CN110712720A - System for measuring draught of ship and using method thereof - Google Patents
System for measuring draught of ship and using method thereof Download PDFInfo
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- CN110712720A CN110712720A CN201910982013.6A CN201910982013A CN110712720A CN 110712720 A CN110712720 A CN 110712720A CN 201910982013 A CN201910982013 A CN 201910982013A CN 110712720 A CN110712720 A CN 110712720A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
- B63B39/12—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude for indicating draught or load
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
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Abstract
The invention discloses a system for measuring ship draught and a using method thereof, the system comprises an unmanned ship system and a mobile terminal, the unmanned ship system comprises a ship body, a central controller, a positioning device, a power supply device, a driving device, a shooting device and a wireless communication device, the mobile terminal comprises a second communication device, a processor, a display screen, a storage medium and an operating system, the unmanned ship system is connected with the second communication device through the wireless communication device and is connected with the mobile terminal, the mobile terminal sends a starting instruction to the unmanned ship, the unmanned ship sails to the vicinity of a target ship water gauge according to a combined control instruction, a water gauge mark is automatically identified and locked and shot, a shot draught image is analyzed, the draught of the same part of the ship is obtained through repeated analysis for many times, and the average draught is calculated to eliminate the influence of water surface fluctuation. The unmanned ship system is matched with the mobile terminal for use, so that the operation flow of ship draft measurement is simplified, and the convenience of operation and draft measurement precision are improved.
Description
Technical Field
The invention relates to the technical field of draught measurement of ships on wharfs or on the sea, in particular to a system for measuring draught of a ship and a using method thereof.
Background
The ship has certain load capacity, the height of the waterline reflects the size of the ship-borne weight, the draft of the cargo ship needs to be measured during loading and unloading the cargo to obtain the displacement, and the cargo-borne weight is obtained after the weight of the empty ship, fuel oil, ballast water and sundries are deducted. Therefore, draft measurement and survey of cargo weight are common activities in marine transport. The waterline, i.e. the line where the vessel meets the surface of the water. In addition, after the ship is constructed, the shipyard uses the Archimedes principle to weigh the ship to obtain the weight of the empty ship. Under the two conditions, a professional rides on a tug or a boat, observes the water gauge mark of the ship to obtain draft data, and uses the tug or the boat to do a large amount of preparation work in advance, so the draft observation cost is high, the ship moves or operates carelessly due to large waves, and the danger of personnel is increased.
The staff who observes often need can carry out the draft observation through long-term training, in order to overcome the measuring error that individual person caused, independently observe by multiunit personnel usually, compare, synthesize, average observation result at last, obtain the draft of final boats and ships. However, the use of the above method has the following disadvantages: the ship draught is visually observed through human eyes, the subjectivity is usually achieved, and environmental factors are not easy to overcome. The data observed manually has fewer observation samples, the data cannot be processed by applying a statistical principle, and the human eye observation is influenced by the capability and the state of the personnel. Therefore, it is necessary to invent a draft observation method, which reduces the cost and difficulty of draft measurement, improves the measurement objectivity, and improves the safety of personnel.
Disclosure of Invention
The invention aims to provide a system for measuring draft of a ship and a using method thereof.
In order to realize the purpose of the invention, the invention adopts the following technical scheme: a system for measuring ship draught comprises an unmanned ship system and a mobile terminal, wherein the unmanned ship system comprises a ship body, a central controller, a positioning device, a power supply device, a driving device, a shooting device and a wireless communication device, the central controller, the positioning device and the power supply device are arranged in the ship body, the central controller is connected with the controller, the power supply device is connected with the central controller, the positioning device is respectively connected with the central controller and the power supply device, the controller is connected with the driving device, the shooting device is connected with the central controller, the wireless communication device is arranged in the ship body, the mobile terminal comprises a second communication device, a processor, a display screen, a storage medium and an operation system, the unmanned ship system is connected with the second communication device through the wireless communication device and is connected with the mobile terminal, the second communication device is connected with the processor and the storage medium, and the operating system is connected with the processor.
Preferably, still be equipped with rudder and rudderstock on the hull, drive arrangement is last to be equipped with screw device, first rotation motor and second rotation motor, the screw device sets up the rear in the hull bottom, the screw device rotates the motor with the second and is connected, the rudder sets up at the hull rear end, the first rotation motor of rudderstock connection.
Preferably, the positioning device comprises a GPS positioning module, a distance sensor and a radar, the GPS positioning module is connected with the central controller, the distance sensor is connected with the GPS positioning module, and the radar is arranged on the ship body.
Preferably, power supply unit includes UPS power, solar cell panel and battery, solar cell panel sets up the rear portion in hull top, solar cell panel is connected with battery, UPS power, the accuse ware is connected in to the UPS power.
Method of use of a system for draft measurement of a vessel according to claim 1, comprising the steps of: step 1, establishing wireless connection between the unmanned ship and a mobile terminal, and enabling the mobile terminal to acquire a shooting starting instruction and read a combined control instruction associated with a preset automatic shooting mode;
step 3, wirelessly transmitting the photographed draft image to the mobile terminal through the communication module by the unmanned ship, and receiving the photographed image transmitted by the unmanned ship by the mobile terminal and storing the photographed image in a storage medium of the mobile terminal;
step 6, operating the unmanned ship to sail to 6 positions of the bow, the middle and the tail of the port and starboard of the ship, obtaining draft data of the 6 positions in the same way,
and 7, automatically calculating the displacement of the ship according to the input ship hydrostatic data.
Preferably, in step 1, the automatic shooting mode includes a locked target automatic shooting mode and an unlocked target automatic shooting mode, and when the automatic shooting mode is set to the locked target automatic shooting mode, the unmanned boat acquires a locked target, preset driving parameters and preset shooting parameters according to a combined control instruction, so as to keep a locked target draught mark in a shooting field of view and shoot images according to the shooting parameters; when the automatic shooting mode is set to be the automatic shooting mode without the locked target, the unmanned boat acquires the set target geographic position information according to the combined control instruction, the target geographic position information and the combined control instruction are sent to the unmanned boat, the unmanned boat acquires the preset running parameters and the preset shooting parameters according to the combined control instruction, and the unmanned boat shoots images according to the shooting parameters after running to the target geographic position information.
Preferably, in step 2, the series of actions includes an unmanned boat driving action, a shooting view adjusting action, a shooting distance adjusting action, and a shooting parameter adjusting action, the shooting parameter adjusting action includes adjusting the size, resolution, sensitivity, focal length, auto-focusing, and color recognition of an image, the shooting view adjusting action includes translating and zooming, the image includes a boundary line between the ship and the water surface by controlling a shooting device on the unmanned boat, the boundary line includes at least one 'M' character and the water surface, the ship waterline is in a position about one third lower than the ship waterline in the shot waterline image, and the waterline image is kept in a horizontal position.
Preferably, in step 2, the radar measures the distance between the unmanned ship and the ship, and when the distance exceeds a preset warning value, the mobile terminal sends an alarm to remind an operator to control the distance between the unmanned ship and the ship body.
Preferably, in step 3, the mobile terminal receives and previews a plurality of images shot by the unmanned ship, and when the mobile terminal detects that the quality of the images shot by the unmanned ship is not good, a re-shooting code instruction is sent to the unmanned ship to control the unmanned ship to perform re-shooting operation.
Preferably, in step 4, the mobile terminal processes the shot image, firstly, the image is preprocessed to obtain an H-channel image, the image is smooth, then, the image is subjected to binarization segmentation, and first cutting is performed according to the segmentation result; simultaneously analyzing the binary image to find the position and the meter number of the character containing 'M' nearest to the water surface and the character of the draft scale mark nearest to the water surface; secondly, cutting for the second time according to the position of the digital scale on the ship body, calculating the image gradient, extracting and fitting the edge, and then obtaining the position of the digital scale on the ship body; and repeating the analysis steps on a plurality of draft images of the same ship body position to obtain the draft of a certain draft mark of the target ship, and carrying out statistical averaging on the data to eliminate the influence of water surface fluctuation.
Compared with the prior art, the system for measuring the ship draught and the use method thereof adopting the technical scheme have the following beneficial effects: by adopting the system for measuring the draft of the ship and the using method thereof, the unmanned ship system and the mobile terminal are added, the unmanned ship is operated to shoot, and the mobile terminal receives the shot image, so that the condition that people climb on a tug or a boat to observe the draft is avoided, the operation flow of draft measurement is simplified, the cost of draft measurement is greatly reduced, the measurement objectivity is improved, and the safety of the people is improved.
Drawings
FIG. 1 is a schematic diagram of a system for draft measurement of a vessel according to an embodiment of the present invention;
FIG. 2 is a block diagram of the unmanned boat system of the present embodiment;
fig. 3 is a schematic block diagram of the mobile terminal in this embodiment;
FIG. 4 is a schematic flow chart of a system for measuring draft of a ship according to the present embodiment;
FIG. 5 is a schematic view of the draft scale markings of the vessel in this embodiment;
fig. 6 is a schematic view of the unmanned surface vehicle shooting the draft scale mark at the boundary between the hull and the water surface in the embodiment;
FIG. 7 is a schematic view of an operation interface of the mobile terminal in this embodiment when shooting a draft image;
fig. 8 is a flowchart of detecting the waterline of the ship in the image processing program according to the present embodiment.
Reference numerals: 1. an unmanned boat system; 11. a hull; 111. a rudder; 112. a tiller; 12. a central controller; 13. a controller; 14. a positioning device; 141. a GPS positioning module; 142. a distance sensor; 143. a radar; 15. a power supply device; 151. a storage battery; 152. a UPS power supply; 153. a solar panel; 16. a photographing device; 17. a drive device; 171. A propeller device; 172. a first rotating electric machine; 173. a second rotating electric machine; 18. a wireless communication device; 2. a mobile terminal; 21. a second communication device; 22. a processor; 23. a display screen; 24. a storage medium; 25. an operating system; 301. a hull outer plate; 302. a vessel draught indicator; 303. the surface of the water.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of a system for measuring ship draught, which includes an unmanned ship system 1 and a mobile terminal 2, fig. 2 is a schematic block diagram of the unmanned ship system 1, fig. 3 is a schematic block diagram of the mobile terminal 2, the unmanned ship system 1 includes a ship body 11, a central controller 12, a controller 13, a positioning device 14, a power supply device 15, a shooting device 16, a driving device 17 and a wireless communication device 18, the central controller 12, the controller 13, the positioning device 14 and the power supply device 15 are arranged in the ship body 11, the central controller 12 is connected with the controller 13, the power supply device 15 is connected with the central controller 12, the positioning device 14 is respectively connected with the central controller 12 and the power supply device 15, the controller 13 is connected with the driving device 17, the shooting device 16 is connected with the central controller 12, the wireless communication device 18 is arranged in the ship body 11, and the mobile terminal 2 includes a second communication device 21, The unmanned ship system 1 is connected with the mobile terminal 2 through the wireless communication device 18 and the second communication device 18, the second communication device 18 is connected with the processor 22 and the storage medium 24, and the operating system 25 is connected with the processor 22.
The ship body 11 is further provided with a rudder 111 and a rudder stock 112, the driving device 17 is provided with a propeller device 171, a first rotating motor 172 and a second rotating motor 173, and the propeller device 171 is arranged behind the bottom of the ship body 11 and connected with the second rotating motor 173. The rudder 111 is provided at the rear end of the hull 11, and the rudder stock 112 is connected to the first rotating motor 172. The positioning device 14 comprises a GPS positioning module 141, a distance sensor 142 and a radar 143, wherein the GPS positioning module 141 is connected with the central controller 12, the distance sensor 142 is connected with the GPS positioning module 141, and the radar 143 is arranged on the hull 11. The power supply device 15 includes a UPS power supply 152, a solar panel 153, and a storage battery 151, the solar panel 153 is disposed at the rear above the hull 11, the solar panel 153 is connected to the storage battery 151 and the UPS power supply 152, and the UPS power supply 152 is connected to the central controller 12.
Fig. 4 shows a schematic flow chart of a system for measuring the draft of a ship, comprising the following steps:
step 1, establishing wireless connection between the unmanned ship and a mobile terminal 2, and enabling the mobile terminal 2 to obtain a shooting starting instruction and read a combined control instruction associated with a preset automatic shooting mode;
and 2, sending the combined control command to the unmanned boat, sequentially executing a series of actions by the unmanned boat according to the combined control command, wherein the series of actions comprise unmanned boat running action, shooting visual field adjusting action, shooting distance adjusting action and shooting parameter adjusting action, the shooting parameter adjusting action comprises adjusting the size, resolution, light sensitivity, focal length, automatic focusing and color recognition of an image, the shooting visual field adjusting action comprises translation and zooming, the image simultaneously comprises a boundary line of the ship and the water surface 303 by controlling a shooting device 16 on the unmanned boat, wherein the boundary line comprises at least one 'M' character and the water surface 303, the ship waterline is positioned at about one third of the lower position of the shot waterline image, the waterline image is kept at the horizontal position, and the image is conveniently analyzed by an image processing module carried by the mobile terminal 2. Starting a camera device of the unmanned ship to shoot a ship draft image by approaching the target ship draft mark 302 and locking the draft mark at the waterline; in this embodiment, the radar 143 measures the distance between the unmanned boat and the ship, and when the distance exceeds a preset warning value, the mobile terminal 2 sends an alarm to remind the operator to control the distance between the unmanned boat and the ship body 11.
And 3, wirelessly transmitting the photographed draft image to the mobile terminal 2 by the unmanned ship through the communication module, receiving the photographed image transmitted by the unmanned ship by the mobile terminal 2 and storing the photographed image in the storage medium 24 of the mobile terminal 2, wherein in the embodiment, the mobile terminal 2 can receive a plurality of images continuously photographed by the unmanned ship and screen out some ship draft images with higher definition for storage, and the mobile terminal 2 or can receive a series of images continuously photographed by the unmanned ship and store the images according to a preset video format. The operator opens the image processing module at the mobile terminal 2, carries out the preliminary treatment to the draft image of shooing to detect draft line position, if image processing program suggestion can't detect or testing result and expected value deviation are great, can order about unmanned ship to shoot the draft image again.
step 6, controlling the unmanned ship to sail to 6 positions of the bow, the middle and the tail of the port and starboard of the ship, and obtaining draft data of the 6 positions in the same way;
and 7, automatically calculating the displacement of the ship according to the input ship hydrostatic data.
As shown in fig. 8, which is a flowchart of detecting a ship waterline in an image processing program, the mobile terminal 2 processes a shot image, performs image preprocessing to obtain an H-channel image, smoothes the image, performs binarization segmentation on the image, and performs first cutting according to a segmentation result; extracting the outline of the binarized image, sequentially extracting single water gauge characters one by one, and performing independent inclination correction on the character image, so that the correction precision of the image is improved, and the subsequent character recognition is facilitated; and recognizing the corrected characters, finding the 'M' character with the lowest position in the image as the mark of the number of meters nearest to the water surface 303, thereby finding the number of meters nearest to the water surface 303 and storing the number of meters for calculating the draught value.
Identifying and finding the identifiable non-meter numeric character which is the lowest part of the draught mark and accords with the character arrangement rule as the small character which is the closest to the water surface 303, and calculating the height represented by a single pixel according to the pixel height and the actual height of the small character which is the closest to the water surface 303 in order to prevent the influence caused by the deformation of the water gauge character in the image; secondly, cutting according to the digital scale position on the ship body to obtain an image containing the boundary line between the water gauge area and the water surface 303; then calculating image gradient, carrying out edge extraction and fitting, then obtaining the position of the digital scale on the ship body, and finally obtaining the position of the waterline on the scale; repeating the analysis steps to obtain the draft at a certain draft mark of the target ship, and averaging the draft obtained by analysis to eliminate the influence of the fluctuation of the water surface 303; the steps are applied to analysis of ship draft images of 6 points of the left, right, front, middle and tail of the target ship, and finally draft of 6 points of the target ship is obtained.
Fig. 5 is a schematic view of a draft scale mark of a ship, fig. 6 is a schematic view of an unmanned boat shooting a draft scale mark at a junction of a hull and a water surface, and a shot image is wirelessly transmitted to the mobile terminal 2 through the communication module. As shown in fig. 7, which is a schematic view of an operation interface when the draft image is captured by the mobile terminal 2, the draft image is displayed on the display screen 23 of the mobile terminal 2, if only the hull plate 301 is in the draft image and the draft mark is not seen, the unmanned boat can be moved in the ship length direction, and when the character of the draft mark appears in the draft image, the unmanned boat or the camera 16 can be further controlled to rotate so that the character of the draft mark is close to the middle position of the draft image. And then detecting whether the image comprises the water plane or not, if no water plane is detected in the visual field, continuing to control the unmanned boat to move towards the direction of the water surface 303 or rotating the camera device to enable the visual field to comprise the water plane.
The automatic shooting mode comprises a target locking automatic shooting mode and a target unlocking automatic shooting mode, the automatic shooting mode is set to be the target locking automatic shooting mode, the target locking automatic shooting mode is an automatic shooting mode with a locked target as a shooting object, and the unmanned ship obtains the locked target, preset running parameters and preset shooting parameters according to a combined control instruction so as to keep the locked target draught mark in a shooting field and shoot images according to the shooting parameters. The locked target generally comprises a ship draught mark 302, a water surface 303 and the like which are identified from an image by an image identification technology, and the locked target is kept in a shooting field of view by the unmanned ship and can be realized by adjusting a rotation parameter, a lens steering parameter, a focal length parameter and the like of the ship body 11.
For example, after the unmanned boat performs a series of actions according to the combined manipulation instruction, the position of the unmanned boat in the three-dimensional coordinate system may be adjusted according to the spatial position variation parameter of the target to which the unmanned boat is locked. The radar 143 detects the distance between unmanned ship and hull planking 301, adjusts the relative spatial position of the target of locking of unmanned ship in view of the above and changes the parameter, makes unmanned ship be in comparatively safe shooting position, makes the target of locking promptly the draft mark of waterline department be located in shooting the field of view all the time simultaneously.
When the unmanned ship acquires the locked target according to the combined control instruction, the target can be searched in the shooting view field, and the searched target is marked in the preview image of the shooting view field and fed back to the mobile terminal 2. The mobile terminal 2 may display the preview image and the mark of the searched target, and detect a selection instruction for the displayed mark, thereby taking the target corresponding to the mark selected by the selection instruction as a locked target and notifying the unmanned ship so that the unmanned ship obtains the locked target.
When the automatic shooting mode is set to be the automatic shooting mode without the locked target, the unmanned boat obtains set target geographic position information according to the combined control instruction, the geographic position information and the combined control instruction are sent to the unmanned boat, the unmanned boat obtains preset running parameters and preset shooting parameters according to the combined control instruction, and the unmanned boat shoots images according to the shooting parameters after running to the geographic position information. The mobile terminal 2 obtains the set geographical location information, and specifically, may obtain the input geographical location information as the set geographical location information. The mobile terminal 2 may also receive and display the preview image transmitted by the unmanned surface vehicle in real time, select the geographic position according to the operation of the user on the geographic position in the preview image, and acquire the selected geographic position information as the set geographic position information. The mobile terminal 2 may also display an electronic map of an area where the unmanned surface vehicle is currently located, select a geographic position according to an operation of the user on the electronic map, and acquire selected geographic position information as set geographic position information.
The unmanned ship can acquire the set geographical position information and the geographical position information where the unmanned ship is currently located, and the driving route of the unmanned ship can be determined according to the two kinds of geographical position information, so that the unmanned ship can automatically drive to the set geographical position information. Then the unmanned ship can run along a preset running track under the control of the combined control instruction, and hover near the draught scale mark where the waterline is located to shoot images according to preset shooting parameters.
In the present embodiment, the mobile terminal 2 may control the unmanned boat to start to automatically travel along the preset travel track at a specific location and capture an image. The mobile terminal 2 also has a function of storing the combined manipulation instruction. When the following ships of the same type stop at the same position of the wharf, the running routes of the unmanned boats are basically the same, a user can call out a combined control instruction stored when the ship controls the unmanned boat to shoot the draft image in the prior art on the mobile terminal 2, the unmanned boat is controlled to run on a preset running route, and the image is shot according to preset shooting parameters when the unmanned boat runs to a preset position. Therefore, the ship draught image can be shot in a specific place by using the unmanned ship without repeatedly learning the operation and shooting skills of the unmanned ship, and the operation is convenient.
The foregoing is a preferred embodiment of the present invention, and it will be apparent to those skilled in the art that various changes and modifications may be made without departing from the spirit of the invention, and these should be considered to be within the scope of the invention.
Claims (10)
1. A system for draft measurement of a vessel, characterized by: the unmanned ship system comprises a ship body, a central controller, a positioning device, a power supply device, a driving device, a shooting device and a wireless communication device, wherein the central controller, the positioning device and the power supply device are arranged in the ship body, the central controller is connected with the controller, the power supply device is connected with the central controller, the positioning device is respectively connected with the central controller and the power supply device, the controller is connected with the driving device, the shooting device is connected with the central controller, the wireless communication device is arranged in the ship body, the mobile terminal comprises a second communication device, a processor, a display screen, a storage medium and an operating system, the unmanned ship system is connected with the second communication device through the wireless communication device, the second communication device is connected with the processor, the power supply device is connected with the central controller, the wireless communication device is arranged in the ship body, the unmanned ship system comprises a first communication device, the storage medium is connected, and the operating system is connected with the processor.
2. System for draft measurement of a vessel according to claim 1, wherein: still be equipped with rudder and rudderstock on the hull, drive arrangement is last to be equipped with screw device, first rotation motor and second rotation motor, the screw device sets up the rear in the hull bottom, the screw device rotates the motor with the second and is connected, the rudder sets up in the hull rear end, the first rotation motor of rudderstock connection.
3. System for draft measurement of a vessel according to claim 1, wherein: the positioning device comprises a GPS positioning module, a distance sensor and a radar, the GPS positioning module is connected with the central controller, the distance sensor is connected with the GPS positioning module, and the radar is arranged on the ship body.
4. System for draft measurement of a vessel according to claim 1, wherein: the power supply device comprises a UPS (uninterrupted power supply), a solar panel and a storage battery, wherein the solar panel is arranged at the rear part above the ship body, the solar panel is connected with the storage battery and the UPS, and the UPS is connected with the central controller.
5. Method of use of a system for draft measurement of a vessel according to claim 1, characterized in that: the method comprises the following steps: step 1, establishing wireless connection between the unmanned ship and a mobile terminal, and enabling the mobile terminal to acquire a shooting starting instruction and read a combined control instruction associated with a preset automatic shooting mode;
step 2, sending the combined control instruction to the unmanned boat, sequentially executing a series of actions by the unmanned boat according to the combined control instruction so as to approach a target ship draught mark, locking the draught mark at the waterline, and starting a camera device of the unmanned boat to shoot a ship draught image;
step 3, wirelessly transmitting the photographed draft image to the mobile terminal through the communication module by the unmanned ship, and receiving the photographed image transmitted by the unmanned ship by the mobile terminal and storing the photographed image in a storage medium of the mobile terminal;
step 4, processing the shot image through an image processing module in the mobile terminal, and automatically detecting the reading of the draught mark at the position of the waterline;
step 5, repeatedly analyzing a plurality of draft images of the same hull part to obtain the draft of the ship at the position and taking a statistical average value;
step 6, controlling the unmanned ship to sail to 6 positions of the bow, the middle and the tail of the port and starboard of the ship, and obtaining draft data of the 6 positions in the same way;
and 7, automatically calculating the displacement of the ship according to the input ship hydrostatic data.
6. Use of a system for measuring the draught of a ship according to claim 5, characterised in that: in step 1, the automatic shooting mode comprises a locked target automatic shooting mode and an unlocked target automatic shooting mode, and when the automatic shooting mode is set as the locked target automatic shooting mode, the unmanned boat acquires a locked target, preset driving parameters and preset shooting parameters according to a combined control instruction so as to keep a locked target draught mark in a shooting field and shoot images according to the shooting parameters; when the automatic shooting mode is set to be the automatic shooting mode without the locked target, the unmanned boat acquires the set target geographic position information according to the combined control instruction, the target geographic position information and the combined control instruction are sent to the unmanned boat, the unmanned boat acquires the preset running parameters and the preset shooting parameters according to the combined control instruction, and the unmanned boat shoots images according to the shooting parameters after running to the target geographic position information.
7. Use of a system for measuring the draught of a ship according to claim 5, characterised in that: in step 2, the series of actions comprise an unmanned boat driving action, a shooting view adjusting action, a shooting distance adjusting action and a shooting parameter adjusting action, wherein the shooting parameter adjusting action comprises image size adjustment, image resolution, image sensitivity, image focus adjustment, image color identification, the shooting view adjusting action comprises translation and image zooming, the image simultaneously comprises a boundary line between a ship and a water surface by controlling a shooting device on the unmanned boat, the boundary line comprises at least one 'M' character and the water surface, a ship waterline is positioned at the lower one-third or so of the position in the shot waterline image, and the waterline image is kept at a horizontal position.
8. Use of a system for measuring the draught of a ship according to claim 5, characterised in that: in step 2, the radar measures the distance between the unmanned boat and the ship, and when the distance exceeds a preset warning value, the mobile terminal sends an alarm to remind an operator to control the distance between the unmanned boat and the ship body.
9. Use of a system for measuring the draught of a ship according to claim 5, characterised in that: in step 3, the mobile terminal receives and previews a plurality of images shot by the unmanned ship, and when the mobile terminal detects that the quality of the images shot by the unmanned ship is not good, a re-shooting code instruction is sent to the unmanned ship to control the unmanned ship to carry out re-shooting operation.
10. Use of a system for measuring the draught of a ship according to claim 5, characterised in that: in step 4, the mobile terminal processes the shot image, firstly, the image is preprocessed to obtain an H channel image, the image is smooth, then, the image is subjected to binarization segmentation, and first cutting is carried out according to the segmentation result; simultaneously analyzing the binary image to find the position and the meter number of the character containing 'M' nearest to the water surface and the character of the draft scale mark nearest to the water surface; secondly, cutting for the second time according to the position of the digital scale on the ship body, calculating the image gradient, extracting and fitting the edge, and then obtaining the position of the digital scale on the ship body; and repeating the analysis steps on a plurality of draft images of the same ship body position to obtain the draft of a certain draft mark of the target ship, and carrying out statistical averaging on the data to eliminate the influence of water surface fluctuation.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910982013.6A CN110712720A (en) | 2019-10-16 | 2019-10-16 | System for measuring draught of ship and using method thereof |
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| CN201910982013.6A CN110712720A (en) | 2019-10-16 | 2019-10-16 | System for measuring draught of ship and using method thereof |
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| CN201910982013.6A Pending CN110712720A (en) | 2019-10-16 | 2019-10-16 | System for measuring draught of ship and using method thereof |
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Cited By (6)
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| CN111498042A (en) * | 2020-04-21 | 2020-08-07 | 上海海事大学 | Intelligent ship for measuring water gauge of large ship and measuring method |
| CN111572723A (en) * | 2020-05-30 | 2020-08-25 | 江苏众智启澄智能环境科技有限公司 | Water gauge measuring method, measuring device, unmanned ship and storage medium |
| CN112230293A (en) * | 2020-09-15 | 2021-01-15 | 深圳市云洲创新科技有限公司 | Ship security check supervision method and system |
| CN113232792A (en) * | 2021-04-26 | 2021-08-10 | 上海海事大学 | Intelligent inspection and early warning system for overrun ships in inland river bridge area water area |
| CN113804271A (en) * | 2021-09-10 | 2021-12-17 | 天津理工大学 | Ship water gauge metering system and method based on portable differential positioning instrument |
| CN115546459A (en) * | 2022-12-06 | 2022-12-30 | 深之蓝海洋科技股份有限公司 | Cableless remote-control unmanned submersible for water gauge detection and water gauge detection method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111498042A (en) * | 2020-04-21 | 2020-08-07 | 上海海事大学 | Intelligent ship for measuring water gauge of large ship and measuring method |
| CN111572723A (en) * | 2020-05-30 | 2020-08-25 | 江苏众智启澄智能环境科技有限公司 | Water gauge measuring method, measuring device, unmanned ship and storage medium |
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| CN113232792A (en) * | 2021-04-26 | 2021-08-10 | 上海海事大学 | Intelligent inspection and early warning system for overrun ships in inland river bridge area water area |
| CN113804271A (en) * | 2021-09-10 | 2021-12-17 | 天津理工大学 | Ship water gauge metering system and method based on portable differential positioning instrument |
| CN115546459A (en) * | 2022-12-06 | 2022-12-30 | 深之蓝海洋科技股份有限公司 | Cableless remote-control unmanned submersible for water gauge detection and water gauge detection method |
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