Ship outfitting support positioning system and method

Abstract

The application discloses a kind of ship outfitting support positioning system and method, the system includes measured data acquisition device, computing device and adjustable positioning device, computing device is used to identify the first and second reference structure that is not parallel from three-dimensional data, to establish local coordinate system with intersection point as reference, and generate the first distance, second distance and azimuth angle parameter of design installation point, respectively indicating the distance along two reference directions and the angle with the first reference.The reference joint of adjustable positioning device is adjusted to the corresponding distance parameter position when using, the angle is adjusted to azimuth angle parameter, then the joint is attached to the corresponding reference structure, at this time, the rotation center is defined installation point.The application uses ship actual point cloud data, with two non-parallel structures as reference, realizes the effective conversion of point cloud data to installation parameter, improves support installation precision and construction efficiency.

Description

Technical Field

[0001] This invention belongs to the field of ship outfitting measurement and positioning technology. Specifically, this invention relates to a ship outfitting bracket positioning system and method. Background Technology

[0002] In shipbuilding, outfitting supports are mainly used to support pipelines, cables, and related equipment. The accuracy of their installation position directly determines the installation quality of the outfitting system. Currently, the positioning methods for outfitting supports are mainly divided into two categories: one is the on-site positioning method based on physical measuring tools or fixtures, and the other is the spatial positioning method based on three-dimensional point cloud data.

[0003] Positioning methods based on physical measuring tools or fixtures typically utilize tools such as positioning rulers and marking fixtures to determine the installation position of the bracket through on-site measurement, benchmark alignment, and marking. This method is intuitive and widely used in engineering, but its positioning process is highly dependent on manual operation; measurement, alignment, and marking are significantly influenced by personnel experience. Especially in construction areas with complex structures or limited space, positioning accuracy and consistency are difficult to guarantee. Furthermore, these methods generally rely on pre-set design benchmarks for positioning. When there are manufacturing errors in the hull structure or on-site deformation, they lack the ability to dynamically correct benchmark deviations, resulting in insufficient matching between the design benchmark and the actual structure, and limited on-site adaptability.

[0004] The localization method based on 3D point cloud data determines the spatial position and orientation of the target by acquiring 3D point clouds of the target structure and performing feature extraction and registration calculations. This method can reflect the actual spatial state of the structure and has high measurement accuracy. However, its localization results are usually output in the form of spatial coordinates or pose data, lacking a direct correspondence with on-site construction and installation operations. Construction personnel still need to perform manual conversion and secondary positioning, making it difficult to directly apply high-precision spatial data to the installation process. Furthermore, the lack of an effective data conversion and connection mechanism between point cloud data processing and on-site construction, and the failure to establish an automatic conversion method from spatial data to specific installation parameters, results in low spatial data utilization efficiency, increases construction steps, and may introduce errors caused by manual conversion. Summary of the Invention

[0005] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention provides a positioning system and method for ship outfitting supports, with the purpose of improving positioning accuracy and increasing construction efficiency.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is: a ship outfitting bracket positioning system, comprising: The measured data acquisition device is used to acquire three-dimensional measured data of the surface of the ship's hull structure. A computing device, communicating with the measured data acquisition device, is configured to identify a first and second non-parallel reference structure from the three-dimensional measured data, establish a local positioning coordinate system based on their intersection point as a reference point and their directions, and generate a first distance parameter, a second distance parameter, and an azimuth angle parameter based on the position of the bracket design installation point in the local positioning coordinate system. The first distance parameter is the distance of the design installation point relative to the reference point along the direction of the first reference structure; the second distance parameter is the distance of the design installation point relative to the reference point along the direction of the second reference structure; and the azimuth angle parameter is the angle of the design installation point relative to the direction of the first reference structure. An adjustable positioning device includes a first positioning arm, a second positioning arm, a rotating connection assembly, a first reference joint, a second reference joint, and an angle indicator. The first positioning arm and the second positioning arm are rotatably connected relative to each other through the rotating connection assembly. The first reference joint is disposed on the first positioning arm in a manner that allows it to move along the length direction of the first positioning arm. The second reference joint is disposed on the second positioning arm in a manner that allows it to move along the length direction of the second positioning arm. The angle indicator is disposed at the rotating connection assembly and indicates the included angle between the first positioning arm and the second positioning arm. The first reference joint is used to position itself on the first positioning arm at a position corresponding to the first distance parameter, and the second reference joint is used to position itself on the second positioning arm at a position corresponding to the second distance parameter. The included angle between the first positioning arm and the second positioning arm is adjusted to the azimuth angle parameter. When the first reference joint is in contact with the first reference structure and the second reference joint is in contact with the second reference structure, the rotation center of the rotating connection assembly defines the installation position of the designed mounting point.

[0007] The adjustable positioning device further includes sliding guide portions respectively disposed on the first positioning arm and the second positioning arm, wherein the first reference engagement member and the second reference engagement member are respectively slidably engaged with the corresponding sliding guide portions.

[0008] The sliding guide is a guide groove or guide rail extending along the length direction of the first positioning arm and the second positioning arm.

[0009] The first reference engagement member includes a first locking mechanism for locking the first reference engagement member at a selected position on the first positioning arm; the second reference engagement member includes a second locking mechanism for locking the second reference engagement member at a selected position on the second positioning arm.

[0010] The rotating connection assembly includes a hinge pin and a locking element, which can apply a preload to maintain the included angle after the included angle is adjusted to the correct position.

[0011] The present invention also provides a method for positioning ship outfitting supports, employing the aforementioned ship outfitting support positioning system, and comprising: Obtain three-dimensional measured data of the ship's structural surface; Identify the first and second reference structures that are not parallel from the three-dimensional measured data; Using the intersection of the first reference structure and the second reference structure as a reference point, a local positioning coordinate system is established based on the directions of the first reference structure and the second reference structure. Based on the position of the bracket design installation point in the local positioning coordinate system, determine the first distance parameter of the design installation point relative to the reference point along the direction of the first reference structure, the second distance parameter along the direction of the second reference structure, and the azimuth angle parameter of the design installation point relative to the direction of the first reference structure. Adjust the position of the first reference joint on the first positioning arm, the position of the second reference joint on the second positioning arm, and the included angle between the first positioning arm and the second positioning arm according to the first distance parameter, the second distance parameter, and the azimuth angle parameter, respectively. The first reference joint is attached to the first reference structure, and the second reference joint is attached to the second reference structure, so that the rotation center of the rotating connection assembly is located at the physical position of the designed installation point; Install the outfitting bracket at the position indicated by the rotation center.

[0012] The three-dimensional measured data was acquired by a three-dimensional laser scanning device, and the point cloud sampling density ρ and the scanning resolution Δd satisfy ρ≈1 / (Δd). 2 .

[0013] The first distance parameter and the second distance parameter are obtained by projecting the position vectors of the design installation point and the reference point onto the direction vectors of the first reference structure and the second reference structure, respectively.

[0014] After attaching the first reference joint to the first reference structure and the second reference joint to the second reference structure, the method further includes fixing the first and second reference joints respectively by locking mechanisms on the first and second reference joints, and fixing the included angle by locking members of the rotating connection assembly.

[0015] After installing the outfitting bracket, the following is also included: Obtain three-dimensional measured data of the ship's structural surface again; The acquired data is compared with the theoretical location of the bracket's designed installation point; When the deviation exceeds a preset threshold, the first distance parameter, the second distance parameter, and / or the azimuth angle parameter are corrected according to the deviation, and the adjustable positioning device is readjusted using the corrected parameters to correct the installation position.

[0016] The ship outfitting bracket positioning system and method of the present invention acquires point cloud data of the actual ship structure and selects two non-parallel structures as positioning references for installation positioning. This enables effective conversion between point cloud data and installation parameters, improves the installation positioning accuracy of the outfitting bracket, and increases construction efficiency. Attached Figure Description

[0017] This manual includes the following figures, which illustrate the following: Figure 1 This is a flowchart of the ship outfitting bracket positioning method of the present invention; Figure 2 This is a schematic diagram of the local positioning coordinate system and installation point parameters; Figure 3 This is a schematic diagram of the three-dimensional structure of the auxiliary positioning device; Figure 4 This is a top view of the auxiliary positioning device; Figure 5 This is a simplified diagram of the installation and positioning structure of a ship outfitting support; The following are labeled in the figure: 1. Second reference joint; 2. Angle indicator; 3. First reference structure; 4. Second reference structure; 5. Outfitting bracket; 6. First reference joint; 7. First positioning arm; 8. Second positioning arm; 9. Rotary connection assembly. Detailed Implementation

[0018] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings, in order to help those skilled in the art to have a more complete, accurate and in-depth understanding of the concept and technical solutions of the present invention, and to facilitate its implementation.

[0019] It should be noted that in the following embodiments, the terms "first" and "second" do not represent an absolute distinction in structure and / or function, nor do they represent the order of execution, but are merely for the convenience of description.

[0020] Firstly, such as Figures 1 to 5As shown, this embodiment of the invention provides a positioning system for a ship outfitting support 5, including a measured data acquisition device, a computing device, and an adjustable positioning device. The measured data acquisition device is used to acquire three-dimensional measured data of the ship's structural surface. The computing device communicates with the measured data acquisition device, receives the three-dimensional measured data, and processes it. The computing device is configured to identify a first reference structure 3 and a second reference structure 4 that are not parallel to each other from the three-dimensional measured data, establish a local positioning coordinate system based on their intersection position as a reference point and their directions, and generate a first distance parameter, a second distance parameter, and an azimuth angle parameter based on the position of the support's designed installation point in the local positioning coordinate system. The first distance parameter is the distance of the designed installation point relative to the reference point along the direction of the first reference structure 3, the second distance parameter is the distance of the designed installation point relative to the reference point along the direction of the second reference structure 4, and the azimuth angle parameter is the angle of the designed installation point relative to the direction of the first reference structure 3. The adjustable positioning device performs on-site positioning on the ship's structure based on the results output by the computing device.

[0021] Specifically, the data acquisition device is a 3D laser scanning device, which scans the inner wall of the ship's hull structure to obtain a dense 3D point cloud. To obtain sufficient feature details of the inner wall of the ship, the point cloud sampling density ρ and the scanning resolution Δd are preferably set to satisfy ρ≈1 / (Δd). 2 .

[0022] In this embodiment of the invention, the computing device is configured to identify a first reference structure 3 and a second reference structure 4 that are not parallel to each other from three-dimensional measured data. The structural features on which the identification is based can be common intersections of bulb flats, ribs, or wall panels on a ship's hull. The first reference structure 3 and the second reference structure 4 are any two of these intersections. When processing the point cloud, the computing device first extracts the orientation directions of the aforementioned non-parallel structures to obtain the direction vector v1 of the first reference structure 3 and the direction vector v2 of the second reference structure 4. The computing device is also configured to: after identifying the first reference structure 3 and the second reference structure 4, calculate the angle between their direction vectors and determine whether the angle is within the range of 30° to 150°; if the angle exceeds this range, prompt for a reselection of a reference pair.

[0023] The computing device uses the intersection of the first reference structure 3 and the second reference structure 4 as reference point P1, for example, the intersection point or theoretical intersection point of the two structural lines as the reference point, and uses the directions of the two as the coordinate axes to establish a local positioning coordinate system (see...). Figure 2 This local positioning coordinate system is determined by the geometry of the hull on site. Therefore, when there are processing errors or local deformations in the hull structure, the coordinate system can automatically adapt to the actual structural state.

[0024] Based on the position of the bracket installation point P in the local positioning coordinate system, the computing device generates a first distance parameter a, a second distance parameter b, and an azimuth angle parameter α. The first distance parameter a is the distance of the installation point P relative to the reference point P1 along the direction of the first reference structure 3; the second distance parameter b is the distance of the installation point P relative to the reference point P1 along the direction of the second reference structure 4; and the azimuth angle parameter α is the angle of the installation point P relative to the direction of the first reference structure 3. The specific generation process is as follows: the vector (P-P1) is orthogonally projected and decomposed along the directions v1 and v2, and the coefficients a and b satisfying P-P1 = a• v1 + b• v2 are solved using the least squares method; simultaneously, the angle between the vector (P-P1) and the direction vector v1 is calculated as the azimuth angle parameter α.

[0025] like Figure 3 and Figure 4 As shown, the adjustable positioning device includes a first positioning arm 7, a second positioning arm 8, a rotating connection assembly 9, a first reference joint 6, a second reference joint 1, and an angle indicator 2. Both the first positioning arm 7 and the second positioning arm 8 are elongated rigid components, rotatably connected relative to each other via the rotating connection assembly 9. The plane of rotation coincides with the plane containing the length directions of the two arms. The first reference joint 6 is mounted on the first positioning arm 7 in a manner movable along its length. The second reference joint 1 is mounted on the second positioning arm 8 in a manner movable along its length. The angle indicator 2 is located at the rotating connection assembly 9 and indicates the included angle between the first positioning arm 7 and the second positioning arm 8. The first reference joint 6 is used to position itself on the first positioning arm 7 at a position corresponding to the first distance parameter, and the second reference joint 1 is used to position itself on the second positioning arm 8 at a position corresponding to the second distance parameter. The included angle between the first positioning arm 7 and the second positioning arm 8 is adjusted to the azimuth angle parameter. When the first reference joint 6 is in contact with the first reference structure 3 and the second reference joint 1 is in contact with the second reference structure 4, the rotation center of the rotating connection assembly 9 defines the installation position of the designed installation point.

[0026] In this embodiment of the invention, the rotating connection assembly 9 includes a hinge pin and a locking member. The locking member can be a locking nut. The hinge pin passes through the ends of the first positioning arm 7 and the second positioning arm 8, both of which are fitted onto the hinge pin. The axis of the hinge pin constitutes the rotation center. The locking member can be tightened after the two arms rotate relative to each other to the desired angle, so as to apply an axial preload to keep the angle unchanged.

[0027] In embodiments of the present invention, such as Figure 3 and Figure 4As shown, a sliding guide portion extending along its length is provided on the first positioning arm 7. Specifically, the sliding guide portion is a guide groove extending along the length direction of the first positioning arm 7, or it can be in the form of a guide rail. Similarly, a sliding guide portion is also provided on the second positioning arm 8. Specifically, the sliding guide portion is a guide groove extending along the length direction of the second positioning arm 8, or it can be in the form of a guide rail.

[0028] In embodiments of the present invention, such as Figure 3 and Figure 4 As shown, the first reference engagement member 6 is disposed on the first positioning arm 7 in a manner movable along the length direction of the first positioning arm 7, and the first reference engagement member 6 is slidably engaged with the sliding guide portion on the first positioning arm 7. The second reference engagement member 1 is disposed on the second positioning arm 8 in a manner movable along the length direction of the second positioning arm 8, and is slidably engaged with the sliding guide portion on the second positioning arm 8. Each of the first reference engagement member 6 and the second reference engagement member 1 includes a slider portion and a downwardly extending contact adapter portion: the slider portion is embedded in a corresponding guide groove and can slide along the length direction of the guide groove; the contact adapter portion has a surface adapted to the shape of the reference structure to be fitted, so as to form a stable contact during fitting.

[0029] In embodiments of the present invention, such as Figure 3 and Figure 4 As shown, to lock the coupling in a selected position after adjustment, the first reference coupling 6 includes a first locking mechanism for locking the first reference coupling 6 in a selected position on the first positioning arm 7; the second reference coupling 1 includes a second locking mechanism for locking the second reference coupling 1 in a selected position on the second positioning arm 8. Specifically, the first locking mechanism is a locking bolt, which is screwed onto the side of the first reference coupling 6. When tightened, its end abuts against the inner wall of the guide groove of the first positioning arm 7, locking the position by friction. The second locking mechanism also uses a locking bolt, which is screwed onto the second reference coupling 1 and abuts against the surface of the second positioning arm 8 to lock the position.

[0030] In embodiments of the present invention, such as Figure 3 and Figure 4 As shown, the angle indicator 2 is located at the rotating connection assembly 9 and is used to indicate the included angle between the first positioning arm 7 and the second positioning arm 8. The angle indicator 2 is a disc with an angle scale, which is coaxially arranged with the rotating connection assembly 9 and has a range covering 0° to 180°. The first positioning arm 7 or the second positioning arm 8 is provided with an indicator mark, which can indicate the current included angle on the disc scale when the arm rotates.

[0031] During construction and use, the adjustable positioning device is first pre-adjusted according to the parameters. Specifically, the position of the first reference coupling 6 on the first positioning arm 7 is adjusted so that it is positioned at the distance corresponding to the first distance parameter 'a', and locked by the first locking mechanism; the position of the second reference coupling 1 on the second positioning arm 8 is adjusted so that it is positioned at the distance corresponding to the second distance parameter 'b', and locked by the second locking mechanism; simultaneously, the included angle between the first positioning arm 7 and the second positioning arm 8 is adjusted so that it reaches the azimuth angle parameter 'α', and the included angle is locked by the locking member of the rotating connecting assembly 9. After the pre-adjustment is completed, the geometric relationship between the components on the device accurately corresponds to the design parameters.

[0032] Subsequently, the adjustable positioning device is placed at the corresponding position on the hull structure, so that the first reference joint 6 is fitted with the first reference structure 3, specifically, its contact adapter is pressed against the outer surface of the first reference structure 3; at the same time, the second reference joint 1 is fitted with the second reference structure 4. With both joints fitted, since the geometry of the device has been pre-fixed according to parameters, the rotation center of the rotating connection assembly 9 falls precisely on the physical spatial position of the designed installation point P, thus defining the installation position of the designed installation point. The construction personnel then use this rotation center as a reference point to install the outfitting bracket 5.

[0033] Secondly, such as Figure 1 and Figure 2 As shown, this embodiment of the invention also provides a method for positioning a ship outfitting bracket 5, which employs a ship outfitting bracket 5 positioning system and includes the following steps: S1. Obtain three-dimensional measured data of the ship's structural surface; The first reference structure 3 and the second reference structure 4, which are not parallel, were identified from the three-dimensional measured data. Using the intersection of the first reference structure 3 and the second reference structure 4 as reference point P1, a local positioning coordinate system is established based on the direction of the first reference structure 3 and the direction of the second reference structure 4. S2. Based on the position of the bracket design installation point P in the local positioning coordinate system, determine the first distance parameter a of the design installation point P relative to the reference point P1 along the direction of the first reference structure 3, the second distance parameter b along the direction of the second reference structure 4, and the azimuth angle parameter α of the design installation point relative to the direction of the first reference structure 3. S3. Adjust the position of the first reference joint 6 on the first positioning arm 7, the position of the second reference joint 1 on the second positioning arm 8, and the included angle between the first positioning arm 7 and the second positioning arm 8 according to the first distance parameter, the second distance parameter, and the azimuth angle parameter, respectively. S4. The first reference joint 6 is attached to the first reference structure 3, and the second reference joint 1 is attached to the second reference structure 4, so that the rotation center of the rotating connection assembly 9 is located at the physical position of the designed installation point. S5. Install outfitting bracket 5 at the position indicated by the rotation center.

[0034] In step S1 above, the three-dimensional measured data is acquired by a three-dimensional laser scanning device, and the point cloud sampling density ρ and the scanning resolution Δd satisfy ρ≈1 / (Δd). 2 .

[0035] In step S1 above, three-dimensional measured data of the ship's structural surface is acquired using a three-dimensional laser scanning device. From this three-dimensional measured data, a computing device identifies a first reference structure 3 and a second reference structure 4 that are not parallel to each other, such as two of the intersection lines of bulb flats, ribs, or wall panels. Using the intersection position of the first reference structure 3 and the second reference structure 4 as a reference point P1, a local positioning coordinate system is established based on the directions of the first reference structure 3 and the second reference structure 4.

[0036] In step S1 above, after receiving the point cloud data, the computing device first identifies elongated or ridge-like features on the hull structure as candidate references. Available structural features include bulb flats, ribs, and intersections between different bulkheads, all commonly found on the hull. The operator or computing device automatically selects two non-parallel features from these, defining them as the first reference structure 3 and the second reference structure 4, respectively. To ensure sufficient geometric stability of the positioning references, the computing device extracts the direction vector v1 of the first reference structure 3 and the direction vector v2 of the second reference structure 4. It then calculates the angle θ between the two vectors using the vector angle formula cosθ=(v1·v2) / (|v1||v2|), and determines whether θ satisfies 30°≤θ≤150°.

[0037] Based on the spatial position of the bracket design installation point P in the local positioning coordinate system, the computing device generates a first distance parameter a, a second distance parameter b, and an azimuth angle parameter α. The first distance parameter a is the distance between the design installation point P and the reference point P1 along the direction of the first reference structure 3; the second distance parameter b is the distance between the design installation point P and the reference point P1 along the direction of the second reference structure 4; and the azimuth angle parameter α is the angle between the design installation point P and the first reference structure 3. The relative position between the bracket design installation point P and the positioning reference point P1 is represented as a vector (P - P1).

[0038] The specific generation process is as follows: the vector (P-P1) is orthogonally projected and decomposed along the directions of direction vectors v1 and v2, and the coefficients a and b that satisfy P-P1=a• v1+b• v2 are solved by the least squares method; at the same time, the angle between the vector (P-P1) and the direction vector v1 is calculated as the azimuth angle parameter α.

[0039] In step S3 above, the positions of the first reference joint 6 on the first positioning arm 7, the second reference joint 1 on the second positioning arm 8, and the included angle between the first positioning arm 7 and the second positioning arm 8 are adjusted according to the determined first distance parameter a, second distance parameter b, and azimuth angle parameter α. After adjustment, the two joints are fixed by the corresponding locking mechanism, and the included angle is fixed by tightening the locking member of the rotating connecting assembly 9.

[0040] In step S4 above, the first reference joint 6 is attached to the first reference structure 3, and the second reference joint 1 is attached to the second reference structure 4, so that the rotation center of the rotating connection assembly 9 is located at the physical position of the designed installation point P.

[0041] Finally, at the position indicated by the rotation center, the outfitting bracket 5 is installed.

[0042] To further ensure the final installation accuracy, after the outfitting bracket 5 is installed, the data acquisition device is configured to acquire three-dimensional measurement data at the installation location again. The calculation device is further configured to compare the re-acquired three-dimensional measurement data with the bracket design model to determine the spatial deviation between the actual and theoretical positions. When the deviation exceeds a preset threshold, the first distance parameter a, the second distance parameter b, and / or the azimuth angle parameter α are corrected based on this deviation for readjustment of the adjustable positioning device and correction of the installation position. This method can be repeated cyclically until the installation deviation meets the requirements.

[0043] In this embodiment of the invention, by acquiring the actual structural point cloud data of the hull and selecting two non-parallel structures as positioning references for installation positioning, errors caused by traditional reliance on manual measurement and drawing layout are avoided, thereby improving the installation positioning accuracy of the outfitting bracket 5. At the same time, the installation points in the design model are converted into distance and angle parameters relative to the on-site structure, enabling the design position to be directly located on the construction site, reducing intermediate conversion processes and improving construction efficiency. In addition, after installation, a comparison is made by scanning again, and adjustments and corrections can be made when deviations exist, forming a closed-loop control, thereby adapting to hull construction errors and structural deformations, and further improving the overall installation quality.

[0044] The present invention has been described above by way of example with reference to the accompanying drawings. Obviously, the specific implementation of the present invention is not limited to the above-described manner. Any non-substantial improvements made using the inventive concept and technical solution; or the direct application of the inventive concept and technical solution to other situations without modification, are all within the protection scope of the present invention.

Claims

1. A ship outfitting support positioning system, characterized in that, include: The measured data acquisition device is used to acquire three-dimensional measured data of the surface of the ship's hull structure. A computing device, communicating with the measured data acquisition device, is configured to identify a first reference structure and a second reference structure that are not parallel to each other from the three-dimensional measured data, establish a local positioning coordinate system based on the intersection of the two reference structures as a reference point and their directions, and generate a first distance parameter, a second distance parameter, and an azimuth angle parameter based on the position of the bracket design installation point in the local positioning coordinate system. The first distance parameter is the distance of the design installation point relative to the reference point along the direction of the first reference structure, the second distance parameter is the distance of the design installation point relative to the reference point along the direction of the second reference structure, and the azimuth angle parameter is the angle of the design installation point relative to the direction of the first reference structure. as well as An adjustable positioning device includes a first positioning arm, a second positioning arm, a rotating connection assembly, a first reference joint, a second reference joint, and an angle indicator. The first positioning arm and the second positioning arm are rotatably connected relative to each other through the rotating connection assembly. The first reference joint is disposed on the first positioning arm in a manner that allows it to move along the length direction of the first positioning arm. The second reference joint is disposed on the second positioning arm in a manner that allows it to move along the length direction of the second positioning arm. The angle indicator is disposed at the rotating connection assembly and indicates the included angle between the first positioning arm and the second positioning arm. The first reference joint is used to position the first positioning arm at a position corresponding to the first distance parameter, and the second reference joint is used to position the second positioning arm at a position corresponding to the second distance parameter. The included angle between the first positioning arm and the second positioning arm is adjusted to the azimuth angle parameter. With the first reference joint fitting to the first reference structure and the second reference joint fitting to the second reference structure, the rotation center of the rotating connection assembly defines the installation position of the designed mounting point.

2. The ship outfitting bracket positioning system according to claim 1, characterized in that, The adjustable positioning device further includes sliding guide portions respectively disposed on the first positioning arm and the second positioning arm, wherein the first reference engagement member and the second reference engagement member are respectively slidably engaged with the corresponding sliding guide portions.

3. The ship outfitting bracket positioning system according to claim 2, characterized in that, The sliding guide is a guide groove or guide rail extending along the length direction of the first positioning arm and the second positioning arm.

4. The ship outfitting bracket positioning system according to claim 1, characterized in that, The first reference engagement member includes a first locking mechanism for locking the first reference engagement member at a selected position on the first positioning arm; the second reference engagement member includes a second locking mechanism for locking the second reference engagement member at a selected position on the second positioning arm.

5. The ship outfitting bracket positioning system according to claim 1, characterized in that, The rotating connection assembly includes a hinge pin and a locking element, which can apply a preload to maintain the included angle after the included angle is adjusted to the correct position.

6. A method for positioning a ship outfitting support, characterized in that, The ship outfitting bracket positioning system according to any one of claims 1 to 5 is adopted, and includes: Obtain three-dimensional measured data of the ship's structural surface; Identify the first and second reference structures that are not parallel from the three-dimensional measured data; Using the intersection of the first reference structure and the second reference structure as a reference point, a local positioning coordinate system is established based on the directions of the first reference structure and the second reference structure. Based on the position of the bracket design installation point in the local positioning coordinate system, determine the first distance parameter of the design installation point relative to the reference point along the direction of the first reference structure, the second distance parameter along the direction of the second reference structure, and the azimuth angle parameter of the design installation point relative to the direction of the first reference structure. Adjust the position of the first reference joint on the first positioning arm, the position of the second reference joint on the second positioning arm, and the included angle between the first positioning arm and the second positioning arm according to the first distance parameter, the second distance parameter, and the azimuth angle parameter, respectively. The first reference joint is attached to the first reference structure, and the second reference joint is attached to the second reference structure, so that the rotation center of the rotating connection assembly is located at the physical position of the designed installation point; Install the outfitting bracket at the position indicated by the rotation center.

7. The ship outfitting bracket positioning method according to claim 6, characterized in that, The three-dimensional measured data was acquired by a three-dimensional laser scanning device, and the point cloud sampling density ρ and the scanning resolution Δd satisfy ρ≈1 / (Δd). 2 .

8. The ship outfitting bracket positioning method according to claim 6, characterized in that, The first distance parameter and the second distance parameter are obtained by projecting the position vectors of the design installation point and the reference point onto the direction vectors of the first reference structure and the second reference structure, respectively.

9. The ship outfitting bracket positioning method according to claim 6, characterized in that, After attaching the first reference joint to the first reference structure and the second reference joint to the second reference structure, the method further includes fixing the first and second reference joints respectively by locking mechanisms on the first and second reference joints, and fixing the included angle by locking members of the rotating connection assembly.

10. The method for positioning ship outfitting supports according to claim 6, wherein, After installing the outfitting bracket, the following is also included: Obtain three-dimensional measured data of the ship's structural surface again; The acquired data is compared with the theoretical location of the bracket's designed installation point; When the deviation exceeds a preset threshold, the first distance parameter, the second distance parameter, and / or the azimuth angle parameter are corrected according to the deviation, and the adjustable positioning device is readjusted using the corrected parameters to correct the installation position.

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