一种无序抓取方案在船舶部材钢板打磨中的应用
Application of a Disordered Grasping Strategy in Polishing Steel Plates of Ship Parts
赵航 1于功志 1王峰 2倪嘉伟 2刘保东 2左军2
作者信息
- 1. 大连海洋大学航海与船舶工程学院,辽宁大连 116023
- 2. 油特机械工具(大连)有限公司,辽宁大连 116037
- 折叠
摘要
船舶部材是船舶制造的重要组成部分,其智能化改造势在必行.目前,国内的船用小型构件还停留在人工打磨的阶段,而船舶建造过程中所用小型钢材通常在料仓中是无序摆放的.针对不同种类工件的无序摆放情况,通过对目标工件进行外轮廓点云处理、图纸模板匹配、粗配准、精配准来获取桁架机器人抓取目标工件位姿信息和打磨轨迹所需信息.进行了多次抓取打磨流程试验,试验结果表明打磨后工件满足中国造船质量标准,相较于传统人工打磨方式效率有所提高.
Abstract
Ship parts are an important part of ship manufacturing,and its intelligent transformation is imperative.At present,the domestic small marine components are still in the stage of manual grinding,and the small steel used in the construction process of the ship is usually placed in a disorderly bin.According to the disordered placement of different kinds of workpieces,the position and pose information of the target workpieces and the grinding trajectory information of the trussed robot are obtained through the processing of external contour point cloud,drawing template matching,rough registration and fine registration of the target workpieces.The test results show that the polished workpiece meets the Chinese shipbuilding quality standard,and the efficiency is improved compared with the traditional manual grinding method.
关键词
无序抓取/三维视觉/坐标转换/智能打磨Key words
unordered fetching/three-dimensional vision/coordinate conversion/intelligent grinding引用本文复制引用
出版年
2024
NETL
NSTL
万方数据