Intelligent calibration standard component and calibration method for ship laser scanning equipment

Abstract

The invention relates to the technical field of ship navigation and detection, and discloses an intelligent calibration standard component and a calibration method for ship laser scanning equipment. According to the standard component, the high-precision geometric feature module, the environment sensing module and the data interaction module are integrated, dynamic environment parameters such as ship vibration, temperature and humidity can be sensed in real time, and online dynamic calibration of laser scanning equipment is achieved in combination with a preset precise geometric reference. According to the calibration method, through feature matching, error compensation and a self-adaptive correction algorithm, the problems that a traditional calibration piece is poor in adaptive capacity and long in calibration period and depends on manual operation are solved, and the measurement precision and stability of the ship laser scanning equipment in the complex marine environment are remarkably improved.

Description

Technical Field

[0001] This application belongs to the field of marine laser measurement technology, specifically relating to an intelligent calibration standard for marine laser scanning equipment (such as hull deformation monitoring scanners, port obstacle avoidance lidar, etc.), and a dynamic calibration method based on the standard. Background Technology

[0002] With the development of intelligent ships, laser scanning equipment is increasingly used in scenarios such as hull structure inspection, waterway mapping, and collision warning. Its measurement accuracy directly affects the safety of ship navigation and operational efficiency.

[0003] In existing technologies, the calibration of laser scanning equipment mostly relies on offline static calibration components (such as planar targets and spherical targets). The calibration process requires removing the equipment from the working environment and manually comparing it against a reference. For example, a Chinese patent discloses a lidar calibration device based on a planar array target, but it is only suitable for static laboratory environments and does not consider dynamic factors unique to ships, such as vibration, drastic temperature and humidity changes, and electromagnetic interference.

[0004] The main shortcomings of existing technologies include:

[0005] The calibration kit lacks environmental awareness and cannot correct measurement errors caused by environmental factors.

[0006] Offline calibration is required, which is cumbersome and affects the continuous operation of the equipment.

[0007] Its geometric features are singular, making it difficult to cover the full-range calibration requirements of laser scanning equipment. Summary of the Invention

[0008] This application provides an intelligent calibration standard and calibration method for ship laser scanning equipment, which can effectively solve the problems in the background art.

[0009] To achieve the above objectives, this application provides the following technical solution: an intelligent calibration standard and calibration method for ship laser scanning equipment, comprising a reference body, an environmental sensing module, a data processing and communication module, and an installation and adjustment mechanism; the reference body has a planar reference, a spherical boss, and an array of holes on its surface; the environmental sensing module is integrated inside the reference body and includes a triaxial accelerometer, a temperature and humidity sensor, and an electromagnetic interference sensor; the data processing and communication module is electrically connected to the environmental sensing module and is used to process sensor data and communicate with external devices; the installation and adjustment mechanism includes a universal joint and a magnetic base for fixing the reference body and adjusting its attitude.

[0010] Preferably, the reference body is made of Invar steel, the flatness of the plane reference is ≤0.01mm / m, and the roundness error of the spherical boss is ≤0.005mm.

[0011] Preferably, the data processing and communication module includes an STM32H743 microcontroller and a Bluetooth 5.0 module, and supports Ethernet communication.

[0012] Preferably, the universal joint adjustment angle range of the installation adjustment mechanism is ±30°, and the magnetic base suction force is ≥500N.

[0013] A smart calibration method for ship laser scanning equipment, based on the aforementioned standard component, includes the following steps:

[0014] 1) Install standard parts and initialize them, then upload the reference feature parameters to the scanning device;

[0015] 2) The environmental sensing module collects and transmits vibration, temperature, and humidity data in real time;

[0016] 3) The scanning equipment scans the standard parts, and the point cloud data is matched with the reference parameters through the ICP algorithm to calculate the initial error;

[0017] 4) Based on environmental data, the initial error is corrected using a compensation model;

[0018] 5) Repeat the scan to verify. If the error is ≤0.05mm, the calibration is complete.

[0019] Preferably, in step 4, the compensation model is updated through machine learning to optimize the error correction coefficient based on historical calibration data.

[0020] Preferably, in step 5, if calibration fails, the standard component sends a fault code via an LED alarm light and a communication module.

[0021] Compared with the prior art, the beneficial effects of this application are:

[0022] Dynamic adaptive calibration: Integrated environmental sensors collect vibration, temperature and humidity data in real time, providing environmental compensation basis for calibration and adapting to complex ship operating conditions;

[0023] Online high-efficiency calibration: Supports calibration to be completed while the device is in operation, without the need for offline operation, reducing device downtime;

[0024] High-precision geometric reference: Employing multiple types of highly stable geometric features to cover the full-angle and full-range calibration needs of laser scanning equipment;

[0025] Intelligent operation: Automatic feature recognition and error calculation are achieved through the data interaction module, reducing reliance on manual operation. Attached Figure Description

[0026] Figure 1 This is a flowchart of the application process. Detailed Implementation

[0027] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0028] In the description of this application, if directional descriptions are involved, such as "up," "down," "front," "back," "left," "right," etc., indicating directional or positional relationships, they are based on the appendix. Figure 1 The orientations or positional relationships shown are for the convenience of describing this application and simplifying the description only, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. When a feature is referred to as "set", "fixed", or "connected" to another feature, it can be directly set, fixed, or connected to the other feature, or it can be indirectly set, fixed, or connected to the other feature.

[0029] Please see Figure 1 This application provides the following technical solution: an intelligent calibration standard and calibration method for marine laser scanning equipment, comprising a reference body, an environmental sensing module, a data processing and communication module, and an installation and adjustment mechanism; the reference body has a planar reference, a spherical boss, and an array of holes on its surface; the environmental sensing module is integrated inside the reference body and includes a triaxial accelerometer, a temperature and humidity sensor, and an electromagnetic interference sensor; the data processing and communication module is electrically connected to the environmental sensing module and is used to process sensor data and communicate with external devices; the installation and adjustment mechanism includes a universal joint and a magnetic base for fixing the reference body and adjusting its attitude.

[0030] Furthermore, the reference body is made of Invar steel, the flatness of the plane reference is ≤0.01mm / m, and the roundness error of the spherical boss is ≤0.005mm.

[0031] Furthermore, the data processing and communication module includes an STM32H743 microcontroller and a Bluetooth 5.0 module, supporting Ethernet communication.

[0032] Furthermore, the universal joint adjustment angle range of the installation and adjustment mechanism is ±30°, and the magnetic base suction force is ≥500N.

[0033] A smart calibration method for ship laser scanning equipment, based on the aforementioned standard component, includes the following steps:

[0034] 1) Install standard parts and initialize them, then upload the reference feature parameters to the scanning device;

[0035] 2) The environmental sensing module collects and transmits vibration, temperature, and humidity data in real time;

[0036] 3) The scanning equipment scans the standard parts, and the point cloud data is matched with the reference parameters through the ICP algorithm to calculate the initial error;

[0037] 4) Based on environmental data, the initial error is corrected using a compensation model;

[0038] 5) Repeat the scan to verify. If the error is ≤0.05mm, the calibration is complete.

[0039] Furthermore, in step 4, the compensation model is updated through machine learning to optimize the error correction coefficient based on historical calibration data.

[0040] Furthermore, in step 5, if calibration fails, the standard component sends a fault code via LED alarm light and communication module.

[0041] A smart calibration standard for ship laser scanning equipment, comprising:

[0042] Reference body: Made of low-expansion alloy material (such as Invar), with various high-precision geometric features on the surface, including:

[0043] Three mutually perpendicular plane references (flatness ≤ 0.01 mm / m);

[0044] Two spherical bosses with known diameters (roundness error ≤ 0.005 mm);

[0045] One set of equally spaced array holes (hole position accuracy ≤ ±0.002mm);

[0046] Environmental sensing module: including a triaxial accelerometer (measurement range ±10g, used to monitor vibration), a temperature and humidity sensor (measurement range -40~85℃, 0~100%RH) and an electromagnetic interference sensor, all integrated inside the reference body;

[0047] Data processing and communication module: It adopts an STM32H743 microcontroller and communicates with the laser scanning equipment via Bluetooth 5.0 or Ethernet to transmit sensor data and reference feature parameters in real time;

[0048] Installation and adjustment mechanism: The bottom is equipped with a damped universal joint and magnetic base, which can be quickly fixed to the ship deck or near the equipment, and the adjustment angle range is ±30°.

[0049] The environmental perception module and the data processing module are electrically connected by wires, and the geometric feature parameters of the reference body are pre-stored in the memory of the data processing module.

[0050] Furthermore, regarding the rights and technical effects:

[0051] The surface of the reference body is coated with a high reflectivity coating (reflectivity ≥90%), which enhances the intensity of the laser reflection signal and is suitable for low-light environments (such as at night or inside a cabin).

[0052] The data processing module has a built-in lithium battery (capacity 5000mAh) and a solar charging panel, which supports continuous operation for ≥72 hours and is suitable for long-term offshore operations.

[0053] The top of the spherical protrusion is equipped with an LED positioning light, which helps to quickly locate feature points with the aid of image recognition from a laser scanning device, reducing calibration time by ≥30%.

[0054] A smart calibration method for ship laser scanning equipment, based on the aforementioned standard components, includes the following steps:

[0055] Installation and initialization: Fix the standard part into the scanning range of the laser scanning equipment using the magnetic base, and adjust the universal joint to fully expose the geometric features; start the standard part, the data processing module performs a self-test and uploads the reference feature parameters to the scanning equipment;

[0056] Environmental data acquisition: The environmental sensing module collects vibration (sampling frequency 1kHz) and temperature and humidity data in real time and sends them to the scanning device every 100ms;

[0057] Feature scanning and matching: The laser scanning equipment performs full-angle scanning on the standard part to obtain point cloud data of geometric features; the point cloud data is matched with pre-stored reference parameters through the Iterative Closest Point (ICP) algorithm to calculate the initial error;

[0058] Error compensation: The scanning equipment combines environmental data and corrects the initial error using a preset compensation model (such as the vibration error correction formula Δd=k×a, where k is the vibration coefficient and a is the acceleration).

[0059] Calibration verification: Repeat the scan 3 times. If the error after correction is ≤0.05mm after 3 consecutive scans, the calibration is complete; otherwise, return to step 3 to re-match.

[0060] Furthermore, regarding the rights and technical effects:

[0061] In step 4, the compensation model can be updated through machine learning (based on historical calibration data), which can improve the error correction accuracy by ≥15%.

[0062] In step 5, if calibration fails, the standard part will automatically trigger the LED alarm light and send a fault code (such as "E1" indicating feature matching failure) through the communication module to facilitate quick troubleshooting.

[0063] It supports remote control calibration (via the ship's local area network), eliminating the need for on-site personnel operation and adapting to harsh weather conditions.

[0064] Although embodiments of this application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A smart calibration standard and calibration method for ship laser scanning equipment, characterized in that: The system includes a reference body, an environmental sensing module, a data processing and communication module, and an installation and adjustment mechanism. The reference body has a planar reference, a spherical boss, and an array of holes on its surface. The environmental sensing module is integrated inside the reference body and includes a triaxial accelerometer, a temperature and humidity sensor, and an electromagnetic interference sensor. The data processing and communication module is electrically connected to the environmental sensing module and is used to process sensor data and communicate with external devices. The installation and adjustment mechanism includes a universal joint and a magnetic base for fixing the reference body and adjusting its attitude.

2. The standard part according to claim 1, characterized in that: The reference body is made of Invar steel, with a flatness of ≤0.01mm / m for the plane reference and a roundness error of ≤0.005mm for the spherical boss.

3. The standard part according to claim 1, characterized in that: The data processing and communication module includes an STM32H743 microcontroller and a Bluetooth 5.0 module, and supports Ethernet communication.

4. The standard part according to claim 1, characterized in that: The universal joint of the installation and adjustment mechanism has an adjustment angle range of ±30°, and the magnetic base has a suction force of ≥500N.

5. A smart calibration method for a ship laser scanning device, based on the standard component described in any one of claims 1-4, characterized in that: Includes the following steps: 1) Install standard parts and initialize them, then upload the reference feature parameters to the scanning device; 2) The environmental sensing module collects and transmits vibration, temperature, and humidity data in real time; 3) The scanning equipment scans the standard parts, and the point cloud data is matched with the reference parameters through the ICP algorithm to calculate the initial error; 4) Based on environmental data, the initial error is corrected using a compensation model; 5) Repeat the scan to verify. If the error is ≤0.05mm, the calibration is complete.

6. The method according to claim 5, characterized in that: In step 4, the compensation model is updated through machine learning, and the error correction coefficient is optimized based on historical calibration data.

7. The method according to claim 5, characterized in that: In step 5, if calibration fails, the standard component sends a fault code via LED alarm light and communication module.

Images