| Berthing information is an essential guarantee for safe berthing operations.Research on the acquisition of ship berthing information can not only assist pilots in knowing the speed,angle,distance,and trajectory of berthing ships in real-time but also help to understand the future movement trend of berthing ships,reduce the difficulty of parallel berthing operations and improve the efficiency and safety of berthing operations.This thesis mainly takes ship berthing information as the research object and studies the real-time acquisition of ship berthing information based on point cloud data acquired by lidar.The main research method is first to preprocess the point cloud data collected by multiple lidars on the dock shore-base,convert the point cloud data of lidar radar to coordinate system,and simplify,cut,and reduce the noise of the point cloud data.Then,This thesis puts forward an idea of obtaining ship angle information through point cloud data by studying the characteristics of the ship hull and treating lidar signals when the ship is berthing.The point cloud data in the range of the ship hull was determined,and the angle information between the ship and the wharf was finally estimated through these point cloud data.Finally,This thesis uses the spatial location of numerous key points from point cloud data by studying the spatial structure information of the ship.By tracking the spatial trajectory changes of the key points of the ship,the real-time angle,distance,velocity,and other information of the ship’s multiple points are finally estimated.The point cloud data of the ship berthing verify the algorithm.The results show that the motion pose information error of the proposed method is much smaller than that of other existing methods,and the proposed method can provide more accurate and abundant ship attitude information.The proposed method is competitive with other existing attitude estimation methods for offshore ships.Main achievements of this thesis:(1)The preprocessing process of multi-lidar equipment point cloud data is designed,and the relevant point cloud preprocessing algorithm is proposed.After point cloud data is preprocessed by the point cloud,the accuracy and efficiency of subsequent algorithms can be effectively improved.(2)A new algorithm for obtaining ship berthing angle information based on point cloud data is proposed.The algorithm can help the pilot to know the berthing deviation angle between the berthing ship and the wharf in real-time and reduce the difficulty of parallel berthing.(3)A new algorithm for ship multi-point motion pose information estimation based on point cloud data is proposed.Compared with the traditional method which regards the ship as a point to estimate the attitude information of the ship,the algorithm can help the pilot to know the multi-point situation information of the bow,the ship and the stern of the berthing ship in real time,so as to improve the efficiency and safety factor of berthing operation. |
