KR20200116711A - Apparatus for manufacturing curved surface of plate using gantry mounted type camera - Google Patents

Abstract

The present invention provides an apparatus for manufacturing a curved surface of plate using gantry mounted type camera, which includes: a control device configured to create realistic image information by virtually photographing and correcting simulation blocks with multiple virtual cameras, and perform a camera simulation for comparing the realistic image information with previously measured measurement information for a curved member, or perform a gantry simulation for calculating the position of a gantry and an end effector by generating and restoring a virtual image for each position of the gantry and the end effector, in order to install a plurality of real cameras for measuring the shape of a raw material for a curved member or the curved member processed with the raw material; and a gantry including a plurality of real cameras having a camera installation position, a camera pose, a camera standard and a lens standard determined through the camera simulation of the control device, an end effector for processing the raw material or the curved member based on the three-dimensional measurement model measured and restored through the real cameras, a transfer device for moving the end effector, and a body portion driving along rail portions disposed on both sides of a surface plate so as to support the transfer device to be transported.

Description

A device for producing curved members using a gantry-mounted camera {APPARATUS FOR MANUFACTURING CURVED SURFACE OF PLATE USING GANTRY MOUNTED TYPE CAMERA}

The present invention relates to an apparatus for manufacturing a curved member using a gantry-mounted camera.

In general, curved plates or curved members of various sizes and sizes are used during the manufacturing process of solid ships such as ships, offshore structures, and floating structures.

The curved member may be manufactured by the method of processing the outer surface of the hull.

A typical curved surface processing method is to measure the shape of the cold-worked member of the curved shell of the hull and convert it into a database, read the data on the design shape, measurement shape, and heat deformation characteristic information of the steel, By automatically modeling the curved shape, it is possible to create a 3D curved surface for the design shape and the measurement shape.

In addition, in the curved surface processing method, the two generated curved surfaces are used to optimally match and compare the surface to calculate the difference in shape between the target shape and the measured shape, and integrated processing information based on the thermal deformation characteristic information of the steel material. It is generated and re-measured after the heating operation to calculate additional heating information, and at the same time calculate the precision (completeness) of the curved surface shape, and if it is not a completion condition, whether processing is necessary or whether to turn over the member can be determined. .

In addition, in the curved surface processing method, after actually performing additional processing after turning over, the margin of the steel sheet is calculated to calculate the cut amount of the margin, and accordingly, the value corresponding to the cut amount is displayed in the margin cut amount display system. Provided to mark the steel plate (Marking), or can be cut through a cutting system.

Such measurement, processing, heating, marking, and cutting are performed by a gantry-type device, and the precision of the gantry device has a great influence on the measurement and manufacture of an actual curved member.

In particular, the measuring device according to the prior art is a light emitting unit (e.g., a laser beam generator) coupled to the traveling unit of the gantry to irradiate a laser to the steel plate for curved members, and the traveling unit of the gantry to receive laser reflected from the steel plate. It may be configured to include a light receiving unit (eg, a laser beam recognition camera).

However, since the gantry for measuring or manufacturing a curved member has different sizes and heights, the number and positions of the measuring light emitting units or light receiving units to be installed are different.

For this reason, parameters for each light emitting unit and a light receiving unit for measurement must be separately applied through repeated trials, and very complex and precise calibration is required in this process.

In addition, the gantry is a device that moves along a rail, and errors may occur due to shaking, clearance, etc., thereby reducing the reliability of measurement.

In addition, it is very inconvenient to perform complex and precise calibration of a plurality of cameras, gantrys, and devices mounted on the gantry every time, and there is a disadvantage of reducing productivity, and accordingly, a camera for quickly performing reliable measurement There is an urgent need to develop technologies for batch and number analysis means, reliable gantry motion control means, or new devices for rapid and accurate measurement and processing.

In the present invention, a gantry and a measurement means to be attached to the gantry every time by installing a plurality of cameras at an optimized camera position by grasping a plurality of camera installation positions, camera and lens specifications, camera number and camera pose through simulation before actual measurement. It is intended to provide a curved member manufacturing apparatus using a gantry-mounted camera capable of performing precise measurement and processing of curved members without the need to perform precise calibration of the curved member and increasing the productivity of manufacturing the curved member.

The technical problems to be achieved in the present invention are not limited to the technical problems mentioned above, and other technical problems that are not mentioned will be clearly understood by those of ordinary skill in the technical field to which the present invention belongs from the following description. I will be able to.

In order to solve the above-described problem, the present invention provides a virtual photograph of a simulation block with a plurality of virtual cameras for installation of a plurality of real cameras for measuring the shape of a raw material for a curved member or a curved member processed from the raw material. Gantry and end effector by creating and restoring virtual images for each position of the gantry and end effector by performing a camera simulation comparing the actual image information with the measured information for curved members previously measured by calibrating the actual image information A control device for performing a gantry simulation for calculating an effector position; And a plurality of real cameras having a camera installation position, camera pose, camera standard and lens standard determined through the camera simulation of the control device, and the raw material based on a three-dimensional measurement model measured and restored by the real camera. Alternatively, a gantry having an end effector for processing the curved member, a transfer device for moving the end effector, and a body portion driving along rail portions disposed on both sides of the base to support the transfer device so as to be transportable. It is possible to provide an apparatus for manufacturing a curved member using a gantry-mounted camera including.

In addition, the control device obtains the actual image information by arranging a plurality of virtual cameras around the simulation block and applying a distortion parameter for each virtual camera to the virtual photographing value for each virtual camera for the correction. Then, by adding or subtracting the number of virtual cameras within an error range between the measurement information for the curved member and the actual image information as an accuracy comparison and determination unit for comparing the measurement information for the curved member and the actual image information, the camera A simulation module outputting the installation location, camera and lens specifications, the number of cameras, and camera poses; An actual camera control module for controlling the photographing and transmission of the actual cameras installed corresponding to the camera installation position, camera and lens standard, the number of cameras, and camera poses output through the camera simulation; A measurement module for generating a measurement image and a restored image by photographing the shape of the raw material or the curved member and the code target attached to the raw material or the curved member with the actual camera; And a gantry control module for controlling the operation of the gantry and the end effector based on the restored image generated by the measurement module.

In addition, in the control device, the simulation module for camera simulation includes: a modeling unit for loading the simulation block into a virtual space of a virtual camera input window; A virtual target controller for arranging a plurality of measurement targets and dummy targets on the surface of the simulation block in the virtual space; A scale bar setting unit for disposing a scale bar on the surface of the simulation block based on a position between the measurement target and the dummy target; A virtual camera controller that adds, deletes, edits and initializes the virtual camera in the virtual space based on the periphery of the simulation block; For the virtual camera and the lens combined with the virtual camera, radial distortion, tangential distortion, image coordinate distortion, intrinsic parameters for each virtual camera, external parameters for each virtual camera ) A distortion parameter applying unit that applies at least one or more distortion parameters to the virtual photographed value generated by the virtual camera to output real image information; And a virtual camera location and pose output unit that outputs the camera installation location, camera and lens standard, the number of cameras and camera poses obtained through the camera simulation module, or saves in the form of a project file.

In addition, in the control device, the simulation module for the gantry simulation generates and restores a virtual image for each position of the gantry and end effector, or loads a gantry simulation model to calculate the gantry and end effector positions, and the gantry simulation By placing a measurement target on the model, placing a virtual initial position target for each virtual surface area on a virtual surface area for a gantry simulation model, and placing a plurality of virtual cameras on the gantry simulation model, the gantry simulation model and the motion of the virtual end effector It may include a motion execution unit for controlling.

In addition, the base plate includes an actual initial position target attached to the base plate for each base plate area based on the position value of the virtual initial position target, and the control device is a real camera attached to the gantry, and the actual initial position target By recognizing, the gantry can be moved to a corresponding surface area in which the raw material or the curved member is disposed.

According to an apparatus for producing curved members using a gantry-mounted camera according to an embodiment of the present invention, distortion parameters such as standards, lens standards, and installation positions of a plurality of cameras, which are measurement means, are quickly and accurately applied through simulation. There is an advantage of increasing member manufacturing efficiency, saving time for setting various setting conditions necessary for manufacturing a curved member, and eliminating various causes of productivity degradation such as inconvenient calibration.

In addition, according to the curved member manufacturing apparatus using a gantry-mounted camera according to an embodiment of the present invention, the member can be divided into various areas within the gantry platen, and moved to the corresponding initial position according to the user designation for the member position. It has the advantage of being able to precisely measure the position of the member in the area.

In addition, according to the curved member manufacturing apparatus using a gantry-mounted camera according to an embodiment of the present invention, since the gantry motion for precise measurement is optimized through gantry simulation in advance, measurement errors and processing errors due to gantry motion are eliminated. There is an advantage that can be minimized or reduced.

As described above, the apparatus for manufacturing curved members using a gantry-mounted camera according to an embodiment of the present invention uses a plurality of cameras installed on the gantry to automatically measure and analyze curved members, and to mark and process curved members (eg, forming a curved shape, heating, cutting). It has the advantage of being able to perform efficiently.

The effects obtainable in the present invention are not limited to the above-mentioned effects, and other effects not mentioned can be clearly understood by those of ordinary skill in the art from the following description. will be.

1 is a perspective view of a curved member manufacturing apparatus using a gantry-mounted camera according to an embodiment of the present invention.
2 is a configuration diagram of the control device shown in FIG. 1.
FIG. 3 is a screen capture diagram of a virtual camera input window for a drawing for explaining a camera simulation through the control device shown in FIG. 2.
4 and 5 are screen capture diagrams of a gantry motion input window instead of a drawing for explaining a gantry simulation through the control device shown in FIG. 2.
6 is a perspective view illustrating a process of manufacturing a curved member of the apparatus for manufacturing a curved member using the gantry-mounted camera shown in FIG. 1.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

The detailed description to be disclosed hereinafter together with the accompanying drawings is intended to describe exemplary embodiments of the present invention, and is not intended to represent the only embodiments in which the present invention may be practiced.

In the drawings, parts irrelevant to the description may be omitted in order to clearly describe the present invention, and the same reference numerals may be used for the same or similar components throughout the specification.

In the drawings, FIG. 1 is a perspective view of an apparatus for manufacturing a curved member using a gantry-mounted camera according to an embodiment of the present invention.

Referring to FIG. 1, a curved member manufacturing apparatus 10 using a gantry-mounted camera includes a control device 100, a gantry 200, a plurality of actual cameras 300, a base 400, a rail part 500. It may include.

The control device 100 is for the installation of a plurality of actual cameras for measuring the shape of the raw material 20 (see FIG. 2) for a curved member to be manufactured or the curved member 22 (see FIG. 6) processed with the raw material, In response to the required number of cameras, camera poses, lenses, etc., it may be a device capable of grasping as many installations as necessary through simulation in advance.

Here, the raw material 20 may mean a steel plate, a steel plate, a built-up member, or the like for manufacturing a ship block.

In addition, the curved member 22 may refer to a molded product formed to have a curved shape by performing processing such as heating and cutting on the raw material 20.

FIG. 2 is a configuration diagram of the control device shown in FIG. 1, and FIG. 3 is a screen capture diagram of a virtual camera input window for explaining a camera simulation through the control device shown in FIG. 2.

2 and 3, as will be described later, the control device 100 virtually photographs and corrects the simulation block 700 with a plurality of virtual cameras 600 to create real image information, and A gantry simulation that calculates the location of the gantry and end effector by performing a camera simulation that compares the same image information with the measurement information for curved members previously measured, or by creating and restoring a virtual image for each location of the gantry 200 and the end effector 210 It may mean software and hardware configured to perform.

Here, the simulation block 700 is one of a shape rendered with a 3D CAD value corresponding to the shape of the raw material 20 for the curved member of FIG. 1, or the shape of the curved member 22 of FIG. 6, or other various shapes. May, and may not need to be limited to a specific shape.

In addition, the hardware may refer to a computer, a server, a control panel, a communication device, a sensor, and the like, and the software may refer to a control and simulation program or a program that controls the hardware according to an algorithm corresponding to the contents described later.

In addition, the end effector 210 is a marking printer that marks the heating line on the raw material 20, and performs heating along the heating line for each of the raw material 20 or the curved member 22 to form a curved surface for the curved member 22. A torch, a curved surface following mechanism device for following the curved surface of the curved member 22, or other processing means necessary for manufacturing the curved member may be collectively referred to.

The gantry 200 may be equipped with a plurality of actual cameras 300 having a camera installation position, a camera pose, a camera standard, and a lens standard determined through camera simulation of the control device 100.

A plurality of real cameras 300 may be mounted around the end effector 210 of the gantry 200, on the transfer device 220, or on the body 230 according to the simulation result, or other cameras according to a gantry standard change or a camera standard change. According to the simulation result, it may be optionally further mounted on a camera mounting stand or a support (not shown) on the camera installation position that can be determined through the other camera simulation among the outer positions of the rail unit 500.

The gantry 200 includes an end effector 210 for processing a raw material 20 or a curved member 22 based on a three-dimensional measurement model measured and restored through an actual camera 300, and the end effector 210. A transfer device 220 for moving, and a trunk portion 230 that drives along the rail portions 500 disposed on both sides of the base 400 to support the transfer device 220 so as to be transportable. I can.

In particular, the platen 400 may be divided into a plurality of platen zones 410, 420, and 430.

The actual position that can be recognized by the actual camera 300 in each of the surface area (410, 420, 430) of the surface plate 400 and can be a reference point of the initial position of the body portion 230 of the gantry 200 Targets 411, 421, and 431 may be provided.

In addition, a plurality of code targets 21 (eg, a measurement target and a dummy target having optical recognition codes for a plurality of actual measurements) may be attached to the raw material 20 or the curved member 22 to be placed on the base 400. I can.

Through this, the actual initial position targets 411, 421, and 431 for each surface plate area (410, 420, 430) of the platen 400 for the gantry 200 controlled by the control device 100 are It may be attached on the base 400 based on the position value of the virtual initial position target 682 (refer to FIG. 4 or 5) obtained through the gantry simulation.

Accordingly, the control device 100 recognizes the actual initial position targets 411, 42, 431 with the actual camera 300 attached to the gantry 200, and the corresponding surface plate on which the raw material 20 or the curved member 22 is disposed. It may have the advantage of being able to move the gantry 200 to the area.

Referring to FIG. 2, the control device 100 may include a simulation module 110 made of software and hardware, an actual camera control module 120, a measurement module 130, and a gantry control module 140.

For example, the simulation module 110 is responsible for arranging the aforementioned virtual camera 600 in a singular or plural number around the simulation block 700 (eg, a virtual space implemented by the simulation module 110). can do.

In addition, the simulation module 110 plays a role of acquiring actual image information by applying a distortion parameter for each virtual camera 600 to a virtual photographed value in order to correct a virtual photographed value virtually photographed by the virtual camera 600. Can be in charge.

In addition, the simulation module 110 may include an accuracy comparison and determination unit 117 for comparing the measurement information for a curved member corresponding to the simulation block 700 input to the simulation module 110 with actual image information. .

That is, the simulation module 110 is the accuracy comparison and determination unit 117, by adding or subtracting the number of virtual cameras 600 within the error range between the measurement information for curved members and the actual image information, the camera installation position, camera and lens specifications , The number of cameras and the camera pose may be output or stored.

The output camera installation position, camera and lens standard, the number of cameras, and coordinate values and location information related to the camera pose can be converted and applied to the coordinate values and location information of the actual gantry 200. It can be used as a setting value during installation.

The actual camera control module 120 controls the imaging and transmission of the actual camera 300 installed corresponding to the camera installation position, camera and lens standard, number of cameras, and camera pose output through camera simulation by the simulation module 110 You can play a role.

If the real camera 300 is a digital camera, and a GPS (global positioning system) chip or a receiver and a communication device (not shown) are built into the real camera 300, the real camera control module 120 The actual setting or the actual installation value of the actual camera 300 installed by the user is compared with the values related to the camera installation position, camera and lens standard, number of cameras and camera pose output through the camera simulation. It may be programmed to perform the role of judging errors, etc.

For example, the actual camera control module 120 may be connected to the actual camera 300 through electrical and communication circuits, and the measurement image capture unit 121 that controls to acquire a measurement image through the actual camera 300 and , It may include a measurement image transmission unit 122 for transmitting the measurement image to the measurement module 130.

The measurement module 130 photographs the shape of the raw material 20 or the curved member 22 and the cord target 21 attached to the raw material 20 or the curved member 22 with an actual camera 300, and It can play a role of generating reconstructed images (eg, measured and restored 3D measurement models).

For example, the measurement module 130 receives a measurement image from the camera controller 131 that communicates with the actual camera control module 120 and transmits and receives a control signal, and the measurement image transmission unit 122 and stores it in a memory (not shown). It may include a measurement image storage unit 132.

In addition, the measurement module 130 restores the measurement image in three dimensions, so that shape information to be used for control of the gantry 200 and the end effector 210 (eg, raw material 20, curved member 22, gantry 200) Each of the shape information) and location information (e.g., raw material 20, curved member 22, gantry 200, the position information of each of the end effector 210) to generate a restored image It may include a measurement image restoration unit 133.

In addition, the measurement module 130 may include a coordinate system conversion unit 134 that converts the camera coordinate system of the real camera 300 into a global coordinate system, and then converts the gantry 200 into an end effector coordinate system for the end effector 210. have.

In addition, the measurement module 130 recognizes the actual initial position target (411, 421, 431) for each surface area (410, 420, 430), and returns to the initial position of any one of the corresponding surface area (410, 420, 430). It may include a location identification unit 135 for generating recognition information required to move the body portion 230 of the gantry 200.

In addition, the measurement module 130 may include a robot controller 136 that drives the gantry 200 and the end effector 210 based on the recognition information or various control signals preset in the control device 100.

Meanwhile, the gantry control module 140 may play a role of controlling the driving or operation of the gantry 200 and the end effector 210 based on the restored image generated by the measurement module 130.

For example, the gantry control module 140 may be provided with a gantry driving unit 141 and an end effector driving unit 142 interlocking with the measurement module 130.

The gantry control module 140 manages data on the design shape, measurement shape, and thermal deformation characteristic information of steel, generates a three-dimensional curved surface, or detects the difference in shape between the target shape and the measurement shape through matching between the curved surfaces. Calculates, generates integrated processing information based on thermal deformation characteristic information, calculates the cut amount of the margin margin, and performs the actual processing of a series of curved members such as heating line marking and heating or cutting. have.

To this end, the gantry driving unit 141 and the end effector driving unit 142 of the gantry control module 140 are connected to a servo motor or a power unit or sensor for each gantry 200 and the end effector 210, so that an automated general hull shell plate Surface processing method can be performed.

Meanwhile, the simulation module 110 for camera simulation in the control device 100 is a modeling unit 111 that loads the simulation block 700 shown in FIG. 3 into the virtual space 610 of the virtual camera input window 101 It may include.

Here, the modeling unit 111 may be linked by the block loading button 620 of the virtual camera input window 101.

The simulation module 110 may include a virtual target controller 112 that arranges a plurality of measurement targets 701 and dummy targets 702 on the surface of the simulation block 700 in the virtual space 610.

The virtual target controller 112 includes a measurement target loading button 630 arranged under the virtual space 610 in the virtual camera input window 101, a dummy target loading button 631, a dummy target setting button 632, and a dummy The target storage button 633 may be linked to a mouse click signal or a mouse movement control signal.

In addition, the simulation module 110 is scaled on the surface of the simulation block 700 based on a position between the measurement target 701 and the dummy target 702 or a position that does not overlap the measurement target 701 and the dummy target 702 A scale bar setting unit 113 for arranging the bar 703 may be included.

The virtual camera 600 may take a virtual photograph of the scale bar 703 as well as the measurement target 701 and the dummy target 702.

As a result, the scale of the virtual photographing value generated by the virtual camera 600 may be converted into a scale of image information as in real by the scale bar setting unit 113 based on the scale bar 703.

This scale bar setting unit 113 is a mouse click signal or mouse movement of the scale bar loading button 640 disposed between the block loading button 620 of the virtual camera input window 101 and the dummy target setting button 632 It may be linked to a control signal.

In addition, the simulation module 110 may include a virtual camera controller 114 that adds, deletes, edits, and initializes a plurality of virtual cameras 600 to the virtual space 610 based on the periphery of the simulation block 700. have.

Means for operating the virtual camera controller 114 may be made through various virtual camera buttons 650 of the virtual camera input window 101.

Here, the various virtual camera buttons 650 may include, for example, a virtual camera add button (Add Camera), a virtual camera delete button (Del Camera), a virtual camera edit button (Edit Camera), and a virtual camera initialization button (Clear Camera). have.

In addition, according to the user's mouse manipulation, the virtual cameras 600 may individually move within the virtual space 610.

At this time, the linear coordinate values (Trans X, Trans Y, Trans Z) corresponding to the camera position for each virtual camera 600 may be displayed in the linear coordinate field 651 of the virtual camera input window 101 or stored in the memory. have.

In addition, the rotation coordinate values (Rot X, Rot Y, Rot Z) corresponding to the camera pose for each virtual camera 600 are displayed in the rotation coordinate field 652 of the virtual camera input window 101 or stored in the memory. I can.

In addition, all the loaded virtual camera list 653 may be displayed on the virtual camera input window 101 in the form of a scroll bar.

In addition, the simulation module 110 selectively applies or non-applicable distortion parameters for each camera type and lens type through the distortion application check box of the virtual camera input window 101 and the drop window area 654 for camera type and lens type selection. It may include a part 115.

The distortion parameter application unit 115 includes radial distortion, tangential distortion, image coordinate distortion, and internal parameters for each virtual camera for the virtual camera 600 and the lens combined with the virtual camera 600. (intrinsic parameter) and external parameters for each virtual camera (extrinsic parameter) by applying a distortion parameter of at least one or more to the virtual photographed value generated by the virtual camera 600 to play a role of outputting real image information I can.

In addition, the virtual camera input window 101 may be further provided with an image storage button 655 for storing virtual photographed values by the virtual camera 600 or actual image information.

In addition, the simulation module 110 is a virtual camera position and pose output unit 116 that outputs the camera installation location, camera and lens standard, the number of cameras and camera poses that can be obtained through the camera simulation module, or saves in the form of a project file. It may include.

Here, the virtual camera position and pose output unit 116 may be managed in a file or data format through a projection check box of the virtual camera input window 101 and a save button and load button area 660.

4 and 5 are screen capture diagrams of a gantry motion input window instead of a drawing for explaining a gantry simulation through the control device shown in FIG. 2.

2, 4, and 5, the virtual camera 600 used in FIG. 2 is not shown in FIG. 4, but a plurality of camera input units 670 of the gantry model setting window 102 of FIG. 4 As can be seen through a button (e.g., camera 1 button, camera 2 button, camera 3 button), a virtual space capable of simulating a gantry motion, or the body or end effector part of the gantry simulation model 680 (e.g., torch part) ), and virtually photographing the corresponding gantry simulation model 680 to generate a virtual photographing value.

The determination of the accuracy of the gantry motion may also be similar to the description related to the simulation block 700 described above.

That is, the virtual camera 600 is made in a manner that compares with real live information (e.g., video data) and reference data (e.g., live information of a gantry preceded by precise calibration) created by virtual photographing and correction. I can.

The movement or rotation of the virtual camera 600 and the gantry simulation model 680 is performed in the gantry model setting window 102 of FIG. 4 and the gantry model setting window 102 of FIG. 5 included in the simulation module 110 for gantry simulation in the control device 100. It can be executed through the preview combined virtual camera operation window 103.

To this end, the simulation module 110 of FIG. 2 may include a motion execution unit 118 having a gantry and end effector position calculation function.

For example, the motion execution unit 118 loads the gantry simulation model 680 into a virtual space for simulation in order to generate and restore virtual images or live information for each gantry and end effector position, or to calculate the gantry and end effector positions, A measurement target 201 is placed on the gantry simulation model 680, a virtual initial position target 682 is placed on a virtual platform 681 for the gantry simulation model 680, and a plurality of virtual cameras ( 600) may be disposed on or around the gantry simulation model 680 to control the motion of the gantry simulation model 680 and the virtual end effector 683.

6 is a perspective view illustrating a process of manufacturing a curved member of the apparatus for manufacturing a curved member using the gantry-mounted camera shown in FIG. 1.

Referring to FIG. 6, the apparatus for producing a curved member using a gantry-mounted camera includes a camera position and a camera pose, a camera type, a lens type, and the number of cameras through the simulation module 110 of the control device 100 described above. Since the actual camera 300 in the determined state is mounted, a separate precise calibration is not required, thereby increasing productivity.

In addition, when the gantry 200 is equipped with various end effectors 210 to perform an automated general hull surface processing method, it is possible to increase the precision and reliability of producing a curved member, and the initial position where the curved member 22 is located. You can move to automatic recognition.

In particular, the control device 100 may be configured to automatically obtain optimal parameters from a plurality of real cameras 300 installed after the preceding camera simulation.

Thereafter, the control device 100 may perform measurement and 3D restoration while simultaneously photographing the curved member 22 and the gantry 200 (eg, gantry motion) corresponding to the automated manufacturing process.

For example, as described above, the control device 100 acquires similar or different measurement images from a plurality of real cameras 300 by the measurement image restoration unit 133 of the control device 100, and each measurement Through image noise removal, edge detection, ellipse extraction, grouping, and target ID detection, target recognition information and results are generated from each measurement image.

In addition, the measurement image restoration unit 133 may perform 3D restoration and camera parameter correction based on target recognition information and results to create a restored image (eg, a measured and restored 3D measurement model).

Thereafter, the control device 100 analyzes the amount of curvature based on the restored image, calculates the cut value, converts the coordinate system (converts the camera coordinate system to the global coordinate system and then converts it to the end effector coordinate system), cutting line marking, heating, etc. It can exert an effect that can perform quickly and accurately

The embodiments of the present invention disclosed in the present specification and drawings are only provided for specific examples to easily explain the technical content of the present invention and to aid understanding of the present invention, and are not intended to limit the scope of the present invention.

Therefore, the scope of the present invention should be construed that all changes or modified forms derived based on the technical idea of the present invention in addition to the embodiments disclosed herein are included in the scope of the present invention.

100: control device 110: simulation module
120: actual camera control module 130: measurement module
140: gantry control module 200: gantry
210: end effector 300: real camera
400: plate 500: rail part
600: virtual camera 700: simulation block

Claims (5)

In order to install a plurality of real cameras for measuring the shape of a raw material for a curved member or a curved member processed with the raw material, a simulation block is virtually photographed and corrected with a plurality of virtual cameras to create real image information, and A control device for performing a camera simulation comparing the same image information with previously measured measurement information for a curved member, or generating and restoring a virtual image for each gantry and end effector positions to calculate a gantry and an end effector position; And
Based on a plurality of real cameras having a camera installation position, camera pose, camera standard and lens standard determined through the camera simulation of the control device, and a three-dimensional measurement model measured and restored through the real camera, the raw material or An end effector for processing the curved member, a transfer device for moving the end effector, and a gantry having a trunk portion driving along rail portions disposed on both sides of the base to support the transfer device in a transportable manner. A device for producing curved members using a gantry-mounted camera.
The method of claim 1,
The control device,
A plurality of the virtual cameras are arranged around the simulation block, and a distortion parameter for each virtual camera is applied to the virtual photographing value for each virtual camera for the correction to obtain the actual image information, and then the measurement for the curved member As an accuracy comparison and determination unit that compares information with the actual image information, by adding or subtracting the number of virtual cameras within the error range between the measurement information for the curved member and the actual image information, the camera installation location, camera and lens specifications , A simulation module for outputting the number of cameras and camera poses;
An actual camera control module for controlling the photographing and transmission of the actual cameras installed corresponding to the camera installation position, camera and lens standards, the number of cameras and camera poses output through the camera simulation;
A measurement module for generating a measurement image and a restored image by photographing the shape of the raw material or the curved member and the code target attached to the raw material or the curved member with the actual camera; And
A curved member manufacturing apparatus using a gantry-mounted camera comprising a gantry control module for controlling the operation of the gantry and the end effector based on the restored image generated by the measurement module.
The method of claim 1,
The simulation module for the camera simulation in the control device,
A modeling unit for loading the simulation block into a virtual space of a virtual camera input window;
A virtual target controller for arranging a plurality of measurement targets and dummy targets on the surface of the simulation block in the virtual space;
A scale bar setting unit for disposing a scale bar on the surface of the simulation block based on a position between the measurement target and the dummy target;
A virtual camera controller that adds, deletes, edits and initializes the virtual camera in the virtual space based on the periphery of the simulation block;
For the virtual camera and the lens combined with the virtual camera, radial distortion, tangential distortion, image coordinate distortion, intrinsic parameters for each virtual camera, and external parameters for each virtual camera ) A distortion parameter applying unit that applies at least one or more distortion parameters to the virtual photographed value generated by the virtual camera to output real image information; And
A curved member using a gantry-mounted camera including a virtual camera location and pose output unit that outputs the camera installation location, camera and lens standard, camera number and camera pose obtained through the camera simulation module, or saves in the form of a project file Fabrication device.
The method of claim 1,
A simulation module for the gantry simulation in the control device,
To create and restore a virtual image for each location of the gantry and end effector, or to calculate the location of the gantry and end effector, a gantry simulation model is loaded, a measurement target is placed on the gantry simulation model, and the gantry simulation model is placed on a virtual platform. A song using a gantry-mounted camera including a motion execution unit that controls the motion of the gantry simulation model and the virtual end effector by arranging a virtual initial position target for each virtual platform area and arranging a plurality of virtual cameras on the gantry simulation model. Member manufacturing device.
The method of claim 4,
The platen is,
Including an actual initial position target attached to the base for each surface area based on the position value of the virtual initial position target,
A curved member manufacturing apparatus using a gantry-mounted camera capable of moving the gantry to a corresponding base area in which the raw material or the curved member is disposed by the control device recognizing the actual initial position target with a real camera attached to the gantry .

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