CN110940271A - Method for detecting, monitoring and intelligently carrying and installing large-scale industrial manufacturing of ships and the like based on space three-dimensional measurement and control network - Google Patents
Method for detecting, monitoring and intelligently carrying and installing large-scale industrial manufacturing of ships and the like based on space three-dimensional measurement and control network Download PDFInfo
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- G—PHYSICS
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
Abstract
The invention discloses an intelligent detection, monitoring and installation method for manufacturing large-scale industries such as ships based on a space three-dimensional measurement and control network, which comprises the following steps: a spatial three-dimensional measurement and control network is laid and measured in a factory and a field, and spatial three-dimensional coordinates of characteristic points of each part, subsection, total section and carrying body in the ship manufacturing process are measured by adopting a non-contact method of arbitrary station setting according to a three-dimensional laser scanning technology and a close-range photogrammetry principle, so that the detection and monitoring of the size and shape of large-scale industrial manufacturing of ships and the like are realized; measuring the spatial three-dimensional coordinates of the characteristic points of the carrier by adopting a non-contact method of arbitrary station setting, and detecting the deformation of the carrier in the hoisting process; the spatial three-dimensional coordinates of the characteristic points of the carrier are measured by adopting a non-contact method of arbitrary station setting, and are compared with the spatial three-dimensional coordinates of the corresponding points of the installation position, so that the intellectualization of large-scale industrial carrying and installation is realized. The invention can improve the production efficiency and simultaneously realize the traceability and repeatability of large-scale manufacturing and installation of ships and the like.
Description
Technical Field
The invention relates to a method for detecting, monitoring and intelligently carrying and installing large-scale industrial manufacturing of ships and the like, in particular to a method for detecting, monitoring and intelligently carrying and installing large-scale industrial manufacturing of ships and the like based on a space three-dimensional measurement and control network.
Background
The manufacturing and installation industries of large-scale industries such as ships and the like have strong interest in the advantages of manufacturing, detecting, monitoring and intelligent carrying and installation applications based on the space three-dimensional measurement control network. The existing ship equipment is manufactured and installed in a factory and a site, a uniform measurement control network is not arranged, and only a grid network (reference line) is arranged in a carrying site, so that the ship is designed, manufactured and installed in the form of component size and distance, and the characteristic points of the design, manufacture and installation have no concept of coordinates.
Because characteristic point coordinates are not given to the existing ship manufacturing, installing and manufacturing processes, the manufacturing and installing processes are only expressed in the form of size and distance, the existing ship manufacturing and installing processes are scattered, and no relation exists between the processes, so the accuracy detection of the existing ship manufacturing and installing processes can only adopt the following four methods, which are respectively and briefly described as follows:
1. equivalent measuring method for steel ruler and measuring tape
The sizes of parts, components, assemblies, sections, total sections, carrying and the like or the distances among the parts, the components, the assemblies, the sections, the total sections, the carrying and the like are directly measured by using the same tool such as a steel ruler, a measuring tape and a feeler gauge. The method is a main method adopted by the existing side length measurement with shorter size in the ship manufacturing and equipment process, and the measurement precision can reach millimeter level. The measuring process is as shown in fig. 1, and the length of the workpiece 1 is measured with a ruler 2.
The method has the disadvantages that (1) contact type measurement is adopted, the measurement precision is greatly influenced by human factors, and other procedures are required to stop operation during measurement, so that the influence on ship manufacturing and equipment processes is large; (2) due to the limited measuring ranges of the steel ruler, the measuring tape, the feeler gauge, the caliper and the sample box, the measurement of the dimension with larger length in a large measured object body is difficult to carry out high-precision measurement; (3) the measured characteristic points are limited, and for a measured object body with a complex shape, the measured data cannot completely reflect the shape of the measured object body; (4) the measurement of the sizes of each part, component, assembly, subsection, total section, carrying and the like or the measurement of the distance between the parts and the components are respectively measured in respective sites, a complete detection and monitoring system is not formed, each measured characteristic point has no space coordinate, and the whole ship manufacturing and mounting process cannot realize intellectualization.
2. Measuring method for instruments such as total station
The method comprises the steps of erecting instruments such as a laser range finder and a total station on a temporary fixed control point on the ground near a measured target body, measuring the space coordinates of each characteristic point of the measured target body relative to the temporary control point on the ground, and calculating the sizes of parts, components, assemblies, sections, total sections and carrying bodies or the distances among the parts, the components, the assemblies, the sections and the total sections. The method is the main method for measuring the side length with longer dimension in the existing ship manufacturing and equipment process, and the measurement precision can reach millimeter level. The measurement process is as shown in fig. 2, and the total station 3 is used to measure the characteristic point 5 of the measured object 4.
The method has the disadvantages that (1) contact type measurement is adopted, the measurement precision is greatly influenced by human factors, and other procedures are required to stop operation during measurement, so that the influence on ship manufacturing and equipment processes is large; (2) because the fixed control points on the ground near the measured object are temporarily distributed according to the shape and the size of the measured object, the relative precision and the reliability of the ground control points have great influence on the measurement precision and the measurement reliability of the measured object, and the measurement precision and the measurement reliability of the measured object are reduced; (3) the measured characteristic points are limited, and for a measured object body with a complex shape, the measured data cannot completely reflect the shape of the measured object body; (4) the measurement of the sizes of each part, component, assembly, subsection, total section, carrying and the like or the measurement of the distance between the parts and the components are respectively measured on respective sites, a complete detection and monitoring system is not formed, each measured characteristic point is only the relative space coordinate of a local site, and the whole ship manufacturing and mounting process cannot realize intellectualization.
3. Close-range photogrammetry method
The close-range photogrammetry is to install a measuring camera near a measured object body, photograph the measured object body, and determine the size, the shape and the geometric position of the measured object body after data processing. Close-range photogrammetry can achieve millimeter-scale accuracy. In the measurement process, as shown in fig. 3, the measured object 4 is photographed by using the close-range photography measuring instrument 8 to obtain left and right photographic images 10, a stereopair 11 is formed, and the measurement of the characteristic points of the measured object 4 can be realized by using the stereopair 11 and the control points 9 arranged on the measured object 4.
The method has the disadvantages that (1) the method is used for measuring a single measured target body with limited size, and the high-precision measurement is difficult to be carried out on a target with large size; (2) the measurement of the sizes of each part, component, assembly, subsection, total section, carrying and the like or the measurement of the distance between the parts and the components are respectively measured on respective sites, a complete detection and monitoring system is not formed, each measured characteristic point is only the relative space coordinate of a local site, and the whole ship manufacturing and mounting process cannot realize intellectualization.
4. Three-dimensional laser scanning technique measuring method
The method comprises the steps of pasting or installing a connecting mark point on a measured target body, erecting a three-dimensional laser scanner device on a temporary fixed control point near the measured target body, collecting laser point clouds on the surface of the measured target body, and obtaining space coordinates of the laser point clouds relative to the ground temporary control point through ground temporary control point coordinates, so that the measurement of the sizes of all parts of the measured target body and the distances among the parts is realized. The measurement precision of the method can reach millimeter level. The disadvantages are substantially the same as in close-range photogrammetry. In the measurement process, as shown in fig. 4, the three-dimensional laser scanner 12 is used to perform three-dimensional laser scanning on the target object 4 to obtain a three-dimensional laser point cloud 13, and the measurement of the characteristic points of the target object 4 is realized by using the control points 9 arranged on the target object 4.
As can be seen from the above-mentioned existing methods for measuring the manufacturing and installation of large-scale industries such as ships, the most important aspect of the existing measuring method is that, in addition to the limitations of the method itself: the measurement of the sizes of each part, component, assembly, subsection, total section, carrying and the like or the measurement of the distance between the parts and the components are respectively measured on respective sites, a complete detection and monitoring system is not formed, each measured characteristic point is only the relative space coordinate of a local site, and the whole ship manufacturing and mounting process cannot realize intellectualization. The existing measuring method cannot form a complete detecting and monitoring system, so that the whole manufacturing and installing process has no traceability and repeatability.
Disclosure of Invention
The invention provides a method for detecting, monitoring and intelligently carrying and installing large-scale industrial manufacturing of ships and the like based on a space three-dimensional measurement and control network, aiming at realizing the intelligentization of the detection, monitoring and carrying and installing of the large-scale industrial manufacturing of the ships and the like.
The purpose of the invention is realized by adopting the following technical scheme:
a general flow chart of the process of the present invention is shown in fig. 5. A method for detecting, monitoring and intelligently installing large-scale industries such as ships based on a space three-dimensional measurement and control network comprises the following steps:
step one, laying a spatial three-dimensional measurement and control network: measuring control points are distributed on and near large-scale industrial manufacturing and carrying installation sites such as ships and the like to form a three-dimensional measurement and control network of a plant area and a site space;
step two, testing and resolving the space three-dimensional measurement and control network: obtaining the precise three-dimensional coordinates of the control points by adopting a precise engineering measurement method and through a strict adjustment theory of measurement for the three-dimensional measurement and control points distributed in the first step;
step three, randomly setting a station for non-contact detection: processing, assembling by sections and carrying a body hoisting device on a site where a spatial three-dimensional measurement and control network which is laid in the first step and measured and calculated in the second step is located, measuring spatial three-dimensional coordinates of characteristic points of each part, section, total section and carrying body in the manufacturing and mounting processes of the ship by adopting a three-dimensional laser scanning technology and a close-range photogrammetry technology, detecting and monitoring the size and shape of the large-scale industrial manufacturing and processing and mounting of the ship and the like, calculating the deformation value of the carrying body in the carrying process, finding out a defective intermediate product in the production process in time and calculating the deformation value of the carrying body in the carrying process;
step four, randomly establishing a non-contact monitoring and intelligent installation: the method adopts a three-dimensional laser scanning technology and a close-range photogrammetry technology, utilizes a spatial three-dimensional measurement and control network which is arranged in the first step and measured and calculated in the second step to measure the spatial three-dimensional coordinates of the characteristic points of the carrier in real time, and compares the spatial three-dimensional coordinates with the spatial three-dimensional coordinates of the corresponding points of the mounting position, thereby realizing the intellectualization of the carrying and mounting of the large-scale industry.
The step one, the layout of the spatial three-dimensional measurement and control network comprises the following steps:
(1) laying A-level measurement control points in a stable area around a factory area as reference points for factory area control measurement;
(2) b-level plant area measurement control points are arranged on the solid ground of the whole plant area and serve as datum points for three-dimensional control measurement of the site, and the B-level plant area measurement control points are arranged at positions, which do not influence construction, near the site and require to be in full view of the site control points;
(3) c-level measurement control points of a manufacturing installation site, a site and a nearby site are distributed to form a three-dimensional space measurement and control network which is used as a foundation for large-scale industrial manufacturing detection, monitoring and intelligent installation of ships and the like, the C-level measurement control points are distributed at the positions of the manufacturing installation site, the site and the nearby site which do not influence the construction, and steel frames or cement piers can be erected at the positions of the nearby installation site which do not influence the construction in order to widen the visual field of a fixed mark;
(4) forced observation piers are adopted by the A-level measurement control point and the B-level measurement control point; the C-level measurement control point mark is made of a material with a good laser point reflection effect, and the shape and the size of the control point mark are respectively in a plane shape and a spherical shape according to the position; c-level measurement control point marks are fixed on stable ground or a building or a structure;
(5) and setting a two-dimensional code identification mark on or near the control point mark.
The second step of measuring and calculating the three-dimensional measurement and control network comprises the following steps:
(1) selecting a plant area plane coordinate system to enable the plant area projection deformation value to be less than 5 mm/km;
(2) adopting a GNSS measurement method, taking a national plane control point as calculation data, jointly measuring an A-level measurement control point, and obtaining a plane coordinate of the A-level measurement control point through adjustment calculation;
(3) adopting a leveling method, taking national elevation control points as starting points, jointly measuring A-level measurement control points, and obtaining the elevation of the A-level measurement control points through adjustment calculation;
(4) adopting a GNSS measurement method, taking the A-level measurement control point as a starting point, jointly measuring the B-level measurement control point, and obtaining the plane coordinate of the B-level measurement control point through adjustment calculation;
(5) adopting a leveling method, taking the A-level measurement control point as a starting point, jointly measuring the B-level measurement control point, and obtaining the elevation of the B-level measurement control point through adjustment calculation;
(6) by adopting a wire measurement method, a triangulation method and a GNSS measurement method, taking a B-level measurement control point as a starting point, and jointly measuring a C-level measurement control point to form a plane control network to obtain a plane coordinate of the C-level measurement control point through adjustment calculation; by adopting leveling measurement, triangulation height measurement and GNSS height measurement methods, taking a B-level measurement control point as a starting point, and jointly measuring a C-level measurement control point to form a height control network to obtain the height of the C-level measurement control point through adjustment calculation;
(7) a level measurement control point, a level B plane measurement control network, a level B height measurement control network, a level C plane and a height measurement control network form a three-dimensional space measurement control field together.
A level A measurement control point, a level B measurement control point and a level C measurement control point are arranged in a large-scale industrial manufacturing, installation and carrying plant area and field such as a ship, the precise plane coordinates and elevations of the level A measurement control point, the level B measurement control point and the level C measurement control point are measured, a processed body, a measured target body and a measured carrying body are placed in a measurement control field formed by the level A measurement control point, the level B measurement control point and the level C measurement control point, and the length and shape measurement of the processed body and the measured target body and the space coordinate measurement of the characteristic point of the measured carrying body are realized.
Step three, any standing non-contact detection comprises the following steps:
(1) the laser scanner and the close-range photography measuring instrument which are erected at any position are adopted to collect laser point clouds of a measured target body and a C-level measurement control point, the three-dimensional laser scanner and the close-range photography measuring instrument can be erected at any position, and all three-dimensional laser point clouds and images on the surface of the measured target body are obtained through multi-position and multi-azimuth data collection;
(2) carrying out data fusion on the three-dimensional laser point cloud and the images acquired by multiple stations to obtain the complete three-dimensional laser point cloud, the photo stereo relative and the digital analog on the surface of the measured target body;
(3) calculating the three-dimensional coordinates of the characteristic points of the measured target body by utilizing the three-dimensional space coordinates of the C-level measurement control points and the collected laser point cloud and photo stereo-contrast;
(4) calculating the coordinate difference or length between the characteristics, and the coordinate difference or length with the design, carrying body deformation value, realizing the detection and monitoring of the size and shape of large-scale industrial manufacture such as ships and the like, and finding out the intermediate products with defects in the production process in time;
(5) when the detected dimension error is not greater than the allowable value, the machining precision meets the requirement, otherwise, the correction is needed; or the deformation value of the carrying body is smaller than the allowable requirement, otherwise, the installation is stopped for correction.
The three-dimensional laser scanner and the close-range photography measuring instrument can be erected on the ground, or a lifting device is arranged in the air, or an unmanned aerial vehicle (including an inertial navigation system) is used as a platform for flight collection.
The step four of arbitrary station setting non-contact monitoring comprises the following steps:
(1) defining a carrier to be measured in a three-dimensional coordinate system of a field space, and solving the space three-dimensional coordinates of each characteristic point of the carrier to be measured;
(2) the method comprises the following steps of collecting laser point clouds and images of a measured building carrier and a C-level measurement control point by adopting a three-dimensional laser scanner and a close-range photography measuring instrument which are randomly located, and obtaining all three-dimensional laser point clouds and images on the surface of a measured target body through multi-position and multi-direction data collection;
(3) carrying out data fusion on the three-dimensional laser point cloud and the images acquired by multiple stations to obtain the complete three-dimensional laser point cloud, the photo stereo relative and the digital analog on the surface of the measured target body;
(4) calculating the three-dimensional coordinates of the characteristic points by utilizing the three-dimensional space coordinates of the C-level measurement control points and the three-dimensional relative relationship of the collected laser point cloud and the collected photo;
(5) and respectively calculating the difference value between the coordinate and the elevation calculated by the characteristic point and the designed coordinate and the elevation, adjusting the spatial position and the attitude of the carrier, indicating that the carrier reaches the installation position when the difference value between the real-time coordinate and the designed coordinate of the characteristic point is not more than the allowable installation error value, and otherwise, further adjusting the position and the attitude until the difference value is less than the allowable installation error value.
The three-dimensional laser scanner and the close-range photography measuring instrument can be erected on the ground, or a lifting device is arranged in the air, or an unmanned aerial vehicle (including an inertial navigation system) is used as a platform for flight collection.
The vision of smart manufacturing or industrial manufacturing 2025 is to communicate data islands and realize global utilization of data. Data acquisition who exists with different forms originally is unified to the analysis carrier through more information acquisition media, utilizes unified system management these data, unordered and a large amount of data are collected and preliminary processing in with traditional production, and through the analysis utilization to data, raise the efficiency makes the decision, realizes holistic promotion. Therefore, the invention provides a method for manufacturing, installing, detecting, monitoring and intelligently carrying and installing ships and other large-scale industries based on a space three-dimensional measurement control network, the invention lays and tests the space three-dimensional measurement and control network in a factory and a field, measures the space three-dimensional coordinates of characteristic points of each part, subsection, total section and carrying body in the manufacturing process of the ships by adopting a non-contact method of randomly setting stations according to a three-dimensional laser scanning technology and a close-range photogrammetry principle, realizes the detection and monitoring of the size and the shape of the ships and other large-scale industries, and finds out defective intermediate products in the production process in time; measuring the spatial three-dimensional coordinates of the characteristic points of the carrier by adopting a non-contact method of arbitrary station setting, and detecting the deformation of the carrier in the hoisting process; the spatial three-dimensional coordinates of the characteristic points of the carrier are measured by adopting a non-contact method of arbitrary station setting, and are compared with the spatial three-dimensional coordinates of the corresponding points of the installation position, so that the intellectualization of large-scale industrial carrying and installation is realized. Compared with the traditional measuring system, the measuring mode has great competitiveness and wide development prospect, has subversive influence on large-scale manufacturing, installation detection, monitoring and carrying installation of ships and the like, and is the necessary way for intelligent development of large-scale industrial manufacturing, carrying installation and the like of the ships and the like. Because a uniform high-precision three-dimensional space measurement control network is arranged in a manufacturing and installation factory and a field, the error rate of products can be effectively reduced, the production efficiency is improved, the intelligent carrying and installation of large industrial equipment such as ships and the like are realized, and the traceability and repeatability of the large manufacturing and installation of the ships and the like are realized.
The invention is based on a space three-dimensional measurement control network, the whole production process is arranged in an integral space three-dimensional measurement control field, the whole process of large-scale manufacturing and installation of ships and the like is detected and monitored by calculating the space coordinates of each characteristic point of the large-scale industrial products such as the ships and the like, and the waste of materials, labor and construction period of the manufacturing and installation can be greatly reduced.
The invention can carry out real-time measurement and control on the spatial position and the attitude in the carrying and installing process of the large-scale industry because a fixed high-precision spatial three-dimensional measurement control network is arranged in the carrying and installing field, thereby providing a premise for intelligent measurement and control and installation and realizing the automation of the large-scale industrial installation.
The invention realizes non-contact and arbitrary station setting measurement of the measured target body because of the arrangement of the fixed high-precision space three-dimensional control network in the manufacturing and installation field, hardly influences the industrial manufacturing and installation process, reduces the labor intensity of detection and monitoring, and improves the manufacturing and installation efficiency and benefit of large-scale industries such as ships and the like.
Compared with the prior art, the invention has the beneficial effects that:
1. the method is characterized in that a spatial three-dimensional measurement and control network is laid and tested in a factory area and a site, the manufacturing, carrying and installation processes of large-scale industries such as ships are placed in the site where the spatial three-dimensional measurement and control network is located, the measurement of the size or the distance between each part, component, subsection, total section, carrying and the like is brought into a complete detection and monitoring system, each measured characteristic point is given a spatial coordinate, a data island is opened, and the global utilization of data is realized. Data acquisition who exists with different forms originally is unified to the analysis carrier through more information acquisition media, utilizes unified system management these data, unordered and a large amount of data are collected and preliminary processing in with traditional production, and through the analysis utilization to data, raise the efficiency makes the decision, realizes holistic promotion.
2. The efficiency and the quality of large-scale manufacturing, installation detection and monitoring of ships and the like are improved, the cost is reduced, and the waste is reduced. The invention adopts a non-contact product detection method with any station, reduces the influence on the manufacturing, equipment process and flow, and improves the manufacturing, installation, detection and monitoring efficiency; the invention lays and tests a space three-dimensional measurement and control network in a factory area and a field, adopts a three-dimensional laser scanning technology and a close-range photogrammetry method to detect and monitor the shapes of parts and components and the deformation of a carrying body in the carrying process, improves the detection and monitoring quality, thereby improving the benefits of manufacturing and equipment, and simultaneously realizes the traceability and repeatability of large-scale manufacturing, carrying and installation of ships and the like.
3. The invention adopts a non-contact mode of arbitrary station setting and takes a space three-dimensional measurement and control network as a basis to measure the position of a carrying body in real time in the carrying process, thereby realizing the intellectualization of carrying and installation of large-scale industries such as ships and the like and improving the carrying quality and efficiency.
Drawings
FIG. 1 is a schematic view of a ruler.
Fig. 2 is a schematic view of a total station measurement.
FIG. 3 is a schematic view of close-up photogrammetry image acquisition.
Fig. 4 is a schematic diagram of three-dimensional laser scanning data acquisition.
Fig. 5 is a general flow chart of the present invention.
Fig. 6 is a schematic diagram of spatial three-dimensional measurement and control network distribution.
Fig. 7 is a measurement and control network measurement flow chart.
Fig. 8 is a schematic diagram of plane coordinate measurement of a B-level measurement control point.
FIG. 9 is a schematic diagram of a B-level survey control point elevation measurement.
Fig. 10 is a schematic diagram of measuring the plane coordinates and the elevation of the control point in the C-level measurement.
Fig. 11 is a schematic diagram of arbitrary standing non-contact detection.
Fig. 12 is a schematic diagram of coordinate conversion.
Fig. 13 is a flow chart of detection measurement.
Fig. 14 is a schematic view of measurement in smart mount installation.
Fig. 15 is a flowchart of the smart mount measurement.
In the figure:
1. the workpiece comprises a workpiece, 2, a ruler, 3, a total station arranged on a temporary control point, 4, a measured target body, 5, a characteristic point measured by the total station, 8, a photographic camera, 9, a control point arranged on the measured body, 10, a photographic image, 11, a stereo opposite formed by the superposition parts of a left image and a right image, 12, a laser scanner erected at any position, 13, laser point cloud, 14, a region with stable foundation near a plant area, 15, a plant area and a site position, 16, an A-level measurement control point, 17, a B-level measurement control point, 18, a C-level measurement control point, 19 and a B-level planeThe measurement control network, the 20 level and B level elevation measurement control network, the 21 level and C level plane and elevation measurement control network, the 22 level, the first characteristic point on the measured object, the 23 level, the second characteristic point on the measured object, and the 24 level are measured lapping carriers. O is the origin of coordinate system of survey station, M is the origin of three-dimensional space coordinate system of site control point, XKZD、YKZD、ZKZDRespectively, the three-dimensional direction, X, of the three-dimensional space coordinate system of the site control pointCZD、YCZD、ZCZDThe three-dimensional directions of the three-dimensional laser scanning measuring station coordinate system respectively obey the right-hand rotation rule.
Detailed Description
The technical scheme of the invention is described in detail in the following with reference to the attached drawings:
a method for intelligently detecting, monitoring and carrying and installing ships and other large-scale industrial manufacturing based on a space three-dimensional measurement and control network comprises the following steps:
step one, laying a spatial three-dimensional measurement and control network: the measurement control points are distributed on the manufacturing and installation sites of large-scale industries such as ships and the like and nearby to form a space three-dimensional measurement and control network. The point location distribution is as shown in fig. 6, and a-level measurement control point 16 is arranged in a stable area 14 near a plant area, such as bedrock, and serves as a three-dimensional measurement control point of the plant area; the B-level measurement control points 17 are arranged on a solid ground near a site at a position which does not influence the construction and serve as three-dimensional measurement control points of a plant area; and C-level measurement control points 18 are arranged at the manufacturing installation site, the site and the place nearby where the fixed marks can be installed, steel frames or cement piers can be erected at the position nearby the installation site where construction is not affected and serve as site three-dimensional control points, and a space three-dimensional measurement and control network consisting of a B-level plane measurement control network 19, a B-level height measurement control network 20, a C-level plane and a height measurement control network 21 is formed.
(1) The measured object 4 is a part, a component, a subsection, a total section, a lapping carrier and the like; the A-level measurement control point 16 is used as a reference point for factory control measurement and is arranged in a stable area around a factory; the B-level measurement control point 17 is used as a plant area three-dimensional measurement control point, is a reference point for three-dimensional control measurement of a field, is arranged on a solid ground at a position which does not influence construction near the field, and is required to be in communication with the field control point; the C-level measurement control point 18 is used as a site three-dimensional control point to form a space three-dimensional measurement and control network consisting of an A-level measurement control point 16, a B-level plane measurement control network 19, a B-level distance measurement control network 20, a C-level plane and a height measurement control network 21, the point positions can be distributed in the manufacturing installation, the site and the places nearby where fixed marks can be installed, and the C-level measurement control point 18 can be installed on a steel frame or a cement pier at the position nearby the installation site where construction is not affected in order to widen the view of the fixed marks;
(2) the A-level measurement control point 16 and the B-level measurement control point 17 adopt a forced centering observation pier; the C-level measurement control point 18 mark is made of stainless steel and other materials with good laser point reflection effect, and the shape and size of the control point mark are planar or spherical according to the position;
(3) the C-level measurement control point 18 mark is fixed on the stable ground or a building or a structure by adopting a fixing material;
(4) and setting a two-dimensional code identification mark on or near the control point mark.
And step two, forming a space three-dimensional control network by adopting a precision engineering measurement method. And obtaining the precise three-dimensional coordinates of the control points by measuring a strict adjustment theory. And step two, measuring and controlling the network measurement flow chart as shown in fig. 7, and measuring by selecting a coordinate system and controlling points of A level, B level and C level to obtain the three-dimensional space measuring and controlling network achievement of the plant area and the site.
(1) Selecting a plant area plane coordinate system to enable the plant area projection deformation value to be less than 5 mm/km;
(2) adopting a GNSS measurement method, taking a national plane control point as calculation data, jointly measuring an A-level measurement control point 16, and obtaining a plane coordinate of the A-level measurement control point 16 through adjustment calculation;
(3) adopting a leveling method, taking a national elevation control point as a starting point, jointly measuring an A-level measurement control point 16, and obtaining the elevation of the A-level measurement control point 16 through adjustment calculation;
(4) the plane coordinates of the B-stage survey control point 17 are measured using the GNSS surveying method, as shown in fig. 8. Taking the A-level measurement control point 16 as a starting point, jointly measuring the B-level measurement control point 17, obtaining the plane coordinate of the B-level measurement control point 17 through adjustment calculation,
(5) the elevation of the class B survey control point 17 is measured using the leveling method, as shown in fig. 9. And taking the A-level measurement control point 16 as a starting point, jointly measuring the B-level measurement control point 17, and calculating and acquiring the elevation of the B-level measurement control point 17 through adjustment.
(6) The plane and the elevation of the C-level measurement control point are measured by using methods such as wire measurement, triangulation, GNSS measurement and the like, as shown in FIG. 10. Taking the B-level measurement control point 17 as a starting point, and jointly measuring the C-level measurement control point 18 to form a plane control network, and obtaining the plane coordinate of the C-level measurement control point 18 through adjustment calculation; and by adopting methods such as leveling measurement, triangular elevation measurement, GNSS elevation measurement and the like, taking the B-level measurement control point 17 as a starting point, and jointly measuring the C-level measurement control point 18 to form an elevation control network to obtain the elevation of the C-level measurement control point 18 through adjustment calculation.
(7) The A-level measurement control point 16, the B-level plane measurement control network 19, the B-level elevation measurement control network 20, the C-level plane and elevation measurement control network 21 form a three-dimensional space measurement control field together.
And step three, arranging parts, sections, blocks and carriers manufactured by large-scale industries such as ships in a field where a space three-dimensional measurement and control network is located, measuring the space three-dimensional coordinates of characteristic points of the parts, sections, blocks and carriers in the ship manufacturing process by adopting a three-dimensional laser scanning technology and a close-range photogrammetry method, realizing the detection and monitoring of the size and the shape of the large-scale industries such as ships, and timely discovering the information such as the middle products with defects in the production process, the deformation value of the carriers and the like. Fig. 11 is a schematic diagram of arbitrary standing non-contact detection by taking a three-dimensional laser scanning technology as an example.
(1) The method comprises the steps of acquiring laser point clouds 13 of a measured target body 4 and a C-level measurement control point 18 by adopting a three-dimensional laser scanner 12 with any station, erecting the three-dimensional laser scanner 12 at any position, erecting the three-dimensional laser scanner on the ground, placing a lifting device in the air, performing flight acquisition by adopting an unmanned aerial vehicle (comprising an inertial navigation system) as a platform, and acquiring all three-dimensional laser point clouds 13 on the surface of the measured target body 4 through multi-position and multi-direction data acquisition;
(2) taking the C-level measurement control point 18 as a reference point, performing data fusion on the three-dimensional laser point cloud 13 acquired by multiple stations to obtain the complete three-dimensional laser point cloud 13 and a mathematical model on the surface of the measured target body 4;
(3) calculating a conversion parameter delta x of seven-parameter conversion by using the three-dimensional space coordinates of the site control points of more than 3C-level measurement control points 18 and the acquired station coordinates of the corresponding laser point cloud 130、Δy0、Δz0The transformation relations of space coordinate systems of α, β, gamma and M are shown in figure 12, wherein O is the origin of a coordinate system of a measuring station, M is the origin of a three-dimensional space coordinate system of a site control point, and X isKZD、YKZD、ZKZDRespectively, the three-dimensional direction, X, of the three-dimensional space coordinate system of the site control pointCZD、YCZD、ZCZDThe three-dimensional directions of the three-dimensional laser scanning measuring station coordinate system respectively obey the right-hand rotation rule.
In the formula,. DELTA.x0、Δy0、Δz0The translation amounts of x, y and z for converting the coordinate system of the measuring station into the three-dimensional space coordinate system of the site control point are respectively α, β and gamma are respectively the rotation amounts of the coordinate system of the measuring station and the coordinate system of the control point around the axes of x, y and z, and m is the scale ratio of the coordinate system of the measuring station and the three-dimensional space coordinate system of the site control point (x y z)KZDFor C-level measurement, three-dimensional space coordinates (x, y, z) of control points and fieldsCZDAnd measuring the coordinates of the station for the control points.
(4) Converting the survey station coordinates of all laser point clouds 13 into a three-dimensional space coordinate system of a site control point by using a formula (1);
(5) calculating and acquiring three-dimensional space coordinates of the feature points 22 and 23 by surface and line fitting or by a manual intervention method;
(6) and calculating the coordinate difference or the length between the characteristic points 22 and 23, comparing the coordinate difference or the length with the designed coordinate difference or the length, realizing the detection and the monitoring of the size and the shape of the large-scale industry such as ships and the like, and timely finding the deformation values of the intermediate products and the carriers with defects in the production process.
Δs≤ΔsAllowance of(5)
x22、x23Abscissa, y, of characteristic points 22,23 calculated for the laser point cloud22、y23Ordinate, z, of characteristic points 22,23 calculated for the laser point cloud22、z23Elevation, x of feature points 22,23 resolved for a laser point cloud22,23、y22,23、z22,23Coordinate and elevation differences, x, between feature points 22,23 resolved for the laser point cloud22 and 23 are provided with、y22 and 23 are provided with、z22 and 23 are provided withFor the design coordinates and elevation differences, s, between the feature points 22,23Is provided withIs the design length between the feature points 22,23, Δ s is the difference between the actual length between the feature points 22,23 and the design length, Δ sAllowance ofIs an allowable difference.
(6) Fig. 13 is a flow chart of detection measurement by taking a three-dimensional laser scanning technique as an example. When Δ s is not more than Δ sAllowance ofIf not, the machining precision meets the requirement, otherwise, the correction is needed; or the deformation value of the collected measured target body 4 is smaller than the allowable requirement, otherwise, the installation is stopped for correction.
And step four, measuring the spatial three-dimensional coordinates of the characteristic points 22 and 23 of the carrier 24 to be measured in real time by adopting a method of the three-dimensional laser scanner 12 with any station, and realizing intelligent carrying and installation of the carrier 24 to be measured. Fig. 14 is a schematic view of a measurement of a smart mounting apparatus of a mounting body, which is an example of a three-dimensional laser scanning technique.
(1) Defining the carrier in a three-dimensional coordinate system of a field space, and solving the space three-dimensional coordinates of each characteristic point of the carrier 24 to be measured to obtain the three-dimensional coordinates x designed by the characteristic pointsIs provided with、yIs provided with、zIs provided with。
(2) The method comprises the steps that a three-dimensional laser scanner 12 with any station is adopted to collect laser point clouds 13 of a tested carrying body 24 and a C-level measurement control point 18, the three-dimensional laser scanner 12 can be erected at any position, can be erected on the ground, can be placed in the air by adopting a hoisting device, can also be used as a platform for carrying out flying collection by adopting an unmanned aerial vehicle (comprising an inertial navigation system), and all the three-dimensional laser point clouds 13 on the surface of the tested carrying body 24 are obtained through multi-position and multi-direction data collection;
(3) carrying out data fusion on the three-dimensional laser point clouds 13 acquired at multiple stations to obtain the complete three-dimensional laser point clouds 13 and a digital model on the surface of the carrier 24 to be detected;
(4) calculating a conversion parameter delta x of seven-parameter conversion by using the three-dimensional space coordinates of the site control points of more than 3C-level measurement control points 18 and the station coordinates of the collected corresponding laser point cloud 13 by adopting a formula (1)0、Δy0、Δz0、α、β、γ、m。
(5) Converting the survey station coordinates of all three-dimensional laser point clouds 13 into a three-dimensional space coordinate system of a site control point by adopting a formula (1);
(6) calculating and acquiring three-dimensional coordinates of the feature points 22 and 23 by surface and line fitting or by a manual intervention method;
(7) and respectively calculating the coordinates and elevations calculated by the characteristic points 22 and 23, comparing the coordinates and elevations with the designed coordinates and elevations, and adjusting the spatial position and the attitude of the measured lapping carrier 24 until the difference value of the coordinates and the elevations of the characteristic points meets the requirement.
xMeasuring、yMeasuring、zMeasuringSit-across of feature points resolved for laser point cloudStandard, ordinate and elevation, xIs provided with、yIs provided with、zIs provided withThe abscissa, the ordinate and the elevation of the feature point in the three-dimensional coordinate system of the field space are shown.
Fig. 15 is a flowchart of a measurement procedure for mounting an intelligent device, taking a three-dimensional laser scanning technique as an example. When Δ x, Δ y, and Δ z are not greater than the mounting error tolerance, respectively, it indicates that the tested vehicle 24 reaches the mounting position, otherwise, further position and posture adjustment should be performed until the measured vehicle is less than the mounting error tolerance.
Example (b):
in order to evaluate the efficacy of the present invention, the method was used to observe the part processing shape, the carrier deformation monitoring, and the carrier mounting measurement, respectively, as described below:
1 part processing shape detection
And measuring the shape of the special-shaped workpiece by respectively adopting a total station and a three-dimensional laser scanning technology based on a field three-dimensional space measurement control field.
(1) Using a total station for measurement, as shown in fig. 2: laying a temporary control network near a temporary field, wherein the number of control points for laying is 5, and the time for measuring and adjusting calculation is 55 minutes; erecting a total station on the temporary control point to measure the characteristic points of the special-shaped workpiece, measuring the three-dimensional coordinates of 65 characteristic points in total, and taking 70 minutes for measurement and calculation; the measured characteristic points are generated into a digital model, the distances between the characteristic points are measured and compared with the designed size, and the calculation by using computer software takes less time, which takes about 1 minute.
(2) A three-dimensional laser scanning technique based on a field three-dimensional space survey control field is shown in fig. 11. And collecting laser point clouds of a measured target body and a C-level measurement control point by adopting a three-dimensional laser scanner with an arbitrary station. Because the workpiece is placed in a site measurement and control network which is measured in advance, the control measurement is not needed; scanning the workpiece from 6 different positions for 10 minutes; and performing data fusion on the scanned laser point cloud on the basis of the field three-dimensional space control points to generate a digital model, measuring the distance between the characteristic points, and comparing the distance with the designed size, wherein the time spent on calculating by using computer software is less and is about 5 minutes.
(3) The total station measurement is a temporary layout measurement control point and is a contact measurement, so when the control point and the characteristic point are measured, the production process must be stopped, and when the three-dimensional laser scanning technology based on the field three-dimensional space measurement control field is used for measurement, the measurement is a non-contact measurement of any station, and the production process is not influenced.
(4) The total station measurement is a finite point measurement, so that the measured shape cannot well reflect the characteristics of the shape, the material and working hour waste proportion caused by the measurement reason generally reaches 15% according to the statistics of ship manufacturing, and the material and working hour waste caused by the measurement reason is zero by adopting a three-dimensional laser scanning technology based on a field three-dimensional space measurement control field for measurement.
(5) Table 1 shows distribution intervals and the occupied ratio of the number of differences Δ L between the measured feature points and the design length. The total station method is adopted to measure the length among 65 characteristic points, and the three-dimensional laser scanning method is adopted to measure the length among 427 characteristic points.
(6) TABLE 2 summary of the results and the time taken for the shape inspection of the parts
2 Carrier deformation monitoring
The existing measuring method does not monitor the deformation measurement of the carrying body in the carrying process, and the deformation measurement of the carrying body can be monitored in real time by adopting a three-dimensional laser scanning technology based on a field three-dimensional space measurement control field.
(1) The carrying body is in a motion state in the hoisting process, so the deformation of the carrying body in the hoisting process cannot be measured by adopting the existing methods such as a total station and the like, the ship is only carried out by a trial carrying method in the ship manufacturing and installing process, when the trial carrying is unsuccessful, a very large influence is generated, and the waste proportion of materials and working hours is generally up to 15%.
(2) As shown in fig. 14, a three-dimensional laser scanner with an arbitrary station is used to collect laser point clouds of a target object to be measured and a C-level measurement control point in real time. And (3) generating a digital model by using the scanned laser point cloud, measuring the distance between the characteristic points, and comparing the distance with the designed size, wherein the calculation is carried out by using computer software, so that the consumed time is short, and the consumed time is about 2 minutes. Because the deformation of the carrying body is monitored in real time, the carrying success rate is greatly improved, and the proportion of the waste of working hours is obviously reduced, generally 3%.
(3) Table 3 shows the distribution intervals and the occupied ratio of the number of the difference Δ L between the length between the characteristic points measured by the three-dimensional laser scanning method and the design length, and the length between the 21 characteristic points is measured.
| Distribution interval of DeltaL | 0≤ΔL＜ |
2≤ΔL＜5mm | 5≤ΔL＜ |
10≤ΔL≤20mm | Tolerance (mm) |
| Number of |
2 | 8 | 9 | 2 | 20 |
| Percentage of | 9.52％ | 38.10％ | 42.86％ | 9.52％ |
(4) TABLE 4 deformation monitoring method for vehicle and summary of results
| Measuring method | Monitoring possibility | Influence on production | Proportion of time wasted |
| Total station survey | Cannot be monitored | -- | 15％ |
| Three-dimensional laser scanning technology based on field three-dimensional space measurement control field | Real-time monitoring | Is free of | 3％ |
3 mounting and measuring
The method of combining site grid network (reference line) with other measuring devices and the three-dimensional laser scanning technology based on site three-dimensional space measurement control field are respectively adopted to measure the carrying installation.
(1) The existing carrying and installation basically adopts the combination of methods such as a site grid network (datum line), collimation measurement, verticality measurement and the like to carry out measurement, the existing measurement method selects a corresponding method according to site conditions, and because a fixed site control point is not arranged, the selected method has stronger randomness, the intelligent carrying and installation cannot be realized, and the carrying and installation efficiency is difficult to further improve. By adopting the method, when the size of the carrier is larger or the height of the carrier is higher, the measurement precision is possibly obviously reduced, because the position and the height of the carrier are realized by the collimation and vertical collimation method, when the sight line is influenced, the subsequent points and lines can be calibrated successively only by taking the nearby points and lines as the reference, error accumulation is formed, the precision of the carrier is reduced, and the precision is continuously reduced.
(2) The three-dimensional laser scanning technology based on the field three-dimensional space measurement control field adopts a three-dimensional laser scanner with any station as shown in fig. 14 to collect laser point clouds of a carrying body and a C-level measurement control point in real time. The scanning laser point cloud is used for generating a digital model, measuring the characteristic points of the carrying body in real time, comparing the measured characteristic points with the designed coordinates of the characteristic points, calculating a position difference value and an attitude difference value, and transmitting the coordinate difference value and the attitude difference value to the hoisting system, so that the intellectualization of carrying and installation can be realized, and the carrying and installation efficiency is improved. By adopting the method, the coordinates of the characteristic points are measured through the field control network on the basis of the factory area and the field control field, so that the problem of error accumulation does not exist, and the carrying and installing precision is improved. The basis for realizing the method is that factory area and site control points for carrying out measurement and fixing are arranged in a carrying and installing site to form a factory area and site measurement and control network, so that carrying and installing are always arranged in a measurement control site.
(5) And table 5 carries the three-dimensional coordinates in the site control point coordinate system of the C-level measurement control points distributed in the installation site, the three-dimensional coordinates in the measuring station coordinate system and the conversion parameters.
(6) And 6, converting the characteristic point coordinates in the carrier carrying process into a site coordinate system by using seven parameters in the table 5, and comparing the site coordinate system with the design coordinates to judge whether the carrier is installed in place for 5 measurement processes.
(7) Table 7 mounting/mounting monitoring method for mounting device and summary of results
In summary, the system describes the whole process of the detection, monitoring and carrying installation method of large-scale industrial manufacturing such as ships based on the space three-dimensional measurement and control network, and the digital model, the geometric shape and the intelligent carrying installation space information of large-scale parts of the ships are measured by arranging and measuring a three-dimensional space measurement control field in a factory and a field and adopting a three-dimensional laser scanning technology and a close-range photogrammetry technology. By adopting the system, the efficiency, the precision and the benefit of large-scale industrial manufacturing, carrying and installing of ships and the like can be further improved, an innovative way is opened up for the industrial manufacturing 2025 in the fields of large-scale industrial manufacturing, carrying and installing of ships and the like, the blank of the fields of large-scale industrial manufacturing, carrying and installing of ships and the like is filled, and the system is also a necessary way for the intelligent manufacturing and development of the large-scale industrial manufacturing of ships and the like.
Claims (8)
1. A method for detecting, monitoring and intelligently installing large-scale industrial manufacturing of ships and the like based on a space three-dimensional measurement and control network is characterized by comprising the following steps:
step one, laying a spatial three-dimensional measurement and control network: three-dimensional measurement control points are distributed on and near large-scale industrial manufacturing and carrying installation sites such as ships and the like to form a three-dimensional measurement and control network of a plant area and a site space;
step two, testing and resolving the space three-dimensional measurement and control network: obtaining the precise three-dimensional coordinates of the three-dimensional measurement control points by adopting a precise engineering measurement method and through a tight adjustment measurement theory;
step three, randomly setting a station for non-contact detection: processing, assembling by sections and carrying a body hoisting device on a site where a spatial three-dimensional measurement and control network which is laid in the first step and measured and calculated in the second step is located, measuring spatial three-dimensional coordinates of characteristic points of each part, section, total section and carrying body in the manufacturing and mounting processes of the ship by adopting a three-dimensional laser scanning technology and a close-range photogrammetry technology, detecting and monitoring the size and shape of the large-scale industrial manufacturing and processing and mounting of the ship and the like, calculating the deformation value of the carrying body in the carrying process, finding out a defective intermediate product in the production process in time and calculating the deformation value of the carrying body in the carrying process;
step four, randomly establishing a non-contact monitoring and intelligent installation: the method adopts a three-dimensional laser scanning technology and a close-range photogrammetry technology, utilizes a spatial three-dimensional measurement and control network which is arranged in the first step and measured and calculated in the second step to measure the spatial three-dimensional coordinates of the characteristic points of the carrier in real time, and compares the spatial three-dimensional coordinates with the spatial three-dimensional coordinates of the corresponding points of the mounting position, thereby realizing the intellectualization of the carrying and mounting of the large-scale industry.
2. The intelligent detection, monitoring and installation method for the manufacturing of large-scale industries such as ships based on the space three-dimensional measurement and control network, according to claim 1, wherein the step of laying the space three-dimensional measurement and control network comprises the following steps:
(1) a level measurement control point (16) is arranged in a stable area around a factory area and is used as a reference point for factory area control measurement;
(2) b-level plant area measurement control points (17) are arranged on the solid ground of the whole plant area and serve as datum points of three-dimensional control measurement of the site, and the B-level plant area measurement control points are arranged at positions, which do not influence construction, near the site and require to be in full view of the site control points;
(3) the C-level measurement control points (18) are arranged on the manufacturing installation site, the site and the nearby site to form a three-dimensional space measurement and control network which is used as a foundation for large-scale industrial manufacturing detection, monitoring and intelligent installation of ships and the like, the C-level measurement control points (18) are arranged at the positions of the manufacturing installation site, the site and the nearby site where construction is not affected, and steel frames or cement piers can be erected at the positions of the nearby installation site where construction is not affected in order to widen the visual field of fixed marks.
(4) A level A measurement control point (16) and a level B measurement control point (17) adopt a forced observation pier; the marks of the C-level measurement control points (18) are made of materials with good laser point reflection effect, and the marks of the control points are in plane shapes or spherical shapes according to positions; the C-level measurement control point (18) mark is fixed on the stable ground or a building or a structure;
(5) and setting a two-dimensional code identification mark on or near the control point mark.
3. The intelligent detection, monitoring, carrying and installation method for the manufacturing of large-scale industries such as ships and the like based on the space three-dimensional measurement and control network according to claim 1, wherein the second step of measuring and calculating the space three-dimensional measurement and control network comprises the following steps:
(1) selecting a plant area plane coordinate system to enable the plant area projection deformation value to be less than 5 mm/km;
(2) by adopting a GNSS measurement method, taking a national plane control point as calculation data, jointly measuring an A-level measurement control point (16), and obtaining a plane coordinate of the A-level measurement control point (16) through adjustment calculation;
(3) by adopting a leveling method, taking national elevation control points as starting points, jointly measuring A-level measurement control points (16), and calculating and acquiring the elevation of the A-level measurement control points (16) through adjustment;
(4) by adopting a GNSS measurement method, taking the A-level measurement control point (16) as a starting point, jointly measuring the B-level measurement control point (17), and obtaining the plane coordinate of the B-level measurement control point (17) through adjustment calculation;
(5) by adopting a leveling method, taking the A-level measurement control point (16) as a starting point, jointly measuring the B-level measurement control point (17), and calculating and acquiring the elevation of the B-level measurement control point (17) through adjustment;
(6) by adopting a wire measurement method, a triangulation method and a GNSS measurement method, taking a B-level measurement control point (17) as a starting point, and jointly measuring a C-level measurement control point (18), forming a plane control network to obtain a plane coordinate of the C-level measurement control point (18) through adjustment calculation; by adopting leveling measurement, triangulation height measurement and GNSS height measurement methods, taking a B-level measurement control point (17) as a starting point, and jointly measuring a C-level measurement control point (18), an elevation control network is formed to obtain the height of the C-level measurement control point (18) through adjustment calculation;
(7) a level A measurement control point (16), a level B plane measurement control network (19), a level B distance measurement control network (20), a level C plane and height measurement control network (21) form a three-dimensional space measurement control field together.
4. The method for detecting, monitoring and intelligently installing the large-scale industrial manufacturing of ships and the like based on the space three-dimensional measurement and control network as claimed in claim 2 or 3, it is characterized in that an A-level measurement control point (16), a B-level measurement control point (17) and a C-level measurement control point (18) are arranged on a factory building and a site for large-scale industrial manufacturing, installation and carrying of ships and the like, the precise plane coordinates and elevations of the A-level measurement control point (16), the B-level measurement control point (17) and the C-level measurement control point (18) are measured, a processing body (1), a measured target body (4) and a measured carrying body (24) are placed in a measurement control field formed by the A-level measurement control point (16), the B-level measurement control point (17) and the C-level measurement control point (18), the length and the shape of the processing body (1) and the measured object body (4) are measured, and the space coordinate measurement of the characteristic point of the measured carrying body (24) is realized.
5. The method for detecting, monitoring and intelligently installing the large-scale industry manufacturing of ships and the like based on the space three-dimensional measurement and control network as claimed in claim 1, wherein the step three of arbitrary station setting non-contact detection comprises the following steps:
(1) the method comprises the steps that a three-dimensional laser scanner (12) and a close-range photography measuring instrument (8) which are erected at any position are adopted to collect three-dimensional laser point clouds (13) or images (10) of a measured object body (4) and a C-level measurement control point (18), the three-dimensional laser scanner (12) and the close-range photography measuring instrument (8) can be erected at any position, and all the three-dimensional laser point clouds (13) and the images (10) on the surface of the measured object body (4) are obtained through multi-position and multi-direction data collection;
(2) carrying out data fusion on the three-dimensional laser point cloud (13) and the image (10) acquired by multiple stations to obtain the complete three-dimensional laser point cloud (13) on the surface of the measured target body (4), the photo stereo-relative (11) and a digital analog;
(3) three-dimensional coordinates of characteristic points (22) and (23) of the target to be measured are resolved by utilizing three-dimensional space coordinates of the C-level measurement control point (18), the collected laser point cloud (13) and the shot stereo relative point (11);
(4) calculating the coordinate difference or length between the characteristic points (22) and (23), the designed coordinate difference or length and the deformation value of the measured target body (4), realizing the detection and monitoring of the manufacturing size and shape of large-scale industries such as ships and the like, and timely finding out the intermediate products with defects in the production process;
(5) when the detected dimension error of the detected target body (4) is not more than the allowable value, the machining precision meets the requirement, otherwise, the correction is needed; or the deformation value of the measured target body (4) is smaller than the allowable requirement, otherwise, the installation is stopped for correction.
6. The method for detecting, monitoring and intelligently installing the large-scale industrial manufacturing of ships and the like based on the space three-dimensional measurement and control network is characterized in that the three-dimensional laser scanner (12) and the close-range photogrammetric instrument (8) can be erected on the ground, or a lifting device is used for placing in the air, or an unmanned aerial vehicle is used as a platform for flight collection.
7. The method for detecting, monitoring and intelligently installing the large-scale industrial manufacturing of ships and the like based on the spatial three-dimensional measurement and control network as claimed in claim 1, wherein the step four of arbitrarily setting a station and monitoring in a non-contact manner comprises the following steps:
(1) defining a tested carrying body (24) in a three-dimensional coordinate system of a field space, and solving space three-dimensional coordinates of each characteristic point of the tested carrying body (24);
(2) the method comprises the steps that a three-dimensional laser scanner (12) and a close-range photography measuring instrument (8) which are randomly located are adopted to collect three-dimensional laser point clouds (13) and images (10) of a carrier (24) to be measured and a C-level measurement control point (18), the three-dimensional laser scanner (12) and the close-range photography measuring instrument (8) can be randomly arranged, and all the three-dimensional laser point clouds (13) and the images (10) on the surface of the carrier (24) to be measured are obtained through multi-position and multi-direction data collection;
(3) carrying out data fusion on the three-dimensional laser point cloud (13) and the image (10) acquired by multiple stations to obtain the complete three-dimensional laser point cloud (13) on the surface of the carrier (24) to be detected, the photo stereo-contrast (11) and a digital analog;
(4) three-dimensional coordinates of the characteristic points (22) and (23) are calculated by utilizing the three-dimensional space coordinates of the C-level measurement control point (18), the collected laser point cloud (13) and the shot stereo-contrast (11);
(5) and calculating differences between the coordinates and the elevations calculated by the characteristic points (22) and (23) and the design coordinates and the elevations respectively, adjusting the spatial position and the attitude of the measured carrying body (24), indicating that the measured carrying body (24) reaches the installation position when the differences between the real-time coordinates and the design coordinates of the characteristic points (22) and (23) are not more than the allowable value of the installation error respectively, and otherwise, further adjusting the position and the attitude until the differences are less than the allowable value of the installation error.
8. The method for detecting, monitoring and intelligently installing the large-scale industrial manufacturing of ships and the like based on the space three-dimensional measurement and control network is characterized in that the three-dimensional laser scanner (12) and the close-range photogrammetric instrument (8) can be erected on the ground, or a lifting device is used for placing in the air, or an unmanned aerial vehicle is used as a platform for flight collection.
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