Ship part assembling and positioning method and device

Abstract

The invention provides a ship part assembling and positioning method and device. The ship part assembling and positioning method comprises the following steps that a three-dimensional model database is constructed, wherein the three-dimensional model database comprises three-dimensional models of ship parts and three-dimensional model assembling related data; obtaining and analyzing instruction data of a user; the to-be-assembled ship parts and the surrounding environment thereof are sensed, and the spatial positions and the inclination angles of the to-be-assembled ship parts in the actual environment are obtained; according to the spatial position of the to-be-assembled ship part in the actual environment and the spatial position of the to-be-installed ship equipment or ship body structure in the actual environment, path planning is conducted on the to-be-assembled ship part; and obtaining contour features of the to-be-assembled ship parts according to the extracted three-dimensional models of the to-be-assembled ship parts and the three-dimensional model assembly related data, and projecting the contour features of the to-be-assembled ship parts on the to-be-installed ship equipment or ship body structure by adopting a projection device.

Description

Technical Field

[0001] This application belongs to the technical field of shipbuilding, and particularly relates to a method and device for assembling and positioning ship components. Background Art

[0002] Currently, the methods for assembling and positioning ship components include: manually inputting the ship components to be assembled into a computer, obtaining the three-dimensional coordinates of the positions where the components are to be assembled according to the three-dimensional model of the ship, and calculating the actual assembly positions of the components in reality based on the three-dimensional coordinates of the positions to be assembled. The actual initial positions of the ship components are obtained through measuring equipment, and the ship components are moved from the actual initial positions to the actual assembly positions by transportation equipment. Since the measuring equipment has a measuring equipment coordinate system and the transportation equipment has a transportation equipment coordinate system, when the measuring equipment transmits the actual initial positions of the ship components to the transportation equipment, coordinate conversion from the measuring equipment coordinate system to the transportation equipment coordinate system is required, and there will also be position deviations during the movement of the transportation equipment, both of which will affect the assembly positioning accuracy and efficiency. Summary of the Invention

[0003] One of the purposes of this application is to provide a method and device for assembling and positioning ship components, which can improve the assembly positioning accuracy and efficiency of ship components.

[0004] To achieve the above object and other related objects, the first aspect of this application provides a method for assembling and positioning ship components, including the following steps:

[0005] Construct a three-dimensional model database, which includes the three-dimensional models of ship components and the relevant data for three-dimensional model assembly, the three-dimensional models of ship equipment and the relevant data for three-dimensional model assembly, and the three-dimensional models of the hull structure and the relevant data for three-dimensional model assembly; the ship components are correspondingly installed on the ship equipment or the hull structure;

[0006] Obtain and analyze the instruction data of the user, where the instruction data includes the ship components to be assembled, the ship equipment or hull structure on which the ship components to be assembled are to be installed, the relative position and relative angle between the ship components to be assembled after assembly and the ship equipment or hull structure to be installed;

[0007] Perceive the ship components to be assembled and their surrounding environment to obtain the spatial position and inclination angle of the ship components to be assembled in the actual environment; perceive the ship equipment or hull structure to be installed and its surrounding environment to obtain the spatial position and inclination angle of the ship equipment or hull structure to be installed in the actual environment;

[0008] Query the ship parts to be assembled parsed from the instruction data in the three-dimensional model database, and extract the three-dimensional model of the ship parts to be assembled and the data related to the three-dimensional model assembly; query the ship equipment or hull structure to be installed parsed from the instruction data in the three-dimensional model database, and extract the three-dimensional model of the ship equipment or hull structure to be installed and the data related to the three-dimensional model assembly;

[0009] According to the three-dimensional model of the ship parts to be assembled and the data related to the three-dimensional model assembly, the three-dimensional model of the ship equipment or hull structure to be installed and the data related to the three-dimensional model assembly, assemble the three-dimensional model of the ship parts to be assembled and the three-dimensional model of the ship equipment or hull structure to be installed, and obtain the relative position coordinates and relative inclination angles between the three-dimensional model of the assembled ship parts and the three-dimensional model of the ship equipment, or the relative position coordinates and relative inclination angles between the three-dimensional model of the assembled ship parts and the three-dimensional model of the hull structure;

[0010] According to the spatial position of the ship parts to be assembled in the actual environment and the spatial position of the ship equipment or hull structure to be installed in the actual environment, perform path planning on the ship parts to be assembled to obtain a transportation path from the spatial position of the ship parts to be assembled in the actual environment to the spatial position of the ship equipment or hull structure to be installed in the actual environment, and use a transportation device to move the ship parts to be assembled to the vicinity of the ship equipment or hull structure to be installed according to the transportation path;

[0011] According to the three-dimensional model of the ship parts to be assembled and the data related to the three-dimensional model assembly extracted, obtain the contour features of the ship parts to be assembled, and combine the relative position coordinates and relative inclination angles between the three-dimensional model of the assembled ship parts and the three-dimensional model of the ship equipment, or combine the relative position coordinates and relative inclination angles between the three-dimensional model of the assembled ship parts and the three-dimensional model of the hull structure, to obtain the projection position and projection angle required for projecting the contour features of the ship parts to be assembled onto the ship equipment or hull structure to be installed, and use a projection device to project the contour features of the ship parts to be assembled onto the ship equipment or hull structure to be installed according to the obtained projection position and projection angle.

[0012] The second aspect of this application provides a ship part assembly positioning device, including:

[0013] A construction module; used to construct a three-dimensional model database, the three-dimensional model database includes the three-dimensional model of ship parts and the data related to the three-dimensional model assembly, the three-dimensional model of ship equipment and the data related to the three-dimensional model assembly, and the three-dimensional model of the hull structure and the data related to the three-dimensional model assembly;

[0014] An acquisition and parsing module, configured to acquire and parse the instruction data of the user, where the instruction data includes the ship parts to be assembled, the ship equipment or hull structure on which the ship parts to be assembled are to be installed, and the relative position and relative angle between the assembled ship parts to be assembled and the ship equipment or hull structure to be installed;

[0015] A sensing module, configured to sense the ship parts to be assembled and their surrounding environment to obtain the spatial position and tilt angle of the ship parts to be assembled in the actual environment; sense the ship equipment or hull structure to be installed and its surrounding environment to obtain the spatial position and tilt angle of the ship equipment or hull structure to be installed in the actual environment;

[0016] An extraction module, configured to query the ship parts to be assembled parsed from the instruction data in the 3D model database, and extract the 3D model of the ship parts to be assembled and the 3D model assembly related data; query the ship equipment or hull structure to be installed parsed from the instruction data in the 3D model database, and extract the 3D model of the ship equipment or hull structure to be installed and the 3D model assembly related data; according to the 3D model of the ship parts to be assembled and the 3D model assembly related data, the 3D model of the ship equipment or hull structure to be installed and the 3D model assembly related data, assemble the 3D model of the ship parts to be assembled and the 3D model of the ship equipment or hull structure to be installed, to obtain the relative position coordinates and relative tilt angle between the 3D model of the assembled ship parts and the 3D model of the ship equipment, or the relative position coordinates and relative tilt angle between the 3D model of the assembled ship parts and the 3D model of the hull structure;

[0017] A transportation module, according to the spatial position of the ship parts to be assembled in the actual environment and the spatial position of the ship equipment or hull structure to be installed in the actual environment, perform path planning on the ship parts to be assembled to obtain a transportation path from the spatial position of the ship parts to be assembled in the actual environment to the spatial position of the ship equipment or hull structure to be installed in the actual environment, and use a transportation device to move the ship parts to be assembled to the vicinity of the ship equipment or hull structure to be installed according to the transportation path;

[0018] A projection module is configured to obtain the contour features of the ship component to be assembled based on the extracted three-dimensional model of the ship component to be assembled and the three-dimensional model assembly-related data, and combine the relative position coordinates and relative tilt angles between the three-dimensional model of the assembled ship component and the three-dimensional model of the ship equipment, or combine the relative position coordinates and relative tilt angles between the three-dimensional model of the assembled ship component and the three-dimensional model of the hull structure, so as to obtain the projection position and projection angle required for projecting the contour features of the ship component to be assembled onto the ship equipment or hull structure to be installed, and use a projection device to project the contour features of the ship component to be assembled onto the ship equipment or hull structure to be installed according to the obtained projection position and projection angle.

[0019] The present application has at least the following beneficial effects:

[0020] The present application provides a method and device for assembling and positioning ship components, which can improve the assembly positioning accuracy and efficiency of ship components. Description of the Drawings

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application and should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0022] Figure 1 It is a schematic flow chart of a method for assembling and positioning ship components shown according to an embodiment of the present application; Detailed Embodiments

[0023] The following specific embodiments illustrate the implementation manners of the present application. Those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in this specification. The present application can also be implemented or applied through other different specific implementation manners. Various details in the present application can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that, without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0024] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design solution described as "exemplary" or "for example" in the embodiments of the present application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Exactly speaking, using words such as "exemplary" or "for example" is intended to present relevant concepts in a specific manner.

[0025] In the description of the embodiments of the present application, unless otherwise specified, "a plurality of" means two or more. For example, a plurality of processing units means two or more processing units, and a plurality of components means two or more components, etc.

[0026] Referring to Figure 1 , the first aspect of the present application provides a method for assembling and positioning ship components, including the following steps:

[0027] Construction step; constructing a three-dimensional model database, which includes three-dimensional models of ship components and data related to the assembly of the three-dimensional models. The ship components are correspondingly installed on ship equipment or the hull structure. Therefore, the three-dimensional model database also includes three-dimensional models of ship equipment and data related to the assembly of the three-dimensional models, as well as three-dimensional models of the hull structure and data related to the assembly of the three-dimensional models. The ship equipment and the hull structure can be used as background models for the ship components to be assembled. The background models are used to project the positions of the ship components to be assembled. The data related to the assembly of the three-dimensional models includes data related to the assembly of the three-dimensional models such as structural shape, dimensional parameters, installation positions, and installation sequences. The dimensional parameters also include design information such as the part numbers of ship components, the numbers of ship equipment, or the numbers of the hull structure.

[0028] Obtaining and parsing step; obtaining and parsing the instruction data of the user. The instruction data includes the ship components to be assembled, the ship equipment or the hull structure on which the ship components to be assembled are to be installed, and the relative position and relative angle between the ship components to be assembled after assembly and the ship equipment or the hull structure to be installed.

[0029] In one example, text information containing instruction data can be obtained through a keyboard, a graphics tablet, or a touch screen, and the text information can be processed through image recognition technology to parse the content included in the instruction data. In another example, voice information containing instruction data can also be obtained through a microphone, and the voice information can be processed through natural language processing technology to parse the content included in the instruction data.

[0030] The relative position refers to the spatial position and inclination angle between the ship components to be assembled and the ship equipment or the hull structure to be installed. The spatial position can be in the front or on the left.

[0031] Perception step; perceiving the ship components to be assembled and their surrounding environment to obtain the spatial position and inclination angle of the ship components to be assembled in the actual environment; perceiving the ship equipment or the hull structure to be installed and their surrounding environment to obtain the spatial position and inclination angle of the ship equipment or the hull structure to be installed in the actual environment;

[0032] Sensors such as cameras or lidar can be used for perception. The following is a detailed description of the perception process.

[0033] In one example, a camera can capture an image containing the ship parts to be assembled and their surrounding environment, process the image using image processing algorithms such as feature extraction, identify the ship parts to be assembled and the surrounding environment, and obtain the spatial position of the ship parts to be assembled in the actual environment according to the positional relationship between the ship parts to be assembled and the surrounding environment in the image.

[0034] In another example, a lidar can perform three-dimensional scanning on the ship parts to be assembled and their surrounding environment, obtain high-precision point cloud data, and determine the spatial position of the ship parts to be assembled in the actual environment by analyzing the point cloud data.

[0035] In one example, the actual environment can be a warehouse, a factory building, etc. where the ship parts to be assembled are stored.

[0036] Extraction step: Query the ship parts to be assembled parsed from the instruction data in the three-dimensional model database, and extract the three-dimensional model of the ship parts to be assembled and the three-dimensional model assembly-related data; Query the ship equipment or hull structure to be installed parsed from the instruction data in the three-dimensional model database, and extract the three-dimensional model of the ship equipment or hull structure to be installed and the three-dimensional model assembly-related data; According to the three-dimensional model of the ship parts to be assembled and the three-dimensional model assembly-related data, and the three-dimensional model of the ship equipment or hull structure to be installed and the three-dimensional model assembly-related data, assemble the three-dimensional model of the ship parts to be assembled and the three-dimensional model of the ship equipment or hull structure to be installed, and obtain the relative position coordinates and relative tilt angles between the three-dimensional model of the assembled ship parts and the three-dimensional model of the ship equipment, or the relative position coordinates and relative tilt angles between the three-dimensional model of the assembled ship parts and the three-dimensional model of the hull structure.

[0037] Text information containing the names or part numbers of the ship parts to be assembled, the ship equipment or hull structure to be installed can be input through a keyboard, a graphics tablet, or a touch screen, or voice information containing the names or part numbers of the ship parts to be assembled, the ship equipment or hull structure to be installed can be input through a microphone.

[0038] Transportation step: Based on the spatial position of the ship parts to be assembled in the actual environment and the spatial position of the ship equipment or hull structure to be installed in the actual environment, path planning is carried out for the ship parts to be assembled to obtain the transportation path from the spatial position of the ship parts to be assembled in the actual environment to the spatial position of the ship equipment or hull structure to be installed in the actual environment. A transportation device is used to move the ship parts to be assembled along the transportation path to the vicinity of the ship equipment or hull structure to be installed; According to the relative position coordinates and relative inclination angles between the three-dimensional model of the assembled ship parts to be assembled and the three-dimensional model of the ship equipment or hull structure to be installed, calculate the distance and the angle of rotation required for the ship parts to be assembled to move from the vicinity of the ship equipment or hull structure to be installed to the ship equipment or hull structure to be installed.

[0039] In one example, the transportation vehicle can be a forklift, a truck or a mobile robot.

[0040] In one example, a data storage unit is provided inside the transportation device, which can store a three-dimensional model database. In another example, the transportation device obtains the data of the three-dimensional model database by means of wireless or wired connection.

[0041] Projection step: Based on the extracted three-dimensional model of the ship parts to be assembled and the relevant data for three-dimensional model assembly, obtain the contour features of the ship parts to be assembled. Combine the relative position coordinates and relative inclination angles between the three-dimensional model of the assembled ship parts and the three-dimensional model of the ship equipment, or combine the relative position coordinates and relative inclination angles between the three-dimensional model of the assembled ship parts and the three-dimensional model of the hull structure, to obtain the projection position and projection angle required for the contour features of the ship parts to be assembled to be projected onto the ship equipment or hull structure to be installed. A projection device is used to project the contour features of the ship parts to be assembled onto the ship equipment or hull structure to be installed according to the obtained projection position and projection angle.

[0042] In one example, the projection device can be a projector, and the projection technology includes but is not limited to laser projection, optical projection, etc.

[0043] In one example, the projection device can be installed on the transportation device, and by adjusting the position or angle of the projection device relative to the transportation device, the position or angle of the projection device relative to the ship parts to be assembled is adjusted to achieve accurate projection positioning.

[0044] The contour features of the ship parts to be assembled refer to the contour features that include the shape, size, and boundary of the ship parts to be assembled. To match the contour features of the ship parts to be assembled with the actual contour of the ship parts to be assembled, the position or angle of the projection device relative to the ship parts to be assembled can be adjusted to achieve accurate projection positioning.

[0045] In one example, the contour features of the ship parts to be assembled also include other 3D model assembly-related data such as the installation position, installation sequence, part number of the ship part, equipment number of the ship equipment, or hull structure number of the ship part.

[0046] The projection device projects a laser line onto the ship equipment or hull structure to be installed. The laser line generates text information on the ship equipment or hull structure to be installed, which includes 3D model assembly-related data such as the installation position, installation sequence, part number of the ship part, equipment number of the ship equipment, or hull structure number of the ship part. The above text information forms a contour line around to provide accurate assembly guidance for the assembler.

[0047] The laser line containing other 3D model assembly-related data such as the installation position, installation sequence, part number of the ship part, equipment number of the ship equipment, or hull structure number of the ship part to be assembled can be projected alone, or projected together with the contour features including the shape, size, and boundary of the ship part to be assembled, or projected sequentially.

[0048] The second aspect of the present application provides a ship part assembly positioning device, including:

[0049] A construction module; used to construct a 3D model database, which includes 3D models of ship parts and 3D model assembly-related data, 3D models of ship equipment and 3D model assembly-related data, and 3D models of hull structures and 3D model assembly-related data.

[0050] An acquisition and analysis module, used to acquire and analyze the instruction data of the user. The instruction data includes the ship parts to be assembled, the ship equipment or hull structure on which the ship parts to be assembled are to be installed, the relative position and relative angle between the ship parts to be assembled after assembly and the ship equipment or hull structure to be installed;

[0051] A sensing module, used to sense the ship parts to be assembled and their surrounding environment, and then obtain the spatial position and tilt angle of the ship parts to be assembled in the actual environment; sense the ship equipment or hull structure to be installed and its surrounding environment, and then obtain the spatial position and tilt angle of the ship equipment or hull structure to be installed in the actual environment;

[0052] An extraction module is used to query the to-be-assembled ship components parsed from the instruction data in the 3D model database, and extract the 3D models of the to-be-assembled ship components and the 3D model assembly-related data; query the ship equipment or hull structure to be installed parsed from the instruction data in the 3D model database, and extract the 3D models of the ship equipment or hull structure to be installed and the 3D model assembly-related data; according to the 3D models of the to-be-assembled ship components and the 3D model assembly-related data, and the 3D models of the ship equipment or hull structure to be installed and the 3D model assembly-related data, assemble the 3D models of the to-be-assembled ship components and the 3D models of the ship equipment or hull structure to be installed, and obtain the relative position coordinates and relative inclination angles between the 3D model of the assembled ship components and the 3D model of the ship equipment, or the relative position coordinates and relative inclination angles between the 3D model of the assembled ship components and the 3D model of the hull structure;

[0053] A transportation module, according to the spatial position of the to-be-assembled ship components in the actual environment and the spatial position of the ship equipment or hull structure to be installed in the actual environment, performs path planning for the to-be-assembled ship components to obtain a transportation path from the spatial position of the to-be-assembled ship components in the actual environment to the spatial position of the ship equipment or hull structure to be installed in the actual environment, and uses a transportation device to move the to-be-assembled ship components to the vicinity of the ship equipment or hull structure to be installed according to the transportation path;

[0054] A projection module is used to obtain the contour features of the to-be-assembled ship components according to the 3D models of the to-be-assembled ship components and the 3D model assembly-related data extracted, and combine the relative position coordinates and relative inclination angles between the 3D model of the assembled ship components and the 3D model of the ship equipment, or combine the relative position coordinates and relative inclination angles between the 3D model of the assembled ship components and the 3D model of the hull structure, and obtain the projection position and projection angle required for projecting the contour features of the to-be-assembled ship components onto the ship equipment or hull structure to be installed, and use a projection device to project the contour features of the to-be-assembled ship components onto the ship equipment or hull structure to be installed according to the obtained projection position and projection angle.

[0055] The above is only the preferred embodiment of the present application. It should be noted that for those of ordinary skill in the art, without departing from the technical principle of the present application, several improvements and substitutions can be made, and these improvements and substitutions should also be regarded as the protection scope of the present application.

Claims

1. A method for assembling and positioning ship components, characterized in that, Including the following steps: Construct a three-dimensional model database, which includes three-dimensional models of ship components and related data for three-dimensional model assembly, three-dimensional models of ship equipment and related data for three-dimensional model assembly, and three-dimensional models of hull structures and related data for three-dimensional model assembly; the ship components are correspondingly installed on the ship equipment or the hull structure; Obtain and analyze the instruction data of the user, where the instruction data includes the ship components to be assembled, the ship equipment or hull structure on which the ship components to be assembled are to be installed, and the relative position and relative angle between the assembled ship components to be assembled and the ship equipment or hull structure to be installed; Sense the ship components to be assembled and their surrounding environment to obtain the spatial position and tilt angle of the ship components to be assembled in the actual environment; sense the ship equipment or hull structure to be installed and its surrounding environment to obtain the spatial position and tilt angle of the ship equipment or hull structure to be installed in the actual environment; Query the ship components to be assembled parsed from the instruction data in the three-dimensional model database, and extract the three-dimensional model of the ship components to be assembled and related data for three-dimensional model assembly; Query the ship equipment or hull structure to be installed parsed from the instruction data in the three-dimensional model database, and extract the three-dimensional model of the ship equipment or hull structure to be installed and related data for three-dimensional model assembly; According to the three-dimensional model of the ship components to be assembled and related data for three-dimensional model assembly, and the three-dimensional model of the ship equipment or hull structure to be installed and related data for three-dimensional model assembly, assemble the three-dimensional model of the ship components to be assembled and the three-dimensional model of the ship equipment or hull structure to be installed to obtain the relative position coordinates and relative tilt angle between the three-dimensional model of the assembled ship components and the three-dimensional model of the ship equipment, or the relative position coordinates and relative tilt angle between the three-dimensional model of the assembled ship components and the three-dimensional model of the hull structure; According to the spatial position of the ship components to be assembled in the actual environment and the spatial position of the ship equipment or hull structure to be installed in the actual environment, perform path planning for the ship components to be assembled to obtain a transportation path from the spatial position of the ship components to be assembled in the actual environment to the spatial position of the ship equipment or hull structure to be installed in the actual environment, and use a transportation device to move the ship components to be assembled to the vicinity of the ship equipment or hull structure to be installed according to the transportation path; According to the extraction, a three-dimensional model of the ship component to be assembled and the data related to the three-dimensional model assembly are obtained, and the contour features of the ship component to be assembled are obtained. Combining the relative position coordinates and relative inclination angles between the three-dimensional model of the assembled ship component and the three-dimensional model of the ship equipment, or combining the relative position coordinates and relative inclination angles between the three-dimensional model of the assembled ship component and the three-dimensional model of the hull structure, the projection position and projection angle required for the contour features of the ship component to be assembled to be projected onto the ship equipment or hull structure to be installed are obtained. A projection device projects the contour features of the ship component to be assembled onto the ship equipment or hull structure to be installed according to the obtained projection position and projection angle.

2. The method for assembling and positioning ship components according to claim 1, characterized in that, The ship component assembly positioning method further includes: after the step of moving the ship component to be assembled to the vicinity of the ship equipment or hull structure to be installed along the transportation path by the transportation device, according to the relative position coordinates and relative inclination angles between the three-dimensional model of the assembled ship component to be assembled and the three-dimensional model of the ship equipment or hull structure to be installed, calculate the distance and the angle of rotation required for the ship component to be assembled to move from the vicinity of the ship equipment or hull structure to be installed to the ship equipment or hull structure to be installed.

3. The method for assembling and positioning ship parts according to claim 1, characterized in that, The data related to the three-dimensional model assembly includes structural shape, dimensional parameters, installation position, installation sequence, ship component part number, ship equipment number or hull structure number.

4. The method for assembling and positioning ship components according to claim 1, characterized in that, The obtaining and parsing of the user's instruction data specifically includes: obtaining voice information containing instruction data through a microphone, and processing the voice information through natural language processing technology to parse the content contained in the instruction data.

5. The method for assembling and positioning ship components according to claim 1, characterized in that A data storage unit is provided inside the transportation device, and the data storage unit is used to store the three-dimensional model database.

6. The method for assembling and positioning ship parts according to claim 1, characterized in that The transportation device is connected to the three-dimensional model database in a wireless or wired manner.

7. The method for assembling and positioning ship components according to claim 1, characterized in that, The projection device is installed on the transportation device, and the position or angle of the projection device relative to the ship component to be assembled is adjusted by adjusting the position or angle of the projection device relative to the transportation device.

8. The method for assembling and positioning ship parts according to claim 1, wherein The ship component assembly positioning method further includes: using the projection device to project a laser line onto the ship equipment or hull structure to be installed, and the laser line generates text information containing the data related to the three-dimensional model assembly such as the installation position, installation sequence, ship component part number, ship equipment number or hull structure number of the ship component to be assembled on the ship equipment or hull structure to be installed.

9. The method for assembling and positioning ship components according to claim 8, wherein The text information containing the data related to the three-dimensional model assembly such as the installation position, installation sequence, ship component part number, ship equipment number or hull structure number of the ship component to be assembled forms a contour line around the ship component to be assembled.

10. A ship component assembly positioning device, characterized in that, Including: A construction module; For constructing a three-dimensional model database, the three-dimensional model database includes three-dimensional models of ship components and relevant data for three-dimensional model assembly, three-dimensional models of ship equipment and relevant data for three-dimensional model assembly, and three-dimensional models of hull structures and relevant data for three-dimensional model assembly; An acquisition and parsing module, which is used to acquire and parse the instruction data of the user. The instruction data includes the ship components to be assembled, the ship equipment or hull structure on which the ship components to be assembled are to be installed, the relative position and relative angle between the ship components to be assembled and the ship equipment or hull structure to be installed after assembly; A sensing module, which is used to sense the ship components to be assembled and their surrounding environment to obtain the spatial position and tilt angle of the ship components to be assembled in the actual environment; sense the ship equipment or hull structure to be installed and their surrounding environment to obtain the spatial position and tilt angle of the ship equipment or hull structure to be installed in the actual environment; An extraction module, which is used to query the ship components to be assembled parsed from the instruction data in the three-dimensional model database, and extract the three-dimensional model of the ship components to be assembled and relevant data for three-dimensional model assembly; Query the ship equipment or hull structure to be installed parsed from the instruction data in the three-dimensional model database, and extract the three-dimensional model of the ship equipment or hull structure to be installed and relevant data for three-dimensional model assembly; According to the three-dimensional model of the ship components to be assembled and relevant data for three-dimensional model assembly, and the three-dimensional model of the ship equipment or hull structure to be installed and relevant data for three-dimensional model assembly, assemble the three-dimensional model of the ship components to be assembled and the three-dimensional model of the ship equipment or hull structure to be installed, and obtain the relative position coordinates and relative tilt angle between the three-dimensional model of the ship components after assembly and the three-dimensional model of the ship equipment, or the relative position coordinates and relative tilt angle between the three-dimensional model of the ship components after assembly and the three-dimensional model of the hull structure; A transportation module, according to the spatial position of the ship components to be assembled in the actual environment and the spatial position of the ship equipment or hull structure to be installed in the actual environment, plans a path for the ship components to be assembled to obtain a transportation path from the spatial position of the ship components to be assembled in the actual environment to the spatial position of the ship equipment or hull structure to be installed in the actual environment, and uses a transportation device to move the ship components to be assembled to the vicinity of the ship equipment or hull structure to be installed according to the transportation path; A projection module is configured to obtain the contour features of the ship parts to be assembled based on the extracted three-dimensional models of the ship parts to be assembled and the relevant data for three-dimensional model assembly. By combining the relative position coordinates and relative inclination angles between the three-dimensional model of the assembled ship parts and the three-dimensional model of the ship equipment, or by combining the relative position coordinates and relative inclination angles between the three-dimensional model of the assembled ship parts and the three-dimensional model of the hull structure, the projection position and projection angle required for projecting the contour features of the ship parts to be assembled onto the ship equipment or hull structure to be installed are obtained. A projection device is used to project the contour features of the ship parts to be assembled onto the ship equipment or hull structure to be installed according to the obtained projection position and projection angle.

Images