船舶小组立特征柔性测量系统  

Flexible Measurement System for Feature of Ship Sub-assembly

作　　者：刘鑫宇 王跃 武茂浦 习俊通[2] 朱彤 LIU Xinyu;WANG Yue;WU Maopu;XI Juntong;ZHU Tong(716th Research Institute of China Shipbuilding Corporation Limited;Shanghai Jiao Tong University)

机构地区：[1]中国船舶集团有限公司第七一六研究所 [2]上海交通大学

出　　处：《仪表技术与传感器》2024年第10期64-68,共5页Instrument Technique and Sensor

基　　金：工信部项目(GJ04N20)。

摘　　要：传统的船舶小组立零件上特征测量多采用人工测量,该方法精度低,不便于数据的记录,也不符合数字化造船的理念。基于此情况提出一种视觉测量系统,该系统由嵌入式线激光传感器与小组立焊接机器人组成。在测量特征时,随着焊接机器人带动传感器到被测特征上方,对特征进行扫描并计算出特征的尺寸。该系统适用于小组立工件中各类特征的测量,对工件的摆放姿态无任何要求。为了验证该系统的可行性及精度,面向小组立中的圆槽孔特征,分别在实验室用小尺寸标准件测量以及在船厂现场搭建环境用实际工件进行测量,实验表明该方法测量标准件时尺寸误差小于0.05 mm,重复测量结果极差小于0.02 mm;在现场测量时,长宽测量误差小于2 mm,距离测量误差小于3 mm。该测量系统能够满足船舶现场的加工制造精度要求,同时能够减少人工参与提升检测效率。The traditional measurement of features on ship sub-assembly often uses manual measurement,which greatly relies on the measurement methods of measurement personnel and is not convenient for data recording.This low precision and low efficiency measurement method does not conform to the concept of digital shipbuilding.Based on this situation,a visual measurement system comprising an embedded line laser sensor and a ship sub-assembly welding robot was introduced.When measuring features,as the welding robot moved,the sensor was brought over the feature to be measured,the feature was scanned,and the features dimensions were calculated.This system was suitable for measuring various types of features in ship sub-assembly workpieces and specific positioning of the workpiece was not required.To validate the feasibility and accuracy of this system,circular groove hole features in ship sub-assembly were focused on.Measurements were conducted both in a laboratory setting using smallsized standard components and in a shipyards real-world workpiece environment.Experimental results show that when measuring standard components,the size error was less than 0.05 mm,with a repeatability accuracy exceeding 0.02 mm.In on-site measurements,the repeatability accuracy for length and width measurements was 2 mm,and the positional measurement accuracy was 3 mm.This measurement system can meet the precision requirements of shipyard manufacturing operations while reducing manual intervention and enhancing inspection efficiency.

关 键 词：小组立 线激光测量 柔性测量 点云处理 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置] U671[自动化与计算机技术—控制科学与工程]