Indoor positioning applied to the seam tracking and progress monitoring of welding process in ship block assembly

초록

The purpose of this paper is to identify the path of manual welding in real time during the ship assembly process. The flat block welding process was monitored for ongoing welding paths and a method was proposed to determine the progress of ship assembly through this process. Indoor positioning was made using ultrasonic communication-based beacon type sensors, and mobile path data with similar speed to welding operations were collected. Kalman filter and Gaussian filter were applied to remove noise from collected data, and ICP(Iterative closest points) algorithm was applied to register post-processed data on the seam line. The tracking information obtained through this process was matched to a three-dimensional ship block feature, and this result was presented as an example.