The invention provides a tether monitoring device, a mooring control system, a tether monitoring method, and a storage medium. The tether monitoring device can monitor the extending direction of a tether from a hull to a mooring column without using a strain gauge. A processing circuit of a mooring rope monitoring device according to one embodiment is configured to: acquire metal piece coordinate information indicating position coordinates of a mooring metal piece in a hull coordinate system, which is a coordinate system using a hull as a reference; obtaining first mooring column coordinate information, wherein the first mooring column coordinate information represents position coordinates of a mooring column under the absolute coordinate system; obtaining ship body coordinate information, wherein the ship body coordinate information represents the position coordinates of the ship body under the absolute coordinate system; ship body azimuth information is obtained, wherein the ship body azimuth information represents the orientation of the ship body under the absolute coordinate system; acquiring second mooring column coordinate information by converting position coordinates indicated by the first mooring column coordinate information from an absolute coordinate system to a ship body coordinate system on the basis of the ship body coordinate information and the ship body azimuth information; a horizontal angle, which is an angle formed by the extension direction of the mooring rope with respect to the orientation of the hull when viewed in the vertical direction, is calculated from the second mooring column coordinates and the fitting coordinate information.
本发明提供一种系缆索监视装置、系泊控制系统、系缆索监视方法及存储介质,无需使用应变计即可监视系缆索从船身向系泊柱延伸的方向。一形态的系缆索监视装置的处理回路构成为:获取金属件坐标信息,该金属件坐标信息表示以船身为基准的坐标系、即船身坐标系下的系泊金属件的位置坐标;获取第一系泊柱坐标信息,该第一系泊柱坐标信息表示绝对坐标系下的系泊柱的位置坐标;获取船身坐标信息,该船身坐标信息表示绝对坐标系下的船身的位置坐标;获取船身方位信息,该船身方位信息表示绝对坐标系下的船身的朝向;基于船身坐标信息及船身方位信息,通过将第一系泊柱坐标信息所示的位置坐标从绝对坐标系向船身坐标系转换从而获取第二系泊柱坐标信息;通过第二系泊柱坐标和金属件坐标信息,算出铅垂方向观察时的系缆索的延伸方向相对于船身的朝向所成的角度、即水平角度。
Mooring monitoring device, mooring control system, mooring monitoring method, and storage medium
系缆索监视装置、系泊控制系统、系缆索监视方法及存储介质
2024-12-31
Patent
Electronic Resource
Chinese
IPC: | B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS |
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