CN112378336B - Cabin capacity measuring system based on unmanned aerial vehicle and measuring method thereof - Google Patents
Cabin capacity measuring system based on unmanned aerial vehicle and measuring method thereof Download PDFInfo
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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
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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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
- G01B11/28—Measuring arrangements characterised by the use of optical techniques for measuring areas
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T19/00—Manipulating 3D models or images for computer graphics
- G06T19/003—Navigation within 3D models or images
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T19/00—Manipulating 3D models or images for computer graphics
- G06T19/20—Editing of 3D images, e.g. changing shapes or colours, aligning objects or positioning parts
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformation in the plane of the image
- G06T3/40—Scaling the whole image or part thereof
- G06T3/4038—Scaling the whole image or part thereof for image mosaicing, i.e. plane images composed of plane sub-images
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/11—Region-based segmentation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2200/00—Indexing scheme for image data processing or generation, in general
- G06T2200/08—Indexing scheme for image data processing or generation, in general involving all processing steps from image acquisition to 3D model generation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2200/00—Indexing scheme for image data processing or generation, in general
- G06T2200/32—Indexing scheme for image data processing or generation, in general involving image mosaicing
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
Abstract
The invention discloses a cabin capacity measuring system based on an unmanned aerial vehicle and a measuring method thereof. The invention realizes all intelligentization of cabin size measurement, cabin remodeling and cabin interior component deduction back volume calculation, and simultaneously rapidly outputs the cabin capacity table required by the user, thereby improving the precision and efficiency of cabin capacity measurement.
Description
Technical Field
The invention relates to a cabin capacity measuring system and a measuring method thereof, in particular to a cabin capacity measuring system based on an unmanned aerial vehicle and a measuring method thereof, and belongs to the field of ship volume measurement.
Background
The capacity of the ship cabin is measured, namely the actual volume of the ship cabin is calculated by measuring the size of the ship cabin. For LNG tankers, LPG tankers, oil tankers, and chemical ships, accurate tank capacity is very important for operations of shipowners because of the high value of the cargo, and some customs or related departments of the country may review tank capacity tables when the cargo is imported and exported. The hold and corresponding cargo capacity are also very interesting items for the owner, who therefore often requires a third party certification authority to measure the hold of the cargo hold. With the rapid development of the shipbuilding technology in China, the orders of high-value-added ships such as LNG (liquefied natural gas), LPG (liquefied petroleum gas) ships, chemical ships and the like are gradually increased, and the business of measuring the tank capacity is also rapidly increased.
The accurate and rapid measurement of the ship cabin is a specialized technical means urgently needed by departments such as ship cabin capacity measurement, the domestic measurement method of the ship cabin capacity at present mainly comprises a geometric measurement method, a capacity comparison method and a mixed measurement method, the capacity measurement methods all have defects, the traditional capacity measurement method needs the cooperative operation of a plurality of personnel, the measurement time is more than 1 month, and certain influence is caused on the ship dock period, so that the precision and the efficiency of the ship cabin capacity measurement are required to be improved, and the influence of the ship cabin capacity measurement on the construction period is reduced.
Disclosure of Invention
The invention aims to solve the technical problem of providing a cabin capacity measuring system based on an unmanned aerial vehicle and a measuring method thereof, and improving the precision and efficiency of cabin capacity measurement.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
the utility model provides a hold capacity measurement system based on unmanned aerial vehicle which characterized in that: contain mobile terminal, unmanned aerial vehicle, three-dimensional laser scanner and three-dimensional data processing system, mobile terminal and unmanned aerial vehicle wireless connection, three-dimensional laser scanner fix on unmanned aerial vehicle and three-dimensional laser scanner and mobile terminal wireless connection, install three-dimensional data processing system in the mobile terminal.
Furthermore, the mobile terminal comprises a first processor, a display screen, a first internal memory, a first communication device and an input device, wherein the first processor is used for controlling the unmanned aerial vehicle to shoot, the display screen is connected with the first processor and used for displaying a flight route and an operation prompt of the unmanned aerial vehicle, the first internal memory is connected with the first processor and used for providing a cache for an operating system, the first communication device is connected with the first processor and used for performing wireless communication with the unmanned aerial vehicle, and the input device is connected with the first processor and used for inputting operation information; the input device comprises a physical button, a track ball, a touch pad and a touch layer overlapped with the display screen, wherein the touch layer and the display screen are combined to form the touch screen; the display screen is a liquid crystal display screen or a flexible display screen.
Further, the unmanned aerial vehicle comprises a second processor, a second internal memory, a second communication device, a flight driving device and a positioning device, wherein the second processor is used for controlling the unmanned aerial vehicle to work, the second internal memory is connected with the second processor and used for providing a cache for an operating system, the second communication device is connected with the second processor and used for carrying out wireless communication with the mobile terminal, the flight driving device is connected with the second processor and used for controlling the unmanned aerial vehicle flight action of the unmanned aerial vehicle, and the positioning device is connected with the second processor and used for positioning the position of the unmanned aerial vehicle; the flight driving device controls the flight action of the unmanned aerial vehicle by controlling the flight speed and the flight direction of the unmanned aerial vehicle, and adopts a network RTK positioning technology or a laser radar positioning technology; the three-dimensional laser scanner comprises a wireless control module, and the wireless control module is used for receiving an instruction sent by the mobile terminal; the three-dimensional data processing system comprises post-processing software and three-dimensional modeling software; the three-dimensional laser scanner is a pulse type three-dimensional laser scanner or a phase type laser scanner.
A measuring method of a cabin capacity measuring system based on an unmanned aerial vehicle is characterized by comprising the following steps:
the method comprises the following steps: determining a scanning station and an unmanned aerial vehicle moving route;
step two: inputting the scanning station and the mobile line into a mobile terminal, and issuing an instruction to the unmanned aerial vehicle by the mobile terminal;
step three: an unmanned aerial vehicle loaded with a three-dimensional laser scanner acquires a starting instruction and reads a combined control instruction;
step four: sending the combined control instruction to the unmanned aerial vehicle, so that the unmanned aerial vehicle flies according to a preset route and stops at the arranged scanning station;
step five: the method comprises the following steps that a mobile terminal issues a scanning starting instruction, a three-dimensional laser scanner is started to carry out panoramic scanning, and surface point cloud data of a ship cargo hold are collected;
step six: preprocessing collected point cloud data, including point cloud registration, point cloud filtering, point cloud hole repairing, point cloud segmentation and the like, deleting non-measurement elements such as constructors, vehicles and the like in a cargo hold, converting a three-dimensional coordinate value of the point cloud data into a ship body coordinate system, reasonably segmenting overlapped data of two adjacent scanning stations, splicing the data of the whole cargo hold, and finishing the processing of the cargo hold cloud point data;
step seven: modeling the point cloud data and extracting the type value of the inner surface of the cargo hold;
step eight: and finally, calculating the actual cargo hold capacity according to the type value of the surface of the cargo hold.
Further, the step one is specifically
Determining a scanning route, selecting scanning stations on a certain space three-dimensional coordinate, automatically measuring and positioning, scanning the scene of a target cargo hold in the maximum range of each scanning station on the premise of ensuring the precision, and ensuring that each scanning station is not shielded when scanning the cabin wall; the cargo holds at the bow and the stern are influenced by external molded lines due to contraction of the molded lines of the bow and the stern, the side surfaces and the bottom of the cargo holds are irregular, the change of the surface geometric characteristics is large, the distance between adjacent scanning stations is relatively shortened, and the blocks are relatively small, so that the effectiveness of data is ensured.
Further, the fourth step is specifically
Unmanned aerial vehicle is according to predetermined route, and carry out a series of actions that the combination manipulation instruction set for and reach the scanning website, unmanned aerial vehicle seeks the measurement website automatically and stops, unmanned aerial vehicle flight action includes unmanned aerial vehicle flight speed adjustment action, unmanned aerial vehicle direction adjustment action, unmanned aerial vehicle height adjustment action, one or more in the unmanned aerial vehicle action of hovering, guarantee that unmanned aerial vehicle flight in-process does not touch hull structure and barrier, unmanned aerial vehicle has the shooting device, an image for shooing around, and give mobile terminal through wireless connection real-time transmission, mobile terminal receives the image and the storage that unmanned aerial vehicle returned, be convenient for the operator real-time observation unmanned aerial vehicle locates position and peripheral structure.
Further, the fifth step is specifically that
The method comprises the steps that a mobile terminal sends a starting instruction to a three-dimensional laser scanner, the scanner is automatically started, resolution is set according to the volume of a cargo hold, medium-resolution scanning is set for the cargo hold with small hold capacity, and high-resolution scanning is adopted when the hold capacity is large, the surface of the cargo hold is complex or surface water is wet; three-dimensional laser scanner carries out the piecemeal panoramic scanning of cargo hold, obtain point cloud data, unmanned aerial vehicle transmits the data of scanner scanning for mobile terminal through wireless connection, mobile terminal receives the data and the storage that unmanned aerial vehicle returned, look over whether scanned data have the omission on mobile terminal's display screen, send start-up instruction for three-dimensional laser scanner through mobile terminal once more if omitting, scan, thereby obtain complete continuous panoramic data, point cloud data promptly.
Further, the sixth step is specifically that
Importing the point cloud data obtained by scanning into post-processing software, and performing post-processing on the point cloud data, wherein the post-processing comprises point cloud registration, point cloud filtering, point cloud hole repairing and point cloud segmentation; point cloud registration, namely performing coordinate transformation on scanning data of scanning stations, placing the scanning data at the center of a reference measuring station with known three-dimensional coordinates arranged in the step one to enable the scanning data to be positioned in the same coordinate system, reasonably dividing data overlapped by two adjacent scanning stations, splicing the whole cargo compartment data, and finishing the processing of the cargo compartment cloud point data; and then, dividing point cloud data, and dividing bulkheads, various pipelines, piers, toggle plates and reinforcing material entities to facilitate further model reconstruction.
Further, the seventh step is specifically
Importing the processed point cloud data into three-dimensional modeling software to generate a three-dimensional model of the surface of the cargo hold and the pipeline; the physical model of the cabin consists of a large number of elementary analytic curves such as a plane, a spherical surface, a cylindrical surface, a conical surface and partial free curved surfaces, measured data are divided into different data blocks according to the geometric characteristics of a physical prototype, data points in the same data block are represented by a specific curved surface, different curved surface modeling schemes are adopted for different data blocks to carry out modeling again, and finally the curved surfaces are spliced into a physical body; and modeling the smaller minor pipelines and components according to the sizes in the design drawing.
Further, the step eight is specifically that
The calculation of the volume of the cargo hold is the volume calculation of a complex closed area enclosed by a curved surface or a plane of the cargo hold; calculating volume, namely converting the geometric characteristic calculation of the three-dimensional closed area into the integral of the boundary surface along the closed area by using an integral method of the boundary surface; triangulating the boundary curved surface, connecting vertexes on the curved surface with the origin of coordinates to form a triangular pyramid, and calculating the volume of the triangular pyramid by using coordinate values of 3 vertexes; the triangulation of the curved surface adopts a mapping method, the surface subdivision is converted into a plane domain subdivision of a parameter domain, and then the surface subdivision is mapped to the space to obtain the triangulation of the curved surface; calculating the volume of a closed area based on the triangulation result of the curved surface of the closed area to obtain a series of triangular pyramids, calculating the geometrical characteristics of the triangular pyramids respectively, and accumulating to obtain the volume of the cargo hold; another method for calculating the hold capacity is to divide the hold space into a certain number of sections in the ship length direction, perform curve integration on each section to obtain the area of the section, and then integrate the areas of all the sections along the ship length direction to obtain the hold capacity of the hold.
Compared with the prior art, the invention has the following advantages and effects: the invention provides a cabin capacity measuring system based on an unmanned aerial vehicle and a measuring method thereof, wherein the unmanned aerial vehicle is operated to acquire a model value of a cargo hold needing to be measured, and the system has great advantages under the conditions that an area with a special shape of the cargo hold is inconvenient to enter into the measurement and the conditions that the number of the cargo holds is large, the length of the cargo hold and the model depth are large; by means of unmanned aerial vehicle measurement, the precision and the efficiency of cabin capacity measurement are improved.
Drawings
Fig. 1 is a schematic diagram of a cabin capacity measuring system based on an unmanned aerial vehicle according to the present invention.
Fig. 2 is a use state diagram of the cabin capacity measuring system based on the unmanned aerial vehicle.
Fig. 3 is a schematic diagram of a mobile terminal module of the present invention.
Fig. 4 is a block schematic diagram of the drone of the present invention.
Fig. 5 is a block schematic diagram of a three-dimensional laser scanner of the present invention.
FIG. 6 is a schematic diagram of a three-dimensional data processing system of the present invention.
Fig. 7 is a flow chart of a measurement method of the unmanned aerial vehicle-based cabin capacity measurement system of the present invention.
Detailed Description
To elaborate on technical solutions adopted by the present invention to achieve predetermined technical objects, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, it is obvious that the described embodiments are only partial embodiments of the present invention, not all embodiments, and technical means or technical features in the embodiments of the present invention may be replaced without creative efforts, and the present invention will be described in detail below with reference to the drawings and in conjunction with the embodiments.
As shown in fig. 1 and fig. 2, the unmanned aerial vehicle-based cabin volume measuring system of the present invention includes a mobile terminal 1, an unmanned aerial vehicle 2, a three-dimensional laser scanner 3, and a three-dimensional data processing system 4, where the mobile terminal 1 is wirelessly connected to the unmanned aerial vehicle 2, the three-dimensional laser scanner 3 is fixed on the unmanned aerial vehicle 2, the three-dimensional laser scanner 3 is wirelessly connected to the mobile terminal 1, and the three-dimensional data processing system 4 is installed in the mobile terminal 1.
As shown in fig. 3, the mobile terminal 1 includes a first processor 101, a display screen 102, a first internal memory 103, a first communication device 104, and an input device 105, the first processor 101 is configured to control shooting by the drone, the display screen 102 is connected to the first processor 101 for displaying a flight route and an operation prompt of the drone, the first internal memory 103 is connected to the first processor 101 for providing a cache for the operating system, the first communication device 104 is connected to the first processor 101 for performing wireless communication with the drone, and the input device 105 is connected to the first processor 101 for inputting operation information; the input device 105 comprises a physical button, a track ball, a touch pad and a touch layer overlapped with the display screen, wherein the touch layer and the display screen are combined to form the touch screen; the display screen is a liquid crystal display screen or a flexible display screen.
As shown in fig. 4, the drone includes a second processor 201, a second internal memory 202, a second communication device 203, a flight driving device 204, and a positioning device 205, where the second processor 201 is configured to control the drone to work, the second internal memory 202 is connected to the second processor 201 and is configured to provide a cache for an operating system, the second communication device 203 is connected to the second processor 201 and is configured to perform wireless communication with a mobile terminal, the flight driving device 204 is connected to the second processor 201 and is configured to control a drone flight action of the drone, and the positioning device 205 is connected to the second processor 201 and is configured to position a position of the drone; the flight driving device 204 controls the flight action of the unmanned aerial vehicle by controlling the flight speed and the flight direction of the unmanned aerial vehicle, and adopts a network RTK positioning technology or a laser radar positioning technology.
As shown in fig. 5, the three-dimensional laser scanner 3 includes a wireless control module 301, and the wireless control module 301 is configured to receive an instruction from the mobile terminal. As shown in fig. 6, the three-dimensional data processing system 4 includes post-processing software 401 and three-dimensional modeling software 402; the three-dimensional laser scanner 3 is a pulsed three-dimensional laser scanner or a phase type laser scanner.
As shown in fig. 7, a measurement method of a cabin capacity measurement system based on an unmanned aerial vehicle includes the following steps:
a. because the cargo hold is large, a plurality of scanning stations are required to be arranged to scan the cargo hold in blocks, and the scanning stations and the moving route of the unmanned aerial vehicle are determined;
and determining a scanning route, selecting scanning stations on a certain spatial three-dimensional coordinate, automatically measuring and positioning, and scanning the scene of the target cargo hold in the maximum range of each scanning station on the premise of ensuring the precision, so that each scanning station is not shielded when scanning the cabin wall. The cargo holds at the bow and the stern are influenced by external molded lines due to contraction of the molded lines of the bow and the stern, the side surfaces and the bottom of the cargo holds are irregular, the change of the surface geometric characteristics is large, the distance between adjacent scanning stations is relatively shortened, and the blocks are relatively small, so that the effectiveness of data is ensured.
b. Inputting a scanning station and a mobile line into the mobile terminal 1, and issuing an instruction to the unmanned aerial vehicle 2 by the mobile terminal 1;
in will scanning circuit and scanning website input mobile terminal 1, mobile terminal 1 sends the start instruction for unmanned aerial vehicle 2, and unmanned aerial vehicle 2 receives the instruction after, reads relevant combination and controls the instruction.
c. The unmanned aerial vehicle 2 loaded with the three-dimensional laser scanner 3 acquires a starting instruction and reads a combined control instruction;
d. sending the combined control instruction to the unmanned aerial vehicle 2, so that the unmanned aerial vehicle 2 flies according to a preset route and stops at the arranged scanning station;
unmanned aerial vehicle is according to predetermined route, and carry out a series of actions that the combination manipulation instruction set for reach the scanning website, unmanned aerial vehicle can look for automatically and measure the website and stop, unmanned aerial vehicle flight action includes unmanned aerial vehicle flying speed adjustment action, unmanned aerial vehicle direction adjustment action, unmanned aerial vehicle height adjustment action, unmanned aerial vehicle hovers one or more in the action, guarantee that unmanned aerial vehicle flight in-process does not touch hull structure and barrier, unmanned aerial vehicle has the shooting device, can shoot surrounding image, and give mobile terminal through wireless connection real-time transmission, mobile terminal receives the image and the storage that unmanned aerial vehicle returned, be convenient for the operator to observe the position and the peripheral structure that unmanned aerial vehicle located in real time.
e. The mobile terminal 1 issues a scanning starting instruction, the three-dimensional laser scanner 3 is started to carry out panoramic scanning, and surface point cloud data of a ship cargo hold are collected;
the mobile terminal 1 sends a starting instruction to the three-dimensional laser scanner 3, the scanner is automatically started, the resolution is set according to the volume of the cargo compartment, medium-resolution scanning can be set for the cargo compartment with small capacity, and high-resolution scanning is adopted when the capacity of the cargo compartment is large, the surface of the cargo compartment is complex or surface water is wet. The method comprises the following steps that the three-dimensional laser scanner 3 conducts partitioned panoramic scanning on a cargo hold to obtain point cloud data, the unmanned aerial vehicle 2 can transmit data scanned by the scanner to the mobile terminal 1 through wireless connection, the mobile terminal 1 receives and stores data returned by the unmanned aerial vehicle 2, whether scanned data are omitted or not can be checked on a display screen 102 of the mobile terminal 1, and if the scanned data are omitted, a starting instruction can be sent to the three-dimensional laser scanner 3 through the mobile terminal 1 again to conduct scanning;
the three-dimensional laser scanner 3 emits laser in the cargo hold, the distance between the corresponding cargo hold surface and the scanner is calculated according to the time difference between laser emission and laser receiving, and then the three-dimensional coordinates of the cargo hold surface can be calculated in real time according to the horizontal and vertical stepping angular distance values. Along with the increasing of the horizontal angle and the vertical angle, the laser measuring unit carries out full-automatic high-precision step scanning measurement from left to right and from top to bottom, so that complete and continuous panoramic data, namely point cloud data, is obtained.
f. Preprocessing acquired point cloud data, including point cloud registration, point cloud filtering, point cloud hole repair, point cloud segmentation and the like, deleting non-measurement elements such as constructors, vehicles and the like in a cargo hold, converting a three-dimensional coordinate value of the point cloud data into a ship body coordinate system, reasonably segmenting overlapped data of two adjacent scanning stations, splicing the data of the whole cargo hold, and finishing the processing of the cloud point data of the cargo hold;
importing the point cloud data obtained by scanning into post-processing software, and performing post-processing on the point cloud data, wherein the post-processing comprises point cloud registration, point cloud filtering, point cloud hole repairing and point cloud segmentation; point cloud registration, namely, coordinate transformation is carried out on scanning data of scanning stations, the scanning data are placed in the center of a reference measuring station with known three-dimensional coordinates, which is arranged in the step one, so that the scanning data are located in the same coordinate system, data overlapped by two adjacent scanning stations are reasonably divided, the whole cargo compartment data are spliced, and the processing of the cargo compartment cloud point data is completed. Then, point cloud data are segmented, and bulkheads, various pipelines, piers, toggle plates, reinforcing materials and other entities are segmented, so that a model can be further reconstructed conveniently;
the segmentation strategy can adopt a strategy of whole and local segmentation from outside to inside and adopt one or more of convex hull segmentation, fuzzy clustering segmentation and interactive segmentation. And the convex hull segmentation is to obtain the minimum convex set of the point cloud according to a three-dimensional convex hull algorithm, and achieve the purpose of distinguishing the point cloud of the outer contour from the point cloud of the inner contour from the outside to the inside. The fuzzy clustering segmentation is to distinguish point cloud areas with different characteristics by utilizing the statistical peak value of the point cloud characteristic frequency. The interactive segmentation is performed by adopting a manual method.
g. Modeling the point cloud data and extracting the type value of the inner surface of the cargo hold;
the processed point cloud data is imported into three-dimensional modeling software 402 to generate a three-dimensional model of the cargo space surfaces and the pipelines. The solid model of the cabin consists of a large number of elementary analytic curves such as planes, spherical surfaces, cylindrical surfaces, conical surfaces and the like and partial free-form surfaces, measured data are divided into different data blocks according to the geometric characteristics of a real prototype, data points in the same data block are represented by a specific curved surface, different curved surface modeling schemes are adopted for different data blocks to carry out modeling again, and finally the curved surfaces are spliced into a solid. The curved surface modeling scheme can be an elementary analytical curved surface, a B-spline curved surface, a Bezier curved surface and a NURBS curved surface. And the pipeline and the plane component adopt a point cloud region growing fitting method, an initial sample point set belonging to the curved surface model is extracted by combining the normal vector of the selected seed point and the distance between the neighborhood point and the normal plane as a priori growth constraint condition, and then the optimal curved surface parameter is extracted by carrying out robust parameter estimation. For smaller secondary pipelines and components, modeling can also be performed according to the dimensions in the design drawing.
h. And finally, calculating the actual cargo hold capacity according to the type value of the surface of the cargo hold.
The calculation of the capacity of the cargo hold is the calculation of the volume of a complex closed area enclosed by a curved surface or a plane of the cargo hold. The volume calculation can use an integration method of a boundary surface to convert the geometric characteristic calculation of the space three-dimensional closed area into the integration of the boundary surface along the closed area. And triangulating the boundary curved surface, connecting each vertex on the curved surface with the origin of coordinates to form a triangular pyramid, and conveniently calculating the volume of the triangular pyramid by using the coordinate values of 3 vertices. The triangulation of the curved surface can adopt a mapping method, the triangulation of the curved surface is converted into the planar domain subdivision of a parameter domain, and then the planar domain subdivision is mapped to the space to obtain the triangulation of the curved surface. The volume calculation of a closed area can be based on triangulation results of a curved surface of the closed area to obtain a series of triangular pyramids, then the geometrical characteristics of the triangular pyramids are respectively calculated, and the volume of the cargo hold is obtained through accumulation. Another method for calculating the hold capacity is to divide the hold space into a certain number of sections in the ship length direction, perform curve integration on each section to obtain the area of the section, and then integrate the areas of all the sections along the ship length direction to obtain the hold capacity of the hold. When the hold capacity of the cargo hold is calculated, the volumes of the pipeline, the toggle plate and the strengthening material are deducted.
Compared with the traditional method, the cabin capacity measuring system based on the unmanned aerial vehicle and the measuring method thereof reduce the demand of cabin capacity measuring professionals and the time for data acquisition, shorten the influence of the cabin capacity measuring work on the docking period, lighten the working strength for measuring the size of the cabin, improve the efficiency and the precision of the cabin capacity measurement, and realize the full intellectualization of the cabin size measurement, the cabin remodeling and the cabin capacity calculation.
Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (6)
1. A measuring method of a cabin capacity measuring system based on an unmanned aerial vehicle is characterized by comprising the following steps:
the method comprises the following steps: determining a scanning station and an unmanned aerial vehicle moving route;
step two: inputting the scanning station and the mobile line into a mobile terminal, and issuing an instruction to the unmanned aerial vehicle by the mobile terminal;
step three: an unmanned aerial vehicle loaded with a three-dimensional laser scanner acquires a starting instruction and reads a combined control instruction;
step four: sending the combined control instruction to the unmanned aerial vehicle, so that the unmanned aerial vehicle flies according to a preset route and stops at the arranged scanning station;
step five: the method comprises the following steps that a mobile terminal issues a scanning starting instruction, a three-dimensional laser scanner is started to carry out panoramic scanning, and surface point cloud data of a ship cargo hold are collected;
step six: preprocessing acquired point cloud data, including point cloud registration, point cloud filtering, point cloud hole repair, point cloud segmentation and the like, deleting non-measurement elements such as constructors, vehicles and the like in a cargo hold, converting a three-dimensional coordinate value of the point cloud data into a ship body coordinate system, reasonably segmenting overlapped data of two adjacent scanning stations, splicing the data of the whole cargo hold, and finishing the processing of the cloud point data of the cargo hold;
step seven: modeling the point cloud data and extracting the type value of the inner surface of the cargo hold;
step eight: finally, calculating the actual cargo hold capacity according to the type value of the surface of the cargo hold;
the eighth step is specifically that
The calculation of the cargo hold capacity is the volume calculation of a complex closed area enclosed by a curved surface or a plane of the cargo hold; calculating volume, namely calculating and converting geometric characteristics of the three-dimensional closed area into integral of the boundary surface along the closed area by using an integral method of the boundary surface; triangulating the boundary curved surface, connecting vertexes on the curved surface with the origin of coordinates to form a triangular pyramid, and calculating the volume of the triangular pyramid by using coordinate values of 3 vertexes; the triangulation of the curved surface adopts a mapping method, the triangulation of the curved surface is converted into a planar domain subdivision of a parameter domain, and then the planar domain subdivision is mapped to a space to obtain the triangulation of the curved surface; and calculating the volume of a closed area based on triangulation results of the curved surface of the closed area to obtain a series of triangular pyramids, calculating the geometrical characteristics of the triangular pyramids respectively, and accumulating to obtain the volume of the cargo hold.
2. The measurement method of the unmanned aerial vehicle-based cabin capacity measurement system according to claim 1, wherein: the first step is specifically
Determining a scanning route, selecting scanning stations on a certain space three-dimensional coordinate and automatically measuring and positioning, and scanning the scene of the target cargo compartment in the maximum range of each scanning station on the premise of ensuring the precision to ensure that each scanning station is not shielded when scanning the cabin wall; the cargo holds at the bow and the stern are influenced by external molded lines due to contraction of the molded lines of the bow and the stern, the side surfaces and the bottom of the cargo holds are irregular, the change of the surface geometric characteristics is large, the distance between adjacent scanning stations is relatively shortened, and the blocks are relatively small, so that the effectiveness of data is ensured.
3. The measurement method of the unmanned aerial vehicle-based cabin capacity measurement system according to claim 1, wherein: the fourth step is specifically that
Unmanned aerial vehicle is according to predetermined route, and carry out a series of actions that the combination manipulation instruction set for reach the scanning website, unmanned aerial vehicle seeks the measurement website automatically and stops, unmanned aerial vehicle flight action includes unmanned aerial vehicle flight speed adjustment action, unmanned aerial vehicle direction adjustment action, unmanned aerial vehicle height adjustment action, unmanned aerial vehicle hovers one or more in the action, guarantee that unmanned aerial vehicle flight in-process does not touch hull structure and barrier, unmanned aerial vehicle has the shooting device, an image for shoot around, and give mobile terminal through wireless connection real-time transmission, mobile terminal receives the image and the storage that unmanned aerial vehicle returned, be convenient for the operator real-time observation unmanned aerial vehicle locate position and peripheral structure.
4. A method of measuring a cabin capacity measuring system based on an unmanned aerial vehicle according to claim 1, wherein: the fifth step is specifically that
The method comprises the steps that a mobile terminal sends a starting instruction to a three-dimensional laser scanner, the scanner is automatically started, resolution is set according to the volume of a cargo hold, medium-resolution scanning is set for the cargo hold with small hold capacity, and high-resolution scanning is adopted when the hold capacity is large, the surface of the cargo hold is complex or surface water is wet; three-dimensional laser scanner carries out the piecemeal panoramic scanning of cargo hold, obtain point cloud data, unmanned aerial vehicle transmits the data of scanner scanning for mobile terminal through wireless connection, mobile terminal receives the data and the storage that unmanned aerial vehicle returned, look over whether scanned data have the omission on mobile terminal's display screen, send start-up instruction for three-dimensional laser scanner through mobile terminal once more if omitting, scan, thereby obtain complete continuous panoramic data, point cloud data promptly.
5. The measurement method of the unmanned aerial vehicle-based cabin capacity measurement system according to claim 1, wherein: the sixth step is specifically that
Importing the point cloud data obtained by scanning into post-processing software, and performing post-processing on the point cloud data, wherein the post-processing comprises point cloud registration, point cloud filtering, point cloud hole repairing and point cloud segmentation; point cloud registration, namely performing coordinate transformation on scanning data of scanning stations, placing the scanning data at the center of a reference measuring station with known three-dimensional coordinates arranged in the step one to enable the scanning data to be positioned in the same coordinate system, reasonably dividing data overlapped by two adjacent scanning stations, splicing the whole cargo compartment data, and finishing the processing of the cargo compartment cloud point data; and then, dividing point cloud data, and dividing bulkheads, various pipelines, piers, toggle plates and reinforcing material entities to facilitate further model reconstruction.
6. A method of measuring a cabin capacity measuring system based on an unmanned aerial vehicle according to claim 1, wherein: the seventh step is specifically that
Importing the processed point cloud data into three-dimensional modeling software to generate a three-dimensional model of the cargo compartment surface and the pipeline; the solid model of the cabin consists of a large number of elementary analytic curves such as planes, spherical surfaces, cylindrical surfaces, conical surfaces and partial free curved surfaces, measured data are divided into different data blocks according to the geometric characteristics of a real prototype, data points in the same data block are represented by a specific curved surface, different curved surface modeling schemes are adopted for different data blocks to carry out modeling again, and finally the curved surfaces are spliced into a solid; and modeling the smaller minor pipelines and components according to the sizes in the design drawing.
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