A space positioning and marking method and marking device for a double curvature outer plate of a ship
A double-curvature, ship technology, applied in the direction of using feedback control, etc., can solve the problems of low crawling efficiency, no crawling function, and unrealized automation, etc., and achieve the effect of flexible movement, meeting precision requirements, and fast crawling speed
Active Publication Date: 2017-07-18
HUAZHONG UNIV OF SCI & TECH
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Problems solved by technology
However, the pipeline robot disclosed in the patent CN201410072707 realizes the vertical crawling inside the pipeline of the crawling smart car, and does not have the crawling functions of horizontal, oblique, and outside the pipeline. At the same time, piezoelectric crystals are used as the adsorption drive device, and the crawling efficiency is not high.
The crawling robot proposed in "Study on the Design Scheme of Ship Rust Removing Wall Climbing Intelligent Vehicle" is a test prototype, which can realize simple crawling functions, but has not realized automation
At the same time, there are crawling errors in the crawling process of the robot, and the above related invention research has not designed the design of the relevant deviation correction
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[0028] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.
[0029] Such as Figure 1 to Figure 5 As shown, a marking device includes a computer, a space positioning device, a crawling smart car 13, an adsorption mechanism 5 installed on the crawling smart car 13, and a marking mechanism, wherein the crawling smart car 13 includes a car body 1, and the car body 1 is installed There are more than two wheels 2 for the car body 1 to advance, and each wheel ...
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The invention discloses a space positioning marking method and a marking device for a double-curvature outer plate of a ship. The method comprises the following steps: 1) establishing coordinate origin information of the ship on a computer; The spatial coordinates of the points to be marked on the double-curvature outer plate are input to the crawling smart car; 3) The crawling smart car is adsorbed on the ship’s double-curvature outer plate and crawls on the ship’s double-curvature outer plate and makes corrections; 4) The crawling smart car Make a mark on the ship's double curvature shell plating. The device includes a computer, a space positioning device, a crawling smart car, an adsorption mechanism and a marking mechanism installed on the crawling smart car. The invention realizes the adsorption, crawling and marking functions of the crawling smart car on the complex double-curvature outer plate, and relies on the space positioning technology to monitor the posture of the crawling smart car in real time, correct the deviation, and ensure that the crawling route of the crawling smart car does not have a large deviation.
Description
technical field [0001] The invention belongs to the field of crawling intelligent vehicles, and more specifically relates to a space positioning marking device and a marking method thereof. Background technique [0002] Due to the large size of the ship and the segmented and integrated construction method, after the overall docking of the ship, the relevant operations for the double curvature shell plating of the ship, for example, need to be added after marking some specific positions of the double curvature shell plating of the ship during the construction process equipment; at present, the coordinates of these specific positions only exist in the computer, and are not marked on the double-curvature outer panel of the ship; workers need to obtain the information of these coordinates on the double-curvature outer panel of the ship on the computer, and then climb to the It is extremely difficult and inefficient to operate the designated point in the designated area. [0003...
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IPC IPC(8): G05D3/12
Inventor 赵耀赵晋胡昌成马向峰
Owner HUAZHONG UNIV OF SCI & TECH