CN-115097425-B - Detection method and device for ship

CN115097425BCN 115097425 BCN115097425 BCN 115097425BCN-115097425-B

Abstract

The application provides a detection method and a detection device for a ship, wherein a laser radar is installed at a preset position on the ship, and transmits a plurality of test signals at different angles, so that a detection range formed by the plurality of test signals covers a target area around the ship. By adopting the detection method and the detection device, the detection angle of the laser radar can be automatically adjusted according to the draft of the ship, so that the running safety of the ship is improved.

Inventors

CAO ZHENGYU
LIU FANG
YANG SEN
WANG KEHU
CHEN LIN
GUO MINJIE
MA CHUANG

Assignees

上海外高桥造船有限公司

Dates

Publication Date: 20260508
Application Date: 20220715

Claims (8)

1. A detection method for a ship, characterized in that a laser radar is mounted at a preset position on the ship, the laser radar emitting a plurality of test signals at different angles such that a detection range formed by the plurality of test signals covers a target area around the ship, the method comprising: determining a draft height value of the vessel; Determining a detection blind area value for the laser radar, wherein the step of determining the detection blind area value for the laser radar comprises the steps of determining a first blind area value as the detection blind area value for the laser radar if a navigation area where the ship is located belongs to a dock area, wherein the dock area refers to an area within a preset range from a dock; determining a detection angle control value of the laser radar based on the draft height value and the detection blind area value; And controlling the laser radar to rotate to the detection angle control value.
2. The method of claim 1, wherein the vessel is further equipped with a level telemetry sensor, Wherein the step of determining the draft level value of the vessel comprises obtaining the draft level value of the vessel from the level telemetry sensor.
3. The method of claim 1, wherein the vessel is provided with a plurality of adjustment gears, each adjustment gear having a different blind zone setting, the switching operation comprising a selection operation for a target adjustment gear, Wherein the step of determining the detection blind area value for the laser radar according to the switching operation for the ship detection requirement comprises: Receiving a selection operation for a target adjustment gear; and according to the selection operation, determining a blind area setting value corresponding to the target adjusting gear as a detection blind area value aiming at the laser radar.
4. The method of claim 1, wherein determining the probe angle control value of the lidar based on the draft value and the probe blind value comprises: Determining a vertical height value of the laser radar according to the installation height value of the laser radar on the ship and the draft height value; calculating the ratio of the detection blind area value to the vertical height value; And determining the arctangent function value of the ratio as a detection angle control value of the laser radar.
5. The method of claim 4, wherein the lidar is mounted at the predetermined location on the vessel by a bracket, The installation height value is the sum of a ship body height value and a bracket height value, the ship body height value refers to the height value from the bottom shell of the ship to the deck of the ship, the bracket height value refers to the height value from the deck of the ship to an installation position on the bracket, the installation position is the position for installing the laser radar on the bracket, The vertical height value is a difference between the installation height value and the draft height value.
6. The method according to claim 5, wherein the bracket includes a support part and a rotating part, one end of the support part is installed at the preset position on the ship, the lidar is connected to the other end of the support part through the rotating part, Wherein the step of controlling the laser radar to rotate to the detection angle control value includes: And controlling the rotation of the laser radar to the detection angle control value by controlling the rotation of a rotating part connected with the laser radar.
7. The method of claim 1, wherein the lidar comprises a plurality of lidars, each lidar having a different detection angle control value.
8. A probe apparatus for a ship, wherein a laser radar is installed at a predetermined position on the ship, the laser radar emitting a plurality of test signals at different angles such that a probe range formed by the plurality of test signals covers a target area around the ship, the apparatus comprising: a draft determining module that determines a draft height value of the vessel; The system comprises a laser radar, a dead zone determining module and a control module, wherein the laser radar comprises a navigation area, a dead zone determining module and a control module, wherein the navigation area is used for determining a navigation area of a ship and is used for determining a first dead zone value as the detection dead zone value of the laser radar if the navigation area of the ship belongs to a wharf area, and the wharf area refers to an area within a preset range from the wharf; the detection determining module is used for determining a detection angle control value of the laser radar based on the draft height value and the detection blind area value; And the rotation control module is used for controlling the laser radar to rotate to the detection angle control value.

Description

Detection method and device for ship Technical Field The application relates to the technical field of large ocean intelligent ships, in particular to a detection method and device for ships. Background Currently, lidar is a sensor that must be mounted on a smart car, which is typically fixedly mounted on the chassis of the smart car. The laser radar is a radar system for detecting the position, speed and other characteristic quantities of a target by emitting a laser beam, and the working principle of the laser radar is to emit a detection signal (laser beam) to the target, and compare a received signal reflected from the target with the emission signal to obtain the related information of the target. With the development of intelligent ships, the laser radar is also gradually applied to the field of ships as a short-distance target detection sensor, but the fixed mounting mode adopted by the laser radar is not suitable for the use condition of the ships. Disclosure of Invention The object of the present application is therefore to provide a method and a device for detecting a vessel, which overcome at least one of the above drawbacks. The embodiment of the application provides a detection method for a ship, which is characterized in that a laser radar is arranged at a preset position on the ship, and a plurality of test signals are emitted by the laser radar at different angles so that a detection range formed by the plurality of test signals covers a target area around the ship, and the method comprises the steps of determining a draft height value of the ship; the method comprises the steps of determining a detection blind area value aiming at the laser radar, determining a detection angle control value of the laser radar based on the draft height value and the detection blind area value, and controlling the laser radar to rotate to the detection angle control value. In a possible embodiment, a level telemetry sensor is also mounted on the vessel, wherein the step of determining the draft level value of the vessel comprises obtaining the draft level value of the vessel from the level telemetry sensor. In a possible embodiment, the step of determining the probe blind area value for the lidar comprises at least one of determining the probe blind area value for the lidar based on an input of a user, determining the probe blind area value for the lidar based on a navigation area in which the vessel is located, and determining the probe blind area value for the lidar based on a switching operation for a vessel probe requirement. In a possible embodiment, the step of determining the detection blind area value for the lidar according to the navigation area where the ship is located includes determining a first blind area value as the detection blind area value for the lidar if the navigation area where the ship is located belongs to a dock area, the dock area being an area within a preset range from the dock, and determining a second blind area value as the detection blind area value for the lidar if the navigation area where the ship is located does not belong to the dock area, the second blind area value being greater than the first blind area value. In a possible embodiment, the ship is provided with a plurality of adjustment gears, the blind area setting value corresponding to each adjustment gear is different, the switching operation comprises a selection operation for a target adjustment gear, and the step of determining the detection blind area value for the laser radar according to the switching operation for ship detection requirements comprises the steps of receiving the selection operation for the target adjustment gear, and determining the blind area setting value corresponding to the target adjustment gear as the detection blind area value for the laser radar according to the selection operation. In one possible embodiment, the step of determining the detection angle control value of the laser radar based on the draft height value and the detection dead zone value comprises determining a vertical height value of the laser radar according to an installation height value of the laser radar on a ship and the draft height value, calculating a ratio of the detection dead zone value to the vertical height value, and determining an arctangent function value of the ratio as the detection angle control value of the laser radar. In a possible embodiment, the lidar is mounted on the vessel at the preset position by a bracket, the mounting height value is a sum of a hull height value and a bracket height value, the hull height value is a height value from a bottom shell of the vessel to a deck of the vessel, the bracket height value is a height value from the deck of the vessel to a mounting position on the bracket, the mounting position is a position where the lidar is mounted on the bracket, and the vertical height value is a difference between the mounting height value and the draft height value. In a poss