空间离散信息反演3D模型的舰船管道自动对接

Ship pipeline automatic docking based on 3D model of spatial discrete information inversion

针对舰船管路对接过程中的周期长、信息利用率低及精度不高等问题,提出一种空间离散信息反演3D模型的管道自动对接方法.首先,利用双目相机获取须对接管道的图像,从图像中提取管道的空间离散信息,反演生成管道3D模型;然后,结合中间对接管的管路标准和企业生产规范,基于现场管道3D模型反演结果,设计生成中间对接管道模型.通过建立管道2D图像信息与3D图形之间的内在关系,反演现场管道的3D模型,实现管道自动对接.实验验证结果表明:本文方法处理速度可达传统靠模方法的3~6倍,能较好地解决传统靠模方法作业低效率、低精度及安全风险等问题.

To solve the problems of long period,low information utilization rate and low precision in the process of ship pipeline docking,a pipeline automatic docking method for 3D model of pipeline based on spatial discrete information inversion was proposed.First,the image of ship pipeline to be butted was obtained by binocular camera,and the spatial discrete information of pipeline was extracted from the images to generate 3D pipeline model.Then,combined with the pipeline standard of intermediate connection pipe and enterprise production specification,as well as the inversion result of 3D model of field pipeline,the intermediate butt joint pipeline model was designed and generated.By establishing the internal relationship between the discrete 2D image information and 3D entity graphics,the 3D model of the field pipeline was inversed to realize automatic docking.Experimental results show that compared with the traditional modeling method,the proposed method is 3~6 times faster,and can solve the problems of time-consuming,low precision and safety risks.