| 摘要 |
The present invention relates to an automation method to install an insulating box in an LNG ship using a three-dimensional vision measurement system. The automation method comprises: a pick-up step of recording an attachment position of an insulating box (B) with a vision camera (200) after moving a multi-axis robot (100) to a working place; an extraction step of sending a picked-up image to a controller, wherein the controller receiving the image recognizes and extracts a contour (T) of a ceiling surface included in the image; a shape recognition step of calculating a relative position, and an inclination between the vision camera (200) and a recognized position by measuring a linear length and a slope of the extracted contour (T), recognizing the shape of a position of the insulating box (B) to be attached; a selection step of selecting a position to be attached by identifying between the position of an already attached insulating box (B) and the position of an insulating box (B) to be attached in the future; and an attachment step of attaching the insulating box (B) to a selected position after moving the insulating box (B) as the controller controls the multi-axis robot (100). According to the present invention, the automation method is capable of improving productivity, shortening the operation period, and preventing musculoskeletal diseases of a worker. |
