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A Calculation Method of Unberthing Operation Parameters Based on Machine Vision

A technology of operating parameters and berthing, which is applied in the field of navigation and navigation, can solve the problems of complex calculations and insufficient calculation accuracy of berthing operation parameters, and achieve the effect of simple calculation process, small calculation amount, and improved calculation accuracy

Active Publication Date: 2019-04-23
CSSC SYST ENG RES INST
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Problems solved by technology

[0005] In view of the above analysis, the present invention aims to provide a machine vision-based calculation method for unberthing operation parameters to solve the problems of insufficient calculation accuracy and complicated calculation of existing unberthing operation parameters

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  • A Calculation Method of Unberthing Operation Parameters Based on Machine Vision
  • A Calculation Method of Unberthing Operation Parameters Based on Machine Vision
  • A Calculation Method of Unberthing Operation Parameters Based on Machine Vision

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Embodiment Construction

[0043] Preferred embodiments of the present invention will be specifically described below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the application and are used together with the embodiments of the present invention to explain the principles of the present invention.

[0044] Such as figure 1 as shown, figure 1 It is a schematic flow chart of the machine vision-based unberthing operation parameter calculation method according to the embodiment of the present invention, which may specifically include the following steps:

[0045] Step 101: Establish hull coordinate system O b -X b Y b Z b , image coordinate system I-XY, camera coordinate system O c -X c Y c Z c and identify the source coordinate system O u -X u Y u Z u .

[0046] The definition of each coordinate system is as follows:

[0047] Hull coordinate system O b -X b Y b Z b : Origin O b At the center of mass of the hull, X b Axis points to t...

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Abstract

The invention relates to a method for calculating parameters of off-berthing operations based on machine vision, which includes: pre-establishing a hull coordinate system, an image coordinate system, a camera coordinate system and an identification source coordinate system, and measuring the distance between a bow reference point and a stern reference point. distance, as well as the distance between the camera installation position and the bow reference point, to obtain the camera heading angle and pitch angle at the moment when the camera is imaging the sign on the shore; calculate the translation vector from the sign source coordinate system to the camera coordinate system; calculate the hull coordinate system and the Euler angle that identifies the source coordinate system; calculate the departure and berthing operation parameters based on the above parameters, and determine whether to end the departure and berthing operation. If not, calculate the departure and berthing operation parameters again until the departure and berthing operation ends; if yes, then End calculation. The invention ensures that shore signs can be imaged within a limited camera field of view, relaxes the constraints on the camera field of view and the ship-shore position and attitude relationship, and improves the accuracy of calculation of off-berthing parameters; the calculation process is simple and the amount of calculation is small .

Description

technical field [0001] The invention relates to the technical field of navigation and navigation, in particular to a method for calculating parameters of unberthing operations based on machine vision. Background technique [0002] With the development of the shipping industry, shipbuilding technology and navigation technology have shown great progress, and the large-scale ship has changed from a trend to a reality. Due to the characteristics of large-scale ships, such as large mass and volume, and difficult operation, they usually need the assistance of tugboats to complete berthing. The berthing angle, ship-to-shore distance and ship-to-shore speed are important parameters in the berthing operation process. The above parameters are calculated in real time through information equipment to provide accurate auxiliary decision-making information for the pilots. An effective way to leave berthing. In recent years, the instruments and equipment used to assist large-scale ships ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F17/50
CPCG06T2207/10141G06Q50/40
Inventor 王清哲赵甲文王宇王玉玺白晓勇
Owner CSSC SYST ENG RES INST
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