A spare part transmission method based on an intelligent ship

Abstract

The present invention discloses a spare part transmission method based on an intelligent ship. The three-dimensional model of the internal cabin of the ship is scanned and constructed through three-dimensional scanning technology; a drone model is constructed proportionally to the three-dimensional model of the internal cabin of the ship within the system; a spare part model proportional to the three-dimensional model of the internal cabin of the ship is constructed; the system randomly generates several paths for the drone to transmit spare parts and conducts collision tests on the generated paths; the actual transmission distance of each path is calculated among the paths passing the collision test, and all the paths are sorted in ascending order according to the distance; the first n paths in the sorted order of path distances are selected, and the path with the highest average height among them is selected as the best path, and the drone spare part transmission is carried out according to the best path. The present invention can automatically transmit ship spare parts through drones, can freely transmit ship spare parts in the complex space inside the cabin, saves manpower and material resources, and has high transmission efficiency.

Description

Technical Field

[0001] The invention relates to a method for conveying ship spare parts, in particular to a method for conveying spare parts based on intelligent ships, and belongs to the technical field of intelligent ships. Background Art

[0002] During the voyage, especially the ocean voyage, the ship is in a long mission time and failure is inevitable. Therefore, when the ship is sailing, a certain number of spare parts need to be stored for important parts. At present, the transmission process of spare parts is mainly to lift all spare parts from the dock to the ship through the lifting equipment of the ship or dock, and then lift the spare parts to the corresponding cabin layers through the lifting holes on the deck. At this time, these spare parts need to be manually sorted and transported one by one to the spare parts warehouse or the corresponding spare parts storage location in the engine room. The transportation of spare parts in a single-layer cabin generally relies on tools such as cranes or transport carts inside the cabin, but the setting range of the crane is limited and it cannot be directly transported to the corresponding location. Although the transport cart is more flexible than the crane, there are many obstacles in the cabin, especially the complex environment in the engine room, the transportation path is winding, and the efficiency is low. Smart ships are the development direction of future ships. In the future, the crew configuration on ships will inevitably be less or even unmanned. How to solve the problem of spare parts transmission at that time. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a spare parts transmission method based on intelligent ships to realize the full-automatic transmission of ship spare parts.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0005] A spare parts transmission method based on an intelligent ship, characterized by comprising the following steps:

[0006] S1. Scan and construct a 3D model of the internal cabin of the ship through 3D scanning technology;

[0007] S2. Constructing a drone model in proportion to the three-dimensional model of the ship's internal cabin within the system;

[0008] S3, constructing a spare parts model of equal proportion to the three-dimensional model of the internal cabin of the ship;

[0009] S4. The system randomly generates several paths for drones to transport spare parts, and performs collision tests on the generated paths;

[0010] S5. Calculate the actual transmission distance of each path among the paths that have passed the collision test, and sort all the paths in ascending order of distance;

[0011] S6. Select the top n paths by path distance sorting, and select the path with the highest average height among them as the best path, and perform UAV spare part transmission according to the best path.

[0012] Further, the specific steps of step S1 are as follows:

[0013] 1.1. Install a 3D scanner on the UAV, and the operator manually sets the UAV walking path according to the internal situation of the ship.

[0014] 1.2. The UAV equipped with a 3D scanner walks along the set walking path and scans the point cloud data of the internal compartments of the ship along the way. The UAV uploads the scanned point cloud data to the server in real time through the wireless communication module.

[0015] 1.3. After the server receives the point cloud data uploaded by the UAV, it splices the collected point cloud data in chronological order to form continuous point cloud data.

[0016] 1.4. After the UAV finishes scanning, the server splices all the scanned point cloud data to form a complete point cloud model, and establishes a 3D model of the internal compartments of the ship based on the point cloud model.

[0017] Further, the specific steps of step S2 are as follows:

[0018] 2.1. Build a 3D model of the UAV in 3D modeling software.

[0019] 2.2. Import the built 3D model of the UAV into the UAV spare part transmission system.

[0020] 2.3. Select a corresponding position in the 3D model of the internal compartments of the ship to measure the height and width values of the corresponding position of the actual ship.

[0021] 2.4. Measure the actual height and width values of the UAV, and adjust the proportion of the 3D model of the UAV in the 3D model of the internal compartments of the ship according to the ratio between the actual height and width values of the UAV and the actual height and width values of the ship, and complete the construction of the equal-proportion UAV model of the internal compartments of the ship.

[0022] Further, the specific steps of step S3 are as follows:

[0023] 3.1. When transmitting spare parts, collect the 3D point cloud data of the spare parts through a handheld 3D scanner.

[0024] 3.2. Construct a 3D model of the spare parts according to the collected 3D point cloud data of the spare parts.

[0025] 3.3. Import the constructed 3D model of the spare parts into the UAV spare part transmission system.

[0026] 3.4. Measure the height and width values at the corresponding position in the 3D model of the ship's internal compartment for the actual ship at the corresponding position;

[0027] 3.5. Measure the actual height and width values of the spare parts, and adjust the scale of the 3D model of the spare parts in the 3D model of the ship's internal compartment according to the ratio between the actual height and width values of the spare parts and the actual height and width values of the ship, and complete the construction of the equal-scale spare part model of the 3D model of the ship's internal compartment.

[0028] Further, the specific steps of step S4 are as follows:

[0029] 4.1. Through the indoor positioning system, determine the current position of the UAV as the starting position, select the ending position in the 3D model of the ship's internal compartment of the system, and the system randomly generates several paths for the UAV to deliver spare parts in the 3D model of the ship's internal compartment according to the starting position and the ending position;

[0030] 4.2. For each generated path, the system conducts a simulation delivery within the 3D model of the ship's internal compartment by the UAV model carrying the spare part model and conducts a collision test;

[0031] 4.3. If the UAV model carrying the spare part model collides with the 3D model of the ship's internal compartment during the collision test, delete this path;

[0032] 4.4. If the UAV model carrying the spare part model does not collide with the 3D model of the ship's internal compartment during the collision test, this path passes the collision test.

[0033] Further, the specific steps of step S5 are as follows:

[0034] 5.1. Calculate the actual delivery distance of each path among the paths that pass the collision test. The paths generated by the system are a set of points. Extract the coordinates of each point in the path in the 3D model of the ship's internal compartment;

[0035] 5.2. Select two adjacent points on a path and calculate the distance between the two points according to the coordinates of these two points;

[0036] 5.3. Calculate the distances between all the points on a path according to the method in 5.2, and sum up these distances to obtain the actual delivery distance of this path;

[0037] 5.4. Sort all the paths that pass the collision test in ascending order according to the actual delivery distance.

[0038] Further, the specific steps of step S6 are as follows:

[0039] 6.1. Select the n paths with the top n path distances from the sorted paths passing the collision test;

[0040] 6.2. For each of the selected top n paths, calculate the height of each point on the path from the bottom of the 3D model of the ship's internal compartment;

[0041] 6.3. Calculate the average value of the heights of all points on a path, and then sort all the paths in descending order according to the magnitude of the average value of the heights;

[0042] 6.4. Select the path with the largest average value of the height as the best spare part transmission path, and perform the UAV spare part transmission according to this path.

[0043] Compared with the prior art, the present invention has the following advantages and effects:

[0044] 1. The present invention can automatically transmit ship spare parts by UAV, can freely transmit ship spare parts in the complex space inside the cabin, and compared with manual transmission, the UAV transmission method saves manpower and material resources, and has high transmission efficiency, which is suitable for the current situation of fewer people in intelligent ships, and also lays a foundation for future unmanned ships;

[0045] 2. After the present invention constructs the 3D model of the ship's internal compartment through 3D imaging technology and automatically generates the UAV path, a simulation collision experiment is carried out to ensure that the selected path will not cause collision damage to the spare parts;

[0046] 3. The present invention selects based on the average height of the path, so that the UAV can fly as high as possible to avoid the crew below, fully considering personnel safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 is a flowchart of a method for transmitting spare parts based on an intelligent ship according to the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0048] In order to elaborate in detail the technical solutions adopted by the present invention to achieve the predetermined technical purposes, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments, and, without creative efforts, the technical means or technical features in the embodiments of the present invention can be replaced. The present invention will be described in detail below with reference to the drawings and in conjunction with the embodiments.

[0049] As Figure 1 shown, a method for transmitting spare parts based on an intelligent ship according to the present invention includes the following steps:

[0050] S1. Scan and construct a 3D model of the ship's internal cabins using 3D scanning technology.

[0051] 1.1. A 3D scanner is mounted on the drone, and the operator manually sets the drone's path according to the internal conditions of the ship. The set path is set in the center of the cabin as much as possible to avoid collision and ensure that the data obtained by scanning the cabin wall is more accurate.

[0052] 1.2. The drone is equipped with a 3D scanner and moves along the set walking path to scan the point cloud data of the ship's internal cabins along the way. The drone uploads the scanned point cloud data to the server in real time through the wireless communication module. The real-time data upload method can ensure that the service can stitch data while scanning, saving time for subsequent data processing.

[0053] 1.3. After receiving the point cloud data uploaded by the drone, the server will stitch the collected point cloud data in chronological order to form continuous point cloud data. Since the drone adopts a continuous scanning method, it only needs to stitch the scanned data in chronological order and select appropriate feature points as stitching points to complete the stitching of the point cloud data set.

[0054] 1.4. After the drone scan is completed, the server will stitch all the scanned point cloud data into a complete point cloud model, and build a three-dimensional model of the ship's internal cabin based on the point cloud model.

[0055] S2. Construct a drone model in proportion to the three-dimensional model of the ship's internal cabin within the system.

[0056] 2.1. Build a 3D model of the drone in the 3D model software. The construction of the 3D model of the drone can be relatively simple, as long as it matches the length and height of the actual drone's outline.

[0057] 2.2. Import the constructed 3D model of the UAV into the UAV spare parts delivery system;

[0058] 2.3. Select a corresponding position in the three-dimensional model of the internal cabin of the ship to measure the height and width values ​​of the corresponding position of the actual ship;

[0059] 2.4. Measure the actual height and width of the drone, and adjust the proportion of the 3D model of the drone in the 3D model of the ship's internal cabin according to the ratio between the actual height and width of the drone and the actual height and width of the ship, so as to complete the construction of the drone model in proportion to the 3D model of the ship's internal cabin.

[0060] S3. Construct a spare parts model in proportion to the three-dimensional model of the ship's internal cabin.

[0061] 3.1. When the spare parts are being transported, the 3D point cloud data of the spare parts is collected by a handheld 3D scanner;

[0062] 3.2. Based on the collected 3D point cloud data of the spare parts, a 3D model of the spare parts is constructed;

[0063] 3.3. The constructed 3D model of the spare parts is imported into the UAV spare parts transportation system;

[0064] 3.4. Select a corresponding position in the 3D model of the internal cabin of the ship to measure the height and width values of the corresponding position of the actual ship;

[0065] 3.5. Measure the actual height and width values of the spare parts, and adjust the scale of the 3D model of the spare parts in the 3D model of the internal cabin of the ship according to the ratio between the actual height and width values of the spare parts and the actual height and width values of the ship, and complete the construction of the equal-scale spare parts model of the 3D model of the internal cabin of the ship.

[0066] S4. The system randomly generates several paths for the UAV to transport spare parts and conducts collision tests on the generated paths.

[0067] 4.1. Through the indoor positioning system, determine the current position of the UAV as the starting position, select the ending position in the 3D model of the internal cabin of the ship in the system, and the system randomly generates several paths for the UAV to transport spare parts in the 3D model of the internal cabin of the ship according to the starting position and the ending position.

[0068] 4.2. For each generated path, the system conducts a simulation transportation of the spare parts model carried by the UAV model in the 3D model of the internal cabin of the ship and conducts a collision test;

[0069] 4.3. If the UAV model carrying the spare parts model collides with the 3D model of the internal cabin of the ship during the collision test, then delete this path; the paths that will collide with the inner wall of the ship's cabin or other parts will be eliminated through the simulated collision test to ensure the safety of the ultimately transported spare parts.

[0070] 4.4. If the UAV model carrying the spare parts model does not collide with the 3D model of the internal cabin of the ship during the collision test, then this path passes the collision test.

[0071] S5. Calculate the actual transportation distance of each path among the paths that pass the collision test, and sort all the paths in ascending order according to the distance.

[0072] 5.1. Calculate the actual transportation distance of each path among the paths that pass the collision test. The paths generated by the system are sets of points. Extract the coordinates of each point in the path in the 3D model of the internal cabin of the ship;

[0073] 5.2. Select two adjacent points on a path and calculate the distance between the two points based on their coordinates;

[0074] 5.3. Calculate the distances between all points on a path according to the method in 5.2, and sum these distances to obtain the actual transmission distance of this path;

[0075] 5.4. For all paths that pass the collision test, sort them in ascending order according to the actual transmission distance. Select the path with a smaller transmission distance to ensure the transportation efficiency and save the energy of the drone at the same time.

[0076] S6. Select the top n paths in the path distance sorting, and select the path with the highest average height among them as the best path, and perform the drone spare part transmission according to the best path.

[0077] 6.1. Select the top n paths in the path distance sorting among the sorted paths that pass the collision test;

[0078] 6.2. For each of the selected top n paths, calculate the height of each point on the path from the bottom of the three-dimensional model of the ship's internal cabin;

[0079] 6.3. Calculate the average value of the heights of all points on a path, and then sort all paths in descending order according to the size of the average value of the heights;

[0080] 6.4. Select the path with the largest average value of the heights as the best spare part transmission path, and perform the drone spare part transmission according to this path. Selecting the path with the highest height can ensure that the drone always maintains a relatively high operating height and can effectively avoid affecting the personnel moving inside the cabin.

[0081] The present invention can automatically transmit ship spare parts by drones, can freely transmit ship spare parts in the complex space inside the cabin, and compared with manual transmission, the drone transmission method saves manpower and material resources and has high transmission efficiency. By using three-dimensional imaging technology to construct a three-dimensional model of the ship's internal cabin and automatically generating the drone path, a simulation collision experiment is carried out to ensure that the selected path will not cause collision damage to the spare parts. By selecting the average height of the path, the drone can fly as high as possible to avoid the crew below, fully considering personnel safety.

[0082] The above are only the preferred embodiments of the present invention, and do not impose any form of limitation on the present invention. Although the present invention has been disclosed above with the preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art, without departing from the scope of the technical solution of the present invention, may make some changes or modifications using the above-disclosed technical content to form equivalent embodiments of equivalent changes. However, as long as it does not depart from the content of the technical solution of the present invention, and based on the technical essence of the present invention, within the spirit and principles of the present invention, any simple modification, equivalent replacement, and improvement made to the above embodiments still fall within the protection scope of the technical solution of the present invention.

Claims

1. A spare part transmission method based on an intelligent ship, characterized by comprising the following steps: S1. Scan and construct a three-dimensional model of the ship's internal compartments through three-dimensional scanning technology; The specific steps of step S1 are as follows: 1.

1. Mount a three-dimensional scanner on a drone, and an operator manually sets the drone's walking path according to the internal situation of the ship; 1.

2. The drone carrying the three-dimensional scanner walks along the set walking path and scans the point cloud data of the ship's internal compartments along the way. The drone uploads the scanned point cloud data to the server in real time through a wireless communication module; 1.

3. After the server receives the point cloud data uploaded by the drone, it splices the collected point cloud data in chronological order to form continuous point cloud data; 1.

4. After the drone finishes scanning, the server splices all the scanned point cloud data to form a complete point cloud model, and establishes a three-dimensional model of the ship's internal compartments based on the point cloud model; S2. Construct a drone model in proportion to the three-dimensional model of the ship's internal compartments within the system; The specific steps of step S2 are as follows: 2.

1. Build a three-dimensional model of the drone in three-dimensional modeling software; 2.

2. Import the built three-dimensional model of the drone into the drone spare part transmission system; 2.

3. Select a corresponding position in the 3D model of the ship's internal compartment and measure the height and width values of the corresponding position of the actual ship; 2.

4. Measure the actual height and width values of the UAV, and adjust the scale of the UAV's 3D model in the 3D model of the ship's internal compartment according to the ratio between the actual height and width values of the UAV and the actual height and width values of the ship, and complete the construction of the UAV model with the same scale as the 3D model of the ship's internal compartment; S3. Construct a spare part model with the same scale as the 3D model of the ship's internal compartment; The specific steps of step S3 are as follows: 3.

1. When transmitting spare parts, collect the three-dimensional point cloud data of the spare parts through a handheld three-dimensional scanner; 3.

2. Construct a three-dimensional model of the spare parts according to the collected three-dimensional point cloud data of the spare parts; 3.

3. Import the constructed three-dimensional model of the spare parts into the drone spare part transmission system; 3.

4. Select a corresponding position in the three-dimensional model of the ship's internal compartments and measure the height and width values of the corresponding position of the actual ship; 3.

5. Measure the actual height and width values of the spare parts, and adjust the proportion of the three-dimensional model of the spare parts in the three-dimensional model of the ship's internal compartments according to the ratio between the actual height and width values of the spare parts and the actual height and width values of the ship, and complete the construction of the proportional spare part model of the ship's internal compartments; S4. The system randomly generates several paths for the drone to transmit spare parts and conducts collision tests on the generated paths; S5. Calculate the actual transmission distance of each path among the paths that pass the collision test, and sort all the paths in ascending order of the distance. S6. Select the top n paths in the sorted order of path distances, and select the path with the highest average height among them as the optimal path, and perform the UAV spare part transmission according to the optimal path.

2. A method for transmitting spare parts based on an intelligent ship according to claim 1, wherein: The specific steps of step S4 are as follows: 4.

1. Through the indoor positioning system, determine the current position of the UAV as the starting position, select the ending position in the 3D model of the ship's internal compartment of the system, and the system randomly generates several paths for the UAV to deliver spare parts in the 3D model of the ship's internal compartment according to the starting position and the ending position; 4.

2. For each generated path, the system simulates the transportation of the spare part model carried by the UAV model in the 3D model of the ship's internal compartment and conducts a collision test; 4.

3. If the UAV model carrying the spare part model collides with the 3D model of the ship's internal compartment during the collision test, then delete this path; 4.

4. If the UAV model carrying the spare part model does not collide with the 3D model of the ship's internal compartment during the collision test, then this path passes the collision test.

3. A method for transmitting spare parts based on an intelligent ship according to claim 1, wherein: The specific steps of step S5 are as follows: 5.

1. Calculate the actual transmission distance of each path among the paths that pass the collision test. The paths generated by the system are sets of points. Extract the coordinates of each point in the path from the three-dimensional model of the ship's internal compartment. 5.

2. Select two adjacent points on a path, and calculate the distance between the two points according to the coordinates of these two points. 5.

3. Calculate the distances between all the points on a path according to the method in 5.2, and sum up these distances to obtain the actual transmission distance of this path. 5.

4. Sort all the paths that pass the collision test in ascending order of the actual transmission distance.

4. A method for transmitting spare parts based on an intelligent ship according to claim 1, wherein: The specific steps of step S6 are as follows: 6.

1. Select the top n paths in the sorted order of path distances among the paths that pass the collision test. 6.

2. For each of the selected top n paths, calculate the height of each point in the path from the bottom of the three-dimensional model of the ship's internal compartment. 6.

3. Calculate the average value of the heights of all the points in a path, and then sort all the paths in descending order of the magnitude of the average value of the heights. 6.

4. Select the path with the largest average value of the heights as the optimal spare part transmission path, and perform the UAV spare part transmission according to this path.

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