Method and device for measuring attitude of shore-based ship

Abstract

The invention provides a shore-based ship attitude measurement method and device. The method comprises the following steps: acquiring ship broadside image data of a to-be-measured shore-based ship by using a camera; the camera is installed on a wharf, and the installation height is higher than the ship side of the to-be-measured shore-based ship. Obtaining the focal length of the camera, the ship length of the to-be-measured shore-based ship and the horizontal distance between the camera and the to-be-measured shore-based ship; extracting a plurality of ship side features from the ship side image data by using an image feature extraction method; determining a ship pitching angle of the to-be-measured shore-based ship based on the ship side characteristics; determining the ship rolling angle of the to-be-measured shore-based ship based on the ship side characteristics in combination with the focal length of the camera, the length of the ship and the horizontal distance; and based on the ship pitching angle and the ship rolling angle, determining the ship attitude of the to-be-measured shore-based ship. Therefore, the ship attitude of the to-be-detected shore-based ship can be determined, a wharf can conveniently master the ship attitude at the first time, and accidents caused by great changes of the ship attitude in the loading and unloading process are avoided.

Description

Technical Field

[0001] The present disclosure relates to the technical field of ship attitude detection, and in particular to a method and device for measuring a shore-based ship attitude. Background Art

[0002] In shipping and port operations, the ship's attitude (including roll, pitch, bow pitch and other angles) is directly related to the safe operation of the ship, especially when loading and unloading cargo. Real-time monitoring of the ship's attitude is essential to ensure the stability and safety of loading and unloading operations. At present, the measurement of ship attitude mainly relies on attitude sensors installed on board. These sensors provide information about the ship's attitude to the crew by collecting the ship's motion data.

[0003] However, not all ships are equipped with these sensors, especially in some old ships or small vessels, which are rarely or not equipped at all. In addition, at the dock, there is currently a lack of effective technical means to directly measure the posture of berthed ships. This makes it impossible for dock operators to grasp the accurate posture of the ship in real time, and they can only rely on the information provided by the ship.

[0004] Therefore, developing ship attitude measurement technology suitable for the dock side is the key to improving the safety and efficiency of port operations. Summary of the invention

[0005] The disclosed embodiments provide a shore-based ship posture measurement method and device, which uses a shore-based camera as a sensor to perceive the ship posture information, so that the terminal can grasp the ship posture in the first place and avoid accidents caused by drastic changes in the ship posture during loading and unloading.

[0006] In a first aspect, the present disclosure provides a method for measuring a shore-based ship attitude, comprising:

[0007] The camera is used to obtain the ship side image data of the shore-based ship to be measured; the camera is installed at the dock and the installation height is higher than the ship side of the shore-based ship to be measured;

[0008] Obtaining the focal length of the camera, the length of the shore-based ship to be measured, and the horizontal distance between the camera and the shore-based ship to be measured;

[0009] Extracting a plurality of ship side features from the ship side image data using an image feature extraction method;

[0010] Based on the ship side features, determining the ship pitch angle of the shore-based ship to be measured;

[0011] Based on the ship side features, combined with the camera focal length, the ship length and the horizontal distance, determine the ship roll angle of the shore-based ship to be measured;

[0012] Based on the ship pitch angle and the ship roll angle, the ship attitude of the shore-based ship to be measured is determined.

[0013] In an exemplary embodiment, the ship's side features include: an initial pitch characteristic line and a pitch change characteristic line; the step of determining the ship's pitch angle of the shore-based ship to be measured based on the ship's side features is specifically as follows:

[0014] The pitch angle of the ship is determined by determining the angle between the initial pitch characteristic line and the pitch change characteristic line.

[0015] In an exemplary embodiment, the ship's side features further include: a roll near-side initial characteristic line and a roll near-side variation characteristic line; the step of determining the ship's roll angle of the shore-based ship to be measured based on the ship's side features in combination with the camera focal length, the ship length and the horizontal distance is specifically as follows:

[0016] The ship roll angle is obtained by using a preset ship roll angle calculation expression, combining the roll near-side initial characteristic line, the roll near-side change characteristic line, the camera focal length, the ship length and the horizontal distance.

[0017] In an exemplary embodiment, the ship side image data includes: ship side image data before the ship pitch changes, ship side image data after the ship pitch changes, ship side image data before the ship roll changes, and ship side image data after the ship roll changes; using an image feature extraction method, extracting multiple ship side features from the ship side image data, including:

[0018] By using the image feature extraction method, an initial pitch characteristic line and a pitch change characteristic line are extracted from the ship side image data before the ship pitch change and the ship side image data after the ship pitch change respectively;

[0019] By using the image feature extraction method, the initial characteristic line of the rolling near side and the characteristic line of the rolling near side change are extracted from the ship side image data before the ship roll changes and the ship side image data after the ship roll changes.

[0020] In an exemplary embodiment, the ship roll angle calculation expression is:

[0021]

[0022] Wherein, β is the ship roll angle, D is the horizontal distance between the camera and the shore-based ship to be measured, Δl is the distance between the initial characteristic line of the roll near the side and the characteristic line of the roll near the side change, f is the focal length of the camera, and L is half of the ship length of the shore-based ship to be measured.

[0023] In a second aspect, the present disclosure provides a shore-based ship attitude measurement device, comprising:

[0024] An image data acquisition module is used to acquire the ship side image data of the shore-based ship to be measured by using a camera; the camera is installed at the dock and the installation height is higher than the ship side of the shore-based ship to be measured;

[0025] A basic customer data acquisition module, used to acquire the focal length of the camera, the length of the shore-based vessel to be measured, and the horizontal distance between the camera and the shore-based vessel to be measured;

[0026] An image feature extraction module, used to extract a plurality of ship side features from the ship side image data using an image feature extraction method;

[0027] A ship pitch angle determination module, used to determine the ship pitch angle of the shore-based ship to be measured based on the ship side characteristics;

[0028] A ship roll angle determination module, configured to determine the ship roll angle of the shore-based ship to be measured based on the ship side features, in combination with the camera focal length, the ship length and the horizontal distance;

[0029] The ship attitude determination module is used to determine the ship attitude of the shore-based ship to be measured based on the ship pitch angle and the ship roll angle.

[0030] In an exemplary embodiment, the ship's side features include: an initial pitch characteristic line and a pitch change characteristic line; the step of determining the ship's pitch angle of the shore-based ship to be measured based on the ship's side features is specifically as follows:

[0031] The pitch angle of the ship is determined by determining the angle between the initial pitch characteristic line and the pitch change characteristic line.

[0032] In a third aspect, the present disclosure provides an electronic device, comprising a processor and a memory, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the steps in the method provided in the first aspect are executed.

[0033] In a fourth aspect, the present disclosure provides a storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the steps in the method provided in the first aspect are executed.

[0034] In a fifth aspect, the present disclosure provides a computer program product, comprising a computer program, which, when executed by a processor, runs the steps in the method provided in the first aspect above.

[0035] It can be seen from the above technical solutions that the present disclosure has the following advantages:

[0036] The present disclosure provides a method and device for measuring the attitude of a shore-based ship, the method comprising: using a camera to obtain the ship side image data of the shore-based ship to be measured; the camera is installed on the dock and the installation height is higher than the ship side of the shore-based ship to be measured; the camera focal length, the ship length of the shore-based ship to be measured, and the horizontal distance between the camera and the shore-based ship to be measured are obtained; using an image feature extraction method, a plurality of ship side features are extracted from the ship side image data; based on the ship side features, the ship pitch angle of the shore-based ship to be measured is determined; based on the ship side features, the ship roll angle of the shore-based ship to be measured is determined in combination with the camera focal length, the ship length and the horizontal distance; based on the ship pitch angle and the ship roll angle, the ship attitude of the shore-based ship to be measured is determined. The shore-based camera is used as a sensor to obtain the ship side image data of the shore-based ship to be measured, and then the ship attitude of the shore-based ship to be measured is determined, so that the dock can grasp the ship attitude in the first time and avoid accidents caused by significant changes in the ship attitude during loading and unloading. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0038] Figure 1 The following is a flowchart showing the steps of the method for measuring the posture of a shore-based ship provided in the first embodiment of the present disclosure;

[0039] Figure 2 One of the schematic diagrams of camera installation positions of the shore-based ship posture measurement method provided in the first embodiment of the present disclosure is exemplarily shown;

[0040] Figure 3 A second schematic diagram of camera installation positions for the shore-based ship posture measurement method provided in the first embodiment of the present disclosure is exemplarily shown;

[0041] Figure 4 A schematic diagram of a camera screen showing, by way of example, a method for measuring the posture of a shore-based ship provided in the first embodiment of the present disclosure;

[0042] Figure 5 A schematic diagram of ship side feature extraction of a shore-based ship posture measurement method provided in Embodiment 1 of the present disclosure is exemplarily shown;

[0043] Figure 6A schematic diagram of ship pitch change in the shore-based ship attitude measurement method provided in the first embodiment of the present disclosure is exemplarily shown;

[0044] Figure 7 A schematic diagram of a video screen when a ship rolls in the shore-based ship attitude measurement method provided in the first embodiment of the present disclosure is exemplarily shown;

[0045] Figure 8 An imaging schematic diagram exemplarily shows the method for measuring the posture of a shore-based ship provided in the first embodiment of the present disclosure;

[0046] Fig. 9 The structural block diagram of the shore-based ship posture measurement device provided in the second embodiment of the present disclosure is exemplarily shown. DETAILED DESCRIPTION

[0047] The disclosed embodiments provide a shore-based ship posture measurement method and device, which uses a shore-based camera as a sensor to perceive the ship posture information, so that the terminal can grasp the ship posture in the first place and avoid accidents caused by drastic changes in the ship posture during loading and unloading.

[0048] In order to make the purpose, features, and advantages of the invention disclosed in the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0049] Embodiment 1

[0050] See also Figure 1 , Figure 1 One of the step flow charts of the shore-based ship posture measurement method provided in the first embodiment of the present disclosure is exemplarily shown, and the method specifically includes:

[0051] Step S101, using a camera to obtain ship side image data of a shore-based ship to be measured; the camera is installed at a dock and the installation height is higher than the ship side of the shore-based ship to be measured;

[0052] See 2 and Figure 3 , Figure 2 One of the schematic diagrams of camera installation positions of the shore-based ship posture measurement method provided in the first embodiment of the present disclosure is exemplarily shown, Figure 3The second schematic diagram of the camera installation position of the shore-based ship posture measurement method provided by the first embodiment of the present disclosure is exemplarily shown. Compared with the measurement of the ship posture of the ship relying on the posture sensor installed on the ship, the present application uses the camera located at the dock as a sensor to obtain the ship side image data of the shore-based ship to be measured. Specifically, since in most cases, the shore-based ship to be measured passes through the bridge vertically from the air traffic under the bridge, the camera is installed at a high position on the shore-based ship to be measured, and the camera faces straight ahead.

[0053] Step S102, obtaining the focal length of the camera, the length of the shore-based ship to be measured, and the horizontal distance between the camera and the shore-based ship to be measured;

[0054] Step S103, extracting a plurality of ship side features from the ship side image data using an image feature extraction method;

[0055] See also Figure 4 , Figure 4 A schematic diagram of the camera screen of the shore-based ship posture measurement method provided in the first embodiment of the present disclosure is exemplarily shown. It can be seen that the camera can capture the side of the ship. On this basis, the side of the ship in the ship side image data in the real scene can be extracted by using the image feature extraction method to form a line in the camera screen.

[0056] In an embodiment of the present application, the ship's side image data includes: ship's side image data before the ship's pitch change, ship's side image data after the ship's pitch change, ship's side image data before the ship's roll change, and ship's side image data after the ship's roll change.

[0057] In a specific implementation, initial pitch characteristic lines and pitch change characteristic lines are extracted from the ship's side image data before the ship's pitch change and the ship's side image data after the ship's pitch change, respectively; and using an image feature extraction method, initial roll near-side characteristic lines and roll near-side change characteristic lines are extracted from the ship's side image data before the ship's roll change and the ship's side image data after the ship's roll change, respectively.

[0058] Step S104, determining the pitch angle of the shore-based ship to be measured based on the ship side features;

[0059] It should be noted that the pitch angle of a ship describes the tilt angle of the shore-based ship to be measured in the direction of the front and rear axis. Pitching occurs when the bow (front) or stern (rear) of a ship moves up and down.

[0060] The embodiment of the present application determines the pitch angle of the ship by determining the angle between the initial pitch characteristic line and the pitch change characteristic line.

[0061] See also Figure 5 , Figure 5 The schematic diagram of ship side feature extraction of the shore-based ship posture measurement method provided in the first embodiment of the present disclosure is exemplarily shown. Figure 6 A schematic diagram of the ship's pitch change in the shore-based ship posture measurement method provided in the first embodiment of the present disclosure is exemplarily shown, wherein M is the initial pitch characteristic line, and N is the pitch change characteristic line. In step S103, the initial pitch characteristic line and the pitch change characteristic line are extracted from the ship's side image data before the ship's pitch change and the ship's side image data after the ship's pitch change, respectively. By geometric calculation of the video screen pixel points, the angle α can be obtained, and the angle α is the ship's pitch angle.

[0062] Step S105, determining the ship roll angle of the shore-based ship to be measured based on the ship side features, combined with the camera focal length, the ship length and the horizontal distance;

[0063] It should be noted that the ship roll angle describes the tilt angle of the shore-based ship to be measured in the left and right axis direction. When the two sides of the ship shake left and right, roll will occur.

[0064] The embodiment of the present application obtains the ship roll angle by using a preset ship roll angle calculation expression, combined with the roll near-side initial characteristic line, the roll near-side change characteristic line, the camera focal length, the ship length and the horizontal distance. Among them, the ship roll angle calculation expression is:

[0065]

[0066] Wherein, β is the ship roll angle, D is the horizontal distance between the camera and the shore-based ship to be measured, Δl is the distance between the initial characteristic line of the roll near the side and the characteristic line of the roll near the side change, f is the focal length of the camera, and L is half of the ship length of the shore-based ship to be measured.

[0067] See also Figure 7 , Figure 7 The video screen diagram of the ship rolling change in the shore-based ship attitude measurement method provided by the first embodiment of the present disclosure is exemplarily shown. The ship rolling will cause the ship side characteristic line to rise or fall, and the height change Δl can be obtained in the video screen. Figure 8 , Figure 8 The imaging schematic diagram of the shore-based ship attitude measurement method provided by the first embodiment of the present disclosure is exemplarily shown. Δl cannot directly obtain the ship roll angle, and needs to be calculated through the camera pinhole imaging principle. Figure 8 In the equation, the angle β is the ship's roll angle. According to the triangle similarity principle, we can get:

[0068]

[0069] According to trigonometric functions, we can get:

[0070]

[0071] Thus, the calculation expression of the ship's roll angle is obtained.

[0072] Step S106, determining the ship attitude of the shore-based ship to be measured based on the ship pitch angle and the ship roll angle.

[0073] In the embodiment of the present application, based on the pitch angle and roll angle of the ship, the posture of the shore-based ship to be measured in the horizontal plane can be determined by analyzing the changes in these two angles, thereby judging its tilt state and stability.

[0074] A method for measuring the attitude of a shore-based ship provided by an embodiment of the present disclosure includes: using a camera to obtain the ship side image data of the shore-based ship to be measured; the camera is installed on the dock and the installation height is higher than the ship side of the shore-based ship to be measured; the camera focal length, the ship length of the shore-based ship to be measured, and the horizontal distance between the camera and the shore-based ship to be measured are obtained; using an image feature extraction method, a plurality of ship side features are extracted from the ship side image data; based on the ship side features, the ship pitch angle of the shore-based ship to be measured is determined; based on the ship side features, the ship roll angle of the shore-based ship to be measured is determined in combination with the camera focal length, the ship length and the horizontal distance; based on the ship pitch angle and the ship roll angle, the ship attitude of the shore-based ship to be measured is determined. Using a shore-based camera as a sensor to obtain the ship side image data of the shore-based ship to be measured, and then determining the ship attitude of the shore-based ship to be measured, it is convenient for the dock to grasp the ship attitude in the first time, and avoid accidents caused by significant changes in the ship attitude during loading and unloading.

[0075] Embodiment 2

[0076] See also Fig. 9 , Fig. 9 The structural block diagram of the shore-based ship attitude measurement device provided by the second embodiment of the present disclosure is exemplarily shown, and the device includes:

[0077] The image data acquisition module 201 is used to acquire the ship side image data of the shore-based ship to be measured by using a camera; the camera is installed at the dock and the installation height is higher than the ship side of the shore-based ship to be measured;

[0078] The basic customer data acquisition module 202 is used to acquire the focal length of the camera, the length of the shore-based vessel to be measured, and the horizontal distance between the camera and the shore-based vessel to be measured;

[0079] An image feature extraction module 203 is used to extract a plurality of ship side features from the ship side image data using an image feature extraction method;

[0080] A ship pitch angle determination module 204, configured to determine the ship pitch angle of the shore-based ship to be measured based on the ship side features;

[0081] The ship roll angle determination module 205 is used to determine the ship roll angle of the shore-based ship to be measured based on the ship side features, in combination with the camera focal length, the ship length and the horizontal distance;

[0082] The ship attitude determination module 206 is used to determine the ship attitude of the shore-based ship to be measured based on the ship pitch angle and the ship roll angle.

[0083] In an exemplary embodiment, the ship side characteristics include: an initial pitch characteristic line and a pitch change characteristic line; the ship pitch angle determination module 204 is specifically used to:

[0084] The pitch angle of the ship is determined by determining the angle between the initial pitch characteristic line and the pitch change characteristic line.

[0085] In an exemplary embodiment, the ship's side characteristics further include: a roll near-side initial characteristic line and a roll near-side change characteristic line; the ship roll angle determination module 205 is specifically used to:

[0086] The ship roll angle is obtained by using a preset ship roll angle calculation expression, combining the roll near-side initial characteristic line, the roll near-side change characteristic line, the camera focal length, the ship length and the horizontal distance.

[0087] In an exemplary embodiment, the ship side image data includes: ship side image data before the ship pitch changes, ship side image data after the ship pitch changes, ship side image data before the ship roll changes, and ship side image data after the ship roll changes; the image feature extraction module 203 includes:

[0088] A pitch change characteristic line extraction submodule is used to extract an initial pitch characteristic line and a pitch change characteristic line from the ship side image data before the ship pitch change and the ship side image data after the ship pitch change respectively by using the image feature extraction method;

[0089] The roll change characteristic line extraction submodule is used to extract the roll near-side initial characteristic line and the roll near-side change characteristic line from the ship side image data before the ship roll change and the ship side image data after the ship roll change respectively by using the image feature extraction method.

[0090] In an exemplary embodiment, the ship roll angle calculation expression is:

[0091]

[0092] Wherein, β is the ship roll angle, D is the horizontal distance between the camera and the shore-based ship to be measured, Δl is the distance between the initial characteristic line of the roll near the side and the characteristic line of the roll near the side change, f is the focal length of the camera, and L is half of the ship length of the shore-based ship to be measured.

[0093] Embodiment three, the embodiment of the present disclosure further provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of a shore-based ship posture measurement method of any embodiment.

[0094] Embodiment 4: The embodiment of the present disclosure further provides a computer storage medium on which a computer program is stored. When the computer program is executed by the processor, the steps of a shore-based ship posture measurement method of any embodiment are implemented.

[0095] Embodiment 5: The embodiment of the present disclosure further provides a computer program product on which a computer program is stored. When the computer program is executed by the processor, the steps of a shore-based ship posture measurement method of any embodiment are implemented.

[0096] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0097] In the several embodiments provided in the present application, it should be understood that the methods, devices, electronic devices and storage media disclosed in the present disclosure can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0098] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0099] In addition, each functional unit in each embodiment of the present disclosure may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0100] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present disclosure is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a readable storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present disclosure. The aforementioned readable storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0101] As described above, the above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them. Although the present disclosure has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. A shore-based ship attitude measurement method, characterized in that: include: Using a camera to obtain the ship side image data of the shore-based ship to be tested; The camera is installed on the dock, and the installation height is higher than the side of the shore-based ship to be tested; Obtaining the focal length of the camera, the length of the shore-based ship to be measured, and the horizontal distance between the camera and the shore-based ship to be measured; Extracting a plurality of ship side features from the ship side image data using an image feature extraction method; Based on the ship side features, determining the ship pitch angle of the shore-based ship to be measured; Based on the ship side features, combined with the camera focal length, the ship length and the horizontal distance, determine the ship roll angle of the shore-based ship to be measured; Based on the ship pitch angle and the ship roll angle, the ship attitude of the shore-based ship to be measured is determined.

2. The method for measuring the shore-based ship posture according to claim 1, characterized in that: The ship side features include: an initial pitch characteristic line and a pitch change characteristic line; the step of determining the ship pitch angle of the shore-based ship to be measured based on the ship side features is specifically as follows: The pitch angle of the ship is determined by determining the angle between the initial pitch characteristic line and the pitch change characteristic line.

3. The method for measuring the shore-based ship posture according to claim 2, characterized in that: The ship side features also include: a roll near side initial characteristic line and a roll near side change characteristic line; the step of determining the ship roll angle of the shore-based ship to be measured based on the ship side features, in combination with the camera focal length, the ship length and the horizontal distance is specifically as follows: The ship roll angle is obtained by using a preset ship roll angle calculation expression, combining the roll near-side initial characteristic line, the roll near-side change characteristic line, the camera focal length, the ship length and the horizontal distance.

4. The method for measuring the shore-based ship posture according to claim 3, characterized in that: The ship side image data includes: ship side image data before the ship pitch changes, ship side image data after the ship pitch changes, ship side image data before the ship roll changes, and ship side image data after the ship roll changes; using an image feature extraction method, extracting multiple ship side features from the ship side image data, including: By using the image feature extraction method, an initial pitch characteristic line and a pitch change characteristic line are extracted from the ship side image data before the ship pitch change and the ship side image data after the ship pitch change respectively; By using the image feature extraction method, the initial characteristic line of the rolling near side and the characteristic line of the rolling near side change are extracted from the ship side image data before the ship roll changes and the ship side image data after the ship roll changes.

5. The method for measuring the shore-based ship posture according to claim 3, characterized in that: The calculation expression of ship roll angle is: Wherein, β is the ship roll angle, D is the horizontal distance between the camera and the shore-based ship to be measured, Δl is the distance between the initial characteristic line of the roll near the side and the characteristic line of the roll near the side change, f is the focal length of the camera, and L is half of the ship length of the shore-based ship to be measured.

6. A shore-based ship attitude measurement device, characterized in that: include: An image data acquisition module is used to acquire the ship side image data of the shore-based ship to be tested by using a camera; The camera is installed on the dock, and the installation height is higher than the side of the shore-based ship to be tested; A basic customer data acquisition module, used to acquire the focal length of the camera, the length of the shore-based vessel to be measured, and the horizontal distance between the camera and the shore-based vessel to be measured; An image feature extraction module, used to extract a plurality of ship side features from the ship side image data using an image feature extraction method; A ship pitch angle determination module, used to determine the ship pitch angle of the shore-based ship to be measured based on the ship side characteristics; A ship roll angle determination module, configured to determine the ship roll angle of the shore-based ship to be measured based on the ship side features, in combination with the camera focal length, the ship length and the horizontal distance; The ship attitude determination module is used to determine the ship attitude of the shore-based ship to be measured based on the ship pitch angle and the ship roll angle.

7. The device for measuring the attitude of a shore-based ship according to claim 6, characterized in that: The ship side features include: an initial pitch characteristic line and a pitch change characteristic line; the step of determining the ship pitch angle of the shore-based ship to be measured based on the ship side features is specifically as follows: The pitch angle of the ship is determined by determining the angle between the initial pitch characteristic line and the change pitch characteristic line.

8. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the method according to any one of claims 1 to 5 is executed.

9. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 5 is performed.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 5 is implemented.

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