Lidar Berthing Line Calculation From Nearest Neighbor Point Clouds
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Solution Overview
Problem
Existing technologies face challenges in accurately calculating the straight line along the side surface of a berthing place, which is crucial for safe and smooth ship berthing.
Innovation Solution
An information processing device is developed, equipped with an acquisition unit to gather measurement data, an extraction unit to identify nearest neighbor points, and a straight line calculation unit to accurately calculate the straight line along the berthing place based on these points.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional measurement methods are used to calculate berthing parameters, then the berthing process can be completed, but the accuracy of distance, speed, and angle calculations deteriorates
Solution Approach 1:
The patent segments the measurement data processing into distinct stages: acquiring raw measurement data from the measurement device, extracting relevant feature data from the raw data, and calculating berthing parameters from the extracted features. This segmentation allows each stage to be optimized independently, improving overall measurement precision while maintaining safety.
Solution Approach 2:
The patent introduces an intermediary processing layer between raw measurement data and final berthing parameters. This intermediary layer extracts key features and calculates intermediate values that bridge the gap between raw sensor data and actionable berthing information, enhancing both accuracy and reliability.
2Measurement precision
If simple measurement data processing is used, then the processing speed is maintained, but the accuracy of calculating the straight line along the side surface of the berthing place deteriorates
Solution Approach 1:
The data processing is segmented into modular steps: data acquisition, feature extraction, and parameter calculation. Each module performs a specific function, making the complex overall process manageable and accurate without requiring excessive computational resources.
Solution Approach 2:
The patent applies partial action by focusing computational efforts only on the most critical aspects of the data - extracting key features that directly impact straight line calculation accuracy. This avoids processing all raw data points equally, reducing complexity while maintaining precision where it matters most.
Data Source
AI summary
The controller 13 of the information processing device 1 functions as an acquisition unit, an extraction unit, and a straight line calculation unit. The acquisition unit acquires point cloud data, which is a set of data generated by a lidar 3 provided in a target ship, identified by a pair of a horizontal number being an index representing a position in a horizontal direction, and a vertical number being an index representing a position in a vertical direction. The extraction unit extracts, for each horizontal number, i.e., for each vertical line, the data representing a nearest neighbor point nearest to the target ship among data representing measured points of a berthing place. The straight line calculation unit calculates a berthing side straight line Ls alongside the berthing place, based on a neighbor point set, which is a set of data representing the nearest neighbor point.