METHOD AND DEVICE FOR DETECTING THE FORM OF SAILS

Abstract

A method for detecting the form of sails and the like wherein in the form detection is brought about by means of a three-dimensional measurement of a plurality of locations of the surface of the sail, which measurement is carried out by means of measurement of the time-of-flight of an optical signal.

Claims

1. A method for detecting the form of sails, comprising detecting the form of the sail by a three-dimensional measurement of a plurality of locations of a surface of the sail, which measurement is carried out by measurement of a time-of-flight of an optical signal.

2. A method according to claim 1, wherein the optical signal comprises a laser signal generated and received by use of a multi-echo time-of-flight (TOF) laser scanner.

3. A method according to claim 1, wherein the optical signal is generated and received by a one or more 3D tele-camera, optionally one or more time-of-flight tele-camera.

4. A method according to claim 2, wherein the laser signal is generated and received by a time-of-flight (TOF) laser scanner having 5 or more echoes, wherein optionally the laser scanner is oscillated about an axis perpendicular to the axis of a rotating mirror of the laser scanner through an angle such that the laser of the scanner progressively illuminates the entire surface of the sail.

5. A method according to claim 2, wherein the laser scanner is oscillated about an axis perpendicular to the axis of a rotating mirror of the laser scanner through an angle such that the laser of the scanner progressively illuminates the entire surface of the sail.

6. A method claim 1, wherein the optical signal is generated by an optical time-of-flight detection device, wherein optionally the optical time-of-flight detection device is mounted near the plane of the deck of a sailing boat.

7. A method of claim 1, wherein the optical signal is used to generate a cloud of locations measured on the sail and the locations of the cloud of locations are then interpolated in order to generate a real surface of the sail during operation.

8. A method according to claim 7, wherein the real surface is compared with a design surface of the sail in order to adjust the sail via a comparison between the real surface and the theoretical design surface.

9. The method of claim 6, wherein the optical time-of-flight detection device comprises a time-of-flight laser scanner; and, a motorization unit of the laser scanner in order to rotate the laser scanner about an axis perpendicular to the axis of a rotating mirror of the laser scanner through an angle such that the laser of the laser scanner progressively illuminates the entire surface of the sail as set forth in a method of claim 1.

10. The method of claim 9, wherein the laser scanner is of the type involving multi-echo time-of-flight (TOF).

11. The method of claim 9, wherein the motorization unit comprises a controlled rotating actuator, and optionally the motorization unit comprises a brushless gear motor.

12. The method of claim 6, wherein the optical time-of-flight detection device comprises one or more 3D tele-camera, and optionally the 3D tele-camera comprises one or more time-of-flight tele-camera which frames the volume comprised within the vertexes of the sail.

13. The method of claim 6, wherein the optical time-of-flight detection device comprises one or more 3D tele-camera, and the 3D tele-camera comprises one or more time-of-flight tele-camera which frames the vertexes of the sail.

14. The method of claim 11, wherein a computer program via a serial port controls the controlled rotating actuator, and optionally acquisition or receiving of data from the laser scanner is managed via an Ethernet connection through a user interface of the laser scanner.

15. The method of claim 11, wherein the acquisition or receiving of data is via a TCP/IP protocol and saved in a mass storage device, optionally a hard disk, of a computer or equivalent, generating a cloud of locations (points) whose 3D coordinates are measured in a single absolute reference for each individual point, and the cloud of locations describes the three-dimensional shape of the sail in the conditions of use corresponding to the detection of the data, and this cloud is transformed into a three-dimensional surface by the computer program.

16. The method of claim 2, wherein the TOF laser scanner is controlled by a computer program which controls a motorization unit, wherein the motorization unit optionally comprises a brushless motor and an epicycloidal gear reduction unit.

17. The method of claim 16, wherein the angle of rotation about an axis 15 is adjusted according to the dimensions of the sail and the position of the TOF laser scanner, and is such as to illuminate the entire surface of the sail over a time interval in the order of a few seconds, starting from an initial scanning position that is determined, for each acquisition of data, by a proximity transducer 25 mounted on a bracket 14, and the proximity transducer is sensitive to the angular position of the scanner.

Description

[0018] The characteristics and advantages of the invention will made clearer by the detailed description that follows of a preferred but non-exclusive example of embodiment, illustrated by way of non-limitative indication, with reference to the annexed drawings, in which:

[0019] FIG. 1 is a schematic diagram depicting the device of the present invention;

[0020] FIG. 2 is a schematic cross-section view of the shape-detecting device of the present invention installed on a boat for detecting the headsails;

[0021] FIG. 3 is a screenshot of the interface software of the device of the present invention;

[0022] FIGS. 4 and 5 depict the clouds of points obtained with the device of the present invention; the measurement relates to a hoisted gennaker sail with medium-to-light winds;

[0023] FIG. 6 is a schematic view of the processed transformation of the cloud of points of FIGS. 4 and 5 into sail surface;

[0024] FIG. 7 is a graphical representation of a section of the sail representation of FIG. 6;

[0025] FIG. 8 is a three-dimensional image of comparison between the theoretical surface of the design modelling of the sail of the preceding figures and the actual shape detected on the said sail in real conditions of use by means of the device of the present invention.

[0026] In the figures, 2 indicates the deck of a sailboat 1 (only partially represented) provided with a mast 3 and related rigging 4 to support one or more sails 5. The drawings show by way of example the presence of a single headsail for relatively wide tacks, for example a gennaker suitable for tacks between 60° and 140° of apparent wind. It is understood that the said system can conveniently be used without substantial modifications for detecting staysails or trysails, such as genoas, mainsails and the like.

[0027] The system of the present invention includes one or more time-of-flight optical detection devices 10 for detecting the form of the sail 5, fitted close to the deck 2 in such a position as to be capable of “illuminating” the surface of the sail to be measured. The term “illuminate” is here understood to mean that the generated laser impulse, or more generally the optical signal, progressively hits every point of the sail. Alternatively, if a time-of-flight tele-camera is used, it will be possible to illuminate the surface of the sail if the optical signal generated by the tele-camera is capable of simultaneously hitting every point of the sail.

[0028] For a headsail, the device 10 can conveniently be mounted close to the mast 3, whereas for a mainsail or main topsail the device 10 will preferably be placed further back towards the stern of the boat 1. If necessary, two separate devices 10 can be used to detect the two opposing surfaces of a given sail according to the wind direction and the consequent disposition of the said sail with respect to the boat. The use of a single device 10 will be described below, on the understanding that the use of multiple devices 10 is also contemplated by the present invention.

[0029] According to a preferred embodiment, the time-of-flight optical detection device 10 comprises a time-of-flight (TOF) laser scanner 20 commercially available as such. In the experimental testing of the invention, a laser scanner with 5-echo technology was used, for example a LMS511-20100 PRO laser scanner made by the German company SICK AG. This type of scanner offers high performance for external use even in severe meteorological conditions, in the presence of rain, fog and dust.

[0030] The scanner comprises, in a manner known per se, a laser impulse generator 11 and a mirror 12 rotating about an axis 13, generally coincident with the optical axis of the laser ray, in such a way as to emit a laser impulse in a determined direction, the said impulse being deflected by the rotating mirror activating the acquisition of measurement of the points concerned, with a regular angular pitch adjustable between a minimum of 0.167° and a maximum of 1°. Its working range is from 0.5 m to approximately 80 m, covering a maximum angular sector of 190° from −5° to 185°. The angular sector can be adjusted by reducing it through software.

[0031] The TOF laser scanner used supplies information about the measured points in terms of polar coordinates. In particular it supplies, for each measured point, a radius R and an angle ALPHA relating to the origin of the coordinates system on the axis of rotation of the rotating mirror inside the scanner.

[0032] The laser scanner is supported on a bracket 14 rotatable about an axis 15 perpendicular to the axis of rotation 13 of the mirror 12. The rotation of the laser scanner is controlled by means of a computer program installed for example on a PC 21 which controls a motorization unit 22 including a brushless motor 23 and an epicycloidal gear reduction unit 24. The angle of rotation about the axis 15 is adjusted according to the dimensions of the sail and the position of the scanner, and is such as to illuminate the entire surface of the sail over a time interval in the order of a few seconds, starting from an initial scanning position that is determined, for each acquisition of data, by a proximity transducer 25 mounted on the bracket 14 and sensitive to the angular position of the scanner.

[0033] As mentioned previously, where one or more time-of-flight tele-cameras are used, this or these can be fixed to the bracket rigidly, i.e. without the ability to rotate with respect to the bracket, if the tele-camera or tele-cameras is or are capable of framing the vertices of the sail in such a way as to allow complete detection of its surface.

[0034] The acquisition of data is managed via an Ethernet connection through a user interface. A typical screenshot of this interface is depicted in FIG. 3, showing the presence of a series of menus and buttons that make it possible both to configure the device and to activate the scanning and the rotation of the laser scanner as described above.

[0035] Preferably, through the graphical interface developed for the data acquisition software, the user can: [0036] Configure the motorization unit used from among those available in the menu a drop-down menu, and in particular select the motor with all its main characteristics; [0037] Configure the serial connection with the motorization unit; [0038] Set the scanning parameters, and in particular the selection of the field to be measured, by setting the scan starting angle and the consequent positioning of the device and the definition of the angular sector that is desired to be measured (angle scanned), as well as the relative movement of the device; [0039] Set the target folder for the file containing the measured data and save the said file.

[0040] The measured data are received via the TCP/IP protocol, the connection of which is activated by means of a suitable key present in the interface of FIG. 3, and are saved in a mass storage device (hard disk) of the computer, generating a cloud of locations whose 3D coordinates are measured in an absolute reference for each individual point.

[0041] An example of this cloud of points relating to the form acquisition of a gennaker is shown in FIGS. 4 and 5.

[0042] The cloud of points describes the three-dimensional form of the sale in the conditions of use corresponding to the detection of the data. This cloud is transformed into a three-dimensional surface by means of a computer program. The three-dimensional coordinates of each point on the surface identified as belonging to the surface of the sail are stored in a suitable format, for example IGES format or equivalent.

[0043] For defining the surface of the sail, a post-process program is used which automatically plots the angles and edges of the sail. Elimination criteria are applied to remove insignificant points from the cloud and, for each shape acquisition, a dimensional comparison of each side of the sail is performed by comparing the values measured for the base, luff and leech (or foot and drops) with the theoretical reference values for the same sail parts. The program automatically defines and plots a pre-established number (in the case under examination, eight) of sail sections at different heights of the sail (FIG. 6) and, for each section or stripe of the sail thus identified, performs an automatic analysis consistent with the standard analysis procedure adopted by the designer of the sail, typically supplying for each stripe the entry and exit angles, camber, sheet measurement, depth and location of draft, twist, etc. relative to the central axis of the boat (FIG. 7).

[0044] It is also possible to compare, for example by superimposition of images, the “flying shape” with the “design shape” as illustrated in FIG. 8 in order to detect and display any discrepancy between the three-dimensional behaviour expected for the sail in question, based on the design data, and the real three-dimensional behaviour. This allows the sailmaker to refine the design of the sail, the designer of the hull and the rigging to take account of the real behaviour, and the sailor to act on the adjustments of the sail in order to influence its performance.