An automatic station transfer measuring device and a measuring method for ship section docking using the device

Abstract

The application discloses an automatic station transfer measuring device and a measuring method for ship section butt joint using the device, and belongs to the field of automatic station transfer measuring device. The device comprises a movable bottom platform, a middle adjusting platform and a top adjusting platform. The middle adjusting platform comprises a preliminary jacking mechanism, a preliminary rotating mechanism and a middle lifting plate. The preliminary jacking mechanism is fixedly installed between the movable bottom platform and the middle lifting plate. The preliminary rotating mechanism is fixedly installed on the middle lifting plate. The top adjusting platform comprises an accurate jacking mechanism, an accurate rotating mechanism and a clamping mechanism. The accurate rotating mechanism is fixedly installed on the preliminary rotating mechanism. The accurate rotating mechanism is drivingly connected with the accurate jacking mechanism. The clamping mechanism is fixedly installed on the accurate jacking mechanism. The measuring instrument is fixedly installed on the clamping mechanism. The preliminary jacking mechanism is used for realizing initial lifting and rotation of the measuring instrument. The accurate rotating mechanism is used for realizing accurate rotation and lifting of the measuring instrument. The application is suitable for automatic station transfer measuring of various complex assembly terrains.

Description

Technical Field

[0001] This invention relates to engineering surveying technology, and in particular to an automatic transfer station surveying device and a surveying method for docking ship sections using the device. Background Technology

[0002] Currently, most shipyards in my country use the mega-block construction method for shipbuilding and assembly. During the assembly of two blocks, high-precision measurements of key points on the block are required. However, measuring instruments often cannot complete the measurement of all key points at a single station, necessitating manual instrument handling, which is time-consuming and labor-intensive. Furthermore, to prevent the instruments from being affected by external vibrations during manual handling, they must be shut down before being moved. Restarting the instruments requires a lengthy preheating period, resulting in excessive waiting time and a prolonged measurement cycle, severely impacting work efficiency.

[0003] A search revealed that patent document CN 113296112A discloses a mobile measuring trolley device for a laser tracker. This device uses wheels at the bottom to move the laser tracker forward, backward, left, and right, and a threaded transmission rod to adjust the laser tracker's height. This increases the flexibility of the laser tracker's adjustment and improves measurement efficiency. However, it still requires manual pushing, which is labor-intensive; furthermore, the laser tracker is a high-precision instrument, and this device lacks shock absorption design. Measurements in shipyards involve complex environments and obstacles, making manual movement difficult in confined spaces.

[0004] A search revealed that patent document CN 112710236B discloses a method for measuring the installation attitude of high-precision instruments on a spacecraft based on a laser tracker. This method uses a trolley to fix the laser tracker, thereby tracking the spacecraft's high-precision attitude and improving measurement accuracy and efficiency. However, it does not consider the complexity of the scene during attitude measurement, and the trolley lacks obstacle avoidance capabilities. Summary of the Invention

[0005] Purpose of the invention: One objective of this invention is to provide an automatic station-changing measurement device that is more stable, has better seismic resistance, and can adapt to various complex assembly terrains.

[0006] Another object of the present invention is to provide a measurement method for docking ship sections using the device.

[0007] Technical solution: An automatic station-changing measurement device of the present invention includes:

[0008] Movable bottom platform;

[0009] The central adjustment platform includes a preliminary lifting mechanism, a preliminary rotating mechanism, and a central lifting plate. The lower end of the preliminary lifting mechanism is fixedly installed on the movable bottom platform, and the upper end is fixedly installed on the bottom of the central lifting plate. The preliminary rotating mechanism is fixedly installed on the central lifting plate.

[0010] The top adjustment platform includes a precision lifting mechanism, a precision rotating mechanism, and a clamping mechanism. The precision rotating mechanism is fixedly installed on the preliminary rotating mechanism. The precision rotating mechanism and the precision lifting mechanism are connected by a drive. The clamping mechanism is fixedly installed on the precision lifting mechanism. The measuring instrument is fixedly installed on the clamping mechanism.

[0011] The initial lifting mechanism is used to achieve the initial lifting and lowering of the middle lifting plate, the initial rotating mechanism, and the top adjusting platform, thereby achieving the initial lifting and lowering of the measuring instrument; the initial rotating mechanism drives the precision rotating mechanism to rotate, thereby achieving the initial rotation of the measuring instrument; the precision rotating mechanism drives the precision lifting mechanism to rotate, thereby achieving the precise rotation of the measuring instrument; the precision lifting mechanism is used to achieve the lifting and lowering of the clamping mechanism, thereby achieving the precise lifting and lowering of the measuring instrument.

[0012] Preferably, the movable bottom platform includes a drive mechanism for moving and rotating the device in place, a shock absorption mechanism mounted on the drive mechanism for damping the device, an obstacle crossing mechanism fixed to the device housing for crossing obstacles, a vision module for identifying the terrain of the measurement site, a positioning module for positioning the device, and a control module; the receiver of the positioning module is set on the movable bottom platform, the transmitter is set on the measurement site, and the control module is used to control the entire device.

[0013] Preferably, the drive mechanism includes a base plate, a Mecanum wheel, a speed encoder, a first motor, and a universal bearing. The first motor is fixedly mounted on the base plate and drives the movement and rotation of the Mecanum wheel through the universal bearing. The speed encoder monitors the speed of the first motor and transmits the speed of the first motor to the control module. The control module controls the first motor and then adjusts the Mecanum wheel in real time.

[0014] The damping mechanism includes a damping spring and a linkage mechanism. One end of the damping spring is fixedly connected to the first motor, and the other end is fixedly connected to the Mecanum wheel. The linkage mechanism is used to limit the up and down vibration of the Mecanum wheel.

[0015] The obstacle-crossing mechanism includes a track device, a second motor, and an obstacle-crossing mechanism hydraulic rod. The second motor drives the track device to move, and the obstacle-crossing mechanism hydraulic rod is used to lift the track device. One end of the hydraulic rod is fixed to the outer shell of the device, and the other end is fixed to the track device.

[0016] Preferably, the initial lifting mechanism includes an initial lifting hydraulic rod and an initial lifting laser rangefinder. The lower end of the initial lifting hydraulic rod is fixedly installed on the movable bottom platform, and the upper end is installed on the bottom of the middle lifting plate. The initial lifting laser rangefinder is fixedly installed on the movable bottom platform to measure and provide feedback on the lifting of the initial lifting mechanism.

[0017] Preferably, the initial rotation mechanism includes a rack laser rangefinder, a central rotating gear, a central rotating platform, a slide rod base, a rack, a slide rod, and a cylinder. The central rotating platform is fixedly mounted on a central lifting plate, with the central rotating gear mounted on its circumferential side. The slide rod base is fixedly mounted on the central lifting plate, located on both sides of the central rotating platform. The rack is slidably connected to the slide rod base via the slide rod, and the rack meshes with the central rotating gear. The cylinder is mounted at one end of the slide rod base, and the rack laser rangefinder is mounted on the central lifting plate. During initial rotation, the cylinder controls the rack's movement, thereby driving the central rotating platform to rotate via the central rotating gear. Simultaneously, the rack laser rangefinder monitors and provides feedback on the rack's movement status, thus making the initial rotation angle adjustment of the central platform more accurate.

[0018] Preferably, the precision lifting mechanism includes a top lifting plate, a sleeve, a rack bearing, a gear, a third motor, and a precision lifting laser rangefinder. The top lifting plate is fixedly connected to the top rotating platform via the sleeve. The upper end of the rack bearing is fixedly installed at the bottom of the top lifting plate, and the lower end is fixedly installed on the top rotating platform. The rack bearing meshes with the gear. The third motor drives the gear to move the rack bearing up and down. The top lifting plate is lifted and lowered via the sleeve. The precision lifting laser rangefinder measures and provides feedback on the lifting and lowering of the top lifting plate, thereby achieving the precise lifting function.

[0019] Preferably, the precision rotation mechanism includes a top rotating gear, a rotating outer ring, a Hall encoder, and a fourth motor. The rotating outer ring is fixedly mounted on the initial rotation mechanism, and the Hall encoder is fixedly mounted on the rotating outer ring and meshes with the top rotating gear. The top rotating gear is located on the circumferential side of the top rotating platform of the precision lifting mechanism. The fourth motor drives the Hall encoder to move the top rotating gear, and at the same time, the Hall encoder monitors and provides feedback on the rotation angle of the top rotating gear, thereby achieving precise rotation of the measuring instrument.

[0020] Preferably, the clamping mechanism includes a chassis, a plurality of jaws evenly arranged along the circumference of the chassis, the jaws being rotatably connected to the chassis, and a device placement platform for mounting measuring instruments being provided at the center of the chassis, the jaws being used to clamp the measuring instruments.

[0021] Based on the same inventive concept, the present invention provides a measurement method for docking ship sections using the aforementioned automatic transfer station measurement device, comprising:

[0022] The automatic station-changing measurement device is hoisted into area I of the dock. The device is positioned by UWB positioning base stations on the first to fourth pillars around area I, achieving initial positioning. Then, the laser tracker is used to measure the first to eighth common reference point targets, thereby achieving precise positioning.

[0023] After positioning is completed, the spatial positions of key target points near Area I are measured for the mobile section and the fixed section. Then, the automatic station transfer measurement device travels from Area I to Area II. At this time, the base stations on the first and second positioning base station pillars are turned off, and the base stations on the fifth and sixth positioning base station pillars set around Area III are turned on to position the automatic station transfer measurement trolley. The traversal process is completed through the vision module and obstacle crossing mechanism.

[0024] Finally, the automatic station-switching measurement device enters area III. At this time, the base stations on the third and fourth positioning base station pillars are turned off, while the base stations on the seventh and eighth positioning base station pillars set around area III are turned on. The automatic station-switching measurement device completes the initial positioning through the UWB positioning module and completes the precise positioning by measuring the ninth to sixteenth common reference point targets through the laser tracker. Thus, it measures the spatial position of the key point targets of the moving section and the fixed section near area I, thereby completing the entire measurement process.

[0025] Furthermore, before the automatic station-changing measuring device moves to another station, the initial lifting mechanism and the precision lifting mechanism of the automatic station-changing measuring device are first lowered to the lowest position. Then, based on the pre-defined spatial position information of station II relative to station I, the deviation of the automatic station-changing measuring device in the XYZ direction is calculated, and the deviation value of the automatic station-changing measuring device in the spatial coordinate system is converted into the motion rotation trajectory of each Mecanum wheel.

[0026] The automatic station transfer measurement device avoids and overcomes obstacles during the transfer process using the following methods:

[0027] During the operation of the automatic station-crossing measurement device, if an insurmountable obstacle is encountered within the movement trajectory, the movement trajectory of the automatic station-crossing measurement device is replanned to avoid the obstacle; if an insurmountable obstacle is encountered within the movement trajectory, the obstacle is first identified by the vision module to determine the distance between the obstacle and the automatic station-crossing measurement device. When the distance between the automatic station-crossing measurement device and the obstacle reaches the preset distance, the Mecanum wheel stops running, the obstacle-crossing mechanism is lowered to cross the obstacle, and after the obstacle is crossed, the obstacle-crossing mechanism is retracted and the Mecanum wheel continues to drive the movement.

[0028] Beneficial effects: Compared with the prior art, the significant technical effects of the present invention are as follows:

[0029] (1) The present invention enables automatic station transfer of measuring equipment through mechanical structure, reducing manual input; enables the measuring device to rotate in place through Mecanum wheel, increasing the flexibility of the measuring device; and enables the measuring device to have shock absorption function through shock absorption mechanism, thereby ensuring the precision transportation of precision measuring equipment;

[0030] (2) The present invention enables the measuring device to cross the track through the obstacle crossing mechanism, enables the initial rotation and lifting of the measuring device through the middle adjustment platform, enables the precise rotation and lifting of the measuring device through the top adjustment platform, enables the measuring device to be subjected to force balance through the clamping mechanism, reduces the damage to the measuring device when clamping, guides the trolley to the accurate and suitable transfer station measurement point through the self-positioning method, and adapts to the assembly environment of the ship section through track crossing and automatic transfer.

[0031] (3) This invention can greatly reduce the transfer time and improve the transfer efficiency of measuring equipment through this device. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0033] Figure 2 This is a schematic diagram of the movable bottom platform structure of the present invention;

[0034] Figure 3 This is a schematic diagram of the shock absorption mechanism of the present invention;

[0035] Figure 4 This is a schematic diagram of the obstacle-crossing mechanism of the present invention;

[0036] Figure 5 This is a schematic diagram of the central adjustment platform structure of the present invention;

[0037] Figure 6 This is a schematic diagram of the top adjustment platform structure of the present invention;

[0038] Figure 7 This is a schematic diagram of the top adjustment platform clamping mechanism of the present invention;

[0039] Figure 8 This is the track crossing process control diagram of the present invention;

[0040] Figure 9 This is a top view of the overall section docking measurement of the present invention;

[0041] Figure 10 This is the positioning decision process control diagram of the present invention;

[0042] In the diagram: 1. Movable bottom platform; 2. Middle adjustment platform; 3. Top adjustment platform; 4. Measuring instrument; 5. Device housing; 101. Camera; 102. Ultra-wideband (UWB) receiver; 103. PLC controller; 201. Base plate; 202. Mecanum wheel; 203. Speed ​​encoder; 204. First motor; 205. Universal bearing; 206. First motor mounting structure; 207. Mecanum wheel mounting structure; 301. Shock-absorbing spring; 302. Linkage mechanism; 4. 01. Second motor; 402. Obstacle-crossing mechanism hydraulic rod; 403. Fixing plate; 404. Track wheel; 405. Track; 406. Track wheel fixing plate; 501. Initial lifting hydraulic rod; 502. Initial lifting laser rangefinder; 503. Middle lifting plate; 504. Rack and pinion laser rangefinder; 505. Middle rotating gear; 506. Middle rotating platform; 507. Slide rod base; 508. Rack; 509. Slide rod; 510. Cylinder; 601. Top lifting plate; 602. Sleeve. 603. Rack and pinion bearing; 604. Gear; 605. Third motor; 606. Precision lifting laser rangefinder; 607. Top rotating platform; 608. Bearing holder; 610. Top rotating gear; 611. Rotating outer ring; 612. Hall encoder; 613. Fourth motor; 701. Snap ring; 702. Strain gauge; 703. Equipment placement platform; 704. Electromagnetic coil; 705. Rotating rod; 706. Chassis; 707. First connecting rod; 708. Clamping mechanism hydraulic rod. 709. Second connecting rod; 901. Fixed main section; 902. Moving main section; 903. Track; 904. Automatic transfer station measurement station position I; 905. Automatic transfer station measurement station position II; 906. First positioning base station support; 907. Second positioning base station support; 908. Third positioning base station support; 909. Fourth positioning base station support; 910. Fifth positioning base station support; 911. Sixth positioning base station support; 912. Seventh positioning base station support; 913. Eighth positioning base station support. Detailed Implementation

[0043] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0044] This invention addresses the problems of laser trackers being highly precise, easily damaged, and slow to heat up; as well as the complex environment of ship assembly sites, with uneven ground, limited space, and inconvenient worker movement. It designs an automatic mobile device that can reduce vibration during movement, thereby enabling the laser tracker to automatically relocate. It also needs to have a certain obstacle-crossing capability to adapt to the complex environment of ship assembly sites.

[0045] The automatic station-changing measuring device of this invention is controlled by a PLC controller, positioned using an ultra-wideband (UWB) module, and identifies track obstacles using a camera. The bottom of the measuring device is connected to a shock-absorbing mechanism, which uses shock-absorbing springs connected to Mecanum wheels. These Mecanum wheels enable the measuring device to rotate in place, making its movement more flexible. The outer casing is connected to an obstacle-crossing mechanism, which is raised and lowered by three hydraulic rods and moved by tracks, allowing the measuring device to cross tracks. A middle adjustment platform is connected to and sits atop a movable bottom platform. The middle adjustment platform is initially lifted by hydraulic rods and initially rotated by a pneumatic rack and pinion system. A top adjustment platform is connected to and sits above the middle adjustment platform. The top adjustment platform is precisely lifted by a rack and pinion system and precisely rotated by gear transmission. The clamping mechanism is connected to and located on the top adjustment platform. The clamping mechanism has six clamps, and the tensioning and retraction of the clamping mechanism are achieved through hydraulic rods and connecting rods, thereby clamping the measuring equipment.

[0046] like Figure 1 As shown, the automatic station-changing measuring device of the present invention includes: a movable bottom platform 1, a middle adjustment platform 2 and a top adjustment platform 3. The measuring instrument 4 is installed on the top adjustment platform. In this embodiment, the measuring instrument is a laser tracker for measuring equipment.

[0047] The movable bottom platform includes a drive mechanism for moving and rotating the device in place, a shock absorption mechanism mounted on the drive mechanism to dampen the device's vibration, an obstacle-crossing mechanism fixed to the device's outer casing 5 for crossing obstacles, a vision module for identifying the terrain of the measurement site, a positioning module for positioning the device, and a control module. The receiver of the positioning module is located on the movable bottom platform, the transmitter is located at the measurement site, and the control module controls the entire device. The middle adjustment platform includes a preliminary lifting mechanism, a preliminary rotation mechanism, and a middle lifting plate. The lower end of the preliminary lifting mechanism is fixedly mounted on the movable bottom platform, and the upper end is fixedly mounted on the bottom of the middle lifting plate. The preliminary rotation mechanism is fixedly mounted on the middle lifting plate. The adjustment platform includes a precision lifting mechanism, a precision rotating mechanism, and a clamping mechanism. The precision rotating mechanism is fixedly mounted on the preliminary rotating mechanism, and the precision rotating mechanism and the precision lifting mechanism are driven together. The clamping mechanism is fixedly mounted on the precision lifting mechanism, and the measuring instrument is fixedly mounted on the clamping mechanism. The preliminary lifting mechanism is used to achieve the initial lifting and lowering of the middle lifting plate, the preliminary rotating mechanism, and the top adjustment platform, thereby achieving the initial lifting and lowering of the measuring instrument. The preliminary rotating mechanism drives the precision rotating mechanism to rotate, thereby achieving the initial rotation of the measuring instrument. The precision rotating mechanism drives the precision lifting mechanism to rotate, thereby achieving the precise rotation of the measuring instrument. The precision lifting mechanism is used to achieve the lifting and lowering of the clamping mechanism, thereby achieving the precise lifting and lowering of the measuring instrument.

[0048] like Figure 1 and Figure 2 As shown, the vision module includes cameras 101 positioned at the front and rear of the base plate 201 (or four cameras, two at the front of the vehicle and two at the rear, with cameras at the same end arranged symmetrically in pairs). The positioning module includes an ultra-wideband (UWB) receiver 102 mounted on the base plate and an ultra-wideband (UWB) positioning transmitter (i.e., positioning base station) mounted at the measurement site. The control module is a PLC controller 103 mounted on the base plate. The cameras 101 are used to identify the running track of the main section docking equipment. By identifying the track position through the cameras, the operation of the obstacle-crossing mechanism is controlled. The PLC controller 103 controls all motors installed on the measuring device. The positioning module realizes the positioning of the vehicle, thereby guiding the vehicle to an accurate and suitable transfer station measurement point.

[0049] like Figure 1 and Figure 2 As shown, the drive mechanism includes a base plate 201, a Mecanum wheel 202, a speed encoder 203, a first motor 204, and a universal bearing 205. The first motor 204 is fixedly mounted on the base plate 201 through a first motor mounting structure 206. The output shaft of the first motor 204 is connected to the universal bearing 205. The universal bearing 205 is connected to the shaft of the Mecanum wheel 202 through a Mecanum wheel mounting structure 207. The speed encoder 203 is mounted on the first motor 204. When the first motor 204 starts, it drives the universal bearing 205 to rotate, thereby driving the Mecanum wheel 202 to rotate. The speed encoder 203 monitors the rotation speed of the first motor 204 and transmits the rotation speed of the first motor 204 to the control module. The control module controls the first motor 204, thereby adjusting the Mecanum wheel 202 in real time.

[0050] like Figure 1 and Figure 3 As shown, the shock absorption mechanism includes a shock absorption spring 301 and a linkage mechanism 302. One end of the shock absorption spring 301 is connected to the first motor mounting structure 206, and the other end is fixedly connected to the Mecanum wheel 202. The linkage mechanism 302 is a parallelogram structure formed by two parallel connecting rods. The two ends of the connecting rods are respectively connected to the first motor mounting structure 206 and the Mecanum wheel mounting structure 207, which are used to limit the vertical vibration of the Mecanum wheel 202. During the operation of the automatic station measuring device, the shock absorption spring 301 absorbs the vibration of the device, thereby reducing the vibration of the measuring equipment caused by uneven ground and reducing the possibility of damage to the measuring equipment caused by vibration.

[0051] like Figure 1 and Figure 4As shown, the obstacle-crossing mechanism includes a track device, a second motor 401, an obstacle-crossing mechanism hydraulic rod 402, and a fixing plate 403. The track device includes track wheels 404, tracks 405, and track wheel fixing plates 406. The track wheel fixing plates 406 are used to connect and fix the front and rear track wheels 404, and the tracks 405 mesh with the front and rear track wheels 404. One end of the obstacle-crossing mechanism hydraulic rod 402 is fixed to the track wheel fixing plate 406, and the other end is fixedly installed on the device housing through the fixing plate 403. The second motor 401 is installed on the track wheel fixing plate 406. When the vision module identifies an obstacle that can be crossed, and the positioning module determines that the distance is appropriate, the obstacle-crossing mechanism hydraulic rod controls the track device to descend, and the second motor 401 drives the track wheels 404, causing the tracks 405 to rotate, thereby crossing the obstacle and realizing the obstacle-crossing operation of the measuring device.

[0052] In this embodiment, four Mecanum wheels are used to enable the measuring device to rotate in place, increasing its flexibility. The Mecanum wheels are connected to a shock-absorbing mechanism, which provides vibration damping for the measuring device, ensuring precise transport of the precision measuring equipment. A movable bottom platform is equipped with an obstacle-crossing mechanism, allowing the measuring device to traverse the track, thus expanding the applicable scenarios for the measuring device.

[0053] like Figure 1 and Figure 5 As shown, the initial lifting mechanism includes an initial lifting hydraulic rod 501 and an initial lifting laser rangefinder 502. The lower end of the initial lifting hydraulic rod 501 is fixedly installed on the base plate of the movable bottom platform, and the upper end is installed on the bottom of the middle lifting plate 503. The initial lifting laser rangefinder 502 is fixedly installed on the base plate of the movable bottom platform, close to the bottom of the initial lifting hydraulic rod 501, and is used to measure and provide feedback on the lifting of the initial lifting mechanism, thereby making the control more accurate. After the initial lifting is completed, the initial rotation is performed.

[0054] The initial rotating mechanism includes a rack and pinion laser rangefinder 504, a central rotating gear 505, a central rotating platform 506, a slide base 507, a rack 508, a slide rod 509, and a cylinder 510. The central rotating platform 506 is fixedly mounted on a central lifting plate 503, and the central rotating gear 505 is mounted on its circumferential side. The slide base 507 is fixedly mounted on the central lifting plate 503 and located on both sides of the central rotating platform 506. The rack 508 is slidably connected to the slide base 507 via the slide rod 509. The rack 508 meshes with the central rotating gear 505. The cylinder 510 is installed at one end of the slide base 507. The rack laser rangefinder 504 is installed on the central lifting plate 503, located at one end of the rack 508. During the initial rotation, the cylinder controls the movement of the rack 508, thereby driving the central rotating platform 506 to rotate through the central rotating gear 505. At the same time, the rack laser tracker 504 monitors and provides feedback on the movement status of the rack 508, thereby making the initial rotation angle adjustment of the central platform more accurate.

[0055] The initial lifting mechanism is driven by four initial lifting hydraulic rods 501, each equipped with an initial lifting laser rangefinder 502, arranged diagonally in pairs. The initial lifting mechanism measures using the initial lifting laser rangefinders 502, and the results are calculated by a host computer to achieve feedback control of the initial lifting. The initial rotation mechanism is equipped with two rack laser rangefinders 504, positioned on the shorter side of the racks and parallel to them. The initial rotation mechanism is driven by small cylinders, with the top of the cylinders connected to the racks. The racks are fixedly connected to a slide rod, and the rotating platform gears mesh with the racks. The cylinder drive mechanism is symmetrically distributed, and the rotation platform is adjusted by moving the racks. The initial lifting laser rangefinder 502 is installed at the end of the racks to detect the distance the racks have moved. The host computer calculates the distance to compensate for the cylinder movement.

[0056] like Figure 1 and Figure 6 As shown, the precision lifting mechanism includes a top lifting plate 601, a sleeve 602, a rack bearing 603, a gear 604, a third motor 605, and a precision lifting laser rangefinder 606. The top lifting plate 601 is fixedly connected to the top rotating platform 607 via the sleeve 602. The upper end of the rack bearing 603 is fixedly installed on the bottom of the top lifting plate 601, and the lower end is fixedly installed on the top rotating platform 607. The rack bearing 603 meshes with the gear 604. The top lifting plate 601 is lifted via the rack bearing 603. The third motor 605 drives the gear 604 to move the rack bearing up and down. The third motor is a self-locking brake motor, thus achieving the fixation of the top lifting plate after adjustment. The top lifting plate 601 is raised and lowered via the sleeve 602, and the precision lifting laser rangefinder 606 measures and provides feedback on the raising and lowering of the top lifting plate 601, thereby achieving the precise lifting function.

[0057] Furthermore, the gear 604 is fixedly mounted on the top rotating platform 607 via a gear support, and the rack bearing 603 is fixedly mounted on the top rotating platform 607 via a bearing mounting seat 608.

[0058] The precision rotation mechanism includes a top rotating gear 610, a rotating outer ring 611, a Hall encoder 612, and a fourth motor 613. The fourth motor is a self-locking brake motor. The rotating outer ring 611 is fixedly mounted on the initial rotation mechanism. When the initial rotation mechanism rotates, it drives the rotating outer ring 611 to rotate. At this time, the fourth motor 613 self-locks, so that the rotation of the initial rotation mechanism drives the entire precision rotation mechanism to rotate. The Hall encoder 612 is fixedly mounted on the rotating outer ring 611 and meshes with the top rotating gear 610. The top rotating gear 610 is located on the circumference of the top rotating platform 607 of the precision lifting mechanism. The fourth motor 613 drives the Hall encoder 612 to move the top rotating gear 610. At the same time, the Hall encoder 612 monitors and provides feedback on the rotation angle of the top rotating gear 610, thereby achieving precise rotation of the measuring instrument.

[0059] like Figure 1 and Figure 7 As shown, the clamping mechanism includes a chassis 706 and multiple jaws evenly arranged along the circumference of the chassis 706. The jaws are rotatably connected to the chassis 706. A device placement platform 703 for mounting measuring instruments is provided at the center of the chassis 706. The jaws are used to clamp the measuring instruments.

[0060] The chuck includes a retaining ring 701, a strain gauge 702, a rotating rod 705, a first connecting rod 707, a hydraulic rod 708, and a second connecting rod 709. The retaining ring 701 is rotatably connected to the chassis 706 via the rotating rod 705. The strain gauge 702 is disposed on the inner side of the retaining ring 701. The rotating rod 705 is connected to the equipment placement platform 703 via the first connecting rod 707 and the second connecting rod 709. An electromagnetic coil 704 is disposed on the equipment placement platform 703. The measuring device of this invention is a laser tracker, and the hydraulic rod 708 is connected to the first connecting rod 707, the second connecting rod 709, and the chassis 706, and moves in a rotational manner. In the initial state, the hydraulic rod 708 is lifted, thereby causing the retaining ring to expand outward. After the laser tracker is placed, the electromagnetic coil 704 is activated, and the stroke of the hydraulic rod 708 is shortened, thereby causing the retaining ring 701 to clamp. However, during the movement of the automatic station measuring device, uneven ground and track crossings will cause vibration to the measuring equipment. The clamping mechanism may be affected by bumps, which may cause uneven force on the measuring equipment and tilting problems. Therefore, the strain gauge 702 on the retaining ring 701 is used to detect the force, thereby controlling the stroke of each hydraulic rod separately. The force between each retaining ring and the measuring equipment is adjusted in real time to achieve uniform clamping force on the measuring equipment.

[0061] The precision rotation mechanism is driven by two motors, which in turn drive gears to rotate the mechanism. A Hall encoder is installed at the front end of each motor to calculate and feedback the motor's rotation, thus enabling precise adjustment of the rotation mechanism. The precision lifting mechanism is also driven by a motor using a rack and pinion transmission, ensuring smoother operation and self-locking after adjustment stops. Precise lifting is measured using a laser rangefinder, providing feedback on the lifting distance. This data is then processed by a host computer, and closed-loop feedback control is implemented for any deviations from the adjustment requirements, achieving precise adjustment of the lifting mechanism. The measuring equipment clamping device uses a connecting rod and end clamps, implemented with a hydraulic rod. The end clamps are equipped with strain gauges, and the force on these gauges is monitored during clamping. Feedback adjustment is provided for clamps where the clamping position does not meet the required force, ensuring balanced force on the measuring equipment and reducing damage during clamping.

[0062] A measurement method for docking ship sections using the aforementioned automatic transfer station measurement device includes:

[0063] The automatic station-switching measurement device is hoisted into area I of the dock. The device is positioned by the UWB positioning base stations on the first to fourth positioning base station pillars 906-909 set around area I, thus achieving the initial positioning of the automatic station-switching measurement device. Then, the laser tracker of the measurement equipment is used to measure the first to eighth common reference point targets M1-M8, thereby achieving precise positioning.

[0064] After positioning is completed, the spatial positions of key target points near Area I are measured in both the moving and fixed sections. Then, the automatic station-transfer measurement device travels from Area I to Area II. At this time, the base stations on the first and second positioning base station pillars 906 and 907 are turned off, while the base stations on the fifth and sixth positioning base station pillars 910 and 911 set around Area III are turned on to position the automatic station-transfer measurement vehicle. The device completes the crossing process steps through the vision module and obstacle-crossing mechanism.

[0065] Before the automatic station-changing measuring device moves to another station, the initial lifting mechanism and the precision lifting mechanism of the automatic station-changing measuring device are first lowered to the lowest position. Then, based on the pre-defined spatial position information of station II relative to station I, the deviation of the automatic station-changing measuring device in the XYZ direction is calculated, and the deviation value of the automatic station-changing measuring device in the spatial coordinate system is converted into the motion rotation trajectory of each Mecanum wheel.

[0066] The automatic station transfer measurement device avoids and overcomes obstacles during the transfer process using the following methods:

[0067] During the operation of the automatic station-crossing measurement device, if an insurmountable obstacle is encountered within the movement trajectory, the movement trajectory of the automatic station-crossing measurement device is replanned to avoid the obstacle; if an insurmountable obstacle is encountered within the movement trajectory, the obstacle is first identified by the vision module to determine the distance between the obstacle and the automatic station-crossing measurement device. When the distance between the automatic station-crossing measurement device and the obstacle reaches the preset distance, the Mecanum wheel stops running, the obstacle-crossing mechanism is lowered to cross the obstacle, and after the obstacle is crossed, the obstacle-crossing mechanism is retracted and the Mecanum wheel continues to drive the movement.

[0068] Finally, the automatic station-switching measurement device enters Area III. At this time, the base stations on the third and fourth positioning base station pillars 908 and 909 are turned off, while the base stations on the seventh and eighth positioning base station pillars 912 and 913 set around Area III are turned on. The automatic station-switching measurement device completes the initial positioning through the UWB positioning module and completes the precise positioning by measuring the ninth to sixteenth common reference point targets M9~M16 through the laser tracker. Thus, it measures the spatial position of the key target points near Area I in the moving section and the fixed section, thereby completing the entire measurement process.

[0069] The automatic transfer station measurement trolley needs to be driven and adjusted in a suitable way. Specifically: (1) The measurement trolley is positioned by establishing an ultra-wideband (UWB) positioning module, which consists of 8 positioning base stations and a receiver on the measurement trolley. (2) The terrain of the measurement field is identified by a camera on the movable bottom platform. For areas that are uneven and difficult to pass through or have large obstacles, the original ultra-wideband (UWB) path planning is intervened and a suitable path is recalculated to bypass the obstacle area. For areas that are easy to cross, such as tracks, the track crossing device is activated after the camera is identified, thereby realizing the crossing of the track. (3) After the measurement equipment is moved to the transfer station, the chassis of the measurement trolley is fixed, and then the measurement equipment is initially rotated, initially lifted, precisely rotated, and precisely lifted. The adjustment method combining initial adjustment and precise adjustment increases the efficiency and accuracy of the measurement equipment adjustment. (4) After the measuring instrument is placed, it is clamped by the top platform clamp. The end of the clamp is curved and is equipped with a strain gauge. By sensing the change of the strain gauge, the clamping device is more evenly stressed when fixing the measuring equipment, and the clamping device shakes when it is placed and stopped, thus reducing the damage to the measuring equipment.

[0070] After completing measurements at station I, the automatic transfer surveying device needs to move itself to station II smoothly. The specific process is as follows: First, the initial lifting mechanism and the precision lifting mechanism of the automatic transfer surveying device are lowered to their lowest possible levels. This prevents the center of gravity of the automatic transfer surveying trolley from being too high, which could cause tilting during movement. Furthermore, the complex site conditions during ship section docking mean that an excessively high trolley could potentially collide with overhead obstacles. Second, using the pre-defined spatial position information of station II relative to station I, the deviation of the automatic transfer surveying device in the XYZ directions is calculated. This deviation value in the spatial coordinate system is then converted into the rotational trajectory of each Mecanum wheel, and preliminary positioning is performed using an ultra-wideband (UWB) positioning module. The automatic transfer surveying device is controlled using fifth-order polynomial trajectory planning, resulting in smoother acceleration and more stable operation.

[0071] During the docking of ship sections, the automatic transfer station measurement device needs to be moved from one side of the ship section to the other. Since the two sections are typically mounted on a track trolley, the automatic transfer station measurement trolley needs to have the ability to judge and control track crossings. The track crossing process of the automatic transfer station measurement trolley is as follows: Figure 8 As shown. First, the bottom platform camera identifies the track and determines the distance between the track and the automatic transfer station measuring trolley. When the automatic transfer station measuring trolley reaches a suitable distance from the track, the Mecanum wheel stops, the hydraulic rod of the obstacle-crossing mechanism is controlled to lower the track wheel, and then the track is driven by the reduction motor to cross the obstacle. After the obstacle is crossed, the hydraulic rod is controlled to retract the obstacle-crossing mechanism, and the Mecanum wheel continues to move.

[0072] Top view of the overall section docking measurement method is as follows: Figure 9 As shown, where: 901—fixed section, 902—moving section, 903—track, 904—measuring station position I, 905—automatic station transfer measuring station position II, 906—first positioning base station support, 907—second positioning base station support, 908—third positioning base station support, 909—fourth positioning base station support, 910—fifth positioning base station support, 911—sixth positioning base station support, 912—seventh positioning base station support, 913—eighth positioning base station support. M1~M8 are the first set of common reference point targets, and M9~M10 are the second set of common reference point targets. The height of the first to fourth positioning base station supports increases sequentially to ensure accurate vertical spatial positioning of the automatic station transfer measuring trolley. The heights of the fifth and sixth positioning base station supports are the same as the heights of the first and second positioning base station supports, respectively, and the heights of the seventh and eighth positioning base station supports are the same as the heights of the third and fourth positioning base station supports, respectively.

[0073] The ultra-wideband (UWB) positioning module is equipped with 8 positioning base stations to reduce the problem of pulse signal obstruction by the on-site environment. The 8 positioning base stations are symmetrically distributed in the XY direction, and each base station in the Z direction is 20cm higher than the previous base station to ensure the accuracy of the vehicle's Z direction data measurement.

[0074] The overall measurement process is as follows: The automatic station transfer measurement device is hoisted into area I of the dock by a crane. At this time, the automatic station transfer measurement device cannot accurately reach the position of station I. Therefore, the automatic station transfer measurement device is positioned by the UWB positioning base stations on the first to fourth positioning base station pillars 906~909, thereby achieving the initial positioning of the automatic station transfer measurement trolley. After initial positioning, the error is greatly reduced. Then, the laser tracker is used to measure the common reference point targets M1~M8 to achieve precise positioning. After positioning, the spatial positions of key target points near Area I in the moving and fixed sections are measured. Then, the vehicle moves from Area I to Area II. At this time, the base stations on the first and second positioning base station pillars 906 and 907 are turned off, while the base stations on the fifth and sixth positioning base station pillars 910 and 911 are turned on to position the automatic station transfer measurement device. The vehicle completes the crossing process through the bottom camera and obstacle crossing procedure. Finally, the vehicle enters Area III. At this time, the base stations on the third and fourth positioning base station pillars 908 and 909 are turned off, while the base stations on the seventh and eighth positioning base station pillars 912 and 913 are turned on. The vehicle completes the initial positioning through the UWB positioning module and the visual measurement module. The laser tracker measures the common reference point targets M9~M16 to achieve precise positioning, thereby measuring the spatial positions of key target points near Area III in the moving and fixed sections. This completes the entire measurement process.

[0075] After initial positioning, track crossing, and obstacle avoidance of the automatic station transfer surveying trolley using ultra-wideband (UWB) and cameras 1-4, precise station position measurement of the trolley is required. Furthermore, the total adjustment stroke of the trolley's central adjustment platform and top adjustment mechanism needs to be determined. The determination process is as follows: Figure 10 As shown, the device achieves initial positioning via UWB and precise positioning by measuring a common reference point target. Adjustment is determined by checking if the distance between the current position and the theoretical position is less than the travel distance. If it is greater than the travel distance, the trolley position is adjusted again using the Mecanum wheel to bring the measuring device to a suitable position within its travel range. If it is less than the travel distance, the position of the measuring device is adjusted using the middle and top adjustment platforms.

[0076] An automatic station-changing measuring device of the present invention is a laser tracker mobile measuring trolley device, comprising a movable bottom platform, a middle adjustment platform, and a top adjustment platform. The movable bottom platform is moved using Mecanum wheels and driven by a motor, and has an obstacle-crossing mechanism, allowing it to traverse tracks via tracks. The middle adjustment platform includes a preliminary lifting mechanism and a preliminary rotating mechanism. The preliminary lifting mechanism is driven by four hydraulic rods to achieve preliminary adjustment of the measuring equipment within its vertical range. A laser rangefinder is installed at the bottom of the preliminary lifting mechanism to provide initial distance adjustment feedback. The preliminary rotating mechanism has a rotation range of 360° and is driven by a micro-cylinder to move a rack, which in turn moves a gear at the bottom of the rotating mechanism, thereby achieving preliminary angle adjustment of the measuring equipment. A laser rangefinder is installed at the rack end of the preliminary rotating mechanism to provide initial angle adjustment feedback. The top adjustment platform includes a precision lifting mechanism, a precision rotating mechanism, and a measuring equipment clamping mechanism. The precision lifting mechanism employs a rack and pinion structure to achieve precise platform lifting, with the rack and pinion driven by a motor. The precision rotation mechanism rotates via a motor-driven gear and speed-changing device. The rotating platform uses a Hall angle sensor for angle adjustment feedback. The equipment clamping device is hydraulically driven and uses a connecting rod. The ends of the clamping mechanism are independent, and strain gauge measurements ensure balanced force during clamping of the measuring equipment, preventing damage. The lifting platform uses a laser rangefinder for position feedback. To address complex on-site conditions, a camera is added to the bottom platform to identify tracks and obstacles, improving the adaptability of the automatic transfer trolley.

Claims

1. A measurement method for docking ship sections using an automatic transfer station measurement device, characterized in that, The automatic station-switching measurement device includes: Movable bottom platform (1); The middle adjustment platform (2) includes a preliminary lifting mechanism, a preliminary rotating mechanism and a middle lifting plate (503). The lower end of the preliminary lifting mechanism is fixedly installed on the movable bottom platform (1), and the upper end is fixedly installed on the bottom of the middle lifting plate (503). The preliminary rotating mechanism is fixedly installed on the middle lifting plate (503). The top adjustment platform (3) includes a precision lifting mechanism, a precision rotating mechanism and a clamping mechanism. The precision rotating mechanism is fixedly installed on the preliminary rotating mechanism. The precision rotating mechanism and the precision lifting mechanism are connected by a drive. The clamping mechanism is fixedly installed on the precision lifting mechanism. The measuring instrument is fixedly installed on the clamping mechanism. The initial lifting mechanism is used to realize the initial lifting of the middle lifting plate (503), the initial rotation mechanism and the top adjustment platform (3), thereby realizing the initial lifting of the measuring instrument; the initial rotation mechanism drives the precision rotation mechanism to rotate, thereby realizing the initial rotation of the measuring instrument; the precision rotation mechanism drives the precision lifting mechanism to rotate, thereby realizing the precise rotation of the measuring instrument; the precision lifting mechanism is used to realize the lifting of the clamping mechanism, thereby realizing the precise lifting of the measuring instrument. Before the automatic station-changing measuring device moves to another station, the initial lifting mechanism and the precision lifting mechanism of the automatic station-changing measuring device are first lowered to the lowest position. Then, based on the pre-defined spatial position information of station II relative to station I, the deviation of the automatic station-changing measuring device in the spatial coordinate system is calculated, and the deviation value of the automatic station-changing measuring device in the spatial coordinate system is converted into the motion rotation trajectory of each Mecanum wheel. The methods include: The automatic station transfer measurement device is hoisted into Area I of the dock. The device is positioned by the ultra-wideband positioning base stations on the first to fourth positioning base station pillars (906~909) set around Area I, thus achieving the initial positioning of the automatic station transfer measurement device. Then, the laser tracker of the measurement equipment is used to measure the first to eighth common reference point targets (M1~M8), thereby achieving precise positioning. After positioning is completed, the spatial positions of key target points near Area I are measured in both the moving and fixed sections. Then, the automatic station-transfer measurement device travels from Area I to Area II. At this time, the base stations on the first and second positioning base station pillars (906, 907) are turned off, while the base stations on the fifth and sixth positioning base station pillars (910, 911) set around Area III are turned on to position the automatic station-transfer measurement vehicle. The device completes the crossing process steps through the vision module and obstacle-crossing mechanism. Finally, the automatic station-switching measurement device enters area III. At this time, the base stations on the third and fourth positioning base station pillars (908, 909) are turned off, while the base stations on the seventh and eighth positioning base station pillars (912, 913) set around area III are turned on. The automatic station-switching measurement device completes the initial positioning through the ultra-wideband positioning module and completes the precise positioning by measuring the ninth to sixteenth common reference point targets (M9~M16) through the laser tracker. Thus, it measures the spatial position of the key point targets of the moving section and the fixed section near area I, thereby completing the entire measurement process. The height of the first to fourth positioning base station pillars increases sequentially to ensure accurate vertical positioning of the automatic station transfer measurement trolley. The heights of the fifth and sixth positioning base station pillars are the same as those of the first and second positioning base station pillars, respectively, and the heights of the seventh and eighth positioning base station pillars are the same as those of the third and fourth positioning base station pillars, respectively.

2. The method according to claim 1, characterized in that, The automatic station transfer measurement device avoids and overcomes obstacles during the transfer process using the following methods: During the operation of the automatic station-crossing measurement device, if an insurmountable obstacle is encountered within the movement trajectory, the movement trajectory of the automatic station-crossing measurement device is replanned to avoid the obstacle; if an insurmountable obstacle is encountered within the movement trajectory, the obstacle is first identified by the vision module to determine the distance between the obstacle and the automatic station-crossing measurement device. When the distance between the automatic station-crossing measurement device and the obstacle reaches the preset distance, the Mecanum wheel stops running, the obstacle-crossing mechanism is lowered to cross the obstacle, and after the obstacle is crossed, the obstacle-crossing mechanism is retracted and the Mecanum wheel continues to drive the movement.

3. The method according to claim 1, characterized in that, The movable bottom platform (1) includes a drive mechanism for driving the device to move and rotate in place, a shock absorption mechanism mounted on the drive mechanism to dampen the device, an obstacle crossing mechanism fixed to the device housing for crossing obstacles, a vision module for identifying the terrain of the measurement site, a positioning module for positioning the device, and a control module; the receiver of the positioning module is set on the movable bottom platform, the transmitter is set on the measurement site, and the control module is used to control the entire device.

4. The method according to claim 3, characterized in that, The drive mechanism includes a base plate (201), a Mecanum wheel (202), a speed encoder (203), a first motor (204), and a universal bearing (205). The first motor (204) is fixedly mounted on the base plate (201) and drives the movement and rotation of the Mecanum wheel (202) through the universal bearing (205). The speed encoder (203) monitors the speed of the first motor (204) and transmits the speed of the first motor (204) to the control module. The control module controls the first motor (204) and thereby adjusts the Mecanum wheel (202) in real time. The damping mechanism includes a damping spring (301) and a linkage mechanism (302). One end of the damping spring (301) is fixedly connected to the first motor (204), and the other end is fixedly connected to the Mecanum wheel (202). The linkage mechanism (302) is used to limit the up and down vibration of the Mecanum wheel (202). The obstacle crossing mechanism includes a track device, a second motor (401), and an obstacle crossing mechanism hydraulic rod (402). The second motor (401) drives the track device to move, and the obstacle crossing mechanism hydraulic rod (402) is used to lift the track device. One end of the hydraulic rod is fixed to the outer shell (5) of the device, and the other end is fixed to the track device.

5. The method according to claim 1, characterized in that, The initial lifting mechanism includes an initial lifting hydraulic rod (501) and an initial lifting laser rangefinder (502). The lower end of the initial lifting hydraulic rod (501) is fixedly installed on the movable bottom platform (1), and the upper end is installed on the bottom of the middle lifting plate (503). The initial lifting laser rangefinder (502) is fixedly installed on the movable bottom platform (1) to measure and provide feedback on the lifting of the initial lifting mechanism.

6. The method according to claim 1, characterized in that, The initial rotating mechanism includes a rack laser rangefinder (504), a central rotating gear (505), a central rotating platform (506), a slide base (507), a rack (508), a slide (509), and a cylinder (510). The central rotating platform (506) is fixedly mounted on the central lifting plate (503), and the central rotating gear (505) is mounted on its circumferential side. The slide base (507) is fixedly mounted on the central lifting plate (503) and located on both sides of the central rotating platform (506). The rack (508) passes through... The slide bar (509) is slidably connected to the slide bar base (507), the rack (508) meshes with the central rotating gear (505), the cylinder (510) is installed at one end of the slide bar base (507), and the rack laser rangefinder (504) is installed on the central lifting plate (503). During the initial rotation, the cylinder controls the rack to move, thereby driving the central rotating platform to rotate through the central rotating gear. At the same time, the rack laser rangefinder monitors and provides feedback on the rack's movement status, thereby making the initial rotation angle adjustment of the central platform more accurate.

7. The method according to claim 1, characterized in that, The precision lifting mechanism includes a top lifting plate (601), a sleeve (602), a rack bearing (603), a gear (604), a third motor (605), and a precision lifting laser rangefinder (606). The top lifting plate (601) is fixedly connected to the top rotating platform (607) through the sleeve (602). The upper end of the rack bearing (603) is fixedly installed at the bottom of the top lifting plate (601), and the lower end is fixedly installed on the top rotating platform (607). The rack bearing (603) meshes with the gear (604). The third motor (605) drives the gear (604) to drive the rack bearing (603) to move up and down. The top lifting plate (601) is lifted and lowered through the sleeve (602). The precision lifting laser rangefinder (606) measures and provides feedback on the lifting and lowering of the top lifting plate (601), thereby achieving the precision lifting function.

8. The method according to claim 1, characterized in that, The precision rotation mechanism includes a top rotating gear (610), a rotating outer ring (611), a Hall encoder (612), and a fourth motor (613). The rotating outer ring (611) is fixedly mounted on the initial rotation mechanism. The Hall encoder (612) is fixedly mounted on the rotating outer ring (611) and meshes with the top rotating gear (610). The top rotating gear (610) is located on the circumferential side of the top rotating platform of the precision lifting mechanism. The fourth motor (613) drives the Hall encoder (612) to drive the top rotating gear (610) to move. At the same time, the Hall encoder (612) monitors and provides feedback on the rotation angle of the top rotating gear (610), thereby realizing the precise rotation of the measuring instrument.

9. The method according to claim 1, characterized in that, The clamping mechanism includes a chassis (706) and multiple jaws evenly arranged along the circumference of the chassis (706). The jaws are rotatably connected to the chassis (706). A device placement platform (703) for installing measuring instruments is provided at the center of the chassis (706). The jaws are used to clamp the measuring instruments.

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