The invention discloses a high-precision measurement and automatic docking method suitable for a no-allowance block of a ship, and the method comprises the steps: carrying out the self-calibration of measurement equipment, and measuring the visible key points of the docking surface of the block and the coordinate position of each trolley target ball; performing rough matching on the fixed block and the movable block to obtain an initial rotation matrix and an initial translation matrix of the key point set of the block butt joint surface, and obtaining an accurate rotation matrix and an accurate translation matrix; determining the alignment mode of the moving block, determining the position of the trolley relative to the moving block according to the target sphere coordinate position of the trolley, and obtaining the movement planning track of the trolley in combination with the precise rotation matrix and the precise translation matrix; compensating the motion trail of the trolley to obtain a compensated path docking trail; dolly position data measured by the two measuring devices are fused, and the motion trail of the dolly is fed back and controlled. According to the method, automatic docking of ship blocks is realized through self-calibration of measuring equipment, data calculation, automatic attitude adjustment, compensation prediction and control feedback.
本发明公开了一种适应于船舶无余量总段的高精度测量及自动对接方法,包括:首先对测量设备进行自标定,测量总段对接面可见关键点和各小车靶球坐标位置;对固定总段和移动总段进行粗匹配,获得总段对接面关键点集的初始旋转矩阵和初始平移矩阵,并获得精确旋转矩阵和精确平移矩阵;确定移动总段对位方式,根据小车靶球坐标位置,确定小车相对移动总段的位置,结合精确旋转矩阵和精确平移矩阵,获得小车运动规划轨迹;对小车运动轨迹进行补偿,得到补偿后的路径对接轨迹;将两种测量设备测量的小车位置数据进行融合,反馈控制小车运动轨迹。本发明方法通过测量设备自标定、数据解算、自动调姿、补偿预测与控制反馈实现船舶总段的自动对接。
High-precision measurement and automatic docking method suitable for no-allowance block of ship
一种适应于船舶无余量总段的高精度测量及自动对接方法
2023-07-21
Patent
Elektronische Ressource
Chinesisch
IPC: | B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS |
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