KR20240045594A - Curved Block Welding Method Using 3D Depth Measurement Sensor - Google Patents

Abstract

This technology relates to a curved block welding method using a 3D depth measurement sensor that can automatically perform welding of internal material joints for curved block sections inside a ship. More specifically, it relates to a curved block welding method using a welding robot 100. In the welding method for welding a ship curved block formed of members, 1) moving a welding robot, 2) acquiring photographic information about the curved block with a depth measurement sensor, and 3) photographing information. It includes the steps of arranging the outwriter of the internal material, 4) acquiring welding information based on the photographic information in which the outwriter has been organized, and 5) performing welding using a welding robot based on the welding information. In step 2), the shooting information is characterized in that it is a shooting image and 3D coordinate values of the curved block to be welded.

Description

Curved Block Welding Method Using 3D Depth Measurement Sensor}

This technology relates to a curved block welding method using a 3D depth measurement sensor that can automatically perform welding of internal material joints for curved block sections inside a ship.

In general, in flat blocks, the work object, each T-bar longage, and the frame are arranged vertically, so it is relatively easy to apply a simple welding device in the form of a multi-axis robot or carriage based on design data for the work area.

On the other hand, in the case of curved blocks (also known as 'U-cells'), the curved shape of the work object of the block varies depending on the shape of the ship, and the shape of each block also varies accordingly.

Moreover, even in one song block, T-bar longi and frames are arranged with different inclinations in each U-cell section. Therefore, the device applied to the flat block cannot respond to the various shape changes of the curved block, making it impossible to apply.

In terms of welding conditions, in the case of flat blocks, there is only simple horizontal/vertical welding, allowing workers to weld relatively easily, while in the case of curved blocks, the welding environment is also difficult due to the various arrangement states between each member and welding work in a tight space. Because of the poor conditions, there is an urgent need to develop welding automation devices that can increase work productivity and improve the work environment.

For example, a number of curved blocks of such a ship may be formed through a skin plate 13, a T-bar 11, and a transformer 15, as shown in FIGS. 1 to 4, where FIG. 1 shows the skin. This is a drawing of the fore and aft part of an existing ship in which a curved block is formed through a combination of the plate (13), T-bar (11), and transformer (15) configurations, and FIG. 2 shows the T-bar (11) and It means the angle (α: alpha) between the skin plates 13, Figure 3 means the angle (β: beta) between the transformer 15 and the skin plate 13, and Figure 4 means the angle between the T-bar (11) and It means the angle (γ:gamma) between the transformers (15).

Meanwhile, in the case of the flat block U-cell section automatic welding device applied in overseas shipyards, a multi-axis robot attached to the rail is configured to perform welding after teaching work members using a one-dimensional laser sensor.

However, this is only possible when each member is arranged perpendicularly to the work object, and in the case of curved blocks with the T-bar longage arranged at an angle, a collision problem with the robot mechanism occurs. Moreover, since recognition of work members is performed using a one-dimensional laser sensor, teaching time takes a long time and it is not possible to recognize gaps between members and whether or not improvement (chamfering) has been processed.

Additionally, even if the frame member is placed at an angle, it is impossible to respond to the problem of exceeding the robot's working radius. In other words, there must be additional functions that can respond to the various member arrangements of the curve block.

For reference, general work member shape recognition is performed by detecting the arc generated as the welding wire at the end of the torch touches each work member.

In addition, a method of recognizing work target members in a non-contact manner by applying a one-dimensional displacement sensor to the end of the robot in addition to a touch sensor can be applied to enable shape recognition more quickly than when only a touch sensor is applied.

In cases where all members, such as flat block members, are almost identically mounted perpendicular to the work object, teaching of the above-mentioned touch sensor and one-dimensional displacement sensor is possible based on pre-stored design data. In other words, when the worker inputs general information about the work member, such as the arrangement of collar plate, scallop, slot hole, etc., and the thickness of the member, the welding robot uses the welding line information formed based on the input information to connect the work object and the T-bar. It is possible to sequentially recognize intersection points and weld lines of longies, frame members, etc.

However, in the case of curved blocks, because the attachment status of work members is different for every work section, it is impossible to match design data to the corresponding work section, so real-time shape recognition of the arrangement form of each member is necessary.

In other words, in order for a welding device to weld the inner material of a curved block, it must know how the thickness and separation distance information of the members, collar plate, scallop, slot hole, etc. are arranged in the welding section to be primarily welded.

In addition, based on the welding device, information is needed about the vertical/horizontal inclination of the T-bar longie member, the vertical/horizontal inclination of the frame member, and the separation distance from the device. Furthermore, due to the nature of curved blocks, welding without defects is possible only when the extent of the gap in the welded area and whether or not it needs to be improved must be identified.

In order to solve these conventional problems, domestic registered patent No. 10-1724424, 'Automated device for welding curved block internal materials of ships and its operation method', is disclosed as a prior art proposed by the applicant of the present invention, the operation of which is disclosed. The details of the method are as follows.

A method of operating a ship's curved block internal material welding automation device for welding members including T-bar longi members and frame members to a work object, providing design information including the thickness and separation distance of target members for welding within the work section. An input step, a step of detecting the vertical/horizontal inclination of members including a T-bar longie member and a frame member, and a step of detecting the separation distance between the welding automation device and the members to obtain target member shape information, 2. It is executed in a method that includes acquiring precise shape information of the target member using a dimensional sensor and performing a welding operation based on the precise shape information.

Through this, welding work productivity and working conditions are greatly improved by quickly and precisely measuring the inclination and arrangement status of the internal materials of various and complex curved block U-cell sections where application of welding automation equipment was impossible and automatically performing welding based on this. I was able to do it.

However, in the case of the prior art described above, there is the inconvenience of having to input design information for each member for welding one by one.

Domestic registered patent No. 10-1724424 (announcement date: 2017.04.10.) Domestic Publication Patent No. 10-2010-114615 (Publication date: 2010.10.26.) Domestic registered patent No. 10-1464857 (announcement date: 2014.11.24.)

In order to solve the above-described conventional problems, the present invention provides a curved block welding method that can smoothly perform welding of curved blocks to ships without inputting design information about the members forming the curved blocks. There is a purpose.

In order to solve the above-described technical problem, the curved block welding method using a three-dimensional depth measurement sensor according to the present invention is a welding method for welding a ship curved block formed of internal materials using a welding robot 100, 1) moving the welding robot 100, 2) acquiring shooting information about the curved block using the depth measurement sensor 200, and 3) using the shooting information to create an outwriter of the internal material 10. It includes a step of organizing, 4) a step of the outwriter acquiring welding information based on the organized shooting information, and 5) a step of performing welding using the welding robot 100 based on the welding information, ) step, the shooting information is characterized in that it is a shooting image and 3D coordinate values for the curved block to be welded.

In addition, the depth measurement sensor 200 in step 2) is preferably a sensor having the function of a camera equipped with a visible light projection sensor 210 and a 2D image sensor 220.

In addition, it is preferable that the outwriter in step 3) is an unconfirmed part excluding the confirmed part of the curved block between the internal materials 10 to be welded, which is confirmed through photographing information.

In addition, the welding information in step 4) executes welding among the curved block information recognized as each part surface and line for the T-bar (11), skin plate (13), and transformer (15) belonging to the photographed image. It is desirable to include information about the desired welding line, the length of the welding line, the radius forming the curved surface, and the angle between the internal materials 10 with respect to the welding line.

According to the present invention, unlike the prior art, welding information on a curved block formed of an internal material is obtained through a depth measurement sensor that can check shooting information including at least one shooting image with 3D coordinate values and 2D shape. Accordingly, the effect of quickly implementing welding of curved block parts with a welding robot through control of the control unit is expected.

Figure 1 is a diagram showing the connection between conventional internal materials.
Figures 2 to 4 are diagrams showing the angles of each part with respect to Figure 1.
Figure 5 is a flow chart showing a curved block welding method using a three-dimensional depth measurement sensor according to the present invention.
Figure 6 is a diagram showing a welding robot system for the curved block welding method using a three-dimensional depth measurement sensor according to the present invention.
FIG. 7 is a diagram showing the depth measurement sensor for FIG. 6.
Figure 8 is an enlarged view of the coupling relationship between the depth measurement sensor and the welding robot in Figure 7.
Figure 9 is an operational relationship diagram of the depth measurement sensor in Figure 7.
Figure 10 is a photographed image of a curved block before removal of the outwriter obtained by a depth measurement sensor for the curved block welding method using a 3D depth measurement sensor according to the present invention.
Figure 11 is a vector diagram for recognizing part surfaces and lines between internal materials in Figure 10.
Figure 12 is a diagram showing part information and line information for Figure 11.
Figure 13 is a conceptual diagram of Figure 4.

Hereinafter, various embodiments will be described in more detail with reference to the attached drawings. The embodiments described herein may be modified in various ways. Specific embodiments may be depicted in the drawings and described in detail in the detailed description. However, the specific embodiments disclosed in the attached drawings are only intended to facilitate understanding of the various embodiments. Therefore, the technical idea is not limited to the specific embodiments disclosed in the attached drawings, and it should be understood that all equivalents or substitutes included in the spirit and technical scope of the invention are included.

Terms containing ordinal numbers, such as first, second, etc., may be used to describe various components, but these components are not limited by the above-mentioned terms. The above-mentioned terms are used only for the purpose of distinguishing one component from another.

In this specification, terms such as “comprise” or “have” are intended to indicate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but are not intended to indicate the presence of one or more other features. It should be understood that this does not exclude in advance the possibility of the existence or addition of elements, numbers, steps, operations, components, parts, or combinations thereof. When a component is said to be "connected" or "connected" to another component, it is understood that it may be directly connected to or connected to the other component, but that other components may exist in between. It should be. On the other hand, when it is mentioned that a component is “directly connected” or “directly connected” to another component, it should be understood that there are no other components in between.

In addition, when describing the present invention, if it is determined that a detailed description of a related known function or configuration may unnecessarily obscure the gist of the present invention, the detailed description thereof is abbreviated or omitted.

Hereinafter, with reference to the attached drawings, a curved block welding method using a 3D depth measuring sensor according to the present invention (hereinafter simply referred to as the 'welding method')

Prior to the description, the internal material 10 described below is considered to mean parts of the T-bar 11, skin plate 13, and transformer 15 that form the curved block for the ship mentioned in the prior art. In order to clearly understand the gist of the invention, detailed description will be omitted.

First, as shown in FIGS. 4 and 13, the welding method (1) according to the present invention largely includes 1) moving the welding robot (S10), and 2) capturing information about the curved block with a depth measurement sensor. Obtaining step (S20), 3) organizing the outwriter of the internal material using the photographing information (S30), 4) acquiring welding information based on the photographing information in which the outwriter has been organized (S40), and 5) It includes a step (S50) of executing welding using a welding robot based on welding information.

To explain in more detail, as shown in FIG. 6, position information about the position of the curved block to be welded is input through control of the control unit 300, and the welding robot 100 is positioned at a position matching the input position information. Step 1) is executed to move to .

Then, in step 2), as shown in FIGS. 7 and 8, the curved block is photographed using the depth measurement sensor 200 provided in the welding robot 100 to obtain 3D coordinate values, and for this purpose, the above The depth measurement sensor 200 may use a sensor having the function of a camera equipped with a visible light projection sensor 210 and a 2D image sensor 220.

Here, as shown in FIG. 9, the depth measurement sensor 200 is equipped with a visible light transmitting sensor and a 2D image sensor that can obtain depth information from a 2D image and calculate a position vector (x, y, z) in 3D space. It refers to a sensor in the form of a camera, and through this camera function, it is possible to acquire captured images to confirm welding information to be explained later (see FIG. 10).

To elaborate, the depth measurement sensor 200 acquires at least one captured image in the form of a pixelated point cloud and then selects 'u' corresponding to the longitudinal directions of the 'x-axis' and 'y'-axis among the position vectors. The values of ' and 'v' are obtained respectively, and the depth information, 'd', is a position vector that means a 3D coordinate value as the depth 'd' is calculated through a determined algorithm using different colors of each pixel. The coordinates for x', 'y' and 'z' are obtained respectively.

In addition, in step 2), not only the captured image acquired by the depth measurement sensor 200 but also the 3D coordinate value (hereinafter referred to as a 'position vector') is transmitted to the control unit 300 to proceed with step 3), which will be explained later. This is possible, and for this purpose, the depth measurement sensor 200 satisfies a structure connected to the control unit 300.

Afterwards, in step 3), based on the transmitted captured image as shown in FIG. 10, an outlier, which is the remaining unconfirmed part excluding the confirmed part of the curved block between the internal materials 10 to be welded, is will be organized (removed).

Afterwards, in step 4), as shown in Figures 11 and 12, a part-by-part analysis of the song block is performed using the captured image and 3D coordinate values.

As an example, part analysis, as shown, secures curved block information that recognizes the surface and boundary line of each internal material 10 identified in the captured image from which the outwriter has been removed, and then obtains a normal vector for the surface of the internal material. Create and extract welding information.

In other words, each internal material (10) for the T-bar (11), skin plate (13), and transformer (15) belonging to the captured image is recognized separately for each part surface and line, and the song block information is obtained. By transmitting welding information, which extracts information about the welding line to be welded among the lines forming the curve block information, to the control unit 300, the song is created by the welding robot 100 through step 5) based on the transmitted welding information. Allows block welding to be performed.

In addition, the welding information transmitted to the control unit is additionally transmitted such as the length of the boundary surface with respect to the welding line, the radius forming the curved surface, and the angle with respect to the internal material 10, so that welding efficiency can be improved.

As described above, the welding method (1) according to the present invention is different from the conventional one through a depth measurement sensor 200 that can check shooting information including at least one captured image with 3D coordinate values and 2D shape. As welding information about the curved block formed of the internal material 10 is acquired, the effect of quickly implementing welding on the curved block portion with the welding robot 100 through control of the control unit 300 is expected.

As described above, the present invention has been described with specific details such as specific components and limited embodiments and drawings, but this is only provided to facilitate a more general understanding of the present invention, and the present invention is not limited to the above embodiments. , those skilled in the art can make various modifications and variations from this description.

Therefore, the spirit of the present invention should not be limited to the described embodiments, and the scope of the patent claims described later as well as all things that are equivalent or equivalent to the scope of this patent claim shall fall within the scope of the spirit of the present invention. .

1: Curved block welding method using a 3D depth measurement sensor according to the present invention
100: Welding robot
200: depth measurement sensor
210: Visible light transmitting sensor 220: 2D image sensor
300: Control unit
10: Internal material
11: T-bar 13: Skin plate
15: Trans

Claims (4)

In a welding method for welding a ship curved block formed of internal materials using a welding robot 100,
1) Moving the welding robot 100;
2) Obtaining shooting information about the song block using the depth measurement sensor 200;
3) organizing the outwriter of the inner material 10 using the shooting information;
4) A step in which the outwriter acquires welding information based on the organized shooting information; and
5) performing welding using the welding robot 100 based on welding information;
A curved block welding method using a 3D depth measurement sensor, wherein the photographed information in step 2) is a photographed image and 3D coordinate values of the curved block to be welded.
According to paragraph 1,
The depth measurement sensor 200 in step 2) is
A curved block welding method using a three-dimensional depth measurement sensor, characterized in that the sensor has the function of a camera equipped with a visible light projection sensor (210) and a 2D image sensor (220).
According to paragraph 1,
The outwriter in step 3) above is
A curved block welding method using a three-dimensional depth measurement sensor, characterized in that the remaining unconfirmed portion excluding the confirmed portion of the curved block between the internal materials 10 to be welded confirmed through shooting information.
According to paragraph 1,
The welding information in step 4) above is
Among the curved block information recognized as each part surface and line for the T-bar (11), skin plate (13), and transformer (15) belonging to the captured image, information on the welding line on which welding is to be performed, information on the welding line A curved block welding method using a three-dimensional depth measuring sensor, characterized in that it includes the length of the curved surface, the radius forming the curved surface, and the angle between the internal materials 10 with respect to the weld line.

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