In recent years, with the rapid development of ship automation and intelligence, key technologies such as information perception, state detection, and communication navigation have achieved good applications in ship collision avoidance research. At present, sensors that perceive the external environment mainly include LiDAR, millimeter wave radar, ultrasound, cameras, etc. The advantage of LiDAR is that it can detect distant targets regardless of day or night, with high accuracy, wide detection range, good anti-interference performance, and is not affected by fog, clouds, rain, etc. It has the characteristics of all-weather and all-weather, and has a certain penetration ability. It is widely used in ship collision avoidance detection and positioning mapping systems.

The LiDAR collision avoidance warning system uses LiDAR to detect and locate tugboats in harsh environments, and uses sensing technology, computer technology, and data analysis technology to achieve close range collision avoidance safety warning functions for port tugboats with overhead cables, adverse weather conditions, and poor visibility. The system mainly consists of a mathematical model and a point cloud data comprehensive processing platform, collision warning terminals, high-precision near-field LiDAR, gigabit industrial switches, etc. It can effectively provide collision warning between tugboat masts, bridges, and the operated ship under poor visibility or wind and wave weather, reduce property losses caused by objective conditions and human negligence, and provide safety guarantees for tugboat operations.

Tugboats collision prevention Lidar warning solution. During the operation of tugboats, they often come very close to or even in contact with the working vessel, thus posing a risk of collision with the working vessel. To achieve collision avoidance warning function on both sides of the mast and compass deck, high-precision near-field LiDAR will be installed on both sides of the mast.

The lidar sensor collision warning system installs laser detection sensors on both sides of the mast ship to detect the boundaries of the ship in real time. Once an object is detected within the alarm range, the system will immediately sound and light an alarm to remind the driver. The driver can set the alarm distance and cancel the alarm according to the actual situation.

The installation method of the laser sensors on both sides of the tugboat is side mounted, so the lidar  is scanned up and down. The system sets different alarm areas based on different scanning angles, colors them according to different detection distances, and emits voice alarms. The calculation of the alarm distance for the top radar needs to consider the contour model of the tugboat, and the alarm distance is the closest distance between the detected object and the contour of the tugboat.

The comprehensive processing platform collects a large amount of point cloud data perceived by high-precision near-field radar through Ethernet, and then performs deep filtering and comprehensive processing. Combined with the built-in ship mathematical model, it dynamically and real-time voice warning is carried out for key areas through display alarm terminals