CN115060238A - Relative pose measurement method and device for underwater component - Google Patents
Relative pose measurement method and device for underwater component Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
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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
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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Abstract
The invention discloses a method and a device for measuring the relative pose of an underwater member, wherein the method comprises the following steps: sending a measuring instruction to a measuring unit, and after the measuring unit receives the measuring instruction, moving the measuring unit from the butt joint structural body to the position above a mark point of the bearing structural body; measuring according to the moving distance and direction of the measuring unit to obtain a coordinate, wherein the coordinate is the coordinate of the mounting position of the measuring unit relative to the position of the mark point; calculating the relative pose relationship between the butt joint structural body and the bearing structural body according to the coordinates; by adopting the method, the high-precision relative pose measurement of the underwater large-scale structure can be carried out on the construction area with deeper water depth.
Description
Technical Field
The invention relates to the field of engineering measurement, in particular to a method and a device for measuring the relative pose of an underwater member.
Background
The existing large-scale projects such as underwater immersed tube tunnels, oil pipelines, drainage pipelines and the like all adopt a method of underwater sinking, docking and installing after factory prefabrication, underwater construction has high requirements on the line shape of the projects and is limited to an underwater pose measurement technology, the prior art generally utilizes a measurement mark exposed out of the water surface and then carries out measurement positioning and sinking docking guidance based on GNSS, for example, the immersed tube tunnel installation generally adopts the steps of installing a measurement tower higher than the water depth at the head and the tail of the top end of a pipe joint to be immersed, and installing GNSS equipment at the top of the tower for positioning, thereby carrying out docking guidance. The method can meet the requirements of construction in a water area with shallow water depth, but a lot of large-scale projects move to the open sea more and more, the water depth is larger and larger, the precise measurement is difficult to be carried out by depending on a water surface mark, and the research of the high-precision relative pose measurement technology of the underwater large-scale structure is particularly urgent and important.
Therefore, the prior art has yet to be improved.
Disclosure of Invention
The invention aims to solve the technical problem that the relative pose measurement method and device for the underwater member aim to solve the problem that the high-precision relative pose measurement is difficult in a deep water depth area.
The technical scheme adopted by the invention for solving the technical problem is as follows:
an underwater member relative pose measurement method, comprising:
sending a measurement instruction to a measurement unit, and after the measurement unit receives the measurement instruction, moving the measurement unit to the position above the mark point of the bearing structure body from the butt joint structure body;
measuring according to the moving distance and direction of the measuring unit to obtain a coordinate, wherein the coordinate is the coordinate of the mounting position of the measuring unit relative to the position of the mark point;
and calculating the relative pose relationship between the butt joint structural body and the bearing structural body according to the coordinates.
As a further improved technical solution, before the sending the measurement instruction to the measurement unit, the method further includes:
a measuring platform which quantitatively moves in a telescopic way is arranged on the butt joint structural body, the measuring unit is arranged on the measuring platform, and the measuring unit is an underwater photogrammetric unit;
and arranging mark points on the carrying structure body, wherein the mark points are cooperation targets arranged on the carrying structure body.
As a further improved technical solution, after the mark points are arranged on the bearing structure, the cooperation target and a spatial rectangular coordinate system O1 of the bearing structure are measured in a joint manner, and spatial three-dimensional coordinates of the cooperation target in the coordinate system O1 are obtained;
after the quantitative telescopic moving measuring platform is installed on the butt joint structural body, the rotation center of the measuring platform and a space rectangular coordinate system O2 of the butt joint structural body are measured in a joint mode, and a space three-dimensional coordinate of the rotation center of the measuring platform in the coordinate system O2 is obtained;
after the measuring unit is installed on the measuring platform, a moving platform coordinate system O3 is established by taking the rotation center of the measuring platform as a representative position and a coordinate origin, the underwater photogrammetric unit and a coordinate system O3 are measured in a combined manner, and the spatial three-dimensional initial coordinates of the underwater photogrammetric unit in the coordinate system O3 are determined.
As a further improvement, after the three-dimensional initial coordinates of the underwater photogrammetric unit in the coordinate system O3 are determined, a coordinate system O4 is established with the center of the underwater photogrammetric unit as a representative position and a coordinate origin.
As a further improved technical solution, the sending a measurement instruction to the measurement unit, after the measurement unit receives the measurement instruction, the moving the measurement unit from the docking structure to above the mark point of the receiving structure includes:
sending a measurement instruction to the measurement platform, wherein the measurement platform drives the underwater photogrammetry unit to move from the butt joint structural body to the bearing structural body through the measurement platform;
the underwater photogrammetric unit continuously detects the position and assists the measuring platform to drive the underwater photogrammetric unit to move above the cooperation target according to the detected position of the cooperation target.
As a further improved technical solution, the obtaining a coordinate according to the distance and the direction of the movement of the measuring unit, where the coordinate is a coordinate of the installation position of the measuring unit relative to the position of the mark point, includes:
measuring the moving distance and angle of the underwater photogrammetric unit by adopting an incremental encoder in the moving process of the underwater photogrammetric unit, and acquiring the observed quantity of the moving distance and direction of the underwater photogrammetric unit in the coordinate system O3;
measuring the space three-dimensional coordinates of the cooperative target under a coordinate system O4, converting the space three-dimensional coordinates of the cooperative target under the coordinate system O4 into the coordinate system O3 through underwater photogrammetry parameters and the measurement value of the incremental encoder, and obtaining the space three-dimensional coordinates of the cooperative target in the coordinate system O3;
and converting the three-dimensional space coordinates of the cooperative target in the O3 into a coordinate system O2, and obtaining the three-dimensional space coordinates of the cooperative target in a coordinate system O2.
As a further improved technical scheme, the calculating of the relative pose relationship between the butt joint structural body and the bearing structural body according to the coordinates comprises;
calculating three-axis direction deviation and displacement deviation between the current butt joint structural body and the bearing structural body according to the three-dimensional space coordinates of the cooperative target in a coordinate system O2 and the three-dimensional space coordinates of the cooperative target in a coordinate system O1, constructing a coordinate conversion model, and calculating conversion parameters between the coordinate system O2 and the coordinate system O1 according to the three-axis direction deviation and the displacement deviation;
and calculating the relative position deviation amount between the current position and the design position of the butt joint structural body according to the calculated conversion parameters between the coordinate system O2 and the coordinate system O1.
An underwater member relative pose measurement apparatus, the apparatus comprising: the underwater photogrammetric survey system comprises a measuring platform which is installed on a butt joint structural body and can quantitatively move in a telescopic mode and a cooperation target which is installed on a bearing structural body, wherein an underwater photogrammetric unit is arranged on the measuring platform which can quantitatively move in a telescopic mode.
As a further improved technical scheme, the measuring platform capable of quantitatively moving in a telescopic mode comprises an incremental encoder, a rotating device and a telescopic device, wherein the telescopic device is installed on the rotating device, the underwater photogrammetric unit is installed on the telescopic device, and the incremental encoder is connected with the telescopic device and the rotating device respectively.
As a further improved technical scheme, the underwater photogrammetric unit comprises a photogrammetric camera, the photogrammetric camera is installed in a sealing cover, a buoyancy plate is arranged at the bottom of the sealing cover, and a clear water spraying device is further arranged on the sealing cover.
Compared with the prior art, the method for measuring the thickness of the film comprises the following steps: sending a measurement instruction to a measurement unit, and after the measurement unit receives the measurement instruction, moving the measurement unit to the position above the mark point of the bearing structure body from the butt joint structure body; measuring according to the moving distance and direction of the measuring unit to obtain a coordinate, wherein the coordinate is the coordinate of the mounting position of the measuring unit relative to the position of the mark point; and calculating the relative pose relationship between the butt joint structural body and the bearing structural body according to the coordinates, and performing high-precision relative pose measurement on the underwater large-scale structure in a construction area with deeper water depth by adopting the method.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a flow chart of a relative pose measurement method of an underwater component.
FIG. 2 is a butt joint schematic diagram of the relative pose measurement method of the underwater component.
FIG. 3 is a measurement schematic diagram of the relative pose measurement method of the underwater component.
Fig. 4 is a use state diagram of the relative pose measurement method of the underwater component.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer and clearer, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Various non-limiting embodiments of the present application are described in detail below with reference to the accompanying drawings.
As shown in fig. 1 to 4, an embodiment of the present application provides a method for measuring a relative pose of an underwater member, the method including the following steps:
s1, sending a measurement instruction to the measurement unit, and after the measurement unit receives the measurement instruction, moving the measurement unit to the position above the mark point of the bearing structure body from the butt joint structure body;
specifically, a measurement instruction is sent to the measurement platform, the measurement platform drives the underwater photogrammetry unit to move from the butt joint structural body to the bearing structural body through the measurement platform, the measurement platform drives the underwater photogrammetry unit to move to the upper side of the cooperation target, the movement position and posture change quantity measurement is continuously carried out, and the relative position of the cooperation target is assisted and detected.
The sending of the measurement instruction to the measurement unit, after the measurement unit receives the measurement instruction, the movement of the measurement unit from the butt joint structural body to the position above the mark point of the bearing structural body comprises:
s101, sending a measurement instruction to the measurement platform, wherein the measurement platform drives the underwater photogrammetric unit to move from the butt joint structural body to the bearing structural body through the measurement platform;
and S102, the underwater photogrammetric unit continuously detects the position, and the auxiliary measuring platform drives the underwater photogrammetric unit to move above the cooperative target according to the detected position of the cooperative target.
Before the sending of the measurement instruction to the measurement unit, the method further comprises:
a measuring platform which quantitatively moves in a telescopic way is arranged on the butt joint structural body, the measuring unit is arranged on the measuring platform, and the measuring unit is an underwater photogrammetric unit;
and arranging mark points on the carrying structure body, wherein the mark points are cooperation targets arranged on the carrying structure body.
After the mark points are arranged on the bearing structure body, performing joint measurement on the cooperation target and a space rectangular coordinate system O1 of the bearing structure body, and acquiring a space three-dimensional coordinate of the cooperation target in a coordinate system O1;
specifically, after the measurement platform and the underwater photogrammetric unit are installed, the installation parameters, the target distortion parameters, the incremental encoder system deviation, the camera optical parameters and the like of the measurement platform and the underwater photogrammetric unit measurement sensors need to be accurately calibrated.
A plurality of cooperative targets can be arranged on the supporting structure body, and the spatial three-dimensional coordinates of the cooperative targets in the coordinate system O1 are as follows:
where N is the total number of partner targets deployed.
After the quantitative telescopic moving measuring platform is installed on the butt joint structural body, the rotation center of the measuring platform and a space rectangular coordinate system O2 of the butt joint structural body are measured in a joint mode, and a space three-dimensional coordinate of the rotation center of the measuring platform in the coordinate system O2 is obtained;
specifically, in a coordinate system O2, O is a coordinate origin, a Y axis is parallel to an axis of the docking structure and points to a direction of the docking structure, a Z axis is vertically upward, an X axis is perpendicular to a ZOY plane and forms a right-hand system with the Y axis and the Z axis, a plurality of measurement platforms can be mounted on the docking structure, and spatial three-dimensional coordinates of the measurement platforms in the coordinate system O2 are: { (X) 2_i ,Y 2_i ,Z 2_i ) 1,2,. N }, where N is the total number of deployed measurement platforms.
After the measuring unit is installed on the measuring platform, a moving platform coordinate system O3 is established by taking the rotation center of the measuring platform as a representative position and a coordinate origin, the underwater photogrammetric unit and a coordinate system O3 are measured in a combined manner, and the spatial three-dimensional initial coordinates of the underwater photogrammetric unit in the coordinate system O3 are determined;
specifically, the coordinate system O3 is used to calibrate the moving distance and direction of the center of the underwater photogrammetric unit. The origin of the coordinates of the coordinate system O3 is the center of rotation of the measuring platform, and the axes of the coordinates are oriented in line with the coordinate system O2. Let the initial coordinates of the underwater photogrammetric unit center in the moving platform coordinate system O3 be the transfer function between the coordinate system O2, and the transfer relationship between the two be as in equation (1):
wherein, [ x ] 2_i ,y 2_i ,z 2_i ] T For measuring the central initial position [ x ] of the unit for underwater photography 3_i ,y 3_i ,z 3_i ] T Corresponding to the position in the coordinate system O2, N is the total number of deployed underwater measurement platforms.
The above arrangement direction deviation can be obtained by high-precision industrial measurement or calibration measurement. Here, [ Delta X ] i ,ΔY i ,ΔZ i ] T Coordinate value { (X) in the coordinate system O2 corresponding to the origin substituted into the coordinate system O3 2_i ,Y 2_i, Z 2_i ) I ═ 1,2,. N } instead.
After the three-dimensional initial space coordinates of the underwater photogrammetric unit in the coordinate system O3 are determined, a coordinate system O4 is established by taking the center of the underwater photogrammetric unit as a representative position and a coordinate origin.
Specifically, the origin of coordinates of the coordinate system O4 is located at the center of the underwater photogrammetry camera, the Y-axis is parallel to the longitudinal axis of the image plane and points above the image plane, the X-axis is parallel to the horizontal axis of the image plane and points to the right direction of the image plane, and the Z-axis is perpendicular to the XOY plane and forms a right-handed system with the other two axes.
S2, measuring according to the moving distance and direction of the measuring unit to obtain a coordinate, wherein the coordinate is the coordinate of the mounting position of the measuring unit relative to the position of the mark point;
specifically, when the measuring unit moves, a dynamic relative position relationship is obtained according to the distance and the direction of the movement of the measuring unit, the dynamic position relationship is a real-time deviation amount of the installation position of the measuring unit relative to the position of the mark point, when the measuring unit moves from the butt joint structural body to the position above the mark point of the bearing structural body, a coordinate is obtained according to the total distance and the direction of the movement of the measuring unit, and the coordinate is the coordinate of the installation position of the measuring unit relative to the position of the mark point.
The measuring according to the distance and the direction of the movement of the measuring unit to obtain a coordinate, wherein the coordinate of the installation position of the measuring unit relative to the position of the mark point comprises the following steps:
s201, measuring the moving distance and angle of the underwater photogrammetric unit by adopting an incremental encoder in the moving process of the underwater photogrammetric unit, and obtaining the observed quantity of the moving distance and direction of the underwater photogrammetric unit in a coordinate system O3 by underwater photogrammetric measurement;
specifically, in the measuring process, a high-precision incremental encoder is adopted to measure the accurate expansion amount d of the expansion device i And its rotational direction angle of motion { theta } relative to the vertical and horizontal rotational axes i ,ψ i }. Thus, the real-time position of the photogrammetric camera center in the coordinate system O3 during movement of the underwater platform can be expressed as formula (2):
wherein, [ x ] 3_i ,y 3_i ,z 3_i ] T The initial position of the camera center in the coordinate system O3 is photogrammetric.
S202, determining the spatial three-dimensional coordinates of the cooperative target under a coordinate system O4, converting the spatial three-dimensional coordinates of the cooperative target under the coordinate system O4 into the coordinate system O3 through photogrammetric parameters and incremental encoder measurement values, and obtaining the spatial three-dimensional coordinates of the cooperative target in the coordinate system O3;
determining the accurate spatial position of the corresponding cooperative target representative position under the coordinate system O4 under the condition of satisfying the vision measurement condition
Based on photogrammetric parameters and incremental encoder measurements
The coordinates are converted to the mobile platform coordinate system O3 and its exact position coordinates in O3 are obtained:
and S203, converting the spatial three-dimensional coordinates of the cooperative target in the O3 into a coordinate system O2, and obtaining the spatial three-dimensional coordinates of the cooperative target in a coordinate system O2.
In particular, the three-dimensional coordinates of the cooperation target in O3 are expressed according to formula (2)
Converting into a coordinate system O2 to obtain the spatial three-dimensional coordinates of the cooperative target in the coordinate system O2
Calculating a formula for the real-time location of the cooperative target in coordinate system O2 according to formula (1) and formula (2):
in the above formula, R i An orthogonal rotation matrix is described, and the deviation of three-axis pointing of a space rectangular coordinate system O4 and the pointing of coordinate axis O2 and the rotation relation of the three-axis pointing and the coordinate axis O2 are described;
and S3, calculating the relative position relation between the butt joint structural body and the bearing structural body according to the coordinates.
Calculating the relative pose relationship between the butt joint structural body and the bearing structural body according to the coordinates;
s301, calculating three-axis direction deviation and displacement deviation between the current butt joint structural body and the bearing structural body according to the three-axis space coordinate of the cooperation target in a coordinate system O2 and the three-axis space coordinate of the cooperation target in a coordinate system O1, constructing a coordinate conversion model, and calculating conversion parameters between the coordinate system O2 and the coordinate system O1 according to the three-axis direction deviation and the displacement deviation;
and calculating the relative position deviation amount between the current position and the design position of the butt joint structural body according to the calculated conversion parameters between the coordinate system O2 and the coordinate system O1.
In particular, cooperative target coordinates
Coordinates with cooperative targets
Different coordinate values of the position in the coordinate system O2 and the coordinate system O1 are represented for the same cooperative target, where i ═ 1, 2.. N, N is the total number of laid cooperative targets.
Constructing a coordinate system real-time conversion model (3) according to the formula (1):
wherein, [ X ] 1_i ,Y 1_i ,Z 1_i ] T Is a coordinate value, [ x ] in a coordinate system O1 2_i ,y 2_i ,z 2_i ] T Is a coordinate value, [ Delta x ], in a coordinate system O2 i ,Δy i ,Δz i ] T As a translation factor, λ i Is a scale factor, R i Is an orthogonal rotation matrix whose meaning can be referred to formula (1), and a, b and c are mutually independent parameters for calculating R i It can be expressed as the following rodlike matrix (4):
the above formula (3) and formula (4) { lambda ] i ,a,b,c,Δx i ,Δy i ,Δz i And the parameters are real-time coordinate conversion model parameters, and the parameters can be estimated by a least square method when the number of the positions represented by the cooperative targets is more than 3.
From the above rodRidge matrix (4), the three-dimensional coordinates of the cooperative target under the coordinate system O2
Calculating to obtain the real-time position coordinate value of the current time in the coordinate system O1
On the basis, the coordinate value and the design position coordinate of the underwater installation are set
Comparing, and calculating a triaxial direction deviation value:
and when the three-axis direction deviation of all the cooperative targets meets the requirement of underwater butt joint operation, the butt joint of the underwater engineering members is completed. When the deviation value in each direction is not satisfactory, the deviation value [ delta X ] is calculated i ,δY i ,δZ i ] T And sending the data to the overwater sinking control platform in an underwater communication mode, and adjusting the position and the posture of the component under water according to the specific offset.
An underwater member relative pose measurement apparatus, the apparatus comprising: install the flexible measuring platform who removes of quantification on the butt joint structure body and install the cooperation target on accepting the structure body, be equipped with the photogrammetry unit under water on the flexible measuring platform who removes of quantification, the flexible measuring platform who removes of quantification includes incremental encoder, rotary device and telescoping device, the telescoping device is installed on rotary device, the photogrammetry unit under water installs on the telescoping device, the incremental encoder links to each other with telescoping device and rotary device respectively, and is concrete, and the incremental encoder can carry out electricity simultaneously with telescoping device and rotary device and be connected and signal connection, the photogrammetry unit includes the photogrammetry camera under water, the photogrammetry camera is installed in the sealed cowling, the sealed cowling bottom is equipped with the buoyancy board, still be equipped with clear water injection apparatus on the sealed cowling.
When the device is implemented, the rotating device can drive the telescopic device to rotate, the telescopic device can drive the underwater photogrammetric unit to move back and forth, the photogrammetric camera is required to be installed in the sealing cover for preventing the photogrammetric camera from water inflow, the clear water injection device can spray clear water under the muddy water condition to construct a good measurement environment for ensuring a good shooting environment, the buoyancy plate can offset the influence of the weight of the photogrammetric camera and the sealing cover on the moving device, and the incremental encoder can measure the weight of the photogrammetric camera and the sealing cover in real timePrecise expansion amount d of expansion device i Deviating from the direction of movement of the rotating device perpendicularly thereto.
The telescopic device of the measuring platform capable of quantitatively and telescopically moving is easily influenced by complex underwater power such as gravity, water flow, swell, turbulence and the like to generate elastic deformation after an underwater photogrammetric unit is carried, so that the position resolving precision is influenced. In order to inhibit the adverse interference of the related deformation on the underwater position calculation precision, the scheme adopts a stable geometric structure and a floating block on the telescopic device on the basis of the telescopic device made of high-strength materials, so that the elastic change of the measuring platform under the gravity and hydrodynamic conditions is resisted, and the overall stability of the measuring platform is improved.
In addition, in order to improve the detection precision of the underwater cooperative target, an obvious mark for visual alignment of a camera can be arranged in a cooperative target design pattern as an external representative position for detecting the cooperative target so as to improve the aiming precision of the camera in the underwater photogrammetry process, for an underwater butt joint component with an internal space, an internal measurement mark position corresponding to an external surface cooperative target can be arranged according to an internal structure and an external structure as an internal representative position, so that the coordinate joint measurement and precision verification can be carried out by adopting a through measurement mode before and after construction, the cooperative target can also be formed by an active light source target or a luminous mark according to a certain configuration, a central measurement mark is designed in the center of the cooperative target so as to determine the relative position relationship between the target and the camera, in order to protect the stability of the cooperative target in water and avoid the damage to the cooperative target caused by external force or water body corrosion, and an underwater protective cover or a servo switch system is arranged, namely, the cooperative target can be protected by underwater sealing in a non-operation state, and after the underwater butt joint operation is started, the underwater servo switch system can automatically open the mark protective cover and supply power to the cooperative target.
Compared with the prior art, the method for measuring the current position of the object comprises the following steps: sending a measurement instruction to a measurement unit, and after the measurement unit receives the measurement instruction, moving the measurement unit to the position above the mark point of the bearing structure body from the butt joint structure body; measuring according to the moving distance and direction of the measuring unit to obtain a coordinate, wherein the coordinate is the coordinate of the mounting position of the measuring unit relative to the position of the mark point; and calculating the relative pose relationship between the butt joint structural body and the bearing structural body according to the coordinates, and performing high-precision relative pose measurement on the underwater large-scale structure in a construction area with deeper water depth by adopting the method.
It is to be understood that the invention is not limited to the examples described above, but that modifications and variations may be effected thereto by those of ordinary skill in the art in light of the foregoing description, and that all such modifications and variations are intended to be within the scope of the invention as defined by the appended claims.
Claims (10)
1. A relative pose measurement method of an underwater member is characterized by comprising the following steps:
sending a measurement instruction to a measurement unit, and after the measurement unit receives the measurement instruction, moving the measurement unit to the position above the mark point of the bearing structure body from the butt joint structure body;
measuring according to the moving distance and direction of the measuring unit to obtain a coordinate, wherein the coordinate is the coordinate of the mounting position of the measuring unit relative to the position of the mark point;
and calculating the relative pose relationship between the butt joint structural body and the bearing structural body according to the coordinates.
2. The underwater member relative pose measurement method according to claim 1, further comprising, before the sending of the measurement instruction to the measurement unit:
a measuring platform which quantitatively moves in a telescopic manner is arranged on the butt joint structural body, the measuring unit is arranged on the measuring platform, and the measuring unit is an underwater photogrammetric unit;
and arranging a mark point on the bearing structure, wherein the mark point is a cooperative target installed on the bearing structure.
3. The underwater member relative pose measuring method according to claim 2, wherein after the marker points are set on the bearing structure, the cooperation target and a spatial rectangular coordinate system O1 of the bearing structure are measured in a joint manner, and spatial three-dimensional coordinates of the cooperation target in the coordinate system O1 are obtained;
after the quantitative telescopic moving measuring platform is installed on the butt joint structural body, the rotation center of the measuring platform and a space rectangular coordinate system O2 of the butt joint structural body are measured in a joint mode, and a space three-dimensional coordinate of the rotation center of the measuring platform in the coordinate system O2 is obtained;
after the measuring unit is installed on the measuring platform, a moving platform coordinate system O3 is established by taking the rotation center of the measuring platform as a representative position and a coordinate origin, the underwater photogrammetric unit and a coordinate system O3 are measured in a combined manner, and the spatial three-dimensional initial coordinates of the underwater photogrammetric unit in the coordinate system O3 are determined.
4. The underwater member relative pose measurement method according to claim 3, wherein after the determination of the spatial three-dimensional initial coordinates of the underwater photogrammetric unit in the coordinate system O3, a coordinate system O4 is established with the underwater photogrammetric unit center as a representative position and a coordinate origin.
5. The underwater member relative pose measuring method according to claim 4, wherein the sending of the measuring instruction to the measuring unit, after the measuring unit receives the measuring instruction, the moving of the measuring unit from the docking structure to above the mark point of the receiving structure comprises:
sending a measurement instruction to the measurement platform, wherein the measurement platform drives the underwater photogrammetry unit to move from the butt joint structural body to the bearing structural body through the measurement platform;
the underwater photogrammetric unit continuously detects the position and assists the measuring platform to drive the underwater photogrammetric unit to move above the cooperation target according to the detected position of the cooperation target.
6. The underwater member relative pose measurement method according to claim 5, wherein the obtaining of a coordinate based on the distance and direction of movement of the measurement unit, the coordinate being a coordinate of the installation position of the measurement unit with respect to the position of the mark point, comprises:
measuring the moving distance and angle of the underwater photogrammetric unit by adopting an incremental encoder in the moving process of the underwater photogrammetric unit, and acquiring the observed quantity of the moving distance and direction of the underwater photogrammetric unit in the coordinate system O3;
measuring the space three-dimensional coordinates of the cooperative target under a coordinate system O4, converting the space three-dimensional coordinates of the cooperative target under the coordinate system O4 into the coordinate system O3 through underwater photogrammetry parameters and the measurement value of the incremental encoder, and obtaining the space three-dimensional coordinates of the cooperative target in the coordinate system O3;
and converting the spatial three-dimensional coordinates of the cooperation target in the O3 into a coordinate system O2, and obtaining the spatial three-dimensional coordinates of the cooperation target in a coordinate system O2.
7. The underwater member relative pose measurement method according to claim 6, wherein the calculating of the relative pose relationship between the docking structure and the docking structure from the coordinates comprises;
calculating three-axis direction deviation and displacement deviation between the current butt joint structural body and the bearing structural body according to the three-dimensional space coordinates of the cooperative target in a coordinate system O2 and the three-dimensional space coordinates of the cooperative target in a coordinate system O1, constructing a coordinate conversion model, and calculating conversion parameters between the coordinate system O2 and the coordinate system O1 according to the three-axis direction deviation and the displacement deviation;
and calculating the relative position deviation amount between the current position and the design position of the butt joint structural body according to the calculated conversion parameters between the coordinate system O2 and the coordinate system O1.
8. An underwater member relative pose measurement apparatus, characterized by comprising: the underwater photogrammetric survey system comprises a measuring platform which is installed on a butt joint structural body and can quantitatively move in a telescopic mode and a cooperation target which is installed on a bearing structural body, wherein an underwater photogrammetric unit is arranged on the measuring platform which can quantitatively move in a telescopic mode.
9. The underwater member relative pose measuring device of claim 8, wherein the measuring platform for quantifying telescopic movement comprises an incremental encoder, a rotating device and a telescopic device, the telescopic device is installed on the rotating device, the underwater photogrammetric unit is installed on the telescopic device, and the incremental encoder is respectively connected with the telescopic device and the rotating device.
10. The underwater member relative pose measuring device according to claim 9, wherein the underwater photogrammetric unit comprises an underwater photogrammetric camera, the underwater photogrammetric camera is installed in a sealed cover, a buoyancy plate is arranged at the bottom of the sealed cover, and a clean water spraying device is further arranged on the sealed cover.
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