Low-stress ship section butt joint attitude adjustment system and control method thereof

Abstract

The application discloses a low-stress ship section butt joint attitude adjustment system and a control method thereof, and belongs to the technical field of ship assembly. The system comprises a fixed section, a movable section, attitude adjustment trolleys evenly arranged at four corners of the bottom of the movable section, a data acquisition module connected through mutual signals, a data processing module, a data storage module and a simulation module. A simulation butt joint site corresponding to an actual butt joint site is established, a main butt joint plan is established according to initial attitude data of key positioning target points of the fixed section, key positioning target points of the movable section and trolley positioning target points, butt joint of the actual butt joint site and the simulation butt joint site is simultaneously performed according to the main butt joint plan, and the butt joint plan is adjusted by monitoring position degree change in real time during the butt joint process, so that part damage and deformation caused by excessive butt joint stress are prevented, deformation of butt joint part caused by assembly stress due to forced assembly is avoided, assembly quality is improved, assembly stress is reduced, visual display of the assembly process is realized, and assembly precision and efficiency are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to a ship section docking attitude adjustment system and its control method, in particular provides a low stress ship section docking attitude adjustment system and its control method, belongs to the ship section docking technical field. BACKGROUND

[0002] In the shipbuilding industry, the docking assembly quality of the ship section directly relates to the overall manufacturing level of the ship, and the implementation method of the domestic section docking assembly is to reduce the error by proposing a measurement attitude adjustment method.

[0003] Chinese patent CN115583321A provides a ship section docking method, which obtains measured data by obtaining a point cloud model, reconstructs the assembly feature, performs pre-assembly analysis based on a three-dimensional reconstruction model, and then adjusts the point cloud data in real time according to the pre-assembly analysis result. The shortcomings of this method are that the data processing amount is large, the three-dimensional reconstruction model error is large, it is difficult to reflect the true situation, and it further affects the docking accuracy of the ship section, and cannot intuitively display the running state of the ship section assembly process. The intelligent regulation and control of the attitude adjustment equipment cannot be realized, and there is no effective monitoring and control method for the entire ship section docking process. It is easy to cause assembly stress due to forced assembly, causing deformation of the parts at the docking position, changing the attitude of the ship section, and seriously affecting the assembly quality. SUMMARY

[0004] The present application provides a low stress ship section docking attitude adjustment system and its control method, which can improve the assembly quality by simultaneously simulating the docking of the docking site and the actual docking site, monitoring the overall position degree change and individual position degree change in real time, and correcting and compensating the scheme or re-planning.

[0005] Technical scheme: A low stress ship section docking attitude adjustment system, comprising a fixed section, a moving section, an attitude adjustment trolley evenly arranged at the bottom of the moving section, a data acquisition module connected by mutual signal, a data processing module, a data storage module, and a simulation module.

[0006] The fixed section is provided with a fixed section key precision control point, and the moving section is provided with a moving section key precision control point. Corresponding fixed section key positioning target points and moving section key positioning target points are respectively installed at the fixed section key precision control points and the moving section key precision control points. Car positioning target points are respectively installed on the lower layer, middle layer and upper layer of the attitude adjustment trolley.

[0007] The data acquisition module fully covers the fixed section key positioning target points, the moving section key positioning target points and the car positioning target points in the field of view during the actual docking process.

[0008] The data processing module processes the coordinates of the fixed total section key positioning target point, the mobile total section key positioning target point and the trolley positioning target point in the global coordinate system; processes the three-dimensional modeling data of the fixed total section, the mobile total section and the pose adjustment trolley; and performs path docking trajectory planning;

[0009] The data storage module includes a process database, a measured database and a simulation database.

[0010] The simulation module completes three-dimensional modeling of the fixed total section, the mobile total section and the pose adjustment trolley based on the three-dimensional modeling data, and performs simulation docking to obtain the ideal coordinates of the mobile total section key positioning target point and the ideal coordinates of the trolley positioning target point in real time.

[0011] The application converts the camera coordinates of the key positioning target points of the fixed total section, the mobile total section and the pose adjustment trolley into the coordinates in the global coordinate system, then obtains the initial pose data in the actual docking site, and obtains the measured dimensions of the fixed total section, the mobile total section and the pose adjustment trolley through the data processing module, and calculates the three-dimensional modeling data and establishes the three-dimensional model of the simulation docking site according to the dimensions of the process database. The data processing module adjusts the docking plan in real time according to the docking situation of the simulation docking site, and avoids the deformation of the parts at the docking position caused by the assembly stress generated by forced assembly, improves the assembly quality, reduces the assembly stress in the docking process, effectively monitors and controls the whole ship docking process, and improves the assembly precision and efficiency and the assembly quality.

[0012] Preferably, in order to visualize the docking process, a data display module is further included, which displays the ideal and actual coordinate data, position degree change and simulation model docking process of the mobile total section key positioning target point and the trolley positioning target point in the actual docking and the simulation docking process in real time. The docking situation is sent to the data display module through the data processing module, the visual display of the running state of the ship total section assembly process is realized, the whole ship docking process is effectively monitored and controlled, and the assembly precision and efficiency and the assembly quality are improved.

[0013] Preferably, in order to obtain the coordinates of the fixed total section key positioning target point, the mobile total section key positioning target point and the pose adjustment trolley positioning target point, the data acquisition module includes a binocular vision camera and an auxiliary camera, the binocular vision camera fully covers the fixed total section key positioning target point and the mobile total section key positioning target point in the field of view in the actual docking process, and the auxiliary camera fully covers the trolley positioning target point in the field of view in the actual docking process.

[0014] A control method of a low-stress ship total section docking and pose adjustment system, comprising the following steps:

[0015] S1: Establish a simulation docking site corresponding to the actual docking site;

[0016] S11: Determine the initial pose data of the trolley positioning target point, the fixed total section key positioning target point and the mobile total section key positioning target point in the actual docking site: the fixed total section is fixedly arranged in the actual docking site, and the mobile total section is placed on the pose adjustment trolley. The pixel coordinates of the trolley positioning target point, the fixed total section key positioning target point and the mobile total section key positioning target point of each pose adjustment trolley in the video image are determined by calibrating the binocular vision camera and the auxiliary camera and determining the distortion coefficient. The data processing module converts the pixel coordinates into coordinates in the coordinate system of each binocular vision camera and auxiliary camera and further converts them into coordinates in the global coordinate system by combining the pixel coordinates and the parameters of the binocular vision camera and the auxiliary camera. The coordinates in the global coordinate system are sent to the simulation database and the measured database in the data storage module as the initial pose data of the trolley positioning target point, the fixed total section key positioning target point and the mobile total section key positioning target point in the actual docking site, and then S12 is entered;

[0017] S12: Calculate the three-dimensional modeling data of the actual docking site: the data processing module obtains the assembly relationship, structure data, theoretical size and accuracy requirement of the fixed total section, the mobile total section and the pose adjustment trolley from the process database in the data storage module, and respectively determines the main components and secondary components in the fixed total section and the mobile total section and the main components of the pose adjustment trolley according to the fixed total section key positioning target point, the mobile total section key positioning target point and the trolley positioning target point sent by the data acquisition module. The measured size of the main components of the fixed total section, the main components of the mobile total section and the main components of the pose adjustment trolley is obtained. The data processing module calculates the three-dimensional modeling data of the actual docking site according to the measured size and the data obtained from the process database, stores the data to the simulation database, and enters S13;

[0018] S13: Establish a simulation docking site: the simulation module establishes three-dimensional simulation models of the fixed total section, the mobile total section and the pose adjustment trolley according to the three-dimensional modeling data stored in the simulation database, and compares the fixed total section key positioning target point, the mobile total section key positioning target point and the trolley positioning target point in the unified simulation docking site and the actual docking site. The simulation module arranges the corresponding fixed total section, mobile total section and pose adjustment trolley in the simulation docking site according to the initial pose data of the trolley positioning target point, the fixed total section key positioning target point and the mobile total section key positioning target point of the actual docking site stored in the simulation database;

[0019] S2: Establishing main docking planning: the data processing module obtains the rotation matrix and the translation matrix of the mobile section docking according to the initial pose data of the fixed section key positioning target and the mobile section key positioning target stored in the measured database, thereby determining the docking mode of the mobile section, solving the motion distance of each degree of freedom of the pose adjustment trolley through inverse kinematics, obtaining the trolley motion trajectory planning as the main docking planning according to the motion distance, and sending the docking pose adjustment instruction to the pose adjustment trolley and the simulation module according to the main docking planning;

[0020] S3: Synchronously docking the simulation docking site and the actual docking site:

[0021] S31: Obtaining actual coordinates and ideal coordinates: the actual pose adjustment trolley and the simulation pose adjustment trolley control the mobile section to move towards the fixed section, the data acquisition module collects the information of the mobile section key positioning target and the trolley positioning target in real time and sends the information to the data processing module for processing to obtain the actual coordinates of the mobile section key positioning target and the actual coordinates of the trolley positioning target in the actual docking site, the simulation module obtains the ideal coordinates of the mobile section key positioning target and the ideal coordinates of the trolley positioning target according to the simulation docking site, and sends the actual coordinates and the ideal coordinates to the data display module and the data processing module, and compares the actual data and the ideal data in real time through the data display module; entering S32;

[0022] S32: Judging whether the docking stress causes deformation through the change of position degree: the data processing module calculates the overall position degree change and the individual position degree change in real time according to the actual data and the ideal data, judges whether the overall position degree change and the individual position degree change exceed the overall preset threshold t0 and the individual preset threshold t j , if yes, sends an alarm to the data display module and takes intervention measures, otherwise returns to S31 for continuous docking until the docking is completed.

[0023] The application establishes the simulation docking site corresponding to the actual docking site, establishes the main docking planning, synchronously docks the simulation docking site and the actual docking site, adjusts the docking planning in real time through the data display module to monitor the change of position degree in real time during the docking process, prevents the deformation of components caused by excessive docking stress, avoids the deformation of the docking part caused by assembly stress due to forced assembly, improves the assembly quality, reduces the assembly stress in the docking process, realizes the visual display of the running state of the ship section assembly process, effectively monitors and controls the entire ship docking process, and improves the assembly precision and efficiency.

[0024] Preferably, in order to determine the initial pose data of the trolley positioning target, the fixed section key positioning target and the mobile section key positioning target in the actual docking site, the specific steps of determining the global coordinate system coordinates in S11 are as follows:

[0025] At least 20 images are acquired using a binocular vision camera and an auxiliary camera. Camera calibration is performed to obtain the internal and external parameters of each camera. The distortion coefficients are calculated using linear least squares, and maximum likelihood estimation is used to optimize all parameters and coefficient values. Video images are segmented using machine vision technology to identify key positioning targets and vehicle positioning targets. A network model is trained using historical data to obtain a high-speed recognition model for key positioning targets in fixed sections, moving sections, and vehicle positioning targets, enabling real-time detection. The trained network model then yields pixel coordinates. The data processing module combines these pixel coordinates with the parameters of the binocular vision camera and the auxiliary camera to convert the pixel coordinates into coordinates in the coordinate systems of each binocular vision camera and the auxiliary camera, and then into coordinates in the global coordinate system. The details are as follows:

[0026] The formula for converting pixel coordinates into coordinates in the coordinate systems of each binocular vision camera and auxiliary camera is as follows:

[0027] Let the coordinates of point P in the global coordinate system be (Xw, Yw, Zw), and the coordinates of point P in the coordinate systems of each binocular vision camera and auxiliary camera be (Xc, Yc, Zc).

[0028]

[0029] Where u and v represent the number of rows and columns of the image point in the image, u0 and v0 represent the pixel coordinates of the origin of the physical coordinate system of the image, Sx and Sy are the number of pixels per millimeter in the u and v directions on the image plane, respectively, f is the focal length, Sx, Sy and f are the camera intrinsic parameters, γ is the distortion coefficient, and (Xc, Yc, Zc) are the three-dimensional coordinates of point P in the camera coordinate system.

[0030] The formula for converting to global coordinates is:

[0031]

[0032] Where F and g are the external parameters of the camera, F is the 3D rotation transformation, g is the translation transformation, and O is a 3×1 zero column vector.

[0033] In a preferred embodiment, in order to establish a simulation 3D model, the main components in S12 refer to the components that directly affect the accuracy of the key positioning target points, while the secondary components are the components that do not affect the accuracy of the key positioning target points. The main components need to be modeled through actual measurements to ensure that the actual data and ideal data are consistent during docking. The secondary components are modeled and their accuracy is established by obtaining theoretical data from the process database. The actual dimensions of the main components and the theoretical dimensions of the secondary components together construct the simulation 3D model.

[0034] Preferably, in order to obtain the actual coordinates and the ideal coordinates, the actual coordinates M of the key positioning target point of the moving section and the positioning target point of the trolley in the actual docking site as described in S31 are... j The actual coordinate matrix R is composed of the actual coordinates of the key positioning target points of the mobile section and the actual coordinates of the positioning target points of the trolley during the actual docking.

[0035] The ideal coordinates N of the key positioning target point of the moving section and the ideal coordinates N of the positioning target point of the trolley in the simulation docking site j The ideal coordinate matrix S is composed of the ideal coordinates of the key positioning target points of the moving section and the ideal coordinates of the trolley positioning target points during the simulation docking.

[0036] In a preferred embodiment, to determine whether the docking stress causes deformation through positional changes, the specific steps of S32 are as follows:

[0037] The overall positional variation ΔP0 is the absolute value of the difference between the actual coordinate matrix R and the ideal coordinate matrix S, and the individual positional variation ΔP j For the j-th actual coordinate M j With the j-th ideal coordinate N j The absolute value of the difference; M j N represents the j-th actual coordinate; j Represents the j-th ideal coordinate;

[0038] The preset total threshold is divided into t0 and T0, and the preset total threshold t0 is less than T0;

[0039] When ΔP0 < t0 and ΔP j >t j At this point, no docking error has occurred, so continue with the main docking plan and return to S31;

[0040] When t0 < ΔP0 < T0 or ΔP j >t j At this time, an error that can be corrected and compensated is generated. The data processing module obtains the real-time pose data of the moving segment and the fixed segment from the actual measurement database. With the ideal pose as the target, it plans a compensation docking scheme and converts it into a compensation pose adjustment command and sends it to the trolley. The pose adjustment trolley moves the moving segment to the ideal pose according to the compensation pose adjustment command. When the compensation pose adjustment command is completed, it continues to complete the main docking plan and returns to S31.

[0041] When ΔP0 > T0, the error generated at this time cannot be corrected or compensated, so we return to step S2 and replan the main docking plan.

[0042] Beneficial effects: This invention establishes a simulated docking site corresponding to the actual docking site. Based on the initial pose data of the key positioning target points of the fixed section, the key positioning target points of the moving section, and the positioning target points of the trolley, a main docking plan is established. Based on the main docking plan, docking is simultaneously performed at both the actual and simulated docking sites. During the docking process, the positional changes are monitored in real time to adjust the docking plan, preventing excessive docking stress from causing component damage and deformation. It also avoids deformation of parts at the docking site caused by assembly stress due to forced assembly, thus improving assembly quality, reducing assembly stress during the docking process, and enabling a visual display of the operational status of the ship section assembly process. This allows for effective monitoring and control of the entire ship docking process, improving assembly accuracy and efficiency. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0044] Figure 1 This is a flowchart of the control method of the present invention;

[0045] Figure 2 This is a schematic diagram of the structure of the present invention;

[0046] Figure 3 This is a partial enlarged view of the present invention;

[0047] Figure 4 This is a distribution diagram of the key precision control points of the fixed section docking surface and the key precision control points of the movable fixed section docking surface of the present invention. Detailed Implementation

[0048] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0049] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0050] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0051] like Figures 2-3 As shown, a low-stress ship section docking and attitude adjustment system includes a fixed section 1, a movable section 2, attitude adjustment trolleys 3 evenly distributed at the four corners of the bottom of the movable section 2, a data acquisition module 4, a data processing module 5, a data storage module 6, and a simulation module 7 that are interconnected by signals.

[0052] The fixed section 1 is provided with a key precision control point, and the moving section 2 is provided with a key precision control point. Corresponding key positioning target points 11 and 21 are installed on the key precision control points of the fixed section 1 and the moving section 2, respectively. Carriage positioning target points 31 are installed on the lower, middle and upper levels of the attitude adjustment car 3.

[0053] like Figure 4 As shown, in this embodiment, six pairs of corresponding key precision control points are set, namely, the key precision control points P1-P6 of the fixed section docking surface and the key precision control points Q1-Q6 of the movable fixed section docking surface.

[0054] During the actual docking process, the data acquisition module 4 provides full field of view coverage of the key positioning target 11 of the fixed section, the key positioning target 21 of the moving section, and the positioning target 31 of the trolley.

[0055] The data processing module 5 processes the coordinates of the fixed section key positioning target 11, the moving section key positioning target 21 and the trolley positioning target 31 in the global coordinate system; processes the three-dimensional modeling data of the fixed section 1, the moving section 2 and the attitude adjustment trolley 3; and performs path docking trajectory planning.

[0056] The data storage module 6 includes a process database, a measured database, and a simulation database;

[0057] The simulation module 7 completes the three-dimensional modeling of the fixed section 1, the moving section 2 and the attitude adjustment vehicle 3 based on the three-dimensional modeling data, and performs simulation docking, and obtains the ideal coordinates of the key positioning target point 21 of the moving section and the ideal coordinates of the positioning target point 31 of the vehicle in real time during the simulation docking.

[0058] The camera coordinates of key positioning target points of the fixed section, moving section, and attitude adjustment trolley are converted into their coordinates in the global coordinate system, thereby obtaining their initial pose data in the actual docking site. The data processing module obtains the measured dimensions of the fixed section, moving section, and attitude adjustment trolley, as well as the dimensions in the process database, to calculate the 3D modeling data and establish a 3D model of the simulated docking site. The data processing module adjusts the docking plan in real time based on the docking situation in the simulated docking site. By monitoring the docking situation in real time, it avoids the deformation of parts at the docking site caused by assembly stress due to forced assembly, improves the assembly quality, reduces the assembly stress during the docking process, and effectively monitors and controls the entire ship docking process, thereby improving assembly accuracy, efficiency, and assembly quality.

[0059] To visualize the docking process, a data display module 8 is also included. This module displays in real time the ideal and actual coordinate data, positional changes, and simulation model docking process of the key positioning target point 21 of the moving section and the trolley positioning target point 31 during the actual and simulated docking processes. The docking status is sent to the data display module via the data processing module, enabling a visual display of the ship section assembly process's operational status. This allows for effective monitoring and control of the entire ship docking process, improving assembly accuracy, efficiency, and quality.

[0060] In order to acquire the coordinates of the key positioning target points of the fixed section, the key positioning target points of the moving section, and the positioning target points of the attitude adjustment trolley, the data acquisition module 4 includes a binocular vision camera 41 and an auxiliary camera 42. The binocular vision camera 41 has a field of view that fully covers the key positioning target points 11 and 21 of the fixed section and the key positioning target points 21 of the moving section during the actual docking process. The auxiliary camera 42 has a field of view that fully covers the positioning target point 31 of the trolley during the actual docking process.

[0061] like Figure 1 As shown, a control method for a low-stress ship section docking and attitude adjustment system includes the following steps:

[0062] S1: Establish a simulated docking site that corresponds to the actual docking site;

[0063] S11: Determine the initial pose data of the trolley positioning target point 31, the fixed section key positioning target point 11, and the moving section key positioning target point 21 in the actual docking site: Fix the fixed section 1 in the actual docking site and place the moving section 2 on the attitude adjustment trolley 3. By calibrating the binocular vision camera 41 and the auxiliary camera 42 and determining the distortion coefficient, determine the pixel coordinates of the trolley positioning target point 31, the fixed section key positioning target point 11, and the moving section key positioning target point 21 of each attitude adjustment trolley 3 in the video image. The data processing module 5 combines the pixel coordinates with the parameters of the binocular vision camera 41 and the auxiliary camera 42 to convert the pixel coordinates into coordinates in the coordinate system of each binocular vision camera 41 and the auxiliary camera 42, and then into coordinates in the global coordinate system. The coordinates in the global coordinate system are sent as the initial pose data of the trolley positioning target point 31, the fixed section key positioning target point 11, and the moving section key positioning target point 21 in the actual docking site to the simulation database and the actual measurement database in the data storage module 6 before proceeding to S12.

[0064] S12: Calculate the 3D modeling data of the actual docking site: The data processing module 5 obtains the assembly relationship, structural data, theoretical dimensions and accuracy requirements of the fixed section 1, the moving section 2 and the attitude adjustment trolley 3 from the process database in the data storage module 6. Based on the key positioning target points 11 of the fixed section, 21 of the moving section and 31 of the trolley positioning target points sent by the data acquisition module 4, it determines the main and secondary components of the fixed section 1 and the moving section 2 and the main components of the attitude adjustment trolley 3 respectively. It measures and obtains the actual dimensions of the main components of the fixed section 1, the moving section 2 and the attitude adjustment trolley 3. The data processing module 5 calculates the 3D modeling data of the actual docking site based on the actual dimensions and the data obtained from the process database, stores the data in the simulation database, and proceeds to S13.

[0065] S13: Establishing a Simulated Docking Site: The simulation module 7 establishes three-dimensional simulation models of the fixed section 1, the moving section 2, and the attitude adjustment vehicle 3 based on the three-dimensional modeling data stored in the simulation database. It then compares the key positioning target points 11 of the fixed section, 21 of the moving section, and 31 of the vehicle with the key positioning target points 31 of the vehicle, the moving section, and the vehicle with the key positioning target points 21 of the moving section in the simulation docking site with the actual docking site. Based on the initial pose data of the vehicle positioning target points 31, the key positioning target points 11 of the fixed section, and the key positioning target points 21 of the moving section in the actual docking site stored in the simulation database, the simulation module 7 arranges the corresponding fixed section 1, moving section 2, and attitude adjustment vehicle 3 in the simulated docking site.

[0066] S2: Establish the main docking plan: The data processing module 5 processes the initial pose data of the fixed section key positioning target point 11 and the mobile section key positioning target point 21 stored in the measured database to obtain the rotation matrix and translation matrix of the mobile section 2 docking, thereby determining the docking mode of the mobile section 2. The motion distance of each degree of freedom of the attitude adjustment vehicle 3 is solved by inverse kinematics. The motion trajectory planning of the vehicle is obtained based on the motion distance as the main docking plan, and the docking attitude adjustment command is sent to the attitude adjustment vehicle 3 and the simulation module 7 according to the main docking plan.

[0067] S3: Simultaneously perform docking between the simulated docking site and the actual docking site:

[0068] S31: Obtaining Actual and Ideal Coordinates: The actual attitude adjustment trolley 3 and the simulated attitude adjustment trolley 3 control the moving section 2 to move towards the fixed section 1. The data acquisition module 4 collects information on the key positioning target point 21 of the moving section and the trolley positioning target point 31 in real time and sends it to the data processing module 5 for processing. After processing, the actual coordinates of the key positioning target point 21 of the moving section and the actual coordinates of the trolley positioning target point 31 in the actual docking site are obtained. The simulation module 7 obtains the ideal coordinates of the key positioning target point 21 of the moving section and the ideal coordinates of the trolley positioning target point 31 based on the simulated docking site. The actual and ideal coordinates are sent to the data display module 8 and the data processing module 5. The data display module 8 compares the actual data and the ideal data in real time; proceed to S32.

[0069] S32: Determining whether docking stress causes deformation by measuring positional variation: Data processing module 5 calculates the overall positional variation and individual positional variation in real time based on actual and ideal data, and determines whether the overall positional variation and individual positional variation exceed the overall preset thresholds t0 and T0 and the individual preset threshold t0. j If the threshold is exceeded, an alarm will be sent to the data display module 8 and intervention measures will be taken; otherwise, return to S31 to continue the connection until the connection is completed.

[0070] By establishing a simulated docking site corresponding to the actual docking site and creating a main docking plan, the docking of the simulated docking site and the actual docking site are carried out simultaneously. During the docking process, the positional changes are monitored in real time through the data display module to adjust the docking plan in real time, preventing excessive docking stress from causing component damage and deformation, and avoiding deformation of parts at the docking location due to assembly stress caused by forced assembly. This improves assembly quality, reduces assembly stress during the docking process, and enables a visual display of the operational status of the ship section assembly process. It also enables effective monitoring and control of the entire ship docking process, improving assembly accuracy and efficiency.

[0071] In order to determine the initial pose data of the trolley positioning target point 31, the fixed section key positioning target point 11, and the moving section key positioning target point 21 in the actual docking site, the specific steps for determining the global coordinate system coordinates in S11 are as follows:

[0072] At least 20 images are captured by the binocular vision camera 41 and the auxiliary camera 42. Camera calibration is performed to obtain the internal and external parameters of each camera. The distortion coefficients are obtained using the linear least squares method, and finally, maximum likelihood estimation is used to optimize all parameters and coefficient values. The video images are segmented using machine vision technology to identify key positioning targets and vehicle positioning targets 31. A network model is trained using historical data to obtain a high-speed recognition model for key positioning targets 11 in the fixed section, key positioning targets 21 in the moving section, and vehicle positioning targets 31 to achieve real-time detection. Then, the pixel coordinates are obtained through the trained network model. The data processing module 5 combines the pixel coordinates with the parameters of the binocular vision camera 41 and the auxiliary camera 42 to convert the pixel coordinates into coordinates in the coordinate system of each binocular vision camera 41 and the auxiliary camera 42, and then into coordinates in the global coordinate system, as follows:

[0073] The formula for converting pixel coordinates into coordinates in the coordinate systems of each binocular vision camera 41 and auxiliary camera 42 is as follows:

[0074] Let the coordinates of point P in the global coordinate system be Xw, Yw, Zw, and the coordinates of point P in the coordinate systems of each binocular vision camera 41 and auxiliary camera 42 be Xc, Yc, Zc.

[0075]

[0076] Where u and v represent the number of rows and columns of the image point in the image, u0 and v0 represent the pixel coordinates of the origin of the physical coordinate system of the image, Sx and Sy are the number of pixels per millimeter in the u and v directions on the image plane, respectively, f is the focal length, Sx, Sy and f are the camera intrinsic parameters, γ is the distortion coefficient, and Xc, Yc and Zc are the three-dimensional coordinates of point P in the camera coordinate system.

[0077] The formula for converting to global coordinates is:

[0078]

[0079] Where F and g are the external parameters of the camera, F is the 3D rotation transformation, g is the translation transformation, and O is a 3×1 zero column vector.

[0080] In order to establish a simulation 3D model, the auxiliary camera 42 uses the following components in S12: the main components are those that directly affect the accuracy of the key positioning target, and the secondary components are those that do not affect the accuracy of the key positioning target. The main components need to be modeled through actual measurements to ensure that the actual data and ideal data are consistent during docking. The secondary components are modeled and their accuracy is established by obtaining theoretical data from the process database. The actual size of the main components and the theoretical size of the secondary components together construct the simulation 3D model.

[0081] In order to obtain the actual coordinates and ideal coordinates, the auxiliary camera 42 obtains the actual coordinates M of the key positioning target point 21 of the moving section and the positioning target point 31 of the trolley in the actual docking site as described in S31. j The actual coordinate matrix R is composed of the actual coordinates of the key positioning target point 21 of the mobile section and the actual coordinates of the trolley positioning target point 31 during the actual docking.

[0082] The ideal coordinates N of the key positioning target point 21 of the moving section and the ideal coordinates N of the positioning target point 31 of the trolley in the simulation docking site. j The ideal coordinate matrix S is composed of the ideal coordinates of the key positioning target point 21 of the moving section and the ideal coordinates of the trolley positioning target point 31 during the simulation docking.

[0083] In order to determine whether the docking stress has caused deformation by the change in position, the auxiliary camera 42 performs the following specific steps in S32:

[0084] The overall positional variation ΔP0 is the absolute value of the difference between the actual coordinate matrix R and the ideal coordinate matrix S, and the individual positional variation ΔP j For the j-th actual coordinate M j With the j-th ideal coordinate N j The absolute value of the difference; M j N represents the j-th actual coordinate; j Represents the j-th ideal coordinate;

[0085] The preset total threshold is divided into t0 and T0, and the preset total threshold t0 is less than T0;

[0086] When ΔP0 < t0 and ΔP j >t j At this point, no docking error has occurred, so continue with the main docking plan and return to S31;

[0087] When t0 < ΔP0 < T0 or ΔP j >t jAt this time, an error that can be corrected and compensated is generated. The data processing module 5 obtains the real-time pose data of the moving segment 2 and the fixed segment 1 from the actual measurement database. With the ideal pose as the target, it plans a compensation docking scheme and converts it into a compensation pose adjustment command and sends it to the trolley. The pose adjustment trolley 3 moves the moving segment 2 toward the ideal pose according to the compensation pose adjustment command. When the compensation pose adjustment command is completed, it continues to complete the main docking plan and returns to S31.

[0088] When ΔP0 > T0, the error generated at this time cannot be corrected or compensated, so we return to step S2 and replan the main docking plan.

[0089] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0090] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A control method for a low-stress ship block docking and attitude adjustment system, applied to a ship block docking and attitude adjustment system, characterized in that, The ship section docking and attitude adjustment system includes a fixed section (1), a mobile section (2), attitude adjustment trolleys (3) evenly distributed at the four corners of the bottom of the mobile section (2), a data acquisition module (4), a data processing module (5), a data storage module (6), and a simulation module (7) that are interconnected by signals. The fixed section (1) is provided with a key precision control point, and the moving section (2) is provided with a key precision control point. Corresponding key positioning target points (11) and key positioning target points (21) of the fixed section (1) and the moving section (2) are installed at the key precision control points of the fixed section (1) and the moving section (2), respectively. Carriage positioning target points (31) are installed on the lower, middle and upper levels of the attitude adjustment car (3). The data acquisition module (4) provides full field of view coverage of the fixed section key positioning target (11), the mobile section key positioning target (21), and the trolley positioning target (31) during the actual docking process. The data processing module (5) processes the coordinates of the key positioning target point (11) of the fixed section, the key positioning target point (21) of the moving section and the positioning target point (31) of the trolley in the global coordinate system; processes the three-dimensional modeling data of the fixed section (1), the moving section (2) and the attitude adjustment trolley (3); and performs path docking trajectory planning. The data storage module (6) includes a process database, a measured database, and a simulation database; The simulation module (7) completes the three-dimensional modeling of the fixed section (1), the moving section (2) and the attitude adjustment vehicle (3) based on the three-dimensional modeling data, and performs simulation docking, and obtains the ideal coordinates of the key positioning target point (21) of the moving section and the ideal coordinates of the positioning target point (31) of the vehicle in real time during the simulation docking. It also includes a data display module (8), which displays in real time the ideal and actual coordinate data, position degree changes and simulation model docking process of the key positioning target point (21) of the moving section and the positioning target point (31) of the trolley during the actual docking and simulation docking process; The data acquisition module (4) includes a binocular vision camera (41) and an auxiliary camera (42). The binocular vision camera (41) provides full field of view coverage of the key positioning target point (11) of the fixed section and the key positioning target point (21) of the moving section during the actual docking process. The auxiliary camera (42) provides full field of view coverage of the vehicle positioning target point (31) during the actual docking process. The control method includes the following steps: S1: Establish a simulated docking site that corresponds to the actual docking site; S11: Determine the initial pose data of the trolley positioning target point (31), the fixed section key positioning target point (11), and the moving section key positioning target point (21) in the actual docking site: Fix the fixed section (1) in the actual docking site and place the moving section (2) on the attitude adjustment trolley (3). By calibrating the binocular vision camera (41) and the auxiliary camera (42) and determining the distortion coefficient, determine the trolley positioning target point (31), the fixed section key positioning target point (11), and the moving section key positioning target point (21) of each attitude adjustment trolley (3) in the video image. The pixel coordinates are combined with the parameters of the binocular vision camera (41) and the auxiliary camera (42) to convert the pixel coordinates into coordinates in the coordinate system of each binocular vision camera (41) and the auxiliary camera (42), and then into coordinates in the global coordinate system. The coordinates in the global coordinate system are used as the initial pose data of the trolley positioning target point (31), the fixed section key positioning target point (11), and the moving section key positioning target point (21) in the actual docking site. The data is then sent to the simulation database and the actual measurement database in the data storage module (6) and then enters S12. S12: Calculate the three-dimensional modeling data of the actual docking site: The data processing module (5) obtains the assembly relationship, structural data, theoretical dimensions and accuracy requirements of the fixed section (1), the moving section (2) and the attitude adjustment trolley (3) from the process database in the data storage module (6). Based on the key positioning target points (11), key positioning target points (21) and trolley positioning target points (31) of the fixed section sent by the data acquisition module (4), the main and secondary components in the fixed section (1) and the moving section (2) and the main components of the attitude adjustment trolley (3) are determined respectively. The measured dimensions of the main components of the fixed section (1), the main components of the moving section (2) and the main components of the attitude adjustment trolley (3) are obtained. The data processing module (5) calculates the three-dimensional modeling data of the actual docking site based on the measured dimensions and the data obtained from the process database, stores the data in the simulation database, and enters S13. S13: Establishing a simulation docking site: The simulation module (7) establishes three-dimensional simulation models of the fixed section (1), the moving section (2), and the attitude adjustment trolley (3) based on the three-dimensional modeling data stored in the simulation database. It then compares the key positioning target points (11), the key positioning target points (21), and the trolley positioning target points (31) of the fixed section with those of the moving section in the simulation docking site and the actual docking site. Based on the initial pose data of the trolley positioning target points (31), the key positioning target points (11), and the key positioning target points (21) of the fixed section in the actual docking site stored in the simulation database, the simulation module (7) arranges the corresponding fixed section (1), the moving section (2), and the attitude adjustment trolley (3) in the simulation docking site. S2: Establish the main docking plan: The data processing module (5) processes the initial pose data of the fixed section key positioning target point (11) and the mobile section key positioning target point (21) stored in the measured database to obtain the rotation matrix and translation matrix of the docking of the mobile section (2), thereby determining the docking mode of the mobile section (2). The motion distance of each degree of freedom of the attitude adjustment vehicle (3) is solved by inverse kinematics. The motion trajectory planning of the vehicle is obtained based on the motion distance as the main docking plan, and the docking attitude adjustment command is sent to the attitude adjustment vehicle (3) and the simulation module (7) according to the main docking plan. S3: Simultaneously perform docking between the simulated docking site and the actual docking site: S31: Obtain actual and ideal coordinates: The actual attitude adjustment trolley (3) and the simulated attitude adjustment trolley (3) control the moving section (2) to move towards the fixed section (1). The data acquisition module (4) collects the information of the key positioning target point (21) of the moving section and the positioning target point (31) of the trolley in real time and sends it to the data processing module (5) for processing to obtain the actual coordinates of the key positioning target point of the moving section (2) and the actual coordinates of the positioning target point (31) of the trolley in the actual docking site. The simulation module (7) obtains the ideal coordinates of the key positioning target point (21) of the moving section and the ideal coordinates of the positioning target point (31) of the trolley according to the simulated docking site. The actual coordinates and ideal coordinates are sent to the data display module (8) and the data processing module (5). The actual data and ideal data are compared in real time through the data display module (8). Enter S32; S32: Determine whether the docking stress causes deformation by the change in position: The data processing module (5) calculates the overall position change and individual position change in real time based on the actual data and ideal data, and determines whether the overall position change and individual position change exceed the overall preset threshold t0, T0 and the individual preset threshold t0. j If the limit is exceeded, an alarm will be sent to the data display module (8) and intervention measures will be taken; otherwise, return to S31 to continue the connection until the connection is completed.

2. The control method for the low-stress ship section docking and attitude adjustment system according to claim 1, characterized in that: The specific steps for determining the global coordinate system coordinates in S11 are as follows: At least 20 images are captured by taking pictures with a binocular vision camera (41) and an auxiliary camera (42). Camera calibration is performed to obtain the internal and external parameters of each camera. The distortion coefficient is obtained by linear least squares method. Finally, the maximum likelihood estimation is used to optimize all parameters and coefficient values. The video images are segmented by machine vision technology to identify key positioning targets and vehicle positioning targets (31). The network model is trained by using historical data to obtain a high-speed recognition model for key positioning targets (11) of the fixed section, key positioning targets (21) of the moving section, and vehicle positioning targets (31) to achieve real-time detection. Then, the pixel coordinates are obtained by the trained network model. The data processing module (5) combines the pixel coordinates with the parameters of the binocular vision camera (41) and the auxiliary camera (42) to convert the pixel coordinates into coordinates in the coordinate system of each binocular vision camera (41) and the auxiliary camera (42), and then converts them into coordinates in the global coordinate system, as follows: The formula for converting pixel coordinates into coordinates in the coordinate systems of each binocular vision camera (41) and auxiliary camera (42) is as follows: Let the coordinates of point P in the global coordinate system be (Xw, Yw, Zw), and the coordinates of point P in the coordinate systems of each binocular vision camera (41) and auxiliary camera (42) be (Xc, Yc, Zc). ； Where u and v represent the row and column numbers of the image point in the image, u0 and v0 represent the pixel coordinates of the image's physical coordinate origin, Sx and Sy are the number of pixels per millimeter in the u and v directions on the image plane, respectively, and f is the focal length. Sx, Sy, and f are the camera's internal parameters. That is, the distortion coefficients, (Xc, Yc, Zc) are the three-dimensional coordinates of point P in the camera coordinate system; The formula for converting coordinates to the global coordinate system is as follows: ； Where F and g are the external parameters of the camera, F is the 3D rotation transformation, g is the translation transformation, and O is a 3×1 zero column vector.

3. The control method for the low-stress ship section docking and attitude adjustment system according to claim 1, characterized in that: The main components in S12 refer to those that directly affect the accuracy of the key positioning target, while the secondary components are those that do not affect the accuracy of the key positioning target. The main components need to be modeled through actual measurements to ensure that the actual data and ideal data are consistent during docking. The secondary components are modeled and their accuracy is established by obtaining theoretical data from the process database. The actual dimensions of the main components and the theoretical dimensions of the secondary components together construct the simulation three-dimensional model.

4. The control method for the low-stress ship section docking and attitude adjustment system according to claim 1, characterized in that: The actual coordinates of the key positioning target point (21) of the moving section and the actual coordinates of the positioning target point (31) of the trolley in the actual docking site as described in S31 are M j The actual coordinate matrix R is composed of the actual coordinates of the key positioning target point (21) of the moving section and the actual coordinates of the positioning target point (31) of the trolley during the actual docking. The ideal coordinates N of the key positioning target point (21) of the moving section and the ideal coordinates N of the positioning target point (31) of the trolley in the simulation docking site j The ideal coordinate matrix S is composed of the ideal coordinates of the key positioning target point (21) of the moving section and the ideal coordinates of the trolley positioning target point (31) in the simulation docking.

5. The control method for the low-stress ship section docking and attitude adjustment system according to claim 1, characterized in that: The specific steps of S32 are as follows: The overall positional variation ΔP0 is the absolute value of the difference between the actual coordinate matrix R and the ideal coordinate matrix S, and the individual positional variation ΔP j For the j-th actual coordinate M j With the j-th ideal coordinate N j The absolute value of the difference; M j N represents the j-th actual coordinate; j Represents the j-th ideal coordinate; The overall preset threshold is divided into t0 and T0, and the overall preset threshold t0 is less than T0; When ΔP0 < t0 and ΔP j >t j At this point, no docking error has occurred, so continue with the main docking plan and return to S31; When t0 < ΔP0 < T0 or ΔP j >t j At this time, an error that can be corrected and compensated is generated. The data processing module (5) obtains the real-time pose data of the moving section (2) and the fixed section (1) from the actual measurement database. With the ideal pose as the target, it plans the compensation docking scheme and converts it into a compensation pose adjustment command and sends it to the trolley. The pose adjustment trolley (3) moves the moving section (2) to the ideal pose according to the compensation pose adjustment command. When the compensation pose adjustment command is completed, it continues to complete the main docking plan and returns to S31. When ΔP0 > T0, the error generated at this time cannot be corrected or compensated, so we return to step S2 and replan the main docking plan.

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