Spatial state analysis of ship during berthing and unberthing process based on 3D LiDAR

Abstract

In smart ports, accurate perception of vessels' state during berthing and unberthing is crucial to ensure the safety of vessels and ports. In this paper, a method for better monitoring the berthing and unberthing state of vessels is proposed by introducing the GIS spatial analysis technique. For the aspect of the motion state of the vessels, the optimal segmentation region of the hull from the point cloud data is extracted with the aid of GIS spatial theory. Subsequently, the key points are obtained from the optimal segmentation region to calculate the key parameters in the process of berthing and unberthing. Besides, the spatial raster analysis technique is employed to construct the missing point cloud data in the segmentation region. For the other aspect of the spatial state of the vessels, the spatial trajectory of vessels is given. According to the information on a spatial trajectory, a comprehensive study of the spatial state of vessels is performed from the perspective of directional features and spatial relationships. In summary, the proposed method not only identifies the vessels’ motion state from a spatial perspective but also accurately calculates key parameters related to berthing and unberthing. Furthermore, it provides intuitive and clear visualization of the spatial relationship features between the vessel and the shore. Based on the experimental data of berthing and unberthing in Dalian Port, China, accurate results are achieved to verify the feasibility of the proposed method, which can provide a new idea for intelligent berthing and unberthing of vessels.