coordinate system based on the scanning data; performing data fitting on the coordinate data to obtain a first model; the first coordinate system is a coordinate system established by taking the scanning equipment as an origin;
second model obtaining means 130 for converting the first model into a second model based on a second coordinate system; the second coordinate system is a coordinate system established by taking any point on the plane where the wharf is located as an origin;
and the data output device 140 is used for obtaining and outputting the course angle of the ship according to the second model.
In one of the embodiments, the first and second parts of the device,
the first coordinate system is a rectangular coordinate system which takes the scanning device as an origin, takes a straight line parallel to the lens of the scanning device as a horizontal axis and takes a straight line perpendicular to the lens of the scanning device as a vertical axis;
the scanning data is polar coordinate data of a scanning point set on a third coordinate system; the third coordinate system is a polar coordinate system which takes the scanning device as a pole and takes rays parallel to a lens of the scanning device as a polar axis;
the first model acquisition device is also used for converting the polar coordinate data into rectangular coordinate data based on a first coordinate system; and performing data fitting on the rectangular coordinate data by adopting a least square method to obtain a first model.
In one embodiment, the second coordinate system is a rectangular coordinate system which takes any point on the plane of the wharf as an origin, takes the length direction of the wharf on the plane of the wharf as a horizontal axis, and takes the width direction of the wharf on the plane of the wharf as a vertical axis;
the second model obtaining device is also used for obtaining a conversion relation of converting the first coordinate system into the second coordinate system according to the first coordinate system and the second coordinate system; and processing the first model by adopting the conversion relation to obtain a second model.
In one embodiment, the transverse axis of the first coordinate system, the transverse axis of the second coordinate system and the polar axis of the third coordinate system are all parallel to the wharf line;
and the data output device is also used for determining an included angle between the second model and the horizontal axis of the second coordinate system as a course angle of the ship and outputting the course angle.
For the specific definition of the ship course angle detection device, reference may be made to the definition of the ship course angle detection method above, and details are not described here. All modules in the ship course angle detection device can be completely or partially realized through software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules. It should be noted that, in the embodiment of the present application, the division of the module is schematic, and is only one logic function division, and there may be another division manner in actual implementation.
In one embodiment, as shown in fig. 5, there is provided a ship berthing warning system, which may include: the system comprises a server, scanning equipment and a ship loader, wherein the scanning equipment and the ship loader are connected with the server; the scanning equipment is used for scanning the ship wall close to the wharf side of the ship; the scanning direction of the scanning equipment is along the ship length direction;
the server is used for executing the steps of the ship course angle detection method; the ship loader is used for receiving the course angle output by the server and giving an alarm prompt under the condition that the course angle is confirmed to be larger than an alarm threshold value.
In one particular example, the scanning device may be a two-dimensional laser scanner.
Specifically, as shown in fig. 6 and 7, a two-dimensional laser scanner is installed along a dock of a ship berthing area, and the ship is berthed at the dock with a certain distance between each berth; the two-dimensional laser scanner can be arranged at a position close to the middle of a berth on the edge line of the wharf, avoids the cable piles and is positioned between the two cable piles, and can be installed in an inclined mode, namely a plane where a lens of the two-dimensional laser scanner is located and a plane where the wharf is located can form a certain included angle, and the inclined angle is limited by the fact that a scanning range is not shielded by a wharf fender; the scanning direction is the ship length direction.
The scanning data of the two-dimensional laser scanner can be polar coordinate data of a scanning point set on a third coordinate system; the third coordinate system is a polar coordinate system taking the two-dimensional laser scanner as a pole and taking rays parallel to a lens of the two-dimensional laser scanner as a polar axis; the first coordinate system is a rectangular coordinate system which takes the two-dimensional laser scanner as an original point, takes a straight line parallel to a lens of the two-dimensional laser scanner as a horizontal axis and takes a straight line perpendicular to the lens of the two-dimensional laser scanner as a longitudinal axis; the second coordinate system is a rectangular coordinate system which takes any point on the plane of the wharf as an origin, takes the length direction of the plane of the wharf as a transverse axis and takes the width direction of the wharf as a longitudinal axis, wherein the transverse axis of the first coordinate system, the transverse axis of the second coordinate system and the transverse axis of the third coordinate system are all parallel to the line of the wharf.
After a ship mooring cable is tensioned, a two-dimensional laser scanner is started to scan the ship wall on the ship wharf side, scanning data obtained by scanning can be transmitted into a 5G CPE (Customer Premise Equipment) through the Ethernet, the scanning data is transmitted to a server through the 5G, and then the server correspondingly processes the scanning data to obtain the course angle of the ship and sends the course angle of the ship to a ship loader operating at the position in real time according to production operation information.
And the ship loader compares the course angle with an alarm threshold value under the condition that the course angle output by the server is received, and carries out alarm prompt under the condition that the course angle is confirmed to exceed the alarm threshold value, so as to remind a ship party of carrying out corresponding operation on the mooring rope in time.
This application is passed through scanning device and is scanned boats and ships pier side ship wall, and carry the scanning data to the server, the server handles the course angle of the accurate boats and ships of back shipment machine output, the shipment machine reports to the police under the condition that confirms that boats and ships course angle surpasss the alarm threshold value, thereby this application can be fast, effectively and accurately detect the course angle of boats and ships, and in time discover the change of boats and ships course angle through the warning suggestion of shipment machine, in time discover the not hard up condition of boats and ships hawser, remind the tight cable of ship side, in time adjust the distance between the boats and ships, avoid appearing boats and ships and break away from the pier, the ship-to-airplane interval is too near, incident such as bump, the security that boats and ships leaned on the berth has been improved effectively.
In one of the embodiments, the ship loader may comprise a control device and an alarm device; the alarm device and the server are both connected with the control device;
the control device receives the course angle and outputs an alarm signal to the alarm device under the condition that the course angle is confirmed to be larger than the alarm threshold value;
the alarm device carries out alarm prompt under the condition of receiving the alarm signal.
Specifically, the control device of the ship loader receives the course angle output by the server, compares the course angle with the alarm threshold value, and outputs an alarm signal to the alarm device under the condition that the course angle is confirmed to be larger than the alarm threshold value, so that the alarm device gives an alarm prompt under the condition that the alarm signal is received.
In one embodiment, as shown in fig. 8, the alarm device may include a display unit and a broadcasting unit both connected to the control device;
the display unit carries out alarm prompt and displays alarm information under the condition of receiving the alarm signal;
the broadcasting unit carries out voice alarm under the condition of receiving the alarm signal.
The display unit can be arranged in an operation room of the ship loader and can be a display screen; the broadcast unit may be an alarm horn.
Specifically, when the control device of the ship loader determines that the course angle is larger than the alarm threshold, an alarm signal is output to a display unit through an HMI (Human Machine Interface), and the display unit displays the alarm information on a Human-Machine interaction Interface for alarm prompt; the control device can also output the alarm signal to the broadcasting unit, and the broadcasting unit carries out voice alarm under the condition of receiving the alarm signal, so that the alarm equipment reminds workers of the fact that the course angle of the ship exceeds an alarm threshold value, timely operation is required, and safety risks are avoided.
More than, this application is through the course angle output of the boats and ships that obtains the server for the shipment machine to confirm at the shipment machine that the course angle surpasses under the condition of warning threshold value, to alarm device output alarm signal, and then effectively remind the staff boats and ships skew pier this moment, need in time carry out corresponding operations such as tight cable to boats and ships, avoid appearing the safety risk that the distance is too near and cause between the boats and ships.
In an embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method embodiments.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), for example.
In the description herein, references to "some embodiments," "other embodiments," "desired embodiments," or the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic depictions of the above terms do not necessarily refer to the same embodiment or example.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, and these are all within the scope of protection of the present application. Therefore, the protection scope of the present patent application shall be subject to the appended claims.
Claims (10)
1. A ship course angle detection method is characterized by comprising the following steps:
receiving scanning data output by scanning equipment; the scanning data is obtained by scanning the ship wall close to the wharf side of the ship along the ship length direction through the scanning equipment; the scanning equipment is arranged in the middle of a berth on the wharf edge line;
obtaining coordinate data of a scanning point set on a first coordinate system based on the scanning data; performing data fitting on the coordinate data to obtain a first model; wherein the first coordinate system is a rectangular coordinate system with the scanning device as an origin, a straight line parallel to a lens of the scanning device as a horizontal axis, and a straight line perpendicular to the lens of the scanning device as a vertical axis;
converting the first model to a second model based on a second coordinate system; the second coordinate system is a rectangular coordinate system which takes any point on the plane of the wharf as an origin, takes the length direction of the plane of the wharf as a transverse axis and takes the width direction of the wharf as a longitudinal axis;
obtaining and outputting a course angle of the ship according to the second model;
obtaining coordinate data of a scanning point set on a first coordinate system based on the scanning data; performing data fitting on the coordinate data to obtain a first model, wherein the step comprises the following steps of:
converting the polar coordinate data into rectangular coordinate data based on the first coordinate system;
performing data fitting on the rectangular coordinate data by adopting a least square method to obtain the first model; the scanning data is polar coordinate data of the scanning point set on a third coordinate system; the third coordinate system is a polar coordinate system which takes the scanning device as a pole and takes rays parallel to a lens of the scanning device as a polar axis; and the transverse axis of the first coordinate system, the transverse axis of the second coordinate system and the transverse axis of the third coordinate system are all parallel to the wharf line.
2. The method of claim 1, wherein the step of converting the first model to a second model based on a second coordinate system comprises:
obtaining a conversion relation of converting the first coordinate system into the second coordinate system according to the first coordinate system and the second coordinate system;
and processing the first model by adopting the conversion relation to obtain the second model.
3. The method for detecting the heading angle of the ship according to claim 1, wherein the step of obtaining and outputting the heading angle of the ship according to the second model comprises:
and determining an included angle between the second model and the transverse axis of the second coordinate system as a course angle of the ship, and outputting the course angle.
4. A ship course angle detection device is characterized by comprising:
the data receiving device is used for receiving the scanning data output by the scanning equipment; the scanning data is obtained by scanning the ship wall close to the wharf side of the ship along the ship length direction through the scanning equipment; the scanning equipment is arranged in the middle of a berth on the wharf edge line;
the first model acquisition device is used for acquiring coordinate data of the scanning point set on a first coordinate system based on the scanning data; performing data fitting on the coordinate data to obtain a first model; wherein the first coordinate system is a rectangular coordinate system with the scanning device as an origin, a straight line parallel to a lens of the scanning device as a horizontal axis, and a straight line perpendicular to the lens of the scanning device as a vertical axis;
second model obtaining means for converting the first model into a second model based on a second coordinate system; the second coordinate system is a rectangular coordinate system which takes any point on the plane of the wharf as an origin, takes the length direction of the plane of the wharf as a transverse axis and takes the width direction of the wharf as a longitudinal axis;
the data output device is used for obtaining and outputting the course angle of the ship according to the second model;
the first model acquisition device is further used for converting polar coordinate data into rectangular coordinate data based on the first coordinate system; performing data fitting on the rectangular coordinate data by adopting a least square method to obtain the first model; the scanning data is polar coordinate data of the scanning point set on a third coordinate system; the third coordinate system is a polar coordinate system which takes the scanning device as a pole point and takes rays parallel to a lens of the scanning device as a polar axis; the transverse axis of the first coordinate system, the transverse axis of the second coordinate system and the transverse axis of the third coordinate system are all parallel to the wharf line.
5. The apparatus according to claim 4, wherein the second model obtaining means is further configured to obtain a transformation relation of the first coordinate system to the second coordinate system according to the first coordinate system and the second coordinate system; and processing the first model by adopting the conversion relation to obtain the second model.
6. A marine vessel berthing warning system, comprising: the system comprises a server, scanning equipment and a ship loader, wherein the scanning equipment and the ship loader are connected with the server; the scanning equipment is used for scanning the ship wall on the side, close to the wharf, of the ship; the scanning direction of the scanning equipment is along the ship length direction;
the server is used for executing the steps of the ship course angle detection method as claimed in any one of claims 1 to 3; and the ship loader is used for receiving the course angle output by the server and giving an alarm prompt under the condition that the course angle is confirmed to be larger than an alarm threshold value.
7. A ship berthing alarm system according to claim 6, wherein the loader comprises control means and alarm means; the alarm device and the server are both connected with the control device;
the control device receives the course angle and outputs an alarm signal to the alarm device under the condition that the course angle is confirmed to be larger than the alarm threshold value;
and the alarm device carries out alarm prompt under the condition of receiving the alarm signal.
8. The system of claim 7, wherein the alarm device comprises a display unit and a broadcast unit both connected to the control device;
the display unit carries out alarm prompt and displays alarm information under the condition of receiving the alarm signal;
and the broadcasting unit carries out voice alarm under the condition of receiving the alarm signal.
9. A watercraft docking warning system according to any one of claims 6 to 8 wherein the scanning device is a two dimensional laser scanner.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 3.
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