Ship part sorting and transporting method and system

Abstract

The invention provides a ship part sorting and transporting method and system. The sorting and transporting method comprises the steps that a three-dimensional model database is constructed, and coordinates of ship parts to be sorted and transported in a three-dimensional model of a ship are obtained; according to the conversion relation between the coordinate system of the three-dimensional model and the world coordinate system, the coordinates of the building site in the three-dimensional model are obtained, and the coordinates of the ship parts to be sorted and transported in the three-dimensional model of the ship are made to be consistent with the coordinates of the building site in the three-dimensional model; the preset positions and the preset angles of the ship parts to be sorted and transported relative to the building site are obtained; the unmanned aerial vehicle is adopted to recognize and pick up the ship parts to be sorted and transported, and position coordinates of the unmanned aerial vehicle after the unmanned aerial vehicle picks up the ship parts to be sorted and transported are obtained; and the to-be-sorted and transported ship parts are moved to the construction site, and the to-be-sorted and transported ship parts are placed relative to the construction site according to the preset position and the preset angle according to the preset position and the preset angle.

Description

Technical Field

[0001] This application belongs to the technical field of shipbuilding, and particularly relates to a method and system for sorting and transporting ship parts. Background Art

[0002] In the process of shipbuilding, the sorting and transportation of ship parts are key links in the production process. Due to the different geometric shapes and storage positions of ship parts, workers mainly rely on memory or drawings to sort when picking up parts, and this method is prone to errors. For some ship parts, due to their volume and weight, in order to ensure safe transportation, a reasonable transportation path needs to be selected. The transportation process also needs to consider the impact of the workers' off-duty hours and the night road lighting conditions, which will affect the continuity and efficiency of the sorting and transportation of ship parts. The existence of the above problems not only reduces the production efficiency, but also increases the cost and potential safety hazards. Summary of the Invention

[0003] One of the purposes of this application is to provide a method and system for sorting and transporting ship parts, so as to ensure the continuity of the sorting and transportation of ship parts and improve the efficiency of the sorting and transportation of ship parts.

[0004] To achieve the above and other related purposes, the first aspect of this application provides a method for sorting and transporting ship parts, including the following steps:

[0005] Construct a three-dimensional model database, where the three-dimensional model database includes the three-dimensional model of the ship and the three-dimensional model parameters of the ship; the three-dimensional model of the ship includes the three-dimensional models of ship parts; the three-dimensional model parameters of the ship include the three-dimensional model parameters of ship parts;

[0006] Obtain the data of the ship parts to be sorted and transported, search for the three-dimensional model of the ship parts to be sorted and transported and the three-dimensional model parameters of the ship parts to be sorted and transported in the three-dimensional model database according to the data of the ship parts to be sorted and transported, and obtain the coordinates of the ship parts to be sorted and transported in the three-dimensional model of the ship; obtain the three-dimensional coordinates of the construction site and the world coordinate system where the actual coordinates of the construction site are located, and obtain the coordinates of the construction site in the three-dimensional model according to the conversion relationship between the coordinate system of the three-dimensional model and the world coordinate system. By making the coordinates of the ship parts to be sorted and transported in the three-dimensional model of the ship consistent with the coordinates of the construction site in the three-dimensional model, obtain the preset position and preset angle of the ship parts to be sorted and transported relative to the construction site;

[0007] Use a drone to identify and pick up the ship parts to be sorted and transported, and obtain the position coordinates of the drone after picking up the ship parts to be sorted and transported;

[0008] According to the position coordinates of the ship parts to be sorted and transported after being picked up by the drone and the actual coordinates of the construction site, path planning is carried out for the ship parts to be sorted and transported to obtain the transportation path from the position coordinates after the drone picks up the ship parts to be sorted and transported to the actual coordinates of the construction site. The drone is used to move the ship parts to be sorted and transported to the construction site according to the transportation path. According to the preset position and preset angle of the ship parts to be sorted and transported relative to the construction site, the ship parts to be sorted and transported are placed relative to the construction site according to the preset position and preset angle.

[0009] The second aspect of the present application provides a ship part sorting and transportation system, including:

[0010] A construction module, configured to construct a three-dimensional model database, where the three-dimensional model database includes the three-dimensional model of the ship and the three-dimensional model parameters of the ship; the three-dimensional model of the ship includes the three-dimensional model of the ship parts; the three-dimensional model parameters of the ship include the three-dimensional model parameters of the ship parts;

[0011] A matching module, configured to obtain the data of the ship parts to be sorted and transported, search for the three-dimensional model of the ship parts to be sorted and transported and the three-dimensional model parameters of the ship parts to be sorted and transported in the three-dimensional model database according to the data of the ship parts to be sorted and transported, and obtain the coordinates of the ship parts to be sorted and transported in the three-dimensional model of the ship; obtain the three-dimensional coordinates of the construction site and the world coordinate system where the actual coordinates of the construction site are located, and obtain the coordinates of the construction site in the three-dimensional model according to the conversion relationship between the coordinate system of the three-dimensional model and the world coordinate system. By making the coordinates of the ship parts to be sorted and transported in the three-dimensional model of the ship consistent with the coordinates of the construction site in the three-dimensional model, the preset position and preset angle of the ship parts to be sorted and transported relative to the construction site are obtained;

[0012] A picking module, configured to use the drone to identify and pick up the ship parts to be sorted and transported, and obtain the position coordinates after the drone picks up the ship parts to be sorted and transported;

[0013] A navigation module, configured to perform path planning on the ship parts to be sorted and transported according to the position coordinates after the drone picks up the ship parts to be sorted and transported and the actual coordinates of the construction site, obtain the transportation path from the position coordinates after the drone picks up the ship parts to be sorted and transported to the actual coordinates of the construction site, use the drone to move the ship parts to be sorted and transported to the construction site according to the transportation path, and place the ship parts to be sorted and transported relative to the construction site according to the preset position and preset angle of the ship parts to be sorted and transported relative to the construction site.

[0014] The present application has at least the following beneficial effects:

[0015] The present application provides a method and system for sorting and transporting ship parts, which are not affected by the working hours of workers and the night road lighting conditions, and can ensure the continuity of the sorting and transportation of ship parts and improve the sorting and transportation efficiency of ship parts. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the accompanying drawings required for 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.

[0017] Figure 1 It is a schematic flow chart of the method for sorting and transporting ship parts shown in the embodiments of the present application; DETAILED DESCRIPTION OF THE EMBODIMENTS

[0018] The following specific embodiments illustrate the implementation manners of the present application. Those skilled in the art can easily understand the 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. The 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.

[0019] In the embodiments of the present application, words such as "exemplary" or "for example" are used to represent 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 more advantageous than other embodiments or design solutions. Exactly speaking, using words such as "exemplary" or "for example" aims to present relevant concepts in a specific manner.

[0020] In the description of the embodiments of the present application, unless otherwise specified, the meaning of "a plurality of" refers to two or more. For example, a plurality of processing units refers to two or more processing units, and a plurality of elements refers to two or more elements.

[0021] The first aspect of the present application provides a method for sorting and transporting ship parts, including the following steps:

[0022] A construction step; constructing a three-dimensional model database; the three-dimensional model database includes the three-dimensional model of the ship and the three-dimensional model parameters of the ship; the three-dimensional model of the ship includes the three-dimensional models of ship parts; the three-dimensional model parameters of the ship include the three-dimensional model parameters of ship parts.

[0023] The construction of the three-dimensional model database specifically includes the following steps:

[0024] Obtain the ship design drawings, and construct the three-dimensional model of the ship according to the ship design drawings. The three-dimensional model of the ship includes the three-dimensional models of the ship structure, ship equipment, and ship components. The three-dimensional model of the ship components can be constructed based on the structural shape and dimensional parameters of the ship components; the structural shape and dimensional parameters of the ship equipment are determined according to the ship design drawings to construct the three-dimensional model of the ship equipment; the structural shape and dimensional parameters of the hull structure are determined according to the ship design drawings, and then the three-dimensional model of the hull structure is constructed.

[0025] According to the ship design drawings, obtain the three-dimensional model parameters of the ship. The three-dimensional model parameters of the ship include the three-dimensional model parameters of the ship structure, ship equipment, and ship components. The three-dimensional model parameters include three-dimensional model parameters such as structural shape, dimensional parameters, installation position, installation sequence, identification code, etc. The installation position refers to the coordinates of the ship structure, ship equipment, and ship components in the three-dimensional model of the ship. The installation sequence includes the installation sequence between the ship structure, ship equipment, and ship components, as well as the installation sequence between multiple ship components.

[0026] The three-dimensional model parameters are marked as attributes on the corresponding three-dimensional models. Specifically, define the attribute of the installation sequence and mark it on the three-dimensional model of the corresponding ship component. By clicking on the attribute of the three-dimensional model of the ship component, the installation sequence of the ship component can be intuitively displayed, which is convenient for the staff to accurately assemble after transporting the ship component to the installation position.

[0027] The construction of the three-dimensional model database also includes updating the three-dimensional models and three-dimensional model parameters of the ship components. As the shipbuilding progress advances, regularly update the three-dimensional models and three-dimensional model parameters of the ship components to ensure the accuracy and timeliness of the three-dimensional models and three-dimensional model parameters in the three-dimensional model database.

[0028] Matching step: Obtain the data of the ship components to be sorted and transported, search for the three-dimensional model of the ship components to be sorted and transported and the three-dimensional model parameters of the ship components to be sorted and transported in the three-dimensional model database, and obtain the coordinates of the ship components to be sorted and transported in the three-dimensional model of the ship; obtain the three-dimensional coordinates of the construction site and the world coordinate system where the actual coordinates of the construction site are located, and obtain the coordinates of the construction site in the three-dimensional model according to the conversion relationship between the coordinate system of the three-dimensional model and the world coordinate system. By making the coordinates of the ship components to be sorted and transported in the three-dimensional model of the ship consistent with the coordinates of the construction site in the three-dimensional model, obtain the preset position and preset angle of the ship components to be sorted and transported relative to the construction site.

[0029] The data of the ship parts to be sorted and transported includes the name or identification code of the ship parts to be sorted and transported.

[0030] The construction site refers to the site where the ship parts to be sorted and transported are to be installed.

[0031] The preset angle refers to the angle formed between the three-dimensional structure of the ship parts to be sorted and transported and the three-dimensional structure of the construction site. The three-dimensional structure of the construction site can be obtained through the three-dimensional coordinates of the construction site.

[0032] The three-dimensional coordinates of the construction site can be marked as an attribute in the three-dimensional model of the ship parts to be sorted and transported, which is convenient for adjusting the coordinates of the ship parts to be sorted and transported in the three-dimensional model. When the coordinates of the ship parts to be sorted and transported in the three-dimensional model of the ship are consistent with the three-dimensional coordinates of the construction site, the preset position and preset angle of the ship parts to be sorted and transported relative to the construction site can be obtained.

[0033] The picking step is to use a drone to identify and pick up the ship parts to be sorted and transported, and obtain the position coordinates after the drone picks up the ship parts to be sorted and transported.

[0034] In one example, using a drone to identify the ship parts to be sorted and transported includes: the drone is equipped with a camera or lidar, an image processing unit, and a data storage unit. The image containing the ship parts to be sorted and transported and its surrounding environment is obtained through the camera or lidar. The image processing unit uses image processing algorithms such as feature extraction to process the image to obtain images of multiple ship parts. The data storage unit is used to store the three-dimensional model database. According to the data of the ship parts to be sorted and transported obtained, the three-dimensional model and three-dimensional model parameters of the ship parts to be sorted and transported in the three-dimensional model database are obtained. The image processing unit compares the three-dimensional model and three-dimensional model parameters of the ship parts to be sorted and transported with the images of multiple ship parts obtained through the image processing algorithm to identify the ship parts to be sorted and transported. The three-dimensional model parameters here can be the identification code or contour features of the ship parts to be sorted and transported. The contour features refer to the contour features of the structural shape and size parameters of the ship parts to be sorted and transported.

[0035] Among them, the lidar can work at night or during the period when workers are resting, ensuring the continuity and efficiency of the sorting and transportation of ship parts. The lidar scans the surrounding environment in real time to construct a three-dimensional map to assist in obstacle avoidance and path planning. In one example, the drone also includes an infrared sensor / ultrasonic sensor to improve the reliability and accuracy of obstacle avoidance as an auxiliary to the lidar.

[0036] Using a drone to pick up ship parts to be sorted and transported includes: the drone is equipped with a robotic arm or a suction cup, and picks up the ship parts to be sorted and transported through the robotic arm or the suction cup. The drone can be selected according to the ship manufacturing environment and the weight of the ship parts. It is preferably a drone with good load capacity, long endurance, high flight stability and strong anti-interference ability.

[0037] Navigation steps: Based on the position coordinates of the drone after picking up the ship parts to be sorted and transported and the actual coordinates of the construction site, perform path planning for the ship parts to be sorted and transported to obtain the transportation path from the position coordinates of the drone after picking up the ship parts to be sorted and transported to the actual coordinates of the construction site. Use the drone to move the ship parts to be sorted and transported to the construction site according to the transportation path. According to the preset position and preset angle of the ship parts to be sorted and transported relative to the construction site, place the ship parts to be sorted and transported relative to the construction site according to the preset position and preset angle.

[0038] Path planning includes, based on the three-dimensional model database and the real-time environmental information (such as obstacle positions, space limitations, etc.) between the position coordinates of the drone after picking up the ship parts to be sorted and transported and the actual coordinates of the construction site, using path planning algorithms to plan the optimal or sub-optimal transportation path for the drone. The optimal or sub-optimal transportation path is determined according to multiple factors such as path length, obstacle avoidance requirements, and time efficiency.

[0039] During the process of using the drone to move the ship parts to be sorted and transported to the construction site according to the transportation path, it also includes the drone dynamically adjusting the transportation path, that is, real-time monitoring of the surrounding environmental changes through sensors such as lidar, and dynamically adjusting the path to adapt to the actual situation.

[0040] During the process of using the drone to move the ship parts to be sorted and transported to the construction site according to the transportation path, it also includes an obstacle avoidance strategy, that is, when encountering an obstacle, take strategies such as detouring, hovering and waiting or emergency landing. During the flight of the drone, real-time monitor the surrounding environmental changes, detect obstacles through sensors such as lidar, and dynamically adjust the flight path to ensure the drone safely avoids obstacles.

[0041] The drone flies to the vicinity of the preset installation position according to the planned path. By precisely controlling the flight attitude of the drone and the movement trajectory of the robotic arm, place the ship parts to be sorted and transported relative to the construction site according to the preset position and preset angle. Further, the drone can pick up multiple ship parts to be sorted and transported. During the placement process, according to the installation order of the multiple ship parts to be sorted and transported, place the ship parts to be sorted and transported in an orderly manner to ensure the smooth progress of subsequent installation work.

[0042] The second aspect of the present application provides a ship component sorting and transportation system, including:

[0043] A construction module for constructing a three-dimensional model database, which includes a three-dimensional model of a ship and three-dimensional model parameters of the ship; the three-dimensional model of the ship includes three-dimensional models of ship components; the three-dimensional model parameters of the ship include three-dimensional model parameters of ship components;

[0044] A matching module for obtaining data of the ship components to be sorted and transported, searching for the three-dimensional model and three-dimensional model parameters of the ship components to be sorted and transported in the three-dimensional model database according to the data of the ship components to be sorted and transported, and obtaining the coordinates of the ship components to be sorted and transported in the three-dimensional model of the ship; obtaining the three-dimensional coordinates of the construction site and the world coordinate system where the actual coordinates of the construction site are located, and obtaining the coordinates of the construction site in the three-dimensional model according to the conversion relationship between the coordinate system of the three-dimensional model and the world coordinate system, and obtaining the preset position and preset angle of the ship components to be sorted and transported relative to the construction site by making the coordinates of the ship components to be sorted and transported in the three-dimensional model of the ship consistent with the coordinates of the construction site in the three-dimensional model;

[0045] A picking module for using a drone to identify and pick up the ship components to be sorted and transported, and obtaining the position coordinates after the drone picks up the ship components to be sorted and transported;

[0046] A navigation module for performing path planning on the ship components to be sorted and transported according to the position coordinates after the drone picks up the ship components to be sorted and transported and the actual coordinates of the construction site to obtain a transportation path from the position coordinates after the drone picks up the ship components to be sorted and transported to the actual coordinates of the construction site, using the drone to move the ship components to be sorted and transported to the construction site along the transportation path, and placing the ship components to be sorted and transported relative to the construction site according to the preset position and preset angle.

[0047] The ship component sorting and transportation device further includes a user interface: for setting the task parameters of the drone, monitoring the execution of the drone task, receiving the alarm information sent by the drone, etc. After the drone completes all sorting and transportation tasks, the drone returns to the starting point or standby area to wait for the next task. The user interface provides feedback data on the execution of the task to the operator, including information such as task completion time, sorting quantity, error rate, etc. The system automatically records the detailed log information of the task execution for subsequent analysis and optimization.

[0048] The above are only the preferred embodiments 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 sorting and transporting ship parts, characterized in that, Including the following steps: Construct a three-dimensional model database, which includes the three-dimensional model of the ship and the three-dimensional model parameters of the ship; the three-dimensional model of the ship includes the three-dimensional models of ship components; the three-dimensional model parameters of the ship include the three-dimensional model parameters of ship components; Obtain the data of the ship components to be sorted and transported, search for the three-dimensional model of the ship components to be sorted and transported and the three-dimensional model parameters of the ship components to be sorted and transported in the three-dimensional model database according to the data of the ship components to be sorted and transported, and obtain the coordinates of the ship components to be sorted and transported in the three-dimensional model of the ship; obtain the three-dimensional coordinates of the construction site and the world coordinate system where the actual coordinates of the construction site are located, and obtain the coordinates of the construction site in the three-dimensional model according to the conversion relationship between the coordinate system of the three-dimensional model and the world coordinate system. By making the coordinates of the ship components to be sorted and transported in the three-dimensional model of the ship consistent with the coordinates of the construction site in the three-dimensional model, obtain the preset position and preset angle of the ship components to be sorted and transported relative to the construction site; Use a drone to identify and pick up the ship components to be sorted and transported, and obtain the position coordinates of the drone after picking up the ship components to be sorted and transported; According to the position coordinates of the drone after picking up the ship components to be sorted and transported and the actual coordinates of the construction site, perform path planning on the ship components to be sorted and transported to obtain the transportation path from the position coordinates of the drone after picking up the ship components to be sorted and transported to the actual coordinates of the construction site. Use the drone to move the ship components to be sorted and transported to the construction site according to the transportation path, and place the ship components to be sorted and transported relative to the construction site according to the preset position and preset angle.

2. The method for sorting and transporting ship parts according to claim 1, wherein The three-dimensional model parameters of the ship include structural shape, dimensional parameters, installation position, installation sequence, and identification code.

3. The method for sorting and transporting ship parts according to claim 1 is characterized in that, The three-dimensional model parameters are marked as attributes on the corresponding three-dimensional model.

4. The method for sorting and transporting ship parts according to claim 3, characterized in that The three-dimensional coordinates of the construction site are marked as attributes on the ship components to be sorted and transported in the three-dimensional model.

5. The method for sorting and transporting ship parts according to claim 1, wherein Using a drone to identify the ship components to be sorted and transported includes: the drone is equipped with a camera or lidar, an image processing unit, and a data storage unit. The camera or lidar is used to obtain an image containing the ship components to be sorted and transported and their surrounding environment. The image processing unit uses image processing algorithms such as feature extraction to process the image to obtain images of multiple ship components. The data storage unit is used to store the three-dimensional model database. According to the data of the ship components to be sorted and transported, the three-dimensional model and three-dimensional model parameters of the ship components to be sorted and transported in the three-dimensional model database are obtained. The image processing unit compares the three-dimensional model and three-dimensional model parameters of the ship components to be sorted and transported with the images of multiple ship components obtained through the image processing algorithm to identify the ship components to be sorted and transported.

6. The method for sorting and transporting ship parts according to claim 1, wherein Using a drone to pick up the ship components to be sorted and transported includes: the drone is equipped with a robotic arm or a suction cup, and the robotic arm or suction cup is used to pick up the ship components to be sorted and transported.

7. The method for sorting and transporting ship parts according to claim 6, characterized in that During the process of using a drone to move the ship parts to be sorted and transported to the construction site according to the transportation path, it also includes the drone dynamically adjusting the transportation path and obstacle avoidance strategy.

8. The method for sorting and transporting ship parts according to claim 6, characterized in that, The drone can pick up multiple ship parts to be sorted and transported, and place the multiple ship parts to be sorted and transported relative to the construction site at preset positions and preset angles in sequence according to the installation order of the ship parts to be sorted and transported.

9. A ship component sorting and transportation system, characterized in that, It includes: A construction module for constructing a three-dimensional model database. The three-dimensional model database includes the three-dimensional model of the ship and the three-dimensional model parameters of the ship. The three-dimensional model of the ship includes the three-dimensional models of the ship parts. The three-dimensional model parameters of the ship include the three-dimensional model parameters of the ship parts. A matching module for obtaining the data of the ship parts to be sorted and transported, searching for the three-dimensional model of the ship parts to be sorted and transported and the three-dimensional model parameters of the ship parts to be sorted and transported in the three-dimensional model database according to the data of the ship parts to be sorted and transported, and obtaining the coordinates of the ship parts to be sorted and transported in the three-dimensional model of the ship. Obtaining the three-dimensional coordinates of the construction site and the world coordinate system where the actual coordinates of the construction site are located, and obtaining the coordinates of the construction site in the three-dimensional model according to the conversion relationship between the coordinate system of the three-dimensional model and the world coordinate system. By making the coordinates of the ship parts to be sorted and transported in the three-dimensional model of the ship consistent with the coordinates of the construction site in the three-dimensional model, the preset position and preset angle of the ship parts to be sorted and transported relative to the construction site are obtained. A picking module for using the drone to identify and pick up the ship parts to be sorted and transported, and obtaining the position coordinates of the drone after picking up the ship parts to be sorted and transported. A navigation module for planning the path of the ship parts to be sorted and transported according to the position coordinates of the drone after picking up the ship parts to be sorted and transported and the actual coordinates of the construction site, obtaining the transportation path from the position coordinates of the drone after picking up the ship parts to be sorted and transported to the actual coordinates of the construction site, using the drone to move the ship parts to be sorted and transported to the construction site according to the transportation path, and placing the ship parts to be sorted and transported relative to the construction site at preset positions and preset angles according to the preset position and preset angle of the ship parts to be sorted and transported relative to the construction site.

Images