CN111856492B - Dynamic ship height measuring method and device - Google Patents
Dynamic ship height measuring method and device Download PDFInfo
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- CN111856492B CN111856492B CN202010574816.0A CN202010574816A CN111856492B CN 111856492 B CN111856492 B CN 111856492B CN 202010574816 A CN202010574816 A CN 202010574816A CN 111856492 B CN111856492 B CN 111856492B
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Abstract
The application discloses a dynamic ship height measurement method, which comprises the following steps: acquiring a first posture of a laser three-dimensional scanning device, and detecting and acquiring an initial position of a horizontal plane relative to the laser three-dimensional scanning device under the first posture; acquiring a second posture of the laser three-dimensional scanning device, detecting a ship under the second posture, and acquiring three-dimensional data of the ship; calculating a horizontal plane correction position based at least in part on a change in the second attitude relative to the first attitude; and calculating the height of the ship relative to the horizontal plane based on the three-dimensional data of the ship and the horizontal plane correction position. The application also discloses a dynamic ship height measuring device. According to the embodiment of the invention, the three-dimensional detection device is allowed to measure the height of the ship in a changing posture (dynamically), so that the flexibility of height measurement of the ship is obviously improved.
Description
Technical Field
The invention relates to a three-dimensional measurement technology, in particular to a dynamic ship height measurement method and device based on a laser three-dimensional scanning technology.
Background
When a ship passes through a ship lock or a bridge, the height of the ship needs to be remotely measured to avoid collision accidents caused by overhigh ship body or loaded containers. For this reason, different ship height measurement technologies have been developed. For example, a ship height measurement technique based on image processing captures a ship with a camera, and then obtains the ship height by processing the captured image. In addition, a laser radar-based ship height measurement technology has also been developed. For example, chinese patent CN109178234A discloses a ship freeboard height measuring system, which utilizes a water level gauge and a laser radar installed under a bridge to measure the height of the ship to avoid collision.
These existing ship height measurement technologies are mainly directed to the need for static or quasi-static measurement and monitoring of the ship height during, for example, bridge crossing and brake crossing of the ship. Accordingly, the existing ship height measuring technology is influenced by the installation design and the measuring principle of the device, the working distance is limited, and the device cannot be flexibly moved, so that the flexibility of use is insufficient.
Disclosure of Invention
It is an object of the present invention to provide a dynamic vessel altimetry method and apparatus which at least partially overcomes the deficiencies of the prior art vessel altimetry techniques.
According to one aspect of the invention, a dynamic ship height measurement method is provided, which comprises the following steps:
acquiring a first posture of a laser three-dimensional scanning device by using a posture detection device, detecting a horizontal plane by using the laser three-dimensional scanning device under the first posture, and acquiring a three-dimensional position of the horizontal plane relative to the laser three-dimensional scanning device, namely an initial position of the horizontal plane;
acquiring a second attitude of the laser three-dimensional scanning device by using the attitude detection device, and detecting a ship by using the laser three-dimensional scanning device under the second attitude to acquire three-dimensional data of the ship;
calculating a three-dimensional position of a horizontal plane relative to the laser three-dimensional scanning device in the second posture, namely a horizontal plane correction position, based at least in part on the change of the second posture relative to the first posture; and
and calculating the height of the ship relative to the horizontal plane based on the detected three-dimensional data of the ship and the calculated corrected position of the horizontal plane.
Preferably, the method may further comprise: moving the laser three-dimensional scanning device from a first position to a second position, wherein the first posture is the posture of the laser three-dimensional scanning device at the first position, and the second posture is the posture of the laser scanning device at the second position.
The attitude detection means may acquire the first attitude and the second attitude by one or more of astronomical navigation, inertial navigation, satellite navigation, radio navigation techniques.
Preferably, the attitude detecting device may include a gyroscope having a fixed positional relationship with respect to the laser three-dimensional scanning device.
Preferably, the method may further comprise: and when the laser three-dimensional scanning device is in the first posture, calibrating or resetting the gyroscope.
Preferably, the method may further comprise: and dynamically adjusting the field of view direction of the laser three-dimensional scanning device, so that the field of view of the laser three-dimensional scanning device covers the ship and the intersection line of the ship and the horizontal plane in the second posture.
In some embodiments, the laser three-dimensional scanning device may be mounted on a vessel; and said moving said laser three-dimensional scanning device from a first position to a second position may comprise: the laser three-dimensional scanning device is carried by the ship and moved from the first position to a second position. In this case, the attitude detecting means may be integrated with the laser three-dimensional scanning means. Or the laser three-dimensional scanning device is fixed relative to the ship, and the attitude detection device is installed on the ship.
Preferably, the first position is a shore-based position, and the second position is a position where the laser three-dimensional scanning apparatus is carried by a ship.
Preferably, the acquiring of the initial position of the horizontal plane in the method may include:
(a) detecting a plurality of three-dimensional points of a horizontal plane by using the laser three-dimensional scanning device, and randomly selecting partial points from the three-dimensional points as local interior points to obtain a local interior point set;
(b) fitting to obtain a plane model based on the local point set;
(c) testing other points except the local point in the plurality of three-dimensional points by using the plane model, and supplementing the points which are suitable for the plane model within a preset tolerance range as the local point to obtain an updated local point set;
(d) if the number of points in the updated local point set increases, repeating steps (b) to (d) based on the updated local point set until repeating the predetermined number of times or until the number of points in the updated local point set does not increase; and
(e) and taking the finally obtained plane model as the initial position of the horizontal plane.
According to another aspect of the present invention, there is provided a dynamic vessel altimeter apparatus, comprising: the laser three-dimensional scanning device is used for detecting three-dimensional data of a horizontal plane in a first posture and detecting three-dimensional data of a ship in a second posture; and attitude detecting means for detecting the first attitude and the second attitude of the laser three-dimensional scanning device.
In some implementations, the dynamic vessel altimetry apparatus may further include a calculation unit communicatively connected to the laser three-dimensional scanning device and the attitude detection device and configured to calculate a three-dimensional position of a horizontal plane with respect to the laser three-dimensional scanning device in the second attitude, that is, a horizontal plane corrected position, based on the three-dimensional data of the horizontal plane and the first and second attitudes, and calculate a height of the vessel with respect to the horizontal plane based on the horizontal plane corrected position and the three-dimensional data of the vessel.
Alternatively or additionally, the dynamic vessel altimeter may further include a communication unit communicatively connected to the laser three-dimensional scanning device and the attitude detection device, and configured to transmit at least part of the data detected by the laser three-dimensional scanning device and the attitude detection device to an external computing device.
Preferably, the attitude detecting device may include a gyroscope having a fixed positional relationship with respect to the laser three-dimensional scanning device.
In some implementations, the attitude detection device may be a detection device that acquires the first and second attitudes using one or more of astronomical navigation, inertial navigation, satellite navigation, radio navigation techniques, and is configured to detect changes in attitude of the laser three-dimensional scanning device.
Preferably, the dynamic ship height measuring device further comprises a photoelectric tracking platform, the laser three-dimensional scanning device is mounted on the photoelectric tracking platform, and the photoelectric tracking platform adjusts the field of view direction of the laser three-dimensional scanning device, so that the field of view of the laser three-dimensional scanning device covers the ship to be measured and the intersection line of the ship and the horizontal plane. In some examples, the gesture detection device may be integrated with the laser three-dimensional scanning device. In other examples, the attitude detection device may be integrated with the electro-optical tracking platform.
According to the embodiment of the invention, since the attitude of the laser three-dimensional scanning device is recorded and tracked and the horizontal plane position is corrected based on the attitude change, the laser three-dimensional scanning device is allowed to flexibly detect the horizontal plane and the ship respectively at different attitudes. In other words, the invention allows the three-dimensional detection device to measure the height of the ship in a changing posture (dynamically), and the flexibility of the height measurement of the ship is obviously improved.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic flow chart of a dynamic vessel altimetry method according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart diagram of one example of a method of calculating a horizontal plane initial position that may be employed in embodiments of the present invention;
FIG. 3 is a schematic block diagram of one example of a dynamic vessel altimeter, according to an embodiment of the present invention;
FIG. 4 schematically illustrates the detection of a horizontal plane in a first position at a first attitude using a laser three-dimensional scanning device in accordance with an embodiment of the invention;
FIG. 5 schematically illustrates the probing of a vessel in a second attitude at a second position using a laser three-dimensional scanning device, in accordance with an embodiment of the invention;
FIG. 6 is a schematic block diagram of another example of a dynamic vessel altimeter, according to an embodiment of the present invention;
FIG. 7 is a schematic view of a photoelectric tracking platform and its load that can be used in the dynamic marine altimeter shown in FIG. 6; and
fig. 8 is a schematic flow chart of an example of a dynamic vessel altimetry method according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. For convenience of description, only portions related to the invention are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
The inventor of the present invention has found that the need for maintaining the same attitude of the three-dimensional detection device in determining the level position and detecting the vessel is an important cause of the lack of flexibility of the existing vessel height measurement technology. In the existing ship height measuring technology, a three-dimensional detection device (such as a laser three-dimensional scanning device) is required to keep the same posture when determining the horizontal position and detecting the ship height. This is for example achieved by mounting the three-dimensional detection device in a fixed position, or by three-dimensional detection of the water surface and the vessel at substantially the same time (the three-dimensional detection device can only have one attitude at a time). However, with the former implementation, the installation pose of the three-dimensional detection device is fixed, which greatly limits the flexibility of the use place and the use mode; for the latter implementation, the detection of the water surface and the detection of the vessel are required to be highly synchronous, which puts high demands on the accuracy and the computing power of the device, and in the case that the three-dimensional detection device is in a constantly changing attitude, even a slight asynchronism can introduce a large measurement error.
At the same time, the inventors of the present invention have found that in practice the need for vessel height measurement exists not only at relatively fixed locations such as vessel bridge and lock; when a ship runs in a water area far away from a bridge or a port, the flexibility of water transportation management is greatly improved if the height of a passing ship can be measured in patrol ship cruising, for example.
In view of the above findings, the inventors propose a dynamic ship height measurement method.
Fig. 1 is a schematic flow chart of a dynamic vessel altimetry method 100 according to an embodiment of the present invention. As shown in fig. 1, the dynamic vessel altimetry method 100 includes the following processes:
s110, acquiring a first posture of a laser three-dimensional scanning device, detecting a horizontal plane by using the laser three-dimensional scanning device under the first posture, and acquiring a three-dimensional position of the horizontal plane relative to the laser three-dimensional scanning device, namely an initial position of the horizontal plane;
s120, acquiring a second posture of the laser three-dimensional scanning device, and detecting the ship by using the laser three-dimensional scanning device under the second posture to acquire three-dimensional data of the ship;
s130, calculating the three-dimensional position of the horizontal plane relative to the laser three-dimensional scanning device in the second posture, namely a horizontal plane correction position, at least partially based on the change of the second posture relative to the first posture; and
and S140, calculating the height of the ship relative to the horizontal plane based on the detected three-dimensional data of the ship and the calculated corrected position of the horizontal plane.
The acquiring of the first posture and the second posture of the laser three-dimensional scanning device in the processes S110 and S120 may be realized by a posture detection device. The laser three-dimensional scanning device and the attitude detecting device will be described below with reference to fig. 3, and will not be described herein.
In process S110, after three-dimensional data (three-dimensional points) of a horizontal plane is detected by the laser three-dimensional scanning device, an initial position of the horizontal plane may be acquired through a different three-dimensional modeling method. A plane can be fitted as the horizontal plane initial position, for example, by the RANSAC algorithm (random sample consensus algorithm) based on these points.
For ease of understanding, fig. 2 illustrates, by way of example and not limitation, one example of a method of acquiring a horizontal plane initial position, a horizontal plane initial position acquisition method 200, that may be applied in embodiments of the present invention.
As shown in fig. 2, the horizontal plane initial position acquisition method 200 may include:
s210, detecting a plurality of three-dimensional points of a horizontal plane by using a laser three-dimensional scanning device, and randomly selecting partial points from the three-dimensional points as local interior points to obtain a local interior point set;
s220, fitting based on the local point set to obtain a plane model;
s230, testing other points except the local point in the three-dimensional points by using the plane model, and supplementing the points which are suitable for the plane model within a preset tolerance range as the local point to obtain an updated local point set;
s240, judging whether the number of points in the updated local point set is increased, if so, processing S250 is carried out, and if not, processing S260 is carried out;
s250: judging whether the processes S220 and S230 have been repeated a predetermined number of times, if so, proceeding to the process S260, otherwise, returning to the process S220; and
s260: and taking the finally obtained plane model as the initial position of the horizontal plane.
It should be understood that the order of the two determinations performed in the above processing S240 and processing S250 may be exchanged; regardless of the order of the front and rear, the processing S240 and the processing S250 together are to realize the following processing: if the number of points in the updated local point set increases, the processes S220 to S240 are repeated based on the updated local point set until repeated a predetermined number of times or until the number of points in the updated local point set does not increase.
Described above with reference to fig. 2 is one example of a method for acquiring a horizontal plane initial position in the process S110 that can be applied to the dynamic ship height measurement method 100 according to the embodiment of the present invention shown in fig. 1. The following returns to continue describing other processing in method 100.
In process S120, the second attitude of the laser three-dimensional scanning device while probing the vessel may be an attitude different from the first attitude, and in applications where the present invention is intended to be applicable, the second attitude is typically different from the first attitude. Thus, by acquiring the first posture and the second posture in the processes S110 and S120, the initial position of the horizontal plane with respect to the laser three-dimensional scanning device in the first posture is corrected to the horizontal plane corrected position of the horizontal plane with respect to the laser three-dimensional scanning device in the second posture based on the changes of the first posture and the second posture in the process S130, and is used as a reference for calculating the ship height. The calculation of the correction of the horizontal position based on the attitude change may be performed by, for example, a rotation matrix of coordinate transformation, which is well known to those skilled in the art and will not be described herein.
In the process S130, other influence factors, such as a change in the distance of the laser three-dimensional scanning device from the horizontal plane, may also be considered in correcting the three-dimensional position of the horizontal plane with respect to the laser three-dimensional scanning device in the second posture. This can be measured, for example, by an accelerometer in the inertial navigation device in conjunction with a gyroscope. However, it should be understood that the invention is not limited in this respect.
Although in fig. 1 and the above description, the process S110 is described as being performed before the process S120, it will be understood by those skilled in the art that the process S110 may be performed after the process S120. In comparison, the process S110 before the process S120 is more advantageous for calculating the height of the ship more quickly after the ship is detected in three dimensions. Hereinafter, the case where the process S110 is performed first will be described as an example, but the present invention is not limited thereto.
In process S140, the three-dimensional position (horizontal plane corrected position) of the horizontal plane with respect to the laser three-dimensional scanning apparatus in the second posture is known (obtained by process S130), and the three-dimensional point cloud (three-dimensional data) of the ship to be measured with respect to the laser three-dimensional scanning apparatus in the same posture (second posture) is known (obtained by process S120), and the height of the ship with respect to the horizontal plane can be calculated based on both. The calculation can be realized by a common calculation method in the technical field of three-dimensional measurement, and is not described herein again.
According to the embodiment of the invention, since the attitude of the laser three-dimensional scanning device is recorded and tracked and the horizontal plane position is corrected based on the attitude change, the laser three-dimensional scanning device is allowed to flexibly detect the horizontal plane and the ship respectively at different attitudes. In other words, the invention allows the measurement of the vessel height with a varying attitude (dynamically). Therefore, according to the technical scheme of the invention, the ship height measuring device can be installed on a law enforcement ship, and the height of the passing ship can be dynamically tracked and measured on the water surface.
The laser three-dimensional scanning device usually has changed posture under the condition that the using place is changed; however, according to the embodiment of the present invention, since the attitude of the laser three-dimensional scanning device is tracked and the position of the horizontal plane relative to the laser three-dimensional scanning device can be corrected, the dynamic ship height measurement method 100 is particularly advantageous for applications requiring ship height measurement at different locations. Although not shown in fig. 1, the dynamic vessel altimetry method 100 according to an embodiment of the present invention may further include: and moving the laser three-dimensional scanning device from the first position to the second position. Wherein the first position is a position for performing the processing S110, and the second position is a position for performing the processing S120; accordingly, the first posture in the above-described processes S110 to S140 is the posture of the laser three-dimensional scanning apparatus at the first position, and the second posture is the posture of the laser scanning apparatus at the second position.
The dynamic vessel altimetry method 100 shown in fig. 1 can be implemented by the dynamic vessel altimetry apparatus according to the embodiment of the present invention. Fig. 3 schematically shows an example of the dynamic vessel height measurement device 1 according to the embodiment of the present invention.
As shown in fig. 3, the dynamic vessel altimeter 1 includes a laser three-dimensional scanning device 10 and an attitude detecting device 20, wherein the laser three-dimensional scanning device 10 is used for detecting three-dimensional data of a horizontal plane in a first attitude (see processing S110 in the method 100 shown in fig. 1) and detecting three-dimensional data of a vessel in a second attitude (see processing S120 in the method 100 shown in fig. 1), and the attitude detecting device 20 is used for detecting the first attitude and the second attitude of the laser three-dimensional scanning device.
The laser three-dimensional scanning device 10 may be any suitable device for achieving three-dimensional scanning based on laser, and the principles thereof are not limited to, for example, laser time-of-flight, structured light three-dimensional measurement, and the like. In a preferred embodiment, the laser three-dimensional scanning device 10 includes one or more lidar(s) for three-dimensional detection of the water surface and vessel.
The attitude detection device 20 may acquire the attitude of the laser three-dimensional scanning device 10 based on different technologies, such as one or more of astronomical navigation, inertial navigation, satellite navigation, and radio navigation technologies.
In a preferred embodiment, the gesture detection device 20 may comprise a gyroscope. In some embodiments, the gyroscope has a fixed positional relationship with the laser three-dimensional scanning device 10. In some embodiments, the gyroscope used to acquire the laser three-dimensional scanning device may be more than one gyroscope.
The dynamic vessel altimeter 1 may preferably further comprise a calculation unit 50. As shown in fig. 3, the calculation unit 50 is communicatively connected to the laser three-dimensional scanning device 10 and the attitude detection device 20, and may be configured to calculate a three-dimensional position of the horizontal plane with respect to the laser three-dimensional scanning device 10 in the second attitude, that is, a horizontal corrected position, based on the three-dimensional data of the horizontal plane detected by the laser three-dimensional scanning device 10 and the first attitude and the second attitude detected by the attitude detection device 20, and calculate a height of the vessel with respect to the horizontal plane based on the horizontal corrected position and the three-dimensional data of the vessel detected by the laser three-dimensional scanning device 10.
It should be understood that the dynamic vessel altimeter according to the embodiment of the present invention is not limited to the case where the calculation unit 50 is included. For example, as shown in fig. 3, alternatively or additionally, the dynamic ship height measuring device 1 may further include a communication unit 60, which may be in communication connection with the laser three-dimensional scanning device 10 and the attitude detecting device 20 (for clarity of illustration, a connection line representing a communication connection relationship is not shown in fig. 3), and configured to transmit at least part of data detected by the laser three-dimensional scanning device 10 and the attitude detecting device 20 to an external computing device, so as to complete at least part of the computing work by the external computing device. Furthermore, in some embodiments, the communication unit 60 may also be used to send the results of the vessel altitudes to an external receiving device.
Although the calculation unit 50 and the communication unit 60 are illustrated as separate parts from the laser three-dimensional scanning apparatus 10 and the posture detection apparatus 20 in the drawings, the calculation unit 50 and the communication unit 60 may be implemented as integrated on hardware with the laser three-dimensional scanning apparatus 10 and/or the posture detection apparatus 20.
An exemplary application of the dynamic vessel altimetry method and apparatus according to embodiments of the present invention is described below with reference to fig. 4 and 5.
FIG. 4 schematically illustrates the detection of a horizontal plane in a first attitude at a first position using a laser three-dimensional scanning device; fig. 5 shows the detection of a vessel in a second attitude at a second position using a laser three-dimensional scanning device.
As shown in fig. 4 and 5, the dynamic vessel altimeter 1 according to the embodiment of the present invention may be installed on a vessel a (e.g., a patrol vessel) and moved by the vessel a from a first position, for example, as shown in fig. 4, to a second position, as shown in fig. 5. In this case, the attitude detecting device 20 in the dynamic ship height measuring device 1 may be integrated with the laser three-dimensional scanning device 10 and mounted together on the ship; alternatively, the attitude detecting device 20 may be separate from the laser three-dimensional scanning device 10, the laser three-dimensional scanning device 10 may be fixed with respect to the ship a, and the attitude detecting device 20 may be mounted on the ship a.
Preferably, as shown in fig. 4, the first position for level detection is a shore-based position near the shore. Such a shore-based location is, for example, within a port where the vessel a can be moored relatively more smoothly at the surface, and where the surface of the water is also generally more calm relative to the surface of the open water, so that the laser three-dimensional scanning apparatus 10 can now have a relatively more stable first attitude (e.g., a static or quasi-static attitude). This is advantageous in improving the accuracy of the horizontal plane position detection. However, it should be understood that the present invention is not limited to the case where the first location is a shore-based location; the position at which the laser three-dimensional scanning device detects the horizontal plane may be any position suitable for detecting the horizontal plane position with a desired accuracy, for example, a water area away from the water bank but with a calm water surface.
In the case where the attitude sensing device 20 includes a gyroscope, it is preferable to perform attitude calibration or reset of the gyroscope in the first attitude to eliminate the accumulated error of the gyroscope.
As shown in fig. 5, a ship a may carry a dynamic ship height measuring device 1 according to an embodiment of the present invention to a vicinity, i.e., a second position, near a ship B (e.g., a cargo ship) to be detected. The laser three-dimensional scanning device 10 in the dynamic vessel altimeter 1 changes with the attitude of the vessel a, and therefore the laser three-dimensional scanning device 10 has a second attitude at the second position, which is generally different from the first attitude at the detection level at the first position. According to the present invention, at this time, the second attitude of the laser three-dimensional scanning device 10 is acquired by the attitude detecting device 20, and at the same time, the ship is detected by the laser three-dimensional scanning device 10 in the second attitude, and the three-dimensional data of the ship is acquired.
According to the embodiment of the present invention, the second attitude of the laser three-dimensional scanning device 10 may not be a static attitude when the ship is three-dimensionally detected, and more may be a dynamic attitude in practical applications. The term "attitude in dynamic state" refers to that the laser three-dimensional scanning device 10 may be in the process of changing attitude (for example, due to the wind and wave on the water surface or the running of the ship a) at the time of detecting the three-dimensional data of the ship, before and after, and the second attitude is the attitude of the laser three-dimensional scanning device in dynamic change which exactly corresponds to the time of detecting the ship B by the laser three-dimensional scanning device 10. Compared with the time synchronization precision of detecting the water surface position while the laser three-dimensional scanning device carries out three-dimensional detection on the ship B, the attitude of the laser three-dimensional scanning device can be acquired more synchronously in time through the attitude detection device such as a gyroscope, so that the dynamic ship height measuring method and the dynamic ship height measuring device according to the embodiment of the invention are more beneficial to reducing the ship height measuring error caused by the dynamic change of the attitude of the laser three-dimensional scanning device due to factors such as water surface stormy waves or ship running.
After the three-dimensional detection of the water level position and the vessel as shown in fig. 4 and 5, the processes S130 and S140 in the method 100 as shown in fig. 1 may be performed, for example, by the calculation unit 50 in the dynamic vessel altimeter 1 or a calculation device external thereto to obtain the height of the vessel relative to the water level.
In addition, in the application shown in fig. 4 and 5, the dynamic ship height measuring device 1 is mounted on the ship a and is placed on the ship a to be in the first position and the second position, and the height of the laser three-dimensional scanning device 10 in the dynamic ship height measuring device 1 relative to the horizontal plane is basically kept unchanged under the condition that the weight of the ship a does not change significantly. In this case, the influence of the above-described height variation on the three-dimensional position of the horizontal plane with respect to the laser three-dimensional scanning apparatus 10 in the second posture can be ignored.
Fig. 6 shows a preferred example of a dynamic vessel altimeter according to an embodiment of the present invention. The dynamic vessel height measuring device 1A shown in fig. 6 has substantially the same configuration as the dynamic vessel height measuring device 1 shown in fig. 3, except that the dynamic vessel height measuring device 1A further includes a photoelectric tracking platform 30.
For purposes of illustration only and not limitation, fig. 7 shows a schematic view of an electro-optical tracking platform 30 and its load 30' that may be used in the dynamic vessel altimeter shown in fig. 6. The opto-electronic tracking platform 30 may be mounted, for example, on the vessel a shown in fig. 4 and 5. The laser three-dimensional scanning device 10 is mounted on the photoelectric tracking platform 30, has a fixed posture with respect to the photoelectric tracking platform 30, and serves as at least a part of the load 30'.
In this way, the field of view direction of the laser three-dimensional scanning device 10 can be adjusted by the photoelectric tracking platform 30, so that the field of view of the laser three-dimensional scanning device 10 covers the ship to be measured (for example, the ship B shown in fig. 4 and 5) and the intersection line of the ship and the horizontal plane. Accordingly, the dynamic ship height measurement method according to the embodiment of the invention may further include: and dynamically adjusting the view field direction of the laser three-dimensional scanning device 10, so that the view field of the laser three-dimensional scanning device 10 covers the ship to be measured and the intersection line of the ship and the horizontal plane in the second posture.
In addition, in order to "track" the posture of the laser three-dimensional scanning device 10, the posture detection device 20 also needs to be mounted on the photoelectric tracking platform 30. In some implementations, the attitude detection device 20 may be integrated with the laser three-dimensional scanning device and mounted on the electro-optical tracking platform 30. Alternatively, in other implementations, the gesture detection device 20 may be integrated with the photoelectric tracking platform 30, for example, as part of the photoelectric tracking platform 30.
Fig. 8 is a schematic flow chart of an example of a dynamic vessel altimetry method according to an embodiment of the present invention. The method illustrated in fig. 8 can be better understood by referring to what is described above in connection with fig. 4-7.
As shown in fig. 8, a dynamic vessel altimetry method 300 according to an embodiment of the present invention includes:
s310: at a first position, acquiring a first posture of the laser three-dimensional scanning device by using a gyroscope, and calibrating or resetting the gyroscope;
s320: detecting a horizontal plane by using a laser three-dimensional scanning device under a first posture to obtain an initial position of the horizontal plane;
s330: moving a laser three-dimensional scanning device from a first position to a second position;
s340: dynamically adjusting the laser three-dimensional scanning device to a second posture so that the visual field of the laser three-dimensional scanning device covers the ship and the intersection line of the ship and the horizontal plane;
s350: acquiring a second posture of the laser three-dimensional scanning device, and detecting a ship by using the laser three-dimensional scanning device under the second posture to acquire three-dimensional data of the ship;
s360: calculating a three-dimensional position of the horizontal plane relative to the laser three-dimensional scanning device in the second posture, namely a horizontal plane correction position, based at least in part on the change of the second posture relative to the first posture; and
s370: and calculating the height of the ship relative to the horizontal plane based on the three-dimensional data of the ship and the horizontal plane correction position.
The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be appreciated by a person skilled in the art that the scope of the invention as referred to in the present application is not limited to the embodiments with a specific combination of the above-mentioned features, but also covers other embodiments with any combination of the above-mentioned features or their equivalents without departing from the inventive concept. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.
Claims (18)
1. A dynamic vessel altimetry method, comprising:
acquiring a first posture of a laser three-dimensional scanning device by using a posture detection device, detecting a horizontal plane by using the laser three-dimensional scanning device under the first posture, and acquiring a three-dimensional position of the horizontal plane relative to the laser three-dimensional scanning device, namely an initial position of the horizontal plane;
acquiring a second attitude of the laser three-dimensional scanning device by using the attitude detection device, and detecting a ship by using the laser three-dimensional scanning device under the second attitude to acquire three-dimensional data of the ship;
calculating a three-dimensional position of a horizontal plane relative to the laser three-dimensional scanning device in the second posture, namely a horizontal plane correction position, based at least in part on the change of the second posture relative to the first posture; and
and calculating the height of the ship relative to the horizontal plane based on the detected three-dimensional data of the ship and the calculated corrected position of the horizontal plane.
2. The dynamic vessel altimetry method of claim 1, wherein the method further comprises: moving the laser three-dimensional scanning device from a first position to a second position, wherein the first posture is the posture of the laser three-dimensional scanning device at the first position, and the second posture is the posture of the laser scanning device at the second position.
3. The dynamic vessel altimetry method of claim 1 or 2, wherein the attitude detection device acquires the first and second attitudes by one or more of astronomical navigation, inertial navigation, satellite navigation, radio navigation techniques.
4. The dynamic vessel altimetry method of claim 1 or 2, wherein the attitude detection device comprises a gyroscope having a fixed pose relationship with respect to the laser three-dimensional scanning device.
5. The dynamic vessel altimetry method of claim 4, wherein the method further comprises: and when the laser three-dimensional scanning device is in the first posture, calibrating or resetting the gyroscope.
6. The dynamic vessel altimetry method of claim 1 or 2, wherein the method further comprises: and dynamically adjusting the field of view direction of the laser three-dimensional scanning device, so that the field of view of the laser three-dimensional scanning device covers the ship and the intersection line of the ship and the horizontal plane in the second posture.
7. The dynamic vessel altimetry method of claim 2, wherein the laser three-dimensional scanning device is mounted on a vessel; and is
The moving the laser three-dimensional scanning device from a first position to a second position comprises: the laser three-dimensional scanning device is carried by the ship and moved from the first position to a second position.
8. The dynamic vessel altimetry method of claim 7, wherein the attitude detection device is integrated with the laser three-dimensional scanning device.
9. The dynamic vessel altimetry method of claim 7, wherein the laser three-dimensional scanning device is fixed relative to the vessel, and the attitude detection device is mounted on the vessel.
10. The dynamic vessel altimetry method of claim 2, wherein the first position is a shore-based position and the second position is a position where the laser three-dimensional scanning device is carried by a vessel.
11. The dynamic vessel altimetry method according to claim 1 or 2, wherein the acquiring of the horizontal plane initial position comprises:
(a) detecting a plurality of three-dimensional points of a horizontal plane by using the laser three-dimensional scanning device, and randomly selecting partial points from the three-dimensional points as local interior points to obtain a local interior point set;
(b) fitting to obtain a plane model based on the local point set;
(c) testing other points except the local point in the plurality of three-dimensional points by using the plane model, and supplementing the points which are suitable for the plane model within a preset tolerance range as the local point to obtain an updated local point set;
(d) if the number of points in the updated local point set increases, repeating steps (b) to (d) based on the updated local point set until repeating the predetermined number of times or until the number of points in the updated local point set does not increase; and
(e) and taking the finally obtained plane model as the initial position of the horizontal plane.
12. A dynamic vessel altimeter apparatus, comprising:
the laser three-dimensional scanning device is used for detecting three-dimensional data of a horizontal plane in a first posture and detecting three-dimensional data of a ship in a second posture;
an attitude detecting device for detecting the first attitude and the second attitude of the laser three-dimensional scanning device;
a calculation unit, which is connected with the laser three-dimensional scanning device and the attitude detection device in a communication way, and is configured to calculate a three-dimensional position of a horizontal plane relative to the laser three-dimensional scanning device in a second attitude, namely a horizontal plane correction position, based on the three-dimensional data of the horizontal plane and the first attitude and the second attitude, and calculate a height of the ship relative to the horizontal plane based on the horizontal plane correction position and the three-dimensional data of the ship.
13. The dynamic marine altimeter apparatus of claim 12, further comprising: a communication unit communicatively connected with the laser three-dimensional scanning device and the attitude detection device and configured to transmit at least part of the data detected by the laser three-dimensional scanning device and the attitude detection device to an external computing device.
14. The dynamic marine altimeter apparatus of claim 12, wherein the attitude detecting means comprises a gyroscope having a fixed positional relationship with respect to the laser three-dimensional scanning device.
15. The dynamic marine altimeter apparatus of claim 12, wherein the attitude detecting means is a detecting means for acquiring the first attitude and the second attitude using one or more of astronomical navigation, inertial navigation, satellite navigation, radio navigation techniques, and is configured to detect an attitude change of the laser three-dimensional scanning device.
16. The dynamic vessel altimeter of any one of claims 12-15, further comprising a photoelectric tracking platform on which the laser three-dimensional scanning device is mounted, the photoelectric tracking platform adjusting the direction of the field of view of the laser three-dimensional scanning device such that the field of view of the laser three-dimensional scanning device covers the vessel to be measured and the intersection line of the vessel and the horizontal plane.
17. The dynamic vessel altimeter apparatus of claim 16, wherein the attitude detecting means is integrated with the laser three-dimensional scanning device.
18. The dynamic marine altimeter apparatus of claim 16, wherein the attitude detecting means is integrated with the photoelectric tracking platform.
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