An automated grinding method, apparatus, and related equipment for free edges of ship parts.

Abstract

This application relates to the field of parts processing technology, and discloses an automated grinding method, apparatus, and related equipment for free edges of ship parts. The method includes: acquiring overall point cloud data by taking pictures; extracting point cloud data of the ship parts to be ground; converting the point cloud data of the ship parts to be ground into pixel images; classifying and identifying the parts according to a pre-created classification library to determine the category; extracting the image edges of the ship parts to be ground based on the pixel images; aligning the ship parts to be ground based on the category and image edges; determining the coordinates of the grinding points on the ship parts based on the category and the aligned parts; generating a grinding trajectory based on the grinding points; and controlling a robotic arm to perform the grinding. This application acquires point cloud data of the parts and converts it into pixel images; determines the category and image edges of the parts based on the pixel images; aligns the parts according to the category and image edges and determines the coordinates of the grinding points; finally, it determines the grinding trajectory and performs the grinding.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of part processing, and in particular to a ship part free edge automatic polishing method and device and related equipment. BACKGROUND

[0002] In the ship industry, due to the fact that the ship sails in the marine environment for a long time, the internal space is always in a special working atmosphere with high salt and high humidity. Under this environment, salt mist formed by evaporation of seawater will adhere to the surface of the ship part, and the moisture in the air will also continuously penetrate, which is extremely easy to cause corrosion of the part. The free edge of the ship part, i.e. the outermost part in the ship design, which is not connected with other structures of the ship body and has not been specially treated, is a "disaster area" of corrosion. Once the free edge is corroded, not only will it cause the structural strength of the part to decrease, affecting the overall safety and stability of the ship, but also it may cause a chain failure, increasing the maintenance cost and sailing risk of the ship. Therefore, professional polishing treatment of the free edge of the ship part is a key process to block the corrosion path and ensure the service life of the ship part.

[0003] However, for a long time, the ship industry has mainly relied on traditional manual polishing methods for the free edge of the part. The limitations of this method are obvious: in terms of polishing quality, the effect of manual polishing completely depends on the experience, technical level and working state of the operator. There are differences in polishing force, angle and speed among different operators, and even the same operator may cause deviation in polishing standards due to fatigue after a long time of work, ultimately resulting in uneven smoothness and difficulty in unifying the size accuracy of the processed free edge of the ship part, poor uniformity, hidden dangers for subsequent corrosion prevention treatment, and serious impact on the assembly accuracy and overall performance of the ship part.

[0004] More importantly, the working environment of manual polishing poses a great threat to human health. A large amount of metal dust and grinding wheel debris is generated during the polishing process, and these fine particles diffuse in the air. After long-term inhalation by the operator, respiratory system diseases such as pneumoconiosis and bronchitis are easily caused, seriously endangering the health and safety of front-line workers.

[0005] With the development of the ship industry towards large-scale, high-end and intelligentization, higher requirements are put forward for the processing accuracy, quality stability and production efficiency of ship parts, and the traditional manual polishing method has been difficult to meet the development needs of the industry. Therefore, how to realize automatic polishing of the free edge of the ship part is a direction that people have been researching. SUMMARY

[0006] Therefore, the present application provides a ship part free edge automatic polishing method and device and related equipment to facilitate automatic polishing of the free edge of the ship part.

[0007] To achieve the above object, the present scheme is as follows:

[0008] A free edge automatic polishing method for a ship part, comprising:

[0009] Triggering a mechanical arm to grab and take a picture, to obtain a grabbing area image;

[0010] Based on the grabbing area image, determine the grabbing point and control the mechanical arm to grab the ship part to be polished and place it in the shooting area;

[0011] Take a picture of the ship part to be polished to obtain the overall point cloud data;

[0012] Extract the point cloud data of the ship part to be polished from the overall point cloud data;

[0013] Determine whether the point cloud data of the ship part to be polished is available;

[0014] If yes, convert the point cloud data of the ship part to be polished into a pixel image;

[0015] According to the pre-created classification library, classify and identify the pixel image to determine the category of the ship part to be polished;

[0016] Based on the pixel image, extract the image edge of the ship part to be polished;

[0017] Based on the category and image edge, align the ship part to be polished to obtain the aligned ship part to be polished;

[0018] Based on the category and the aligned ship part to be polished, determine the coordinates of the points to be polished on the free edge of the ship part to be polished;

[0019] Determine whether the coordinates of the points to be polished are correct;

[0020] If not, generate a free edge polishing track and a knife position covering all the polishing areas of the ship part to be polished based on the points to be polished;

[0021] Based on the free edge polishing track and the knife position, control the mechanical arm to polish.

[0022] Optionally, the extraction of the point cloud data of the ship part to be polished from the overall point cloud data comprises:

[0023] Extract the point cloud data of the ship part to be polished and the magnet device from the overall point cloud data;

[0024] Filter the point cloud data of the ship part to be polished and the magnet device to remove the surrounding outliers;

[0025] Segmenting and acquiring point cloud data of the magnet plane from the point cloud data of the filtered ship part to be polished and the magnet device;

[0026] Obtaining the coordinates of the minimum circumscribed cube corner of the point cloud data of the magnet plane;

[0027] Pruning the point cloud data inside the space cube composed of the coordinates of the minimum circumscribed cube corner;

[0028] Using the curvature difference between the point cloud data of the ship part to be polished and other remaining point cloud data to extract the point cloud data of the ship part to be polished.

[0029] Optionally, the converting the point cloud data of the ship part to be polished into a pixel image comprises:

[0030] Creating a white board with a fixed size;

[0031] Projecting the point cloud data onto the white board in black to obtain a pixel image.

[0032] Optionally, the aligning the ship part to be polished based on the category and the image edge to obtain an aligned ship part to be polished comprises:

[0033] Determining the pixel point coordinates of each edge based on the image edge;

[0034] Determining the alignment direction based on the category and the pixel point coordinates of each edge;

[0035] Aligning the ship part to be polished according to the alignment direction to obtain an aligned ship part to be polished.

[0036] Optionally, the determining the to-be-polished point coordinates on the free edge of the ship part to be polished based on the category and the aligned ship part to be polished comprises:

[0037] From a pre-created classification library, based on the category, calling a determination algorithm of the to-be-polished point coordinates on the free edge of the ship part to be polished;

[0038] Determining the coordinates of each edge of the aligned ship part to be polished based on the aligned ship part to be polished;

[0039] Determining the to-be-polished point coordinates on the free edge of the ship part to be polished based on the determination algorithm and the coordinates of each edge of the aligned ship part to be polished.

[0040] Optionally, the generating a free edge polishing track and a downcut position covering all to-be-polished areas of the ship part to be polished based on the to-be-polished point coordinates comprises:

[0041] Based on the to-be-ground point coordinates, a free-edge grinding track covering all to-be-ground areas of the to-be-ground ship part is generated by using a B-spline curve;

[0042] Based on the free-edge grinding track, a down-cut position is determined.

[0043] Optionally, the photographing of the to-be-ground ship part to obtain the overall point cloud data comprises:

[0044] The to-be-ground ship part is photographed to obtain initial overall point cloud data;

[0045] Outliers around the initial overall point cloud data are removed to obtain overall point cloud data.

[0046] A ship part free-edge automatic grinding device comprises:

[0047] A grabbing and photographing module is configured to trigger a mechanical arm to grab and take a photograph to obtain a grabbing area image;

[0048] A part grabbing module is configured to determine a grabbing point based on the grabbing area image, control the mechanical arm to grab the to-be-ground ship part, and place the to-be-ground ship part in a photographing area;

[0049] An overall point cloud data acquisition module is configured to take a photograph of the to-be-ground ship part to obtain overall point cloud data;

[0050] A part point cloud data acquisition module is configured to extract point cloud data of the to-be-ground ship part from the overall point cloud data;

[0051] A part point cloud data detection module is configured to determine whether the point cloud data of the to-be-ground ship part is available;

[0052] A pixel image conversion module is configured to convert the point cloud data of the to-be-ground ship part into a pixel image when the point cloud data of the to-be-ground ship part is available;

[0053] A part category determination module is configured to classify and identify the pixel image according to a pre-created classification library to determine a category of the to-be-ground ship part;

[0054] An image edge extraction module is configured to extract an image edge of the to-be-ground ship part based on the pixel image;

[0055] A part alignment module is configured to align the to-be-ground ship part based on the category and the image edge to obtain an aligned to-be-ground ship part;

[0056] A to-be-ground point determination module is configured to determine coordinates of a to-be-ground point on the free edge of the to-be-ground ship part based on the category and the adjusted to-be-ground ship part;

[0057] A to-be-ground point detection module is configured to determine whether the coordinates of the to-be-ground point are correct;

[0058] A grinding data generation module is configured to generate a free edge grinding track and a tool lowering position covering all to-be-ground areas of the to-be-ground ship part based on the coordinates of the to-be-ground point when the coordinates of the to-be-ground point are correct.

[0059] A part free edge grinding module is configured to control the mechanical arm to grind based on the free edge grinding track and the tool lowering position.

[0060] A ship part free edge automatic grinding device, comprising a memory and a processor;

[0061] The memory is configured to store a program.

[0062] The processor is configured to execute the program to implement each step of the ship part free edge automatic grinding method.

[0063] A readable storage medium having a computer program stored thereon, wherein the computer program is executed by a processor to implement each step of the ship part free edge automatic grinding method.

[0064] From the above technical solution can be seen, the application embodiment provides a kind of ship parts free edge automatic polishing method, comprising: triggering mechanical arm to grab visual photograph, obtain the image of grabbing area, determine grabbing point based on the image of grabbing area, and control the mechanical arm to grab the ship part to be polished, and place in the photographing area, photograph the ship part to be polished, obtain overall point cloud data, extract the point cloud data of the ship part to be polished from overall point cloud data, determine whether the point cloud data of the ship part to be polished is available, if yes, the point cloud data of the ship part to be polished is converted into pixel image, pixel image is classified and identified according to pre-created classification library, the category of the ship part to be polished is determined, the image edge of the ship part to be polished is extracted based on pixel image, the ship part to be polished is righted based on category and image edge, the ship part to be polished after righting is obtained, the point coordinate to be polished on the free edge of the ship part to be polished is determined based on category and the ship part to be polished after righting, whether the point coordinate to be polished is wrong is judged, if no, the free edge polishing track and the position of cutting down based on the point to be polished are generated, which cover all the polishing areas of the ship part to be polished, the mechanical arm is controlled to polish based on free edge polishing track and the position of cutting down.The point cloud data of the ship part to be polished is obtained by photographing, and is converted into pixel image, the category and image edge of the ship part to be polished are determined based on pixel image, the ship part to be polished is righted based on category and image edge, and the polishing track is finally determined, the free edge is polished, and the automatic polishing of the free edge of the ship part is realized.

[0065] Further, for each ship part to be polished, the final polishing point coordinate and polishing track are determined based on actual image edge, compared with pre-set polishing path, the influence of part manufacturing deviation can be reduced to a certain extent, and over-polishing or under-polishing can be avoided. BRIEF DESCRIPTION OF DRAWINGS

[0066] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced below. Obviously, the drawings in the following description are only embodiments of the present application, and other drawings can be obtained by those skilled in the art without creating laborious work.

[0067] Figure 1 A flow chart of a ship part free edge automatic polishing method is provided for the embodiments of the present application.

[0068] Figure 2 A structural schematic diagram of a ship part free edge automatic polishing device is provided for the embodiments of the present application.

[0069] Figure 3A hardware structure block diagram of a free edge automatic polishing device for ship parts is provided for the embodiments of the present application. DETAILED DESCRIPTION

[0070] The technical solutions in the embodiments of the present application will be clearly and completely described in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0071] Figure 1 A free edge automatic polishing method flow chart for ship parts is provided for the embodiments of the present application, as shown in Figure 1 The method can include the following steps:

[0072] Step S100, triggering a mechanical arm to grab and take a picture, obtaining a grabbing area image.

[0073] Specifically, the picture can be taken by a binocular structured light camera, and the surface of the ship part to be polished is photographed. Compared with 2D vision, the stability of light and the cleanliness of the bottom plate need to be ensured. The demand for the environment is not particularly high by using the binocular structured light camera to obtain 3D vision, and the 2D vision accuracy is not as high as the 3D vision accuracy. To a certain extent, 3D vision can reduce the recognition error of the free edge three-dimensional profile.

[0074] Step S101, determining the grabbing point based on the grabbing area image, and controlling the mechanical arm to grab the ship part to be polished and place it in the photographing area.

[0075] Specifically, the grabbing area image obtained in the above steps can determine the grabbing point of the ship part to be polished, so as to control the mechanical arm to grab the ship part to be polished and place it in the photographing area.

[0076] Step S102, taking a picture of the ship part to be polished to obtain overall point cloud data.

[0077] Specifically, the binocular structured light 3D camera is triggered to take a picture. The RGB picture obtained by the camera provides X and Y coordinates in the pixel coordinate system, and the depth map directly provides Z coordinates in the camera coordinate system, that is, the distance between the camera and the point. According to the information of the RGB-D image and the internal parameters of the camera, the coordinates of any pixel point in the camera coordinate system can be calculated. Each coordinate represents a point, and the collection of points is the point cloud, thereby forming the point cloud data.

[0078] Specifically, after the ship part to be polished is photographed, the point cloud of the ship part to be polished and the magnet and the magnet installation platform can be extracted as initial overall point cloud data by using a straight-through filter. At this time, there are still a large number of outliers around the initial overall point cloud data, and therefore, the statistical outlier filtering method can be used to remove the outliers around the initial overall point cloud data, and finally the overall point cloud data is obtained.

[0079] Step S103, extracting the point cloud data of the ship part to be polished from the overall point cloud data.

[0080] Specifically, the overall point cloud data can include the point cloud data of the ship part to be polished, the point cloud data of the magnet plane, the point cloud data of the magnet side and the point cloud data of the magnet installation platform. Due to the variety of ship parts and the edge bevel slope problem, sometimes the ship part to be polished and the magnet plane are very close, and the point cloud data is not convenient for segmentation.

[0081] Step S104, judging whether the point cloud data of the ship part to be polished is available.

[0082] Specifically, if the point cloud data of the ship part to be polished is available, step S105 is executed; if the point cloud data of the ship part to be polished is not available, step S100 is returned to execute.

[0083] Step S105, converting the point cloud data of the ship part to be polished into a pixel image.

[0084] Specifically, there are many methods for converting point cloud data into a pixel image, and one of the conversion methods is introduced below. The method provided by the application for converting the point cloud data of the ship part to be polished into a pixel image can first create a white base plate of a fixed size, and then project the point cloud data of the ship part to be polished onto the white base plate in black to obtain the pixel image of the ship part to be polished.

[0085] Step S106, classifying and identifying the pixel image according to a pre-created classification library to determine the category of the ship part to be polished.

[0086] Specifically, the classification library is that the pictures of each type of workpiece are placed in a folder, one folder represents one type of workpiece, and these folders are placed in a folder to form the classification library.

[0087] Step S107, extracting the image edge of the ship part to be polished based on the pixel image; specifically, the boundary function is realized based on the pixel image, and the function generates the boundary of the fitted data by using an alpha-shape algorithm.

[0088] Step S108, based on the category and the image edge, the ship part to be polished is aligned to obtain the aligned ship part to be polished.

[0089] Specifically, in the process of creating the classification library in advance, for each category of ship part, its alignment direction can be determined, and only the ship part to be polished needs to be adjusted to the alignment direction, and then the corresponding category algorithm can be directly called to process the trajectory, thereby ensuring the accuracy of the free edge polishing of the ship part to a certain extent.

[0090] Step S109, based on the category and the aligned ship part to be polished, the coordinates of the polishing points on the free edge of the ship part to be polished are determined.

[0091] Step S110, it is judged whether the polishing point coordinates are correct.

[0092] Specifically, it is judged whether the polishing point coordinates obtained in step S109 are empty. If the polishing point coordinates are not empty, i.e., the polishing point coordinates are correct, step S111 is executed; if the polishing point coordinates are empty, i.e., the polishing point coordinates are incorrect, the mechanical arm is controlled to pick up the wrong workpiece.

[0093] Step S111, based on the polishing point coordinates, the free edge polishing trajectory and the tool lowering position covering the entire polishing area of the ship part to be polished are generated.

[0094] Specifically, when generating the free edge polishing trajectory and the tool lowering position covering the entire polishing area of the ship part to be polished based on the polishing point coordinates, it is necessary to ensure that the free edge polishing trajectory covers all the polishing points, and to a certain extent, the polishing trajectory is smoothly transitioned, while preventing the occurrence of tool collision or reaching the limit of the mechanical arm. Based on this, B-spline curve can be used to generate the free edge polishing trajectory covering the entire polishing area of the ship part to be polished, and based on the free edge polishing trajectory, the tool lowering position is determined.

[0095] Step S112, based on the free edge polishing trajectory and the tool lowering position, the mechanical arm is controlled to polish.

[0096] Specifically, according to the free edge polishing trajectory and the tool lowering position determined in the above steps, an instruction is sent to control the mechanical arm to polish the free edge of the ship part to be polished.

[0097] It can be seen from the technical solution that the ship part free edge automatic polishing method provided by the embodiment of the application comprises the following steps: triggering a mechanical arm to capture and take a picture, obtaining a capture area image, determining a capture point based on the capture area image, controlling the mechanical arm to capture a ship part to be polished and placing the ship part to be polished in a picture area, taking a picture of the ship part to be polished, obtaining overall point cloud data, extracting point cloud data of the ship part to be polished from the overall point cloud data, judging whether the point cloud data of the ship part to be polished is available, if yes, converting the point cloud data of the ship part to be polished into a pixel image, classifying and identifying the pixel image according to a pre-created classification library, determining the category of the ship part to be polished, extracting an image edge of the ship part to be polished based on the pixel image, correcting the ship part to be polished based on the category and the image edge, obtaining the ship part to be polished after correction, determining a to-be-polished point coordinate on a free edge of the ship part to be polished based on the category and the ship part to be polished after correction, judging whether the to-be-polished point coordinate is incorrect, if no, generating a free edge polishing track and a tool lowering position covering all to-be-polished areas of the ship part to be polished based on the to-be-polished point, and controlling the mechanical arm to polish based on the free edge polishing track and the tool lowering position. The point cloud data of the ship part to be polished is obtained by taking a picture, and is converted into a pixel image. The category and the image edge of the ship part to be polished are determined based on the pixel image. The ship part to be polished is corrected based on the category and the image edge, and the to-be-polished point coordinate is determined. Finally, the polishing track is determined, the free edge is polished, and the ship part free edge automatic polishing is realized.

[0098] Further, for each ship part to be polished, the final polishing point coordinate and the polishing track are determined based on the actual image edge. Compared with the pre-set polishing path, the influence of the part manufacturing deviation can be reduced to a certain extent, and the over-polishing or under-polishing situation is avoided.

[0099] In some embodiments of the application, the process of step S103, extracting the point cloud data of the ship part to be polished from the overall point cloud data, can comprise the following steps:

[0100] S11, extracting the point cloud data of the ship part to be polished and the magnet device from the overall point cloud data.

[0101] Specifically, the magnet device can comprise a magnet and a magnet mounting platform. The point cloud data of the magnet device can comprise point cloud data of a magnet plane, point cloud data of a magnet side surface and point cloud data of a magnet mounting platform.

[0102] S12, filtering the point cloud data of the ship part to be polished and the magnet device to remove surrounding outliers.

[0103] S13, segment the point cloud data of the magnet plane from the point cloud data of the ship part to be polished and the magnet device after filtering processing.

[0104] Specifically, the point cloud data of the magnet plane can be segmented by using the Euclidean clustering.

[0105] S14, obtain the coordinates of the corner points of the minimum circumscribed cube of the point cloud data of the magnet plane.

[0106] Specifically, based on the obtained point cloud data of the magnet plane, the coordinates of the corner points of the minimum circumscribed cube thereof are determined.

[0107] S15, remove the point cloud data inside the space cube composed of the coordinates of the corner points of the minimum circumscribed cube.

[0108] Specifically, after the removal, the point cloud data of the ship part to be polished, the point cloud data of the side surface of the magnet, and the point cloud data of the magnet mounting platform are left.

[0109] S16, extract the point cloud data of the ship part to be polished by using the curvature difference between the point cloud data of the ship part to be polished and other remaining point cloud data.

[0110] Specifically, since the ship part to be polished is closely attached to the magnet plane, the point cloud data of the ship part to be polished is directly extracted from the point cloud data of the ship part to be polished and the magnet device by using the curvature difference, which is likely to contain the point cloud data of the magnet plane. Therefore, the point cloud data of the magnet plane needs to be removed first, and then the point cloud data of the ship part to be polished is extracted by using the curvature difference between the point cloud data of the ship part to be polished and other remaining point cloud data.

[0111] In some embodiments of the present application, the process of aligning the ship part to be polished based on the category and the image edge in step S108 to obtain the aligned ship part to be polished can include:

[0112] S21, determine the pixel point coordinates of each edge based on the image edge.

[0113] Specifically, a coordinate system can be established with the upper left corner as the origin, the x-axis to the right, and the y-axis downward. Based on the created coordinate system, the positions of each edge are determined based on the image edge, and the pixel point coordinates of each edge are determined.

[0114] S22, determine the alignment direction based on the category and the pixel point coordinates of each edge.

[0115] Specifically, the category of the ship part to be polished is determined in the above steps, so that the preset alignment state of the ship part to be polished corresponding to the category can be obtained. Based on the pixel point coordinates of each side, it can be determined which side of the ship part to be polished corresponds to the category. According to the determined corresponding relationship, the alignment direction can be determined. The alignment direction can include a rotation angle and a rotation direction around each coordinate axis.

[0116] S23, aligning the ship part to be polished according to the alignment direction to obtain the aligned ship part to be polished.

[0117] Specifically, the ship part to be polished is aligned according to the alignment direction determined in the above steps, so that the placement mode of the ship part to be polished is consistent with the alignment state of the corresponding category in the classification library, which is convenient for subsequent processing.

[0118] In some embodiments of the present application, the step S109 of determining the coordinates of the polishing points on the free side of the ship part to be polished based on the category and the aligned ship part to be polished can include:

[0119] S31, from the pre-created classification library, based on the category, call the determination algorithm of the coordinates of the polishing points on the free side of the ship part to be polished. The algorithm can calculate the corner points (i.e. corner points) in the edge track points by correcting the ship part picture and then by Harris corner point detection, and obtain the coordinates of these corner points, and then remove the non-polishing points.

[0120] Specifically, in the process of creating the classification library, the determination algorithm of the coordinates of the polishing points on the free side of the ship part to be polished can be generated for each category, so that after the coordinates of each side of the aligned ship part to be polished are determined, the above algorithm can be used to determine the coordinates of the polishing points of the ship part to be polished.

[0121] S32, based on the aligned ship part to be polished, determine the coordinates of each side of the aligned ship part to be polished.

[0122] Specifically, based on the aligned ship part to be polished obtained in the above steps, the coordinates of each side of the aligned ship part to be polished can be determined. Using the coordinates of each side, the coordinates of the polishing points can be determined.

[0123] S33, based on the determination algorithm and the coordinates of each side of the aligned ship part to be polished, determine the coordinates of the polishing points on the free side of the ship part to be polished.

[0124] Specifically, since each category of ship parts corresponds to different free edges, different algorithms for determining the points to be polished on the free edges will exist for different ship parts. The algorithm can combine the coordinates of the edges of the polished ship parts after the alignment to determine the coordinates of the points to be polished on the free edges of the ship parts to be polished. Each trajectory is generated by using the determination algorithm and the actual coordinates for the real ship parts to be polished. Compared with the fixed trajectory generated by pre-programming, the manufacturing deviation of the ship parts can be coped with, and to some extent, the less polishing or even more serious accidents can be avoided.

[0125] Based on the ship part free edge automatic polishing method provided by the embodiment of the application, the application can also provide a ship part free edge automatic polishing device. The ship part free edge automatic polishing device provided by the embodiment of the application is described below. The ship part free edge automatic polishing device described below can be correspondingly referred to the ship part free edge automatic polishing method described above.

[0126] Figure 2 A ship part free edge automatic polishing device structure schematic diagram is provided for the embodiment of the application, as shown in Figure 2 The ship part free edge automatic polishing device can include:

[0127] The grabbing and photographing module 101 is used to trigger the mechanical arm to grab and take pictures, and obtain the grabbing area image;

[0128] The part grabbing module 102 is used to determine the grabbing point based on the grabbing area image, control the mechanical arm to grab the ship part to be polished, and place it in the photographing area;

[0129] The overall point cloud data acquisition module 103 is used to take pictures of the ship part to be polished and acquire overall point cloud data;

[0130] The part point cloud data acquisition module 104 is used to extract the point cloud data of the ship part to be polished from the overall point cloud data;

[0131] The part point cloud data detection module 105 is used to determine whether the point cloud data of the ship part to be polished is available;

[0132] The pixel image conversion module 106 is used to convert the point cloud data of the ship part to be polished into a pixel image when the point cloud data of the ship part to be polished is available;

[0133] The part category determination module 107 is used to classify and identify the pixel image, determine the category of the ship part to be polished according to the pre-created classification library;

[0134] Image edge extraction module 108 is used to extract the image edges of the ship parts to be polished based on pixel images;

[0135] The part alignment module 109 is used to align the ship parts to be polished based on the category and image edge to obtain the aligned ship parts to be polished.

[0136] The grinding point determination module 110 is used to determine the coordinates of the grinding point on the free edge of the ship part to be ground based on the category and the aligned ship part to be ground.

[0137] The grinding point detection module 111 is used to determine whether the coordinates of the grinding point are incorrect;

[0138] The grinding data generation module 112 is used to generate a free edge grinding trajectory and cutter position covering the entire grinding area of ​​the ship parts to be ground, based on the coordinates of the grinding point when the coordinates of the grinding point are correct.

[0139] The free edge grinding module 113 is used to control the robotic arm to perform grinding based on the free edge grinding trajectory and the cutting position.

[0140] As can be seen from the above technical solutions, the automated grinding device for free edges of ship parts provided in this application includes: a gripping and photographing module 101, used to trigger a robotic arm to grip and photograph the image of the gripping area; a part gripping module 102, used to determine the gripping point based on the image of the gripping area, and control the robotic arm to grip the ship part to be ground and place it in the photographing area; an overall point cloud data acquisition module 103, used to photograph the ship part to be ground and acquire overall point cloud data; a part point cloud data acquisition module 104, used to extract the point cloud data of the ship part to be ground from the overall point cloud data; a part point cloud data detection module 105, used to determine whether the point cloud data of the ship part to be ground is available; a pixel image conversion module 106, used to convert the point cloud data of the ship part to be ground into a pixel image when the point cloud data of the ship part to be ground is available; and a part category determination module 107, used to... The system performs classification and recognition on pixel images, determining the category of the ship parts to be polished based on a pre-created classification library; an image edge extraction module 108 extracts the image edges of the ship parts to be polished based on pixel images; a part alignment module 109 aligns the ship parts to be polished based on the category and image edges to obtain the aligned ship parts to be polished; a point to be polished determination module 110 determines the coordinates of the points to be polished on the free edges of the ship parts to be polished based on the category and the aligned ship parts to be polished; a point to be polished detection module 111 determines whether the coordinates of the points to be polished are incorrect; a polishing data generation module 112 generates a free edge polishing trajectory and cutting position covering the entire polishing area of ​​the ship parts to be polished based on the coordinates of the points to be polished when the coordinates of the points to be polished are correct; and a free edge polishing module 113 controls the robotic arm to perform polishing based on the free edge polishing trajectory and cutting position. This application acquires point cloud data of ship parts to be polished by taking pictures and converting it into pixel images. Based on the pixel images, the category and image edges of the ship parts to be polished are determined. Based on the category and image edges, the ship parts to be polished are aligned and the coordinates of the points to be polished are determined. Finally, the polishing trajectory is determined and the free edges are polished, thus realizing automated polishing of the free edges of ship parts.

[0141] Furthermore, for each ship part to be polished, this application determines the final polishing point coordinates and polishing trajectory based on the actual image edge. Compared with pre-setting the polishing path, this can reduce the impact of manufacturing deviations to a certain extent and avoid over-polishing or under-polishing.

[0142] Optionally, the process of extracting the point cloud data of the ship part to be polished from the overall point cloud data by the part point cloud data acquisition module 104 may include:

[0143] Extract point cloud data of the ship parts to be polished and the magnet device from the overall point cloud data;

[0144] The point cloud data of the ship parts and magnet devices to be polished is filtered to remove surrounding outliers;

[0145] From the filtered point cloud data of the ship parts to be polished and the magnet device, the point cloud data of the magnet plane is segmented and obtained.

[0146] Obtain the coordinates of the smallest outer cube corner of the point cloud data of the magnet plane;

[0147] Remove point cloud data from the interior of the spatial cube, which is composed of the coordinates of the corner points of the smallest circumscribed cube;

[0148] The point cloud data of the ship parts to be polished is extracted by using the curvature difference between the point cloud data of the parts to be polished and the remaining point cloud data.

[0149] Optionally, the pixel image conversion module 106 may perform the process of converting the point cloud data of the ship part to be polished into a pixel image, which may include:

[0150] Create a white background of fixed size;

[0151] The point cloud data is projected onto a white background in black to obtain a pixel image.

[0152] Optionally, the process by which the part alignment module 109 aligns the ship part to be polished based on the category and image edges to obtain the aligned ship part to be polished may include:

[0153] Based on the image edges, determine the pixel coordinates of each edge;

[0154] Based on the category and the pixel coordinates of each side, the straightening direction is determined;

[0155] The ship parts to be polished are aligned according to the alignment direction to obtain the aligned ship parts to be polished.

[0156] Optionally, the process by which the grinding point determination module 110 determines the coordinates of the grinding point on the free edge of the ship part to be ground based on the category and the aligned part to be ground may include:

[0157] An algorithm for determining the coordinates of the grinding points on the free edges of the ship parts to be ground, based on the categories from a pre-created classification library;

[0158] Based on the aligned ship parts to be polished, determine the coordinates of each side of the aligned ship parts to be polished;

[0159] Based on the algorithm for determining the coordinates of the points to be polished and the coordinates of each side of the ship part to be polished after alignment, the coordinates of the points to be polished on the free side of the ship part to be polished are determined.

[0160] Optionally, the grinding data generation module 112 may perform a process of generating a free-edge grinding trajectory and cutter position covering the entire grinding area of ​​the ship part to be ground based on the coordinates of the point to be ground, which may include:

[0161] Based on the coordinates of the points to be polished, a free edge polishing trajectory covering the entire polishing area of ​​the ship parts to be polished is generated using B-spline curves.

[0162] The cutting position is determined based on the free edge grinding trajectory.

[0163] Optionally, the process of the overall point cloud data acquisition module 103 taking pictures of the ship parts to be polished and acquiring overall point cloud data may include:

[0164] The ship parts to be polished are photographed to obtain initial overall point cloud data;

[0165] Remove outliers around the initial overall point cloud data to obtain the overall point cloud data.

[0166] This application also provides an automated grinding device for the free edges of ship parts. Figure 3 The hardware structure block diagram of the automated grinding equipment for free edges of ship parts is shown. (Refer to...) Figure 3 The hardware structure of the automated grinding equipment for free edges of ship parts may include: at least one processor 1, at least one communication interface 2, at least one memory 3, and at least one communication bus 4.

[0167] In this embodiment of the application, the number of processor 1, communication interface 2, memory 3, and communication bus 4 is at least one, and processor 1, communication interface 2, and memory 3 communicate with each other through communication bus 4;

[0168] Processor 1 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present invention.

[0169] Memory 3 may include high-speed RAM, and may also include non-volatile memory, such as at least one disk storage device;

[0170] The memory stores a program, and the processor can call the program stored in the memory. The program is used to implement each processing step in the aforementioned automated grinding method for free edges of ship parts.

[0171] This application embodiment also provides a storage medium that can store a program suitable for processor execution, the program being used to implement each processing step in the aforementioned automated grinding method for free edges of ship parts.

[0172] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

[0173] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The various embodiments can be combined with each other, and the same or similar parts can be referred to each other.

[0174] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method of free edge automated polishing of a marine part, characterized in that, The method comprises the following steps: triggering a robot arm to take a visual photo to obtain a grabbing area image; based on the grabbing area image, determining a grabbing point, and controlling the robot arm to grab the ship part to be polished and place it in the photo area; taking a photo of the ship part to be polished to obtain overall point cloud data; extracting point cloud data of the ship part to be polished from the overall point cloud data; determining whether the point cloud data of the ship part to be polished is available; if yes, converting the point cloud data of the ship part to be polished into a pixel image; based on a pre-created classification library, classifying and identifying the pixel image to determine the category of the ship part to be polished; based on the pixel image, extracting the image edge of the ship part to be polished; based on the category and the image edge, aligning the ship part to be polished to obtain an aligned ship part to be polished; based on the category and the aligned ship part to be polished, determining the coordinates of the polishing points on the free edge of the ship part to be polished; determining whether the coordinates of the polishing points are incorrect; if no, based on the polishing points, generating a free edge polishing track and a tool lowering position covering all polishing areas of the ship part to be polished; based on the free edge polishing track and the tool lowering position, controlling the robot arm to polish. The method comprises the following steps: from the pre-created classification library, based on the category, calling a determination algorithm of the polishing points on the free edge of the ship part to be polished corresponding to the category; based on the aligned ship part to be polished, determining the coordinates of each edge of the aligned ship part to be polished; based on the determination algorithm and the coordinates of each edge of the aligned ship part to be polished, determining the coordinates of the polishing points on the free edge of the ship part to be polished.

2. The method of claim 1, wherein, The method comprises the following steps: from the overall point cloud data, extracting point cloud data of the ship part to be polished and a magnet device; performing filtering processing on the point cloud data of the ship part to be polished and the magnet device to remove surrounding outliers; from the filtered point cloud data of the ship part to be polished and the magnet device, segmenting and obtaining point cloud data of a magnet plane; obtaining the minimum circumscribed cube corner coordinates of the point cloud data of the magnet plane; eliminating point cloud data inside a space cube composed of the minimum circumscribed cube corner coordinates; using the curvature difference between the point cloud data of the ship part to be polished and other remaining point cloud data, extracting the point cloud data of the ship part to be polished.

3. The method of claim 1, wherein, The method comprises the following steps: creating a white board with a fixed size; projecting the point cloud data onto the white board in black to obtain a pixel image.

4. The method of claim 1, wherein, The method comprises the following steps: based on the image edge, determining the pixel point coordinates of each edge; based on the category and the pixel point coordinates of each edge, determining an alignment direction; According to the alignment direction, the to-be-ground ship part is aligned to obtain an aligned to-be-ground ship part.

5. The method of claim 1, wherein, The free-edge grinding track and the tool-down position covering the entire to-be-ground area of the to-be-ground ship part are generated based on the to-be-ground point coordinates, including: The free-edge grinding track covering the entire to-be-ground area of the to-be-ground ship part is generated based on the to-be-ground point coordinates by using a B-spline curve; The tool-down position is determined based on the free-edge grinding track.

6. The method of claim 1, wherein, The to-be-ground ship part is photographed to obtain the overall point cloud data, including: The to-be-ground ship part is photographed to obtain initial overall point cloud data; The initial overall point cloud data is removed from the outliers around the initial overall point cloud data to obtain the overall point cloud data.

7. A free edge automated polishing apparatus for marine parts, characterized by, It includes: The grabbing and photographing module is used to trigger the mechanical arm to grab and take pictures to obtain a grabbing area image; The part grabbing module is used to determine a grabbing point based on the grabbing area image, control the mechanical arm to grab the to-be-ground ship part, and place it in the photographing area; The overall point cloud data acquisition module is used to photograph the to-be-ground ship part to obtain the overall point cloud data; The part point cloud data acquisition module is used to extract the point cloud data of the to-be-ground ship part from the overall point cloud data; The part point cloud data detection module is used to determine whether the point cloud data of the to-be-ground ship part is available; The pixel image conversion module is used to convert the point cloud data of the to-be-ground ship part into a pixel image when the point cloud data of the to-be-ground ship part is available; The part category determination module is used to classify and identify the pixel image according to a pre-created classification library to determine the category of the to-be-ground ship part; The image edge extraction module is used to extract the image edge of the to-be-ground ship part based on the pixel image; The part alignment module is used to align the to-be-ground ship part based on the category and the image edge to obtain an aligned to-be-ground ship part; The to-be-ground point determination module is used to determine the to-be-ground point coordinates on the free edge of the to-be-ground ship part based on the category and the aligned to-be-ground ship part; The to-be-ground point detection module is used to determine whether the to-be-ground point coordinates are correct; The grinding data generation module is used to generate the free-edge grinding track and the tool-down position covering the entire to-be-ground area of the to-be-ground ship part based on the to-be-ground point coordinates when the to-be-ground point coordinates are correct; The part free-edge grinding module is used to control the mechanical arm to grind based on the free-edge grinding track and the tool-down position. The to-be-ground point determination module performs the process of determining the to-be-ground point coordinates on the free edge of the to-be-ground ship part based on the category and the aligned to-be-ground ship part, including: From the pre-created classification library, the determination algorithm of the to-be-ground point coordinates on the free edge of the to-be-ground ship part is determined based on the category; The coordinates of each edge of the aligned to-be-ground ship part are determined based on the aligned to-be-ground ship part; The to-be-ground point coordinates on the free edge of the to-be-ground ship part are determined based on the determination algorithm of the to-be-ground point coordinates and the coordinates of each edge of the aligned to-be-ground ship part.

8. A free edge automated polishing apparatus for marine parts, characterized by, Comprising: a memory and a processor; said memory for storing a program; said processor for executing said program, implementing the steps of the method for automated free edge grinding of a ship part according to any one of claims 1-6.

9. A readable storage medium, having stored thereon a computer program, characterized in that, said computer program, when executed by a processor, implements the steps of the method for automated free edge grinding of a ship part according to any one of claims 1-6.

Images