A ship section confined space laser rust removal method and device for human-like dexterous work

Abstract

The application discloses a ship segment limited space laser rust removal method and device for human-simulated dexterous work, and comprises the following steps: a body mobile robot platform is autonomously positioned and navigated, and is moved to a to-be-worked region in a ship segment limited space; a target region to be removed of rust is recognized and positioned; a motion trajectory of a mechanical arm and a human-simulated dexterous hand is planned according to a spatial position and a surface feature of the target region; the human-simulated dexterous hand is used to grab a handheld laser cleaner and trigger a laser switch; a laser focal length is dynamically adjusted according to a real-time distance between the cleaner and a work surface; the mechanical arm and the human-simulated dexterous hand move along the planned trajectory, the relative pose between the laser cleaner and the work surface is kept stable, and continuous rust removal work is completed; after the rust removal in the current region is completed, the laser is turned off; the mechanical arm and the human-simulated dexterous hand are reset to an initial safe state; and the human-simulated dexterous hand is carried by the body mobile robot platform, and the ship segment limited space, which cannot be accessed by personnel and traditional large equipment, is deeply entered, so that full-coverage rust removal is realized.

Description

Technical Field

[0001] This invention relates to the field of ship hull rust removal technology, specifically to a method and apparatus for laser rust removal in confined spaces of ship sections using human-like dexterous operation. Background Technology

[0002] In the process of shipbuilding and maintenance, rust removal of the hull surface and structural sections is an essential and critical process before painting. Traditional rust removal methods mainly include manual grinding, sandblasting, and high-pressure water jetting. Manual grinding is labor-intensive, inefficient, and generates a lot of dust, which poses a serious threat to workers' health. Although high-pressure water jetting is environmentally friendly, the equipment is bulky, making pipeline layout difficult in confined spaces, and there is a risk of water stains and rust recurrence.

[0003] In recent years, laser cleaning technology has shown great potential in the field of ship rust removal as a green, efficient, and non-contact surface treatment technology. However, most current laser rust removal equipment is large gantry or vehicle-mounted, which cannot enter the confined space of ship sections. Although handheld laser cleaners are flexible, they are prone to fatigue during long-term manual operation, and the safety and accessibility of manual operation in confined spaces still face great challenges.

[0004] Therefore, existing grinding, high-pressure water jetting, and conventional laser rust removal methods all suffer from technical problems such as severely limited rust removal capabilities, difficulty in localized operations, and difficulty in handling inaccessible areas in confined spaces of ship sections where personnel or equipment cannot access. Summary of the Invention

[0005] This invention proposes a laser rust removal method and device for ship sections in a dexterous, human-like manner, which solves the problems of limited rust removal function and difficulty in handling complex local areas in existing rust removal methods within the confined space of ship sections where personnel and large equipment cannot enter.

[0006] To achieve the above objectives, the technical solution of the present invention is as follows: A humanoid dexterous operation method for laser rust removal in confined spaces of ship sections utilizes a unibody mobile robot platform, a robotic arm, a humanoid dexterous hand, and a handheld laser cleaner for rust removal operations, including the following steps: Step S1) The mobile robot platform autonomously locates and navigates to the work area within the confined space of the ship section; Step S2) Identify and locate the target area to be removed using a vision system; Step S3) Based on the spatial location and surface features of the target area, plan the motion trajectory of the robotic arm and the humanoid dexterous hand; Step S4) The humanoid dexterous hand grasps the handheld laser cleaner and triggers the laser switch; Step S5) Dynamically adjust the laser focal length based on the real-time distance between the cleaner and the working surface; Step S6) The robotic arm and the humanoid dexterous hand move along the planned trajectory to maintain the relative pose stability of the laser cleaner and the working surface, and complete the continuous rust removal operation. Step S7) After completing the rust removal in the current area, turn off the laser; Step S8) The robotic arm and humanoid dexterous hand are reset to their initial safe state.

[0007] Furthermore, in step S1, the embodied mobile robot platform uses SLAM technology with multimodal sensor fusion to construct a three-dimensional map in the complex and confined space inside the ship and perform autonomous positioning and navigation.

[0008] Furthermore, in step S2, machine vision algorithms and deep learning models are used to quantitatively identify and 3D reconstruct the degree of corrosion, rust layer thickness, and distribution range within the confined space.

[0009] Furthermore, in step S3, planning the motion trajectory of the robotic arm and the humanoid dexterous hand includes: combining robotic arm task planning with obstacle avoidance algorithms to ensure that the robotic arm and the humanoid dexterous hand avoid collisions with the ship's structure when moving in a narrow and confined space.

[0010] Furthermore, in step S4, the humanoid dexterous hand has force feedback and tactile perception functions, and adaptively adjusts the grasping force to stably hold and accurately trigger the handheld laser cleaner.

[0011] Furthermore, in step S5, the dynamic adjustment of the laser focal length adopts an adaptive ranging and dynamic focusing system, combined with the distance information fed back by the visual sensor for closed-loop control.

[0012] Furthermore, in step S6, a force-position hybrid control strategy is adopted to maintain the relative pose stability between the laser cleaner and the working surface, so that the laser cleaner maintains a constant cleaning distance and normal angle on the irregular curved surface.

[0013] Furthermore, the handheld laser cleaner is connected to a laser generator host located on or outside the embodied mobile robot platform via a flexible optical fiber.

[0014] A human-like, dexterous operation laser rust removal device for confined spaces in ship sections, characterized in that the method for performing the human-like, dexterous operation laser rust removal for confined spaces in ship sections includes: The embodied mobile platform is used for autonomous positioning, navigation, and movement to the work area, and adopts a biomimetic multi-legged mobile chassis; The visual recognition module is used to identify and locate the target area to be removed from rust; The robotic arm module is used to plan and execute motion trajectories; The humanoid dexterous hand module is used to grasp the handheld laser cleaner and trigger the switch. It has a multi-degree-of-freedom finger structure and force and tactile perception capabilities. The laser control module is used to dynamically adjust the laser focal length and control the laser output.

[0015] Compared with the prior art, the present invention has the following advantages: By using a small, flexible embodied mobile robot platform equipped with a humanoid dexterous hand, it can reach into the restricted spaces of ship sections, such as double bottoms and narrow side compartments, where personnel and traditional large equipment cannot enter, to achieve full-coverage rust removal; By combining visual recognition and robotic arm task planning algorithms, adaptive trajectory planning is performed for complex curved surfaces and irregular areas of fillet welds in confined spaces, enabling precise and flexible local rust removal operations. The humanoid dexterous hand simulates the smooth grasping and precise control of a human hand on a laser cleaner, ensuring stable rust removal quality on irregular curved surfaces. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the laser rust removal device according to an embodiment of the present invention; Figure 2 This is a flowchart of the laser rust removal method according to an embodiment of the present invention; Figure Labels 101. Embossed mobile platform; 102. Six-DOF robotic arm; 103. Humanoid dexterous hand. 104 Handheld laser cleaner, 105 Optical fiber, 106 Laser beam, 107 Longitudinal bone structure 108 ribs, 109 base plate. Detailed Implementation

[0017] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] This embodiment proposes a human-like, dexterous laser rust removal device for confined spaces in ship sections. (See also...) Figure 1 It includes a mobile platform 101, a six-degree-of-freedom robotic arm 102, a humanoid dexterous hand 103, a handheld laser cleaner 104, and an optical fiber 105. The handheld laser cleaner 104 emits a laser beam 106. The working environment is a narrow space in a ship section, which includes a longitudinal skeleton structure 107, a rib plate 108, and a bottom plate 109.

[0019] The embodied mobile platform 101 adopts a biomimetic multi-legged mobile chassis, which has the ability to overcome obstacles and move through complex cabin structures of ships. A six-degree-of-freedom collaborative robotic arm 102 is installed on the platform. The end of the robotic arm is equipped with a five-fingered humanoid dexterous hand 103. The dexterous hand has a tactile feedback function. The end tool is a handheld laser cleaner 104 with a power range of 500W-1000W, which is connected to an external laser generator through a flexible optical fiber 105.

[0020] This embodiment proposes a human-like, dexterous laser rust removal method for confined spaces in ship sections. (See also...) Figure 2 ,include: Step S1) The mobile robot platform autonomously locates and navigates to the work area within the confined space of the ship section; Operators issue commands from outside the cabin, and the embodied mobile robot platform uses its onboard lidar and depth camera to construct a three-dimensional environmental map inside the ship section using SLAM algorithms. It then autonomously plans its path, avoids obstacles such as internal ribs, and moves to the designated area to be rusted.

[0021] Step S2) Identify and locate the target area to be removed using a vision system; After the robot arrives at the workstation, it scans the surface of the bulkhead using a high-definition vision sensor and a multispectral camera at the front end. Using a deep learning image recognition algorithm, it accurately identifies areas on the surface with rust, oxide scale, and primer, and extracts their three-dimensional contours and coordinate information.

[0022] Step S3) Based on the spatial location and surface features of the target area, plan the motion trajectory of the robotic arm and the humanoid dexterous hand; Based on the identified 3D model of the rusted area and the interference conditions of the confined space, the control system generates a collision-free motion trajectory for the robotic arm. Simultaneously, it plans the optimal grasping posture for the humanoid dexterous hand, ensuring flexible operation of the handheld laser cleaner within confined spaces.

[0023] Step S4) The humanoid dexterous hand grasps the handheld laser cleaner and triggers the laser switch; According to the planned instructions, the humanoid dexterous hand smoothly grasps the handle of the lightweight handheld laser cleaner. The force sensor of the humanoid dexterous hand senses the grip force to ensure a stable grip without damaging the device. Then, the index finger joint of the dexterous hand moves to pull and trigger the laser switch. The humanoid dexterous hand has force feedback and tactile sensing functions, and can adaptively adjust the gripping force to ensure stable holding and precise triggering of the handheld laser cleaner.

[0024] Step S5) Dynamically adjust the laser focal length based on the real-time distance between the cleaner and the working surface; The distance sensor at the front end of the laser cleaner obtains the distance between the nozzle and the steel plate surface in real time. The control system automatically adjusts the focal length of the laser based on this distance data to ensure that the high-energy laser beam is accurately focused on the surface of the rust layer, achieving the best vaporization and stripping effect.

[0025] Step S6) The robotic arm and the humanoid dexterous hand move along the planned trajectory to maintain the relative pose stability of the laser cleaner and the working surface, and complete the continuous rust removal operation. During the laser rust removal process, the collaborative robotic arm drives the humanoid dexterous hand to move at a constant speed along a predetermined bow-shaped or spiral trajectory. During this period, the system adopts force-position hybrid control to finely adjust the posture of the robotic arm in real time according to the surface undulations, so that the laser cleaner is always perpendicular to the working surface and maintains a constant cleaning distance (such as 150mm).

[0026] Step S7) After completing the rust removal in the current area, turn off the laser; Once the vision sensor confirms that the rust layer in the target area has been completely removed, revealing the original metal color, the control system issues a command to reset the index finger of the humanoid dexterous hand, turn off the laser switch, and stop the laser output.

[0027] Step S8) The robotic arm and humanoid dexterous hand are reset to their initial safe state.

[0028] After completing its work in the current area, the robotic arm folds and retracts, and the humanoid dexterous hand returns to its safe initial posture. Based on the global task schedule, the embodied mobile robot platform prepares to move to the next confined space corrosion point for further work, or autonomously evacuates the ship section along its original route.

[0029] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A laser rust removal method for confined spaces in ship sections, characterized by: Rust removal operations using embodied mobile robot platforms, robotic arms, humanoid dexterous hands, and handheld laser cleaners include the following steps: Step S1) The mobile robot platform autonomously locates and navigates to the work area within the confined space of the ship section; Step S2) Identify and locate the target area to be removed using a vision system; Step S3) Based on the spatial location and surface features of the target area, plan the motion trajectory of the robotic arm and the humanoid dexterous hand; Step S4) The humanoid dexterous hand grasps the handheld laser cleaner and triggers the laser switch; Step S5) Dynamically adjust the laser focal length based on the real-time distance between the cleaner and the working surface; Step S6) The robotic arm and the humanoid dexterous hand move along the planned trajectory to maintain the relative pose stability of the laser cleaner and the working surface, and complete the continuous rust removal operation. Step S7) After completing the rust removal in the current area, turn off the laser; Step S8) The robotic arm and humanoid dexterous hand are reset to their initial safe state.

2. The method for laser rust removal in confined spaces of ship sections using human-like dexterous operation as described in claim 1, characterized in that, In step S1, the embodied mobile robot platform uses SLAM technology with multimodal sensor fusion to build a three-dimensional map in the complex and confined space inside the ship and perform autonomous positioning and navigation.

3. The method for laser rust removal in confined spaces of ship sections using human-like dexterous operation as described in claim 1, characterized in that, In step S2, machine vision algorithms and deep learning models are used to quantitatively identify and 3D reconstruct the degree of corrosion, rust layer thickness, and distribution range within the confined space.

4. The method for laser rust removal in confined spaces of ship sections using human-like dexterous operation as described in claim 1, characterized in that, In step S3, planning the motion trajectory of the robotic arm and the humanoid dexterous hand includes: combining robotic arm task planning with obstacle avoidance algorithms to ensure that the robotic arm and the humanoid dexterous hand avoid collisions with the ship's structure when moving in a narrow and confined space.

5. The method for laser rust removal in confined spaces of ship sections using human-like dexterous operation as described in claim 1, characterized in that, In step S4, the humanoid dexterous hand has force feedback and tactile perception functions, and adaptively adjusts the gripping force to stabilize the grip and accurately trigger the handheld laser cleaner.

6. The method for laser rust removal in confined spaces of ship sections using human-like dexterous operation as described in claim 1, characterized in that, In step S5, the laser focal length is dynamically adjusted using an adaptive ranging and dynamic focusing system, combined with distance information fed back from the visual sensor for closed-loop control.

7. The method for laser rust removal in confined spaces of ship sections using human-like dexterous operation as described in claim 1, characterized in that, In step S6, a force-position hybrid control strategy is adopted to maintain the relative pose stability between the laser cleaner and the working surface, so that the laser cleaner maintains a constant cleaning distance and normal angle on the irregular curved surface.

8. The method for laser rust removal in confined spaces of ship sections using human-like dexterous operation as described in claim 1, characterized in that, The handheld laser cleaner is connected to a laser generator host located on or outside the embodied mobile robot platform via a flexible optical fiber.

9. A laser rust removal device for confined spaces in ship sections, characterized in that, The method for laser rust removal in confined spaces of ship sections using humanoid dexterous operation as described in claim 1 includes: The embodied mobile platform is used for autonomous positioning, navigation, and movement to the work area, and adopts a biomimetic multi-legged mobile chassis; The visual recognition module is used to identify and locate the target area to be removed from rust; The robotic arm module is used to plan and execute motion trajectories; The humanoid dexterous hand module is used to grasp the handheld laser cleaner and trigger the switch. It has a multi-degree-of-freedom finger structure and force and tactile perception capabilities. The laser control module is used to dynamically adjust the laser focal length and control the laser output.

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