Ship base installation precision control method, device and equipment and storage medium

Abstract

The invention discloses a ship base installation precision control method, device and equipment and a storage medium. According to the technical scheme, in the state that the ship body sections do not need to be adjusted to be completely horizontal, the multiple target points are placed and positioned near the ship body longitudinal section line, the ship body rib detection line and the ship base installation area, positioning and automatic compensation are conducted through the target points, measurement errors caused by ship body deformation and insufficient flatness are eliminated, and the measurement accuracy is improved. And establishing a target projection coordinate system which is accurately aligned with the ship body coordinate system, mounting the ship base according to the base characteristic line and the target projection coordinate system, and performing mounting precision control on the mounted ship base based on the theoretical horizontal line and the projection horizontal line, thereby realizing base mounting precision control in a non-horizontal state. And the positioning precision of the base is improved.

Description

Technical Field

[0001] This invention relates to the field of base installation technology, and in particular to a method, device, equipment and storage medium for controlling the installation accuracy of ship bases. Background Technology

[0002] As a critical connecting component between ship equipment and the hull structure, the installation quality of ship equipment pedestals directly affects the stable operation of the equipment and the safety of the ship. Traditional pedestal installation methods mainly rely on manual experience and the use of conventional measuring tools (such as levels and measuring tapes), which suffers from low efficiency, difficulty in guaranteeing accuracy, and susceptibility to human factors. In complex hull environments, the varying degrees of deformation and flatness errors in the hull structure further increase the difficulty of pedestal installation.

[0003] Most existing technologies focus on specific stages of base installation, lacking a comprehensive digital solution covering the entire process of base positioning, installation, and inspection. In particular, deformation issues caused by welding shrinkage and other factors during base welding have not been effectively addressed. Therefore, there is an urgent need for a comprehensive base installation method integrating modern measurement technology, digital projection, and automatic compensation algorithms to achieve higher precision and efficiency in ship base installation. Summary of the Invention

[0004] This invention provides a method, apparatus, equipment, and storage medium for controlling the installation accuracy of ship foundations, so as to achieve the control of foundation installation accuracy in non-horizontal states and improve the positioning accuracy of the foundation.

[0005] In a first aspect, embodiments of the present invention provide a method for controlling the installation accuracy of a ship's foundation, the method comprising:

[0006] Determine the target points pre-set on the longitudinal section line of the hull, the hull rib inspection line, and the pre-set area of ​​the ship's base installation area, and the target coordinates in the coordinate system of the measuring equipment.

[0007] Based on the target coordinates, determine the target projection coordinate system;

[0008] The ship's base is installed according to the ship's coordinate system and the target projection coordinate system;

[0009] Determine at least two theoretical horizontal lines, and project the theoretical horizontal lines onto the ship's base to obtain at least two projected horizontal lines, wherein the theoretical horizontal lines are horizontal lines parallel to the ship's base;

[0010] Based on the theoretical horizontal line and the projected horizontal line, the installed ship base is fixed with precision control.

[0011] Secondly, embodiments of the present invention also provide a ship foundation installation accuracy control device, the device comprising:

[0012] The coordinate determination module is used to determine the target coordinates of the target points pre-set on the longitudinal section line of the hull, the hull rib inspection line, and the preset area of ​​the ship's base installation area in the coordinate system of the measuring equipment.

[0013] The projection coordinate system determination module is used to determine the target projection coordinate system based on the target coordinates;

[0014] A ship base installation module is used to install the ship base according to the target projection coordinate system;

[0015] A horizontal line determination module is used to determine at least two theoretical horizontal lines, project the theoretical horizontal lines onto the ship's base, and obtain at least two projected horizontal lines, wherein the theoretical horizontal lines are horizontal lines parallel to the ship's base;

[0016] The installation precision control module is used to precisely control and fix the installed ship base according to the theoretical horizontal line and the projected horizontal line.

[0017] Thirdly, embodiments of the present invention also provide an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the ship foundation installation accuracy control method as described in any of the embodiments of the present invention.

[0018] Fourthly, embodiments of the present invention also provide a storage medium for storing computer-executable instructions, which, when executed by a computer processor, are used to perform the ship foundation installation accuracy control method as described in any of the embodiments of the present invention.

[0019] The technical solution of this invention, when the hull sections do not need to be adjusted to be completely level, places multiple target points near the longitudinal section line, hull rib inspection line, and ship base installation area of ​​the hull. Positioning and automatic compensation are performed using the target points and key base feature line data, eliminating measurement errors caused by hull deformation and insufficient flatness. A target projection coordinate system precisely aligned with the hull coordinate system is established for installing the ship base. Based on the theoretical horizontal line and the projected horizontal line, the installation accuracy of the installed ship base is controlled, achieving base installation accuracy control in non-level conditions and improving base positioning accuracy.

[0020] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a flowchart of a method for controlling the installation accuracy of a ship foundation according to Embodiment 1 of the present invention;

[0023] Figure 2 This is a schematic diagram of the projection result of the base feature line provided in Embodiment 1 of the present invention;

[0024] Figure 3 This is a flowchart of a method for controlling the installation accuracy of a ship foundation according to Embodiment 2 of the present invention;

[0025] Figure 4 This is a schematic diagram of the scale target ruler provided in Embodiment 2 of the present invention;

[0026] Figure 5 This is a schematic diagram of the structure of a ship foundation installation accuracy control device provided in Embodiment 3 of the present invention;

[0027] Figure 6 This is a schematic diagram of the structure of an electronic device for implementing the ship base installation accuracy control method of the present invention. Detailed Implementation

[0028] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0029] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0030] Example 1

[0031] Figure 1 This is a flowchart illustrating a method for controlling the installation accuracy of a ship foundation according to Embodiment 1 of the present invention. This embodiment is applicable to situations involving the control of ship foundation installation accuracy. This method can be executed by a ship foundation installation accuracy control device, which can be implemented in hardware and / or software. This device can be configured in any electronic device with network communication and computing capabilities. Figure 1 As shown, the method includes:

[0032] S110. Determine the target points pre-set on the longitudinal section line of the hull, the hull rib inspection line, and the pre-set area of ​​the ship's base installation area, and the target coordinates in the coordinate system of the measuring equipment.

[0033] In this embodiment, multiple target points are pre-selected and set within a preset area along the longitudinal section line of the hull, the hull rib inspection line, and the ship's base installation area. A laser projector can automatically identify and measure all the deployed target points, obtaining the target coordinates of each point in the laser projector's coordinate system. The coordinate system of the measuring equipment is the laser projector coordinate system. Commonly used measuring equipment is a matching photogrammetric system, such as a total station or a laser projector. The coordinate system of the measuring equipment is pre-set according to the matching photogrammetric system, with the specific setting method adapted to the on-site measurement and projection positioning requirements. The core of setting the coordinate system of the measuring equipment is to determine its own installation position and measurement reference direction to match the hull coordinate system.

[0034] Among them, the waterline, hull baseline, midships, and centerline are all theoretical reference surfaces / lines determined during the ship design phase, and are the core basis for establishing the hull coordinate system.

[0035] Among them, the longitudinal section line of the hull is the longitudinal reference line along the bow and stern direction of the ship, which usually coincides with or is parallel to the centerline of the hull. The rib inspection line is the inspection line used to mark the position of the ribs along the transverse reference line of the ship.

[0036] Furthermore, multiple optical positioning targets are precisely deployed on the ship's base. Specifically, three or more optical positioning targets are set at appropriate intervals (usually 1 meter) along the longitudinal section line and hull check line of the ship, which have been inspected and whose accuracy is guaranteed to be within ±1mm. The target point is the center point of the crosshair of the optical positioning target. When setting it, it is ensured that one baseline of the crosshair of the optical positioning target is aligned with the longitudinal section line or hull check line of the ship, thereby transferring the accuracy of the hull baseline to the target point.

[0037] Meanwhile, several optical positioning targets are evenly distributed in a preset area of ​​the ship base installation area. The preset area can be a circular area with a preset radius formed by taking the center point of the ship base installation area as the origin, or a rectangular area centered on the center point of the ship base installation area.

[0038] It should be noted that, since ship foundation installation involves fine adjustments to local dimensions such as height and levelness, the targets based solely on the hull longitudinal section and hull rib inspection lines may be insufficient to cover the coordinate error compensation requirements of local areas. By pre-setting additional targets within the ship foundation installation area, a local coordinate control network can be formed, reducing edge errors during projector projection, enhancing the stability and accuracy of coordinate measurements in this area, and avoiding projection deviations caused by unevenness on the local hull surface.

[0039] Furthermore, in practical applications, precision measuring equipment such as total stations and laser trackers capable of interfaced with the ship's coordinate system can be used to measure the three-dimensional coordinates of the intersection of the crosshairs at the center of each target (i.e., the target point). This allows the acquisition of the target coordinates of each target point within a pre-set area along the ship's longitudinal section line, hull rib inspection line, and ship base installation area, all within the coordinate system of the measuring equipment. During actual measurement, multiple measurements should be taken and averaged to reduce measurement errors. Finally, the precise X (longitudinal), Y (lateral), and Z (height) coordinates of each target point in the coordinate system of the measuring equipment should be recorded.

[0040] S120. Determine the target projection coordinate system based on the target coordinates.

[0041] In this embodiment, the target projection coordinate system is a projection coordinate system with the same origin as the ship's coordinate system and with all axes completely parallel.

[0042] Specifically, the target coordinates of all target points can be imported into the projector control software. Using these target coordinate data as a reference, an algorithm is used to establish a reference projection coordinate system that may be different from the origin of the ship's coordinate system but is completely parallel to each axis. This reference projection coordinate system will form a precise mapping relationship with the ship's coordinate system. It is equivalent to using the target points as "anchor points" to transform the spatial rules of the ship's coordinate system into projection rules that the projector can recognize.

[0043] The ship's coordinate system is a rectangular coordinate system pre-established based on the ship's base. In this embodiment, the ship's coordinate system is pre-constructed. Generally, it is necessary to first define the three axes and the origin of the ship's coordinate system. The X-axis of the ship's coordinate system is parallel to the waterline of the ship and is the direction from bow to stern. The origin of the X-axis can be set at the midpoint of the ship's length or on the stern perpendicular line. The Y-axis of the ship's coordinate system is perpendicular to the X-axis and is the direction from starboard to port. The origin of the Y-axis can be set on the centerline of the ship. The Z-axis of the ship's coordinate system is perpendicular to the waterline, with upward as the positive direction and downward as the negative direction. The origin of the Z-axis can be set on the waterline or on the ship's baseline.

[0044] Furthermore, the parameters of the hull longitudinal section line, hull rib inspection line, and ship base reference plane in the hull coordinate system are input into the reference projection coordinate system and then transformed, that is, the X, Y, and Z directions of the reference projection coordinate system are translated to obtain the target projection coordinate system, so that the origin of the target projection coordinate system is the same as that of the hull coordinate system.

[0045] It should be noted that the target projection coordinate system not only maintains a precise alignment with the hull coordinate system, but also automatically compensates for the flatness of the hull base surface, and does not require the hull sections to be adjusted to a completely horizontal state, thus laying a solid benchmark for subsequent projection positioning.

[0046] As an optional but not limited implementation, determining the target projection coordinate system based on the target coordinates includes:

[0047] Based on the target coordinates, determine the reference projection coordinate system;

[0048] Determine the line and surface coordinate parameters of the hull longitudinal section, hull rib inspection line, and ship reference plane in the hull coordinate system;

[0049] The line and surface parameters are transformed into the reference projection coordinate system to obtain the target projection coordinate system.

[0050] In this embodiment, the reference projection coordinate system is a projection coordinate system whose origin is different from that of the hull coordinate system but whose axes are completely parallel. The line and plane coordinate parameters are the coordinate values ​​of the hull longitudinal section line, the hull rib inspection line, and the ship reference plane in the hull coordinate system.

[0051] First, straight line fitting and plane fitting are performed based on the target coordinates to determine the X, Y, and Z axes of the reference projection coordinate system, thereby establishing a projection coordinate system that is different from the origin of the ship's coordinate system but completely parallel to each axis.

[0052] Furthermore, based on the hull coordinate system, the precise line and surface coordinate parameters of the hull longitudinal section lines, hull rib inspection lines, and ship reference plane are extracted. These line and surface coordinate parameters contain the X, Y, and Z three-dimensional coordinate information of multiple reference lines in the hull coordinate system. Then, these line and surface coordinate parameters are imported into the reference projection coordinate system. Using the known coordinate anchor points of the reference lines, the origin deviation of the two parallel coordinate systems is locked. The deviation is eliminated by translation to achieve precise alignment. After completing the translation of the reference projection coordinate system in the X, Y, and Z directions, the target projection coordinate system with the same origin position as the hull coordinate system and completely parallel to each axis can be obtained.

[0053] As an optional but not limited implementation, determining the reference projection coordinate system based on the target coordinates includes:

[0054] Determine the XY plane axis of the reference projection coordinate system based on the target coordinates of the target points on the longitudinal section line and the hull rib inspection line.

[0055] Based on the target coordinates of all target points, determine the Z-axis of the reference projection coordinate system.

[0056] In this embodiment, the target coordinates of the target points located on the hull rib inspection line are fitted to form a straight line parallel to the hull rib inspection line. The direction of this straight line is defined as the Y-axis of the reference projection coordinate system, with the direction from the starboard side to the port side taken as the positive direction. The target coordinates of the target points located on the upper target point are fitted to form a straight line parallel to the longitudinal section line of the hull. The direction of this straight line is defined as the X-axis of the reference projection coordinate system, with the direction from the stern to the bow taken as the positive direction. This step ensures that the two horizontal axes of the reference projection coordinate system are strictly parallel to the axis of the hull coordinate system.

[0057] Furthermore, based on the target coordinates of the target points within the preset area of ​​the hull rib inspection line, the reference plane is determined, and the Z-axis of the reference projection coordinate system is determined based on the reference plane, with the vertical upward direction being taken as the positive direction.

[0058] As an optional but not limited implementation, the Z-axis of the reference projection coordinate system is determined based on the target coordinates of all target points, including:

[0059] The target coordinates of all target points are fitted to a plane to obtain the reference plane;

[0060] Determine the normal vector of the reference plane and use the normal vector as the Z-axis of the reference projection coordinate system.

[0061] In this embodiment, the target coordinate values ​​of all target points on the hull rib inspection line, on the hull rib inspection line, and within the preset area of ​​the ship base installation area are fitted using the least squares plane method to generate a reference plane.

[0062] Furthermore, calculate the normal vector of the reference plane and establish this direction as the Z-axis of the reference projection coordinate system, taking the vertically upward direction as the positive direction.

[0063] In this embodiment, a reference plane is obtained by performing plane fitting on the target coordinates of all target points. This method can eliminate the influence of local plane angle errors on the hull base surface, establish an ideal reference plane that is parallel to the theoretical baseline of the hull coordinate system and better meets the design requirements, and use the normal vector of this reference plane as the Z-axis of the reference projection coordinate system. This allows the hull sections to establish the reference projection coordinate system without adjusting to a completely horizontal state, ensuring the reliability of the alignment between the reference projection coordinate system and the hull coordinate system.

[0064] S130. Install the ship base according to the target projection coordinate system.

[0065] In this embodiment, the ship base is installed based on the ship hull coordinate system and the target projection coordinate system. The projector can be used to project the core feature lines of the ship base in the CAD model onto the pre-installed surface of the ship hull based on the target projection coordinate system.

[0066] Furthermore, in practical applications, based on the projected outer contour line and central cross line, a crane or jack is used to lift the base to the pre-installation area of ​​the hull, and the front-to-back and left-to-right positions of the base are initially adjusted so that its actual edge roughly matches the projected contour line, thus completing the initial placement and rough positioning of the ship's base.

[0067] As an optional but not limited implementation, the ship's base is installed according to the target projection coordinate system, including:

[0068] Determine the coordinate transformation relationship based on the coordinate system of the 3D model of the base to be installed, the hull coordinate system, and the target projection coordinate system;

[0069] Determine the base feature line data of the three-dimensional model of the base to be installed. The base feature line data includes the outer contour line of the panel, the central cross positioning line, and the center line of the bolt holes.

[0070] The base feature line data is used to determine the projected base feature line data based on the coordinate transformation relationship;

[0071] The ship's base is installed based on the projected base feature line data.

[0072] In this embodiment, the coordinate transformation relationship is used to associate the three-dimensional model coordinate system, the ship coordinate system, and the target projection coordinate system of the three-dimensional model of the base to be installed. The base feature line data includes the outer contour line of the panel, the central cross positioning line, the center line of the bolt hole, etc. The projected base feature line data is the coordinate of the base feature line data projected onto the ship coordinate system according to the coordinate transformation relationship.

[0073] The outer contour line of the base panel and the central cross positioning line correspond to the X / Y coordinates of the ship's coordinate system, controlling the forward, backward, left, and right positions; the bolt hole positioning line includes the center line of each bolt hole, ensuring that the bolt hole position is aligned with the pre-embedded hole / welded hole of the ship's hull.

[0074] In this embodiment, the 3D CAD model has its own independent 3D model coordinate system, the origin and position of which do not coincide with the ship's coordinate system and the target projection coordinate system. The coordinate transformation relationship can act as a "bridge" between the three, accurately converting the coordinate parameters of key features such as the outer contour line of the ship's base panel and the center line of the bolt holes in the 3D CAD model into projection coordinates that the projector can recognize, that is, the projection base feature line data.

[0075] Next, by combining the previously completed alignment between the target projection coordinate system and the ship's coordinate system, these base feature lines can be accurately projected onto the corresponding pre-installed surface of the ship, avoiding deviations in the projection position.

[0076] See Figure 2 The diagram shows the projection result of the base feature line. The left side is the top view of the projection of the ship's base feature line, and the right side is the front view of the projection of the ship's base feature line.

[0077] In this embodiment, the coordinate transformation relationship is determined by the coordinate system of the 3D model of the base to be installed, the ship's coordinate system, and the target projection coordinate system. This coordinate transformation relationship allows the projected traces of feature lines to accurately and in real time represent the key feature positions of the base. Construction personnel do not need to repeatedly use measuring tools to verify the position; they can quickly complete the initial placement of the base simply by using the projected lines. At the same time, this precise coordinate transformation avoids the cumulative errors caused by manual measurement, which not only speeds up the construction progress but also lays a high-precision foundation for subsequent base fixing, bolt installation, and other processes, ensuring the final installation accuracy of the base.

[0078] S140. Determine at least two theoretical horizontal lines and project the theoretical horizontal lines onto the ship's base to obtain at least two projected horizontal lines.

[0079] In this embodiment, the theoretical horizontal line is a pre-set horizontal line parallel to the bottom surface or waterline of the ship's base, and the projected horizontal line is the projection line of the theoretical horizontal line onto the ship's base panel.

[0080] In this embodiment, at least two or more theoretical horizontal lines are predefined for level calibration. Each theoretical horizontal line is projected onto the ship's base panel using a projector, thus obtaining the shadow of the projected horizontal line. It should be noted that each theoretical horizontal line, through projection, yields a corresponding projected horizontal line shadow.

[0081] S150. Based on the theoretical horizontal line and the projected horizontal line, the installed ship base is fixed with precision control.

[0082] In this embodiment, the projected horizontal line is a "real-world mirror image" of the theoretical horizontal line. If the ideal position of the projected horizontal line and the theoretical horizontal line on the actual surface of the base does not completely coincide, there will be a deviation in the ship installation accuracy. The deviation value can be directly quantified by the parameters of the projected horizontal line. The ship base after installation can be adjusted according to the deviation value. Construction personnel can precisely adjust the thickness of the bottom pads of the ship base or fine-tune the jacks to control the height and levelness (i.e., pitch and roll) of the ship base.

[0083] If the ship's base is installed accurately, the projected horizontal line should completely coincide with the ideal position of the actual surface of the base. When the reading of the projected horizontal line on the target ruler is consistent with the theoretical value, it indicates that the height and levelness of the base have met the design requirements. Then, spot welding is carried out to fix it, and the complete base installation is precisely positioned and controlled.

[0084] The technical solution of this invention, when the hull sections do not need to be adjusted to be completely level, places multiple target points near the longitudinal section line, hull rib inspection line, and ship base installation area of ​​the hull. The target points are used for positioning and automatic compensation to eliminate measurement errors caused by hull deformation and insufficient flatness. A target projection coordinate system that is precisely aligned with the hull coordinate system is established. The ship base is installed according to the base feature line and the target projection coordinate system. Based on the theoretical horizontal line and the projected horizontal line, the installation accuracy of the installed ship base is controlled, thereby achieving base installation accuracy control in non-level conditions and improving base positioning accuracy.

[0085] Example 2

[0086] Figure 3 This is a flowchart illustrating a method for controlling the installation accuracy of a ship foundation according to Embodiment 2 of the present invention. This embodiment further specifies the method based on the previous embodiments. This embodiment is applicable to situations involving the control of ship foundation installation accuracy. The method can be executed by a ship foundation installation accuracy control device, which can be implemented in hardware and / or software. This device can be configured in any electronic device with network communication and computing capabilities. Figure 3 As shown, the method includes:

[0087] S210. Determine the target points pre-set on the longitudinal section line of the hull, the hull rib inspection line, and the preset area of ​​the ship's base installation area, and the target coordinates in the coordinate system of the measuring equipment.

[0088] S220. Determine the target projection coordinate system based on the target coordinates.

[0089] S230. Install the ship's base according to the target projection coordinate system.

[0090] S240. Determine at least two theoretical horizontal lines and project the theoretical horizontal lines onto the ship's base to obtain at least two projected horizontal lines, wherein the theoretical horizontal lines are horizontal lines parallel to the base.

[0091] S250. At least one graduated target ruler is configured in the horizontal direction of the installed ship base; the graduated target ruler includes at least two observation points.

[0092] In this embodiment, a magnetic high-precision scale target is installed on the front and rear edges (along the longitudinal direction of the ship) and left and right edges (along the transverse direction of the ship) of the ship base panel that has been initially positioned, providing a way to determine whether there are any deviations in the ship installation accuracy.

[0093] See Figure 2 The image shows the installation location of the graduated target scale. (See attached image.) Figure 4 This is a schematic diagram of the scale target, where each scale target includes at least two observation points.

[0094] S260. Determine the theoretical scale value of the theoretical horizontal line at at least two observation points, and use the scale target to obtain the actual scale value of each projected horizontal line at each observation point.

[0095] In this embodiment, the theoretical horizontal line is a horizontal line parallel to the bottom surface of the ship's base or the waterline. The theoretical horizontal line is a "predefined ideal baseline" in the three-dimensional model. All points on each theoretical horizontal line have fixed Z-axis coordinates (vertical height) in the ship's coordinate system and have the same parameters. The "scale corresponding to the theoretical horizontal line" on each scale target is fixed. For example, the theoretical value of the front / rear scale target is 50.0 mm. The theoretical scale value represents the ideal position when the base is level, indicating that the projected horizontal line must fall within the effective scale range of the target.

[0096] Furthermore, the projector projects a theoretical horizontal line based on the target projection coordinate system (which coincides with the origin of the ship's coordinate system and is parallel to the axis). Multiple theoretical horizontal lines are precisely projected onto the front and rear scale targets on the ship's base panel. A clear red / green laser line (projected horizontal line) will appear on the front and rear scale targets. This line is a "live mirror" of the theoretical horizontal line.

[0097] Furthermore, construction workers can visually observe (or use a magnifying glass) and read the actual scale values ​​of the projected horizontal line at each observation point on the front and rear scale targets.

[0098] S270. Based on the theoretical and actual scale values, the front and rear ends and left and right ends of the installed ship base are fixed with precision control.

[0099] In this embodiment, the levelness and height of the base can be determined based on the deviation between the theoretical scale value and the actual scale value.

[0100] Specifically, if there is a deviation between the theoretical and actual scale values ​​at different observation points on a single scale target, it indicates that the height of the ship's base at the location of that scale target is too low or too high, and the ship's base is tilted laterally. If there is a deviation between the theoretical and actual scale values ​​at the same observation points on the front and rear scale targets, it indicates that the ship's base is tilted in pitch. Furthermore, the thickness of the shims at the bottom of the base can be precisely adjusted or the jacks can be finely adjusted to control the height and levelness of the ship's base, and to control and fix the installation accuracy of the left and right ends and the front and rear ends of the installed ship's base.

[0101] In this embodiment, by comparing the theoretical scale value and the actual scale value, the front and rear ends and left and right ends of the installed ship base are precisely controlled, and the height and levelness of the ship base are adjusted, effectively improving the installation accuracy of the base.

[0102] As an optional but not limited implementation, after precision control and fixation of the installed ship base, the following are included:

[0103] The ship's base is scanned after installation and fixation to obtain three-dimensional point cloud data of the ship's base;

[0104] Determine the three-dimensional model data of the ship's foundation;

[0105] Based on the three-dimensional point cloud data and the three-dimensional model data, the deviation parameters of the ship's base are determined, including panel flatness and panel levelness.

[0106] Precise spot welding is performed on the fixed ship base according to the aforementioned deviation parameters;

[0107] The post-weld point cloud data of the ship's base after spot welding and the welding parameters during spot welding of the ship's base are obtained; the welding parameters include welding current, welding voltage, welding speed and welding sequence.

[0108] Based on the post-weld point cloud data and the three-dimensional point cloud data, the welding deformation parameters are determined, including longitudinal shrinkage and transverse shrinkage.

[0109] Determine the correlation between the welding parameters and the welding deformation parameters;

[0110] Based on the aforementioned correlation, the welding parameters for spot welding of the ship's base are optimized.

[0111] In this embodiment, the deviation parameters include panel flatness and panel levelness, the welding deformation parameters include longitudinal shrinkage and transverse shrinkage, and the welding parameters include welding current, welding voltage, welding speed, and welding sequence.

[0112] In this embodiment, after the installed ship base is fixed with precision control, the ship base is scanned to obtain the three-dimensional point cloud data of the ship base. Further, the three-dimensional model data of the ship base is determined based on the three-dimensional model of the ship base. The software automatically fits, aligns and compares the three-dimensional point cloud data and the three-dimensional model data to further determine the deviation parameters of the installed and fixed ship base.

[0113] Furthermore, the software can quickly generate color deviation chromatograms and data reports containing key indicators such as panel flatness and panel levelness. Based on these data reports, construction personnel can make precise fine adjustments to the spot-welded base to eliminate minor deformations and residual deviations that may occur during the spot welding process, thereby further improving the installation accuracy of the ship base.

[0114] It should be noted that after the ship's base is correctly adjusted, formal welding can proceed in a symmetrical welding sequence. First, perform symmetrical welding at the four corners of the base's perimeter, then weld the outer plates, and finally weld the internal framework. After welding, allow it to cool to room temperature, and then use a handheld 3D laser scanner to scan the base and surrounding area again to obtain post-weld point cloud data of the final state. Compare the post-weld point cloud data with the original CAD 3D model to generate a final post-weld deviation report, which can be used for acceptance testing or to guide necessary post-weld repairs and adjustments.

[0115] Furthermore, in practical applications, pre-weld point cloud data and post-weld point cloud data can be acquired, and the pre-weld 3D point cloud data and post-weld point cloud data can be imported into analysis software for precise comparison and fitting analysis.

[0116] By comparing post-weld point cloud data with pre-weld 3D point cloud data, welding deformation parameters can be determined, allowing for precise quantification of the amount and pattern of deformations such as shrinkage, angular deformation, and warping caused by welding, and enabling deformation trend analysis. For example, the analysis software can calculate the longitudinal shrinkage of the panel along the weld direction, the lateral shrinkage perpendicular to the weld direction, and the overall angular deformation angle.

[0117] The welding deformation parameters after welding are correlated with welding parameters (such as welding current, welding voltage, welding speed, sequence, number of passes, and bevel type). For example, by analyzing deformation data under multiple sets of different welding parameters, a statistical relationship model of "heat input - deformation" can be established.

[0118] Furthermore, based on the correlation analysis results of welding deformation parameters and welding parameters, the deficiencies of the current welding process can be clearly identified. For example, if the analysis reveals significant concave deformation in the central weld area, targeted improvement measures can be developed in subsequent welding processes to optimize welding parameters. These measures could include: adjusting the welding sequence (using a symmetrical back-welding method from the middle to both ends), optimizing parameters (reducing heat input), introducing reverse deformation (applying an offset opposite to the expected deformation direction before welding), or adding reinforcement measures (adding temporary stiffeners to suppress deformation). Through this data-driven feedback mechanism, welding process specifications can be continuously optimized, thereby gradually reducing and controlling welding deformation at the source, and improving overall construction quality and efficiency.

[0119] In this embodiment, projection-assisted positioning and magnetic scale fine-tuning can improve the accuracy and efficiency of ship foundation installation. Furthermore, real-time deviation reports generated by 3D scanning guide foundation welding, and comparison of pre- and post-weld data analyzes welding deformation patterns, forming a welding process parameter knowledge base. This reduces reliance on construction personnel experience, decreases rework rates, and ensures the consistency and traceability of ship foundation installation quality, providing an efficient digital solution for shipbuilding.

[0120] The technical solution of this invention, when the hull sections do not need to be adjusted to be completely level, places multiple target points near the longitudinal section line, hull rib inspection line, and ship base installation area of ​​the hull. The target points are used for positioning and automatic compensation to eliminate measurement errors caused by hull deformation and insufficient flatness. A target projection coordinate system that is precisely aligned with the hull coordinate system is established. The ship base is installed according to the base feature line and the target projection coordinate system. Based on the theoretical horizontal line and the projected horizontal line, the installation accuracy of the installed ship base is controlled, thereby achieving base installation accuracy control in non-level conditions and improving base positioning accuracy.

[0121] Example 3

[0122] Figure 5 This is a schematic diagram of a ship foundation installation accuracy control device provided in Embodiment 3 of the present invention. This embodiment is applicable to ship foundation installation accuracy control. The ship foundation installation accuracy control device can be implemented in hardware and / or software, and can be configured in any electronic device with network communication and computing capabilities. Figure 5 As shown, the device includes:

[0123] The coordinate determination module is used to determine the target coordinates of the target points pre-set on the longitudinal section line of the hull, the hull rib inspection line, and the preset area of ​​the ship's base installation area in the coordinate system of the measuring equipment.

[0124] The projection coordinate system determination module is used to determine the target projection coordinate system based on the target coordinates;

[0125] A ship base installation module is used to install the ship base according to the target projection coordinate system;

[0126] A horizontal line determination module is used to determine at least two theoretical horizontal lines, project the theoretical horizontal lines onto the ship's base, and obtain at least two projected horizontal lines, wherein the theoretical horizontal lines are horizontal lines parallel to the base;

[0127] The installation precision control module is used to precisely control and fix the installed ship base according to the theoretical horizontal line and the projected horizontal line.

[0128] Determining the target projection coordinate system based on the target coordinates includes:

[0129] Based on the target coordinates, determine the reference projection coordinate system;

[0130] Determine the line and surface coordinate parameters of the hull longitudinal section, hull rib inspection line, and reference plane in the hull coordinate system;

[0131] The line and surface coordinate parameters are transformed into the reference projection coordinate system to obtain the target projection coordinate system.

[0132] Based on this embodiment, optionally, determining the reference projection coordinate system according to the target coordinates includes:

[0133] Determine the XY plane axis of the reference projection coordinate system based on the target coordinates of the target points on the longitudinal section line and the hull rib inspection line.

[0134] Based on the target coordinates of all target points, determine the Z-axis of the reference projection coordinate system.

[0135] Based on this embodiment, optionally, the Z-axis of the reference projection coordinate system is determined according to the target coordinates of all target points, including:

[0136] The target coordinates of all target points are fitted to a plane to obtain the reference plane;

[0137] Determine the normal vector of the reference plane and use the normal vector as the Z-axis of the reference projection coordinate system.

[0138] Optionally, based on this embodiment, the ship's base is installed according to the target projection coordinate system, including:

[0139] Determine the coordinate transformation relationship based on the coordinate system of the 3D model of the base to be installed, the hull coordinate system, and the target projection coordinate system;

[0140] Determine the base feature line data of the three-dimensional model of the base to be installed. The base feature line data includes the outer contour line of the panel, the central cross positioning line, and the center line of the bolt holes.

[0141] The base feature line data is projected onto the ship base installation area according to the coordinate transformation relationship to obtain the corresponding projected base feature line data.

[0142] The ship's base is installed based on the projected base feature line data.

[0143] Based on this embodiment, optionally, the installed ship base is fixed with precision control according to the theoretical horizontal line and the projected horizontal line, including:

[0144] At least one graduated target ruler is installed horizontally on the ship's base after installation; the graduated target ruler includes at least two observation points;

[0145] Determine the theoretical scale value of the theoretical horizontal line at at least two observation points, and use the scale target to obtain the actual scale value of each projected horizontal line at each observation point;

[0146] Based on the theoretical and actual scale values, the front and rear ends and left and right ends of the installed ship base are precisely controlled and fixed.

[0147] Based on this embodiment, optionally, after precision control and fixing of the installed ship base, the following steps are included:

[0148] The ship's base is scanned after installation and fixation to obtain three-dimensional point cloud data of the ship's base;

[0149] Determine the three-dimensional model data of the ship's foundation;

[0150] Based on the three-dimensional point cloud data and the three-dimensional model data, the deviation parameters of the ship's base are determined, including panel flatness and panel levelness.

[0151] Precise spot welding is performed on the fixed ship base according to the aforementioned deviation parameters;

[0152] The post-weld point cloud data of the ship's base after spot welding and the welding parameters during spot welding of the ship's base are obtained; the welding parameters include welding current, welding voltage, welding speed and welding sequence.

[0153] Based on the post-weld point cloud data and the three-dimensional point cloud data, the welding deformation parameters are determined, including longitudinal shrinkage and transverse shrinkage.

[0154] Determine the correlation between the welding parameters and the welding deformation parameters;

[0155] Based on the aforementioned correlation, the welding parameters for spot welding of the ship's base are optimized.

[0156] The technical solution of this invention, when the hull sections do not need to be adjusted to be completely level, places multiple target points near the longitudinal section line, hull rib inspection line, and ship base installation area of ​​the hull. The target points are used for positioning and automatic compensation to eliminate measurement errors caused by hull deformation and insufficient flatness. A target projection coordinate system that is precisely aligned with the hull coordinate system is established. The ship base is installed according to the base feature line and the target projection coordinate system. Based on the theoretical horizontal line and the projected horizontal line, the installation accuracy of the installed ship base is controlled, thereby achieving base installation accuracy control in non-level conditions and improving base positioning accuracy.

[0157] The ship foundation installation accuracy control device provided in the embodiments of the present invention can execute the ship foundation installation accuracy control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the method.

[0158] Example 4

[0159] Figure 6 A schematic diagram of an electronic device 10, which can be used to implement embodiments of the present invention, is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0160] like Figure 6 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0161] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0162] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the ship pedestal installation precision control method.

[0163] In some embodiments, the ship pedestal installation accuracy control method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the ship pedestal installation accuracy control method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the ship pedestal installation accuracy control method by any other suitable means (e.g., by means of firmware).

[0164] In particular, according to embodiments of the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication unit 19, or installed from storage unit 18, or installed from ROM 12. When the computer program is executed by processor 11, it performs the functions defined in the methods of the embodiments of the present invention.

[0165] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), system-on-a-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0166] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0167] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0168] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0169] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0170] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through a communication network. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0171] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0172] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method of controlling the installation accuracy of a ship foundation, characterized by, The method comprises the following steps: determining target points preset on the ship body longitudinal centerline, the ship body rib inspection line and the preset area in the ship base installation area, and target coordinates of the target points in the measuring equipment coordinate system; determining a target projection coordinate system according to the target coordinates; installing the ship base according to the target projection coordinate system; determining at least two theoretical horizontal lines, projecting the theoretical horizontal lines onto the ship base to obtain at least two projected horizontal lines, and the theoretical horizontal lines are horizontal lines parallel to the ship base; controlling and fixing the installed ship base according to the theoretical horizontal lines and the projected horizontal lines.

2. The method of claim 1, wherein, The method for determining the target projection coordinate system according to the target coordinates comprises the following steps: determining a reference projection coordinate system according to the target coordinates; determining line and surface coordinate parameters of the ship body longitudinal centerline, the ship body rib inspection line and the reference plane in the ship body coordinate system; converting the line and surface coordinate parameters into the reference projection coordinate system to obtain the target projection coordinate system.

3. The method of claim 2, wherein, The method for determining the reference projection coordinate system according to the target coordinates comprises the following steps: determining an XY plane axis of the reference projection coordinate system according to the target coordinates of the target points on the ship body longitudinal centerline and the ship body rib inspection line; determining a Z axis of the reference projection coordinate system according to the target coordinates of all the target points.

4. The method of claim 3, wherein, The method for determining the Z axis of the reference projection coordinate system according to the target coordinates of all the target points comprises the following steps: plane fitting the target coordinates of all the target points to obtain a reference plane; determining a normal vector of the reference plane, and taking the normal vector as the Z axis of the reference projection coordinate system.

5. The method of claim 1, wherein, The method for installing the ship base according to the target projection coordinate system comprises the following steps: determining a coordinate conversion relationship according to a three-dimensional model coordinate system of a three-dimensional model of the base to be installed, a ship body coordinate system and the target projection coordinate system; determining base feature line data of the three-dimensional model of the base to be installed, the base feature line data comprising a panel outer contour line, a center cross positioning line and a bolt hole center line; projecting the base feature line data to the ship base installation area according to the coordinate conversion relationship to obtain corresponding projected base feature line data; installing the ship base according to the projected base feature line data.

6. The method of claim 1, wherein, The method for controlling and fixing the installed ship base according to the theoretical horizontal lines and the projected horizontal lines comprises the following steps: configuring at least one graduated target scale in the horizontal direction of the installed ship base, and the graduated target scale comprises at least two observation points; determining theoretical graduation values of the theoretical horizontal lines at the at least two observation points, and obtaining actual graduation values of the projected horizontal lines at the at least two observation points by using the graduated target scale; controlling and fixing the front and rear ends and the left and right ends of the installed ship base according to the theoretical graduation values and the actual graduation values.

7. The method of claim 1, wherein, After the precision control and fixing of the installed ship base, the method comprises the following steps: scanning the installed and fixed ship base to obtain three-dimensional point cloud data of the ship base; determining three-dimensional model data of the ship base; determining deviation parameters of the ship base according to the three-dimensional point cloud data and the three-dimensional model data, the deviation parameters comprising panel flatness and panel levelness; accurately spot welding the installed and fixed ship base according to the deviation parameters. Obtain post-weld point cloud data of a ship base after spot welding and welding parameters during spot welding of the ship base; the welding parameters include welding current, welding voltage, welding speed, and welding sequence; Determine welding deformation parameters from the post-weld point cloud data and the three-dimensional point cloud data, the welding deformation parameters including longitudinal shrinkage and transverse shrinkage; Determine the correlation between the welding parameters and the welding deformation parameters; Optimize the welding parameters during spot welding of the ship base according to the correlation.

8. A ship base installation accuracy control device characterized by comprising: Comprise: A coordinate determination module for determining target points pre-set on a ship body longitudinal centerline, a ship body rib inspection line, and a ship base installation area pre-set area, and target coordinates in a measurement equipment coordinate system; A projection coordinate system determination module for determining a target projection coordinate system according to the target coordinates; A ship base installation module for installing a ship base according to the target projection coordinate system; A horizontal line determination module for determining at least two theoretical horizontal lines, projecting the theoretical horizontal lines onto the ship base to obtain at least two projected horizontal lines, and the theoretical horizontal lines being horizontal lines parallel to the ship base; An installation precision control module for controlling and fixing the installed ship base according to the theoretical horizontal lines and the projected horizontal lines.

9. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the program to realize the ship base installation precision control method of any one of claims 1-7.

10. A storage medium storing computer-executable instructions, wherein: The computer executable instructions, when executed by the computer processor, are used to execute the ship base installation precision control method of any one of claims 1-7.

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