舰船高反光小组立构件智能机器人焊接系统研究  

Research on Intelligent Robot Welding System for High-Reflective Small Assembly Parts of Ships

作　　者：马韬 孙宏伟[1] 罗进友 房咨辰 林航羲 李启明 MA Tao;SUN Hongwei;LUO Jinyou;FANG Zichen;LIN Hangxi;LI Qiming(Jiangsu Automation Research Inst.,Lianyungang 222000,China;Guangdong Provincial Key Laboratory of Advanced Welding Technology for Ships,CSSC Huangpu Wenchong Shipbuilding Co.,Ltd.,Guangzhou 510715,China)

机构地区：[1]江苏自动化研究所,江苏连云港222000 [2]中船黄埔文冲船舶有限公司广东省舰船先进焊接技术重点实验室,广东广州510715

出　　处：《电焊机》2024年第12期42-48,共7页Electric Welding Machine

基　　金：科技部重点研发计划(2023YFE0201500);广东省舰船先进焊接技术企业重点实验室基金(2023B1212070026)。

摘　　要：目前国内舰船制造企业的铝制小组立等高反光工件焊接主要以人工为主,自动化程度不高,对人力资源和能源浪费严重。加快研发面向高反光工件的智能焊接机器人系统,在铝制舰船建造过程推广应用小组立焊接机器人,实现铝制小组立的智能制造具有重要意义。针对国内某骨干船厂的铝制小组立工件智能焊接需求,设计了适用于高反光铝合金工件的智能机器人焊接系统,该系统采用双目工业相机和线激光传感器相结合的方案,实现焊缝的粗定位和精定位,并通过高精度相机标定算法、灰度分割和Harris角点检测算法实现焊缝智能识别。同时,系统采用基于标定板指导图的双相机标定法,保证了全局图像一致性。通过在船厂的实际生产应用,验证了系统的高效性和可靠性,焊缝质量良好,有效提升了舰船制造的自动化水平和生产效率。At present,the welding of high-reflective aluminum components in domestic ship manufacturing enterprises mainly relies on manual labor,with a low degree of automation,leading to significant waste of human resources and energy.Accelerating the development of intelligent welding robot systems for high-reflective components,and promoting the appli‐cation of group standing welding robots in the construction process of aluminum ships,is of great significance for realizing the intelligent manufacturing of aluminum group standing.In response to the intelligent welding needs of aluminum group standing components in a domestic backbone shipyard,an intelligent robot welding system suitable for high-reflective alumi‐num alloy components was designed.This system adopts a combination of binocular industrial cameras and line laser sen‐sors to achieve coarse and fine positioning of the weld seam,and realizes intelligent recognition of the weld seam through high-precision camera calibration algorithms,grayscale segmentation,and Harris corner detection algorithms.Meanwhile,the system adopts a dual-camera calibration method based on calibration plate guidance maps,ensuring global image consis‐tency.Through actual production applications in the shipyard,the system's efficiency and reliability have been verified,with good weld quality,effectively improving the automation level and production efficiency of ship manufacturing.

关 键 词：小组立 机器视觉 焊缝定位 智能机器人焊接系统 高反光铝合金工件 

分 类 号：TG409[金属学及工艺—焊接]