Method and device for detecting a ship

Abstract

The application provides a detection method and device for a ship. A laser radar is installed at a preset position on the ship. The laser radar emits a plurality of test signals at different angles so that a detection range formed by the plurality of test signals covers a target area around the ship. The method comprises the following steps: determining a draught height value of the ship; determining a detection blind area value of the laser radar; determining a detection angle control value of the laser radar based on the draught height value and the detection blind area value; and controlling the laser radar to rotate to the detection angle control value. The detection method and device can automatically adjust the detection angle of the laser radar according to the draught of the ship, thereby improving the safety of the ship.

Description

Technical Field

[0001] This application relates to the technical field of large ocean-going intelligent ships, and more specifically, to a detection method and device for ships. Background Technology

[0002] Currently, lidar is an essential sensor for intelligent vehicles, typically mounted fixedly on the vehicle's chassis. LiDAR is a radar system that detects the position, velocity, and other characteristics of a target by emitting a laser beam. Its working principle involves sending a detection signal (laser beam) towards the target and comparing the received signal reflected back from the target with the emitted signal to obtain relevant target information. With the development of intelligent ships, lidar is increasingly being used in the marine field as a short-range target detection sensor. However, the fixed mounting method used for lidar is not suitable for the operating conditions of ships. Summary of the Invention

[0003] In view of this, the purpose of this application is to provide a detection method and apparatus for ships to overcome at least one of the above-mentioned defects.

[0004] This application provides a detection method for ships, in which a lidar is installed at a preset position on the ship. The lidar emits multiple test signals at different angles so that the detection range formed by the multiple test signals covers the target area around the ship. The method includes: determining the draft of the ship; determining the detection blind zone value for the lidar; determining the detection angle control value of the lidar based on the draft and the detection blind zone value; and controlling the lidar to rotate to the detection angle control value.

[0005] In one possible embodiment, the vessel is also equipped with a liquid level telemetry sensor, wherein the step of determining the vessel's draft includes: acquiring the vessel's draft from the liquid level telemetry sensor.

[0006] In one possible embodiment, the step of determining the detection blind zone value for the lidar includes at least one of the following steps: determining the detection blind zone value for the lidar based on user input; determining the detection blind zone value for the lidar based on the navigation area where the ship is located; and determining the detection blind zone value for the lidar based on a switching operation for ship detection needs.

[0007] In one possible embodiment, the step of determining the detection blind zone value for the lidar based on the navigation area where the ship is located includes: if the navigation area where the ship is located belongs to a dock area, then a first blind zone value is determined as the detection blind zone value for the lidar, wherein the dock area refers to an area within a preset range from the dock; if the navigation area where the ship is located does not belong to a dock area, then a second blind zone value is determined as the detection blind zone value for the lidar, wherein the second blind zone value is greater than the first blind zone value.

[0008] In one possible embodiment, the ship is equipped with multiple adjustment gears, each with a different blind zone setting value. The switching operation includes a selection operation for a target adjustment gear. The step of determining the detection blind zone value for the lidar based on the switching operation for the ship's detection needs includes: receiving a selection operation for a target adjustment gear; and determining the blind zone setting value corresponding to the target adjustment gear as the detection blind zone value for the lidar based on the selection operation.

[0009] In one possible embodiment, the step of determining the detection angle control value of the lidar based on the draft value and the detection blind zone value includes: determining the vertical height value of the lidar according to the installation height value of the lidar on the ship and the draft value; calculating the ratio of the detection blind zone value to the vertical height value; and determining the arctangent function value of the ratio as the detection angle control value of the lidar.

[0010] In one possible embodiment, the lidar is mounted on the ship at the preset position via a bracket. The mounting height is the sum of the ship's hull height and the bracket height. The ship's hull height refers to the height from the bottom hull of the ship to the ship's deck. The bracket height refers to the height from the ship's deck to the mounting position on the bracket. The mounting position is the location where the lidar is mounted on the bracket. The vertical height is the difference between the mounting height and the draft.

[0011] In one possible embodiment, the bracket includes a support portion and a rotating portion. One end of the support portion is mounted at the preset position on the ship, and the lidar is connected to the other end of the support portion through the rotating portion. The step of controlling the lidar to rotate to the detection angle control value includes: controlling the lidar to rotate to the detection angle control value by controlling the rotation of the rotating portion connected to the lidar.

[0012] In one possible embodiment, the lidar includes multiple lidars, each with a different detection angle control value.

[0013] This application embodiment also provides a detection device for a ship, in which a lidar is installed at a preset position on the ship. The lidar emits multiple test signals at different angles so that the detection range formed by the multiple test signals covers the target area around the ship. The device includes: a draft determination module for determining the draft height of the ship; a blind zone determination module for determining the detection blind zone value for the lidar; a detection determination module for determining the detection angle control value of the lidar based on the draft height value and the detection blind zone value; and a rotation control module for controlling the lidar to rotate to the detection angle control value.

[0014] The detection method and apparatus for ships provided in this application, compared with the prior art, can automatically adjust the detection angle of the lidar according to the ship's draft, thereby improving the safety of ship navigation.

[0015] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A flowchart illustrating the ship detection method provided in an embodiment of this application is shown;

[0018] Figure 2 This diagram illustrates the scanning area of ​​a lidar system when the ship is fully loaded.

[0019] Figure 3 This diagram illustrates the scanning area of ​​a lidar system when the ship is lightly loaded.

[0020] Figure 4 A flowchart illustrating the steps for determining the detection angle control value of a lidar according to an embodiment of this application;

[0021] Figure 5 A schematic diagram of the structure of the detection device for ships provided in the embodiments of this application is shown;

[0022] Figure 6 This diagram illustrates the structure of the electronic device provided in an embodiment of this application. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. Based on the embodiments of this application, every other embodiment obtained by those skilled in the art without inventive effort falls within the scope of protection of this application.

[0024] Currently, lidar is an essential sensor for intelligent vehicles, typically mounted fixedly on the vehicle's chassis. LiDAR is a radar system that detects the position, velocity, and other characteristics of a target by emitting a laser beam. Its working principle involves sending a detection signal (laser beam) towards the target and comparing the received signal reflected back from the target with the emitted signal to obtain relevant target information. With the development of intelligent ships, lidar is increasingly being used in the marine field as a short-range target detection sensor. However, the fixed mounting method used for lidar is not suitable for the operating conditions of ships.

[0025] Because ship target detection sensors cannot be installed at a low position on the outside of the hull like those on cars, they are usually installed on both sides of the main deck. The main deck is much higher than the sea surface. If the target detection sensor is installed horizontally, it will not be able to illuminate the target on the sea surface. In addition, because large ships have a very large difference in draft when loaded with cargo or empty, a large blind spot will be generated when the illumination angle of the target detection sensor remains unchanged.

[0026] To address the aforementioned issues, this application proposes a detection method and apparatus for ships, which can automatically adjust the detection angle of the lidar according to the ship's draft, thereby improving the safety of ship navigation.

[0027] Figure 1 A flowchart illustrating the ship detection method provided in an embodiment of this application is shown.

[0028] In this embodiment of the application, a lidar is installed at a preset position on the ship. The lidar emits multiple test signals at different angles so that the detection range formed by the multiple test signals covers the target area around the ship.

[0029] Reference Figure 1 In step S101, the draft of the ship is determined.

[0030] In the embodiments of this application, a ship corresponds to a draft value, that is, the draft value is the same at different positions of the ship.

[0031] As an example, the draft of a ship can be determined in several ways.

[0032] In one example, a liquid level telemetry sensor can be installed on the ship to monitor the ship's draft.

[0033] In this case, the steps to determine the ship's draft may include: obtaining the ship's draft from a level telemetry sensor.

[0034] Preferably, a liquid level telemetry sensor can be installed at different locations on the ship, and the average value of the draft height obtained from each liquid level telemetry sensor can be determined as the ship's draft height.

[0035] In another example, water level markings can be drawn on the outside of the hull, and the ship's draft can be read based on these markings.

[0036] It should be understood that the methods for determining the draft of a vessel listed above are merely examples, and other methods can also be used to determine the draft of a vessel, which is not limited in this application.

[0037] In step S102, the detection blind zone value for the lidar is determined.

[0038] The following is combined Figure 2 and Figure 3 This section will introduce the relationship between the detection blind zone value and the installation angle value of lidar.

[0039] In this example, assuming the lidar is installed on the side of the main deck, the lidar's detection range is 150,000 mm, and the lidar's detection angle is 25°, the installation angle of the lidar can be calculated in two ways.

[0040] In one scenario, the ship is fully loaded.

[0041] by Figure 2 As shown in the example, point A represents the installation position of the lidar on the ship, BC represents the sea level, and the closest distance (i.e., vertical height) between the lidar and the water surface is approximately 8 meters. The shaded area formed by A, B, and C is the detection range of the lidar.

[0042] When a lidar is fixedly installed on a ship, if its fixed installation angle is 60° (installation errors are possible, such as the actual installation angle being 62°), then the detection blind zone of the lidar is approximately 15 meters.

[0043] In another scenario, the vessel is lightly loaded.

[0044] by Figure 3 For example, assuming the ship is unloaded, the closest distance between the lidar and the water surface is approximately 20 meters.

[0045] With a fixed installation angle of 60° on a ship (the actual installation angle could be 58°), the blind zone of the lidar under no-load conditions is approximately 30 meters from the ship's edge. This blind zone is too large when the ship is docked, which is detrimental to navigation safety.

[0046] In other words, with a fixed installation angle for the lidar, the blind zone value varies significantly as the draft fluctuates. For situations where it is necessary to constantly monitor the ship's surroundings, an excessively large blind zone value can pose a significant risk to the ship's navigation.

[0047] In this embodiment of the application, a lidar can be installed on the ship, or lidars can be installed at different locations. In this case, the detection blind zone value corresponding to each lidar is determined. That is to say, the detection blind zone value corresponding to each lidar can be the same or different.

[0048] In one scenario, the installation angle values ​​for all lidar units are adjusted synchronously.

[0049] The installation angle of each lidar can be adjusted using the ship detection method described in this application. Specifically, a corresponding detection angle control value is determined for each lidar, and all lidars are adjusted to match this control value, thereby changing the installation angle of each lidar.

[0050] In another scenario, the installation angle of each lidar is adjusted individually. In this case, the detection angle control value for each lidar can be different.

[0051] Here, since the overall draft of the ship is the same, different detection blind zone values ​​can be determined for each lidar, so that the detection angle control values ​​corresponding to different lidars are different.

[0052] The following describes several methods for determining the detection blind zone value for lidar. It should be understood that this application is not limited to these methods, and other methods may also be used to determine the detection blind zone value.

[0053] In the first scenario, the detection blind zone value for the LiDAR is determined based on the user's input.

[0054] For example, you can access a settings interface for setting the detection blind zone value for the LiDAR. This settings interface includes an input box for entering the detection blind zone value. The value entered by the user in the input box is determined as the detection blind zone value for the LiDAR.

[0055] For situations where multiple lidar units are installed on a ship, the settings interface can include two control tags. The selection of the first control tag is received, and a synchronization control sub-interface is displayed on the device interface. This synchronization control sub-interface includes an input box, and the value entered in the input box is used as the detection blind zone value for all lidar units.

[0056] Upon receiving the selection for the second control tag, an independent control sub-interface is displayed on the device interface. This independent control sub-interface includes multiple input boxes, with each input box corresponding to one lidar. The number of input boxes is consistent with the number of lidars installed on the ship. The values ​​entered in each input box are determined as the detection blind zone value of the lidar corresponding to that input box.

[0057] In this case, if you wish to change the blind zone value of the lidar, you need to enter the settings interface to manually adjust it one by one.

[0058] In the second scenario, the blind zone value for lidar detection is determined based on the navigation area where the ship is located.

[0059] Here, since the requirements for detection blind zone vary depending on the navigation area of ​​the ship, the detection blind zone value can be automatically adjusted based on the navigation area of ​​the ship to further adjust the installation angle value of the lidar.

[0060] For example, it can be determined whether the navigation area where the ship is located belongs to the dock area. Here, the dock area refers to the area within a preset range of the dock. For example, the dock area may refer to the area where the ship performs port entry and / or port exit operations.

[0061] If the vessel is operating within a dock area, the first blind zone value is determined as the detection blind zone value for the lidar. If the vessel is operating outside a dock area, the second blind zone value is determined as the detection blind zone value for the lidar.

[0062] In this embodiment, the second blind zone value is greater than the first blind zone value. That is, when a ship is sailing close to the dock, the navigation environment near the dock is relatively complex, so the detection blind zone value can be reduced. When a ship is sailing far away from the dock, for example, when sailing on a wide sea surface, its navigation environment is relatively simple, so the detection blind zone value can be appropriately increased.

[0063] The third scenario involves determining the blind zone value for lidar based on the switching operation required for ship detection.

[0064] In this case, the ship can be equipped with multiple adjustment gears, each with a different blind zone setting value. For example, the switching operation can include a selection operation for a target adjustment gear, which is any one of the multiple adjustment gears.

[0065] In this case, the detection blind zone value for the lidar can be determined by receiving a selection operation for the target adjustment level, and determining the blind zone setting value corresponding to the target adjustment level as the detection blind zone value for the lidar based on the selection operation.

[0066] At this point, a pre-set correspondence between adjustment levels and blind zone setting values ​​is established, allowing for manual and rapid setting of the detection blind zone value by selecting the adjustment level.

[0067] return Figure 1 In step S103, the detection angle control value of the lidar is determined based on the draft height value and the detection blind zone value.

[0068] In this embodiment, the installation angle of the lidar changes as the ship's draft and / or the lidar's blind zone value changes. See below for further details. Figure 4 This section will introduce the process of determining the detection angle control value of lidar.

[0069] Figure 4 A flowchart illustrating the steps for determining the detection angle control value of a lidar according to an embodiment of this application is shown.

[0070] Reference Figure 4 In step S401, the vertical height of the lidar is determined based on the installation height and draft of the lidar on the ship.

[0071] In a preferred example, the lidar can be mounted on a pre-set location on the ship using a bracket. Here, if the lidar is mounted flat on the ship, it may not be able to illuminate targets on the sea surface. To address this, a bracket can be installed on the ship's deck, and the lidar can be mounted on the bracket to provide a wider field of view, thereby illuminating various targets on the sea surface.

[0072] In this case, the installation height value can be the sum of the hull height value and the bracket height value. Here, the hull height value refers to the height from the bottom hull of the ship to the deck of the ship, and the bracket height value refers to the height from the deck of the ship to the installation position on the bracket. The installation position is the location where the lidar is installed on the bracket.

[0073] In addition, the vertical height value can be the difference between the installation height value and the draft height value, and this vertical height value is adjacent to the installation angle value of the lidar.

[0074] In step S402, the ratio of the detection blind zone value to the vertical height value is calculated.

[0075] In step S403, the arctangent function value of the ratio is determined as the detection angle control value of the lidar.

[0076] by Figure 3 Taking the example shown, after determining the blind zone value for the lidar, the installation angle value of the lidar (i.e., the detection angle control value) is ∠A. This can be calculated using trigonometric functions: ∠A = arctan(blind zone value / vertical height value). In this way, the lidar's illumination angle can be automatically adjusted according to the draft.

[0077] return Figure 1 In step S104, the lidar is controlled to rotate to the detection angle control value.

[0078] Here, the detection angle control value refers to the target value of the lidar's installation angle value. That is, controlling the lidar to rotate to the detection angle control value changes the lidar's installation angle value.

[0079] by Figure 2 and Figure 3 As shown in the example, the detection angle control value refers to the angle between the test signal closest to the hull (i.e., the AB test signal) and the vertical plane (the plane perpendicular to the horizontal plane) among the multiple test signals mapped on the sea surface.

[0080] For cases where the lidar is mounted on a ship via a bracket, the bracket may include a support part and a rotating part. One end of the support part is mounted at a preset position on the ship, and the lidar is connected to the other end of the support part via the rotating part.

[0081] In this case, the step of controlling the lidar to rotate to the detection angle control value may include: controlling the lidar to rotate to the detection angle control value by controlling the rotation of the rotating part connected to the lidar.

[0082] In a preferred embodiment, the ship may also be equipped with an angle sensor to detect the current angle value of the rotating part of the support. Before controlling the rotation of the lidar, it can be determined whether the current angle value of the rotating part of the support is consistent with the determined detection angle control value. If they are consistent, the installation angle value of the lidar will not be adjusted. If they are inconsistent, the rotating part will be controlled to rotate to the detection angle control value.

[0083] The following example illustrates the process of adjusting the installation angle of a lidar.

[0084] In this example, we take a large cargo ship as an example. Assume that the hull height is about 21.7 meters and the lidar is installed on both sides of the main deck with a support height of about 1.3 meters.

[0085] The support angle control system obtains the draft value from a computer mounted on the cargo ship, which is obtained by the computer from a liquid level telemetry sensor. Here, the detection method for ships described in this application can be executed within the support angle control system.

[0086] According to the formula: Hull height + Support height - Draft height = Adjacent side of ∠A, the installation angle value of the lidar, the adjacent side of ∠A, can be calculated by substituting the above parameters into the formula.

[0087] In the support angle control system, a detection blind zone value is set, that is, the opposite side of the support angle ∠A is set.

[0088] The bracket angle control system calculates the degree of ∠A (i.e., the detection angle control value) and outputs it to the bracket actuator (i.e., the rotating part of the bracket).

[0089] An angle sensor installed on the bracket feeds back the current angle value to the bracket angle control system. If the current angle value fed back is the same as the calculated ∠A, the bracket actuator stops moving. If the current angle value fed back is different from the calculated ∠A, the bracket actuator moves until the lidar rotates to the detection angle control value, thus completing the closed-loop control.

[0090] In the ship detection method of this application embodiment, lidar is applied in the field of intelligent ships. Its installation method on ships is completely different from that on automobiles, so as to automatically adjust the installation angle of lidar according to the ship's draft.

[0091] Based on the same inventive concept, this application also provides a ship detection device corresponding to the ship detection method. Since the principle of the device in this application is similar to the ship detection method described above in this application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be described again.

[0092] Please see Figure 5 , Figure 5 This is a schematic diagram of the structure of a ship detection device provided in an embodiment of this application.

[0093] In this embodiment of the application, a lidar is installed at a preset position on the ship. The lidar emits multiple test signals at different angles so that the detection range formed by the multiple test signals covers the target area around the ship.

[0094] like Figure 5As shown, the ship detection device 100 provided in this application embodiment includes: a draft determination module 110, a blind zone determination module 120, a detection determination module 130, and a rotation control module 140.

[0095] Specifically, the draft determination module 110 determines the ship's draft height.

[0096] The blind zone determination module 120 determines the detection blind zone value for the lidar.

[0097] The detection determination module 130 determines the detection angle control value of the lidar based on the draft and the detection blind zone value.

[0098] The rotation control module 140 controls the lidar to rotate to the detection angle control value.

[0099] Please see Figure 6 , Figure 6 This is a schematic diagram of the structure of the electronic device provided in an embodiment of this application. Figure 6 As shown, the electronic device 200 includes a processor 210, a memory 220, and a bus 230.

[0100] The memory 220 stores machine-readable instructions executable by the processor 210. When the electronic device 200 is running, the processor 210 and the memory 220 communicate via the bus 230. When the machine-readable instructions are executed by the processor 210, they can perform the operations described above. Figure 1 as well as Figure 4 The steps of the ship detection method in the illustrated method embodiment can be found in the method embodiment for specific implementation, and will not be repeated here.

[0101] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, can perform the above-described actions. Figure 1 as well as Figure 4 The steps of the ship detection method in the illustrated method embodiment can be found in the method embodiment for specific implementation, and will not be repeated here.

[0102] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0103] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the shown or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0104] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0105] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0106] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0107] Finally, it should be noted that the above-described embodiments are merely specific implementations of this application, used to illustrate the technical solutions of this application, and not to limit them. The scope of protection of this application is not limited thereto. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the scope of the technology disclosed in this application. Such modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for detecting ships, characterized in that, A lidar is installed at a predetermined location on the ship. The lidar emits multiple test signals at different angles so that the detection range formed by the multiple test signals covers the target area around the ship. The method includes: Determine the draft of the vessel; The step of determining the detection blind zone value for the lidar includes: if the navigation area where the vessel is located belongs to a dock area, then a first blind zone value is determined as the detection blind zone value for the lidar, where the dock area refers to an area within a preset range from the dock; if the navigation area where the vessel is located does not belong to a dock area, then a second blind zone value is determined as the detection blind zone value for the lidar, where the second blind zone value is greater than the first blind zone value. Based on the draft value and the detection blind zone value, the detection angle control value of the lidar is determined; Control the lidar to rotate to the detection angle control value.

2. The method according to claim 1, characterized in that, The vessel is also equipped with a liquid level telemetry sensor. The step of determining the draft of the vessel includes: obtaining the draft of the vessel from the liquid level telemetry sensor.

3. The method according to claim 1, characterized in that, The vessel is equipped with multiple adjustment gears, each with a different blind zone setting. The switching operation includes selecting the target adjustment gear. The step of determining the detection blind zone value for the lidar based on the switching operation for ship detection needs includes: Receives selection of the gear setting for the target; Based on the selection operation, the blind zone setting value corresponding to the target adjustment level is determined as the detection blind zone value for the lidar.

4. The method according to claim 1, characterized in that, The steps for determining the detection angle control value of the lidar based on the draft value and the detection blind zone value include: The vertical height of the lidar is determined based on its installation height on the ship and its draft. Calculate the ratio of the detection blind zone value to the vertical height value; The arctangent function value of the ratio is determined as the detection angle control value of the lidar.

5. The method according to claim 4, characterized in that, The lidar is mounted on the ship at the predetermined location via a bracket. The installation height is the sum of the hull height and the bracket height. The hull height refers to the distance from the bottom hull of the ship to the deck. The bracket height refers to the distance from the deck to the installation position on the bracket. The installation position is the location on the bracket where the lidar is installed. The vertical height value is the difference between the installation height value and the draft height value.

6. The method according to claim 5, characterized in that, The bracket includes a support portion and a rotating portion. One end of the support portion is mounted at the predetermined position on the ship, and the lidar is connected to the other end of the support portion via the rotating portion. The step of controlling the lidar to rotate to the detection angle control value includes: The lidar is controlled to rotate to the detection angle control value by controlling the rotation of the rotating part connected to the lidar.

7. The method according to claim 1, characterized in that, The lidar includes multiple lidars, and each lidar has a different detection angle control value.

8. A detection device for ships, characterized in that, A lidar is installed at a predetermined location on the ship. The lidar emits multiple test signals at different angles so that the detection range formed by the multiple test signals covers the target area around the ship. The device includes: The draft determination module determines the draft height of the vessel. The blind zone determination module determines the detection blind zone value for the lidar. Specifically, the blind zone determination module is used to: if the navigation area where the ship is located belongs to the dock area, then determine the first blind zone value as the detection blind zone value for the lidar, where the dock area refers to the area within a preset range from the dock; if the navigation area where the ship is located does not belong to the dock area, then determine the second blind zone value as the detection blind zone value for the lidar, where the second blind zone value is greater than the first blind zone value. The detection determination module determines the detection angle control value of the lidar based on the draft value and the detection blind zone value. The rotation control module controls the lidar to rotate to the detection angle control value.

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