基于激光三维视觉的船舶靠泊动态监测技术

随着船舶运输业的不断发展,船舶趋向大型化,船舶靠泊风险增加,为了保证船舶靠泊更加安全、高效,有必要在码头配备靠泊监测系统。本文分析了船舶靠泊过程,研究了三维激光扫描仪工作原理和三维点云数据的处理方法,提出了基于激光三维视觉的船舶靠泊监测技术,提取船舶靠泊时船首、船尾相对码头的距离与速度等船舶动态靠泊参数,解决了以往点式激光靠泊监测系统寻找目标能力差的问题,增强了应对不同泊位、船型的适用性,实例验证表明此靠泊技术具有可行性和实用性,可为船舶靠泊提供安全保障。

Ship berthing dynamic monitoring technology based on laser 3D vision

In order to ensure the ship berthing safer and more efficient,there is necessity to equip a berthing monitoring system on the wharf. The process of ship berthing was analyzed,and the working principle of 3D laser scanner and the handling method of 3D point cloud data were studied. A ship berthing monitoring technique based on laser 3D vision was presented. Moreover,this technique can extract some dynamic parameters when berthing,such as the relative distance and speed of the bow and stern to wharf. The problem that single point laser berthing monitoring system has poor ability to search target was solved,and this method increases the applicability for different berths and ship types. The feasibility and practicability of this technique are verified by using instance,which provides safety guarantee for ship berthing.