The Monitoring Technique Of Ship Berthing Based On 3-d Laser Scanning Cloud Data

With the continuous development of shipping industry,the vessels tend to be larger scale,which increase the risk of ship berthing.In order to ensure the safety and efficiency of berthing,various kinds of monitor technique have been applied to ship berth,such as sonar,infrared ray,radar and 2-dimension laser.However,they show the limitation in use.3-D laser scanning technique is gradually mature with the advantage in measurement precision,speed and scope.It is necessary to apply it in ship berthing.By analyzing the berthing process,the author made clear the key parameters that manipulator really care about during berthing process,investigate and analyze the limitation of berthing technique used before,then put forward the new berth monitor technique based on 3-dimension laser data cloud.Firstly combine working principle of 3-dimension laser scanner with the process of ship berthing to design the work pattern of berthing monitoring based on the 3-d laser scanner.Secondly,put forward the mathematical model to analyze and handle the vast number of 3-d laser point cloud data generated by laser scanner by which can extract the distance and velocity of the bow and stem to the wharf and other dynamic key parameters of ship berthing faster and more convenient.At last,according to the theoretical research and business requirements,designs a full set of management system to deal with the data automatically which include both the ground control center for administrator and hand-held terminal for pilots,meanwhile introduce the database,programming language,information real-time processing framework and other related programming technique used in the system development,and specify the main function of the system and the corresponding interface and interactive operation.An experiment conducted by LASER Scanner X300 on the ship called "Hang Yang Dao" which was planning to berth at Lv Shun Port of Dalian.Analyzing the experiment data shows the feasibility and effectiveness of this new monitor technique.Comparing with the berthing technique used before,the new technique takes full advantage of the high efficiency and accuracy of laser ranging resolving the problem of 2-d laser point model berthing monitor system that the ability to search target is poor and the overall accuracy is not high,so enhances the applicability to different berths and ship types,which bring about new thought for monitoring ship berthing.