CN219694194U - Marine sheet leveling positioning and processing indicating system - Google Patents

Abstract

The utility model discloses a marine sheet leveling positioning and processing indicating system, which comprises an electromagnetic heating leveling robot, wherein an inertial navigation module and a data processing and controlling assembly are arranged in the electromagnetic heating leveling robot, a monocular camera and an LED illuminating lamp are arranged at the front part of the electromagnetic heating leveling robot, the data processing and controlling assembly is respectively in signal connection with the electromagnetic heating module assembly and the driving motor module assembly of the electromagnetic heating leveling robot, the inertial navigation module and the monocular camera are respectively in signal connection with the data processing and controlling assembly, a coordinate correction beacon and a processing indicating beacon are arranged on a plane to be processed at intervals, and the monocular camera recognizes the coordinate correction beacon and the processing indicating beacon and transmits signals to the data processing and controlling assembly. The utility model has the characteristics of independent processing units, electromagnetic interference resistance, convenience in function expansion and maintenance and debugging, greatly reduces labor cost and effectively improves economic benefit.

Description

Marine sheet leveling positioning and processing indicating system

Technical Field

The utility model relates to the field of machine vision and sheet metal deformation leveling, in particular to a marine sheet metal leveling positioning and processing indicating system.

Background

When the luxury postal wheel is produced and manufactured, a large amount of metal sheets are connected by adopting a welding technology to construct an independent cabin, deformation is generated along with the internal stress change of the sheets caused by splicing of the high-temperature welding processing process and the later-stage ship body, and the ship deformation sheets are required to be leveled in order to meet the requirements of acceptance and later-stage processing. The leveling can be performed by electromagnetic induction heating instead of traditional flame heating, so that the leveling efficiency is improved, but the device still needs to be manually held for leveling. For this reason, there is a magnetic attraction type robot that carries an electromagnetic heating integrated device for the carrier to perform automatic leveling. However, in actual use, the mail ship cabin is found to be a metal cavity, the electromagnetic environment is complex, and the traditional navigation positioning and data transmission mode cannot meet the requirement of automatic leveling processing of the robot in the ship cabin.

Patent CN110798799B "WIFI accurate navigation positioning method", through traditional outdoor GPS navigation positioning and indoor WiFi signal positioning, in the course of construction, regard boats and ships as huge metal cavity, the effectual GPS signal that has isolated. Through current common indoor navigation technologies such as WiFi positioning and Bluetooth positioning, the single-site distance is calculated based on signal intensity, and the position information is obtained by using a trilateral positioning algorithm, however, in actual use, the trend that signals are rapidly attenuated in a metal bin is found, the influence of noise signals is serious, the precision error is large, the decimeter-level positioning can only be realized in a common mail-wheel house room cabin with the specification of 6m x 8m x 3m, the accurate positioning and leveling treatment of a point to be processed cannot be ensured, the signal intensity of the lowest threshold value cannot be accepted when the cross-room positioning is carried out by depending on a signal source, and the method is not suitable for the requirement of large-area accurate positioning processing.

Patent CN112183171a "a method and apparatus for building a beacon map based on a visual beacon", uses a method for building a beacon map by combining an odometer and a visual beacon, but deformation of a sheet itself causes that the odometer cannot accurately calculate the amount of change of coordinates in a plane, and a great amount of errors in direction are caused when the direction is determined by a differential wheel odometer in an irregular undulating plane to be processed. Under the condition that the magnetic field environment in the ship is complex, a large number of visual beacons are needed to be arranged for eliminating accumulated travel errors and correcting directions, and the method is not suitable for actual production conditions of machining uneven metal planes on the surfaces of cabins. And the positioning and the processing indication of the point to be processed cannot be completed.

Disclosure of Invention

The utility model aims to: aiming at the problems, the utility model aims to provide a marine sheet leveling positioning and processing indicating system, which improves positioning accuracy and anti-interference performance, optimizes operation, can position a point to be processed and correspondingly process according to the deformation degree of a substitute processing point, can adapt to the characteristics of the production cycle of a large ship, and has economical efficiency and practicability. And provides a method for operating the same.

The technical scheme is as follows: the utility model provides a marine sheet leveling location and processing instruction system, includes electromagnetic heating leveling robot, electromagnetic heating leveling robot's internally mounted has inertial navigation module, data processing and control assembly, single mesh camera, LED light are installed to the front portion, data processing and control assembly and electromagnetic heating leveling robot's (202) electromagnetic heating module assembly, driving motor module assembly respectively signal connection, inertial navigation module, single mesh camera respectively with data processing and control assembly signal connection, wait to process the plane on the interval and be equipped with coordinate correction beacon and processing instruction beacon, single mesh camera discerns coordinate correction beacon and processing instruction beacon and gives data processing and control assembly with signal transmission.

The monocular camera acquires visual beacon detection data of the coordinate correcting beacon and the machining instruction beacon,

further, the inertial navigation module is a ten-axis high-precision inertial navigation ROS IMU module and comprises a three-axis inertial sensor, a three-axis magnetometer and a redundant one-axis gyroscope, wherein the three-axis inertial sensor outputs three-axis angular velocity and three-axis acceleration according to signals of the redundant one-axis gyroscope, the three-axis magnetometer outputs three-axis magnetometer data, the intensity of the earth magnetic field is measured to calculate magnetic heading, and the magnetic heading is transmitted to the data processing and control assembly respectively.

Optimally, the redundant one-axis gyroscope is a heading gyroscope with zero offset stability of 2 degrees/h.

The inertial navigation module acquires real-time triaxial measurement data and heading zero offset, and the triaxial inertial sensor outputs triaxial angular velocity and triaxial acceleration based on the redundant one-axis gyroscope and the accelerometer.

The inertial navigation module has the advantages of high integration degree, small volume and high precision, and the related precision parameters are dynamic heading precision <2 degrees/h, angular resolution <0.01 degree, accelerometer resolution <0.5mg and position static error +/-0.4 m/h.

Further, the coordinate correction beacon is a two-dimensional code card, is placed in the transparent acrylic clamping groove, is adsorbed on the surface of the metal sheet to be processed through the rubidium magnet after the clamping groove, and is at least provided with one, and the two-dimensional code in the coordinate correction beacon contains character string information of cabin identification numbers, beacon serial numbers and positioning point triaxial coordinates.

The coordinate correction beacon takes the two-dimensional code as an information carrier, and has the characteristics of convenient arrangement, easy adjustment and easy information replacement.

Further, the processing indication beacon is a color block beacon, and is printed on a position, needing leveling, of the surface to be processed through laser.

The processing indication beacon is arranged after the metal deformation degree is measured, and the appearance form is a color block beacon positioned in the identification frame. The processing indication beacon is arranged in a laser printing mode, the metal sheet primer is vaporized, and the color difference capable of gray scale identification can be formed between the stainless steel metal color after the primer is eliminated and the color of the primer in the unprocessed part. The processing indication beacon has the characteristics of quick and simple setting, no influence on the running of the robot, simple structure and pollution resistance.

The marking process of the processing indication beacon can measure deformation by a manual or flatness detecting instrument, and a fiber laser marking carving machine is used for selecting the processing indication beacon with a proper process to mark at a proper position.

Further, the data processing and controlling assembly comprises a processor and a memory, and the inertial navigation module, the monocular camera, the electromagnetic heating module assembly, the driving motor module assembly and the memory are respectively connected with the processor through signals.

The memory is used for storing computer programs, and the processor is used for executing the programs stored in the memory, so that the method for identifying and reading various beacons, processing inertial navigation output data and controlling the operation of the robot driving motor and the electromagnetic leveling module based on information output is realized.

The data processing and control assembly further includes a computer readable storage medium having stored therein a computer program for execution by the processor, a cabin information database, and a process database.

After the initial coordinates and the traversing path are set, the processor carried by the robot controls the self-travelling and steering based on the tracking path and the global coordinates where the robot is currently located.

The inertial navigation module outputs real-time triaxial acceleration and heading zero offset, and an integral algorithm is used for acceleration data, so that triaxial speed is obtained through first integration, and triaxial displacement is obtained through second integration.

The processor calculates real-time coordinates currently in the global domain according to the triaxial displacement, and corrects the path according to the coordinates and the course angle so that the robot moves along a preset route.

The robot moves to the coordinate correction beacon, the monocular camera collects the image data of each beacon, and the computer extracts the visual beacon detection data of the image frames of the beacons, and the specific mode is as follows:

firstly, converting an image frame into a gray image, converting the gray image into a binary image through an OTSU algorithm (Otsu threshold segmentation method), finding a contour function, finding a contour on the binary image to obtain a contour algorithm, and filtering the area and the proportion of the contour according to the characteristics of three areas of the two-dimensional code to finally obtain a result.

And extracting data obtained by decoding the two-dimensional code, replacing real-time coordinate data generated by the computer based on the initial coordinate and inertial navigation data calculation at present by using the three-axis absolute coordinates of the positioning points in the data, and completing the initialization of the coordinates based on the global coordinate information at present, thereby eliminating accumulated errors caused by inertial navigation.

When the robot moves to a processing indication beacon, the monocular camera collects visual beacon image data, a computer extracts visual beacon detection data of visual angle beacon image frames, the image frames are converted into gray images, the gray images are converted into binary images through an OTSU algorithm (Otsu threshold segmentation method), and contour data are obtained by finding a contour function and using contour finding on the binary images.

And comparing the data obtained by the visual identification of the processing indication beacon based on the processing technology database, selecting the processing technology indicated by the beacon, and calling a technology corresponding subprogram.

In practical use, the metal wall plate can be heated to 650-700 ℃ in 5-6s by electromagnetic heating leveling single processing, the internal stress of the metal wall plate is changed through rapid temperature difference, and the single processing range is 5cm x 14cm of round corner rectangle. In actual production, the processing for different degrees of deformation has been summarized with respect to sheet metal deformed to different degrees by internal stress changes, by taking the 5cm x 14cm rounded rectangle produced by a single processing range as a regular array of base images in the deformation region. The deformation error after actual measurement and leveling is less than 2mm, meets the acceptance requirement, and realizes the normalized leveling work flow of the corresponding deformation plane.

The computer runs a subprogram to control the leveling robot to execute the processing technological process with the processing indication beacon as a base point and with the deformation degree of the thin plate fixed at the base point.

After the leveling work is finished, the leveling robot continues to carry out path tracking, and carries out the work according to the acquisition and the processing of the image data until the traversing tracking of the local area to be processed is finished.

The operation method of the marine sheet leveling positioning and processing indicating system comprises the following steps:

step one: preprocessing based on a plane to be processed;

entering a cabin, selecting a surface to be processed, setting a coordinate correction beacon, obtaining the thickness N of the metal sheet to be processed, measuring the surface evenness of the metal sheet to be processed, and setting a processing indication beacon with corresponding specification according to the fluctuation degree at the position with fluctuation greater than N-1;

step two: the electromagnetic heating leveling robot realizes positioning tracking based on an inertial navigation module;

the electromagnetic heating leveling robot enters a cabin to work, the inertial navigation module outputs real-time triaxial acceleration, triaxial angular velocity and heading zero deflection angle, the data processing and control assembly obtains the running posture data of the machine body through an integral algorithm based on the obtained data, calculates global coordinates in a machining area where the machine body is located based on displacement amount, obtains the machine body direction based on triaxial steering angle and heading angle, and adjusts the output quantity of the driving motor module assembly in real time in combination with path data so as to realize real-time positioning of the electromagnetic heating leveling robot;

step three: identifying a processing indication beacon and positioning a processing point;

the electromagnetic heating leveling robot tracks along a path, a monocular camera collects image data, a data processing and control assembly screens whether a key frame contains a beacon image, when the image frame containing a complete processing indication beacon is identified, the current coordinates are marked and the current coordinate information is stored, and the electromagnetic heating leveling robot stops tracking along the path;

step four: selecting a corresponding processing technology;

comparing the data obtained by visual identification of the processing indication beacons based on the beacon outline data in the processing technology database, selecting the processing technology indicated by the beacons, and calling a technology corresponding subroutine;

step five: the data processing and controlling assembly sends a signal to the electromagnetic heating module assembly, and the electromagnetic heating leveling robot completes leveling of the sheet;

step six: eliminating coordinate errors caused by processing;

after the leveling processing is finished, the data processing and control assembly reads the coordinate information stored in the third step, eliminates the coordinate error generated by the inertial navigation module during the leveling processing,

step seven: the electromagnetic heating leveling robot continues tracking along the path, and when the image frame containing the complete processing indication beacon is identified again, the steps three to six are repeated;

step eight: identifying a coordinate correction beacon;

the monocular camera collects image data, the data processing and control assembly screens whether the key frames contain beacon images, and when the image frames containing the complete coordinate correction beacons are identified, the data processing and control assembly extracts coordinate correction beacon information to obtain current fixed coordinates;

step nine: the data processing and control assembly updates the coordinate parameters to trim the accumulated error;

step ten: the electromagnetic heating leveling robot continues tracking along the path, and when the processing indication beacon is identified, the steps three to six are repeated; when the coordinate correction beacon is identified, repeating the steps eight to nine;

step eleven: based on the image data acquisition condition, the electromagnetic heating leveling robot completes path traversal, and the leveling work of the deformed sheet of the surface to be processed is completed.

Further, in the first step, the deformation is measured by a manual or plane flatness detecting instrument, and a fiber laser marking carving machine is used for selecting a corresponding processing indication beacon for marking.

Further, the processing indication beacon is divided into four grids of a field character form, each grid has two forms of filling color and transparency, and the processing indication beacon is divided into three specifications from small to large according to the fluctuation degree, wherein the three specifications are respectively that the low fluctuation degree has only one grid of filling color, the medium fluctuation degree has two diagonal grids of filling color and the high fluctuation degree has three grids of filling color. The distribution adjustment span is 1.5mm by changing the distribution of the color blocks to correspond to the metal deformation measurement value.

The beneficial effects are that: compared with the prior art, the utility model has the advantages that: in the ship cabin body, which is close to the fully-closed metal cavity, the high-precision navigation positioning can be performed by only relying on the self inertial navigation module and the external small visual beacon correction without receiving navigation signals or connecting a local area network. And (3) path traversal can be performed after a small amount of positioning visual beacons are set, initial coordinates are input and paths are planned. Meanwhile, under the condition of no manual control, no wireless signal control and no wired signal control, accurate positioning can be realized by identifying the visual beacon mark, and accurate electromagnetic heating leveling and other treatments can be performed on the deformed metal welding sheet. The huge influence of the cabin as a complex electromagnetic signal interference body on equipment positioning and information transmission is solved, so that the high-precision ship deformation sheet leveling process flow can be automated.

The machine vision and the vision beacon are used, so that the related robot can realize accurate processing point positioning and process indication under the conditions that wireless connection communication cannot be used and data cannot be uploaded to a server in real time, and the process flow and the actual use difficulty are simplified. The independent processing unit only comprises visual information and is not influenced by shutdown faults of other units and an online system, and the processing of the processing leveling units according to the calibration visual beacons of any detection unit under the condition of no connection can be realized, so that the processing efficiency is improved, and the equipment cost is reduced. The method is beneficial to the later functional expansion and is convenient for the subsequent treatment of leveling procedures, for example, a corresponding functional robot can directly determine a primer repair range and a metal flaw detection range of a processing area according to a visual beacon.

The utility model effectively solves the problems of difficult positioning and difficult wireless control of processing of the leveling robot in actual production of large ships with large body quantity, large number of internal cabins and high requirement on the flatness of the cabin wall surface represented by luxury postal wheels by combining inertial navigation with machine vision, and can realize accurate positioning and processing indication of the leveling robot of the thin plate in the cabin of the ship manufacturing period without receiving other external information besides visual information. The processing unit is independent, electromagnetic interference is resisted, function expansion is facilitated, maintenance and debugging are facilitated, labor cost is greatly reduced, and economic benefit is effectively improved.

Drawings

FIG. 1 is a workflow diagram of the present utility model;

FIG. 2 is a schematic diagram of the structure of the present utility model;

FIG. 3 is a schematic diagram of an electromagnetic heating leveling robot traversal path in one embodiment;

FIG. 4 is a schematic diagram of data transmission processing and control according to the present utility model;

FIG. 5 is a schematic diagram of a process indication beacon and corresponding electromagnetic leveling domain array;

fig. 6 is a schematic diagram of a coordinate correcting beacon structure.

Detailed Description

The utility model will be further elucidated with reference to the drawings and to specific embodiments, it being understood that these embodiments are only intended to illustrate the utility model and are not intended to limit the scope thereof.

The marine sheet leveling positioning and processing indicating system comprises an electromagnetic heating leveling robot 202, wherein an inertial navigation module 102 and a data processing and controlling assembly 104 are arranged in the electromagnetic heating leveling robot 202, and a monocular camera 101 and an LED illuminating lamp 103 are arranged at the front part of the electromagnetic heating leveling robot 202.

The data processing and controlling assembly 104 comprises a processor 1041 and a memory 1042, and the inertial navigation module 102, the monocular camera 101, the electromagnetic heating module assembly 105, the driving motor module assembly 106 and the memory 1042 are respectively connected with the processor 1041 in a signal manner. The coordinate correction beacon 206 and the machining indication beacon 203 are arranged on the plane to be machined at intervals, and the monocular camera 101 recognizes the coordinate correction beacon 206 and the machining indication beacon 203 and transmits signals to the data processing and control assembly 104.

The inertial navigation module 102 is a ten-axis high-precision inertial navigation ROS IMU module and comprises a three-axis inertial sensor, a three-axis magnetometer and a redundant one-axis gyroscope, wherein the redundant one-axis gyroscope is a heading gyroscope with zero bias stability of 2 degrees/h, the three-axis inertial sensor outputs three-axis angular velocity and three-axis acceleration according to signals of the redundant one-axis gyroscope, the three-axis magnetometer outputs three-axis magnetometer data, and the magnetic heading is calculated by measuring the earth magnetic field intensity and is transmitted to the data processing and control assembly 104 respectively.

The coordinate correction beacon 206 is a two-dimensional code card, is placed in a transparent acrylic clamping groove, is adsorbed on the surface of the metal sheet to be processed through a rubidium magnet after the clamping groove, and is at least provided with one coordinate correction beacon 206, and the two-dimensional code in the coordinate correction beacon 206 contains character string information of a cabin identification number, a beacon serial number and a locating point triaxial coordinate.

The processing instruction beacon 203 is a color patch beacon, and is printed on a position where the surface to be processed needs to be leveled by laser.

The operation method of the marine sheet leveling positioning and processing indicating system, as shown in fig. 1, comprises the following steps:

step one, pretreatment is carried out based on a processing plane.

Referring to fig. 3, a typical 6 x 8m chamber in a luxury postal wheel is selected as an example, the chamber comprises a chamber inlet 201 and support structure steel 205, and a bottom 3mm stainless steel sheet metal welding plane is subjected to leveling processing. The plane is subjected to flatness measurement, and the laser marking of the processing indication beacon is carried out at the position of the deformation fluctuation of the sheet with the length of >2mm based on the deformation quantity.

Additionally, the marking process can be performed by measuring deformation by a manual or plane flatness detecting instrument, and a fiber laser marking carving machine is used for selecting a proper process beacon for marking. In this embodiment, the tracking path 204 is a curved S-shape, and the tracking path 204 may be a spiral line.

Two coordinate correcting beacons are set at 25m and 40m of the beginning of the tracking route based on the structural characteristics of the processing region. The beacon is arranged near the wall, the deformation of the thin plate at the structure is small, the leveling processing is not needed, and the traveling of the leveling robot is not influenced.

And selecting traversing path data corresponding to the processing plane in the memory, and setting the global coordinate where the current leveling robot is located as an initial coordinate.

And secondly, positioning tracking is realized by the leveling robot based on inertial navigation.

The inertial navigation module outputs real-time triaxial acceleration, triaxial angular velocity and heading zero offset angle. The processor obtains the engine body operation posture data based on the obtained data through an integral algorithm, wherein the engine body operation posture data comprises three-axis displacement, three-axis steering angle and course angle offset data.

The processor calculates global coordinates in a processing area where the machine body is based on displacement, obtains machine body directions based on a three-axis steering angle and a course angle, and adjusts output quantity of a driving motor with a Hall encoder on the left and right in real time by combining path data, so that the leveling robot can realize more accurate positioning under the condition of not depending on an external signal source.

Compared with an odometer, the odometer is affected by errors such as slippage, insufficient flatness of the running bottom surface, differential loss of a transmission system and the like generated in movement, so that the odometer generates an offset error which is difficult to adjust in the navigation direction, and the production requirement cannot be met. The inertial navigation module only collects and outputs self-motion gesture data. The related precision parameter is dynamic heading precision <2 degrees/h, angular resolution <0.01 degrees, accelerometer resolution <0.5mg and position static error + -0.4 m/h. The existing mature ten-axis inertial navigation technology is characterized in that a course gyroscope with zero offset stability of 2 degrees/h is redundant besides the traditional triaxial acceleration, angular velocity and magnetometer, and small offset errors of directions and distances can be realized in a long time, but the problem of position offset caused by non-motion generated in time still needs to be corrected in a certain time.

And thirdly, identifying a processing indication beacon and positioning a processing point.

The monocular camera collects image data, the computer screens whether the key frame contains a beacon image, and when the image frame containing the complete processing indication beacon is identified, the current coordinate is marked and the current coordinate information is stored.

Visual beacon detection data of a visual angle beacon image frame are extracted, the image frame is converted into a gray image, the gray image is converted into a binary image through an OTSU algorithm (Otsu threshold segmentation method), and contour data are obtained through a contour finding algorithm on the binary image.

And step four, selecting a corresponding processing technology.

Referring to fig. 5, the data obtained by visual recognition of the machining instruction beacon is compared based on the beacon profile data in the machining process database, the machining process indicated by the beacon is selected, and a process corresponding subroutine is called.

The processing indication beacon 203 is divided into four cells of a field character shape, each cell has two forms of filling color and transparency, and is divided into three specifications from small to large according to the fluctuation degree, namely, the low fluctuation degree is only one cell of filling color, the medium fluctuation degree is diagonal to two cells of filling color, and the high fluctuation degree is three cells of filling color.

And fifthly, flattening the sheet.

Referring to fig. 5, in actual use, the metal wall plate can be heated to 650-700 ℃ in 5-6s by electromagnetic heating leveling single processing, internal stress of the metal wall plate is changed through rapid temperature difference, and the single processing range is 5 cm.14cm of round rectangle. In relation to sheet metal which is deformed to different extents by internal stress variations, the process for different degrees of deformation has been summarized in practice by taking the 5cm x 14cm rounded rectangle produced by a single process range as a regular array of base units within the deformation region. The deformation error after actual measurement and leveling is less than 2mm, meets the acceptance requirement, and realizes the normalized leveling work flow of the corresponding deformation plane.

The subprogram is a fixed process flow control program, the processor controls the output of a motor, the leveling robot moves to enable the electromagnetic heating module to move to a designated position, the electromagnetic heating module is electrified to perform heat treatment on the metal wall plate 5cm below by 14cm, the machining time of the 3mm thin plate is 6s, the electromagnetic heating module is powered off after the time is ended, and the single machining is ended. The above process is cycled until a regular array of single process ranges within the defined area is completed. Returning to the beacon point, and ending the subroutine.

And step six, eliminating the coordinate error caused by processing.

And step three, the coordinate information is stored, the coordinate error generated during the leveling processing of the inertial navigation is eliminated, and the tracking along the path is continued.

It should be pointed out that the robot displacement is directly realized by the fixed parameter control drive servo motor based on the encoder feedback signal control of the motor in the subroutine during the sheet leveling, can be suitable for the low-speed short-distance movement in a small range in the processing process, and the error of the end return beacon point is less than 5mm, thereby avoiding the problem of position deviation caused by non-movement of the inertial navigation module in the sheet leveling stage with longer time flow.

And step seven, identifying a coordinate correcting beacon.

The monocular camera collects image data, the computer screens whether the key frame contains a beacon image, and when the image frame containing the complete coordinate correction beacon is identified, the computer extracts visual beacon detection data of the visual beacon image frame.

And step eight, replacing coordinates to eliminate errors.

Firstly, converting an image frame into a gray image, converting the gray image into a binary image through an OTSU algorithm (Otsu threshold segmentation method), finding a contour function, finding the contour of the binary image to obtain a contour algorithm, filtering the area and proportion of the contour according to the characteristics of three areas of a two-dimensional code, and decoding a data codeword to obtain character string information.

For example, when the two-dimensional code is decoded to obtain a character string of a03 004X17684 Y54236 Z00350, the processing area code is a03, the beacon serial number is 004, and the global coordinates of the correction points are an X-axis 26700, a Y-axis 56732, and a Z-axis 00350.

Referring to fig. 6, data obtained by decoding the two-dimensional code is extracted, three-axis absolute coordinates in the data are used for replacing real-time relative coordinate data which are currently calculated and generated by a computer based on initial coordinates and inertial navigation data, and the initialization of the coordinates is completed based on global coordinate information where the computer is currently located, so that accumulated errors caused by inertial navigation are eliminated.

It should be noted that, based on calculation and actual measurement, in an actual production environment, the mileage distance of the coordinate correction beacon, which is suitable for placement, is 20-30m, and the real-time coordinate error generated by calculation based on the output data of the inertial navigation module is less than 0.05m, so as to meet the detection and identification requirements of the single camera identification range on the beacons in the area. The measured course angle zero deviation is <1 DEG after the single cabin leveling task is completed, so that the direction confirmation requirement is met.

And step nine, executing the steps based on the image data acquisition condition to complete path traversal. Namely, the leveling work of the deformed sheet in the area is completed.

Claims (6)

1. The marine sheet leveling positioning and processing indicating system comprises an electromagnetic heating leveling robot (202), and is characterized in that: an inertial navigation module (102) and a data processing and control assembly (104) are arranged in the electromagnetic heating leveling robot (202), a monocular camera (101) and an LED illuminating lamp (103) are arranged at the front part of the electromagnetic heating leveling robot (202), the data processing and control assembly (104) is in signal connection with an electromagnetic heating module assembly (105) and a driving motor module assembly (106) of the electromagnetic heating leveling robot (202), the inertial navigation module (102) and the monocular camera (101) are in signal connection with the data processing and control assembly (104) respectively, a coordinate correction beacon (206) and a processing indication beacon (203) are arranged on a plane to be processed at intervals, and the monocular camera (101) recognizes the coordinate correction beacon (206) and the processing indication beacon (203) and transmits signals to the data processing and control assembly (104).

2. The marine sheet leveling positioning and machining indicating system according to claim 1, wherein: the inertial navigation module (102) is a ten-axis high-precision inertial navigation ROSU module and comprises a three-axis inertial sensor, a three-axis magnetometer and a redundant one-axis gyroscope, wherein the three-axis inertial sensor outputs three-axis angular velocity and three-axis acceleration according to signals of the redundant one-axis gyroscope, the three-axis magnetometer outputs three-axis magnetometer data, the intensity of the earth magnetic field is measured to calculate magnetic heading, and the magnetic heading is transmitted to the data processing and control assembly (104) respectively.

3. The marine sheet leveling positioning and finishing indicating system of claim 2, wherein: the redundant one-axis gyroscope is a heading gyroscope with zero offset stability of 2 degrees/h.

4. The marine sheet leveling positioning and machining indicating system according to claim 1, wherein: the coordinate correction beacon (206) is a two-dimensional code card, is placed in a transparent acrylic clamping groove, is adsorbed on the surface of a metal sheet to be processed through a rubidium magnet after the clamping groove, and is at least provided with one coordinate correction beacon (206), and the two-dimensional code in the coordinate correction beacon (206) contains character string information of a cabin identification number, a beacon serial number and the triaxial coordinates of a locating point.

5. The marine sheet leveling positioning and machining indicating system according to claim 1, wherein: the processing indication beacon (203) is a color block beacon and is printed on a position where the surface to be processed needs to be leveled by laser.

6. The marine sheet leveling positioning and machining indicating system according to claim 1, wherein: the data processing and control assembly (104) comprises a processor (1041), a memory (1042), an inertial navigation module (102), a monocular camera (101), an electromagnetic heating module assembly (105), a driving motor module assembly (106) and the memory (1042) are respectively connected with the processor (1041) through signals.