Research On Automatic Scanning Imagery Trajectory Of Ship Shafting Flange

With the acceleration of ship repair and construction,and the continuous improvement of quality and technical requirements for large-scale production,ship inspection accuracy and assembly speed have become important indicators to measure the level of repair and construction technology.The pose measurement of the ship shafting process is very important for the accurate assembly of the shafting.This paper takes the three-dimensional imaging of the shafting flange in the process of ship shafting pose measurement as the research object,constructs an automatic scanning system and plans a reasonable scanning trajectory.The main research work of the thesis is as follows:1.According to the contour characteristics of the shaft flange,an automatic scanning system is designed.The system consists of a laser 3D scanner and an industrial robotic arm.The robotic arm drives the scanner to run according to the preset scanning route,and the 3D laser scanner quickly collects the 3D space point cloud data of the shaft flange and sends it to the workstation.2.Based on the improved DH parameter method,the kinematics model of the manipulator is established,and the maximum discrete distance of the scanning trajectory in Cartesian coordinates is determined.A number of possible scanning trajectories are constructed,and different discrete distances of the scanning trajectory are set in consideration of the motion characteristics of the robotic arm.Through statistical analysis of the position and attitude deviation of the scanner terminal,the maximum discrete distance of the scanning trajectory that meets the scanning requirements is obtained.3.With the shortest scanning time as the goal,combined with the characteristics of the flange profile of the ship shafting,a variety of scanning trajectories are optimized and a scanning trajectory that meets the scanning requirements is obtained.The test results show that the obtained scan trajectory can efficiently complete the three-dimensional imaging task of the ship shafting flange,and lay a good foundation for the intelligent assembly of the ship shafting.