Ship course angle detection method and device and ship berthing alarm system

Abstract

The invention 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, wherein the scanning data is obtained by scanning the ship wall, close to the wharf side, of the ship in the length direction of the ship through scanning equipment; 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; wherein the first coordinate system is a coordinate system established by taking the scanning equipment as an original point; converting the first model into a second model based on a second coordinate system; wherein the second coordinate system is a coordinate system established by taking any point on the plane where the wharf is located as an original point; and obtaining and outputting the course angle of the ship according to the second model. According to the method, the course angle of the ship after berthing can be rapidly and effectively detected, the detection efficiency and the detection precision of the course angle are greatly improved, then the situation that the ship cable is loosened can be conveniently found in time, and the safety risks such as collision caused by too close ship and machine distance are avoided.

Description

technical field [0001] The present 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 technique [0002] When the ship is docked at the dock, the ship is fixed by the cable to ensure that the ship does not deviate too much from the dock. In the actual operation process, affected by factors such as tide, wind and waves, ship drainage, loading operations, etc., it is easy to loose the cable. The cable tightening operation is manually performed by the sailor, and it is difficult to adjust the tightness of the cable in real time. When the machine is working on the ship normally, it is prone to the situation that the distance between the ship and the machine is too close due to loose cables, and even the risk of collision may occur. [0003] When the cable is loose, the most obvious manifestation is that the course of the ship changes and is no longer parall...

AI Technical Summary

Problems solved by technology

In the actual operation process, affected by factors such as tide, wind and waves, ship drainage, loading operations, etc., it is easy to loose the cable. The cable tightening operation is manually performed by the sailor, and it is difficult to adjust the tightness of the cable in real time. When the machine is working on the ship normally, it is easy to cause the distance between the ship and the machine to be too close due to loose cables, and even the risk of collision

[0003]When the cable is loose, the most obvious manifestation is that the course of the ship has changed and is no longer parallel to the pier line. Therefore, the observation of the course angle of the ship can be used to assist in judgment Whether the ship is sending cables, etc. Although the ship is generally equipped with a compass to detect the ship's heading, the accuracy of the compass used on different ships is different. Many ships have low heading accuracy and cannot effectively detect the heading. From the port From the perspective of square operations, it is necessary to find a more effective way to effectively detect the course of the ship after berthing

[0004] During the implementation process, the inventor found that there are at least the following problems in the traditional technology: the traditional method of detecting the course of the ship after berthing is of low accuracy

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