Three-dimensional reconstruction method suitable for ship type database of ten-thousand-ton bulk cargo ship

Abstract

The invention provides a three-dimensional reconstruction method suitable for a ship type database of a ten-thousand-ton bulk cargo ship, and the method comprises the steps: S1, setting ship marking points on a ship, and setting dynamic marking points on a vertical arm of a spiral ship unloader; s2, starting a cabin scanning device to scan each cabin to obtain cabin three-dimensional point cloud data based on the dynamic mark points; scanning a ship deck surface to obtain deck surface overall three-dimensional point cloud data based on the dynamic mark points; s3, unifying coordinates of the three-dimensional point cloud data of the cabin and the three-dimensional point cloud data of the deck surface through ship mark points; s4, splicing the three-dimensional point cloud data of the cabin and the overall three-dimensional point cloud data of the deck surface according to the position of the cabin opening; and S5, importing the spliced three-dimensional point cloud data into a database to generate a three-dimensional ship type database. According to the scheme, the screw ship unloader is directly utilized, the cabin scanning device is installed on the screw ship unloader material taking head, scanning and three-dimensional data obtaining can be achieved by controlling the screw ship unloader, cabin changing scanning can be achieved at any time by moving the material taking head, and the beneficial effects of being easy to achieve, convenient to use and the like are achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of bulk carriers, and in particular relates to a three-dimensional reconstruction method applicable to a 10,000-ton bulk carrier ship type database. Background Art

[0002] A bulk carrier is a ship used to transport bulk cargo. After a bulk carrier reaches its destination, its cargo needs to be unloaded using a bulk unloader. Building a ship type database involves storing the ship's shape data in a database. Building a ship type database for bulk carriers can be used for ship performance analysis and unloader reclaim. Common ship type database construction methods include: data acquisition: scanning or photographing the ship using a laser scanner, camera, or other measuring equipment to obtain the ship's three-dimensional shape data; data processing: processing the collected data to remove noise and unnecessary information and extract the ship's geometric shape; and data storage: storing the processed ship type data in a database.

[0003] In the traditional method, when obtaining ship type data, the user carries a scanner to scan the hull to obtain scanning data. This scanning method is cumbersome and time-consuming, and is very inconvenient for obtaining data on 10,000-ton ship types with dark compartments. Another method is to install multiple scanners at different positions on the hull, and use multiple scanners to scan the hull to obtain three-dimensional data of the hull. This method requires multiple scanners, which is inconvenient to arrange and also has the disadvantage of being time-consuming. It is not well applicable to 10,000-ton bulk carriers with dark compartments. There is also a method of scanning by drone. This method requires a special drone, which increases the cost of building a ship type database. In addition, the laser scanning device for the hull needs to include components such as an industrial computer to ensure the timeliness of point cloud data processing. The size is large, the requirements for drones are high, and it is not easy to implement. Summary of the Invention

[0004] The purpose of the present invention is to solve the above problems and provide a three-dimensional reconstruction method suitable for a 10,000-ton bulk carrier ship type database.

[0005] The present invention provides a three-dimensional reconstruction method for a 10,000-ton bulk carrier ship database, which is implemented using a screw unloader. A cabin scanning device is installed on the screw reclaimer of the screw unloader. The construction method includes:

[0006] S1. Set a ship marking point on the ship and a dynamic marking point on the vertical arm of the screw unloader;

[0007] S2 starts the cabin scanning device to scan each cabin to obtain three-dimensional point cloud data of the cabin based on dynamic markers;

[0008] Scan the ship deck surface to obtain the overall three-dimensional point cloud data of the deck surface based on dynamic markers;

[0009] S3. The cabin three-dimensional point cloud data and the deck surface three-dimensional point cloud data are unified by the coordinates of the ship marker points;

[0010] S4. Combine the cabin 3D point cloud data and the deck surface 3D point cloud data according to the hatch opening position;

[0011] S5. Import the spliced ​​3D point cloud data into a database to generate a 3D ship type database.

[0012] In the above-mentioned three-dimensional reconstruction method applicable to the 10,000-ton bulk carrier ship type database, in step S1, the ship marker points are set on the deck surface, and a ship marker point coordinate system parallel to the dock coordinate system is generated on the ship marker points;

[0013] In step S3, the three-dimensional point cloud data of the cabin and the three-dimensional point cloud data of the deck surface are converted into coordinates in the ship mark point coordinate system.

[0014] In the above-mentioned three-dimensional reconstruction method applicable to the 10,000-ton bulk carrier ship type database, in step S1, a dynamic marker point coordinate system parallel to the dock coordinate system is generated at the dynamic marker point;

[0015] In step S2, the spiral reclaiming head is suspended at different positions to obtain three-dimensional point cloud data based on different dynamic marking point coordinate systems.

[0016] In the above-mentioned three-dimensional reconstruction method applicable to the 10,000-ton bulk carrier ship database, a first Beidou posture positioning device is installed at the ship marker point;

[0017] A second Beidou posture positioning device is installed on the vertical arm.

[0018] In the above-mentioned three-dimensional reconstruction method applicable to the ship type database of 10,000-ton bulk carriers, the cabin scanning device is installed at the feeding end of the spiral feeding head (that is, the end close to the material when feeding), and the corresponding point cloud data is obtained by driving the spiral feeding head to scan various parts of the bulk carrier.

[0019] In the above-mentioned 3D reconstruction method applicable to the 10,000-ton bulk carrier ship database, in step S2, the 3D point cloud data of each cabin is obtained specifically by the following method:

[0020] S211. The spiral head of the cabin scanning device is installed and suspended vertically at a first set distance above the lower cabin edge, horizontally at the center of the entire hatch, and then the cabin scanning device is controlled to start the first scan;

[0021] S212. The spiral reclaimer head of the installed cabin scanning device is lowered so that it is vertically suspended at a second set distance below the lower cabin edge, also horizontally at the center of the entire hatch, and then the cabin scanning device is controlled to start a second scan;

[0022] After the first scan obtains a dense point cloud of the cabin, the cabin bottom is segmented based on the plane height and normal vector constraints, and then gridded. A depth-first algorithm is used to traverse the grid in four directions to preliminarily calculate the coordinates of the cabin opening corner points.

[0023] After the second scan obtains a dense point cloud of the cabin, the bottom surfaces of the cabin point cloud data from the two scans are adjusted to the same height. The GICP algorithm is used to perform point cloud registration on the two scans of the cabin data. The registered point cloud is then filtered and the coordinates of the corner points of the cabin opening are recalculated. At the same time, the ship shape data including the length, width, and height of the cabin opening are calculated.

[0024] S213. Save the processed ship type data information and end the current cabin scan.

[0025] In the above-mentioned three-dimensional reconstruction method applicable to the 10,000-ton bulk carrier ship type database, after scanning a cabin, the three-dimensional point cloud data of the current cabin is saved through the remote control system, and the next cabin to be scanned is selected until every cabin is scanned.

[0026] The processed ship data information includes a three-dimensional point cloud data PCD file, the coordinates of the corner points of the hatch, the length, width and height of the hatch, and the DEM data of the bottom surface and four bulkheads.

[0027] In the above-mentioned 3D reconstruction method applicable to the 10,000-ton bulk carrier ship database, in step S2, the 3D point cloud data of the entire deck surface is obtained specifically by the following method:

[0028] The reclaiming head is controlled to hang vertically above the bulk carrier, and the entire ship contour is scanned by multi-point scanning to obtain the 3D point cloud data of the entire deck surface. The entire deck surface can include the contour data of the deck, outer wall, etc.

[0029] In the above-mentioned three-dimensional reconstruction method applicable to the 10,000-ton bulk carrier ship type database, the cabin scanning device is installed on the feeding end of the spiral feeding head through a suction head connection structure corresponding to the three hole positions of the spiral feeding head.

[0030] In the above-mentioned 3D reconstruction method applicable to the 10,000-ton bulk carrier ship type database, in step S4, the spliced ​​point cloud data are filtered and integrated to obtain a complete 3D point cloud data set for the current bulk carrier ship type;

[0031] Step S5 specifically includes:

[0032] S51. The spliced ​​three-dimensional point cloud data is corrected according to the electronic version of the design drawing of the current bulk carrier type, and the scanned size data, coordinate point data and graphic data are corrected;

[0033] S52. Import the corrected three-dimensional point cloud data into the database and generate a three-dimensional ship type database.

[0034] The advantages of the present invention are:

[0035] 1. Directly utilize the screw unloader and propose to install a cabin scanning device on the screw unloader's reclaimer. Scanning and 3D data acquisition can be achieved by controlling the screw unloader. The cabin can be changed and scanned at any time by moving the reclaimer. This has the advantages of being simpler and more convenient to use.

[0036] 2. There is no need for manual on-site scanning, nor is there any need to install a scanning device on the bulk carrier. The scanning device can be installed at any time during scanning and removed at any time after scanning is completed. It does not need to be installed in a fixed position, making it easy to maintain and use.

[0037] 3. The position of the cabin scanning device during scanning is controlled by controlling the screw unloader. Since the screw unloader can be controlled to stay at a specific position, the point cloud data acquisition based on it has the advantages of high efficiency and accuracy;

[0038] 4. Only one marking point needs to be designed on the ship and one marking point on the screw unloader. The relative positions of the two marking points and the mechanical structure of the screw unloader can be used to accurately obtain the position of the cabin scanning device, thereby accurately controlling its scanning position.

[0039] 5. Use screw unloaders to build a ship type database. The same screw unloader can be used for unloading, which can avoid the collision between the screw unloader cabin and the bilge due to errors in point cloud data.

[0040] 6. The cabin is scanned twice at different heights, and the two data are spliced ​​and fused to form the final overall three-dimensional cabin data without blind spots. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 This is a structural diagram of a cabin scanning device that can be installed at the reclaiming end of a reclaiming head in the three-dimensional reconstruction method for a 10,000-ton bulk carrier ship database provided by the present invention;

[0042] Figure 2 A flow chart of the method for three-dimensional reconstruction of a 10,000-ton bulk carrier ship database provided by the present invention;

[0043] Figure 3A schematic diagram of the coordinate system in the three-dimensional reconstruction method applicable to the 10,000-ton bulk carrier ship database provided by the present invention;

[0044] Figure 4 This is a schematic diagram of the implementation of converting scanned three-dimensional point cloud data into coordinates in the ship marker point coordinate system in the three-dimensional reconstruction method applicable to the 10,000-ton bulk carrier ship type database provided by the present invention. DETAILED DESCRIPTION

[0045] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0046] This embodiment discloses a 3D reconstruction method applicable to a 10,000-ton bulk carrier ship database. This method is implemented using a screw unloader, with a cabin scanning device mounted on the screw reclaimer. The cabin scanning device is connected to a remote control system via a wireless module, which controls the start and end of scanning. The cabin scanning device contains an industrial computer equipped with a point cloud data processing algorithm. This computer controls scanning and processes the resulting 3D point cloud data in real time according to commands from the remote control system. The processed scan results are then uploaded to the remote control system via a wireless module. The remote control system then instructs the cabin scanning device to start scanning, save and display the 3D point cloud data, and perform cabin changes.

[0047] The cabin scanning device is installed on the reclaiming end of the spiral reclaiming head through the reclaiming head connection structure corresponding to the three hole positions of the spiral reclaiming head. Figure 1 As shown, the reclaiming head connection structure includes a reclaiming head connection component A1 and a reclaiming head connection component B2, which are fixed to the reclaiming head connection support plate 4 via a connection support 3. With the reclaiming head connection component A1 and the reclaiming head connection component B1 facing upward, lift the reclaiming head connection support plate 4 so that the reclaiming head connection component A1 and the reclaiming head connection component B2 are aligned with the three holes of the spiral reclaiming head. Rotate the reclaiming head connection support plate 4 clockwise so that the raised portion of the reclaiming head connection component B protrudes from the next spiral reclaiming head hole. Insert the reclaiming head connection fastener 5 into the threaded hole of the raised portion of the reclaiming head connection component and rotate until the reclaiming head connection component is completely locked. Three hooks 6 are fixed to the reclaiming head connection support plate 4 with bolts.

[0048] The cabin scanning device comprises a table top 9 on which three hooks 7 and a sheet metal protective shell 8 are fixed. The industrial computer is placed in the sheet metal protective shell 8 on the table top.

[0049] Four turntable table links 12 are also fixed to the table top 9, each of which is secured with four table legs 17, each equipped with two universal casters 20 and two self-locking universal casters 21. After the table top is pushed near the spiral reclaimer, it is lifted and the three hooks 7 on the table top 9 are fastened to the three hooks 6 on the reclaimer link support 4. A rolling belt is then passed through the corresponding holes in the two hooks to secure them. The scanning device is moved by the table legs and universal casters, making it easy for staff to move it to the reclaimer for installation when scanning is required and remove it from the reclaimer when scanning is complete.

[0050] After installing the cabin scanning device, push the black adjustment block on the turntable table link inward, retract the table legs inward, tie the four legs with straps and fix them tightly to the back of the table to prevent the legs from extending during radar scanning and causing a scanning blind spot.

[0051] The tabletop 9 is bolted to a hinge 11. The manual turntable 10 is bolted to the hinge 11, and the turntable tray link 13 is bolted to the manual turntable 10. Four lifting brackets 15 are bolted to the turntable tray link 13. The tray 14 is bolted to the radar turntable 18 and snaps into the four slots of the four lifting brackets 15. A butterfly bolt 16 is used to secure the radar turntable 18 at the bottom of one of the lifting brackets 15. To use the radar, remove the bolt, rotate the radar turntable 18 counterclockwise, and then lower it to the bottom of the lifting bracket 15. The bottom of the lifting bracket 15 contains a hole for tightening the butterfly bolt that was just removed, locking the radar turntable 18 and the base. The laser radar 19 is bolted to the radar turntable 18 and rotates with the radar turntable during scanning.

[0052] The above shows the structure of a cabin scanning device and the structure for installing it on the feeding end of the spiral feeding head. When it is put into use, technicians can also use other structures to install the cabin scanning device on the spiral feeding head, and realize three-dimensional scanning of the hull by moving the spiral feeding head.

[0053] The remote control system can be integrated into the industrial computer in the screw unloader's cockpit, that is, the screw unloader's industrial computer is installed with the remote control system for controlling the scanning operation of the cabin scanning device, as well as receiving the scanning results and generating a three-dimensional ship type database based on the scanning results. For a bulk carrier, each screw unloader can scan it and build a three-dimensional ship type database for it. When the screw unloader is used to retrieve and unload the bulk carrier's cargo at a later time, the hatch and materials can be accurately positioned based on the screw unloader's own ship type database for the bulk carrier to efficiently retrieve the cargo in the cabin. Of course, a screw unloader can also share the scanning process with screw unloaders in all ports, eliminating the need for each screw unloader to scan every new bulk carrier entering the sea.

[0054] The cabin scanning device can use a 360-degree radar scanner, which does not require circumferential rotation. Alternatively, a rotatable radar scanner can be used to obtain 360-degree full-scale point cloud data by rotating the scanner once or multiple times during the scanning process.

[0055] like Figure 2 As shown in FIG, the method for constructing a bulk carrier type database based on a spiral reclaimer specifically includes:

[0056] S1. Set a ship marker on the deck of the ship and generate a ship marker coordinate system parallel to the dock coordinate system on the ship marker;

[0057] A dynamic marking point is set on the vertical arm of the screw unloader, and a dynamic marking point coordinate system parallel to the dock coordinate system is generated on the dynamic marking point;

[0058] Specifically, a first Beidou posture positioning device is installed at the ship mark point, and the ship mark point is determined by the first Beidou posture positioning device.

[0059] A second Beidou posture positioning device is installed on the vertical arm, and the dynamic marking point is determined by the second Beidou posture positioning device.

[0060] During the scanning process, there will be multiple dynamic markers according to the different positions of the vertical arm. Each scanning position will obtain a dynamic marker coordinate system based on the dynamic marker at the current position. The point cloud data obtained by scanning the scanning position is the point cloud data under this coordinate system. Figure 3 As shown in the figure, the coordinate system on the left is the ship marker coordinate system, and the two coordinate systems on the right are the two dynamic marker coordinate systems drawn during the scanning process.

[0061] The structural parameters of the screw ship unloader can be used to obtain the installation position and installation distance of the cabin scanning device and the second Beidou posture positioning system on the ship unloader. Then, the relative position of the cabin scanning device relative to the installation position of the second Beidou posture positioning device can be obtained. Therefore, the coordinates of the cabin scanning device in the dynamic marking point coordinate system can be determined, and at the same time, the coordinates of the point cloud data obtained by the cabin scanning device in the dynamic marking point coordinate system can be obtained in real time.

[0062] S2 starts the cabin scanning device to scan each cabin to obtain three-dimensional point cloud data of the cabin based on dynamic markers;

[0063] Scan the ship deck surface to obtain the overall three-dimensional point cloud data of the deck surface based on dynamic markers;

[0064] When the spiral reclaimer is suspended at different positions, three-dimensional point cloud data based on different dynamic marker point coordinate systems will be obtained;

[0065] S3. The three-dimensional point cloud data of the cabin and the three-dimensional point cloud data of the deck are unified by the coordinates of the ship marker points, that is, converted to the coordinates of the ship marker point coordinate system, specifically as Figure 4 As shown, since the origin of the dynamic coordinate system is determined by the Beidou posture positioning device, the ship also has a ship marker point and its coordinate system determined by the Beidou posture positioning device. The relative positions of the two can be confirmed by two Beidou posture positioning devices, so that the three-dimensional point cloud data under the coordinate system of each dynamic marker point is unified to the ship marker point coordinate system. Through the combination of multiple dynamic and one static, the ship point cloud data can be quickly and efficiently acquired, which improves the construction efficiency and construction effect of the three-dimensional laser scanning of the bulk carrier ship database.

[0066] S4. Splice the cabin 3D point cloud data and the overall deck surface 3D point cloud data based on the hatch opening position, and filter and integrate the spliced ​​point cloud data to obtain a complete 3D point cloud dataset for the current bulk carrier type;

[0067] S51. The spliced ​​three-dimensional point cloud data is corrected according to the electronic version of the design drawing of the current bulk carrier type, and the scanned size data, coordinate point data and graphic data are corrected;

[0068] S52. Import the corrected three-dimensional point cloud data into the database and generate a three-dimensional ship type database.

[0069] When it is put into use, it is only necessary to install the cabin scanning device to the three holes of the reclaiming head as required. After installation, the screw unloader is controlled in the cockpit of the screw unloader. First, the vertical arm of the screw unloader is located above the bulk carrier, and the reclaiming head is suspended vertically above the deck surface. The entire ship contour is scanned by multi-point scanning to obtain the three-dimensional point cloud data of the deck surface as a whole. Each scanning point corresponds to a dynamic marker point, and a marker point coordinate system parallel to the dock coordinate system is generated based on the dynamic marker point. The obtained three-dimensional point cloud data is point cloud data based on each coordinate system. The deck surface as a whole includes the outer contour data of the deck, cabin outer wall, etc. After the overall scan of the deck surface is completed, the cabin is scanned. Of course, in actual use, the cabin can also be scanned first, and then the overall deck surface is scanned. The specific details are not limited here. When scanning the cabin, the spiral feeder is suspended vertically 1 meter above the lower edge of the hold and horizontally at the center of the hatch. The cabin scanning device is then controlled to begin the first scan. After the first scan, the feeder is lowered to a position 2 meters below the lower edge of the hold and horizontally at the center of the hatch. The cabin scanning device is then controlled to begin the second scan. After obtaining a dense point cloud of the cabin from the first scan, the cabin bottom surface is segmented based on the plane height and normal constraints, and then gridded. A depth-first algorithm is used to traverse the grid in four directions to preliminarily calculate the coordinates of the hatch opening corners. After obtaining a dense point cloud of the cabin from the second scan, the bottom surfaces of the cabin point cloud data from the two scans are aligned to the same height. The GICP algorithm is then used to register the two scans. The registered point clouds are then filtered, and the coordinates of the hatch opening corners are recalculated. Simultaneously, the ship shape data, including the length, width, and height of the hatch opening, are calculated. This results in a complete and accurate 3D point cloud of the cabin. After scanning a cabin, the 3D point cloud data of the current cabin is saved through the remote control system and transferred to the next cabin to be scanned in the same way until every cabin is scanned.

[0070] After all the required three-dimensional point cloud data are obtained, the data are spliced ​​and corrected to finally generate a three-dimensional ship type database of the corresponding bulk carrier.

[0071] The specific embodiments described herein are merely illustrative of the spirit of the present invention. Persons skilled in the art may make various modifications, additions, or substitutions to the described specific embodiments without departing from the spirit of the present invention or exceeding the scope of the appended claims.

[0072] Although the terms "rectangular grid" and "hold to be taken" are frequently used herein, the possibility of using other terms is not excluded. These terms are used only to more conveniently describe and explain the essence of the present invention; interpreting them as any additional limitations is contrary to the spirit of the present invention.

Claims

1. A three-dimensional reconstruction method suitable for a 10,000-ton bulk carrier ship database, characterized in that: This is achieved using a screw ship unloader, where a cabin scanning device is installed on the screw reclaimer of the screw ship unloader. The construction method includes: S1. Set a ship marking point on the ship and a dynamic marking point on the vertical arm of the screw unloader; S2 starts the cabin scanning device to scan each cabin to obtain three-dimensional point cloud data of the cabin based on dynamic markers; Scan the ship deck surface to obtain the overall three-dimensional point cloud data of the deck surface based on dynamic markers; S3. The cabin three-dimensional point cloud data and the deck surface three-dimensional point cloud data are unified by the coordinates of the ship marker points; S4. Combine the cabin 3D point cloud data and the deck surface 3D point cloud data according to the hatch opening position; S5. Import the spliced ​​3D point cloud data into a database to generate a 3D ship type database.

2. The three-dimensional reconstruction method applicable to the 10,000-ton bulk carrier ship database according to claim 1 is characterized in that: In step S1, the ship marking point is set on the deck, and a ship marking point coordinate system parallel to the dock coordinate system is generated on the ship marking point; In step S3, the three-dimensional point cloud data of the cabin and the three-dimensional point cloud data of the deck surface are converted into coordinates in the ship mark point coordinate system.

3. The three-dimensional reconstruction method applicable to the 10,000-ton bulk carrier ship database according to claim 1, characterized in that: In step S1, a dynamic marking point coordinate system parallel to the dock coordinate system is generated at the dynamic marking point; In step S2, the spiral reclaiming head is suspended at different positions to obtain three-dimensional point cloud data based on different dynamic marking point coordinate systems.

4. The three-dimensional reconstruction method applicable to a 10,000-ton bulk carrier ship database according to claim 1, characterized in that: A first Beidou posture positioning device is installed at the ship marking point; A second Beidou posture positioning device is installed on the vertical arm.

5. The three-dimensional reconstruction method applicable to a 10,000-ton bulk carrier ship database according to claim 1, characterized in that: The cabin scanning device is installed at the reclaiming end of the spiral reclaiming head, and the corresponding point cloud data is obtained by driving the spiral reclaiming head to scan various parts of the bulk carrier.

6. The three-dimensional reconstruction method applicable to a 10,000-ton bulk carrier ship database according to claim 5, characterized in that: In step S2, the three-dimensional point cloud data of each cabin is obtained in the following manner: S211. The spiral head of the cabin scanning device is installed and suspended vertically at a first set distance above the lower cabin edge, horizontally at the center of the entire hatch, and then the cabin scanning device is controlled to start the first scan; S212. The spiral reclaimer head of the installed cabin scanning device is lowered so that it is vertically suspended at a second set distance below the lower cabin edge, also horizontally at the center of the entire hatch, and then the cabin scanning device is controlled to start a second scan; After the first scan obtains a dense point cloud of the cabin, the cabin bottom is segmented based on the plane height and normal vector constraints, and then grid division is performed. The grid is traversed in four directions to preliminarily calculate the coordinates of the cabin opening corner points. After the second scan obtains a dense point cloud of the cabin, the bottom surfaces of the cabin point cloud data from the two scans are adjusted to the same height. The cabin data from the two scans are then point cloud registered. The registered point cloud is then filtered and the coordinates of the corner points of the cabin opening are recalculated. At the same time, the ship shape data including the length, width, and height of the cabin opening are calculated. S213. Save the processed ship type data information and end the current cabin scan.

7. The three-dimensional reconstruction method applicable to a 10,000-ton bulk carrier ship database according to claim 6, characterized in that: When a cabin is scanned, the three-dimensional point cloud data of the current cabin is saved through the remote control system, and the next cabin to be scanned is selected until every cabin is scanned. The processed ship data information includes a three-dimensional point cloud data PCD file, the coordinates of the corner points of the hatch, the length, width and height of the hatch, and the DEM data of the bottom surface and four bulkheads.

8. The three-dimensional reconstruction method applicable to a 10,000-ton bulk carrier ship database according to claim 7, characterized in that: In step S2, the three-dimensional point cloud data of the entire deck surface is obtained specifically by the following method: The reclaiming head is controlled to hang vertically above the bulk carrier, and the entire ship contour is scanned by multi-point scanning to obtain the three-dimensional point cloud data of the entire deck surface.

9. The three-dimensional reconstruction method applicable to a 10,000-ton bulk carrier ship database according to claim 1, characterized in that: The cabin scanning device is installed on the material taking end of the spiral material taking head through a material suction head connection structure corresponding to the three hole positions of the spiral material taking head.

10. The three-dimensional reconstruction method applicable to a 10,000-ton bulk carrier ship database according to claim 1, characterized in that: In step S4, the spliced ​​point cloud data are filtered and integrated to obtain a complete three-dimensional point cloud data set for the current bulk carrier type; Step S5 specifically includes: S51. The spliced ​​three-dimensional point cloud data is corrected according to the electronic version of the design drawing of the current bulk carrier type, and the scanned size data, coordinate point data and graphic data are corrected; S52. Import the corrected three-dimensional point cloud data into the database and generate a three-dimensional ship type database.

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