CN116101447A - Method and system for reconstructing three-dimensional structure of ocean floating platform - Google Patents
Method and system for reconstructing three-dimensional structure of ocean floating platform Download PDFInfo
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Abstract
The invention relates to the technical field of ocean, and discloses a method and a system for reconstructing a three-dimensional structure of an ocean floating platform, wherein the method comprises the following steps: collecting volumetric point cloud data above the waterline of the plurality of scanning planes from a floating platform surface above the waterline using a laser radar, and collecting volumetric point cloud data below the waterline from the floating platform surface below the waterline using a sonar sensor; correlating the moving position of the laser radar with the volume point cloud data above the water lines of the plurality of scanning planes, integrating the volume point cloud data above the water lines of the plurality of scanning planes onto one plane, and extracting features to obtain a measurement model above the water lines; extracting the characteristics of the volume point cloud data below the waterline to obtain a measurement model below the waterline, and combining the measurement models above and below the waterline to obtain an integral surface model of the floating platform; the system includes modules that implement the steps. The invention can realize the integral reconstruction of the three-dimensional structure of the large floating platform such as naval vessels and the like, and has high reconstruction precision.
Description
Technical Field
The invention relates to the technical field of ocean, in particular to a method and a system for reconstructing a three-dimensional structure of an ocean floating platform.
Background
Large floating platforms such as naval vessels are exposed to challenging marine environmental conditions for long periods of time during use, which can lead to problems such as corrosion, biofouling and structural damage, and therefore periodic inspection is necessary to assess and maintain structural safety. Lidar and sonar sensors provided on unmanned surface vessels (unmanned surface vessel, USV) are used to collect volumetric point cloud data of floating platform structures above and below the water line, which measurements are collected in an unmanned ship fixed frame, and therefore accurate estimation of ship position and attitude is critical to achieving satisfactory 3D reconstruction. Since global positioning system signals tend to be severely degraded or unavailable around large steel structures, it is necessary to relatively navigate the plane of its hull structure under a framework of simultaneous localization and mapping, thereby obtaining accurate spatial structure data. However, the prior art cannot reconstruct the parts above and below the water line of large floating platforms such as naval vessels, and the conventional reconstruction method is not suitable for large floating platforms and has low reconstruction accuracy.
Disclosure of Invention
Therefore, the technical problem to be solved by the invention is to overcome the defects in the prior art, and provide the method and the system for reconstructing the three-dimensional structure of the ocean floating platform, which can reconstruct the parts above the water line and below the water line of the large floating platform such as naval vessels and the like at the same time and has high reconstruction precision.
In order to solve the technical problems, the invention provides a method for reconstructing a three-dimensional structure of an ocean floating platform, which comprises the following steps:
collecting volumetric point cloud data above the waterline of the plurality of scanning planes from a floating platform surface above the waterline using a laser radar, and collecting volumetric point cloud data below the waterline from the floating platform surface below the waterline using a sonar sensor;
correlating the moving position of the laser radar with the volume point cloud data above the water lines of the plurality of scanning planes, integrating the volume point cloud data above the water lines of the plurality of scanning planes onto one plane, and extracting the characteristics of the volume point cloud data above the water lines integrated onto the one plane to obtain a measurement model above the water lines;
and extracting the characteristics of the volume point cloud data below the waterline to obtain a measurement model below the waterline, and combining the measurement model above the waterline and the measurement model below the waterline to obtain the integral surface model of the floating platform.
In one embodiment of the invention, the lidar is onboard a mobile vehicle, and volumetric point cloud data above the waterline of a plurality of scan planes is acquired by movement of the mobile vehicle over a floating platform.
In one embodiment of the invention, the lidar consists of a plurality of vertically aligned 3D lasers, each of the 3D lasers collecting a point cloud of cross-sectional geometry of surrounding structures in a two-dimensional scan plane.
In one embodiment of the present invention, the moving position of the laser radar is associated with the volume point cloud data above the water line of a plurality of scanning planes, specifically:
the normal vector of each scanning plane and the vertical distance from the scanning plane of the 3D laser parallel to the horizontal plane are used as map parameters to be introduced into a synchronous positioning and mapping framework, and a Kalman filtering algorithm is used for estimating the vehicle posture and the map parameters which are associated simultaneously.
In one embodiment of the present invention, the integrating the volumetric point cloud data above the water line of the plurality of scan planes onto one plane is specifically:
the volume point cloud data above the water lines of a plurality of scanning planes are transformed onto the scanning plane of the 3D laser, wherein the scanning plane is parallel to the horizontal plane, the moving plane of the vehicle, the moving plane of which is parallel to the water surface, is taken as a projection plane, and the transformed volume point cloud data above the water lines are projected onto the projection plane.
In one embodiment of the present invention, the feature of extracting the volumetric point cloud data above the water line integrated on a plane obtains measurement data above the water line, specifically:
the projection point data of each scanning plane on the projection plane is classified by using a segmentation algorithm to obtain a cross-sectional profile, and the cross-sectional profiles of a plurality of scanning planes on the projection plane are marked and correlated to obtain a measurement model above water line.
In one embodiment of the invention, the segmentation algorithm is a segmentation algorithm based on the inter-point distance.
In one embodiment of the invention, the sonar sensor is a multi-beam echosounder.
In one embodiment of the present invention, the feature of extracting the volumetric point cloud data below the waterline obtains a measurement model below the waterline, specifically:
and extracting distance data from the volume point cloud data below the waterline by using a filtering algorithm based on reflection intensity, filtering abnormal values in the distance data by using a median filter, and mapping the filtered distance data to Cartesian coordinates to obtain a measurement model below the waterline.
The invention also provides a system for reconstructing the three-dimensional structure of the ocean floating platform, which comprises an acquisition module, a measuring model generation module above the water line, a measuring model generation module below the water line and an integral model generation module,
the acquisition module collects volumetric point cloud data above the waterline of a plurality of scanning planes from the surface of the floating platform above the waterline by using a laser radar, and transmits the volumetric point cloud data to the measuring model generating module above the waterline, and collects volumetric point cloud data below the waterline from the surface of the floating platform below the waterline by using a sonar sensor, and transmits the volumetric point cloud data to the measuring model generating module below the waterline;
the above-waterline measurement model generation module correlates the moving position of the laser radar with the volume point cloud data above the water lines of the plurality of scanning planes, integrates the volume point cloud data above the water lines of the plurality of scanning planes onto one plane, extracts the characteristics of the volume point cloud data above the water lines integrated onto one plane to obtain a measurement model above the water lines, and transmits the measurement model to the integral model generation module;
the under-waterline measurement model generation module extracts the characteristics of the volume point cloud data under the waterline to obtain a measurement model under the waterline, and the measurement model under the waterline is transmitted to the integral model generation module;
and the integral model generating module is used for combining the measuring model above the waterline and the measuring model below the waterline to obtain the integral surface model of the floating platform.
Compared with the prior art, the technical scheme of the invention has the following advantages:
according to the invention, the laser radar and the sound sensor are respectively used for collecting point cloud data above a water line and below the water line, a model above the water line is established by correlating the moving position of the laser radar with the collected point cloud data above the water line, and an integral surface model is obtained by combining the laser radar with the point cloud data below the water line on the basis, so that integral reconstruction of three-dimensional structures of large-scale floating platforms such as naval vessels can be realized, and the reconstruction process is associated with the movement of collecting equipment and has high reconstruction precision.
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In order that the invention may be more readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings, in which:
figure 1 is a flow chart of the method of the present invention,
fig. 2 is a structural diagram of the present invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and specific examples, which are not intended to be limiting, so that those skilled in the art will better understand the invention and practice it.
Referring to FIG. 1, the invention discloses a method for reconstructing a three-dimensional structure of an ocean floating platform, which comprises the following steps:
s1: volumetric point cloud data above the waterline for a plurality of scan planes is collected from the floating platform surface above the waterline using a lidar, and volumetric point cloud data below the waterline is collected from the floating platform surface below the waterline using a sonar sensor.
S11: and loading the laser radar on a mobile vehicle, and acquiring volume point cloud data above the waterline of a plurality of scanning planes by moving the mobile vehicle on a floating platform. The lidar consists of a plurality of vertically arranged 3D lasers, each 3D laser acquiring a point cloud of cross-sectional geometry of the surrounding structure in a two-dimensional scanning plane by acquiring point cloud data reflected from the surrounding structure. The point cloud of the cross-sectional geometry of the surrounding structure acquired by each 3D laser is volumetric point cloud data above the water line of one scan plane.
S12: an acoustic scan of an underwater structure is performed using a multi-beam echosounder (MBE). MBE has multiple beams distributed over a beam width of 120 °, and the apparatus is typically mounted vertically below the hull for seafloor elevation mapping. In this embodiment, the MBE is mounted on the USV in an inclined configuration to obtain point cloud data reflected from the underwater sidewall structure, and the inclination angle is adjusted according to the actual situation.
S2: and correlating the moving position of the laser radar with the volume point cloud data above the water lines of the plurality of scanning planes, integrating the volume point cloud data above the water lines of the plurality of scanning planes onto one plane, and extracting the characteristics of the volume point cloud data above the water lines integrated onto the one plane to obtain a measurement model above the water lines.
The 3D lasers with scan planes parallel to the horizontal plane scan the cross section at right angles, while the other 3D lasers are tilted in the cross section of their structure. At the same time, currents and waves can cause the rolling and pitching movements of the floating platform to be measured, resulting in the cross section obtained being distorted relative to the structure. Therefore, in order to accurately estimate the cross-sectional shape, it is necessary in the present embodiment to convert the lidar measurement values in the vehicle-stationary frame onto the same plane.
S21: the normal vector of each scan plane and the perpendicular distance from the scan plane of the 3D laser parallel to the horizontal plane are introduced as map parameters into a synchronous localization and mapping (SLAM) framework, the mathematical expression of these parameters being nonlinear in nature, so the kalman filter (EKF) algorithm is used to estimate the vehicle pose and the map parameters associated at the same time.
S22: the volume point cloud data above the water lines of a plurality of scanning planes are transformed onto the scanning plane of the 3D laser, wherein the scanning plane is parallel to the horizontal plane, the moving plane of the vehicle, the moving plane of which is parallel to the water surface, is taken as a projection plane, and the transformed volume point cloud data above the water lines are projected onto the projection plane.
S23: the projection point data of each scanning plane on the projection plane is classified by using a point-distance-based segmentation (PDBS) algorithm based on the distance between the points to obtain a cross-sectional profile, and the cross-sectional profiles of a plurality of scanning planes on the projection plane are marked and correlated to obtain a measurement model above the water line.
Plane data of the hull structure are obtained by 3D lidar measurements, which are used as landmark features for the relative positioning of the hulls. A two-dimensional lidar looking up scans the ceiling surface of the roof structure and corrects the vertical position of the vehicle using the vertical distance between the vehicle and the ceiling surface as the relative position. As the vehicle moves, point cloud data is continuously obtained from the lidar and sonar sensors, which are combined to construct a 3D surface map, taking into account the vehicle state estimated by the SLAM filter. The onboard 3D lidar extracts cross-sectional profiles (black dots) in multiple scan planes of nearby hull structures. By classifying the contour shapes, line segments are obtained from each laser scan and then marked and correlated to find the planar features of the surrounding structure.
The position coordinates of the data obtained by the lidar are defined in a fixed frame of the floating platform, these coordinates constituting a local map covering part of the structure. In order to reconstruct the entire structure, the present invention acquires a number of local maps and correlates them with measuring the motion of the vehicle; then, all collected local maps are collected by applying coordinate transformations along the vehicle trajectories by generating global maps by combining. Thus, the accuracy of the global map depends to a large extent on the accuracy of the navigation during the measurement.
S3: and extracting the characteristics of the volume point cloud data below the waterline to obtain a measurement model below the waterline.
And extracting distance data from the volume point cloud data below the waterline by using a filtering algorithm based on reflection intensity, filtering abnormal values in the distance data by using a median filter, and mapping the filtered distance data to Cartesian coordinates to obtain a measurement model below the waterline. In this embodiment, the range data is extracted from the obtained sonar measurement by applying a filtering algorithm based on the reflection intensity, taking into consideration the inherent noise characteristics of the sonar measurement. From the measurements satisfying the reflection intensity conditions, range data is extracted and a median filter is applied to reduce outliers in the obtained data. And then mapping the filtered data to Cartesian coordinates to obtain underwater environment point cloud data.
S4: and splicing the measurement model above the waterline and the measurement model below the waterline to obtain the integral surface model of the floating platform.
The invention also discloses a system for reconstructing the three-dimensional structure of the ocean floating platform, which comprises an acquisition module, a measuring model generation module above the waterline, a measuring model generation module below the waterline and an integral model generation module. The acquisition module collects volumetric point cloud data above the waterline of a plurality of scanning planes from the surface of the floating platform above the waterline by using a laser radar, and transmits the volumetric point cloud data to the measuring model generation module above the waterline, and collects volumetric point cloud data below the waterline from the surface of the floating platform below the waterline by using a sonar sensor, and transmits the volumetric point cloud data to the measuring model generation module below the waterline. And the above-waterline measurement model generation module correlates the moving position of the laser radar with the volume point cloud data above the waterline of the plurality of scanning planes, integrates the volume point cloud data above the waterline of the plurality of scanning planes onto one plane, extracts the characteristics of the volume point cloud data above the waterline integrated onto one plane to obtain a measurement model above the waterline, and transmits the measurement model to the integral model generation module. And the under-waterline measurement model generation module extracts the characteristics of the volume point cloud data under the waterline to obtain a measurement model under the waterline, and transmits the measurement model under the waterline to the integral model generation module. And the integral model generating module is used for combining the measuring model above the waterline and the measuring model below the waterline to obtain the integral surface model of the floating platform.
Fig. 2 is a structural diagram of the invention, which is mainly divided into three parts of plane surface extraction, navigation and mapping and three-dimensional reconstruction, wherein in fig. 2, DVL represents a doppler log, IMU represents an inertial measurement unit (Inertial Measurement Unit), and AHRS represents a navigation attitude reference system. The invention can be applied to the surface reconstruction work of the three-dimensional structure of large-scale ocean floating platforms such as Unmanned Surface Vessels (USVs). According to the invention, the laser radar and the sound sensor are respectively used for collecting point cloud data above a water line and below the water line, a model above the water line is established by correlating the moving position of the laser radar with the collected point cloud data above the water line, and an integral surface model is obtained by combining the laser radar with the point cloud data below the water line on the basis, so that integral reconstruction of three-dimensional structures of large-scale floating platforms such as naval vessels can be realized, and the reconstruction process is associated with the movement of collecting equipment and has high reconstruction precision. The method is convenient for detecting the problems of corrosion, biological dirt, structural damage and the like of the large-scale floating platform, and is beneficial to improving the efficiency and the safety of the structural inspection task.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations and modifications of the present invention will be apparent to those of ordinary skill in the art in light of the foregoing description. It is not necessary here nor is it exhaustive of all embodiments. And obvious variations or modifications thereof are contemplated as falling within the scope of the present invention.
Claims (10)
1. A method for reconstructing a three-dimensional structure of an ocean floating platform, comprising:
collecting volumetric point cloud data above the waterline of the plurality of scanning planes from a floating platform surface above the waterline using a laser radar, and collecting volumetric point cloud data below the waterline from the floating platform surface below the waterline using a sonar sensor;
correlating the moving position of the laser radar with the volume point cloud data above the water lines of the plurality of scanning planes, integrating the volume point cloud data above the water lines of the plurality of scanning planes onto one plane, and extracting the characteristics of the volume point cloud data above the water lines integrated onto the one plane to obtain a measurement model above the water lines;
and extracting the characteristics of the volume point cloud data below the waterline to obtain a measurement model below the waterline, and combining the measurement model above the waterline and the measurement model below the waterline to obtain the integral surface model of the floating platform.
2. The method for reconstructing a three-dimensional structure of an ocean floating platform according to claim 1, wherein: and loading the laser radar on a mobile vehicle, and acquiring volume point cloud data above the waterline of a plurality of scanning planes by moving the mobile vehicle on a floating platform.
3. The method for reconstructing a three-dimensional structure of an ocean floating platform according to claim 1, wherein: the lidar consists of a plurality of vertically aligned 3D lasers, each of the 3D lasers collecting a point cloud of cross-sectional geometry of surrounding structures in a two-dimensional scan plane.
4. A method of three-dimensional structural reconstruction of an ocean floating platform according to claim 3, wherein: correlating the moving position of the laser radar with the volume point cloud data above the water lines of a plurality of scanning planes, wherein the correlating specifically comprises:
the normal vector of each scanning plane and the vertical distance from the scanning plane of the 3D laser parallel to the horizontal plane are used as map parameters to be introduced into a synchronous positioning and mapping framework, and a Kalman filtering algorithm is used for estimating the vehicle posture and the map parameters which are associated simultaneously.
5. A method of three-dimensional structural reconstruction of an ocean floating platform according to claim 3, wherein: integrating the volume point cloud data above the water lines of the plurality of scanning planes onto one plane specifically comprises the following steps:
the volume point cloud data above the water lines of a plurality of scanning planes are transformed onto the scanning plane of the 3D laser, wherein the scanning plane is parallel to the horizontal plane, the moving plane of the vehicle, the moving plane of which is parallel to the water surface, is taken as a projection plane, and the transformed volume point cloud data above the water lines are projected onto the projection plane.
6. The method for reconstructing a three-dimensional structure of an ocean floating platform according to claim 5, wherein: the method comprises the steps of extracting the characteristics of the volume point cloud data above the water line integrated on a plane to obtain measurement data above the water line, and specifically comprises the following steps:
the projection point data of each scanning plane on the projection plane is classified by using a segmentation algorithm to obtain a cross-sectional profile, and the cross-sectional profiles of a plurality of scanning planes on the projection plane are marked and correlated to obtain a measurement model above water line.
7. The method for reconstructing a three-dimensional structure of an ocean floating platform according to claim 6, wherein: the segmentation algorithm is based on the distance between points.
8. The method for reconstructing a three-dimensional structure of an ocean floating platform according to claim 1, wherein: the sonar sensor is a multi-beam echo sounder.
9. A method of three-dimensional structural reconstruction of an ocean floating platform according to any one of claims 1-8, wherein: the method for extracting the characteristics of the volume point cloud data below the waterline to obtain a measurement model below the waterline comprises the following steps:
and extracting distance data from the volume point cloud data below the waterline by using a filtering algorithm based on reflection intensity, filtering abnormal values in the distance data by using a median filter, and mapping the filtered distance data to Cartesian coordinates to obtain a measurement model below the waterline.
10. A system for reconstructing a three-dimensional structure of an ocean floating platform, which is characterized in that: comprises an acquisition module, a measuring model generation module above the water line, a measuring model generation module below the water line and an integral model generation module,
the acquisition module collects volumetric point cloud data above the waterline of a plurality of scanning planes from the surface of the floating platform above the waterline by using a laser radar, and transmits the volumetric point cloud data to the measuring model generating module above the waterline, and collects volumetric point cloud data below the waterline from the surface of the floating platform below the waterline by using a sonar sensor, and transmits the volumetric point cloud data to the measuring model generating module below the waterline;
the above-waterline measurement model generation module correlates the moving position of the laser radar with the volume point cloud data above the water lines of the plurality of scanning planes, integrates the volume point cloud data above the water lines of the plurality of scanning planes onto one plane, extracts the characteristics of the volume point cloud data above the water lines integrated onto one plane to obtain a measurement model above the water lines, and transmits the measurement model to the integral model generation module;
the under-waterline measurement model generation module extracts the characteristics of the volume point cloud data under the waterline to obtain a measurement model under the waterline, and the measurement model under the waterline is transmitted to the integral model generation module;
and the integral model generating module is used for combining the measuring model above the waterline and the measuring model below the waterline to obtain the integral surface model of the floating platform.
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