Development and Application of Mobile Robot System for Marking Process in LNGC Cargo Tanks

摘要

Of late large scale automation is becoming a fast trend in shipyards. Especially in the construction of LNG Carriers automation is becoming rather a must have necessity. This necessity hence brought in an idea to automate the "Marking Process" involved in construction of LNGC Tanks. Further, to make this idea a reality we have developed a "Mobile Robot" which is capable of automating the "Marking Process". For the Localization of this self controlled "Mobile Robot" we have used "Indoor GPS" system which is a 3D measurement system. Using the above system and an accurate Alignment Module, "Line Marking" was achieved using the mobile robot. Also, Stud bolt preprocessing along with tank's wall surface flatness measurement is done using the "Laser Sensors" fitted onto this robot. Hence, by using this robot to automate the "Marking Process" in the construction of LNGC Tanks we can definitely improve the accuracy in marking by reducing all possible human errors.