A device for computing parameters of unberthing operations based on machine vision

Abstract

The invention relates to an unberthing and berthing operational parameter calculation device based on machine vision. The device comprises an establishment unit, a measurement unit, an acquisition unit, a calculation unit and a judgment unit, wherein the establishment unit is used for pre-establishing a hull coordinate system, an image coordinate system, a camera coordinate system and an identification source coordinate system; the measurement unit is used for measuring the distance between a stem reference point and a stern reference point and the distance between a camera installation position and the stem reference point; the acquisition unit is used for acquiring a camera heading angle and a pitching angle at the moment when a camera images a shore identifier; the calculation unit is used for calculating a translation vector from the identification source coordinate system to the camera coordinate system, calculating Euler angles of the hull coordinate system and the identification source coordinate system, and calculating unberthing and berthing operational parameters according to the above parameters; and the judgment unit is used for judging when an unberthing and berthing operation ends according to the unberthing and berthing operational parameters, till the unberthing and berthing operation ends. The device guarantees that the shore identifier can be imaged within a limited camera view field range, broadens the constraints on camera view field and shore pose relation, and improves the calculation precision of the unberthing and berthing parameters; the calculation process is simple, and the calculation quantity is small.

Description

technical field [0001] The invention relates to the technical field of navigation and navigation, in particular to a machine vision-based computing device for unberthing operation parameters. 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 in berthi...

AI Technical Summary

Problems solved by technology

[0005] In view of the above analysis, the present invention aims to provide a machine vision-based de-berthing operation parameter calculation device to solve the problems of insufficient calculation accuracy and complex calculation of existing de-berthing operation parameters

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