Detection device for relative 6-DoF motion of two moving vessels

Abstract

The present invention discloses a detection device for relative 6-DoF motion of two moving vessels. The detection device comprises a spreader system provided on a supply vessel, two cameras provided on different positions on the spreader system, an image acquisition and processing apparatus, and a checkerboard mark provided on a supplied vessel. The cameras are disposed on a base of the spreader system by means of a composite support and can swing up and down. Firstly, spatial positions of the two camera are calibrated, then the two cameras perform image shooting on the checkerboard mark at different angles and positions, and the image acquisition and processing apparatus performs stereo correction, stereo matching, depth extraction and three-dimensional posture estimation on image data to calculate relative 6-DoF motion between the spreader system and the suppled vessel. The device provided by the present invention has advantages of high detection precision and good applicability.

Description

technical field [0001] The invention belongs to a detection mechanism for marine replenishment of ships, in particular to a detection device for relative six-degree-of-freedom motion of a two-moving ship. Background technique [0002] In an open ocean environment, due to the effects of sea wind, waves, ocean currents and the influence of the ship's own navigational movement, in operations such as sea replenishment, the relative movement of the two operating equipment will increase the uncertainties of the operation, especially in the size and In the replenishment of heavy containers and guided missile torpedoes, accurate positioning is required to be completed at one time. The relative movement of the two ships will pose a great threat to the safety of maritime operations. Therefore, it must be completed by using tied-up replenishment equipment with wave compensation functions. At present, most of the heave compensation systems involved at home and abroad are passive systems...

AI Technical Summary

Problems solved by technology

In the process of replenishing large-sized cargo such as containers, due to the relative movement between the cargo and the deck with six degrees of freedom, the single-degree-of-freedom replenishment action cannot meet the requirements, so operating equipment with six-degree-of-freedom wave compensation functions is required Achieve resupply goals for cargo such as containers and missile torpedoes

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