Hull equipment virtual-real linkage installation method and device, electronic equipment and storage medium

Abstract

The invention discloses a virtual-real linkage installation method and device for hull equipment, electronic equipment and a storage medium. The method comprises the following steps: acquiring ship base point cloud data and base point cloud data of steering engine equipment, and fitting the base point cloud data and the base point cloud data with a target CAD model to obtain target base point cloud data and target base point cloud data; inputting the target base point cloud data and the target base point cloud data into the same three-dimensional virtual assembly environment for virtual assembly, and determining the target position and attitude of the steering engine equipment in the three-dimensional virtual space; the base model obtained after virtual assembly is projected to the upper surface of the base model, and a synthetic drawing is constructed; determining a three-dimensional gasket model based on a three-dimensional space between the base model and the base model; and a ship body base and steering engine equipment are installed according to the synthetic drawing, and a three-dimensional gasket model is adopted for adjusting and fixing. By adopting the scheme, the hull mounting precision and efficiency are improved, and the labor, time and material cost is reduced.

Description

Technical Field

[0001] This invention relates to the field of shipbuilding technology, and in particular to an installation method, device, electronic equipment, and storage medium for virtual-physical linkage of ship hull equipment. Background Technology

[0002] In shipbuilding, equipment installation is a crucial yet highly manual process. Currently, unevenness is a common problem after welding equipment bases, and the equipment bases themselves also have manufacturing deviations. Traditional installation methods rely entirely on the experience of skilled workers: the equipment needs to be lifted and lowered multiple times, and workers repeatedly try to insert shims of different thicknesses into the gaps between the base and the frame, using feeler gauges for local measurements, achieving leveling and alignment through a piecemeal approach. This process has significant drawbacks: First, it is extremely inefficient, with repeated lifting and adjustments taking several days, severely slowing down the overall construction progress; second, installation accuracy is difficult to guarantee, as manual measurements cannot control the overall three-dimensional gaps, resulting in large quality fluctuations and dependence on individual skill; third, it is labor-intensive, carries high safety risks, and leads to material waste.

[0003] Although advanced technologies such as 3D scanning and digital projection have been tried in this field, there are still two core bottlenecks: first, it is difficult to correlate the point cloud data obtained by scanning with the ship's design coordinate system with high precision; second, there is a lack of means to efficiently and intuitively feed the digital results back to the construction site, making it impossible to guide workers to carry out precise operations.

[0004] Therefore, developing a new installation method that can achieve high precision, high efficiency, and digitalization has become an urgent technological need for the shipbuilding industry. Summary of the Invention

[0005] This invention provides a method, device, electronic equipment, and storage medium for the virtual-physical linkage installation of ship equipment, in order to solve the problems of repeated hoisting and debugging, low installation accuracy, and low efficiency in the prior art.

[0006] According to one aspect of the present invention, a method for the virtual-physical linkage of ship hull equipment is provided, the method comprising:

[0007] The point cloud data of the ship's hull base and the point cloud data of the servo motor's base are acquired, and the point cloud data of the base and the point cloud data of the base are fitted with the target CAD model to obtain the target base point cloud data and the target base point cloud data; wherein, the target CAD model includes the base CAD model and the base CAD model.

[0008] The target base point cloud data and the target base point cloud data are input into the same three-dimensional virtual assembly environment for virtual assembly to determine the target position and attitude of the servo motor equipment in the three-dimensional virtual space; wherein, the virtual assembly includes coordinate system processing, virtual centering processing, and processing to determine the longitudinal installation gap value between the hull base and the servo motor equipment base.

[0009] The base model obtained after virtual assembly is projected onto the upper surface of the base model to construct a composite drawing for guiding on-site construction.

[0010] Based on the three-dimensional space between the virtual assembled base model and the pedestal model, the three-dimensional gasket model is determined.

[0011] Based on the composite drawings projected from above, the hull base and steering gear are installed, and then adjusted and fixed using a three-dimensional shim model.

[0012] According to another aspect of the present invention, a device for virtual-physical linkage of ship hull equipment is provided, the device comprising:

[0013] The target data acquisition module is used to acquire point cloud data of the ship's hull base and point cloud data of the servo motor's base, and to fit the base point cloud data and the base point cloud data with the target CAD model to obtain target base point cloud data and target base point cloud data; wherein, the target CAD model includes a base CAD model and a base CAD model.

[0014] The virtual assembly module is used to input the target base point cloud data and the target base point cloud data into the same three-dimensional virtual assembly environment for virtual assembly, so as to determine the target position and attitude of the servo motor equipment in the three-dimensional virtual space; wherein, the virtual assembly includes coordinate system processing, virtual centering processing, and processing to determine the longitudinal installation gap value between the hull base and the servo motor equipment base.

[0015] The composite drawing construction module is used to project the base model obtained after virtual assembly onto the upper surface of the base model to construct composite drawings for guiding on-site construction.

[0016] The 3D gasket determination module is used to determine the 3D gasket model based on the 3D space between the virtual assembled base model and the pedestal model.

[0017] The mounting and fixing module is used to install the hull base and steering gear equipment according to the projected composite drawings, and to adjust and fix them using a three-dimensional shim model.

[0018] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0019] At least one processor; and

[0020] A memory communicatively connected to the at least one processor; wherein,

[0021] The memory stores a computer program that can be executed by the at least one processor, which is then executed by the at least one processor to enable the at least one processor to perform the virtual-real linkage installation method for ship equipment as described in any embodiment of the present invention.

[0022] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions, the computer instructions being configured to cause a processor to execute and implement the installation method for virtual and physical linkage of ship hull equipment as described in any embodiment of the present invention.

[0023] According to another aspect of the present invention, a computer program product is provided, the computer program product comprising a computer program that, when executed by a processor, implements the virtual-physical linkage installation method for ship equipment as described in any embodiment of the present invention.

[0024] The technical solution of this invention involves acquiring point cloud data of the ship's hull base and the base of the steering gear, and fitting these point cloud data with a target CAD model to obtain target base point cloud data and target base point cloud data. This target base point cloud data and target base point cloud data are then input into the same three-dimensional virtual assembly environment for virtual assembly to determine the target position and attitude of the steering gear in the three-dimensional virtual space. The virtually assembled base model is projected onto the upper surface of the base model to construct a composite drawing to guide on-site construction. Based on the three-dimensional space between the virtually assembled base model and the base model, a three-dimensional shim model is determined. The ship's hull base and steering gear are installed according to the projected composite drawing, and the three-dimensional shim model is used for adjustment and fixation. Using this technical solution, equipment assembly and shim customization are completed in advance in a virtual environment using three-dimensional scanning data, completely avoiding repeated hoisting and debugging. High-precision laser projection is used on-site to directly project the virtual results onto the base, guiding workers to complete drilling and precise alignment in one go, achieving "hoisting to position". This method greatly improves installation accuracy and efficiency, reducing the construction period from several days to several hours, and significantly reducing labor, time and material costs.

[0025] 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

[0026] 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.

[0027] Figure 1 This is a flowchart of an installation method for virtual-physical linkage of ship hull equipment according to Embodiment 1 of the present invention;

[0028] Figure 2 This is a schematic diagram of scanning using a handheld 3D laser scanner according to Embodiment 1 of the present invention;

[0029] Figure 3 This is a schematic diagram of a 3D projection device according to Embodiment 1 of the present invention;

[0030] Figure 4 This is a flowchart of an installation method for virtual-physical linkage of ship hull equipment according to Embodiment 2 of the present invention;

[0031] Figure 5 This is a schematic diagram of a composite drawing provided according to Embodiment 2 of the present invention;

[0032] Figure 6 This is a schematic diagram of a virtual linkage installation provided according to Embodiment 2 of the present invention;

[0033] Figure 7 This is a schematic diagram of a virtual-real linkage installation device for ship equipment according to Embodiment 3 of the present invention;

[0034] Figure 8 This is a schematic diagram of the structure of an electronic device provided in Embodiment 4 of the present invention. Detailed Implementation

[0035] 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.

[0036] The acquisition, storage, use, and processing of data in the technical solution of this application all comply with relevant laws and regulations. It should be noted that the terms "first," "second," "target," and "original," 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," "etc.," and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that includes 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.

[0037] Example 1

[0038] Figure 1 This is a flowchart of a virtual-physical linkage installation method for ship equipment provided in Embodiment 1 of the present invention. This embodiment is applicable to high-precision installation of ship equipment based on a combination of 3D scanning, point cloud data processing, virtual assembly, and spatial projection technologies. It is particularly suitable for the installation of large or complex ship equipment with high requirements for installation accuracy and efficiency. This method can be executed by a virtual-physical linkage installation device for ship equipment, which can be implemented in hardware and / or software. This virtual-physical linkage installation device can be configured in any electronic device with network communication capabilities. Figure 1 As shown, the method includes:

[0039] S110. Acquire point cloud data of the hull base and the base of the steering gear, and fit the point cloud data of the base and the base with the target CAD model to obtain the target base point cloud data and the target base point cloud data.

[0040] The base point cloud data refers to high-density three-dimensional base point cloud data obtained by scanning the ship's base and surrounding area using three-dimensional laser scanning technology; the base point cloud data refers to high-density three-dimensional base point cloud data obtained by scanning the base of the steering gear equipment using three-dimensional laser scanning technology.

[0041] Among them, 3D laser scanning technology is also known as "real-scene replication technology," see [link / reference]. Figure 2It can quickly acquire high-precision 3D data of the measured object in a non-contact manner and convert it into a visual model. It uses the principle of laser ranging to quickly reconstruct a 3D point cloud model of the measured target by recording the 3D coordinate information of a large number of dense points on the surface of the measured object. It has the characteristics of fast measurement speed, comprehensive data and high accuracy.

[0042] The target CAD model includes a base CAD model and a pedestal CAD model. The pedestal point cloud data is fitted to the pedestal CAD model to obtain point cloud data in the servo gear coordinate system, thus obtaining the target pedestal point cloud data. The base point cloud data is then fitted to the base CAD model to obtain point cloud data in the hull equipment coordinate system, thus obtaining the target base point cloud data.

[0043] S120. Input the target base point cloud data and the target base point cloud data into the same three-dimensional virtual assembly environment for virtual assembly, so as to determine the target position and attitude of the servo device in the three-dimensional virtual space.

[0044] The three-dimensional virtual assembly environment refers to a digital system that uses computer graphics, virtual reality (VR) technology, and CAD software to simulate the assembly process of a ship's hull and steering gear in a virtual space. Virtual assembly is performed by inputting target base point cloud data and target base point cloud data into the same three-dimensional virtual assembly environment to determine the target position and attitude of the steering gear in the three-dimensional virtual space.

[0045] The virtual assembly refers to the process of performing coordinate system processing, virtual alignment processing, and determining the longitudinal installation gap between the hull base and the servo motor base in a three-dimensional virtual environment to determine the target position and attitude of the servo motor in three-dimensional virtual space. Coordinate system processing can refer to converting the target base point cloud data and the target base point cloud data into the same coordinate system. Virtual alignment processing can refer to aligning the hull base and the servo motor base along their centerlines or at specific edge distances. Determining the longitudinal installation gap between the hull base and the servo motor base can refer to adjusting the servo motor base to the installation elevation to determine the longitudinal distance between them. Through coordinate system processing, virtual alignment processing, and determining the longitudinal installation gap between the hull base and the servo motor base, the target position and attitude of the servo motor in three-dimensional virtual space can be determined.

[0046] S130. Project the virtual assembly base model onto the upper surface of the base model to construct a composite drawing for guiding on-site construction.

[0047] Here, projection can refer to using digital projection technology to project the virtually assembled base model onto the upper surface of the base model. See also Figure 3 This is a 3D projection device. The digital projection technology refers to the use of a high-precision dual-axis scanning galvanometer driven by a 3D CAD model of the component to achieve deflection. The point laser is rapidly deflected under the motion of the dual-axis scanning galvanometer, displaying as the component outline formed by the laser line in the target projection area. By using clear and bright visible laser lines to form the component outline and accurately display it in the area to be installed or processed, it provides reference and guidance for operators to perform efficient and accurate work, making the information more intuitive and practical, and effectively connecting CAD engineering design with laser-assisted manufacturing and assembly.

[0048] In this embodiment of the invention, projection technology is used to project the outline of the base model onto the upper surface of the base model, so as to accurately display the bottom outer contour line and the anchor bolt hole line of the base model, as well as the spatial curve of the base model, in order to construct a composite drawing.

[0049] S140. Based on the three-dimensional space between the base model and the pedestal model after virtual assembly, determine the three-dimensional gasket model.

[0050] Specifically, based on the three-dimensional space between the virtual assembled base model and the pedestal model, a three-dimensional gap model is generated that can accurately reflect the required gasket thickness at each position between the pedestal and the base. This three-dimensional gap model is then divided to determine several three-dimensional gasket models. Since the lower and upper surfaces of the pedestal are uneven curved surfaces, the gasket thickness is not unique. Dividing the three-dimensional gap model allows for the determination of the three-dimensional gasket model at each position.

[0051] S150. Install the hull base and steering gear according to the composite drawings of the projection, and use a three-dimensional shim model for adjustment and fixation.

[0052] After determining the composite drawings, holes are drilled on the base according to the composite drawings, and the hull base and the base of the servo gear are installed according to the target position and attitude of the servo gear, and fixed and adjusted using a three-dimensional shim model.

[0053] This invention provides a method for the virtual-real linkage installation of ship equipment. It involves acquiring point cloud data of the ship's base and the servo motor's base, and fitting these point cloud data with a target CAD model to obtain target base and target base point cloud data. This target base and target base point cloud data are then input into the same 3D virtual assembly environment for virtual assembly to determine the target position and attitude of the servo motor in the 3D virtual space. The virtual assembly includes coordinate system processing, virtual alignment processing, and determining the longitudinal installation gap between the ship's base and the servo motor's base. The virtual assembly base model is projected onto the upper surface of the base model to construct a composite drawing to guide on-site construction. A 3D shim model is determined based on the 3D space between the virtual assembly base model and the base model. The ship's base and servo motor are installed according to the projected composite drawing, and the 3D shim model is used for adjustment and fixation. By using the technical solution of this invention, equipment assembly and shim customization are completed in advance in a virtual environment using 3D scanning data, completely avoiding repeated hoisting and debugging. On-site, high-precision laser projection was used to project virtual results directly onto the base, guiding workers to complete drilling and precise alignment in one go, achieving "immediate placement upon hoisting." This method greatly improves installation accuracy and efficiency, shortening the construction period from several days to several hours, and significantly reducing labor, time, and material costs. It represents an efficient application of digital twin technology in shipbuilding.

[0054] Example 2

[0055] Figure 4 This is a flowchart illustrating a virtual-physical linkage installation method for ship hull equipment according to Embodiment 2 of the present invention. This embodiment further optimizes the aforementioned embodiments, and can be combined with various optional solutions from one or more of the above embodiments. For example... Figure 4 As shown, the method includes:

[0056] S410. Acquire point cloud data of the hull base and the base of the steering gear, and fit the point cloud data of the base and the base with the target CAD model to obtain the target base point cloud data and the target base point cloud data.

[0057] Specifically, a 3D laser scanner is used to acquire point cloud data of the ship's hull base and the base of the steering gear, and coordinate transformation is performed to obtain point cloud data of the target base and the target base.

[0058] As an optional but non-limiting implementation, the step of acquiring point cloud data of the hull base and point cloud data of the steering gear base, and fitting the base point cloud data and the base point cloud data with the target CAD model to obtain target base point cloud data and target base point cloud data, includes, but is not limited to, steps A1-A2:

[0059] Step A1: Use a 3D laser scanner to scan the qualified ship hull base to obtain the base point cloud data, and fit the base point cloud data with the base CAD model. Then, convert the base point cloud data to the ship hull coordinate system to obtain the target base point cloud data.

[0060] Step A2: Use a 3D laser scanner to scan the base of the servo motor device to obtain the point cloud data of the servo motor device base. Fit the base point cloud data with the base CAD model and convert the base point cloud data to the coordinate system of the servo motor device to obtain the target base point cloud data.

[0061] The process involves using a 3D laser scanner to scan the installed, qualified ship hull base and its surrounding area, obtaining high-density point cloud data P-base-scan. The original CAD design model of the base is then imported into 3D point cloud processing software, such as Geomagic Control X or Polyworks. Both the base CAD model and the base point cloud data P-base-scan are imported into the same 3D point cloud processing software. Using best-fit alignment or feature alignment algorithms, the P-base-scan is precisely fitted to the base CAD model, eliminating deviations between the laser scan data and the design model. Through this fitting operation, the software automatically calculates the transformation matrix T1 from the 3D laser scanner coordinate system to the base design coordinate system. Applying T1, the base point cloud data P-base-scan is transformed to the ship coordinate system, yielding the target base point cloud data P-base-ship.

[0062] In this process, a 3D laser scanner is used to scan the servo motor base (the device's orientation can be arbitrary) in the servo motor equipment warehouse or pre-assembly area to obtain the base point cloud data P-equip-scan. The original CAD model of the servo motor is imported into 3D processing software, along with the base point cloud data P-equip-scan. A fitting algorithm is then used to precisely align the base point cloud data with the base portion of the servo motor CAD model. This fitting yields a transformation matrix T2 from the base point cloud data scanner coordinate system to the servo motor design coordinate system. Applying T2, the base point cloud data P-equip-scan is transformed into the servo motor coordinate system, resulting in the target base point cloud data P-equip-local.

[0063] This invention achieves a precise mapping between the physical world (scanning data) and the digital world (design model) by fitting three-dimensional laser scanning point cloud data with a CAD model with high precision.

[0064] S420. Input the target base point cloud data and the target base point cloud data into the same three-dimensional virtual assembly environment, and perform coordinate system processing on the target base point cloud data and the target base point cloud data based on the principle of vertical upward Z-axis.

[0065] Specifically, the target base point cloud data P-base-ship, which has been converted to the ship's coordinate system, and the target equip point cloud data P-equip-scan, which has been converted to the steering gear coordinate system, are imported into the same 3D virtual assembly environment, such as PDPS, DELMIA, or a software platform developed by the equipment manufacturer. Since both the ship and the steering gear follow the convention of vertically upward Z-axis in the design (which can be specified in the design), the attitudes of the target base point cloud data and the target equip point cloud data are basically consistent in the general direction. The main deviations exist in the translation in the X and Y directions and the horizontal rotation around the Z-axis.

[0066] S430. Based on the target base point cloud data and target base point cloud data processed by coordinate system one, perform virtual centering processing on the hull equipment and steering gear equipment in the horizontal plane to determine the position of the steering gear equipment in the horizontal plane.

[0067] Among them, after determining the unified processing of the target base point cloud data and the target pedestal point cloud data on the Z-axis, the ship's equipment and steering gear equipment are virtually aligned on the horizontal plane to determine the position of the steering gear equipment on the horizontal plane.

[0068] As an optional but non-limiting implementation, the virtual alignment processing of the hull equipment and steering gear equipment in the horizontal plane is performed based on the target base point cloud data and target base point cloud data processed by coordinate system one, in order to determine the position of the steering gear equipment in the horizontal plane, including but not limited to steps B1-B3:

[0069] Step B1: Based on the target base point cloud data and target pedestal point cloud data processed by coordinate system one, fit and construct the base model and pedestal model respectively;

[0070] Step B2: Project the base model and the base model onto the horizontal plane to determine the two-dimensional contour projection plane of the base and the two-dimensional contour projection plane of the base.

[0071] Step B3: Translate and rotate the two-dimensional contour projection surface of the base around the Z-axis, and perform virtual centering processing on the projection surface of the two-dimensional contour projection surface of the base and the two-dimensional contour projection surface of the pedestal to determine the position of the servo device on the horizontal plane.

[0072] Specifically, the target base point cloud data P-base-ship and the target base point cloud data P-equip-scan are fitted into high-precision triangular mesh surface models to obtain the base model M-base and the base model M-equip. M-base and M-equip are then projected onto a horizontal plane (XOY plane) to obtain the two-dimensional contour projection surface A-base of the base and A-equip of the base. In a virtual assembly environment, A-equip is translated and rotated around the Z-axis to achieve the required alignment with A-base on the projection plane, such as centerline alignment and specific edge distance alignment. This operation determines the final design position of the servo device on the horizontal plane.

[0073] S440. Based on the target base point cloud data and target base point cloud data processed by coordinate system one, and the position of the servo motor on the horizontal plane, determine the target position of the servo motor in the three-dimensional virtual space.

[0074] Specifically, after processing the target base point cloud data and the target pedestal point cloud data using a coordinate system, the uniformity in the Z-axis direction is determined; the position of the servo motor on the horizontal plane is determined through virtual centering processing; and thus, the target position of the servo motor in the three-dimensional virtual space is determined.

[0075] In this embodiment of the invention, before the actual hoisting of the servo gear equipment, the virtual matching and assembly simulation between the servo gear equipment and the ship's hull base are completed in a virtual assembly environment to accurately predict the installation position of the servo gear equipment.

[0076] S450. Based on the determined position of the steering gear equipment on the horizontal plane, determine the longitudinal installation clearance value between the hull base and the steering gear equipment base.

[0077] During installation, the hull base and steering gear have a gap between them due to the curved surfaces of the base's lower and upper surfaces. In this embodiment of the invention, the installation gap value is determined before hoisting, serving as a basis for subsequently constructing a three-dimensional shim model to avoid repeated hoisting.

[0078] As an optional but non-limiting implementation, the determination of the longitudinal installation clearance between the hull base and the servo gear base, based on determining the position of the servo gear on the horizontal plane, includes, but is not limited to, steps C1-C3:

[0079] Step C1: On the aligned horizontal plane, based on the center lines of the outer contour surface of the servo device in both length and width directions, determine the first intersection point of the two center lines, and take the first intersection point as the center point of the outer contour of the servo device.

[0080] Step C2: Determine a straight line perpendicular to the horizontal plane based on the center point of the outer contour;

[0081] Step C3: Determine the second intersection point between the hull base and the straight line, and the third intersection point between the servo gear base and the straight line. Based on the second and third intersection points, determine the longitudinal distance between the hull base and the servo gear base, and use the distance as the installation gap value.

[0082] In this process, on the aligned horizontal projection plane, center lines are drawn along the length and width directions of the equipment's outer contour. The first intersection point O of these two center lines is the center point of the servo motor's outer contour on the horizontal plane. A straight line L perpendicular to the horizontal plane (i.e., along the Z-axis) is drawn through point O. Line L intersects the servo motor's base model M-equip and the underlying base model M-base at a third intersection point E-point on the servo motor's base side and a second intersection point B-point on the base side. The distance Dz between E-point and B-point in the Z-direction is calculated and used as the installation gap value. In the virtual environment, the installation elevation is adjusted by vertically moving the equipment model so that the distance Dz equals a preset installation gap value G; for example, 40mm. This value is determined by the on-site process requirements and is used to accommodate the gasket and grout layer. At this point, the target position and orientation of the equipment in the three-dimensional virtual space are completely determined, and the virtual assembly is complete.

[0083] In this embodiment of the invention, before the actual hoisting of the equipment, the virtual matching and assembly simulation of the servo motor equipment base and the base are completed in a virtual assembly environment, accurately predicting the installation position, attitude and the three-dimensional shape of the required shims, changing "post-installation shims" to "pre-installation shims".

[0084] S460. Project the virtual assembly base model onto the upper surface of the base model to construct a composite drawing for guiding on-site construction.

[0085] After the virtual assembly is completed, the base model is projected onto the upper surface of the base model to create composite drawings to guide on-site construction.

[0086] As an optional but non-limiting implementation, the virtual assembly-derived base model is projected onto the upper surface of the base model to construct composite drawings for guiding on-site construction, including but not limited to steps D1-D2:

[0087] Step D1: Project the bottom outer contour line and the anchor bolt hole line of the base model obtained after virtual assembly onto the upper surface of the base model along the Z-axis.

[0088] Step D2: Based on the bottom outer contour line and anchor bolt hole edge line of the base model, as well as the outer contour line of the base model, construct a composite drawing to guide on-site construction.

[0089] Specifically, the bottom outer contour line and anchor bolt hole line of the virtual assembled servo equipment base model M-equip are projected along the Z-axis onto a potentially uneven spatial curved surface of the base model M-base. (See also...) Figure 5 The projection forms a series of spatial curves on the base surface, including the outer boundary line of the equipment base and the center lines and boundary lines of all bolt holes. These spatial curves and the base surface are output together to form a composite drawing to guide on-site construction. This drawing visually shows the actual area the equipment should occupy and the specific locations of openings on the real, uneven base.

[0090] This invention utilizes high-brightness projection technology to directly project virtual assembly results onto a physical base, providing workers with extremely intuitive and accurate visual guidance and eliminating errors in drawing interpretation and measurement.

[0091] S470. Based on the three-dimensional space between the base model and the pedestal model after virtual assembly, determine the three-dimensional gasket model.

[0092] Among these steps, a three-dimensional gasket model is determined in order to prefabricate a customized gasket that perfectly fits the upper and lower surfaces.

[0093] As an optional but non-limiting implementation, a three-dimensional gasket model is determined based on the three-dimensional space between the virtual assembled base model and the pedestal model, including but not limited to steps E1-E3:

[0094] Step E1: Based on the three-dimensional space between the virtual assembled base model and the pedestal model, perform gap calculation to generate a three-dimensional gap body model; wherein, the three-dimensional gap body model is used to reflect the thickness of the gasket required at each position;

[0095] Step E2: Divide the three-dimensional gap body model into several gaskets, and output the three-dimensional model data of each gasket;

[0096] Step E3: Using 3D printing data, determine the three-dimensional gasket model based on the three-dimensional model data of each gasket.

[0097] Specifically, based on the three-dimensional space between the virtual assembled servo gear equipment base model M-equip and the base model M-base, Boolean operations or gap calculations are performed to generate a three-dimensional gap body model that accurately reflects the required shim thickness at each position. This three-dimensional gap body model is divided into several shims consistent with the design requirements, and the three-dimensional model data of each shim is output, such as an STL file. Using 3D printing technology, customized three-dimensional shim models that perfectly fit the upper and lower surfaces are prefabricated based on this three-dimensional model data.

[0098] In this embodiment of the invention, a customized three-dimensional gasket model that perfectly fits the upper and lower surfaces is prefabricated in advance to solve the problem of repeatedly inserting gaskets of different thicknesses for leveling in the prior art.

[0099] S480. Install the hull base and steering gear according to the composite drawings of the projection, and use a three-dimensional shim model for adjustment and fixation.

[0100] At the construction site, high-precision positioning targets were placed at several key corner points of the ship's base. A high-precision, high-brightness laser projector was used. The projector emitted a laser beam to automatically scan and identify the three-dimensional coordinates of the center points of multiple pre-placed targets. Through a spatial resection algorithm, the projector automatically established a field projection coordinate system that perfectly matched the composite drawings based on the identified target coordinates. The projector precisely projected the center crosshairs of the holes, the arc curves of the holes, and the outer contour installation curves of the servo motor equipment base onto the surface of the installed base. Construction personnel then performed drilling operations on the base according to the projected center lines of the holes.

[0101] See Figure 6 The servo motor is lifted to its installation position using a crane and initially positioned at the opening in the base. Operators use auxiliary adjustment tools—the left-right and front-back adjustment screws—and observe the deviation between the projected line and the actual position of the servo motor to fine-tune its positioning, achieving precise alignment. The vertical adjustment screws are then used to adjust the vertical distance of the servo motor to be higher than the installation clearance value, such as 40mm. A support plate is welded to the base to support the servo motor. The vertical adjustment screws are removed, and the three-dimensional gasket models are placed in the correct positions. Epoxy resin is then poured in, and after it hardens, the support plate is removed, the connecting bolts are tightened, and the final installation of the servo motor is complete.

[0102] In this embodiment of the invention, a field coordinate system is established using a positioning target, along with projected hole positions and contour lines, to directly guide hole drilling and positioning, thereby achieving virtual-real linkage in the installation of servo motor equipment.

[0103] This invention provides a virtual-physical linkage installation method for ship hull equipment. By performing high-precision fitting between scanned point cloud data and a CAD model, the scanning data design model is accurately mapped to a unified coordinate system. Before the actual hoisting of the steering gear equipment, virtual matching and assembly simulation between the steering gear equipment and the ship hull base are completed in a virtual assembly environment. This accurately predicts the installation position, attitude, and the three-dimensional shape of the required gaskets, allowing for the pre-fabrication of three-dimensional gasket models. High-brightness projection technology is used to directly project the virtual assembly results onto the base, providing workers with extremely intuitive and accurate visual guidance, eliminating errors in drawing interpretation and measurement. Through digitalization and automation, the number of hoisting operations is significantly reduced, labor intensity is lowered, the installation cycle is shortened, and the consistency and traceability of installation accuracy are ensured, promoting the intelligent upgrading of shipbuilding.

[0104] Example 3

[0105] Figure 7 This is a structural schematic diagram of a ship hull equipment virtual-physical linkage installation device provided in Embodiment 3 of the present invention. Figure 7 As shown, the device includes:

[0106] The target data acquisition module 710 is used to acquire point cloud data of the ship's hull base and point cloud data of the servo motor's base, and to fit the base point cloud data and the base point cloud data with the target CAD model to obtain target base point cloud data and target base point cloud data; wherein, the target CAD model includes a base CAD model and a base CAD model.

[0107] The virtual assembly module 720 is used to input the target base point cloud data and the target base point cloud data into the same three-dimensional virtual assembly environment for virtual assembly, so as to determine the target position and attitude of the servo motor equipment in the three-dimensional virtual space; wherein, the virtual assembly includes coordinate system processing, virtual centering processing, and processing to determine the longitudinal installation gap value between the hull base and the servo motor equipment base.

[0108] The composite drawing construction module 730 is used to project the base model obtained after virtual assembly onto the upper surface of the base model to construct composite drawings for guiding on-site construction.

[0109] The 3D gasket determination module 740 is used to determine the 3D gasket model based on the 3D space between the virtual assembled base model and the pedestal model.

[0110] The mounting and fixing module 750 is used to install the hull base and steering gear equipment according to the projected composite drawings, and to adjust and fix them using a three-dimensional shim model.

[0111] Optional, the target data acquisition module is specifically used for:

[0112] A 3D laser scanner is used to scan the qualified ship hull base to obtain the base point cloud data. The base point cloud data is then fitted with the base CAD model and converted to the ship hull coordinate system to obtain the target base point cloud data.

[0113] A 3D laser scanner is used to scan the base of the servo motor to obtain the base point cloud data. The base point cloud data is then fitted with the base CAD model and converted to the servo motor coordinate system to obtain the target base point cloud data.

[0114] Optional, virtual assembly module, specifically used for:

[0115] A coordinate system processing unit is used to input the target base point cloud data and the target base point cloud data into the same three-dimensional virtual assembly environment, and perform coordinate system processing on the target base point cloud data and the target base point cloud data based on the principle of vertical upward Z-axis.

[0116] The virtual centering processing unit is used to perform virtual centering processing on the ship's equipment and steering gear equipment in the horizontal plane based on the target base point cloud data and target base point cloud data processed by coordinate system one, so as to determine the position of the steering gear equipment in the horizontal plane.

[0117] The target position determination unit is used to determine the position of the servo motor on the horizontal plane and the target position of the servo motor in the three-dimensional virtual space based on the target base point cloud data and target base point cloud data processed by the coordinate system.

[0118] The installation clearance value determination unit is used to determine the longitudinal installation clearance value between the hull base and the servo gear base based on the determined position of the servo gear on the horizontal plane.

[0119] Optional, virtual centering processing unit, specifically used for:

[0120] Based on the target base point cloud data and target pedestal point cloud data processed by coordinate system one, a base model and a pedestal model are respectively fitted and constructed.

[0121] Project the base model and the base model onto the horizontal plane to determine the two-dimensional contour projection surface of the base and the two-dimensional contour projection surface of the base.

[0122] The two-dimensional contour projection surface of the base is translated and rotated around the Z-axis, and the two-dimensional contour projection surface of the base and the two-dimensional contour projection surface of the pedestal are virtually aligned on the projection surface to determine the position of the servo device on the horizontal plane.

[0123] Optionally, the installation gap value determination unit is specifically used for:

[0124] On the already aligned horizontal plane, based on the center lines of the outer contour surface of the servo device in both length and width directions, determine the first intersection point of the two center lines, and take the first intersection point as the center point of the outer contour of the servo device.

[0125] A straight line perpendicular to the horizontal plane is determined based on the center point of the outer contour;

[0126] Determine the second intersection point between the hull base and the straight line, and the third intersection point between the servo gear base and the straight line. Based on the second and third intersection points, determine the longitudinal distance between the hull base and the servo gear base, and use the distance as the installation clearance value.

[0127] Optional, a composite drawing construction module, specifically used for:

[0128] Project the bottom outer contour line and the anchor bolt hole line of the base model obtained after virtual assembly onto the upper surface of the base model along the Z-axis.

[0129] Based on the bottom outer contour line and anchor bolt hole edge line of the base model, as well as the outer contour line of the base model, a composite drawing is constructed to guide on-site construction.

[0130] Optional, a 3D spacer determination module, specifically used for:

[0131] Based on the three-dimensional space between the virtual assembled base model and the pedestal model, gap calculation is performed to generate a three-dimensional gap body model; wherein, the three-dimensional gap body model is used to reflect the thickness of the gasket required at each position;

[0132] The three-dimensional gap body model is divided into several gaskets, and the three-dimensional model data of each gasket is output.

[0133] Using 3D printing data, the three-dimensional gasket model is determined based on the three-dimensional model data of each gasket.

[0134] The hull equipment virtual-real linkage installation device provided in the embodiments of the present invention can execute the hull equipment virtual-real linkage installation method provided in any of the embodiments of the present invention, and has the corresponding functions and beneficial effects of executing the hull equipment virtual-real linkage installation method. For detailed process, please refer to the relevant operations of the hull equipment virtual-real linkage installation method in the foregoing embodiments.

[0135] Example 4

[0136] Figure 8A 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.

[0137] like Figure 8 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.

[0138] 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.

[0139] 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 installation method of virtual-physical linkage of ship hull equipment.

[0140] 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.

[0141] In some embodiments, the method for installing virtual and physical linkage of hull equipment can 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 can 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 method for installing virtual and physical linkage of hull equipment described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform the method for installing virtual and physical linkage of hull equipment by any other suitable means (e.g., by means of firmware).

[0142] 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 transferring data and instructions to the storage system, the at least one input device, and the at least one output device.

[0143] 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.

[0144] 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.

[0145] 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).

[0146] 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.

[0147] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. 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.

[0148] 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.

[0149] 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 for installing virtual and real linkage of ship hull equipment, characterized in that, The method includes: The point cloud data of the ship's hull base and the point cloud data of the servo motor's base are acquired, and the point cloud data of the base and the point cloud data of the base are fitted with the target CAD model to obtain the target base point cloud data and the target base point cloud data; wherein, the target CAD model includes the base CAD model and the base CAD model. The target base point cloud data and the target base point cloud data are input into the same three-dimensional virtual assembly environment for virtual assembly to determine the target position and attitude of the servo motor equipment in the three-dimensional virtual space; wherein, the virtual assembly includes coordinate system processing, virtual centering processing, and processing to determine the longitudinal installation gap value between the hull base and the servo motor equipment base. The base model obtained after virtual assembly is projected onto the upper surface of the base model to construct a composite drawing for guiding on-site construction. Based on the three-dimensional space between the virtual assembled base model and the pedestal model, the three-dimensional gasket model is determined. Based on the composite drawings projected from above, the hull base and steering gear are installed, and then adjusted and fixed using a three-dimensional shim model.

2. The method according to claim 1, characterized in that, The process of acquiring point cloud data of the ship's hull base and point cloud data of the steering gear's base, and fitting these point cloud data with the target CAD model to obtain target hull base point cloud data and target base point cloud data, includes: A 3D laser scanner is used to scan the qualified ship hull base to obtain the base point cloud data. The base point cloud data is then fitted with the base CAD model and converted to the ship hull coordinate system to obtain the target base point cloud data. A 3D laser scanner is used to scan the base of the servo motor to obtain the base point cloud data. The base point cloud data is then fitted with the base CAD model and converted to the servo motor coordinate system to obtain the target base point cloud data.

3. The method according to claim 1, characterized in that, The step of inputting the target base point cloud data and the target pedestal point cloud data into the same three-dimensional virtual assembly environment for virtual assembly, in order to determine the target position and attitude of the servo motor in the three-dimensional virtual space, includes: The target base point cloud data and the target base point cloud data are input into the same three-dimensional virtual assembly environment, and the target base point cloud data and the target base point cloud data are processed by coordinate system one based on the principle of vertical upward Z-axis. Based on the target base point cloud data and target base point cloud data processed by coordinate system one, virtual centering processing is performed on the hull equipment and steering gear equipment in the horizontal plane to determine the position of the steering gear equipment in the horizontal plane. Based on the target base point cloud data and target base point cloud data processed by coordinate system one, and the position of the servo motor on the horizontal plane, the target position of the servo motor in the three-dimensional virtual space is determined. Based on the determined position of the steering gear on the horizontal plane, the longitudinal installation clearance between the hull base and the steering gear base is determined.

4. The method according to claim 3, characterized in that, The process of virtually centering the ship's equipment and steering gear on the horizontal plane based on the target base point cloud data and target pedestal point cloud data processed by coordinate system one, in order to determine the position of the steering gear on the horizontal plane, includes: Based on the target base point cloud data and target pedestal point cloud data processed by coordinate system one, a base model and a pedestal model are respectively fitted and constructed. Project the base model and the base model onto the horizontal plane to determine the two-dimensional contour projection surface of the base and the two-dimensional contour projection surface of the base. The two-dimensional contour projection surface of the base is translated and rotated around the Z-axis, and the two-dimensional contour projection surface of the base and the two-dimensional contour projection surface of the pedestal are virtually aligned on the projection surface to determine the position of the servo device on the horizontal plane.

5. The method according to claim 3, characterized in that, The determination of the position of the steering gear on the horizontal plane and the determination of the longitudinal installation clearance between the hull base and the steering gear base are based on: On the already aligned horizontal plane, based on the center lines of the outer contour surface of the servo device in both length and width directions, determine the first intersection point of the two center lines, and take the first intersection point as the center point of the outer contour of the servo device. A straight line perpendicular to the horizontal plane is determined based on the center point of the outer contour; Determine the second intersection point between the hull base and the straight line, and the third intersection point between the servo gear base and the straight line. Based on the second and third intersection points, determine the longitudinal distance between the hull base and the servo gear base, and use the distance as the installation clearance value.

6. The method according to claim 1, characterized in that, The process of projecting the virtual assembly-derived base model onto the upper surface of the base model to construct composite drawings for guiding on-site construction includes: Project the bottom outer contour line and the anchor bolt hole line of the base model obtained after virtual assembly onto the upper surface of the base model along the Z-axis. Based on the bottom outer contour line and anchor bolt hole edge line of the base model, as well as the outer contour line of the base model, a composite drawing is constructed to guide on-site construction.

7. The method according to claim 1, characterized in that, The determination of the three-dimensional gasket model based on the three-dimensional space between the virtual assembled base model and the pedestal model includes: Based on the three-dimensional space between the virtual assembled base model and the pedestal model, gap calculation is performed to generate a three-dimensional gap body model; wherein, the three-dimensional gap body model is used to reflect the thickness of the gasket required at each position; The three-dimensional gap body model is divided into several gaskets, and the three-dimensional model data of each gasket is output. Using 3D printing data, the three-dimensional gasket model is determined based on the three-dimensional model data of each gasket.

8. An installation device for virtual-physical linkage of ship hull equipment, characterized in that, The device includes: The target data acquisition module is used to acquire point cloud data of the ship's hull base and point cloud data of the servo motor's base, and to fit the base point cloud data and the base point cloud data with the target CAD model to obtain target base point cloud data and target base point cloud data; wherein, the target CAD model includes a base CAD model and a base CAD model. The virtual assembly module is used to input the target base point cloud data and the target base point cloud data into the same three-dimensional virtual assembly environment for virtual assembly, so as to determine the target position and attitude of the servo motor equipment in the three-dimensional virtual space; wherein, the virtual assembly includes coordinate system processing, virtual centering processing, and processing to determine the longitudinal installation gap value between the hull base and the servo motor equipment base. The composite drawing construction module is used to project the base model obtained after virtual assembly onto the upper surface of the base model to construct composite drawings for guiding on-site construction. The 3D gasket determination module is used to determine the 3D gasket model based on the 3D space between the virtual assembled base model and the pedestal model. The mounting and fixing module is used to install the hull base and steering gear equipment according to the projected composite drawings, and to adjust and fix them using a three-dimensional shim model.

9. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the virtual-real linkage installation method for ship equipment as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that are used to cause a processor to execute the installation method of virtual and physical linkage of ship equipment as described in any one of claims 1-7.

Images