摘 要

近年来船舶岸电技术逐渐地普及与应用于我国各大港口。当前岸电对接操作多以人工操作的形式，工作人员需要先后执行处理接电手续、拖拉电缆至接电口、手动对接等步骤。而且现阶段岸电对接操作尚无统一的标准，使对接工作的难度大大增加，极大地影响了对接效率，效率降低从而带来的是靠港时间的延长，使停泊成本升高。为了提高岸电对接效率，本文就在船舶完成靠泊时实现电缆接头与船舶受电装置的自动精确对接技术展开研究。

首先，本文介绍了船舶岸电岸船自动化对接的研究目的和研究意义，并且概述了当前船舶岸电系统对接技术的研究现状。

其次，在调查分析现有岸电设施和岸电对接流程的基础上，提出了一种自动化岸电对接系统，介绍了自动化岸电系统的硬件基础，包括岸基装置、电缆提升装置、船载装置，岸基装置主要由进线开关柜、岸基变压器、岸基变频器、出线开关柜和岸基接电箱等设备组成；电缆提升装置是由电缆线、电缆卷筒、单目摄像头和具备在一定范围内旋转和移动能力的机械臂等设备组成；船载装置是由对接引导装置可伸缩托盘、船载接电箱和船载变压器组成。同时介绍了自动化岸电对接系统的影响因素，主要包括光照、风浪流、潮汐等因素。

接着，介绍了自动化岸电对接系统的对接内容和实现过程，其对接内容是控制机械臂将电缆接头放置在对接引导装置可伸缩托盘上，主要实现过程为通过图像处理算法对摄像头采集的图像进行初步的处理来提高图像质量；再通过角点提取算法将可伸缩托盘从图像处理算法处理过的图像中提取出来并把托盘的四个顶点位置的角点及其坐标提取出来；接着利用位姿估计算法在已知图像中的托盘角点坐标和已标定单目摄像机的基础上，计算出对接引导装置托盘在单目摄像头坐标系中的三维坐标，然后控制机械臂运动至该三维坐标并判断是否符合精度指标，若符合释放电缆接头并利用可伸缩托盘将电缆接头插入船载接电箱的插孔中，完成受电。

最后，对第三章提出的理论进行仿真，主要是针对对图像处理算法，验证结果表明图像处理算法基本可以满足岸电对接系统的要求，同时对自动化岸电对接系统在ROS中进行对接仿真实验，实验结果表明自动化岸电对接系统基本可以实现岸电对接。在文末对本文进行了总结，并对下一步工作进行了展望。

关键词：船舶岸电系统、单目视觉、位姿估计

Abstract

In recent years, ship shore power technology has been gradually popularized and applied in major ports in China. At present, the shore power docking operation is mostly in the form of manual operation. The staff need to successively carry out the steps of handling the power connection procedures, dragging the cable to the power connection port, and manual docking. At present, there is no unified standard for shore power docking operation, which greatly increases the difficulty of docking work and greatly affects the docking efficiency. The decrease of efficiency brings about the extension of port time and the increase of berthing cost. In order to improve the efficiency of shore power docking, this paper studies the automatic and accurate docking technology of cable joint and ship power receiving device when the ship is berthed.

First of all, this paper introduces the research purpose and significance of ship shore power automatic docking, and summarizes the current research status of ship shore power system docking technology.

Secondly, based on the investigation and analysis of the existing shore power facilities and shore power connection process, an automatic shore power connection system is proposed. The hardware foundation of the automatic shore power system is introduced, including shore based devices, cable lifting devices, ship borne devices. The shore based devices are mainly composed of incoming switchgear, shore based transformer, shore based inverter, outgoing switchgear and shore power connection box The cable lifting device is composed of cable, cable drum, monocular camera, mechanical arm with rotation and movement ability in a certain range, etc.; the shipboard device is composed of docking guide device, retractable tray, shipboard connecting box and shipboard transformer. At the same time, the paper introduces the influence factors of the automatic shore power docking system, mainly including light, wind, wave and current, tide and other factors.

Then, the paper introduces the docking content and the realization process of the automatic shore power docking system. The docking content is to control the mechanical arm to place the cable joint on the extendable tray of the docking guide device. The main realization process is to improve the image quality through the preliminary processing of the image collected by the camera through the image processing algorithm; then the extendable tray is extracted from the image through the corner extraction algorithm The processing algorithm extracts the corner points and their coordinates of the four vertex positions of the tray from the processed image; then, based on the known corner point coordinates of the tray in the image and the calibrated monocular camera, it calculates the three-dimensional coordinates of the docking guide device tray in the monocular camera coordinate system, and controls the mechanical arm to move to the three-dimensional seat Mark and judge whether it meets the accuracy index. If it meets the requirements, release the cable connector and use the retractable tray to insert the cable connector into the jack of the onboard power connection box to complete the power receiving.

Finally, the theory proposed in the third chapter is simulated, mainly for the image processing algorithm. The verification results show that the image processing algorithm can basically meet the requirements of shore power docking system. At the same time, the docking simulation experiment of the automatic shore power docking system in ROS is carried out. The experimental results show that the automatic shore power docking system can basically achieve shore power docking. At the end of the paper, the author summarizes this paper and looks forward to the next work.

Key Words： Shore-to-ship Power System, monocular vision, pose estimatio

目录

第1章 绪论 1

1.1 研究背景及意义 1

1.2 国内外研究现状 2

1.3 本文主要研究内容 4

第2章 自动化岸电对接系统 6

2.1 自动化岸电对接系统组成 6

2.2 自动化岸电对接系统影响因素 8

2.3 自动化岸电对接系统对接流程 8

2.4 本章小结 10

第3章 基于单目视觉的托盘特征点提取与位姿估计 12

3.1 图像处理 12

3.1.1 托盘图像分类 12

3.1.2 图像处理算法流程 13

3.1.3 图像处理过程 14

3.2 托盘区域的特征点提取 17

3.2.1 感兴趣区域提取 17

3.2.2 托盘角点提取 18

3.3 位姿估计 21

3.3.1 相机标定 21

3.3.2 位姿解算 25

3.4 本章小结 27

第4章 自动化岸电接系统对接实验 28

4.1 托盘提取实验 28

4.2 岸电对接仿真实验 30

4.3 本章小结 32

第5章 总结与展望 33

5.1 论文总结 33

5.2 未来工作展望 33

参考文献 34

致谢 35

绪论

研究背景及意义

中国是世界上最大的海运国，有众多吞吐量巨大的港口，而港口污染物的最大来源就是靠港船舶^[1-2]，船舶动力系统排放污染物如图1-1所示。船舶在靠港停泊后大多通过燃油发电机来作为生活电力的来源，而燃油发电机不仅会产生很大的噪声，极大地影响附近居民及船舶上人员的工作和生活，还会产生包含挥发性有机化合物、硫氧化合物（SO_x）、氮氧化合物（NO_x）以及可吸入颗粒污染物（PM）等各种对环境有害的物质，港口船舶排放污染物种类及所占比重如图1-2所示。我国国内港口的船舶由于停靠而产生的污染物年排放量相当于一座百万人口的中小型城市每年所排出的硫化物和二氧化碳总量，而且居住在港区附近的人民的生活质量也受到极大的影响，同时也导致港口所在地的大气状况和空气质量恶化。因此，关闭船舶发电机选用其他替代供电方式成为治理港口污染的发展趋势^[3]。

目前，岸电技术己经成为了各大港口治理污染、节能减排的重点。岸电技术，也被称作冷铁(cold ironing)或可替代海洋动力，其通过从岸边向船舶提供电力，从而使船舶在停泊时避免使用船用柴油机，以减少船舶污染的排放。作为清洁且高效的供电方式，船用岸电技术遵循我国能源战略的发展方向，既有利于推进电能替代的实施，又可以促进节能减排，具有十分良好的环境效益和经济效益。