CN111750794A - Ship chamber deformation monitoring method of ship lift based on point cloud data analysis - Google Patents
Ship chamber deformation monitoring method of ship lift based on point cloud data analysis Download PDFInfo
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- CN111750794A CN111750794A CN202010529587.0A CN202010529587A CN111750794A CN 111750794 A CN111750794 A CN 111750794A CN 202010529587 A CN202010529587 A CN 202010529587A CN 111750794 A CN111750794 A CN 111750794A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02C—SHIP-LIFTING DEVICES OR MECHANISMS
- E02C1/00—Locks or dry-docks; Shaft locks, i.e. locks of which one front side is formed by a solid wall with an opening in the lower part through which the ships pass
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T15/00—3D [Three Dimensional] image rendering
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
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Abstract
The invention discloses a ship lift cabin deformation monitoring method based on point cloud data analysis, which comprises the steps of selecting key parts or structural parts of a cabin as deformation measurement objects, arranging scanning stations in a measurement area, erecting a laser scanner, and calibrating the laser scanner; scanning a ship chamber of a ship lift by using a laser scanner to obtain point cloud data of the ship chamber; importing point cloud post-processing software to generate a height color level graph and a detection graph of a deformation measurement object; and connecting the points of the deformation measurement object into a broken line to form a CAD analysis graph, and analyzing the deformation condition of the ship chamber. Under the condition of not influencing the normal navigation of the three gorges ship lift, the deformation measurement of the ship chamber of the three gorges ship lift is rapidly and efficiently completed by utilizing the three-dimensional laser scanner technology, and the measurement precision is high; and point cloud post-processing software is utilized to generate a point cloud data height color gradation graph and a detection graph of the deformation measurement object, so that the deformation condition of the ship chamber deformation measurement object can be conveniently and visually analyzed.
Description
Technical Field
The invention belongs to the field of ship lift monitoring, and particularly relates to a ship lift chamber deformation monitoring method based on point cloud data analysis.
Background
The three gorges ship lift is the ship lift with the largest scale, the most complex operating conditions and the highest technical difficulty in the world at present, the total weight of a ship chamber is 15500t, the maximum lifting height is 113m, the variation of the water level of the upstream and downstream navigation is 30m and 11.8m respectively, the variation of the water level of the downstream is +/-0.50 m/h, and the maximum displacement of the ship passing through reaches 3000 t. The three gorges ship lift is a full-balance vertical ship lift, adopts a gear rack climbing type driving mechanism and a long nut column-short screw type safety mechanism, is a rapid dam-passing channel for a ship to pass through the three gorges junction, and has important significance for improving the navigation and dam-passing capacity of the three gorges junction.
The ship lift chamber is a self-bearing welded steel structure, is a main body structure of the ship lift, has the characteristics of large size, complex structure and the like, and has a matching relation with the tower column. The influence factors of ship lift cabin deformation include self factors, environmental factors and external factors, the deformation of the ship cabin can change the matching between the ship cabin and the tower column to a certain extent, and in order to prevent the adverse effect possibly generated due to the deformation of the ship cabin in the long-term operation process, deformation monitoring is needed, and relevant data are collected to analyze the structural deformation and the posture change rule of the ship cabin under different working conditions.
The three-dimensional laser scanning technology integrates measurement, image and high-speed three-dimensional scanning, and performs point cloud scanning on a large-range target object to acquire three-dimensional coordinate data of a target point for correlation analysis. Compared with other traditional measurement technologies, the three-dimensional laser scanning technology has the advantages of high efficiency, high adaptability, high precision, non-contact property, intuition, high digitization and the like.
At present, state monitoring of large ship lift equipment facilities at home and abroad is relatively deficient, and a three-dimensional laser scanning technology for ship chamber deformation monitoring is not available, so that a ship chamber three-dimensional laser scanner deformation monitoring method of a ship lift is researched.
Disclosure of Invention
The invention aims to solve the problems and provides a ship lift cabin deformation monitoring method based on point cloud data analysis.
The technical scheme of the invention is a ship lift cabin deformation monitoring method based on point cloud data analysis, which selects key parts or structural parts of a cabin as deformation measurement objects, utilizes a laser scanner to scan the ship lift cabin to obtain the point cloud data of the cabin, imports point cloud post-processing software to generate a height color gradation graph and a detection graph of the deformation measurement objects so as to analyze the deformation condition of the cabin, and comprises the following steps of sequential execution,
step 1: setting a scanning station in a sinking measurement area at the bottom of a ship lift cabin, erecting a three-dimensional laser scanner, and calibrating the laser scanner;
step 2: setting the scanning precision of a three-dimensional laser scanner, and scanning the ship lift chamber by using the three-dimensional laser scanner to obtain point cloud data of the ship lift chamber;
and step 3: importing the point cloud data of the ship chamber into point cloud post-processing software, and extracting a ship chamber point cloud data model;
and 4, step 4: rendering the point cloud data by using point cloud post-processing software to generate a point cloud data height color level graph and a detection graph of a deformation measurement object;
and 5: selecting points of a deformation measurement object of the ship chamber to be connected into a broken line, forming a CAD analysis graph, fitting a horizontal reference plane and a vertical reference plane, and analyzing the offset of the deformation measurement object of the ship chamber relative to the reference plane;
step 6: and comparing and analyzing the deformation data of the ship chamber with the deformation data of the ship chamber in the historical period, and judging the deformation trend of the ship chamber.
Furthermore, the key parts or structural members of the ship chamber are selected as deformation measurement objects, and the front side surface of the ship chamber, the ship chamber revetment and the main longitudinal beam on the lower bottom surface of the ship chamber are used as measurement objects.
Further, in step 1, the calibrating the laser scanner includes leveling a horizontal tilt angle using a two-axis automatic leveling compensator.
Further, in step 2, the scanning precision of the laser scanner is set, a dome picture is collected through the scanner, the scanning range is framed, the resolution of the scanner is set, and the single scanning time is controlled within a reasonable range, so that the normal operation of the ship lift is not influenced by the scanner.
Further, in step 3, the point cloud data of the ship chamber is imported into point cloud post-processing software, and after conducting wire adjustment on the point cloud data of the ship chamber, the point cloud data is imported into the point cloud post-processing software to conduct segmentation, filtering and noise reduction on the point cloud data.
Preferably, in step 5, a horizontal reference plane and a vertical reference plane are fitted, and the horizontal reference plane and the vertical reference plane are determined according to the absolute coordinates of the ship compartment, so as to improve the analysis accuracy and efficiency.
Further, in step 5, the points on the surface of the selected deformation measurement object are connected into a broken line, and the distance between the points on the surface of the selected deformation measurement object is 0.01-0.1 m.
Preferably, the laser scanner is a Trimble SX10 three-dimensional laser scanner.
Preferably, the cloud post-processing software is RealWorks point cloud post-processing software.
Compared with the prior art, the invention has the beneficial effects that:
1) under the condition of not influencing the normal navigation of the three gorges ship lift, the deformation measurement of the ship chamber of the three gorges ship lift is rapidly and efficiently completed by utilizing the three-dimensional laser scanner technology, and the measurement precision is high; the verification proves that the method is reliable and can be used for monitoring the deformation of the bottom surface of the ship chamber of the three gorges ship lift for a long time;
2) according to the invention, after point cloud post-processing software is used for processing point cloud data of a ship chamber collected by a three-dimensional laser scanner, a point cloud data height color gradation graph and a detection graph of a deformation measurement object are generated, so that the deformation condition of the ship chamber deformation measurement object can be conveniently and visually analyzed;
3) the CAD analysis chart formed by the method can obtain the offset of the deformation measurement object relative to the reference surface, is convenient for comparing and comparing the offsets of different parts of the deformation measurement object to analyze the influence factors of the deformation measurement object, and realizes the refinement of monitoring management;
4) the deformation data of the ship chamber is compared and analyzed with the deformation data of the ship chamber in the historical period, so that the deformation trend of the ship chamber can be obtained; the complete data obtained by the comprehensive measurement of the ship chamber of the ship lift and the high-precision measurement of the key parts is regarded as complete and detailed structural data of the ship chamber, so that the defect of original comparison data is overcome, and the implementation and development of maintenance projects of the ship lift in the future are facilitated.
Drawings
The invention is further illustrated by the following figures and examples.
Fig. 1 is a schematic view of the bottom of a ship chamber of a ship lift according to an embodiment.
FIG. 2 is a schematic diagram of the layout of the measurement sites in the embodiment.
Fig. 3 is a schematic view of horizontal CAD detection of the main longitudinal beam a of the embodiment.
Fig. 4 is a schematic view of vertical CAD detection of the longitudinal beams of the bottom surface of the ship chamber of the embodiment.
Detailed Description
In the embodiment, the lower bottom surface main longitudinal beam of the ship chamber of the three gorge ship lock is selected as a deformation measurement object, the deformation of the lower bottom surface main longitudinal beam of the three gorge ship lift is monitored for the first period and the second period respectively in 11-month 08 days in 2018 and 11-month 08 days in 2019, and the temperature and the working condition of the ship lift at the time are recorded. The structure of the lower bottom surface of the ship lift cabin is shown in fig. 1, and the lower bottom surface of the ship lift cabin is provided with two main longitudinal beams, two safety cross beams and two driving cross beams. The three-dimensional laser scanner adopts a Trimble SX10 three-dimensional laser scanner, and the point position precision in 100m is 2 mm.
The ship lift chamber deformation monitoring method based on point cloud data analysis and used for the second-stage monitoring of the main longitudinal beam on the bottom surface of the ship lift chamber of the three gorges ship lift comprises the following steps,
step 1: as shown in fig. 2, a first scanning station 1, a second scanning station 2, a third scanning station 3, a fourth scanning station 4, a fifth scanning station 5 and a sixth scanning station 6 are arranged in a sunken measuring area at the bottom of a ship lift cabin, and measurement of the lower bottom surfaces of the ship cabins respectively parked at the upstream and the downstream can be completed in the measuring area; after a three-dimensional laser scanner is erected at a scanning station, automatically leveling a horizontal inclination angle through a central double-shaft type automatic leveling compensator inside the instrument;
step 2: after the single scanning station is erected, a dome high-definition image is rapidly acquired, an interested scanning range is selected from a middle frame, and the scanning precision is set to be low precision, so that the time required by single measurement is greatly shortened by utilizing the automatic registration function of the three-dimensional laser scanner, and the measurement flexibility is further improved; according to actual measurement records, the average working time of each scanning station does not exceed 6min, and the ship chamber completely has the capability of completing one scanning operation of the bottom surface of the ship chamber in a time slot when the ship chamber is static at the downstream and goes in and out of the ship;
and step 3: after the three-dimensional scanner finishes scanning, directly guiding point cloud data in a memory card into Trimble RealWorks point cloud post-processing software after conducting wire adjustment, removing irrelevant point clouds according to actual measurement conditions or a true color image acquired by the three-dimensional laser scanner, removing redundant parts and extracting a model;
and 4, step 4: rendering the processed point cloud data by using color-grading reflection intensity in Trimble RealWorks point cloud post-processing software, and generating a point cloud data height color-grading graph and a detection graph of a detected beam by taking a rendering graph as a basis to judge the current-stage measurement effect;
and 5: selecting a datum line in each of the fitted horizontal datum plane and the fitted vertical datum plane, taking 0.1m as a point taking interval, and taking points on the surfaces of the main longitudinal beams on the lower bottom surface of the ship chamber to connect into a line graph to output a CAD analysis graph, as shown in FIGS. 3 and 4;
step 6: and comparing and analyzing the detection result of the main longitudinal beam on the lower bottom surface of the ship chamber measured in the second stage with the detection result of the main longitudinal beam measured in the first stage, which is separated by one year and has little difference in actual measurement conditions, aligning the point cloud data models of the bottoms of the ship chambers in the front and the back stages, taking the point cloud data model of the bottom of the ship chamber in the first stage as a reference during alignment, and comparing the point cloud data models of the bottoms of the ship chambers in the back stage.
As shown in fig. 3 and 4, a horizontal reference plane and a vertical reference plane are fitted according to the measured point cloud data of the two main longitudinal beams on the bottom surface of the ship chamber, and the CAD analysis is performed. The CAD analysis graph shown in fig. 3 is horizontally oriented, i.e., parallel to the beam, and the CAD analysis graph shown in fig. 4 is vertically oriented, i.e., perpendicular to the beam. Selecting a reference line, taking one point on the surface of the main longitudinal beam on the lower bottom surface of the ship compartment at intervals of 0.1m, and connecting the points into a line graph, wherein the unit in the graph is 1 mm.
Fig. 3 shows a point-taking plane of a horizontal CAD analysis diagram of the bottom of the ship compartment, which is analyzed to obtain the horizontal deformation of the longitudinal beam a, wherein the height of the reference plane is 0, the highest offset of the beam in the middle part in the horizontal direction is-0.103 m, the left offset is-0.129 m, and the right offset is-0.173 m. The left offset of the left part beam is-0.332 m and the right offset is-0.130 m. The left offset of the right partial beam is-0.062 m and the right offset is-0.132 m. The whole main longitudinal beam on the lower bottom surface of the ship chamber is in an upward arched state in the horizontal direction, namely the middle is high and the two sides are low.
Fig. 4 shows a point-taking plane of a vertical CAD analysis diagram of the bottom of the ship compartment, which is analyzed to obtain vertical deformations of a longitudinal beam a and a longitudinal beam B, wherein the left side of the diagram is the longitudinal beam a and the right side is the longitudinal beam B. The illustrated stringer a has a left offset of-0.218 m and a right offset of-0.199 m, based on a reference plane height of 0. For stringer B, the left offset is-0.055 m and the right offset is-0.037 m. The analysis can obtain that the two main longitudinal beams on the lower bottom surface of the ship chamber are in a state of being low at the left and high at the right in the vertical direction, namely the longitudinal beam A is higher at the side close to the center line of the ship chamber than the longitudinal beam A is at the side close to the edge of the ship chamber, and the longitudinal beam B is lower at the side close to the center line than the longitudinal beam B is at the side close to the edge. The height difference between the longitudinal beam B and the longitudinal beam A is less than 0.2 m. From the results, the horizontal and vertical detection maps are shown to each other, and the reliability of the measurements is further demonstrated.
And comparing the point cloud data of the front period and the back period, and knowing that the deformation of the longitudinal beam on the bottom surface of the ship chamber is slightly increased along with the change of time. Under different working conditions, the deformation conditions of the two longitudinal beams on the lower bottom surface of the ship chamber are different, but the deformation change range is small, and the longitudinal beams are in an upward arched state overall.
Claims (10)
1. A ship lift cabin deformation monitoring method based on point cloud data analysis is characterized in that key parts or structural parts of a cabin are selected as deformation measurement objects, a laser scanner is used for scanning the ship lift cabin to obtain point cloud data of the cabin, point cloud post-processing software is imported to generate a height color gradation graph and a detection graph of the deformation measurement objects so as to analyze the deformation condition of the cabin, the ship lift cabin deformation monitoring method comprises the following steps of sequential execution,
step 1: setting scanning stations in a measuring area, erecting a laser scanner, and calibrating the laser scanner;
step 2: setting the scanning precision of a laser scanner, and scanning the ship chamber to obtain point cloud data of the ship chamber;
and step 3: importing the point cloud data of the ship chamber into point cloud post-processing software, and extracting a ship chamber point cloud data model;
and 4, step 4: and rendering the point cloud data by using point cloud post-processing software to generate a point cloud data height color gradation graph and a detection graph of a deformation measurement object.
2. The method for monitoring deformation of ship lift cabins based on point cloud data analysis as claimed in claim 1, further comprising the step of 5: selecting points of the ship chamber deformation measurement object to be connected into a broken line, forming a CAD analysis graph, fitting a horizontal reference plane and a vertical reference plane, and analyzing the offset of the deformation measurement object relative to the reference plane.
3. The method for monitoring deformation of ship lift cabins based on point cloud data analysis as claimed in claim 2, further comprising the step 6: and comparing and analyzing the deformation data of the ship chamber with the deformation data of the ship chamber in the historical period, and judging the deformation trend of the ship chamber.
4. The method for monitoring ship lift cabin deformation based on point cloud data analysis as claimed in claim 1, wherein key parts or structural members of the ship lift cabin are selected as deformation measurement objects, and a ship lift cabin front side surface, a ship lift cabin revetment and a ship lift cabin bottom surface main longitudinal beam are selected as deformation measurement objects.
5. The method for monitoring deformation of ship lift chamber based on point cloud data analysis as claimed in claim 1, wherein in step 1, said calibrating the laser scanner comprises leveling the horizontal inclination angle by using a two-axis automatic leveling compensator.
6. The method for monitoring deformation of ship lift cabin based on point cloud data analysis as claimed in claim 1, wherein in step 2, the scanning accuracy of the laser scanner is set, a dome picture is collected by the scanner, the scanning range is framed, the resolution of the scanner is set, and the single scanning time is controlled within a reasonable range, so that the scanner does not affect the normal operation of the ship lift.
7. The method for monitoring ship lift cabin deformation based on point cloud data analysis as claimed in claim 1, wherein in step 3, the point cloud data of the ship cabin is imported into point cloud post-processing software, and after conducting wire adjustment on the point cloud data of the ship cabin, the point cloud data is imported into the point cloud post-processing software to conduct segmentation, filtering and noise reduction on the point cloud data.
8. The method for monitoring deformation of ship lift cabin based on point cloud data analysis as claimed in claim 2, wherein in step 5, a horizontal reference plane and a vertical reference plane are fitted, and the horizontal reference plane and the vertical reference plane are determined according to absolute coordinates of the ship cabin, so as to improve analysis accuracy and efficiency.
9. The method for monitoring ship lift chamber deformation based on point cloud data analysis as claimed in claim 2, wherein in step 5, the points on the surface of the selected deformation measurement object are connected into a broken line, and the distance between the points on the surface of the selected deformation measurement object is 0.01-0.1 m.
10. The method for monitoring deformation of ship lift cabins based on point cloud data analysis according to any one of claims 1 to 9, wherein the laser scanner is a Trimble SX10 three-dimensional laser scanner.
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