基于点云配准的集装箱船模拟绑扎方法

Simulation Method of Container Ship LashingBased on Point Cloud Registration

针对目前集装箱船堆箱绑扎精度验证时,因测量条件恶劣和工装繁重而影响造船工期的问题,通过使用点云配准方法求解舱口盖箱角和绑扎眼板的位姿,并基于此提出集装箱的模拟绑扎方法。该方法通过在大场景船舱点云中提取相对较小的箱角和眼板特征进行点云配准,并求出其实际位姿,同时建立相应的数学模型解算出绑扎余量和集装箱间隙等参数,判断绑扎杆的干涉情况。最后,现场绑扎试验表明,模拟绑扎计算值与试验结果较为相近,有望在未来替代传统的人工绑扎验证方法,实现集装箱船建造过程中的集装箱绑扎数字化模拟验证。

Aiming at the problem that the shipbuilding construction period is affected by the poor measurement conditions and heavy tooling during the current verification of the lashing accuracy of the container ships,the point cloud registration method is used to solve the position and orientation of the hatch cover corner and the lashing eye plate,and based on this,a simulated lashing method for containers is proposed.The method extracts relatively small corner and eye plate features from the point cloud of the large scene,performs point cloud registration and obtains its actual pose,and establishes a corresponding mathematical model to solve the lashing allowance,container clearance,etc.parameter to judge the interference of the lashing rod.Finally,on-site lashing experiments are carried out.The results show that the calculated values of simulated lashings are similar to the experimental results,and it is expected to replace the traditional manual lashing verification methods in the future to realize the digital simulation verification of container lashing during the construction of container ships.