Dock approach channel inner wall positioning measurement device and method

Abstract

The application provides a kind of ship dock approach waterway inner wall positioning measuring device and method, device includes: handheld shell, it has: infrared light multi-point measuring unit (1) on it, it includes a plurality of ranging sensors according to the center of a circle symmetric arrangement on a vertical plane;Centering device (2) is configured to vertically downward laser emission realizes the centering of device;Inertial measurement unit (3) is configured to measure the pose of device;And two-way inclinometer (4) is configured to measure the horizontal angle of device in the direction of motion.Handheld device is along waterway movement, and waterway is scanned, and the distance measured using infrared light multi-point measuring unit, the position and heading angle of device obtained using inertial measurement unit, the longitudinal inclination β1 and transverse inclination β2 of device in the direction of travel given using two-way inclinometer, the position of each measured point of waterway inner wall is calculated, and all measured points are classified according to the distance of travel to each section, so as to obtain the geometric form of waterway section.

Description

Technical Field

[0001] The present invention relates to a positioning and measuring device and method for the inner wall of a ship dock waterway. Background Technology

[0002] The entrance to a dockyard cavern features a narrow waterway, and ships entering and exiting must understand its internal spatial characteristics to avoid collisions. In the context of the growing trend towards intelligent coastal engineering, rapid and automated modeling of the inner walls of dockyard waterways is a fundamental capability. Currently, the internal surface modeling of underground passages is generally accomplished using total station surveying or laser scanner scanning. For example, patent document "CN113808093A" provides a method for detecting the thickness of shotcrete in the initial support of a tunnel based on a 3D laser scanner. At least three checkerboard target plates are set on the surrounding rock behind the area to be measured, and the center points of the target plates are connected to form a plane. Before and after the initial support concrete is shotcreted, the area to be measured is measured using a 3D laser scanner to obtain first and second point cloud data. The first and second point cloud data are then stitched together, and the third point cloud data of the shotcrete area is extracted from the stitched point cloud data. The positioning reference for the stitched point cloud data is a plane. The thickness of the shotcrete is obtained by processing the third point cloud data using standard point cloud data. This method utilizes the high-precision measurement characteristics of a 3D laser scanner to measure multiple points on the tunnel wall, and then calculates the flatness and thickness difference based on supporting calculation software. For example, patent document "CN110108217A" discloses a method for analyzing the encroachment limits and thickness of the primary support and secondary lining of a tunnel. This method uses a 3D laser scanner to perform a 3D panoramic scan of the excavated tunnel, primary support, and secondary lining, obtaining 3D surrounding rock excavation point cloud, primary support scan point cloud, and secondary lining scan point cloud data. Utilizing 3D modeling and point cloud overlay technology, the 3D model and scanned point cloud are nested. By comparing the cross-section of the scanned point cloud with the tunnel design cross-section, the 2D or 3D encroachment limits of the primary support and secondary lining can be analyzed. This type of method, utilizing the high-precision measurement characteristics of 3D laser scanners or total stations, has the advantage of high accuracy, reaching the millimeter level; however, its disadvantages include slightly weaker adaptability. For example, in the waterways of dockyards and caverns, there is often no fixed ground for station operations, making this method unsuitable. Furthermore, the equipment positions on the inner walls of the waterway frequently change, requiring real-time updates, but this method is cumbersome to operate, difficult to implement frequently, and cannot provide the latest change measurement results. Summary of the Invention

[0003] This invention proposes a positioning and measurement device and method for the inner wall of a ship dock waterway, which fully considers the accuracy requirements of actual waterway inner wall measurement and analysis, and achieves the goals of being fast, efficient, accurate, and easy to use.

[0004] In a first aspect, a positioning and measuring device for the inner wall of a ship dock access channel is provided, comprising: a handheld housing having: an infrared multi-point measurement unit including multiple ranging sensors symmetrically arranged around a center on a vertical plane; a centering device configured to emit a laser vertically downward to center the device; an inertial measurement unit configured to measure the position (x, y, z) and heading angle θ of the device; and a bidirectional inclinometer configured to measure the longitudinal tilt angle β1 and the lateral tilt angle β2 of the device in the direction of motion. The measurement data of the infrared multi-point measurement unit, the inertial measurement unit, and the bidirectional inclinometer are transmitted to a computer, and the position of the measuring point on the inner wall of the channel is calculated on the computer using the following formula:

[0005] x L = x + sin(θ)·L·sin(α + β²)

[0006] y L = y + cos(θ)`L`sin(α + β2)

[0007] z L = z + L`sin(α + β2) + L`cos(β1)

[0008] Let the direction of the waterway axis be Y, the horizontal direction perpendicular to the axis be X, the vertical upward direction of gravity be Z, L be the distance of the measuring point measured by the infrared ranging sensor, and α be the angle of the infrared ranging sensor relative to the horizontal plane when measuring the distance of the measuring point.

[0009] The geometry of each cross-section is obtained by calculating the positions of all measuring points on each cross-section. A laser is emitted downwards using the centering device and aligned with the starting and ending points of the waterway inlet, which are then used as the starting and ending points of the measurement route. The bidirectional inclinometer displays the horizontal angle of the device for operator reference.

[0010] Secondly, a method for locating and measuring the inner wall of a ship dock entrance waterway is provided, comprising: holding the device and traveling by boat from the starting point to the ending point of the waterway entrance; using the centering device to emit a laser downwards at the starting point of the travel route to align with the starting point; activating the device and traveling towards the ending point, during which the inertial measurement unit provides the relative position change and heading angle θ of the device, the bidirectional inclinometer provides the longitudinal tilt angle β1 and the lateral tilt angle β2 of the device in the travel direction, and the infrared multi-point measurement unit measures the distance to the inner wall of the waterway; using the distance measured by the infrared multi-point measurement unit, the position and heading angle of the device obtained by the inertial measurement unit, and the longitudinal tilt angle β1 and the lateral tilt angle β2 of the device in the travel direction given by the bidirectional inclinometer, the position of each measured point on the inner wall of the waterway is calculated; all measured points are classified into each cross-section according to the travel distance, thereby obtaining the inner wall geometry of each waterway cross-section.

[0011] The device is kept horizontal while being used for measurement. During measurement, the device is oriented towards the endpoint. The bidirectional inclinometer displays the horizontal angle of the device for the operator's reference.

[0012] This invention allows for rapid scanning of the inner side of a waterway by moving the device handheld along the waterway. The geometric undulations of the inner wall surface are analyzed and calculated on-site, and the data is provided in real time to form a 3D model to guide the next navigation arrangement. It is very easy to use and helps reduce the labor intensity of technicians. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of a positioning and measuring device for the inner wall of a ship dock waterway, provided in an embodiment of the present invention.

[0014] Figure 2 This is a schematic diagram of an infrared multi-point ranging unit provided in an embodiment of the present invention.

[0015] Figure 3 A handheld device provided in an embodiment of the present invention Figure 1 The device shown measures the travel path of a ship along the inner wall of the dock access channel.

[0016] Figure 4 This is a schematic diagram of a waterway provided according to an embodiment of the present invention. Detailed Implementation

[0017] Figure 1 A schematic diagram of a positioning and measuring device for the inner wall of a ship's dock entrance waterway is shown. Figure 1 As shown, the device includes: a handheld housing and an infrared multi-point measurement unit 1, a centering device 2, an inertial measurement unit (IMU) 3, and a bidirectional tilt meter 4 mounted thereon.

[0018] like Figure 2 As shown, the infrared multi-point measurement unit 1 is a combination of a series of infrared ranging sensors arranged symmetrically around a central point on a plane. That is, the infrared ranging sensors are distributed on a circle, and each infrared ranging sensor has a defined angle on the circle (relative to the horizontal plane). A typical infrared ranging sensor can measure the distance to a rock face without a cooperative target within 20 meters, with an accuracy of 1 cm. The infrared multi-point measurement unit 1 is vertically mounted on a handheld casing.

[0019] A centering device is a universal device used on surveying instruments such as total stations and levels to ensure that the optical center of the instrument and the control point are on the same vertical line. The device described in this invention uses a centering device 2.

[0020] The inertial measurement unit 3 is an instrument commonly used in the industry for calculating relative position and relative angle changes. Its built-in software can calculate and give the displacement (Δx, Δy, Δz) and heading angle θ of the device relative to the starting point.

[0021] A bidirectional inclinometer (also known as an electronic compass / biaxial inclinometer) is an industry-standard instrument for measuring angles relative to the Earth's horizontal plane. When the device is moved by hand, the bidirectional inclinometer can provide the longitudinal tilt angle β1 and the lateral tilt angle β2 in the direction of travel.

[0022] The handheld housing that supports the entire device has a handle 5, which allows the operator to hold the device while making measurements and maintain its posture.

[0023] The method for measuring the inner wall of the dock entrance channel using the aforementioned device is as follows:

[0024] 1) The starting point Start(X0,Y0) and ending point Stop(X1,Y1) of the waterway, as specified during its construction, are used as the line control for the handheld device's movement and measurement. Figure 3 The route for the field survey was shown. Figure 4 The waterway is shown; in space, one can board the ship from the dock platform and take measurements by boat; while moving, the operator holds the device horizontally (the bidirectional inclinometer displays the horizontal angle for the operator's reference) and tries to keep the device facing the end point.

[0025] 2) The operator holds handle 5 and uses centering device 2 to center the device at the starting point. Generally, laser point centering is used, that is, the centering device 2 emits a laser point downwards and aligns it with the starting point Start(X0,Y0) of the waterway inlet as the starting point of the measurement route.

[0026] 3) Start the device and move towards the termination point. During this time, the inertial measurement unit 3 provides the relative position change (Δx, Δy, Δz) and heading angle θ of the device; the bidirectional inclinometer 4 provides the horizontal angles β1 and β2 of the device in two directions—the direction of travel and the left and right vertical directions.

[0027] 4) Calculate the position of the measured point on each ring of the waterway inner wall. An infrared ranging sensor in the infrared multi-point measurement unit 1 measures a point (also called a measuring point) on the waterway inner wall, obtaining a distance L. The angle (angle relative to the horizontal plane) of this infrared ranging sensor on its circle is α. Simultaneously, the bidirectional inclinometer 4 provides the horizontal angles β1 and β2 of the device. By integrating the data output from the inertial measurement unit 3, the position (x, y, z) and heading angle θ of the device are obtained. Therefore, the true position of the measuring point on the waterway inner wall is:

[0028] x L =x + sin(θ)`L`sin(α + β2)

[0029] y L = y + cos(θ)·L·sin(α + β²)

[0030] z L =z+L·sin(α+β2)+L·cos(β1)

[0031] To fit a general view, the waterway axis is defined as Y, the horizontal direction perpendicular to the axis is X, and the vertical upward direction of gravity is Z.

[0032] 5) All measuring points are classified into each cross section according to their mileage, thereby obtaining the geometric shape of the inner wall of each waterway cross section.

[0033] The calculation of the measuring point locations and the generation of the inner wall geometry of the waterway cross-section are performed on a computer, specifically using mathematical software such as MATLAB. The data measured by the device described in this invention (data measured by the infrared multi-point measurement unit 1, the inertial measurement unit 3, and the bidirectional inclinometer 4) are stored in a memory or uploaded to a computer in real time.

[0034] The device also includes a processor, memory, communication interface, and power supply unit. The power supply unit provides power to the device. The processor controls the infrared multi-point measurement unit 1, the inertial measurement unit 3, and the bidirectional inclinometer 4 to collect data. The collected data is stored in the memory or uploaded to a computer via the communication interface.

Claims

1. A positioning and measuring device for the inner wall of a ship dock entrance waterway, characterized in that, include: A handheld housing having: An infrared multi-point measurement unit includes multiple ranging sensors arranged symmetrically around a center on a vertical plane. A centering device configured to emit a laser vertically downwards to achieve centering of the device; An inertial measurement unit, configured to measure the pose of the device; as well as A bidirectional inclinometer is configured to measure the longitudinal inclinometer angle of the device in the direction of motion. β 1 and lateral tilt angle β 2, The measurement data from the infrared multi-point measurement unit, the inertial measurement unit, and the bidirectional inclinometer are transmitted to the computer, and the positions of the measuring points on the inner wall of the waterway are calculated on the computer using the following formula: Let the direction of the waterway's axis be Y, the horizontal direction perpendicular to the axis be X, and the vertically upward direction of gravity be Z. L The distance to the measuring point is measured by the infrared ranging sensor. a The angle of the infrared ranging sensor relative to the horizontal plane for measuring the distance to the measuring point, ( x , y , z ), θ These are the position and heading angle of the device obtained using the inertial measurement unit, respectively. The device is configured to be used by hand to travel by boat from the starting point to the ending point of the waterway entrance to make measurements; the centering device is used to emit a laser downwards to align with the starting and ending points of the waterway entrance, which are respectively used as the starting and ending points of the measurement route. The geometric shape of each cross section is obtained by calculating the position of all measuring points on each cross section.

2. The positioning and measuring device for the inner wall of the ship dock waterway according to claim 1, characterized in that, The bidirectional inclinometer displays the horizontal angle of the device.

3. A method for positioning and measuring the inner wall of a ship dock entrance waterway, characterized in that, include: Holding the device of claim 1, one travels by boat from the starting point to the ending point of the waterway entrance; At the starting point of the route, the centering device emits a laser downwards to align with the starting point; The device is activated and travels towards the termination point. During this process, the inertial measurement unit provides information on the device's relative position change and heading angle, while the bidirectional inclinometer provides information on the device's longitudinal tilt angle in the direction of travel. β 1 and lateral tilt angle β 2. The infrared multi-point measurement unit measures the distance to the inner wall of the waterway; The distance measured by the infrared multi-point measurement unit, the position and heading angle of the device obtained by the inertial measurement unit, and the longitudinal tilt angle of the device in the direction of travel given by the bidirectional inclinometer. β 1 and lateral tilt angle β 2. Calculate the position of the measuring points on each ring of the inner wall of the waterway; All measuring points are categorized according to the distance traveled and assigned to each cross section, thereby obtaining the geometric shape of the inner wall of each waterway cross section.

4. The method for positioning and measuring the inner wall of a ship dock entrance waterway according to claim 3, characterized in that, The device is kept horizontal when being carried out for measurement.

5. The method for positioning and measuring the inner wall of a ship dock entrance waterway according to claim 3, characterized in that, The device is oriented toward the endpoint during the measurement process.

6. The method for positioning and measuring the inner wall of a ship dock waterway according to claim 3, characterized in that, The bidirectional inclinometer displays the horizontal angle of the device.

Images