CN115060238B - Method and device for measuring relative pose of underwater component - Google Patents
Method and device for measuring relative pose of underwater component Download PDFInfo
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- CN115060238B CN115060238B CN202210539739.4A CN202210539739A CN115060238B CN 115060238 B CN115060238 B CN 115060238B CN 202210539739 A CN202210539739 A CN 202210539739A CN 115060238 B CN115060238 B CN 115060238B
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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
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The application discloses a method and a device for measuring relative pose of an underwater component, wherein the method 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 from the butt-joint structure to the position above the marking point of the receiving structure; measuring according to the distance and the direction of the movement 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 marking point; calculating the relative pose relation between the butt joint structure and the bearing structure 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 application relates to the field of engineering measurement, in particular to a method and a device for measuring relative pose of an underwater component.
Background
The existing large-scale engineering such as underwater immersed tube tunnel, oil pipeline, drainage pipeline and the like adopts a method of underwater immersed butt joint installation after factory prefabrication, underwater construction has high requirements on engineering linearity and is limited to underwater pose measurement technology, the prior art generally utilizes measurement marks exposing water surface, measurement positioning and immersed butt joint guidance are carried out based on GNSS, for example, the immersed tube tunnel is installed commonly by installing a measuring tower which is higher than water depth at the head and tail parts of the top end of a section to be immersed tube, and GNSS equipment is installed at the top of the section to be immersed tube for positioning, so that butt joint guidance is carried out. The method can meet the requirements in the construction of water areas with shallower water depths, but a plurality of large-scale works are increasingly going to open sea, the water depths are increasingly large, precise measurement is difficult to be carried out depending on water surface marks, and the research on the high-precision relative pose measurement technology of the underwater large-scale structure is particularly urgent and important.
Accordingly, there is a need in the art for improvement.
Disclosure of Invention
The application aims to solve the technical problem that in order to overcome the defects of the prior art, the application provides a method and a device for measuring the relative pose of an underwater component, so as to solve the problem that the high-precision relative pose measurement is difficult in a region with deeper water depth.
The technical scheme adopted for solving the technical problems is as follows:
a method of relative pose measurement of an underwater component, the method comprising:
sending a measurement instruction to a measurement unit, and after the measurement unit receives the measurement instruction, moving the measurement unit from the butt-joint structure to the position above the marking point of the receiving structure;
measuring according to the distance and the direction of the movement 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 marking point;
and calculating the relative pose relation between the butt joint structure and the bearing structure according to the coordinates.
As a further improvement, before the sending of the measurement instruction to the measurement unit, the method further comprises:
a quantitative telescopic moving measuring platform is arranged on the butt joint structure body, and the measuring unit is arranged on the measuring platform and is an underwater photographic measuring unit;
and a marking point is arranged on the bearing structure body, and the marking point is a cooperative target arranged on the bearing structure body.
As a further improvement technical scheme, after the marking points are arranged on the receiving structure, the cooperative targets and a space rectangular coordinate system O1 of the receiving structure are subjected to joint measurement, and space three-dimensional coordinates of the cooperative targets in the coordinate system O1 are obtained;
after the quantitative telescopic moving measuring platform is arranged on the butt joint structure, the rotation center of the measuring platform and a space rectangular coordinate system O2 of the butt joint structure are subjected to joint measurement, 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 photogrammetry unit and the coordinate system O3 are combined for measurement, and the space three-dimensional initial coordinate of the underwater photogrammetry unit in the coordinate system O3 is determined.
As a further improvement technical scheme, after the space three-dimensional initial coordinates of the underwater photogrammetry unit in the coordinate system O3 are determined, a coordinate system O4 is established by taking the center of the underwater photogrammetry unit as a representative position and a coordinate origin.
As a further improvement technical scheme, send the measurement instruction to the measuring unit, after the measuring unit received the measurement instruction, the measuring unit moved to the mark point top of accepting the structure from the butt joint 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 structure body to the receiving structure body through the measurement platform;
the underwater photogrammetry unit continuously detects the position and assists the measurement platform to drive the underwater photogrammetry unit to move to the position above the cooperative target according to the detected position of the cooperative target.
As a further improvement, the measuring unit obtains a coordinate according to the distance and the direction of the movement of the measuring unit, and the coordinate is the coordinate of the mounting position of the measuring unit relative to the position of the marking point, and the coordinate comprises:
measuring the moving distance and angle of the underwater photogrammetry unit by adopting an incremental encoder in the moving process of the underwater photogrammetry unit, and obtaining the observed quantity of the moving distance and direction of the underwater photogrammetry unit in the coordinate system O3;
measuring the space three-dimensional coordinate of the cooperative target in a coordinate system O4, converting the space three-dimensional coordinate of the cooperative target in the coordinate system O4 into a coordinate system O3 through underwater photogrammetry parameters and incremental encoder measurement values, and obtaining the space three-dimensional coordinate of the cooperative target in the coordinate system O3;
and converting the spatial three-dimensional coordinate of the cooperative target in the O3 into a coordinate system O2, and obtaining the spatial three-dimensional coordinate of the cooperative target in the coordinate system O2.
As a further improvement technical scheme, the calculating the relative pose relation between the butt-joint structure and the bearing structure according to the coordinates comprises;
calculating three-axis direction deviation and displacement deviation between a current butt-joint structure body and a bearing structure body according to the space three-dimensional coordinates of the cooperative target in a coordinate system O2 and the space three-dimensional coordinates of the cooperative target corresponding to the space three-dimensional 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 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 component relative pose measurement device, the device comprising: the underwater photographic measurement device comprises a measurement platform and a cooperative target, wherein the measurement platform is arranged on a butt joint structure body and used for quantitatively stretching and retracting, and the cooperative target is arranged on a bearing structure body, and an underwater photographic measurement unit is arranged on the measurement platform for quantitatively stretching and retracting.
As a further improvement technical scheme, the quantitative telescopic movement measuring platform comprises an incremental encoder, a rotating device and a telescopic device, wherein the telescopic device is arranged on the rotating device, the underwater photogrammetry unit is arranged on the telescopic device, and the incremental encoder is respectively connected with the telescopic device and the rotating device.
As a further improvement technical scheme, the underwater photogrammetry unit comprises a photogrammetry camera, the photogrammetry 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 application adopts a measuring method which 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 from the butt-joint structure to the position above the marking point of the receiving structure; measuring according to the distance and the direction of the movement 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 marking point; the relative pose relation between the butt joint structure and the bearing structure is calculated according to the coordinates, and the method can be used for carrying out high-precision relative pose measurement on the underwater large-scale structure in the construction area with deeper water depth.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method of measuring relative pose of an underwater component of the present application.
FIG. 2 is a schematic view of the docking of an underwater component relative pose measurement method of the present application.
Fig. 3 is a measurement schematic diagram of a relative pose measurement method of an underwater component according to the present application.
Fig. 4 is a use state diagram of a relative pose measurement method of an underwater component according to the present application.
The achievement of the objects, functional features and advantages of the present application will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more clear and clear, the present application will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
Various non-limiting embodiments of the present application are described in detail below with reference to the attached drawing figures.
As shown in fig. 1-4, the method for measuring the relative pose of the underwater component provided by the embodiment of the application comprises the following steps:
s1, sending a measurement instruction to a measurement unit, and after the measurement unit receives the measurement instruction, moving the measurement unit from the butt-joint structure to above a marking point of the receiving structure;
specifically, a measurement instruction is sent to the measurement platform, the measurement platform drives the underwater photogrammetry unit to move from the butt joint structure body to the receiving structure body through the measurement platform, and the measurement platform drives the underwater photogrammetry unit to move to the position above the cooperative target and continuously performs measurement of the motion position and the attitude variation, and assists and detects the relative position of the cooperative target.
The method for transmitting the measurement instruction to the measurement unit, after the measurement unit receives the measurement instruction, the measurement unit moving from the butt-joint structure to the position above the marking point of the receiving structure comprises the following steps:
s101, sending a measurement instruction to the measurement platform, wherein the measurement platform drives the underwater photogrammetry unit to move from the butt-joint structure body to the receiving structure body through the measurement platform;
s102, the underwater photogrammetry unit continuously detects the position and assists the measurement platform to drive the underwater photogrammetry unit to move above the cooperative target according to the detected position of the cooperative target.
The method further comprises the following steps before sending the measurement instruction to the measurement unit:
a quantitative telescopic moving measuring platform is arranged on the butt joint structure body, and the measuring unit is arranged on the measuring platform and is an underwater photographic measuring unit;
and a marking point is arranged on the bearing structure body, and the marking point is a cooperative target arranged on the bearing structure body.
After the marking points are arranged on the receiving structure, carrying out joint measurement on the cooperative targets and a space rectangular coordinate system O1 of the receiving structure, and obtaining space three-dimensional coordinates of the cooperative targets in the coordinate system O1;
specifically, after the measurement platform and the underwater photogrammetry unit are installed, accurate calibration needs to be performed on installation parameters, target distortion parameters, system deviation of an incremental encoder, optical parameters of a camera and the like of the measurement platform and the underwater photogrammetry unit measurement sensor.
A plurality of cooperative targets can be arranged on the bearing structure body, and the space three-dimensional coordinates of the cooperative targets in the coordinate system O1 are as follows:where N is the total number of cooperative targets deployed.
After the quantitative telescopic moving measuring platform is arranged on the butt joint structure, the rotation center of the measuring platform and a space rectangular coordinate system O2 of the butt joint structure are subjected to joint measurement, and a space three-dimensional coordinate of the rotation center of the measuring platform in the coordinate system O2 is obtained;
specifically, in the coordinate system O2, O is a coordinate origin, the Y axis is parallel to the axis of the docking structure and points to the direction of the receiving structure, the Z axis is vertically upward, the X axis is perpendicular to the ZOY plane and forms a right-hand system with the Y axis and the Z axis, the docking structure can be provided with a plurality of measurement platforms, and the three-dimensional space coordinates of the measurement platforms in the coordinate system O2 are as follows: { (X) 2_i ,Y 2_i ,Z 2_i ) I=1, 2,..n }, where N is the total number of measurement platforms deployed.
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 photogrammetry unit and the coordinate system O3 are subjected to joint measurement, and the space three-dimensional initial coordinate of the underwater photogrammetry unit in the coordinate system O3 is determined;
specifically, the coordinate system O3 is used to calibrate the moving distance and direction of the center of the underwater photogrammetry unit. The origin of the coordinate system O3 is the rotation center of the measuring platform, and the coordinate axis points are consistent with the coordinate system O2. Let the initial coordinates of the underwater photogrammetry unit center in the moving platform coordinate system O3 be the conversion relationship between the conversion function with the coordinate system O2 as formula (1):
wherein [ x ] 2_i ,y 2_i ,z 2_i ] T For the initial position [ x ] of the center of the underwater photogrammetry unit 3_i ,y 3_i ,z 3_i ] T Corresponding to the position in the coordinate system O2, N is the total number of the laid underwater measuring platforms.
The three form a coordinate axis direction conversion matrix. Wherein R is 1 R is a rotation matrix formed by the deviation delta theta of the arrangement direction around the Z-axis direction 2 For a rotation matrix formed by a placement direction deviation delta phi around the X-axis direction, R 3 For a rotation matrix composed of the arrangement direction deviation Deltapsi around the Y-axis direction, [ DeltaX ] i ,ΔY i ,ΔZ i ] T Is the coordinate translation deviation.
The above placement direction deviation can be obtained by high-precision industrial measurement or calibration measurement. Here, [ DeltaX ] i ,ΔY i ,ΔZ i ] T Coordinate values { (X) in the coordinate system O2 that can be substituted correspondingly into the origin of the coordinate system O3 2_i ,Y 2_i, Z 2_i ) I=1, 2,..n } instead.
After the space three-dimensional initial coordinates of the underwater photogrammetry unit in the coordinate system O3 are determined, a coordinate system O4 is established by taking the center of the underwater photogrammetry 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 to obtain a coordinate according to the distance and the direction of the movement of the measuring unit, wherein the coordinate is the coordinate of the mounting position of the measuring unit relative to the position of the marking point;
specifically, when the measuring unit moves, a dynamic relative position relation is obtained according to the moving distance and direction of the measuring unit, the dynamic position relation is the real-time deviation of the mounting position of the measuring unit relative to the position of the marking point, when the measuring unit moves above the marking point of the bearing structure body from the butt-joint structure body, a coordinate is obtained according to the total moving distance and direction of the measuring unit, and the coordinate is the coordinate of the mounting position of the measuring unit relative to the position of the marking point.
And measuring a coordinate according to the distance and the direction of the movement of the measuring unit, wherein the coordinate is the coordinate of the mounting position of the measuring unit relative to the position of the marking point, and comprises the following steps:
s201, measuring the moving distance and the moving angle of the underwater photogrammetry unit by adopting an incremental encoder in the moving process of the underwater photogrammetry unit, and acquiring the observed quantity of the moving distance and the moving direction of the underwater photogrammetry unit in the coordinate system O3 by underwater photogrammetry;
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 movement rotation direction angle { θ } with respect to the vertical rotation axis and the horizontal rotation axis i ,ψ i }. Thus, during the movement of the underwater platform, the real-time position of the photogrammetry camera center in the coordinate system O3 can be expressed as formula (2):
wherein the method comprises the steps of，[x 3_i ,y 3_i ,z 3_i ] T The initial position of the camera center in the coordinate system O3 is measured for photography.
S202, determining a spatial three-dimensional coordinate of the cooperative target in a coordinate system O4, converting the spatial three-dimensional coordinate of the cooperative target in the coordinate system O4 into the coordinate system O3 through photogrammetric parameters and incremental encoder measurement values, and obtaining the spatial three-dimensional coordinate of the cooperative target in the coordinate system O3;
under the condition of meeting vision measurement conditions, determining the accurate spatial position of the corresponding cooperative target representative position under the coordinate system O4Based on photogrammetric parameters and incremental encoder measurements +.>Converting the coordinates to a mobile platform coordinate system O3, and obtaining accurate position coordinates of the mobile platform coordinate system O3: />
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 the coordinate system O2.
Specifically, the spatial three-dimensional coordinates of the cooperative targets in O3 will be determined according to equation (2)Converting into a coordinate system O2 to obtain a space three-dimensional coordinate of the cooperative target in the coordinate system O2>
Calculating a formula of a real-time position of the cooperative target in the coordinate system O2 according to formula (1) and formula (2):
in the above, R i Is a positive oneThe cross rotation matrix describes the three-axis pointing deviation and the O2 coordinate axis pointing deviation of a space rectangular coordinate system O4 and the rotation relation thereof;
and S3, calculating the relative pose relation between the butt joint structure and the receiving structure according to the coordinates.
The calculating the relative pose relation between the butt joint structure and the bearing structure according to the coordinates comprises the following steps of;
s301, calculating three-axis direction deviation and displacement deviation between a current butt-joint structure and a receiving structure according to the space three-dimensional coordinate of the cooperative target in a coordinate system O2 and the corresponding space three-dimensional coordinate 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 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.
Specifically, cooperative target coordinatesCoordinate with cooperative target->Representing different coordinate values of position in the coordinate system O2 and the coordinate system O1 for the same cooperative target, wherein i=1, 2.
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 the coordinate value in the coordinate system O1, [ x ] 2_i ,y 2_i ,z 2_i ] T Is the coordinate value in the coordinate system O2, [ delta ] x i ,Δy i ,Δz i ] T As a translation factor lambda i As scale factor, R i Is an orthogonal rotation matrix, the meaning of which can be referred to in formula (1), and a, b and c are mutually independent parameters to calculate R i Can be expressed as the following rondrign matrix (4):
combining the above formula (3) and formula (4), { lambda } i ,a,b,c,Δx i ,Δy i ,Δz i And the method is characterized in that the method is a real-time coordinate transformation model parameter, and the method can be used for estimating the number of the cooperative target representative positions by a least square method when the number of the cooperative target representative positions is more than 3.
From the above Rodriger matrix (4), three-dimensional coordinates of the cooperative targets in the coordinate system O2Calculating to obtain real-time position coordinate value of the current moment in the coordinate system O1>On the basis of this, the coordinate value is combined with the coordinate value of the design position of the underwater installation>Comparing and calculating the three-axis direction deviation value:
and when all the three-axis direction deviations of the cooperative targets meet the requirements of underwater docking operation, docking the underwater engineering components. When the directional deviation value is not satisfactory, the deviation value [ delta X i ,δY i ,δZ i ] T And the underwater displacement is transmitted to the water subsidence control platform in an underwater communication mode, and the position and the posture of the component under water are adjusted according to the specific displacement.
An underwater component relative pose measurement device, the device comprising: the underwater photographic measurement device comprises a quantitative telescopic moving measurement platform and a cooperative target, wherein the quantitative telescopic moving measurement platform is arranged on a butt joint structure body and is provided with an underwater photographic measurement unit, the quantitative telescopic moving measurement platform comprises an incremental encoder, a rotating device and a telescopic device, the telescopic device is arranged on the rotating device, the underwater photographic measurement unit is arranged on the telescopic device, the incremental encoder is respectively connected with the telescopic device and the rotating device and can be electrically connected with the telescopic device and the rotating device at the same time, the underwater photographic measurement unit comprises a photographic measurement camera, the photographic measurement camera is arranged in a sealing cover, the bottom of the sealing cover is provided with a buoyancy plate, and the sealing cover is also provided with a clear water spraying device.
When the device is implemented, the rotating device can drive the telescopic device to rotate, the telescopic device can drive the underwater photogrammetry unit to move forwards and backwards, the photogrammetry camera is required to be installed in the sealing cover to prevent water inflow, the clear water spraying device can spray clear water under the condition of muddy water to construct a good measuring environment to ensure a good shooting environment, the buoyancy plate can offset the influence of the weights of the photogrammetry camera and the sealing cover on the moving device, and the incremental encoder can measure the accurate expansion amount d of the telescopic device in real time i Deviation from the direction of motion of the device relative to its vertical rotation.
The telescopic device of the quantitative telescopic moving measuring platform is easily influenced by complex underwater power such as gravity, water flow, surge, turbulence and the like to generate elastic deformation after being loaded with the underwater photogrammetry unit, so that the position resolving precision is influenced. In order to inhibit adverse interference of related deformation on the resolving precision of the underwater position, the scheme adopts a high-strength material telescopic device, and adopts a stable geometric structure and a floating block on the telescopic device to resist elastic change caused to the measuring platform under the conditions of gravity and hydrodynamic force, so that 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 to serve as an external representative position for detecting the cooperative target, so that the aiming precision of the camera in the underwater photogrammetry process is improved, an internal measurement mark position corresponding to the external surface cooperative target can be arranged as an internal representative position for an underwater butting member with an internal space according to an internal structure and an external structure of the underwater butting member, so that coordinate joint measurement and precision verification can be carried out in a through measurement mode before and after construction, the cooperative target can also be an active light source target or a luminous mark according to a certain configuration, a central measurement mark is arranged at the very center of the cooperative target, so that the relative position relation between the target and the camera is determined, the underwater protection cover or a servo switch system is arranged, namely, the cooperative target can be protected by underwater sealing in a non-operation state, and a protective cover of the underwater servo switch system can be automatically opened after the butting operation starts to supply power to the cooperative target.
Compared with the prior art, the application adopts a measuring method which 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 from the butt-joint structure to the position above the marking point of the receiving structure; measuring according to the distance and the direction of the movement 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 marking point; the relative pose relation between the butt joint structure and the bearing structure is calculated according to the coordinates, and the method can be used for carrying out high-precision relative pose measurement on the underwater large-scale structure in the construction area with deeper water depth.
It is to be understood that the application is not limited in its application to the examples described above, but is capable of modification and variation in light of the above teachings by those skilled in the art, and that all such modifications and variations are intended to be included within the scope of the appended claims.
Claims (3)
1. The method for measuring the relative pose of the underwater component is characterized by comprising the following steps of:
sending a measurement instruction to a measurement unit, and after the measurement unit receives the measurement instruction, moving the measurement unit from the butt-joint structure to the position above the marking point of the receiving structure;
measuring according to the distance and the direction of the movement 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 marking point;
and calculating the relative pose relation between the butt joint structure and the receiving structure according to the coordinates, wherein before sending the measurement instruction to the measurement unit, the method further comprises the following steps:
a quantitative telescopic moving measuring platform is arranged on the butt joint structure body, and the measuring unit is arranged on the measuring platform and is an underwater photographic measuring unit;
a marking point is arranged on the bearing structure body, and the marking point is a cooperative target arranged on the bearing structure body;
after the marking points are arranged on the receiving structure, carrying out joint measurement on the cooperative targets and a space rectangular coordinate system O1 of the receiving structure, and obtaining space three-dimensional coordinates of the cooperative targets in the coordinate system O1;
after the quantitative telescopic moving measuring platform is arranged on the butt joint structure, the rotation center of the measuring platform and a space rectangular coordinate system O2 of the butt joint structure are subjected to joint measurement, 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 photogrammetry unit and the coordinate system O3 are subjected to joint measurement, and the space three-dimensional initial coordinate of the underwater photogrammetry unit in the coordinate system O3 is determined;
after the space three-dimensional initial coordinates of the underwater photogrammetry unit in the coordinate system O3 are determined, a coordinate system O4 is established by taking the center of the underwater photogrammetry unit as a representative position and a coordinate origin;
the method for transmitting the measurement instruction to the measurement unit, after the measurement unit receives the measurement instruction, the measurement unit moving from the butt-joint structure to the position above the marking point of the receiving structure comprises the following steps:
sending a measurement instruction to the measurement platform, wherein the measurement platform drives the underwater photogrammetry unit to move from the butt-joint structure body to the receiving structure body through the measurement platform;
the underwater photogrammetry unit continuously detects the position and assists the measurement platform to drive the underwater photogrammetry unit to move above the cooperative target according to the detected position of the cooperative target;
and measuring a coordinate according to the distance and the direction of the movement of the measuring unit, wherein the coordinate is the coordinate of the mounting position of the measuring unit relative to the position of the marking point, and comprises the following steps:
measuring the moving distance and angle of the underwater photogrammetry unit by adopting an incremental encoder in the moving process of the underwater photogrammetry unit, and obtaining the observed quantity of the moving distance and direction of the underwater photogrammetry unit in the coordinate system O3;
measuring the space three-dimensional coordinate of the cooperative target in a coordinate system O4, converting the space three-dimensional coordinate of the cooperative target in the coordinate system O4 into a coordinate system O3 through underwater photogrammetry parameters and incremental encoder measurement values, and obtaining the space three-dimensional coordinate of the cooperative target in the coordinate system O3;
converting the space three-dimensional coordinate of the cooperative target in the O3 into a coordinate system O2, and obtaining the space three-dimensional coordinate of the cooperative target in the coordinate system O2;
the calculating the relative pose relation between the butt joint structure and the bearing structure according to the coordinates comprises the following steps of;
calculating three-axis direction deviation and displacement deviation between a current butt-joint structure body and a bearing structure body according to the space three-dimensional coordinates of the cooperative target in a coordinate system O2 and the space three-dimensional coordinates of the cooperative target corresponding to the space three-dimensional 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 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.
2. An underwater component relative pose measurement device for implementing an underwater component relative pose measurement method as claimed in claim 1, characterized in that said device comprises: the underwater photographic measurement device comprises a quantitative telescopic movement measurement platform and a cooperative target, wherein the quantitative telescopic movement measurement platform is arranged on a butt joint structure body and the cooperative target is arranged on a bearing structure body, the quantitative telescopic movement measurement platform is provided with an underwater photographic measurement unit, the quantitative telescopic movement measurement platform comprises an incremental encoder, a rotating device and a telescopic device, the telescopic device is arranged on the rotating device, the underwater photographic measurement unit is arranged on the telescopic device, and the incremental encoder is respectively connected with the telescopic device and the rotating device.
3. The underwater component relative pose measurement device according to claim 2, wherein the underwater photogrammetry unit comprises an underwater photogrammetry camera, the underwater photogrammetry camera is installed in a sealed cover, a buoyancy plate is arranged at the bottom of the sealed cover, and a clear water injection device is further arranged on the sealed cover.
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