Ship hatch position detection method, device, electronic equipment and storage medium

Abstract

The present application provides a method, device, electronic device, and storage medium for detecting the hatch position of a ship. The method comprises: obtaining measurement point position information of the entire ship and measurement point position information of the hatch; obtaining the entire ship position information based on the measurement point position information of the entire ship; obtaining the initial position information of the hatch based on the measurement point position information of the hatch; converting the initial position information of the hatch based on the entire ship position information to obtain relative position information of the hatch relative to the entire ship; and detecting the position of the hatch based on the entire ship position information and the relative position information to obtain the hatch position information. Implementing the present application embodiment can improve the efficiency of detecting the hatch position of a ship. When the ship moves, the hatch position can be accurately detected, the hatch position can be improved, and the accuracy of the hatch position can be improved, thereby ensuring safety and stability during navigation.

Description

Technical Field

[0001] The present application relates to the field of data processing technology, and in particular to a method, device, electronic equipment and computer storage medium for detecting the position of a ship's hatch. Background Art

[0002] The intelligent system for chain-bucket continuous ship unloaders requires real-time measurement of the entire ship's position and hatch locations for real-time analysis, scientific decision-making, and precise execution. Dry bulk terminals accommodate varying ship types due to the varying nature of their cargoes. Furthermore, dry bulk unloading takes a long time, and tides can affect ship berthing positions. A large ship's berthing posture and hatch position detection system measures and calculates the entire ship's position and hatch position in real time, providing the basis for real-time analysis, scientific decision-making, and precise execution for the intelligent system.

[0003] Currently, chain-bucket continuous ship unloaders use 3D scanning equipment to scan the vessel's hold before unloading. This is accomplished by creating a point cloud coordinate model after 3D scanning. However, this existing technology suffers from poor positioning stability due to the movement of the 3D scanning equipment relative to the vessel's hull. This results in low accuracy in calculating the position of the entire vessel and hatchway, making the unloading process hazardous. Summary of the Invention

[0004] The purpose of the embodiments of the present application is to provide a method, device, electronic device and storage medium for detecting the hatch position of a ship, which can improve the detection efficiency of the hatch position of the ship, accurately detect the hatch position when the ship moves, improve the accuracy of the hatch position, and ensure safety and stability during navigation.

[0005] In a first aspect, an embodiment of the present application provides a method for detecting a hatch position of a ship, the method comprising:

[0006] Obtain the measurement point location information of the entire ship and the measurement point location information of the hatch;

[0007] Obtaining the position information of the entire ship according to the measurement point position information of the entire ship;

[0008] Obtaining hatch initial position information based on the measurement point position information of the hatch;

[0009] Converting the initial position information of the hatch according to the position information of the entire ship to obtain relative position information of the hatch relative to the entire ship;

[0010] The hatch position is detected according to the entire ship position information and the relative position information to obtain hatch position information.

[0011] In the above implementation process, the position information of the entire ship and the initial position information of the hatch are obtained through the measurement point positions of the entire ship and the measurement point positions of the hatch, so that the measurement of the initial position of the hatch is more accurate, which can improve the detection efficiency of the hatch position of the ship. When the ship moves, the hatch position is accurately detected, the accuracy of the hatch position is improved, and the safety and stability of the ship during navigation are ensured.

[0012] Furthermore, the step of converting the initial position information of the hatch according to the position information of the entire ship to obtain the relative position information of the hatch relative to the entire ship includes:

[0013] Obtaining a first measurement coordinate in the entire ship position information;

[0014] Converting the coordinate system of the first measurement coordinates into a Cartesian coordinate system to obtain a first measurement coordinate after the conversion;

[0015] Obtaining a second measurement coordinate according to the entire ship position information and the first measurement coordinate after the coordinate system is converted;

[0016] The initial position information of the hatch is converted according to the first measurement coordinates and the second measurement coordinates after the coordinate system is converted to obtain the relative position information.

[0017] In the above implementation process, the coordinate system of the first measurement coordinate is converted into a Cartesian coordinate system to obtain the second measurement coordinate, and the initial position information of the hatch is converted, so that the relative position information can be accurately obtained and the error can be reduced.

[0018] Furthermore, the step of converting the hatch initial position information according to the first measurement coordinates and the second measurement coordinates after the coordinate system is converted to obtain the relative position information includes:

[0019] Constructing a reference coordinate according to the first measured coordinate and the second measured coordinate after the coordinate system is transformed;

[0020] The initial position information of the hatch is converted according to the reference coordinates to obtain the relative position information.

[0021] In the above implementation process, the reference coordinates are constructed based on the first measurement coordinates and the second measurement coordinates after the coordinate system is converted, which can more accurately represent the position coordinates of the hatch relative to the entire ship, making the error of the obtained relative position information smaller and ensuring the accuracy of subsequent hatch position detection.

[0022] Furthermore, the step of detecting the hatch position according to the entire ship position information and the relative position information to obtain the hatch position information includes:

[0023] Detecting whether the entire ship position information changes;

[0024] If so, the hatch position information is obtained according to the changed whole ship position information and the relative position information.

[0025] In the above implementation process, it is detected whether the position information of the entire ship has changed, to ensure the stability of the detection, to avoid errors in the process of obtaining the hatch position information, and to make the obtained hatch position information more accurate.

[0026] In a second aspect, an embodiment of the present application further provides a hatch position detection device for a ship, the device comprising:

[0027] An acquisition module is used to obtain the measurement point position information of the entire ship and the measurement point position information of the hatch;

[0028] An information acquisition module, configured to obtain the position information of the entire ship based on the position information of the measurement points of the entire ship; and further configured to obtain the initial position information of the hatch based on the position information of the measurement points of the hatch;

[0029] a conversion module, configured to convert the initial position information of the hatch according to the position information of the entire ship to obtain relative position information of the hatch relative to the entire ship;

[0030] A detection module is used to detect the hatch position according to the entire ship position information and the relative position information to obtain the hatch position information.

[0031] In the above implementation process, the position information of the entire ship and the initial position information of the hatch are obtained through the measurement point positions of the entire ship and the measurement point positions of the hatch, so that the measurement of the initial position of the hatch is more accurate, which can improve the detection efficiency of the hatch position of the ship. When the ship moves, the hatch position is accurately detected, the accuracy of the hatch position is improved, and the safety and stability of the ship during navigation are ensured.

[0032] Furthermore, the conversion module is further configured to:

[0033] Obtaining a first measurement coordinate in the entire ship position information;

[0034] Converting the coordinate system of the first measurement coordinates into a Cartesian coordinate system to obtain a first measurement coordinate after the conversion;

[0035] Obtaining a second measurement coordinate according to the entire ship position information and the first measurement coordinate after the coordinate system is converted;

[0036] The initial position information of the hatch is converted according to the first measurement coordinates and the second measurement coordinates after the coordinate system is converted to obtain the relative position information.

[0037] In the above implementation process, the coordinate system of the first measurement coordinate is converted into a Cartesian coordinate system to obtain the second measurement coordinate, and the initial position information of the hatch is converted, so that the relative position information can be accurately obtained and the error can be reduced.

[0038] Furthermore, the conversion module is further configured to:

[0039] Constructing a reference coordinate according to the first measured coordinate and the second measured coordinate after the coordinate system is transformed;

[0040] The initial position information of the hatch is converted according to the reference coordinates to obtain the relative position information.

[0041] In the above implementation process, the reference coordinates are constructed based on the first measurement coordinates and the second measurement coordinates after the coordinate system is converted, which can more accurately represent the position coordinates of the hatch relative to the entire ship, making the error of the obtained relative position information smaller and ensuring the accuracy of subsequent hatch position detection.

[0042] Furthermore, the detection module is also used to:

[0043] Detecting whether the entire ship position information changes;

[0044] If so, the hatch position information is obtained according to the changed whole ship position information and the relative position information.

[0045] In the above implementation process, it is detected whether the position information of the entire ship has changed, to ensure the stability of the detection, to avoid errors in the process of obtaining the hatch position information, and to make the obtained hatch position information more accurate.

[0046] In a third aspect, an embodiment of the present application provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method described in any one of the first aspects when executing the computer program.

[0047] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which instructions are stored. When the instructions are executed on a computer, the computer executes the method as described in any one of the first aspects.

[0048] In a fifth aspect, an embodiment of the present application provides a computer program product, which, when running on a computer, enables the computer to execute the method as described in any one of the first aspects.

[0049] Other features and advantages of the present disclosure will be set forth in the following description, or some features and advantages may be inferred or unambiguously determined from the description, or may be learned by practicing the above-mentioned technology of the present disclosure.

[0050] It can be implemented according to the contents of the specification. The following is a detailed description of the preferred embodiments of the present application with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the range values. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0052] Figure 1 A schematic flow chart of a method for detecting a hatch position of a ship provided in an embodiment of the present application;

[0053] Figure 2 Schematic diagram of measurement point locations for the entire ship and hatches provided in an embodiment of the present application;

[0054] Figure 3 A schematic diagram of the structural composition of a hatch position detection device for a ship provided in an embodiment of the present application;

[0055] Figure 4 A schematic diagram of the structural composition of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0056] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0057] It should be noted that similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and should not be understood as indicating or implying relative importance.

[0058] The following embodiments are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0059] Example 1

[0060] Figure 1 FIG. 1 is a flow chart of a method for detecting a hatch position of a ship provided in an embodiment of the present application, such as Figure 1 As shown, the method includes:

[0061] S1, obtaining the measurement point position information of the entire ship and the measurement point position information of the hatch;

[0062] S2, obtaining the position information of the entire ship according to the position information of the measurement points of the entire ship;

[0063] S3, obtaining the initial position information of the hatch according to the position information of the measurement point of the hatch;

[0064] S4, converting the initial position information of the hatch according to the position information of the entire ship to obtain the relative position information of the hatch relative to the entire ship;

[0065] S5, detecting the hatch position according to the entire ship position information and the relative position information to obtain the hatch position information.

[0066] In the above implementation process, the position information of the entire ship and the initial position information of the hatch are obtained through the measurement point positions of the entire ship and the measurement point positions of the hatch, so that the measurement of the initial position of the hatch is more accurate, which can improve the detection efficiency of the hatch position of the ship. When the ship moves, the hatch position is accurately detected, the accuracy of the hatch position is improved, and the safety and stability of the ship during navigation are ensured.

[0067] The data acquisition module of the embodiment of the present application uses a mobile inertial navigation real-time dynamic carrier phase differential technology (Real-time kinematic, RTK) device. The mobile inertial navigation RTK device can measure high-precision position data in real time and accurately, and transmit the position data back to the data processing module via a wireless network. Using RTK measurement, the entire ship and the hatch complex structure are modeled into a simple rectangle, such as Figure 2 As shown, the ship takes a long time to dock and unload. Under the influence of waves and tides, the position of the entire ship will change, but the position of the hatch relative to the entire ship will not change. Therefore, the embodiment of the present application uses the measurement of the position change of the entire ship to indirectly measure the position change of all hatches.

[0068] In S1, the measurement point position information of the entire ship in the embodiment of the present application is the positions of two vertices on the diagonal line of the entire ship, and the measurement point position information of the hatch is the positions of two vertices on the diagonal line of the hatch.

[0069] In S2 and S3, before the chain bucket continuous ship unloader operates, a mobile inertial navigation RTK device is used to collect the position information of the entire ship based on the position information of the measurement points of the entire ship, and the initial position information of the hatch is collected based on the position information of the measurement points of the hatch. Then, mobile inertial navigation RTK devices are placed at the diagonal vertices of the entire ship to collect the changing data of the entire ship's position information in real time during the ship unloading operation.

[0070] Furthermore, S4 includes:

[0071] Obtaining the first measurement coordinate in the entire ship position information;

[0072] Converting the coordinate system of the first measurement coordinate into a Cartesian coordinate system to obtain the first measurement coordinate after the conversion;

[0073] Obtaining a second measurement coordinate based on the entire ship's position information and the first measurement coordinate after the coordinate system is converted;

[0074] The initial position information of the hatch is converted according to the first measurement coordinates and the second measurement coordinates after the coordinate system is converted to obtain relative position information.

[0075] In the above implementation process, the coordinate system of the first measurement coordinate is converted into a Cartesian coordinate system to obtain the second measurement coordinate, and the initial position information of the hatch is converted, so that the relative position information can be accurately obtained and the error can be reduced.

[0076] Furthermore, the step of converting the initial position information of the hatch according to the first measurement coordinates and the second measurement coordinates after the coordinate system is converted to obtain relative position information includes:

[0077] Constructing a reference coordinate based on the first measurement coordinate and the second measurement coordinate after the coordinate system is transformed;

[0078] The initial position information of the hatch is converted according to the reference coordinates to obtain the relative position information.

[0079] In the above implementation process, the reference coordinates are constructed based on the first measurement coordinates and the second measurement coordinates after the coordinate system is converted, which can more accurately represent the position coordinates of the hatch relative to the entire ship, making the error of the obtained relative position information smaller and ensuring the accuracy of subsequent hatch position detection.

[0080] Because RTK equipment measures latitude and longitude, and thus absolute position, the data it obtains uses the Earth as its reference frame. In a Cartesian coordinate system, knowing the coordinates of one pair of diagonal vertices of a rectangle allows the coordinates of the other pair to be calculated. Therefore, by obtaining the first measured coordinates, i.e., the coordinates of a pair of diagonal vertices (X1, Y1) and (X2, Y2) in the entire ship's position, the coordinates of the other pair of diagonal vertices (X1, Y2) and (X2, Y1) can be calculated. Based on the first and second measured coordinates, a reference coordinate system (aX1+b, cY1+d) and (eX2+f, gY2+i) can be created, with the entire ship as its reference frame.

[0081] Furthermore, S5 includes:

[0082] Detect whether the position information of the entire ship has changed;

[0083] If so, the hatch position information is obtained according to the changed whole ship position information and relative position information.

[0084] In the above implementation process, it is detected whether the position information of the entire ship has changed, to ensure the stability of the detection, to avoid errors in the process of obtaining the hatch position information, and to make the obtained hatch position information more accurate.

[0085] The relative position information obtained is saved. In the subsequent operation of the chain bucket continuous ship unloader, the hatch position information can be calculated based on the real-time changes in the position information of the entire ship and the saved relative position information.

[0086] The embodiment of the present application uses mobile RTK measurement data with high accuracy and strong stability. It can measure the altitude change of the entire ship due to tidal changes and the change of hatch position when the entire ship changes position.

[0087] Example 2

[0088] In order to execute the method corresponding to the above embodiment 1 and achieve the corresponding functions and technical effects, a ship hatch position detection device is provided below, such as Figure 3 As shown, the device includes:

[0089] Acquisition module 1, used to obtain the measurement point position information of the entire ship and the measurement point position information of the hatch;

[0090] Information acquisition module 2, used to obtain the position information of the entire ship based on the position information of the measurement points of the entire ship; and also used to obtain the initial position information of the hatch based on the position information of the measurement points of the hatch;

[0091] The conversion module 3 is used to convert the initial position information of the hatch according to the position information of the entire ship to obtain the relative position information of the hatch relative to the entire ship;

[0092] The detection module 4 is used to detect the hatch position according to the entire ship position information and the relative position information to obtain the hatch position information.

[0093] In the above implementation process, the position information of the entire ship and the initial position information of the hatch are obtained through the measurement point positions of the entire ship and the measurement point positions of the hatch, so that the measurement of the initial position of the hatch is more accurate, which can improve the detection efficiency of the hatch position of the ship. When the ship moves, the hatch position is accurately detected, the accuracy of the hatch position is improved, and the safety and stability of the ship during navigation are ensured.

[0094] Furthermore, the conversion module 3 is further configured to:

[0095] Obtaining the first measurement coordinate in the entire ship position information;

[0096] Converting the coordinate system of the first measurement coordinate into a Cartesian coordinate system to obtain the first measurement coordinate after the conversion;

[0097] Obtaining a second measurement coordinate based on the entire ship's position information and the first measurement coordinate after the coordinate system is converted;

[0098] The initial position information of the hatch is converted according to the first measurement coordinates and the second measurement coordinates after the coordinate system is converted to obtain relative position information.

[0099] In the above implementation process, the coordinate system of the first measurement coordinate is converted into a Cartesian coordinate system to obtain the second measurement coordinate, and the initial position information of the hatch is converted, so that the relative position information can be accurately obtained and the error can be reduced.

[0100] Furthermore, the conversion module 3 is further configured to:

[0101] Constructing a reference coordinate based on the first measurement coordinate and the second measurement coordinate after the coordinate system is transformed;

[0102] The initial position information of the hatch is converted according to the reference coordinates to obtain the relative position information.

[0103] In the above implementation process, the reference coordinates are constructed based on the first measurement coordinates and the second measurement coordinates after the coordinate system is converted, which can more accurately represent the position coordinates of the hatch relative to the entire ship, making the error of the obtained relative position information smaller and ensuring the accuracy of subsequent hatch position detection.

[0104] Furthermore, the detection module 4 is further configured to:

[0105] Detect whether the position information of the entire ship has changed;

[0106] If so, the hatch position information is obtained according to the changed whole ship position information and relative position information.

[0107] In the above implementation process, it is detected whether the position information of the entire ship has changed, to ensure the stability of the detection, to avoid errors in the process of obtaining the hatch position information, and to make the obtained hatch position information more accurate.

[0108] The above-mentioned hatch position detection device for a ship can implement the method of the above-mentioned embodiment 1. The options in the above-mentioned embodiment 1 are also applicable to this embodiment and will not be described in detail here.

[0109] The rest of the contents of the embodiments of this application can refer to the contents of the above-mentioned embodiment 1, and will not be repeated in this embodiment.

[0110] Example 3

[0111] An embodiment of the present application provides an electronic device, including a memory and a processor, wherein the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to execute the method for detecting the hatch position of a ship of the first embodiment.

[0112] Optionally, the above-mentioned electronic device may be a server.

[0113] See Figure 4 , Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. The electronic device may include a processor 41, a communication interface 42, a memory 43, and at least one communication bus 44. The communication bus 44 is used to enable direct communication between these components. The communication interface 42 of the device in this embodiment of the present application is used to communicate signaling or data with other node devices. The processor 41 may be an integrated circuit chip with signal processing capabilities.

[0114] The processor 41 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component. It can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor can be a microprocessor, or the processor 41 can also be any conventional processor.

[0115] The memory 43 may be, but is not limited to, a random access memory (RAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc. The memory 43 stores computer-readable instructions. When the computer-readable instructions are executed by the processor 41, the device can perform the above-mentioned operations. Figure 1 The various steps involved in the method embodiment.

[0116] Optionally, the electronic device may further include a storage controller and an input / output unit. The memory 43, storage controller, processor 41, peripheral interfaces, and input / output units are electrically connected to each other, directly or indirectly, to enable data transmission or interaction. For example, these components may be electrically connected to each other via one or more communication buses 44. The processor 41 is configured to execute executable modules stored in the memory 43, such as software function modules or computer programs included in the device.

[0117] The input and output unit is used to provide users with the ability to create tasks and to create optional start time periods or preset execution times for the tasks to enable interaction between the user and the server. The input and output unit can be, but is not limited to, a mouse and keyboard.

[0118] I understand. Figure 4 The structure shown is only for illustration, and the electronic device may also include Figure 4 More or fewer components than shown, or with Figure 4 Different configurations shown. Figure 4 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0119] In addition, an embodiment of the present application further provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the method for detecting the hatch position of a ship of the first embodiment.

[0120] An embodiment of the present application further provides a computer program product, which, when running on a computer, enables the computer to execute the method described in the method embodiment.

[0121] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architectures, functions and operations of the devices, methods and computer program products according to the multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a portion of code, and the module, program segment or a portion of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based device that performs the specified function or action, or can be implemented using a combination of dedicated hardware and computer instructions.

[0122] In addition, the functional modules in each embodiment of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0123] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.

[0124] The foregoing is merely an embodiment of the present application and is not intended to limit the scope of protection of the present application. For those skilled in the art, the present application may have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included within the scope of protection of the present application. It should be noted that similar numbers and letters represent similar items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined or explained in subsequent figures.

[0125] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present application should be included within the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

[0126] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

Claims

1. A method for detecting the hatch position of a ship, characterized in that: The method comprises: Obtain the measurement point location information of the entire ship and the measurement point location information of the hatch; Obtaining the position information of the entire ship according to the measurement point position information of the entire ship; Obtaining hatch initial position information based on the measurement point position information of the hatch; Converting the initial position information of the hatch according to the position information of the entire ship to obtain relative position information of the hatch relative to the entire ship; Detecting the hatch position according to the entire ship position information and the relative position information to obtain hatch position information; The step of converting the initial position information of the hatch according to the position information of the entire ship to obtain the relative position information of the hatch relative to the entire ship includes: Obtaining a first measurement coordinate in the entire ship position information; Converting the coordinate system of the first measurement coordinates into a Cartesian coordinate system to obtain a first measurement coordinate after the conversion; Obtaining a second measurement coordinate according to the entire ship position information and the first measurement coordinate after the coordinate system is converted; Converting the hatch initial position information according to the first measurement coordinates and the second measurement coordinates after the coordinate system conversion to obtain the relative position information; The step of converting the initial position information of the hatch according to the first measurement coordinates and the second measurement coordinates after the coordinate system is converted to obtain the relative position information includes: Constructing a reference coordinate according to the first measured coordinate and the second measured coordinate after the coordinate system is transformed; Converting the initial position information of the hatch according to the reference coordinates to obtain the relative position information; The complex structure of the entire ship and the hatch is modeled as a rectangle. The measurement point position information of the entire ship is the positions of the two vertices on the diagonal line of the entire ship, and the measurement point position information of the hatch is the positions of the two vertices on the diagonal line of the hatch.

2. The method for detecting the hatch position of a ship according to claim 1, characterized in that: The step of detecting the hatch position according to the entire ship position information and the relative position information to obtain the hatch position information comprises: Detecting whether the entire ship position information changes; If so, the hatch position information is obtained according to the changed whole ship position information and the relative position information.

3. A hatch position detection device for a ship, characterized in that: The device comprises: An acquisition module is used to obtain the measurement point position information of the entire ship and the measurement point position information of the hatch; An information acquisition module, configured to obtain the position information of the entire ship based on the position information of the measurement points of the entire ship; and further configured to obtain the initial position information of the hatch based on the position information of the measurement points of the hatch; a conversion module, configured to convert the initial position information of the hatch according to the position information of the entire ship to obtain relative position information of the hatch relative to the entire ship; a detection module, configured to detect the hatch position according to the entire ship position information and the relative position information to obtain hatch position information; The conversion module is further configured to: Obtaining a first measurement coordinate in the entire ship position information; Converting the coordinate system of the first measurement coordinates into a Cartesian coordinate system to obtain a first measurement coordinate after the conversion; Obtaining a second measurement coordinate according to the entire ship position information and the first measurement coordinate after the coordinate system is converted; Converting the hatch initial position information according to the first measurement coordinates and the second measurement coordinates after the coordinate system conversion to obtain the relative position information; Constructing a reference coordinate according to the first measured coordinate and the second measured coordinate after the coordinate system is transformed; Converting the initial position information of the hatch according to the reference coordinates to obtain the relative position information; The complex structure of the entire ship and the hatch is modeled as a rectangle. The measurement point position information of the entire ship is the positions of the two vertices on the diagonal line of the entire ship, and the measurement point position information of the hatch is the positions of the two vertices on the diagonal line of the hatch.

4. The hatch position detection device for a ship according to claim 3, characterized in that: The detection module is further configured to: Detecting whether the entire ship position information changes; If so, the hatch position information is obtained according to the changed whole ship position information and the relative position information.

5. An electronic device, characterized in that: The electronic device comprises a memory and a processor, wherein the memory is used to store a computer program, and the processor runs the computer program to enable the electronic device to perform the method for detecting the hatch position of a ship according to any one of claims 1 to 2.

6. A computer-readable storage medium, characterized in that The device stores a computer program, which, when executed by a processor, implements the method for detecting the hatch position of a ship according to any one of claims 1 to 2.

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