Unberthing and berthing operation parameter calculation method based on machine vision

Abstract

The invention relates to an unberthing and berthing operation parameter calculation method based on machine vision, comprising the steps as follows: pre-establishing a ship coordinate system, an image coordinate system, a camera coordinate system and a sign source coordinate system, measuring the distance between a ship bow reference point and a ship stern reference point and the distance between a camera installation position and the ship bow reference point, and acquiring the course angle and pitch angle of the camera at the time when the camera images a sign on the shore; calculating the translation vector from the identifier source coordinate system to the camera coordinate system; calculating the euler angles of the ship coordinate system and the sign source coordinate system; calculating unberthing and berthing operation parameters according to the parameters above, judging whether unberthing and berthing operation ends, and if unberthing and berthing operation does not end, calculating the unberthing and berthing operation parameters again until unberthing and berthing operation ends; and if unberthing and berthing operation ends, ending calculation. The method ensures that a sign on the shore can be imaged within a limited camera field-of-view scope, broadens the constraint on the field of view of the camera and the ship-shore pose relation, and improves the accuracy of unberthing and berthing operation parameter calculation. The calculation process is simple, and the calculation burden is low.

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 ...

AI Technical Summary

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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