CN106803266A - A kind of hull complexity outside plate point cloud costal line extracting method and device - Google Patents
A kind of hull complexity outside plate point cloud costal line extracting method and device Download PDFInfo
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Abstract
本发明实施例公开了一种船体复杂外板点云肋骨线提取方法及装置，用于解决现有的船体外板肋骨线的提取技术中均存在成本高、效率慢、精度低等问题，制约了造船生产效率的提高的技术问题。本发明实施例方法包括：统一目标船体外板的目标曲面和经扫描获得的待加工的船体外板的点云数据曲面的坐标系；根据目标船体外板的目标曲面的肋骨线关键点向xoy平面投影并获取肋骨线基准点点阵；根据肋骨线基准点点阵在待加工的船体外板的点云数据曲面索引出对应的三维点云数据，得到待加工的船体外板的肋骨线基准点点阵；根据待加工的船体外板的肋骨线基准点点阵的三维坐标点进行曲线拟合，得到待加工的船体外板的肋骨线组。
The embodiment of the present invention discloses a method and device for extracting rib lines from the point cloud of complex outer plates of the hull, which are used to solve the problems of high cost, slow efficiency, and low precision in the existing techniques for extracting rib lines of outer hull plates, which are restricted It solves the technical problem of improving shipbuilding production efficiency. The method of the embodiment of the present invention includes: unifying the target curved surface of the target hull plate and the coordinate system of the point cloud data surface of the hull plate to be processed obtained through scanning; Plane projection and obtain the rib line reference point lattice; index the corresponding three-dimensional point cloud data on the point cloud data surface of the hull plate to be processed according to the rib line reference point lattice, and obtain the rib line reference point lattice of the hull plate to be processed ; Carry out curve fitting according to the three-dimensional coordinate points of the rib line reference point lattice of the hull plate to be processed, and obtain the rib line group of the hull plate to be processed.
Description
技术领域technical field
本发明涉及三维点云数据中特征线提取领域，尤其涉及一种船体复杂外板点云肋骨线提取方法及装置。The invention relates to the field of feature line extraction in three-dimensional point cloud data, in particular to a method and device for extracting rib line from point cloud of complex outer plate of ship hull.
背景技术Background technique
船体外板曲面是具有双向曲率的自由曲面，一般通过水火弯板工艺实现成形加工，但在加工过程中，需要对外板的成形情况进行判断。而船体外板的肋骨线具备描述船体外板轮廓的功能，因而常被用于衡量船体外板的成形程度。加工过程中需要先找到加工外板曲面上的肋骨线，然后与目标曲面的肋骨线进行比较，进而进行成形判断。所以，船体外板加工曲面肋骨线的提取技术是实现加工外板成形评价的首要前提。The curved surface of the hull outer plate is a free-form surface with two-way curvature, which is generally formed by the water and fire bending process, but in the process of processing, it is necessary to judge the forming condition of the outer plate. The rib line of the hull plating has the function of describing the outline of the hull plating, so it is often used to measure the forming degree of the hull plating. In the process of processing, it is necessary to find the rib line on the surface of the processed outer plate first, and then compare it with the rib line on the target surface to make a forming judgment. Therefore, the extraction technology of the rib line of the machined surface of the hull shell is the primary premise to realize the forming evaluation of the machined shell.
目前，针对船体外板肋骨线的提取问题，国内外大部分造船厂仍然采用的是，有经验的工人通过活络样板测量与观察，描绘出待加工船体外板上的肋骨线。制作活络样板，不仅浪费大量材料，且手工检测的效率和精度都难以大幅度提高，成为制约造船生产效率提高的瓶颈。借鉴活络样板检测方法，先通过抓手装置完成测量点的定位，然后利用非接触式激光测量装置及位移传感器获取选定肋位处一系列点的三维坐标，最后拟合出相应的肋骨线。虽然该方法相对手工法提高了精度和效率，但需要逐条跟踪测量出肋骨线，且船体外板放置状态变化就会影响测量精度。此外，还有通过使用3D激光扫描仪获取整个待加工船体外板的点云数据，利用八叉树及特征曲率结合的方法，对点云数据进行剖分，最终拟合出相应的肋骨线。利用3D激光扫描仪虽可以快速完成对整个外板信息的采样，但在海量点云数据中寻找剖分出特征数据点后进行拟合，精度和效率同样受到限制。At present, most shipyards at home and abroad still use the method of extracting the rib line of the hull outer plating. Experienced workers measure and observe the ribs on the outer plating of the hull to be processed. The production of flexible samples not only wastes a lot of materials, but also makes it difficult to greatly improve the efficiency and accuracy of manual inspection, which has become a bottleneck restricting the improvement of shipbuilding production efficiency. Referring to the active template detection method, the positioning of the measurement points is completed by the gripper device, and then the three-dimensional coordinates of a series of points at the selected rib position are obtained by using the non-contact laser measurement device and displacement sensor, and finally the corresponding rib line is fitted. Although this method improves the accuracy and efficiency compared with the manual method, it needs to trace and measure the rib lines one by one, and the change of the placement state of the hull shell will affect the measurement accuracy. In addition, the point cloud data of the entire hull to be processed is obtained by using a 3D laser scanner, and the method of combining octree and characteristic curvature is used to segment the point cloud data and finally fit the corresponding rib line. Although the 3D laser scanner can be used to quickly complete the sampling of the entire outer panel information, but the accuracy and efficiency are also limited when the characteristic data points are segmented from the massive point cloud data and then fitted.
因此，现有的船体外板肋骨线的提取技术中均存在成本高、效率慢、精度低等问题，制约了造船生产效率的提高。Therefore, the existing techniques for extracting rib lines of hull shells all have problems such as high cost, slow efficiency, and low precision, which restrict the improvement of shipbuilding production efficiency.
发明内容Contents of the invention
本发明实施例提供了一种船体复杂外板点云肋骨线提取方法及装置，解决了现有的船体外板肋骨线的提取技术中均存在成本高、效率慢、精度低等问题，制约了造船生产效率的提高的技术问题。The embodiment of the present invention provides a method and device for extracting rib lines from the complex outer plate point cloud of the hull, which solves the problems of high cost, slow efficiency, and low precision in the existing techniques for extracting rib lines of hull outer plates, which restricts Technical issues of increasing shipbuilding productivity.
本发明实施例提供的一种船体复杂外板点云肋骨线提取方法，包括：An embodiment of the present invention provides a method for extracting rib lines from complex outer plate point clouds, including:
统一目标船体外板的目标曲面和经扫描获得的待加工的船体外板的点云数据曲面的坐标系；Unify the coordinate system of the target surface of the target hull plate and the point cloud data surface of the hull plate to be processed obtained through scanning;
根据目标船体外板的目标曲面的肋骨线关键点向xoy平面投影并获取肋骨线基准点点阵；According to the rib line key point of the target surface of the target hull plate, project to the xoy plane and obtain the rib line datum point lattice;
根据肋骨线基准点点阵在待加工的船体外板的点云数据曲面索引出对应的三维点云数据，得到待加工的船体外板的肋骨线基准点点阵；Index the corresponding three-dimensional point cloud data on the point cloud data surface of the hull plate to be processed according to the rib line reference point lattice, and obtain the rib line reference point lattice of the hull plate to be processed;
根据待加工的船体外板的肋骨线基准点点阵的三维坐标点进行曲线拟合，得到待加工的船体外板的肋骨线组。Curve fitting is performed according to the three-dimensional coordinate points of the rib line reference point lattice of the ship's outer plate to be processed, and the rib line group of the ship's outer plate to be processed is obtained.
优选地，统一目标船体外板的目标曲面和经扫描获得的待加工的船体外板的点云数据曲面的坐标系之前包括：Preferably, before unifying the coordinate system of the target curved surface of the target hull panel and the point cloud data surface of the hull panel to be processed obtained by scanning:
根据目标船体外板模型的纵向原始肋骨线和横向原始肋骨线拟合出目标曲面；Fit the target surface according to the longitudinal original rib line and the transverse original rib line of the target hull plate model;
将通过激光扫描仪扫描采集的待加工的船体外板的原始点云数据去噪并获得待加工的船体外板的曲面点云数据。The original point cloud data of the hull plate to be processed collected by scanning with a laser scanner is denoised and the surface point cloud data of the hull plate to be processed is obtained.
优选地，根据目标船体外板的目标曲面的肋骨线关键点向xoy平面投影并获取肋骨线基准点点阵包括：Preferably, projecting the rib line key points of the target curved surface of the target hull plate to the xoy plane and obtaining the rib line reference point lattice includes:
根据目标船体外板的目标曲面的肋骨线关键点向xoy平面投影并获取肋骨线基准点点阵，并根据激光扫描仪的扫描精度对肋骨线基准点点阵进行拓展获得新的肋骨线基准点点阵，肋骨线关键点为纵向原始肋骨线和横向原始肋骨线的相交点。According to the key points of the rib line of the target surface of the target hull plate, project to the xoy plane and obtain the rib line reference point lattice, and expand the rib line reference point lattice according to the scanning accuracy of the laser scanner to obtain a new rib line reference point lattice, The key point of the rib line is the intersection point of the longitudinal original rib line and the transverse original rib line.
优选地，根据肋骨线基准点点阵在待加工的船体外板的点云数据曲面索引出对应的三维点云数据，得到待加工的船体外板的肋骨线基准点点阵包括：Preferably, the corresponding three-dimensional point cloud data is indexed on the point cloud data surface of the ship's outer plate to be processed according to the rib line reference point lattice, and the rib line reference point lattice of the ship's outer plate to be processed includes:
根据新的肋骨线基准点点阵的横坐标和纵坐标在待加工的船体外板的点云数据曲面索引出对应的三维点云数据；According to the abscissa and ordinate of the new rib line reference point lattice, the corresponding three-dimensional point cloud data is indexed on the point cloud data surface of the hull plate to be processed;
对三维点云数据中的z轴坐标值进行加权求均值得到加权平均值，并将加权平均值作为待加工的船体外板的肋骨线关键点的Z轴坐标，得到待加工的船体外板的肋骨线基准点三维点阵。The z-axis coordinate values in the three-dimensional point cloud data are weighted and averaged to obtain a weighted average value, and the weighted average value is used as the Z-axis coordinate of the key point of the rib line of the hull plate to be processed to obtain the value of the hull plate to be processed Three-dimensional lattice of rib line datum points.
优选地，根据待加工的船体外板的肋骨线基准点点阵的三维坐标点进行曲线拟合，得到待加工的船体外板的肋骨线组包括：Preferably, curve fitting is carried out according to the three-dimensional coordinate points of the rib line reference point lattice of the hull outer plate to be processed, and the rib line group of the hull outer plate to be processed includes:
根据待加工的船体外板的肋骨线基准点点阵的三维坐标点通过最小二乘法进行曲线拟合，得到待加工的船体外板的肋骨线组。According to the three-dimensional coordinate points of the rib line reference point lattice of the ship's outer plate to be processed, the curve fitting is carried out by the least square method, and the rib line group of the ship's outer plate to be processed is obtained.
本发明实施例提供的一种船体复杂外板点云肋骨线提取装置，包括：An embodiment of the present invention provides a device for extracting rib lines from complex outer plate point cloud, including:
统一模块，用于统一目标船体外板的目标曲面和经扫描获得的待加工的船体外板的点云数据曲面的坐标系；The unified module is used to unify the coordinate system of the target curved surface of the target hull panel and the point cloud data surface of the hull panel to be processed obtained through scanning;
投影模块，用于根据目标船体外板的目标曲面的肋骨线关键点向xoy平面投影并获取肋骨线基准点点阵；The projection module is used for projecting to the xoy plane according to the key point of the rib line of the target surface of the outer plate of the target hull and obtaining the lattice of the rib line datum point;
索引模块，用于根据肋骨线基准点点阵在待加工的船体外板的点云数据曲面索引出对应的三维点云数据，得到待加工的船体外板的肋骨线基准点点阵；The index module is used to index the corresponding three-dimensional point cloud data on the point cloud data surface of the hull plate to be processed according to the rib line reference point lattice, and obtain the rib line reference point lattice of the hull plate to be processed;
第一拟合模块，用于根据待加工的船体外板的肋骨线基准点点阵的三维坐标点进行曲线拟合，得到待加工的船体外板的肋骨线组。The first fitting module is used to perform curve fitting according to the three-dimensional coordinate points of the rib line reference point lattice of the hull plate to be processed, so as to obtain the rib line group of the hull plate to be processed.
优选地，还包括：Preferably, it also includes:
第二拟合模块，用于根据目标船体外板模型的纵向原始肋骨线和横向原始肋骨线拟合出目标曲面；The second fitting module is used to fit the target surface according to the longitudinal original rib line and the transverse original rib line of the target hull plate model;
去噪模块，用于将通过激光扫描仪扫描采集的待加工的船体外板的原始点云数据去噪并获得待加工的船体外板的曲面点云数据。The denoising module is used to denoise the original point cloud data of the hull plate to be processed scanned and collected by the laser scanner and obtain the surface point cloud data of the hull plate to be processed.
优选地，投影模块包括：Preferably, the projection module includes:
投影拓展单元，用于根据目标船体外板的目标曲面的肋骨线关键点向xoy平面投影并获取肋骨线基准点点阵，并根据激光扫描仪的扫描精度对肋骨线基准点点阵进行拓展获得新的肋骨线基准点点阵，肋骨线关键点为纵向原始肋骨线和横向原始肋骨线的相交点。The projection expansion unit is used to project to the xoy plane according to the rib line key points of the target surface of the target hull plate and obtain the rib line reference point lattice, and expand the rib line reference point lattice according to the scanning accuracy of the laser scanner to obtain a new The rib line reference point lattice, the key point of the rib line is the intersection point of the longitudinal original rib line and the transverse original rib line.
优选地，索引模块包括：Preferably, the indexing module includes:
索引单元，用于根据新的肋骨线基准点点阵的横坐标和纵坐标在待加工的船体外板的点云数据曲面索引出对应的三维点云数据；The index unit is used to index the corresponding three-dimensional point cloud data on the point cloud data surface of the hull plate to be processed according to the abscissa and ordinate of the new rib line datum point lattice;
加权单元，用于对三维点云数据中的z轴坐标值进行加权求均值得到加权平均值，并将加权平均值作为待加工的船体外板的肋骨线关键点的Z轴坐标，得到待加工的船体外板的肋骨线基准点三维点阵。The weighting unit is used to weight and average the z-axis coordinate values in the three-dimensional point cloud data to obtain a weighted average value, and use the weighted average value as the Z-axis coordinate of the key point of the rib line of the hull plate to be processed to obtain the value to be processed The 3D lattice of rib line datum points of the hull plating.
优选地，第一拟合模块包括：Preferably, the first fitting module includes:
拟合单元，用于根据待加工的船体外板的肋骨线基准点点阵的三维坐标点通过最小二乘法进行曲线拟合，得到待加工的船体外板的肋骨线组。The fitting unit is used to perform curve fitting according to the three-dimensional coordinate points of the rib line reference point lattice of the hull plate to be processed by the least square method, so as to obtain the rib line group of the hull plate to be processed.
从以上技术方案可以看出，本发明实施例具有以下优点：It can be seen from the above technical solutions that the embodiments of the present invention have the following advantages:
本发明实施例提供的一种船体复杂外板点云肋骨线提取方法及装置，包括：统一目标船体外板的目标曲面和经扫描获得的待加工的船体外板的点云数据曲面的坐标系；根据目标船体外板的目标曲面的肋骨线关键点向xoy平面投影并获取肋骨线基准点点阵；根据肋骨线基准点点阵在待加工的船体外板的点云数据曲面索引出对应的三维点云数据，得到待加工的船体外板的肋骨线基准点点阵；根据待加工的船体外板的肋骨线基准点点阵的三维坐标点进行曲线拟合，得到待加工的船体外板的肋骨线组，本发明实施例中通过根据目标船体外板的肋骨线关键点向待加工外板点云数据面进行投影，同时对点云数据上投影点的z轴坐标进行加权平均，作为关键点的纵坐标，有效的防止了投影所对应的点云数据面为空洞的情况，且通过结合已知的船体外板目标曲面，与待加工的船体外板进行投影匹配、计算，能准确、快速获取测量外板的肋骨线，为船体外板的成形评价提供基础数据，解决了现有的船体外板肋骨线的提取技术中均存在成本高、效率慢、精度低等问题，制约了造船生产效率的提高的技术问题。The embodiment of the present invention provides a method and device for extracting rib lines from point clouds of complex hull panels, including: unifying the target curved surface of the target hull panel and the coordinate system of the point cloud data curved surface of the hull panel to be processed obtained through scanning ;According to the key points of the rib line on the target surface of the target hull plate to the xoy plane and obtain the rib line reference point lattice; according to the rib line reference point lattice, index the corresponding 3D points on the point cloud data surface of the hull plate to be processed According to the cloud data, the rib line reference point lattice of the hull plate to be processed is obtained; according to the three-dimensional coordinate points of the rib line reference point lattice of the hull shell plate to be processed, the curve fitting is performed to obtain the rib line group of the hull plate to be processed , in the embodiment of the present invention, according to the key point of the rib line of the target hull plate to project the point cloud data surface of the outer plate to be processed, and at the same time perform weighted average on the z-axis coordinates of the projected points on the point cloud data, as the longitudinal key point Coordinates effectively prevent the point cloud data surface corresponding to the projection from being empty, and by combining the known target surface of the hull plate, and performing projection matching and calculation with the hull plate to be processed, the measurement can be accurately and quickly obtained The rib line of the outer plate provides basic data for the forming evaluation of the outer shell plate, and solves the problems of high cost, slow efficiency, and low precision in the existing extraction technology of the outer plate rib line, which restricts the improvement of shipbuilding production efficiency. Raised technical issues.
附图说明Description of drawings
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其它的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. For those skilled in the art, other drawings can also be obtained according to these drawings on the premise of not paying creative efforts.
图1为本发明实施例提供的一种船体复杂外板点云肋骨线提取方法的流程示意图；Fig. 1 is a schematic flow chart of a method for extracting rib lines from a point cloud of complex outer plate of a hull provided by an embodiment of the present invention;
图2为本发明实施例提供的肋骨线提取方法示意图；2 is a schematic diagram of a rib line extraction method provided by an embodiment of the present invention;
图3为本发明实施例提供的一种船体复杂外板点云肋骨线提取装置的结构示意图。Fig. 3 is a schematic structural diagram of a point cloud rib line extraction device for a complex outer plate of a hull provided by an embodiment of the present invention.
具体实施方式detailed description
本发明实施例提供了一种船体复杂外板点云肋骨线提取方法及装置，用于解决现有的船体外板肋骨线的提取技术中均存在成本高、效率慢、精度低等问题，制约了造船生产效率的提高的技术问题。The embodiment of the present invention provides a method and device for extracting rib lines from the complex outer plate point cloud of a hull, which are used to solve the problems of high cost, slow efficiency, and low precision in existing techniques for extracting rib lines of hull outer plates. It solves the technical problem of improving shipbuilding production efficiency.
为使得本发明的发明目的、特征、优点能够更加的明显和易懂，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，下面所描述的实施例仅仅是本发明一部分实施例，而非全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其它实施例，都属于本发明保护的范围。In order to make the purpose, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the following The described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
请参阅图1，本发明实施例提供的一种船体复杂外板点云肋骨线提取方法包括：Please refer to Fig. 1, a kind of rib line extraction method of complex outer panel point cloud provided by the embodiment of the present invention includes:
101、根据目标船体外板模型的纵向原始肋骨线和横向原始肋骨线拟合出目标曲面；101. Fitting the target surface according to the longitudinal original rib line and the transverse original rib line of the target hull plate model;
首先，可以进行手工设计制造或建模倒模制作目标船体外板样板样箱模型，其中，目标船体外板样板样箱模型有N条纵向原始肋骨线和9条横向原始肋骨线。根据N条纵向原始肋骨线和9条横向原始肋骨线共同拟合出目标曲面，纵向原始肋骨线和横向原始肋骨线相交的点即为关键点。First, manual design and manufacturing or modeling reverse molding can be carried out to make the target hull outer plate sample box model, wherein the target hull outer plate sample box model has N longitudinal original rib lines and 9 transverse original rib lines. According to the N longitudinal original rib lines and 9 transverse original rib lines, the target surface is jointly fitted, and the point where the longitudinal original rib line and the transverse original rib line intersect is the key point.
102、将通过激光扫描仪扫描采集的待加工的船体外板的原始点云数据去噪并获得待加工的船体外板的曲面点云数据；102. Denoising the original point cloud data of the hull plate to be processed scanned and collected by the laser scanner and obtaining the surface point cloud data of the hull plate to be processed;
然后，可以通过三维激光扫描仪扫描采集待加工的船体外板的原始点云数据，并将原始点云数据去噪后获得待加工的船体外板的曲面点云数据。Then, the original point cloud data of the hull plate to be processed can be scanned and collected by a 3D laser scanner, and the surface point cloud data of the hull plate to be processed can be obtained after denoising the original point cloud data.
103、统一目标船体外板的目标曲面和经扫描获得的待加工的船体外板的点云数据曲面的坐标系；103. Unify the coordinate system of the target curved surface of the target hull panel and the point cloud data surface of the hull panel to be processed obtained through scanning;
在获得目标船体外板的目标曲面和待加工的船体外板的点云数据曲面之后，通过三维坐标变化与匹配，统一目标船体外板的目标曲面和经扫描获得的待加工的船体外板的点云数据曲面的坐标系。其主要步骤如下：After obtaining the target surface of the target hull plate and the surface of the point cloud data of the hull plate to be processed, through the three-dimensional coordinate change and matching, the target surface of the target hull plate and the scanned surface of the hull plate to be processed are unified. The coordinate system of the point cloud data surface. Its main steps are as follows:
选取船体外板目标曲面(船体外板点云数据曲面)的4个角点A，B，C，D，通过最小二乘平面拟合，得到拟合平面SABCD；Select 4 corner points A, B, C, and D of the hull plate target surface (hull shell plate point cloud data surface), and obtain the fitting plane S ABCD by least squares plane fitting;
将拟合平面SABCD先绕z轴旋转α度，接着绕x轴旋转β度得到平面S’ABCD，使其平行于平面xoy；Rotate the fitting plane S ABCD by α degrees around the z-axis first, and then rotate it by β degrees around the x-axis to obtain the plane S' ABCD , making it parallel to the plane xoy;
将平面S’ABCD进行平移，使其对角线在平面xoy的投影交点为坐标原点，平移后得到的平面为S”ABCD；Translate the plane S'ABCD so that the intersection point of its diagonal projection on the plane xoy is the coordinate origin, and the plane obtained after translation is S"ABCD ;
将平面S”ABCD绕z轴旋转γ度，使其对角线在平面xoy的投影，所形成的角平分线在x轴上。Rotate the plane S” ABCD around the z-axis by γ degrees, so that the projection of its diagonal on the plane xoy forms an angle bisector on the x-axis.
104、根据目标船体外板的目标曲面的肋骨线关键点向xoy平面投影并获取肋骨线基准点点阵，并根据激光扫描仪的扫描精度对肋骨线基准点点阵进行拓展获得新的肋骨线基准点点阵，肋骨线关键点为纵向原始肋骨线和横向原始肋骨线的相交点；104. According to the key points of the rib line on the target surface of the target hull plate, project to the xoy plane and obtain the rib line reference point lattice, and expand the rib line reference point lattice according to the scanning accuracy of the laser scanner to obtain a new rib line reference point point The key point of the rib line is the intersection point of the longitudinal original rib line and the transverse original rib line;
在统一目标船体外板的目标曲面和经扫描获得的待加工的船体外板的点云数据曲面的坐标系之后，根据目标船体外板的目标曲面的肋骨线关键点坐标(U,V,W)向xoy平面投影并获取得大小为9xN的肋骨线基准点点阵M，并根据三维激光扫描仪的扫描精度对肋骨线基准点点阵进行拓展获得新的肋骨线基准点点阵M’。其中，对肋骨线基准点点阵M进行扩展得到新的肋骨线基准点点阵M’，具体包括以下步骤：After unifying the coordinate system of the target surface of the target hull plate and the point cloud data surface of the hull plate to be processed obtained through scanning, according to the rib line key point coordinates (U, V, W) of the target surface of the target hull plate ) to the xoy plane and obtain the rib line reference point lattice M with a size of 9xN, and expand the rib line reference point lattice according to the scanning accuracy of the 3D laser scanner to obtain a new rib line reference point lattice M'. Wherein, the rib line reference point lattice M is extended to obtain a new rib line reference point lattice M', which specifically includes the following steps:
1：读取所采用的激光扫描仪的扫描精度△d；1: Read the scanning accuracy △d of the laser scanner used;
2：根据待加工的船体外板类型，确定对肋骨线基准点点阵M中每个点的扩展步长。如：待加工的板为鞍形板，其肋骨线曲率变化较小，则扩充步长系数k取5-6；待加工的为帆形板，其肋骨线曲率变化稍大，则扩充步长系数k取3-4；待加工的为锥形板，其肋骨线曲率变化较大，则扩充步长系数k取1-2；2: According to the type of hull plate to be processed, determine the expansion step for each point in the rib line reference point lattice M. For example, if the board to be processed is a saddle-shaped board, and the curvature of the rib line changes slightly, then the expansion step coefficient k is 5-6; if the board to be processed is a sail-shaped board, the curvature of the rib line changes slightly, then the step length is extended The coefficient k is 3-4; the to be processed is a conical plate, and the curvature of the rib line changes greatly, so the expansion step coefficient k is 1-2;
3：以9xN的肋骨线基准点点阵中各点为中心，每个点再扩展为3x3的矩阵：3: 9xN rib line reference point lattice Each point is the center, and each point is expanded into a 3x3 matrix:
得到扩展后大小为27x3N的肋骨线基准点点阵 Obtain the expanded rib line reference point lattice with a size of 27x3N
105、根据新的肋骨线基准点点阵的横坐标和纵坐标在待加工的船体外板的点云数据曲面索引出对应的三维点云数据；105. According to the abscissa and ordinate of the new rib line reference point lattice, index the corresponding three-dimensional point cloud data on the point cloud data surface of the hull plate to be processed;
在获得新的肋骨线基准点点阵M’之后，需要根据新的肋骨线基准点点阵的横坐标和纵坐标在待加工的船体外板的点云数据曲面索引出对应的三维点云数据 After obtaining the new rib line reference point lattice M', it is necessary to index the corresponding 3D point cloud data on the point cloud data surface of the hull plate to be processed according to the abscissa and ordinate of the new rib line reference point lattice
106、对三维点云数据中的z轴坐标值进行加权求均值得到加权平均值，并将加权平均值作为待加工的船体外板的肋骨线关键点的Z轴坐标，得到待加工的船体外板的肋骨线基准点三维点阵；106. Weighted and averaged the z-axis coordinate values in the three-dimensional point cloud data to obtain a weighted average value, and used the weighted average value as the Z-axis coordinate of the key point of the rib line of the hull plate to be processed to obtain the hull body to be processed The three-dimensional lattice of the rib line reference point of the plate;
在根据新的肋骨线基准点点阵的横坐标和纵坐标在待加工的船体外板的点云数据曲面索引出对应的三维点云数据之后，对三维点云数据中的z轴坐标值进行加权求均值得到加权平均值，并将加权平均值作为待加工的船体外板的肋骨线关键点的Z轴坐标，得到待加工的船体外板的肋骨线基准点三维点阵，具体包括以下步骤：After indexing the corresponding 3D point cloud data on the point cloud data surface of the hull plate to be processed according to the abscissa and ordinate of the new rib line datum point lattice, the z-axis coordinate value in the 3D point cloud data is weighted Calculate the mean value to obtain a weighted average value, and use the weighted average value as the Z-axis coordinate of the key point of the rib line of the hull plate to be processed, and obtain the three-dimensional lattice of the rib line reference point of the hull plate to be processed, which specifically includes the following steps:
基于欧几里得距离，求取M中每个点再扩展为3x3的矩阵求取基准点点阵附近所有点到基准点的欧几里的距离作为加权值wi；Based on the Euclidean distance, obtain each point in M and then expand it into a 3x3 matrix to obtain the Euclidean distance from all points near the reference point lattice to the reference point as the weighted value w i ;
根据加权值wi，采用公式得到新的加权平均后的Z轴坐标，作为待加工板上每个关键点的Z轴坐标。According to the weighted value w i , the formula The new weighted average Z-axis coordinates are obtained as the Z-axis coordinates of each key point on the board to be processed.
107、根据待加工的船体外板的肋骨线基准点点阵的三维坐标点通过最小二乘法进行曲线拟合，得到待加工的船体外板的肋骨线组。107. According to the three-dimensional coordinate points of the rib line reference point lattice of the ship's outer plate to be processed, the least square method is used to perform curve fitting, and the rib line group of the ship's outer plate to be processed is obtained.
最后，根据待加工的船体外板的肋骨线基准点点阵的三维坐标点通过最小二乘法进行曲线拟合，得到待加工的船体外板的肋骨线组。请参阅图2，为肋骨线提取方法示意图。Finally, according to the three-dimensional coordinate points of the rib line reference point lattice of the hull plate to be processed, the curve fitting is carried out by the least square method, and the rib line group of the hull plate to be processed is obtained. Please refer to FIG. 2 , which is a schematic diagram of the rib line extraction method.
以上为对本发明实施例提供的一种船体复杂外板点云肋骨线提取方法的详细描述，以下将对本发明实施例提供的一种船体复杂外板点云肋骨线提取装置进行详细的描述。The above is a detailed description of a rib line extraction method for complex hull shell point cloud provided by the embodiment of the present invention. The following will describe in detail the rib line extraction device for complex hull shell point cloud provided by the embodiment of the present invention.
请参阅图3，本发明实施例提供的一种船体复杂外板点云肋骨线提取装置包括：Please refer to Fig. 3, a device for extracting rib line from point cloud of complex outer plate of hull provided by an embodiment of the present invention includes:
第二拟合模块201，用于根据目标船体外板模型的纵向原始肋骨线和横向原始肋骨线拟合出目标曲面；The second fitting module 201 is used to fit the target curved surface according to the longitudinal original rib line and the transverse original rib line of the target hull plate model;
去噪模块202，用于将通过激光扫描仪扫描采集的待加工的船体外板的原始点云数据去噪并获得待加工的船体外板的曲面点云数据；The denoising module 202 is used to denoise the original point cloud data of the hull plate to be processed scanned and collected by the laser scanner and obtain the surface point cloud data of the hull plate to be processed;
统一模块203，用于统一目标船体外板的目标曲面和经扫描获得的待加工的船体外板的点云数据曲面的坐标系；The unifying module 203 is used to unify the target curved surface of the target hull panel and the coordinate system of the point cloud data curved surface of the hull panel to be processed obtained through scanning;
投影模块204，用于根据目标船体外板的目标曲面的肋骨线关键点向xoy平面投影并获取肋骨线基准点点阵；投影模块还包括：The projection module 204 is used for projecting to the xoy plane according to the rib line key points of the target curved surface of the target hull plate and obtaining the rib line datum point lattice; the projection module also includes:
投影拓展单元2041，用于根据目标船体外板的目标曲面的肋骨线关键点向xoy平面投影并获取肋骨线基准点点阵，并根据激光扫描仪的扫描精度对肋骨线基准点点阵进行拓展获得新的肋骨线基准点点阵，肋骨线关键点为纵向原始肋骨线和横向原始肋骨线的相交点。The projection expansion unit 2041 is used to project to the xoy plane according to the rib line key points of the target curved surface of the target hull plate and obtain the rib line reference point lattice, and expand the rib line reference point lattice according to the scanning accuracy of the laser scanner to obtain new The rib line reference point lattice, the key point of the rib line is the intersection point of the longitudinal original rib line and the transverse original rib line.
索引模块205，用于根据肋骨线基准点点阵在待加工的船体外板的点云数据曲面索引出对应的三维点云数据，得到待加工的船体外板的肋骨线基准点点阵；索引模块还包括：The index module 205 is used to index the corresponding three-dimensional point cloud data on the point cloud data surface of the hull plate to be processed according to the rib line reference point lattice to obtain the rib line reference point lattice of the hull plate to be processed; the index module also include:
索引单元2051，用于根据新的肋骨线基准点点阵的横坐标和纵坐标在待加工的船体外板的点云数据曲面索引出对应的三维点云数据；The indexing unit 2051 is used to index the corresponding three-dimensional point cloud data on the point cloud data surface of the hull plate to be processed according to the abscissa and ordinate of the new rib line reference point lattice;
加权单元2052，用于对三维点云数据中的z轴坐标值进行加权求均值得到加权平均值，并将加权平均值作为待加工的船体外板的肋骨线关键点的Z轴坐标，得到待加工的船体外板的肋骨线基准点三维点阵。The weighting unit 2052 is used to weight and average the z-axis coordinate values in the three-dimensional point cloud data to obtain a weighted average value, and use the weighted average value as the Z-axis coordinate of the key point of the rib line of the hull plate to be processed to obtain the weighted average value to be processed. 3D lattice of rib line datum points of machined hull plating.
第一拟合模块206，用于根据待加工的船体外板的肋骨线基准点点阵的三维坐标点进行曲线拟合，得到待加工的船体外板的肋骨线组；第一拟合模块还包括：The first fitting module 206 is used to perform curve fitting according to the three-dimensional coordinate points of the rib line reference point lattice of the hull plate to be processed to obtain the rib line group of the hull plate to be processed; the first fitting module also includes :
拟合单元2061，用于根据待加工的船体外板的肋骨线基准点点阵的三维坐标点通过最小二乘法进行曲线拟合，得到待加工的船体外板的肋骨线组。The fitting unit 2061 is configured to perform curve fitting by the least square method according to the three-dimensional coordinate points of the rib line reference point lattice of the ship's outer plate to be processed, and obtain the rib line group of the ship's outer plate to be processed.
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统，装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。Those skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the above-described system, device and unit can refer to the corresponding process in the foregoing method embodiment, which will not be repeated here.
在本申请所提供的几个实施例中，应该理解到，所揭露的系统，装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。In the several embodiments provided in this application, it should be understood that the disclosed system, device and method can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or May be integrated into another system, or some features may be ignored, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-OnlyMemory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。If the integrated unit is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the essence of the technical solution of the present invention or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , including several instructions to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk, and other media that can store program codes.
以上所述，以上实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。As mentioned above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still understand the foregoing The technical solutions recorded in each embodiment are modified, or some of the technical features are replaced equivalently; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.
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