CN117781920A - Ship deformation detection method based on laser scanning - Google Patents
Ship deformation detection method based on laser scanning Download PDFInfo
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Abstract
The invention relates to the field of ship shape detection, and particularly discloses a ship deformation detection method based on laser scanning; according to the invention, the laser scanning technology is adopted to acquire the ship shape point cloud data, the three-dimensional modeling software is utilized to process the point cloud data, so that the accurate modeling of a ship three-dimensional model and a ship line type is realized, the efficiency and the accuracy of data acquisition, processing and analysis are improved, and the three-dimensional visualization and the parameterization of ship deformation detection are realized; the difference between the actual ship outline structure model and the ship line type and the theoretical ship three-dimensional model and the ship line type is compared, and a customized ship outline structure deformation detection report is output to detect the ship deformation, so that the monitoring and early warning of the ship structure safety state are achieved.
Description
Technical Field
The invention belongs to the technical field of ship shape detection, and particularly relates to a ship deformation detection method based on laser scanning.
Background
In the process of operating engineering ships, the ship body structure is influenced by uneven stress, so that the structure deformation to a certain extent is often generated. For example, during loading of the trailing suction hopper ship, the added weight is concentrated in the mud tank in the middle of the ship body, so that the trailing suction hopper ship is lifted up from the bow and the stern, and the structure of the midship concave downwards is deformed. The long-time construction operation can lead the ship to generate irreversible plastic deformation, and cause the intensity change of the ship structure and the change of the internal bilge, thereby not only affecting the aesthetic property of the ship, but also leading to continuous reduction of the overall performance of the ship, affecting the normal use of the ship and possibly even causing safety accidents. Therefore, the deformation condition of the ship structure needs to be detected, and the deformation of the ship structure is ensured to be within a safe range. The traditional ship deformation detection method mainly adopts sensor devices such as a vibration sensor, a strain sensor and a pressure sensor to detect the deformation and displacement of a ship body structure, and often has the problems of high cost, low efficiency, difficulty in processing a large amount of data and the like, so that the monitoring process is complex and the efficiency is low.
In recent years, with the development of three-dimensional laser scanning technology, the technology has been gradually applied to the field of ship detection. The three-dimensional laser scanning technology can rapidly and accurately acquire the geometric shape and structure information of the ship, and data processing and analysis are performed through software modeling, so that the efficiency and the visualization degree of the data processing and analysis are improved.
In the chinese patent with publication number CN110940271a, a method for intelligent detection, monitoring and installation of large industrial manufacturing such as ships based on a spatial three-dimensional measurement and control network is mentioned, which comprises: a space three-dimensional measurement and control network is arranged and tested on a factory and a site, a non-contact method of arbitrary station setting is adopted according to a three-dimensional laser scanning technology and a close-range photogrammetry principle, and the space three-dimensional coordinates of characteristic points of each part, each section, each total section and each carrying body in the manufacturing process of the ship are measured, so that the detection and monitoring of the size and the shape of the large-scale industrial manufacturing of the ship and the like are realized; measuring the space three-dimensional coordinates of the characteristic points of the carrying body by adopting a non-contact method of arbitrary station setting, and detecting the deformation of the carrying body in the hoisting process; and the space three-dimensional coordinates of the characteristic points of the carrier are measured by adopting a non-contact method of arbitrary station setting, and compared with the space three-dimensional coordinates of the corresponding points of the mounting positions, so that the intellectualization of large-scale industrial carrying and mounting is realized. The invention can improve the production efficiency and realize the traceability and repeatability of large-scale manufacturing and installation of ships and the like.
The applicant finds that defects exist in the application process, the technology disclosed in the application is mainly applied to large equipment factories and is used for detecting the delivery quality of equipment such as ships, the whole system has more equipment and complex application, and particularly when ships delivery is damaged in the use process, the system cannot be effectively applied to ship damage detection in time.
Disclosure of Invention
The invention aims to provide a ship deformation detection method based on laser scanning, which aims to solve the problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions:
a ship deformation detection method based on laser scanning comprises the following steps:
s1, establishing a theoretical three-dimensional model of a ship appearance structure and a ship line type datum line;
s2, acquiring three-dimensional point cloud data of the ship structure appearance by utilizing laser scanning;
s3, processing the three-dimensional point cloud data, removing noise points in the three-dimensional point cloud data of the ship, and removing the upper equipment structure of the deck of the ship to obtain denoising point cloud data of the appearance of the ship structure;
s4, generating an actual ship appearance structure three-dimensional model by utilizing the denoising point cloud data; fitting the ship line type according to the three-dimensional model of the ship outline structure;
s5, registering the actual ship appearance structure three-dimensional model with the theoretical three-dimensional model to obtain an overlapping region and a non-overlapping region; fitting the ship line type and registering the ship line type datum line; and generating a ship appearance structure deformation detection report according to the detection result.
Preferably, the specific operation of establishing the theoretical three-dimensional model of the ship outline structure and the ship line reference line in S1 is as follows: and carrying out parametric modeling by using ship design drawing data and adopting three-dimensional modeling software to obtain a theoretical three-dimensional model of a ship appearance structure and a ship line type datum line, wherein the ship line type datum line comprises a keel base line, a design waterline and a ship curved surface characteristic line of a rib section.
Preferably, the laser scanning method in S2 includes unmanned plane scanning and manual scanning, wherein,
the unmanned aerial vehicle scanning comprises an unmanned aerial vehicle, an unmanned aerial vehicle remote controller and a laser radar module carried on the unmanned aerial vehicle, wherein the laser radar module is used for acquiring three-dimensional point cloud data of the appearance of the ship structure;
and (3) manual scanning, namely selecting a handheld laser scanner for manual scanning, and performing laser scanning on a shadow area of a deck of the ship body by an operator through the handheld laser scanner to complement point cloud data of the ship appearance structure.
Preferably, the step of specifically acquiring the three-dimensional point cloud data of the ship structure appearance in S2 includes:
s21, determining a laser scanning area and a flight path of the unmanned aerial vehicle;
s22, inputting the laser scanning area and the flight route of the unmanned aerial vehicle into an unmanned aerial vehicle remote controller, and issuing an instruction to the unmanned aerial vehicle by the unmanned aerial vehicle remote controller;
s23, an unmanned aerial vehicle carrying a laser radar module acquires an instruction, executes a flight task and a scanning task, and starts three-dimensional scanning on a ship appearance structure to acquire ship appearance point cloud data of a water part; the point cloud data are transmitted to the unmanned aerial vehicle remote controller in real time through the image transmission technology and are stored in a self-contained memory of the unmanned aerial vehicle remote controller; considering the operation flight safety of the unmanned aerial vehicle, laser scanning is performed in a ship berthing state as much as possible;
s24, looking up point cloud data in the unmanned aerial vehicle remote controller, and observing a missing area of the unmanned aerial vehicle laser scanning point cloud data; and carrying out laser scanning on the missing area by using a handheld laser scanner, and supplementing point cloud data of the ship appearance structure.
Preferably, the processing operation of the three-dimensional point cloud data in S3 includes:
and (3) filtering: removing isolated points and hash points in the point cloud data which are originally acquired by adopting bilateral filtering, gaussian filtering, conditional filtering, vocelgrid filtering, straight-through filtering and random sampling consistent filtering algorithms to finish filtering of the point cloud data;
segmentation: dividing point cloud data into different block point cloud data according to a ship structure by a 3D Hough Transform line surface extraction and Ranac line surface extraction algorithm;
classification: classifying the point cloud data on the basis of the point cloud data segmentation;
deletion: to obtain the point cloud data suitable for modeling the ship outline structure, the point cloud data which do not belong to the ship outline structure in the ship three-dimensional point cloud data are required to be deleted by editing the point cloud data.
Preferably, in the step S4, the denoising point cloud data is utilized, three-dimensional modeling software is used, and the three-dimensional modeling software is used to triangulate the spatial point cloud by adopting a surface reconstruction algorithm from the point cloud data of the appearance surface to form a triangular mesh surface, so that an actual marine appearance structure on the waterline is automatically generated; taking the design line type of the ship structure as a reference, and fitting a complete three-dimensional model of the actual ship appearance structure by adopting a target optimization genetic algorithm of NSGA II according to the ship appearance structure on the waterline; in the three-dimensional modeling software, an actual ship appearance structure three-dimensional model is cut according to a horizontal plane and a plane perpendicular to a keel line direction, and a ship line type is obtained through fitting, wherein the ship line type comprises a keel base line, a design waterline and a ship curved surface characteristic line of a rib position section.
Preferably, in the step S5, registering the actual three-dimensional model of the ship appearance structure with the theoretical three-dimensional model, and using the vertical plane where the keel base line is located as the reference plane; according to the rib positions, carrying out transverse section blocking on the actual ship appearance structure three-dimensional model and the theoretical three-dimensional model to form rib position blocking models of the actual ship appearance structure three-dimensional model and the theoretical three-dimensional model, numbering the blocking models, carrying out Boolean operation on an overlapping region and a non-overlapping region of the corresponding blocking models to obtain a non-overlapping region difference model, and counting the volume of the difference model; registering the fitted ship line type and the ship line type datum line, and calculating the deviation value of the fitted ship line type and the ship line type datum line; outputting a ship appearance structure deformation detection report in a customized template form.
Preferably, the structural deformation detection report comprises deformation amounts and deformation angles of multiple dimensions, and also comprises key regional deformation amounts and deformation angle thresholds given according to related ship structural safety specifications.
Compared with the prior art, the invention has the beneficial effects that:
(1) According to the invention, the laser scanning technology is adopted to acquire the ship shape point cloud data, the three-dimensional modeling software is utilized to process the point cloud data, so that the accurate modeling of a ship three-dimensional model and a ship line type is realized, the efficiency and the accuracy of data acquisition, processing and analysis are improved, and the three-dimensional visualization and the parameterization of ship deformation detection are realized; the difference between the actual ship outline structure model and the ship line type and the theoretical ship three-dimensional model and the ship line type is compared, and a customized ship outline structure deformation detection report is output to detect the ship deformation, so that the monitoring and early warning of the ship structure safety state are achieved.
(2) The invention realizes accurate and rapid acquisition and analysis of ship deformation detection data, and the ship deformation detection is carried out by establishing a three-dimensional ship appearance structure model and a ship line type and outputting a customized ship appearance structure deformation detection report.
Drawings
FIG. 1 is a block flow diagram of a method for monitoring deformation of a ship according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Embodiment one:
referring to fig. 1, a ship deformation detection method based on laser scanning includes:
s1, establishing a theoretical three-dimensional model of a ship appearance structure and a ship line type datum line;
s2, acquiring three-dimensional point cloud data of the ship structure appearance by utilizing laser scanning;
s3, processing the three-dimensional point cloud data, removing noise points in the three-dimensional point cloud data of the ship, and removing the upper equipment structure of the deck of the ship to obtain denoising point cloud data of the appearance of the ship structure;
s4, generating an actual ship appearance structure three-dimensional model by utilizing the denoising point cloud data; fitting the ship line type according to the three-dimensional model of the ship outline structure;
s5, registering the actual ship appearance structure three-dimensional model with the theoretical three-dimensional model to obtain an overlapping region and a non-overlapping region; fitting the ship line type and registering the ship line type datum line; and generating a ship appearance structure deformation detection report according to the detection result.
The specific operation of establishing the theoretical three-dimensional model of the ship appearance structure and the ship line type datum line in the S1 is as follows: and carrying out parametric modeling by using ship design drawing data and adopting three-dimensional modeling software to obtain a theoretical three-dimensional model of a ship appearance structure and a ship line type datum line, wherein the ship line type datum line comprises a keel base line, a design waterline and a ship curved surface characteristic line of a rib section.
The laser scanning mode in S2 includes unmanned plane scanning and manual scanning, wherein,
the unmanned aerial vehicle scanning comprises an unmanned aerial vehicle, an unmanned aerial vehicle remote controller and a laser radar module carried on the unmanned aerial vehicle, wherein the laser radar module is used for acquiring three-dimensional point cloud data of the appearance of the ship structure;
and (3) manual scanning, namely selecting a handheld laser scanner for manual scanning, and performing laser scanning on a shadow area of a deck of the ship body by an operator through the handheld laser scanner to complement point cloud data of the ship appearance structure.
The step of specifically acquiring the three-dimensional point cloud data of the ship structure appearance in the S2 comprises the following steps:
s21, determining a laser scanning area and a flight path of the unmanned aerial vehicle;
s22, inputting the laser scanning area and the flight route of the unmanned aerial vehicle into an unmanned aerial vehicle remote controller, and issuing an instruction to the unmanned aerial vehicle by the unmanned aerial vehicle remote controller;
s23, an unmanned aerial vehicle carrying a laser radar module acquires an instruction, executes a flight task and a scanning task, and starts three-dimensional scanning on a ship appearance structure to acquire ship appearance point cloud data of a water part; the point cloud data are transmitted to the unmanned aerial vehicle remote controller in real time through the image transmission technology and are stored in a self-contained memory of the unmanned aerial vehicle remote controller; considering the operation flight safety of the unmanned aerial vehicle, laser scanning is performed in a ship berthing state as much as possible;
s24, looking up point cloud data in the unmanned aerial vehicle remote controller, and observing a missing area of the unmanned aerial vehicle laser scanning point cloud data; and carrying out laser scanning on the missing area by using a handheld laser scanner, and supplementing point cloud data of the ship appearance structure.
The processing operation of the three-dimensional point cloud data in the step S3 comprises the following steps:
and (3) filtering: removing isolated points and hash points in the point cloud data which are originally acquired by adopting bilateral filtering, gaussian filtering, conditional filtering, vocelgrid filtering, straight-through filtering and random sampling consistent filtering algorithms to finish filtering of the point cloud data;
segmentation: dividing point cloud data into different block point cloud data according to a ship structure by a 3D Hough Transform line surface extraction and Ranac line surface extraction algorithm;
classification: classifying the point cloud data on the basis of the point cloud data segmentation;
deletion: to obtain the point cloud data suitable for modeling the ship outline structure, the point cloud data which do not belong to the ship outline structure in the ship three-dimensional point cloud data are required to be deleted by editing the point cloud data.
In the step S4, the denoising point cloud data is utilized, three-dimensional modeling software is used, the point cloud data of the appearance surface is subjected to triangularization processing by adopting a surface reconstruction algorithm to form a triangular mesh surface, and an actual waterline ship appearance structure is automatically generated; taking the design line type of the ship structure as a reference, and fitting a complete three-dimensional model of the actual ship appearance structure by adopting a target optimization genetic algorithm of NSGA II according to the ship appearance structure on the waterline; in the three-dimensional modeling software, an actual ship appearance structure three-dimensional model is cut according to a horizontal plane and a plane perpendicular to a keel line direction, and a ship line type is obtained through fitting, wherein the ship line type comprises a keel base line, a design waterline and a ship curved surface characteristic line of a rib position section.
In the step S5, registering an actual ship appearance structure three-dimensional model with a theoretical three-dimensional model, and adopting a vertical plane where a keel base line is positioned as a reference plane; according to the rib positions, carrying out transverse section blocking on the actual ship appearance structure three-dimensional model and the theoretical three-dimensional model to form rib position blocking models of the actual ship appearance structure three-dimensional model and the theoretical three-dimensional model, numbering the blocking models, carrying out Boolean operation on an overlapping region and a non-overlapping region of the corresponding blocking models to obtain a non-overlapping region difference model, and counting the volume of the difference model; registering the fitted ship line type and the ship line type datum line, and calculating the deviation value of the fitted ship line type and the ship line type datum line; outputting a ship appearance structure deformation detection report in a customized template form.
The structural deformation detection report comprises deformation amounts and deformation angles of multiple dimensions, and also comprises key area deformation amounts and deformation angle thresholds which are given according to related ship structural safety specifications.
The ship shape point cloud data are obtained by adopting a laser scanning technology, the point cloud data are processed by utilizing three-dimensional modeling software, so that the accurate modeling of a ship three-dimensional model and a ship line type is realized, the efficiency and the accuracy of data acquisition, processing and analysis are improved, and the three-dimensional visualization and the parameterization of ship deformation detection are realized; the difference between the actual ship outline structure model and the ship line type and the theoretical ship three-dimensional model and the ship line type is compared, and a customized ship outline structure deformation detection report is output to detect the ship deformation, so that the monitoring and early warning of the ship structure safety state are achieved.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The ship deformation detection method based on laser scanning is characterized by comprising the following steps of:
s1, establishing a theoretical three-dimensional model of a ship appearance structure and a ship line type datum line;
s2, acquiring three-dimensional point cloud data of the ship structure appearance by utilizing laser scanning;
s3, processing the three-dimensional point cloud data, removing noise points in the three-dimensional point cloud data of the ship, and removing the upper equipment structure of the deck of the ship to obtain denoising point cloud data of the appearance of the ship structure;
s4, generating an actual ship appearance structure three-dimensional model by utilizing the denoising point cloud data; fitting the ship line type according to the three-dimensional model of the ship outline structure;
s5, registering the actual ship appearance structure three-dimensional model with the theoretical three-dimensional model to obtain an overlapping region and a non-overlapping region; fitting the ship line type and registering the ship line type datum line; and generating a ship appearance structure deformation detection report according to the detection result.
2. The ship deformation detection method based on laser scanning according to claim 1, wherein: the specific operation of establishing the theoretical three-dimensional model of the ship appearance structure and the ship line type datum line in the S1 is as follows: and carrying out parametric modeling by using ship design drawing data and adopting three-dimensional modeling software to obtain a theoretical three-dimensional model of a ship appearance structure and a ship line type datum line, wherein the ship line type datum line comprises a keel base line, a design waterline and a ship curved surface characteristic line of a rib section.
3. The ship deformation detection method based on laser scanning according to claim 2, wherein: the laser scanning mode in S2 includes unmanned plane scanning and manual scanning, wherein,
the unmanned aerial vehicle scanning comprises an unmanned aerial vehicle, an unmanned aerial vehicle remote controller and a laser radar module carried on the unmanned aerial vehicle, wherein the laser radar module is used for acquiring three-dimensional point cloud data of the appearance of the ship structure;
and (3) manual scanning, namely selecting a handheld laser scanner for manual scanning, and performing laser scanning on a shadow area of a deck of the ship body by an operator through the handheld laser scanner to complement point cloud data of the ship appearance structure.
4. A ship deformation detection method based on laser scanning according to claim 3, wherein: the step of specifically acquiring the three-dimensional point cloud data of the ship structure appearance in the S2 comprises the following steps:
s21, determining a laser scanning area and a flight path of the unmanned aerial vehicle;
s22, inputting the laser scanning area and the flight route of the unmanned aerial vehicle into an unmanned aerial vehicle remote controller, and issuing an instruction to the unmanned aerial vehicle by the unmanned aerial vehicle remote controller;
s23, an unmanned aerial vehicle carrying a laser radar module acquires an instruction, executes a flight task and a scanning task, and starts three-dimensional scanning on a ship appearance structure to acquire ship appearance point cloud data of a water part; the point cloud data are transmitted to the unmanned aerial vehicle remote controller in real time through the image transmission technology and are stored in a self-contained memory of the unmanned aerial vehicle remote controller; considering the operation flight safety of the unmanned aerial vehicle, laser scanning is performed in a ship berthing state as much as possible;
s24, looking up point cloud data in the unmanned aerial vehicle remote controller, and observing a missing area of the unmanned aerial vehicle laser scanning point cloud data; and carrying out laser scanning on the missing area by using a handheld laser scanner, and supplementing point cloud data of the ship appearance structure.
5. The ship deformation detection method based on laser scanning according to claim 4, wherein: the processing operation of the three-dimensional point cloud data in the step S3 comprises the following steps:
and (3) filtering: removing isolated points and hash points in the point cloud data which are originally acquired by adopting bilateral filtering, gaussian filtering, conditional filtering, vocelgrid filtering, straight-through filtering and random sampling consistent filtering algorithms to finish filtering of the point cloud data;
segmentation: dividing point cloud data into different block point cloud data according to a ship structure by a 3D Hough Transform line surface extraction and Ranac line surface extraction algorithm;
classification: classifying the point cloud data on the basis of the point cloud data segmentation;
deletion: to obtain the point cloud data suitable for modeling the ship outline structure, the point cloud data which do not belong to the ship outline structure in the ship three-dimensional point cloud data are required to be deleted by editing the point cloud data.
6. The ship deformation detection method based on laser scanning according to claim 5, wherein: in the step S4, the denoising point cloud data is utilized, three-dimensional modeling software is used, the point cloud data of the appearance surface is subjected to triangularization processing by adopting a surface reconstruction algorithm to form a triangular mesh surface, and an actual waterline ship appearance structure is automatically generated; taking the design line type of the ship structure as a reference, and fitting a complete three-dimensional model of the actual ship appearance structure by adopting a target optimization genetic algorithm of NSGA II according to the ship appearance structure on the waterline; in the three-dimensional modeling software, an actual ship appearance structure three-dimensional model is cut according to a horizontal plane and a plane perpendicular to a keel line direction, and a ship line type is obtained through fitting, wherein the ship line type comprises a keel base line, a design waterline and a ship curved surface characteristic line of a rib position section.
7. The ship deformation detection method based on laser scanning according to claim 6, wherein: in the step S5, registering an actual ship appearance structure three-dimensional model with a theoretical three-dimensional model, and adopting a vertical plane where a keel base line is positioned as a reference plane; according to the rib positions, carrying out transverse section blocking on the actual ship appearance structure three-dimensional model and the theoretical three-dimensional model to form rib position blocking models of the actual ship appearance structure three-dimensional model and the theoretical three-dimensional model, numbering the blocking models, carrying out Boolean operation on an overlapping region and a non-overlapping region of the corresponding blocking models to obtain a non-overlapping region difference model, and counting the volume of the difference model; registering the fitted ship line type and the ship line type datum line, and calculating the deviation value of the fitted ship line type and the ship line type datum line; outputting a ship appearance structure deformation detection report in a customized template form.
8. The ship deformation detection method based on laser scanning according to claim 7, wherein: the structural deformation detection report comprises deformation amounts and deformation angles of multiple dimensions, and also comprises key area deformation amounts and deformation angle thresholds which are given according to related ship structural safety specifications.
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