CN115355884B - Relative pose measuring device and method for ship bearing - Google Patents
Relative pose measuring device and method for ship bearing Download PDFInfo
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- CN115355884B CN115355884B CN202210884745.3A CN202210884745A CN115355884B CN 115355884 B CN115355884 B CN 115355884B CN 202210884745 A CN202210884745 A CN 202210884745A CN 115355884 B CN115355884 B CN 115355884B
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000005259 measurement Methods 0.000 claims abstract description 49
- 238000006073 displacement reaction Methods 0.000 claims abstract description 38
- 230000005540 biological transmission Effects 0.000 claims abstract description 30
- 238000012634 optical imaging Methods 0.000 claims abstract description 27
- 238000012545 processing Methods 0.000 claims abstract description 24
- 238000013500 data storage Methods 0.000 claims abstract description 16
- 239000000284 extract Substances 0.000 claims abstract description 13
- 230000000007 visual effect Effects 0.000 claims abstract description 5
- 238000000691 measurement method Methods 0.000 claims description 11
- 238000005286 illumination Methods 0.000 claims description 7
- 230000003287 optical effect Effects 0.000 claims description 6
- 238000003384 imaging method Methods 0.000 claims description 3
- 238000012546 transfer Methods 0.000 description 9
- 230000002159 abnormal effect Effects 0.000 description 4
- 238000013461 design Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 238000012937 correction Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 238000005094 computer simulation Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000013441 quality evaluation Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
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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
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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
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to the technical field of high-precision measurement across visual distance, and discloses a relative pose measuring device of a ship bearing, which comprises a plurality of sets of micro-motion measuring instruments, a data storage system and a data processing system, wherein the micro-motion measuring instruments comprise targets and digital optical imaging equipment, the measuring positions comprise measuring points to be measured and transmission measuring points, the two measuring points to be measured are two bearings to be measured, the transmission measuring points are arranged in pairs and symmetrically arranged on two sides of a shared bulkhead of an adjacent cabin, and displacement measurement is enabled to be in a uniform coordinate system of the ship through the transmission measuring points; the data processing system extracts the characteristic identification on the target from the picture shot by the digital optical imaging equipment, acquires the positioning coordinates, and calculates and acquires the relative pose of the two bearings to be detected. The invention also discloses a measuring method of the ship bearing relative pose measuring device. The invention relates to a relative pose measuring device of a ship bearing and a measuring method thereof, which are used for measuring relative displacement with high precision aiming at a plurality of cross-line-of-sight measuring points of the bearing under the dynamic condition of the ship.
Description
Technical Field
The invention relates to the technical field of inter-line-of-sight high-precision measurement, in particular to a device and a method for measuring relative pose of a ship bearing.
Background
The bearing is an important component of the ship propulsion shafting, the ship propulsion shafting is connected with each adjacent shaft section through a coupling, and finally the ship propulsion shafting is arranged at a position with higher rigidity through the bearing. The ship propulsion shafting has a plurality of component parts, the coupling relation among the components is complex, and the ship navigation is required to face severe sea conditions. Therefore, although the design quality of the shafting is strictly ensured in aspects of scheme design specification and flow, centering and optimization theory, quality evaluation system and the like, the safety and stability of the shafting in the whole running process of the ship are difficult to ensure by the measures. It has been proved that the ship is actually operated for many times under specific conditions, and the abnormal abrasion of the individual bearings is a serious problem. Because abnormal wear of the bearing does not occur frequently and only occurs under specific conditions, the overall operation condition of the ship when the abnormal wear of the bearing occurs is difficult to truly and comprehensively reflect through numerical simulation or laboratory static or simple dynamic simulation, and therefore the root problem causing the abnormal wear is difficult to locate.
In view of the requirements of safety and reliability of the operation of the ship shafting, it is necessary to design a relative displacement measurement system for the ship shafting. At present, four main measurement methods are used for measuring the internal deformation of a ship: strain sensor measurement, inertial measurement matching, optical measurement and visual measurement. The strain sensor measurement method is only suitable for local deformation measurement in a small range, and meanwhile, the strain sensor measurement method faces various limitations in the aspects of sensor installation and calibration. The inertial measurement matching method has a problem that it is difficult to accumulate errors for a long time. The optical measurement method equipment is difficult to install in a narrow cabin, and the measurement accuracy is easily affected by factors such as atmospheric disturbance, mechanical vibration and the like. The vision measurement method has the characteristics of non-contact, high precision and the like, and the existing chain measurement method requires that the sight between the measuring points is reachable, which leads to excessive transfer times among a plurality of measuring points to be measured in the environment of a complex cabin, the measurement error is gradually accumulated along with the increase of the transfer times, and the scale of the system, the paving maintenance cost and the like are all increased along with the increase of the transfer times.
Therefore, considering that the internal structure system of the ship is complex and narrow, the measurement system needs to have the capability of non-contact high-precision measurement, can finish the measurement of the inter-line of sight of a plurality of measuring points, and needs to have the functions of dynamic measurement and long-time data recording.
Disclosure of Invention
The invention aims to overcome the defects of the technology, and provides a device and a method for measuring the relative pose of a bearing of a ship.
In order to achieve the above purpose, the ship bearing relative pose measuring device comprises a plurality of sets of micro-motion measuring instruments, a data storage system and a data processing system, wherein each set of micro-motion measuring instrument comprises a target placed at a measuring position and a corresponding digital optical imaging device, the measuring position comprises a measuring point to be measured and a transmission measuring point, the number of the micro-motion measuring instruments is determined by the number of the measuring point to be measured and the transmission measuring point, the two measuring points to be measured are two bearings to be measured, the transmission measuring points are arranged in pairs and symmetrically arranged on two sides of a shared bulkhead of an adjacent cabin, the imaging visual angles of the two digital optical imaging devices corresponding to each pair of transmission measuring points are opposite, and the digital optical imaging devices in each cabin are fixed at the same position, so that displacement measurement in all cabins between the two measuring points to be measured is in a ship unified coordinate system through the transmission measuring points; the data storage system stores pictures shot by the digital optical imaging equipment, the data processing system extracts characteristic identifiers on targets from the pictures shot by the digital optical imaging equipment, obtains positioning coordinates, extracts time stamps of the pictures, and calculates and obtains relative pose of two bearings to be detected.
Preferably, the digital optical imaging device, the data storage system and the data processing system are connected through a data transmission system.
Preferably, an illumination system is also included for providing illumination to each of the targets, ensuring the illumination conditions at the target location.
Preferably, a power supply system for providing power is also included.
The measuring method of the ship bearing relative pose measuring device comprises the following steps:
a) Pre-calibration: placing a calibration plate at each target, wherein a plumb is connected below the calibration plate, so that the Z-axis directions of all the calibration plates are kept vertical to a horizontal plane, and performing internal and external parameter calibration and coordinate system calibration of digital optical imaging equipment on each target;
b) Actual measurement: setting a format of a picture to be acquired in the data processing system, starting all micro-measuring instruments to acquire the picture, and sending the picture acquired by each micro-measuring instrument to the data storage system along with a time stamp;
c) And (3) calculating: the data processing system extracts the characteristic identification on the target from the picture shot by the digital optical imaging equipment, acquires the positioning coordinates, extracts the time stamp of the picture, combines the internal and external parameter calibration result in the pre-calibration stage and the high-precision optical long-distance in-plane small displacement measurement method, performs high-precision measurement on the displacement of each target in the two-dimensional plane, acquires the displacement measurement result of each measurement position, converts the displacement measurement result from the coordinate system in the target plane to the ship unified coordinate system, sets two bearings to be measured as a point B to be measured and a point T to be measured, and sets the displacement measurement result of the point B to be measured as M B The displacement measurement result of the point to be measured T is M T N transmission measuring points are arranged between the to-be-measured point B and the to-be-measured point T, n is an integer greater than 0, among each pair of transmission measuring points, the transmission measuring point close to the to-be-measured point T is TTi, the transmission measuring point close to the to-be-measured point B is TBi, and the corresponding displacement measuring results are M respectively TTi And M TBi Relative displacement RD of the point to be measured T relative to the point to be measured B T-B The method comprises the following steps:
RD T-B ＝M T +(M TB1 -M TT1 )+…+(M TBn -M TTn )-M B 。
preferably, step a) pre-calibration is skipped, directly entering step B), without replacing parts of the micro-gauge or moving the micro-gauge position.
Preferably, in the step B), parameters of the format of the picture include a size, a frame rate, and an acquisition duration.
Compared with the prior art, the invention has the following advantages:
1. realizing the measurement of the inter-line-of-sight dynamic high-precision relative displacement of a plurality of measuring points of the bearing in the ship;
2. aiming at hull deformation test under a complex cabin structure, the method has the advantages of non-contact, high precision and easy installation and calibration;
3. by combining back-to-back blind transfer and cross-vision coordinate system correction methods, the measurement of relative displacement between two cabins can be completed only by one-time transfer of corresponding positions of bulkheads of adjacent cabins, so that the accuracy of the measurement of relative displacement under the transfer condition is greatly improved, meanwhile, the complexity of the system is simplified, and the reliability of the system is improved.
Drawings
FIG. 1 is a schematic view of the relative position and orientation measuring device of the ship bearing of the present invention;
fig. 2 is a layout of a micro-motion gauge.
The reference numerals of the components in the drawings are as follows:
micro-motion measuring instrument 1, data storage system 2, data processing system 3, target 4, digital optical imaging device 5, measuring point 6 to be measured, transmission measuring point 7, bearing 8 to be measured, cabin 9, bulkhead 10, data transmission system 11, lighting system 12, power supply system 13.
Detailed Description
The invention will now be described in further detail with reference to the drawings and to specific examples.
As shown in fig. 1 and 2, the device for measuring relative pose of a ship bearing of the present invention comprises a plurality of micro-measuring instruments 1, a data storage system 2 and a data processing system 3, wherein each micro-measuring instrument 1 comprises a target 4 and a corresponding digital optical imaging device 5 which are placed at a measuring position, the measuring position comprises a measuring point 6 to be measured and a transmitting measuring point 7, the measuring point 6 to be measured is two bearings 8 to be measured, the transmitting measuring points 7 are arranged in pairs, symmetrically arranged at two sides of a shared bulkhead 10 of an adjacent cabin 9, the imaging visual angles of the two digital optical imaging devices 5 corresponding to each transmitting measuring point 7 are opposite, the digital optical imaging devices 5 in each cabin 9 are fixed at the same position, and displacement measurement in all cabins 9 between the two bearings 8 to be measured is in a ship unified coordinate system through the transmitting measuring points 7; the data storage system 2 stores pictures shot by the digital optical imaging device 5, the data processing system 3 extracts characteristic identifiers on targets from the pictures shot by the digital optical imaging device 5, obtains positioning coordinates, extracts time stamps of the pictures, and calculates and obtains relative pose of two bearings 8 to be detected.
The measuring method of the ship bearing relative pose measuring device of the embodiment comprises the following steps:
a) Pre-calibration: placing a calibration plate at each target 4, connecting a plumb below the calibration plate, enabling the Z-axis directions of all the calibration plates to be vertical to a horizontal plane, and calibrating internal and external parameters and a coordinate system of the digital optical imaging equipment 5 for each target;
b) Actual measurement: setting a format of a picture to be acquired in the data processing system 3, starting all micro-measuring instruments 1 to acquire the picture, and sending the picture acquired by each micro-measuring instrument 1 to the data storage system 2 along with a time stamp;
c) And (3) calculating: the data processing system 3 extracts the characteristic identification on the target 4 from the picture shot by the digital optical imaging device 5, acquires the positioning coordinates, extracts the time stamp of the picture, combines the internal and external parameter calibration result in the pre-calibration stage and the high-precision optical long-distance in-plane small displacement measurement method, performs high-precision measurement on the displacement of each target 4 in the two-dimensional plane, acquires the displacement measurement result of each measurement position, converts the displacement measurement result from the coordinate system in the plane of the target 4 to the ship unified coordinate system, sets two bearings 8 to be measured as a point B to be measured and a point T to be measured, and sets the displacement measurement result of the point B to be measured as M B The displacement measurement result of the point to be measured T is M T N transmission measuring points 7 are arranged between the to-be-measured point B and the to-be-measured point T, n is an integer larger than 0, in each transmission measuring point 7, the transmission measuring point 7 close to the to-be-measured point T is TTi, the transmission measuring point 7 close to the to-be-measured point B is TBi, and the corresponding displacement measuring results are M respectively TTi And M TBi Relative displacement RD of the point to be measured T relative to the point to be measured B T-B The method comprises the following steps:
RD T-B ＝M T +(M TB1 -M TT1 )+…+(M TBn -M TTn )-M B 。
in addition, step a) pre-calibration is skipped and step B) is entered directly without changing the components of the micro-gauge 1 or without moving the position of the micro-gauge 1.
Meanwhile, in the step B), parameters of the format of the picture include a size, a frame rate and an acquisition duration.
In this embodiment, the data storage system 2 may be a camera self-contained memory, a computer memory, an image capture card frame buffer, a hard disk, an optical disk, a tape memory, a flash disk, and the like. In addition, the digital optical imaging device 5, the data storage system 2 and the data processing system 3 are connected through the data transmission system 11, and a gigabit Ethernet interface is adopted, so that the design of large bandwidth is adopted, and the maximum transmission distance without relay is ensured to be more than 50 meters.
In this embodiment, in order to ensure the illumination condition of the position of the targets 4, an illumination system 12 is provided for illuminating each target 4, taking account of the non-ideal light conditions in the cabin.
Finally, the present embodiment further includes a power supply system 13 that supplies power.
In this embodiment, the calibration of various parameters required in the vision measurement is completed by the system calibration module of the data processing system 3, including camera calibration, coordinate system reduction, etc., the processing of the picture is completed by the image acquisition processing module of the data processing system 3, including extracting the feature identifier on the target 4, obtaining the positioning coordinates, extracting the time stamp of the picture, the acquisition and pre-sorting of the micro-motion measuring instrument 1 data is completed by the main control module of the data processing system 3, and the picture recorded at each moment is saved in the data storage system 2 for viewing and subsequent processing.
In this embodiment, all measuring devices in the same cabin 9 of the ship are positioned under the same displacement reference, the bulkhead 10 of the cabin 9 of the ship can be regarded as a rigid body, and the displacements of the two sides are consistent.
The measuring device and the measuring method for the relative pose of the ship bearing realize the measurement of the cross-line-of-sight dynamic high-precision relative displacement of the ship inside aiming at a plurality of measuring points of the bearing; aiming at hull deformation test under a complex cabin structure, the method has the advantages of non-contact, high precision and easy installation and calibration; by combining back-to-back blind transfer and cross-vision coordinate system correction methods, the measurement of relative displacement between two cabins can be completed only by one-time transfer of corresponding positions of bulkheads of adjacent cabins, so that the accuracy of the measurement of relative displacement under the transfer condition is greatly improved, meanwhile, the complexity of the system is simplified, and the reliability of the system is improved.
Claims (7)
1. The utility model provides a relative position appearance measuring device of ship bearing, includes a plurality of cover fine motion measuring apparatu (1), its characterized in that: the micro-motion measuring instrument comprises a measuring position, a data storage system (2) and a data processing system (3), wherein each micro-motion measuring instrument (1) comprises a target (4) and a corresponding digital optical imaging device (5) which are arranged at the measuring position, the measuring position comprises a measuring point (6) to be measured and a transmission measuring point (7), the measuring point (6) to be measured is two bearings (8) to be measured, which are required to be measured in relative positions, the transmission measuring points (7) are arranged in pairs and symmetrically arranged at two sides of a shared bulkhead (10) of each adjacent cabin (9), imaging visual angles of the two digital optical imaging devices (5) corresponding to each pair of the transmission measuring points (7) are opposite, the digital optical imaging devices (5) in each cabin (9) are fixed at the same position, and displacement measurement in all the cabins (9) between the two bearings (8) to be measured is in a ship unified coordinate system through the transmission measuring points (7); the data storage system (2) stores pictures shot by the digital optical imaging equipment (5), the data processing system (3) extracts characteristic identifiers on targets from the pictures shot by the digital optical imaging equipment (5), obtains positioning coordinates, extracts time stamps of the pictures, and calculates and obtains relative pose of two bearings (8) to be detected.
2. The watercraft bearing relative position measuring device of claim 1 wherein: the digital optical imaging device (5), the data storage system (2) and the data processing system (3) are connected through a data transmission system (11).
3. The watercraft bearing relative position measuring device of claim 1 wherein: an illumination system (12) is also included for providing illumination to each of the targets (4).
4. The watercraft bearing relative position measuring device of claim 1 wherein: also comprises a power supply system (13) for providing power.
5. A measuring method of a ship bearing relative pose measuring device according to any of claims 1 to 4, characterized by: the method comprises the following steps:
a) Pre-calibration: placing a calibration plate at each target (4), wherein a plumb is connected below the calibration plate, so that the Z-axis directions of all the calibration plates are kept vertical to a horizontal plane, and performing internal and external parameter calibration and coordinate system calibration of digital optical imaging equipment (5) on each target;
b) Actual measurement: setting a format of a picture to be acquired in the data processing system (3), starting all micro-measuring instruments (1) to acquire the picture, and sending the picture acquired by each micro-measuring instrument (1) to the data storage system (2) along with a time stamp;
c) And (3) calculating: the data processing system (3) extracts the characteristic identification on the target (4) from the picture shot by the digital optical imaging equipment (5), acquires the positioning coordinate, extracts the timestamp of the picture, combines the internal and external parameter calibration result in the pre-calibration stage and the high-precision optical long-distance in-plane small displacement measurement method, performs high-precision measurement on the displacement of each target (4) in the two-dimensional plane, acquires the displacement measurement result of each measurement position, converts the displacement measurement result from the coordinate system in the plane of the target (4) to the unified coordinate system of the ship, sets two bearings (8) to be measured as a point B to be measured and a point T to be measured, and sets the displacement measurement result of the point B to be measured as M B The displacement measurement result of the point to be measured T is M T N transmission measuring points (7) are arranged between the to-be-measured point B and the to-be-measured point T, n is an integer larger than 0, among each pair of transmission measuring points (7), the transmission measuring point (7) close to the to-be-measured point T is TTi, the transmission measuring point (7) close to the to-be-measured point B is TBi, and corresponding displacement measuring results are M respectively TTi And M TBi Relative displacement RD of the point to be measured T relative to the point to be measured B T-B The method comprises the following steps:
RD T-B ＝M T +(M TB1 -M TT1 )+…+(M TBn -M TTn )-M B 。
6. the measurement method of the ship bearing relative pose measurement device according to claim 5, wherein: step A) of pre-calibration is skipped and step B) is directly entered without changing the components of the micro-motion measuring device (1) or without moving the position of the micro-motion measuring device (1).
7. The measurement method of the ship bearing relative pose measurement device according to claim 6, wherein: in the step B), parameters of the format of the picture include a size, a frame rate and an acquisition duration.
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| CN202210884745.3A CN115355884B (en) | 2022-07-26 | 2022-07-26 | Relative pose measuring device and method for ship bearing |
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| CN202210884745.3A CN115355884B (en) | 2022-07-26 | 2022-07-26 | Relative pose measuring device and method for ship bearing |
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| CN115355884B true CN115355884B (en) | 2024-03-22 |
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|---|---|---|---|---|
| GB0114511D0 (en) * | 2001-06-14 | 2001-08-08 | Instro Prec Ltd | Multi position alignment system |
| JP2007212430A (en) * | 2006-08-07 | 2007-08-23 | Kurabo Ind Ltd | Photogrammetry device and system |
| JP2012006596A (en) * | 2011-10-07 | 2012-01-12 | Hitachi Zosen Corp | Method and device for evaluating shaft system alignment in ship |
| CN106595638A (en) * | 2016-12-26 | 2017-04-26 | 哈尔滨工业大学 | Three-axis air floating platform attitude measuring device based on photoelectric tracking technology and measuring method |
| CN111551152A (en) * | 2020-06-04 | 2020-08-18 | 江苏集萃智能光电***研究所有限公司 | Monocular vision-based relative pose measurement method and device for near space aircraft |
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2022
- 2022-07-26 CN CN202210884745.3A patent/CN115355884B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB0114511D0 (en) * | 2001-06-14 | 2001-08-08 | Instro Prec Ltd | Multi position alignment system |
| JP2007212430A (en) * | 2006-08-07 | 2007-08-23 | Kurabo Ind Ltd | Photogrammetry device and system |
| JP2012006596A (en) * | 2011-10-07 | 2012-01-12 | Hitachi Zosen Corp | Method and device for evaluating shaft system alignment in ship |
| CN106595638A (en) * | 2016-12-26 | 2017-04-26 | 哈尔滨工业大学 | Three-axis air floating platform attitude measuring device based on photoelectric tracking technology and measuring method |
| CN111551152A (en) * | 2020-06-04 | 2020-08-18 | 江苏集萃智能光电***研究所有限公司 | Monocular vision-based relative pose measurement method and device for near space aircraft |
Non-Patent Citations (1)
| Title |
|---|
| 坐标测量机上红宝石轴承视觉自动定位***;王星;李醒飞;黄健;黎春宇;谭文斌;陈诚;;激光技术;20130325(02);全文 * |
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