KR20140049676A

KR20140049676A - Keel block automatic markting robot and method for automatic marking keel block position

Info

Publication number: KR20140049676A
Application number: KR1020120115780A
Authority: KR
Inventors: 연홍선; 정해성; 한창봉; 김동근
Original assignee: 대우조선해양 주식회사
Priority date: 2012-10-18
Filing date: 2012-10-18
Publication date: 2014-04-28

Abstract

When the ship is built of the present invention automatically installs the installation location where the anti-wood or tower support is installed for the support of the block for the construction of the ship in the workplace that needs to install the veneer or tower support such as PE or pre-election (PE) Marking position of the antagonist marking robot and an automatic method of marking the antagonist position.
The anti-warming position marking robot that performs the above-mentioned function includes: a traveling robot unit moving to the anti-warming position using the received anti-warming position information; and the driving robot unit is moved by the control of the driving robot unit after moving to the marking position. Marking unit for indicating the position; is configured to include,
The driving robot 110 having the marking unit 150 automatically runs by using the received anti-war position information and performs the anti-war position marking, thereby reducing manpower, time and cost for the anti-war position marking, and by hand. Compared to proceeding, it provides the effect of remarkably improving the accuracy of the position display.

Description

KEEL BLOCK AUTOMATIC MARKTING ROBOT AND METHOD FOR AUTOMATIC MARKING KEEL BLOCK POSITION}

When the ship is built of the present invention, the installation position of the banmul or tower support is installed automatically for the support of the block for the construction of the ship in the workplace that needs to install the veneer or tower support, such as dock or PE (pre-election) Marking position of the antagonist marking robot and an automatic method of marking the antagonist position.

In general, in the construction of ships in the shipbuilding industry, a number of blocks are stacked to form a mega block to support the ship in a pre-election (PE) field, and then a block for ship construction on the dock (BLOCK) After installing the tower support for supporting the bottom of the ship to be built and the high position of the ship, the mega block for ship building is installed on the banned wood or tower support installed in the drained dock. Will perform. Therefore, in the workplace such as PE field or dock, it is necessary to install the lumber that can support the block or tower support at certain positions.

The installation of the lumbering position is carried out after the drainage is carried out during the drying of the first ship in the construction of the ship, and the lumber is installed, the dried first ship is launched and drained, and after removing the installed lumber, the second ship to be dried again. After the installation of the appropriate banjo, watering will be repeated at the launch of the second ship.

Accordingly, in Korean Patent Laid-Open Publication No. 10-2006-0079538, when a first ship and a second ship are continuously dried, a reused lumber and a demolition lumber are installed, and a drainage lumber is installed when draining, By providing a dismantling board for a ship, there is disclosed a method for arranging ship boarding boards to perform a single watering process of performing two waterings every successive drying of the first and second ships.

However, even in the case of the method for arranging the lumber for drying the vessel of the Republic of Korea Patent Publication No. 10-2006-0079538 described above, the position of the lumber for the lumber installation is performed by hand.

FIG. 1 is a view showing a lumber position marking operation for supporting a block for a construction work of a prior art vessel, and FIG. 2 is a diagram showing a state where lumber 6 is installed at a lumber position on a dock bottom.

As shown in Figure 1, the operator (1) has to carry out the anti-counterfeiting marking operation to mark the 2) the anti-wood position for installing a suitable block for each block on the dock bottom for the support of the block for the construction of the ship.

For this marking operation, the worker 1 prepares a tape measure 4, a marking tool 5, such as a marking pen, and a drawing 2, and then uses a tape measure 4 to position the lumber according to the drawing. After measuring (3), using the banjo position display tool (5) to perform the task of displaying the banban position (3) to be installed. At this time, since the area of the bottom of the dock is large, at least two or more people work in pairs to support the tape measure.

Since the banjo work is performed repeatedly by hand every time the installation of the block for the construction of the ship, there is a problem that requires a lot of manpower, time and cost for banjo installation.

Therefore, the present invention is to solve the problems of the prior art described above, after receiving the drawing data for the installation of the anti-war position inside the workplace that requires the installation of banban, such as dock or PE chapter, antagonism such as dock or PE chapter After identifying the location of itself using the reference station or GPS information installed inside the workplace that needs to be installed, calculate the position of the floor of the workplace that needs the installation of banjo corresponding to the banban location on the drawing It is an object of the present invention to provide an anti-counterfeiting marking robot and an automatic method of displaying an anti-counterfeiting position, which enables the anti-counterfeiting marking operation to automatically mark the position of the anti-counterfeiting at the position of the anti-counterfeiting.

The antagonist position marking robot of the present invention for achieving the above object, the traveling robot unit to move to the antagonist position using the received antagonist position information; and the driving robot unit after moving to the marking position control Characterized in that it comprises a;

The driving robot unit, a storage unit for storing the received antagonist position information; a driving unit for providing a driving force for moving to the antagonist position stored in the storage unit; and a position identification unit for identifying the position of the driving robot; After calculating the direction and the distance of each antagonist around the traveling robot unit by using the antagonist position information and the position information of the traveling robot unit identified by the position identification unit, the driving unit of the driving unit and the antagonist position of the marking unit are displayed. The control unit for controlling the; characterized in that comprises a.

The position identification unit may be any one of a station receiver or a GPS device that receives a signal transmitted at a reference position of the station.

The marking unit may include: an actuator driven at a banyan marking position under the control of the controller; and a marking member contacting the banyan position by the actuator.

The marking member is characterized in that it is configured to display the position for each kind of banjo using a plurality of colors.

In order to achieve the above object, the present method for automatically marking the antagonist position of the present invention is a method for automatically marking the antagonist position using the antagonist position marking robot provided with a driving robot and the marking unit, wherein the driving robot is the data of the antagonist position. Receiving drawing data receiving step (S20); And, the received position coordinate calculation process (S30) for calculating the coordinates of the antagonist position included in the drawing data in the reference coordinates; To, characterized in that it comprises a; banja position marking process (S40) for marking the banja position.

The drawing data receiving process (S20) is characterized in that the process of receiving the drawing data having the boxing position information by any one of the communication with the anti-counterfeiting location server, the storage device or a portable communication device carried by the worker.

The automatic banjo position marking method, when the banban position marking robot is initially driven, using the location or GPS information of the reference position generating signal unit (station) in the workplace that needs to install the banjang, or the interior of the workplace that needs to be installed Characterized in that it further comprises; position information acquisition process (S10) of obtaining its own position information.

The banyan position marking process (S40),

It is characterized in that the process of displaying the anti-counterfeit installation location using different colors for each type of block or tower support supporting the vessel.

In the present invention of the above-described configuration, since the traveling robot unit 110 having the marking unit 150 automatically travels using the received anti-army position information and performs the anti-army position marking operation, manpower and time for the anti-army position marking And to reduce the cost and to significantly improve the accuracy of the display of the antagonist position as compared to the manual process.

1 is a view showing the anti-wood marking position for supporting the block for the construction of the ship of the prior art,
Figure 2 is a view showing a state in which the lumber 6 is installed at the lumbering position of the floor of the workplace that requires the installation of lumber, such as dock or PE sheet,
3 is a perspective view of the anti-war position marking robot 100,
4 is a functional block diagram of the traveling robot unit 110 of the configuration of the anti-war position marking robot 100 of FIG.
Figure 5 is a flow chart showing the processing of the banjo position automatic marking method of the present invention.

Hereinafter, the present invention will be described in more detail with reference to the accompanying drawings showing embodiments of the present invention.

3 is a perspective view of the anti-war position marking robot 100) (hereinafter, the marking robot 100), and FIG. 4 is a functional block diagram of the traveling robot unit 110 of the anti-war position marking robot 100 of FIG. to be.

As shown in FIG. 3, the marking robot 100 includes a traveling robot unit 110 and a marking unit 150, and after the traveling robot unit 110 moves to an antagonistic position using the marking unit 150. It is configured to automatically display antagonist positions.

To this end, the driving robot 110, as shown in Figure 5, comprises a storage unit 111, the driving unit 113, the GPS device 115, the communication unit 116 and the control unit 117.

The storage unit 111 stores the drawing data indicating the location of the ban saw in the work place where the banquet, such as a dock or PE sheet, is required as the ban mark position information. In addition, the reference position value and program data for calculating the banjo position information in addition to the banjo position information for the marking process is stored.

The drive unit 113 drives the wheel 119 according to the direction and distance information for each banje position centered on the reference position calculated by the control unit 117 by executing the program data for the banje position calculation process, The traveling robot unit 110 is configured to move to each antagonism position.

The GPS device 115, as an embodiment of the position identification unit of the present invention, after the anti-war position marking robot 100 sets the reference coordinates using the GPS coordinates to calculate the anti-war position in the drawing data showing the anti-war position It is configured to. On the contrary, when a station for transmitting a signal informing a reference position is formed in a workplace that requires installation of banyan or PE field, the GPS device 115 is configured as a station receiver (not shown) that receives a signal of a station. May be

The communication unit 116 receives drawing data having antagonist position information by performing communication with a device having a communication device such as a server in a workplace that requires installation of antagonists such as a dock or a PE field. It is configured to communicate with a server within the necessary workplace. In this case, the drawing data having the counter-location position information may be configured to directly input the marking robot 100 directly to the marking robot 100 through a USB port, a portable communication device, etc. provided in the driving robot unit.

When the driving robot 110 includes the GPS device 115, the controller 117 uses the latitude and longitude coordinates of the ban saw position in the banjo position information stored in the storage 111 and its own GPS coordinates. To drive the drive unit 113 by calculating the distance and direction to the antagonism position. On the contrary, when the driving robot 110 includes a station receiver, the station signal transmitted from the station is set as a reference coordinate, and then the direction and distance between the station position and the antagonist position in the antagonist position information are extracted. The driving robot 110 is configured to drive the driving unit 113 to move to each antagonism position.

The marking unit 150 is configured to include an actuator 153 controlled by the driving unit, and the anti-throttle position indicating tool 5 in close contact with the bottom of the dock by the actuator 113.

The anti-banner position display tool 5 stores the ink of different colors, so that the different types of blocks can be identified by spraying different colors of ink through nozzles for each type of block or tower support to be installed. It may be configured to indicate a location. Alternatively, the display apparatus may include a plurality of display tools having a color designated for each type of block to be installed on the banjo, and may be configured to display the banjo location using a color corresponding to each block.

Figure 5 is a flow chart showing the processing of the banjo position automatic marking method of the present invention.

Hereinafter, a process of the automatic marking method of the banyan position by the marking robot 100 will be described with reference to FIGS. 3 to 5.

As shown in FIG. 5, the marking robot 100 initially acquires its location information by using a GPS device 115 or a station receiver (not shown), and stores the location information in the storage unit 111. By performing the process (S10), it obtains its own position information about the reference point in the workplace that needs to be installed, such as venom or PE field. In addition, the marking robot 100 may receive input data from a worker or communicate with a server, or receive drawing data having counter-location position information through communication with a storage device or a portable communication device that the worker carries and the storage unit 111. A drawing data receiving process (S20) to be stored is performed.

At this time, the position information acquisition process (S10) and the drawing data receiving process (S20) is performed irrespective of the after relationship.

When drawing data having its own position information and anti-counterfeiting position information about a reference point is received by the position information acquisition process S10 and the drawing data receiving process S20, the control unit 117 performs a calculation process on its own. The anti-counterfeiting position calculation process (S30) is performed by calculating the direction and distance of each anti-counterfeiting position at the position.

After the direction and distance of each of the anti-wood positions centering on the marking robot 100 are calculated and calculated by the anti-counter position calculation process (S30), the control unit 117 controls the driving unit 113 to mark The robot 100 is moved to each antagonist position. After the marking robot 100 is moved to the lumber position by the drive unit 113, the control unit 117 uses the actuator 153 of the marking unit 150 to dock or PE the dock position display tool 5. In close contact with the floor in the workplace that requires the installation of lumber, such as chapters, and then driving the drive unit 113, by moving the marking robot 100 a certain distance, performing the anti-counterfeiting position marking process (S40) to display the antagonistic position do. At this time, the anti-banner position marking process (S40) is to indicate the position of the anti-counter using different colors according to the type of block to be installed on the anti-wood, if the block or tower support is installed later on the anti-block by the color Allows you to identify your support.

The antagonist position marking process S40 is repeatedly performed until the marking operation for all antagonistic positions in the drawing data is completed.

100: marking robot 110: driving robot part
111: storage unit 113: drive unit
115: GPS unit 116: communication unit
117: control unit 150: marking unit
153: Actuator 5: Arbitrary position marker

Claims

A traveling robot unit moving to the antagonist position by using the received antagonist position information;
And a marking unit for displaying the banning position under the control of the driving robot unit after the traveling robot unit moves to the marking position.

The method of claim 1, wherein the driving robot unit,
A storage unit for storing the received objection position information; And,
A driving unit providing a driving force for moving to the lumber position information stored in the storage unit;
Position identification unit for identifying the position of the driving robot; And,
After calculating the direction and distance of each antagonist around the traveling robot unit by using the antagonist position information and the position information of the traveling robot unit identified by the position identifying unit, the driving unit and the marking of the antagonist position of the marking unit are displayed. Control unit for controlling the banban position marking robot, characterized in that it comprises a.

The method of claim 2, wherein the location identification unit,
The anti-counterfeiting marking robot, which is either a station receiver or a GPS device that receives a signal transmitted at a reference position of the station.

The method of claim 1, wherein the marking unit,
An actuator driven at the banmok marking position under the control of the controller;
Marking position robot, characterized in that it comprises a; a marking member in contact with the antagonism position by the actuator.

The method of claim 4, wherein the marking member,
The anti-counterfeiting marking robot, which is configured to display the anti-counterfeit positions in different colors according to the type of block or tower support to be installed.

In the semi-annular position automatic marking method using a semi-annular position marking robot having a traveling robot and a marking portion,
A drawing data receiving process (S20) for receiving the data of the drawing in which the driving robot unit displays the antagonist position;
Banje position coordinate calculation process (S30) for calculating the banje position coordinates included in the drawing data in the received reference coordinates;
Moving to the calculated banja position, banja position marking process for marking the banja position (S40); banja position automatic marking method comprising a.

The method of claim 6, wherein the drawing data receiving process (S20),
A method for automatically marking a antagonist position, characterized in that the communication with the antagonist position server or the drawing data having the antagonist position information is received by any one of a storage device or a portable communication device carried by an operator.

The method of claim 6,
The location information acquisition process (S10) of acquiring the location information of the inside of the dock by using the position or GPS information of the reference position generation signal unit (station) in the dock when the anti-war position marking robot is initially driven; Semi-automatic marking position, characterized in that made.

The method according to claim 6, The anti-counterfeiting position marking process (S40),
Method for automatic marking position position, characterized in that configured to display the position of the banjae in different colors according to the type of block or tower support to be installed.