Patent Description:
A ship's hull is made up of <NUM>-dimensional (3D) curved plates welded together. In particular, as shown in <FIG>, a bulb plate at the bow of the ship is formed through a complex forming operation due to sharp bends.

In general, as shown in <FIG>, curved hull plate forming (curve forming) involves forming a transverse curve in a flat plate at room temperature through a cold forming process, and forming transverse and longitudinal curves in combination through a hot curve forming process by local heat bending the plate having the transverse curve after putting the plate into a curved plate forming apparatus.

In the hot curve forming process, to form the complex curve, it is necessary to perform a complicated and precise heating process such as, for example, line heating 2a and triangle heating 2b locally at an intended location, and this heating process is performed using an automation machine as described in Patent Literatures <NUM> and <NUM>, rather than relying on an operator's manual heating task using a heat torch.

In the case of the existing automatic curved plate forming apparatus including Patent Literatures <NUM> and <NUM>, it is difficult to take a pose to precisely place a heating device in conformity with a curved surface in response to the curve forming process due to the limited operating range of a robot, and also difficult to maintain the gap between the heating device and the plate uniformly and precisely.

Accordingly, a situation in which the robot is difficult to perfectly perform the entire programmed curve forming process occurs, so it is impossible to achieve full unmanned automation or multicomponent continuous forming in the real applications, or the precision of products reduces, requiring an additional manual operation.

Additionally, recently, with dramatic increase in the shipbuilding demand, various technologies capable of supporting curved hull plate forming are being developed/widespread.

For example, examples of the existing technologies related to curved hull plate forming are described in more detail in <CIT>), <CIT>), <CIT>), <CIT>), <CIT>).

Meanwhile, under the existing system, a curved hull plate is fabricated by machining a steel plate of a predetermined thickness into a 3D curve designed based on the engineering technology, for example, hydromechanics, structural mechanics and oscillation, and the ship hull plate machining precision affects the overall design performance of the ship.

In this instance, forming a plate into a 3D shape uses a largely two-stage method, and the two-stage method is divided into mechanical primary cold forming through a press or a roller and secondary hot forming by applying heat to a steel plate using a gas torch.

The cold forming is a method which forms a curve using a roll press, a multi press or a bending press, and currently, it is commonly used by most of shipyards to form a developable shape. The developable shape refers to a shape that can be formed by simple bending deformation of a cut flat plate without in-plane contraction or expansion.

The hot forming is a process which forms an iron plate (a steel plate) into a 3D curved shape by applying heat to the steel plate using a heat source of a gas torch and a high frequency induction heating device to cause contraction, expansion and bending deformation.

Meanwhile, as shown in <FIG>, the existing curved hull plate forming operation includes 'a procedure of measuring an initial shape of a component (S1)', 'a procedure of registering a curved surface (S2)', 'a procedure of forming an outer longitudinal curve (a 3D shape of combined convex and concave shapes in the longitudinal direction of the component) using backside heat lines (S3)', 'a procedure of turning over the component (S4)' and 'a procedure of forming a transverse/longitudinal curve using line heating heat lines/triangle heating heat lines (S5)'.

In this instance, to perform the 'procedure of forming an outer longitudinal curve (a 3D shape of combined convex and concave shapes in the longitudinal direction of the component) using backside heat lines (S3)', an operator places a template having an intended shape for a target component, checks its deviation with an eye, marks backside heat lines on the component relying entirely on personal experience or determination, and performs a heating task.

However, the existing method relies entirely on simply the operator's skill and know-how, so it is difficult to define a tendency, causing a serious problem that it is impossible to standardize technology.

Additionally, the existing method requires a large amount of time in handing over skills to new operators as skilled operators get older, causing a serious problem with significant reduction in the overall productivity.

In particular, under the existing system, after the procedure S3 is performed, the procedure of turning over the component (S4) and the procedure of forming a transverse/longitudinal curve (S5) are performed, and in this instance, when it is determined that the outer longitudinal curve is not formed as desired, there is no choice but to repeat 'the procedure of turning over the component to heat the backside (i.e., the procedure of forming an outer longitudinal curve of S3)', and unavoidably, the shipbuilders have to put up with severe productivity losses.

Meanwhile, as shown in <FIG>, the existing curved hull plate forming operation includes 'a procedure of measuring an initial shape of a component (S10)', 'a procedure of registering a curved surface and setting critical heating conditions (S20)', 'a procedure of forming a transverse curve by line heating (S30)' and 'a procedure of forming a longitudinal curve by triangle heating (S40)'.

In this case, 'the procedure of forming a transverse curve by line heating (S30)' includes 'a procedure of generating curved profile frame data (S31)', 'a procedure of calculating/generating a heating point/heat line for each frame data (S32)', 'a procedure of generating line heating heat line information (S33)', 'a procedure of performing line heating according to the line heating heat line information (S34)' and 'a procedure for verifying a tolerance (S35)'.

Under the existing system, the 'procedure of generating line heating heat line information (S33)' is performed based on geometric analysis of the curved surface and the thermal deformation prediction technique of metals.

However, since the existing 'method for deriving line heating heat line information through thermal deformation prediction of metals' essentially includes so-called "appropriate assumption', there is a series of errors between the predicted forming amount and the actual thermal forming outcome to some extent, and as a result, unavoidably, shipbuilders have to perform '<NUM>~<NUM> additional measurement and additional heating procedures' including the 'procedure for verifying a tolerance (S35)' after 'one measurement and one automatic heating'.

Of course, as described above, when 'the <NUM>~<NUM> additional measurement and additional heating procedures' is unavoidably additionally performed after 'one measurement and one automatic heating', the shipbuilders inevitably have to put up with severe damage such as significant reduction in the overall ship production efficiency.

<CIT>, which forms the basis for the preamble of claim <NUM>, discloses hull outer plate curved surface forming equipment based on double mechanical arms and an implementation method thereof. A main body of an equipment hardware system adopts a frame structure of a portal frame, two floating six-shaft industrial mechanical arms are mounted on a cross beam of the portal frame, and a flame gun heating device, a water spray cooling device and a distance measuring sensor are mounted at the tail end of each mechanical arm; a camera acquires ship plate shape data; and a touch control console manipulates the entire equipment. The equipment software system integrates an intelligent forming decision support subsystem for the hull outer plate curved surface, a motion control subsystem and the like, the former is used to generate a heating track and machining parameters, and the latter is used to control the coordinated motion of the double mechanical arms.

<CIT> discloses a processing apparatus which includes a stretch-forming apparatus and a beam processing unit or apparatus, which can be controlled by a common control unit. The beam processing unit can be a laser beam processing unit, which permits a sheet metal piece to be subjected to an additional laser processing step before, during and/or after a stretch-forming process.

The present disclosure is designed to solve the above-described problems, and the first object of the present disclosure is to provide an automatic curved plate forming apparatus which performs a task by precisely taking the operating range and pose of a forming robot, maintaining the gap between a heating device and a curved plate precisely and uniformly, and accurately measuring the shape of the curved plate, thereby achieving multicomponent continuous heating and unmanned automation.

These and other objects of the present disclosure will be apparent from the following detailed description and the accompanying drawings.

To achieve the first object of the present disclosure, the present disclosure discloses an automatic curved plate forming apparatus of the invention, as defined in appended claim <NUM>.

In the automatic curved plate forming apparatus according to the present disclosure, the robotic arm preferably includes: the first arm; a second arm connected to a side of the first arm rotatably around a second axis that extends in a direction intersecting the first axis; a third arm connected to a rotating end of the second arm rotatably around a third axis that extends in a direction parallel to the second axis; a fourth rotation axis extending down from a side of the third arm and installed rotatably around a fourth axis that extends in a direction intersecting the third axis; a fifth arm connected to a front end of the fourth rotation axis rotatably around a fifth axis that extends in a direction intersecting the fourth axis; and a sixth rotation axis connected to an end of the fifth arm rotatably around a sixth axis that extends in a direction intersecting the fifth axis, and having an end connected to the mount to operate the mount.

In the automatic curved plate forming apparatus according to the present disclosure, the mount preferably includes a bottom plate, and a rear inclined plate inclined upward at an angle θ in an outer upward direction from a rear surface of the bottom plate, and an end surface of the sixth rotation axis is connected to the rear inclined plate, facing the rear inclined plate.

In the automatic curved plate forming apparatus according to the present disclosure, the inclination angle θ of the rear inclined plate to the bottom plate is preferably <NUM>° to <NUM>°.

In the automatic curved plate forming apparatus according to the present disclosure, preferably, the first arm includes an extended block that extends from a radial outer side of the first arm to use the second axis intersecting the first axis as a shaft center, and a base end portion of the second arm is connected to the extended block rotatably around the second axis.

In the automatic curved plate forming apparatus according to the present disclosure, the fourth axis which is a center of rotation of the fourth rotation axis is preferably formed at a location outside of the rotating end of the second arm.

In the automatic curved plate forming apparatus according to the present disclosure, a gap measuring sensor for measuring a gap between the heating head and the curved plate is preferably installed on a lower surface of the bottom plate of the mount, each one installed at nearby three locations adjacent to a perimeter of the heating head and additional one installed at one or more locations between the three locations.

In the automatic curved plate forming apparatus according to the present disclosure, a plurality of shape measuring sensors for measuring a shape of a part of the curved plate is preferably installed on a lower surface of one side of the carriage.

In the automatic curved plate forming apparatus according to the present disclosure, the shape measuring sensors are preferably installed at five or more locations in a transverse direction of the curved plate and in two or more lines in a longitudinal direction.

In the automatic curved plate forming apparatus according to the present disclosure, a heating head deformation measuring sensor for measuring deformation of the heating head is preferably installed in the carrier.

In the automatic curved plate forming apparatus according to the present disclosure, a heating head deformation measuring sensor for measuring deformation and position of the heating head is preferably installed in the carrier.

According to the automatic curved plate forming apparatus according to the present disclosure, by a combination of the structure of the <NUM>-axis robotic arm, the structure of the first arm of the <NUM>-axis robotic arm installed in a vertical direction from the side of the guide beam, the structure of the fifth arm and the sixth rotation axis, which are the working terminal of the <NUM>-axis robotic arm, installed at the predetermined angle θ to the mount, the structure of connecting two three rotation axes (the first arm, the fourth rotation axis, the sixth rotation axis), the gap measuring sensor, the shape measuring sensor and the collision detection sensor, it is possible to make use of the maximum operating range of the mount and the heating head, finely adjust the pose of the mount and the heating head, and precisely measure the shape of the curved plate, thereby realizing the automatic curved plate forming apparatus capable of unmanned automation.

Hereinafter, embodiments of an automatic forming system for curved plates according to the present disclosure will be described in detail with reference to the accompanying drawings.

It corresponds to claims <NUM> to <NUM>.

<FIG> is a diagram showing an automatic forming system for curved plates according to the present disclosure.

Referring to <FIG>, the automatic forming system for curved plates of the present disclosure includes an automatic curved plate forming apparatus <NUM> to form a curve using a robotic arm and a high frequency induction heating device, and a control device <NUM> equipped with a curve forming program and a computation device to control the entire automatic curved plate forming apparatus <NUM> and including an input device for a manager to input and an output device such as a monitor <NUM>, and forms a curved plate by automatically controlling the pose of the robotic arm and the high frequency induction heating device and the heating intensity and rate by the program.

<FIG> and <FIG> show the curved plate forming apparatus <NUM> according to the present disclosure, and <FIG> is a perspective view and <FIG> is a perspective view of the forming apparatus of <FIG> when viewed from a different direction.

Referring to <FIG> and <FIG>, the automatic curved plate forming apparatus <NUM> according to the present disclosure includes a bed <NUM> on which a curved plate <NUM> is loaded, a rail <NUM> installed in the longitudinal direction on the left and right sides of the bed <NUM>, and a carrier <NUM> movably mounted on each of the two rails <NUM>.

A column <NUM> extends upward from each of the two carriers <NUM>, and a guide beam <NUM> is installed across the two columns <NUM> (in the left-right direction in the drawing).

A carriage <NUM> is movably installed in the guide beam <NUM> in the left-right direction (in the transverse direction) along a guide rail <NUM> of the guide beam <NUM>.

Additionally, a rotation axis base <NUM> is mounted on the side of the carriage <NUM>, and a <NUM>-axis robotic arm <NUM> is mounted on the rotation axis base <NUM>.

The <NUM>-axis robotic arm <NUM>, in particular, its first arm <NUM> is connected rotatably around a first axis X1 that is perpendicular to the side of the carriage <NUM> and extends in a direction parallel to the ground.

As described above, as the first arm <NUM> of the <NUM>-axis robotic arm <NUM> is installed by a sidewall installation method, i.e., in a vertical direction from the side of the guide beam <NUM>, it is possible to make use of the maximum operating range of the <NUM>-axis robotic arm <NUM>.

The working terminal of the <NUM>-axis robotic arm <NUM> is connected to a mount <NUM> for mounting high frequency induction heating equipment and a heating head <NUM>.

The mount <NUM> is connected to the working terminal of the <NUM>-axis robotic arm <NUM> rotatably and pivotably in the vertical direction (for details, a reference is made to the following description of the <NUM>-axis robotic arm <NUM>).

The heating head <NUM> for high frequency induction heating of the curved plate <NUM> is installed in the mount <NUM>. The heating head <NUM> is installed at a location that is spaced a predetermined distance down apart from the mount <NUM>. To this end, a support <NUM> extends down from the mount <NUM>, and the heating head <NUM> is installed at the front end of the support <NUM>. The heating head <NUM> has a heating region having a high frequency induction coil as with Patent Literature <NUM>, and the support <NUM> has a power supply line to supply the electric current to the high frequency induction coil.

The heating head <NUM> heats in a pose facing the curved plate <NUM> in parallel to the surface of the curved plate <NUM> with a uniform gap through the motion control of the <NUM>-axis robotic arm <NUM>.

Subsequently, the structure of the <NUM>-axis robotic arm <NUM> according to the present disclosure will be described in detail through <FIG>.

<FIG> is a perspective view, <FIG> is a perspective view of the robot of <FIG> when viewed from a different direction, <FIG> is a side view, <FIG> is a perspective view of the main part (the working terminal), and <FIG> is a side view of the main part (the working terminal).

To begin with, referring to <FIG>, the above-described carriage <NUM> is movable along the guide beam <NUM> with its guide block 512a slidably connected to the guide rail <NUM> of the guide beam <NUM>.

Specifically, the carriage <NUM> includes a front plate <NUM> that faces the front side of the guide beam <NUM>, a bottom plate <NUM> that extends from the front plate <NUM> across the lower surface of the guide beam <NUM>, and a rear plate <NUM> that extends up from the bottom plate <NUM> and faces the rear side of the guide beam <NUM>. An extended plate <NUM> extends horizontally from the rear plate <NUM>. A shape measuring sensor <NUM> as described below is installed in the extended plate <NUM>.

The above-described rotation axis base <NUM> is mounted on the side of the carriage <NUM>, i.e., the front plate <NUM>, and the first arm <NUM> of the <NUM>-axis robotic arm <NUM> is connected to the rotation axis base <NUM>.

The first arm <NUM> is connected rotatably around the first axis X1 that is perpendicular to the side of the carriage <NUM> and extends in a direction parallel to the ground.

The first arm <NUM> is connected to the rotation axis base <NUM>. The first arm <NUM> is connected rotatably around the first axis X1 that is perpendicular to the side of the carriage <NUM> and extends in a direction parallel to the ground.

A second arm <NUM> is connected to the side of the first arm <NUM>. The second arm <NUM> has a base end portion <NUM> connected rotatably around a second axis X2 that extends in a direction intersecting the first axis X1. Accordingly, the second arm <NUM> may make a combination of a motion of rotating around the first axis X1 by rotation of the first arm <NUM> as a whole, and at the same time, a motion of self-rotating around the second axis X2.

The first arm <NUM> may have an extended block <NUM>. The extended block <NUM> extends in a direction parallel to the first axis X1 from a radial outer side of the first arm <NUM> to use the second axis X2 intersecting the first axis X1 as its shaft center.

The base end portion <NUM> of the second arm <NUM> is connected to the extended block <NUM> rotatably around the second axis X2.

A third arm <NUM> is connected to a rotating end <NUM> of the second arm <NUM>. The third arm <NUM> is connected rotatably around a third axis X3 that extends in a direction parallel to the second axis X2.

A fourth rotation axis <NUM> is rotatably installed in the third arm <NUM>. The fourth rotation axis <NUM> is installed such that it extends down from one side of the third arm <NUM>, and is installed rotatably around a fourth axis X4 that extends in a direction intersecting the third axis X3. When the third arm <NUM> keeps the horizon, the third arm <NUM> assumes a shape that extends down in a direction perpendicular to the third arm <NUM>.

In this embodiment, the fourth axis X4 which is the center of rotation of the fourth rotation axis <NUM> is formed at a location outside of the rotating end <NUM> of the second arm <NUM>. This is achieved by the third arm <NUM> having an extended length in the radial direction from the third axis X3 enough to go beyond the rotating end <NUM> of the second arm <NUM> around the third axis X3.

A fifth arm <NUM> is connected to the front end of the fourth rotation axis <NUM>. The fifth arm <NUM> is connected rotatably around a fifth axis X5 that extends in a direction intersecting the fourth axis X4.

A sixth rotation axis <NUM> is rotatably connected to a rotating end of the fifth arm <NUM>. The fifth arm <NUM> is connected rotatably around a sixth axis X6 that extends in a direction intersecting the fifth axis X5.

The above-described mount <NUM> is connected to the end of the sixth rotation axis <NUM>. Accordingly, the mount <NUM> makes a combination of a motion of vertically rotating around the fifth axis X5 by the fifth arm <NUM> and a motion of rotating around the sixth axis X6 by the sixth rotation axis <NUM>.

Subsequently, <FIG> and <FIG> illustrate a connection relationship between the working terminal of the <NUM>-axis robotic arm <NUM> and the mount <NUM>, <FIG> is a perspective view, and <FIG> is a side view.

Referring to <FIG> and <FIG>, in this embodiment, the mount <NUM> includes a bottom plate <NUM> and a rear inclined plate <NUM> inclined upward at an angle θ in the outer upward direction from the rear surface of the bottom plate <NUM>. The inclination angle θ of the rear inclined plate <NUM> to the bottom plate <NUM> is preferably <NUM>° to <NUM>°.

The rear inclined plate <NUM> is configured to connect the sixth rotation axis <NUM> which is the working terminal of the <NUM>-axis robotic arm <NUM>.

That is, an end surface <NUM> of the sixth rotation axis <NUM> is connected to the rear inclined plate <NUM>, facing the rear inclined plate <NUM>.

As the mount <NUM> has the rear inclined plate <NUM> inclined at the angle θ and the end surface <NUM> of the sixth rotation axis <NUM> is connected to the rear inclined plate <NUM>, facing the rear inclined plate <NUM>, an angle between the sixth axis X6 (the same direction as an extension axis of the fifth arm <NUM>) which is the center of axis of the sixth rotation axis <NUM> and the bottom plate <NUM> may be inclined as much as the angle θ between the bottom plate <NUM> and the rear inclined plate <NUM>.

As described above, as the fifth arm <NUM> and the sixth rotation axis <NUM> which are the working terminal of the <NUM>-axis robotic arm <NUM> are installed at the predetermined angle θ (for example, <NUM>°) to the mount <NUM>, it is possible to make use of the maximum operating range of the mount <NUM> and the heating head <NUM> and precisely adjust the pose of the mount <NUM> and the heating head <NUM>.

For example, since the existing automatic curved plate forming apparatus including Patent Literatures <NUM> and <NUM> has the rotation axis base <NUM> and the first arm <NUM> vertically installed and rotating around the vertical axis to rotate the entire robotic arm and the working terminal of the robotic arm and the mount <NUM> installed in the same direction, it is difficult to take a pose in conformity with the complex shape of the curved plate <NUM> due to the limited operating range and pose of the robotic arm and the mount <NUM>.

However, as described above, the <NUM>-axis robotic arm <NUM> of the present disclosure has a structure that the first arm <NUM> is installed in a vertical direction from the side of the guide beam <NUM>, thereby rotating the entire <NUM>-axis robotic arm <NUM> around the horizontal first axis X1. Additionally, by the structure in which the fifth arm <NUM> and the sixth rotation axis <NUM> which are the working terminal of the <NUM>-axis robotic arm <NUM> are installed at the predetermined angle θ to the mount <NUM>, it is possible to expand the operating range of the mount <NUM> and the heating head <NUM> and take a precise pose. Additionally, by the structure of one first arm <NUM> rotating in the horizontal direction, the second arm <NUM> connected to the first arm <NUM> rotatably in the vertical direction, the fourth rotation axis <NUM> in the vertical direction mounted on the second arm <NUM>, and the fifth arm <NUM> at the front end of the fourth rotation axis <NUM> and connected to the mount <NUM> at an angle through the sixth rotation axis <NUM>, it is possible to expand the operating range of the mount <NUM> and the heating head <NUM> and take a precise pose. Additionally, these advantages are maximized by combining the above structures.

<FIG> and <FIG> illustrate the arrangement of gap measuring sensors <NUM> according to the present disclosure, <FIG> is a perspective view of the mount <NUM> which is a heating device when viewed from the bottom, and <FIG> is a plan view showing an arrangement relationship of the gap measuring sensors <NUM>.

Referring to <FIG> and <FIG>, the gap measuring sensor <NUM> of the present disclosure measures the gap between the heating head <NUM> and the curved plate <NUM> and transmits to the control device <NUM>, to enable the control device <NUM> to control the pose of the heating head <NUM> to maintain the uniform gap, facing the curved plate <NUM>.

As shown in <FIG>, the plurality of gap measuring sensors <NUM> is installed on the lower surface of the bottom plate <NUM> of the mount <NUM>. The gap measuring sensor <NUM> includes a laser displacement sensor, and calculates the gap between the heating head <NUM> and the curved plate <NUM> by measuring the distance from the curved plate <NUM>.

The gap measuring sensors <NUM> have an arrangement structure shown in <FIG>.

Although four or more gap measuring sensors <NUM> are installed in this embodiment, each one gap measuring sensor may be installed at nearby three locations adjacent to the perimeter of the heating head <NUM>, and one additional gap measuring sensor may be installed at one or more locations between the three locations.

To calculate a relative position between the heating head <NUM> and the curved plate <NUM>, it is necessary to measure three locations on the curved plate <NUM>, but since it is not guaranteed that the gap measuring sensors <NUM> always make accurate measurements, in addition to the three sensors, one more sensor is installed in at least one location, and the position of the curved plate <NUM> is predicted by combining three of the measurement points except a sensor value predicted to be inaccurate measurement, and the position and pose of the coil is calculated to keep the heating head <NUM> parallel to the position with a uniform gap.

As with the embodiment shown in <FIG> and <FIG>, it is preferred to basically have three gap measuring sensors <NUM>: 600a, 600b, 600c, and install an additional gap measuring sensor 600d between the gap measuring sensor 600a and the sensor 600b and an additional gap measuring sensor 600e between the gap measuring sensor 600a and the sensor 600c.

<FIG> is a diagram showing the arrangement of sensors for curved plate shape measurement of the curve forming robot according to the present disclosure.

Referring to <FIG>, the shape measuring sensor <NUM> includes a laser displacement sensor, and is installed in the carriage <NUM>.

In this embodiment, the extended plate <NUM> is integrally formed in the carriage <NUM>, and the plurality of shape measuring sensors <NUM> is installed in the extended plate <NUM>.

The plurality of shape measuring sensors <NUM> measures the shape over the entire area of the curved plate <NUM> while moving with the front-rear movement of the guide beam <NUM> and the left-right movement of the carriage <NUM>.

As can be seen from the figure shown in the lower part of <FIG>, the plurality of shape measuring sensors <NUM> is placed in arrangement for measuring the shape of a measurement zone Z1 of a predetermined area (for example, a square or rectangular zone). Accordingly, the shape of all or part of the curved plate <NUM> may be measured by measuring the measurement zones Z1 in a sequential order with the movement of the carriage <NUM> and the carrier <NUM> along the curved plate <NUM>, and transmitted to the control device <NUM>.

As with this embodiment, the arrangement of the plurality of shape measuring sensors <NUM> may include at least ten shape measuring sensors installed at five locations in the transverse direction of the curved plate <NUM> and in two lines in the longitudinal direction.

Since the curved plate <NUM> is placed on the bed <NUM> in the lengthwise direction of the bed <NUM>, the curved plate <NUM> has a high curvature in the widthwise direction and a low curvature in the longitudinal direction (the lengthwise direction).

Accordingly, since it is efficient that the plurality of shape measuring sensors <NUM> measures at a small interval in the widthwise direction in which the curvature is high and a large interval in the longitudinal direction in which the curvature is low, it is preferred to arrange the ten shape measuring sensors <NUM> in a way of densely arranging five shape measuring sensors <NUM> in the widthwise direction and widely arranging in two lines in the lengthwise direction.

By the arrangement of the shape measuring sensors <NUM>, the distance from each shape measuring sensor <NUM> to the curved plate <NUM> may be measured, and the control device <NUM> may calculate the shape of the curved plate <NUM> through the measured distance.

Meanwhile, according to <FIG> and <FIG>, a heating head deformation measuring sensor <NUM> is installed in the carrier <NUM> to measure the deformation of the heating head <NUM>.

The heating head deformation measuring sensor <NUM> may include a laser displacement sensor or an imaging sensor.

The heating head deformation measuring sensor <NUM> measures the actual gap between the heating head <NUM> and the curved plate <NUM> by measuring the actual position of the heating head <NUM> that directly heats the curved plate <NUM>, and transmits to the control device <NUM>, to enable the control device <NUM> to correct the position of the heating head <NUM> or detect the deformation of the heating head <NUM>.

As described above, it is possible to achieve precise and uniform gap maintenance and precise forming by measuring the position or deformation of the heating head <NUM> through the heating head deformation measuring sensor <NUM>.

Additionally, as shown in <FIG> and <FIG>, a collision detection sensor <NUM> is installed in the mount <NUM>.

The collision detection sensor <NUM> may include a load cell, a stress sensor and an acceleration sensor, and when an impact above a reference value is applied to the heating head <NUM>, the signal may be transmitted to the control device <NUM> to stop the equipment or generate an alarm.

As described above, by a combination of the structure of the <NUM>-axis robotic arm <NUM>, the structure of the first arm <NUM> of the <NUM>-axis robotic arm <NUM> installed in a vertical direction from the side of the guide beam <NUM>, the structure of the fifth arm <NUM> and the sixth rotation axis <NUM>, which are the working terminal of the <NUM>-axis robotic arm <NUM>, installed at the predetermined angle θ to the mount <NUM>, the structure of connecting two three rotation axes (the first arm <NUM>, the fourth rotation axis <NUM>, the sixth rotation axis <NUM>), and the gap measuring sensor <NUM>, the shape measuring sensor <NUM> and the collision detection sensor <NUM>, the present disclosure may make use of the maximum operating range of the mount <NUM> and the heating head <NUM>, finely adjusting the pose of the mount <NUM> and the heating head <NUM>, and precisely measuring the shape of the curved plate <NUM>, thereby realizing the automatic curved plate forming apparatus capable of unmanned automation.

The outer longitudinal curve forming system for curved hull plates not according to the present disclosure will be described in more detail below.

As shown in <FIG>, the outer longitudinal curve forming system <NUM> for curved hull plates not according to the present disclosure performs a procedure of forming an outer longitudinal curve in a component by communication with 'a design system <NUM> for providing a component design shape (a curved surface design shape)', 'a curved surface registration system <NUM> for performing a procedure of registering a curved surface design shape and a measured curved surface shape', 'a measurement system <NUM> for providing a measured component shape (a measured curved surface shape)', 'a component turnover system <NUM> for turning over the component' and 'a transverse/longitudinal curve forming system <NUM> for forming a transverse/longitudinal curve in the component'.

For reference, <FIG> shows the conceptual shape of the transverse/longitudinal curve formed by the transverse/longitudinal curve forming system <NUM>, and the conceptual shape of the outer longitudinal curve formed by the outer longitudinal curve forming system <NUM> for curved hull plates not according to the present disclosure.

In this instance, as shown in <FIG>, the outer longitudinal curve forming system <NUM> for curved hull plates not according to the present disclosure takes a closely combined configuration of a bending line extraction module <NUM>, a frame data generation module <NUM>, a component design shape point coordinates setting module <NUM>, a heating point/amount calculation module <NUM>, a backside heating mechanical device <NUM>, a backside heat line information generation module <NUM>, a backside heat line information transmission module <NUM> and a backside re-heating determination module <NUM>, in communication with 'the design system <NUM> for providing a component design shape', 'the measurement system <NUM> for providing a measured component shape', 'the component turnover system <NUM> for turning over a component' and 'the transverse/longitudinal curve forming system <NUM> for forming a transverse/longitudinal curve in the component' by the medium of an interface module <NUM>.

As shown in <FIG>, the bending line extraction module <NUM> performs a procedure of loading the component design shape by communication with the design system <NUM>, and generating a main bending line for the corresponding component design shape.

Under this procedure, the bending line extraction module <NUM> imports the design shape of the component and generates the main bending line for the design shape of the component.

The main bending line extracts the lowest or highest location in two edge profiles of the component, connects with a straight line, and defines as the lowest location (deepest point) in cross section when the component is placed in a correct direction, and to the contrary, the highest location (highest point) in cross section when the component is turned over (see <FIG>).

As shown in <FIG>, the frame data generation module <NUM> performs a procedure of extracting the main bending line, generating N (N = <NUM>, <NUM>, <NUM>. ) frame lines parallel on the left and right sides with respect to the corresponding main bending line at an interval, storing the XYZ coordinates of points of each frame line as 'component design shape parallel frame data FL', generating M (M = <NUM>, <NUM>, <NUM>. ) frame lines perpendicular to the main bending line or having an angle at an interval, and storing the XYZ coordinates of points of each frame line as 'component design shape perpendicular frame data FT'.

Under this procedure, the frame data generation module <NUM> extracts the main bending line, and generates N frame lines parallel on the left and right sides with respect to the main bending line at a uniform interval as shown in <FIG>, and the frame lines are defined as FL. The interval a of the parallel frame lines may change depending on the outer longitudinal curve amount, and the point coordinates of each frame are stored in a frame data structure.

In addition to the FL data generated in <FIG>, as shown in <FIG>, M frame lines perpendicular to the main bending line or having an angle are generated at an interval, and they are defined as FT. The interval b of the frame lines which are perpendicular or have an angle may change depending on the outer longitudinal curve amount, and the point coordinates of each frame are stored in the frame data structure.

As shown in <FIG>, the component design shape point coordinates setting module <NUM> performs a procedure of generating an imaginary plane vertically spaced along the Z axis from the component design shape, and setting a vertical distance e between each point of the corresponding imaginary plane and each frame line of the FL as the coordinates (Pd, i) of each component design shape point Pd of the component design shape.

Under this procedure, the component design shape point coordinates setting module <NUM> generates an arbitrary plane c vertically spaced in the z direction from the 3D computer-aided design (CAD) shape of the component imported from the design system <NUM> (see <FIG>).

In this instance, the arbitrary plane c is parallel to the xy plane of the reference coordinate system and spaced a specific distance d in the z direction apart from the origin. The vertical distance e from the frame line FL generated in <FIG> is extracted from the arbitrary plane c parallel to the coordinate system and stored in the structure. The stored z coordinate value e at each position is regarded as an outer longitudinal curve amount of the component.

The heating point/amount calculation module <NUM> performs a procedure of loading the measured component shape by communication with the measurement system <NUM>, and as shown in <FIG>, setting 'a situation in which there are K (K = <NUM>, <NUM>, <NUM>. ) virtual heating points in the measured component shape, and the coordinates (Pm, i) of the measured component shape points Pm become close to the coordinates (Pd, i) of the component design shape points Pd by rotational movement of each of the corresponding measured component shape points Pm of the measured component shape by angular deformation of the virtual heating points', calculating the coordinates (Ph, j) of optimal virtual heating points satisfying the allowable criterion tol for all dZi (i = <NUM>, <NUM>, <NUM>. , M) as practicable heating point coordinates of the component design shape by repeatedly calculating Z-direction deviation dZi of the coordinates (Pm, i) and the coordinates (Pd, i) with varying numbers and positions of the virtual heating points, and calculating an angular deformation amount of the corresponding optimal virtual heating point as a practicable heating amount of the component design shape.

When there is a heating point in the component, angular deformation occurs by rotational deformation by bending the component with respect to the heating point.

When there is a plurality of heating points (K heating points) on the initial profile or the measured curved profile, the point coordinates (Pm, i) on the measured curved profile frame data make rotational movement close to the point coordinates (Pd, i) on the design curved profile frame data FL by angular deformation of each heating point (for example, the heating points exist on the FT). That is, each of M Z-direction (heightwise direction) deviations dZi of the point coordinates of the design curved profile frame data and the measured curved profile frame data becomes close to <NUM> by K angular deformations (see <FIG>).

In this instance, the heating point/amount calculation module <NUM> repeatedly calculates the height deviation dZi for each case with varying numbers and positions of heating points, and for all dZi (i = <NUM>, <NUM>,. , M), when the allowable criterion tol is satisfied, stores the heating point coordinates (Ph, j) of the corresponding case and the angular deformation amount at each heating point in the measured curved profile frame data structure. In this instance, the angular deformation amount is stored in the heating amount column.

The heating point/amount calculation module <NUM> performs this process on all the design curved profiles and the measured curved profiles, and stores the heating point position coordinates and the angular deformation amount for each curved profile in each measured curved profile frame data structure.

Meanwhile, as shown in <FIG>, the backside heat line information generation module <NUM> performs a procedure of generating backside heat line information including the practicable heating point coordinates of the component design shape and the practicable heating amount of the component design shape.

Under this procedure, when the heating point and the heating amount are stored in all the curved profile frame data (FL, FT), the backside heat line information generation module <NUM> generates backside heat line information.

The rule for generating the backside heat line information is as follows (see <FIG>).

First, heating points (a total of F heating points) of <NUM>st curved profile frame data FL-<NUM> are stored as P11, P12,. , P1F, respectively. In this instance, the heating points are stored in the descending order of X coordinates. P11 is stored in Ph_1 again.

Subsequently, frame data FT-<NUM> that passes through Ph_1 and is perpendicular to the bending line or has an angle is used. The (X, Y, Z) coordinates and the heating amount of Ph_1 are added to an arbitrary {Ph_line}. {Ph_line} is a temporary array and stores the heating point coordinates and the heating amount of each heating point.

Subsequently, heating points on <NUM>nd~Nth curved profile frame data FL are detected to determine whether any corresponding heating point is within a distance w from the imaginary straight line in a sequential order from the <NUM>nd curved profile frame data FL-<NUM>, and if any, the coordinates and the heating amount of the corresponding heating point are added to the array {Ph_line}.

Subsequently, when the coordinates and the heating amounts of the heating points on the last Nth curved profile frame data FL are added to {Ph_line}, {Ph_line} is added to the heat line information data structure. The P12 is stored in Ph_1 again, {Ph_line} is initialized (array content is all deleted), and the coordinates and the heating amount of Ph_1 are added to {Ph_line}. Subsequently, the previous process is repeated. Likewise, P13~P1F undergo the previous process.

Subsequently, when there is a heating point spaced the distance w apart from the heating point P2F generated in the previous FL-<NUM> among the heating points P3F generated in the curved profile frame data FL-<NUM>, in case that the distance is less than a specific distance value w', the heating point is regarded as a heating point connected to the heating point P2F generated in the previous FL, and connected with a heat line and added to (heat line on FT-<NUM>) information data structure.

The above-described steps are repeated. Here, frame data (FL & FT) heating points of I-<NUM>th~Nth curved profiles are detected.

As shown in <FIG> and <FIG>, the backside heat line information transmission module <NUM> performs a procedure of receiving the backside heat line information by communication with the backside heat line information generation module <NUM>, and transmitting the received backside heat line information to the backside heating mechanical device <NUM> as described below, to induce the formation of an outer longitudinal curve in the component.

The heating point coordinates and heating amounts for each item of the heat line information data structure generated through the backside heat line information generation process become the elements of one heat line.

When HL_S, HL_F, v_HL is set for each item of the heat line information data structure, the backside heat line information transmission module <NUM> stores these values in a separate data file to allow the backside heating mechanical device <NUM> to read (see <FIG> and <FIG>).

In this instance, in case that the total number of heat lines stored in the heat line information data is n, n dat files are generated and distinguished by number. The file name is set as [HEATLINE-<NUM>. DAT]~[HEATLINE-n. When the total of n dat files are converted, the backside heat line information transmission module <NUM> transmits them to the backside heating mechanical device <NUM> all at once.

The backside heating mechanical device <NUM> performs a procedure of forming an outer longitudinal curve in the component by machining the corresponding component according to the backside heat line information.

Under this procedure, as shown in <FIG>, when the backside heating mechanical device <NUM> receives the total of n heating task files of [HEATLINE-<NUM>. DAT]~[HEATLINE-n. DAT] from the backside heat line information transmission module <NUM>, the backside heating mechanical device <NUM> sequentially performs the heating task from <NUM> to n. The heating task is performed at the recorded heating rate v_HL from the starting coordinates HL_S to the ending coordinates HL_F recorded in in each file.

Under a situation in which the outer longitudinal curve is formed in the component by the backside heating of the backside heating mechanical device <NUM>, as shown in <FIG>, the backside re-heating determination module <NUM> performs a procedure of registering the component design shape and the measured component shape, calculating Z component deviation dZi (i = <NUM>, <NUM>, <NUM>. , M) of the coordinates of the component design shape points of the component design shape and the coordinates of the measured component shape points of the measured component shape, calculating an average value of the corresponding Z component deviations dZi (i = <NUM>, <NUM>, <NUM>. , M), determining if the calculated average value is equal to or less than a preset tolerance value dL, when the average value is equal to or less than the tolerance value dL, determining to terminate the operation, and when the average value is equal to or more than the tolerance value dL, determining to re-heat the backside of the component.

Under this procedure, the backside re-heating determination module <NUM> calculates an error of the longitudinal curve as an average error of the point coordinates on the curved profile frame data FT, and determines whether to terminate the operation or re-heat by comparing with dL (longitudinal curve tolerance) set by the system <NUM>.

In this instance, the backside re-heating determination module <NUM> stores intersection lines at which a plane passing through center points A, B of two edges of the transverse curve and including the Z axis meets the design curved surface (the component design shape) and the measured curved surface (the measured component shape) as design longitudinal curved profile curve geometry and measured longitudinal curved profile curve geometry, respectively, and extracts point coordinates and stores in the form of frame data.

Subsequently, the backside re-heating determination module <NUM> additionally stores two edges of the design longitudinal curve as the design longitudinal curved profile curve geometry and extracts point coordinates to generate design longitudinal curved profile frame data. The coordinates obtained by projecting the point coordinates onto the measured curved surface in the Z direction are stored in the measured longitudinal curved profile frame data. Each three design/measured longitudinal curved profile frame data is generated through the previous process.

Subsequently, the backside re-heating determination module <NUM> calculates the average error of longitudinal curved profile frame data by applying the following process:.

As described above, since the present disclosure systematically arranges/provides, under a communication system of 'a design system for providing a component design shape', 'a measurement system for providing a measured component shape', 'a component turnover system for turning over a component' and 'a transverse/longitudinal curve forming system for forming a transverse/longitudinal curve in the component', <a computation module for loading the component design shape by communication with the design system and generating a main bending line for the corresponding component design shape>, <a computation module for extracting the main bending line, generating N (N = <NUM>, <NUM>, <NUM>. ) frame lines parallel on the left and right sides with respect to the corresponding main bending line at an interval, storing the XYZ coordinates of points of each frame line as 'component design shape parallel frame data FL', generating M (M = <NUM>, <NUM>, <NUM>. ) frame lines perpendicular to the main bending line or having an angle at an interval, and storing the XYZ coordinates of points of each frame line as 'component design shape perpendicular frame data FT'>, <a computation module for generating an imaginary plane vertically spaced along the Z axis from the component design shape, and setting a vertical distance e between each point of the corresponding imaginary plane and each frame line of the FL as coordinates (Pd, i) of each component design shape point Pd of the component design shape>, <a computation module for loading the measured component shape by communication with the measurement system, setting 'a situation in which there are K (K = <NUM>, <NUM>, <NUM>. ) virtual heating points in the measured component shape, and the coordinates (Pm, i) of the measured component shape points Pm become close to the coordinates (Pd, i) of the component design shape points Pd' by rotational movement of each of the corresponding measured component shape points Pm of the measured component shape by angular deformation of the virtual heating points, calculating the coordinates (Ph, j) of optimal virtual heating points satisfying the allowable criterion tol for all dZi (i = <NUM>, <NUM>, <NUM>. , M) as practical heating point coordinates of the component design shape by repeatedly calculating Z-direction deviation dZi between the coordinates (Pm, i) and the coordinates (Pd, i) with varying numbers and positions of the virtual heating points, and calculating an angular deformation amount of the corresponding optimal virtual heating point as a practicable heating amount of the component design shape>, <a computation module for generating backside heat line information including the practicable heating point coordinates of the component design shape and the practicable heating amount of the component design shape> and <a mechanical device for forming an outer longitudinal curve in the component by machining the corresponding component according to the backside heat line information>, under the implementation environment of the present disclosure, it is possible to automatically perform 'a procedure of forming an outer longitudinal curve using backside heat lines' without operators' intervention, thereby helping shipbuilders to effectively avoid many conventional problems resulting from the operator-centered outer longitudinal curve forming procedure, i.e., difficult to define a tendency, impossible to standardize technology, overall productivity reduction, and repetition of the outer longitudinal curve forming procedure.

The present disclosure exerts useful effects over a wide range of applications requiring efficient curved hull plate forming.

As shown in <FIG>, the transverse curve forming system <NUM> for curved hull plates not according to the present disclosure performs a procedure of forming a transverse curve in a component by communication with 'a design system <NUM> for providing a component design shape (a curved surface design shape)', 'a curved surface registration system <NUM> for performing a procedure of registering a design curved surface shape and a measured curved surface shape', 'a measurement system <NUM> for providing a measured component shape (a measured curved surface shape)', 'a heating constraints setting system <NUM> for setting heating constraints' and 'a longitudinal curve forming system <NUM> for forming a longitudinal curve in a component'.

In this instance, as shown in <FIG>, the transverse curve forming system <NUM> for curved hull plates not according to the present disclosure takes a closely combined configuration of a curved profile frame data generation module <NUM>, a heating point/amount calculation module <NUM>, a line heating heat line information generation module <NUM>, an additional line heating heat line information generation module <NUM>, a line heating heat line information transmission module <NUM> and a line heating mechanical device <NUM>.

In this case, the additional line heating heat line information generation module <NUM> uniquely performs 'a function of newly supplementing/adding additional line heating heat line information to the existing line heating heat line information array generated by the line heating heat line information generation module <NUM>', and as shown in <FIG>, takes a closely combined configuration of a basic data generation module <NUM>, an artificial intelligence module <NUM> and an additional heat line information generation module <NUM>.

First, as shown in <FIG>, the curved profile frame data generation module <NUM> performs a procedure of generating measured curved profile frame data and design curved profile frame data.

Under this procedure, the curved profile frame data generation module <NUM> divides two Y direction edges v1~v2, v3~v4 of the registered design curved surface at a predetermined interval a, and at the same time, when a plane T including the Z axis intersects the design curved surface and the measured curved surface, generates the intersection line of each curved surface as curved profile curve geometry of the design curved surface and the measured curved surface (<NUM>nd~N-<NUM>th in <FIG>).

Additionally, the curved profile frame data generation module <NUM> generates two edges v1~v4, v2~v3 of the transverse curve at two ends of the design curved surface itself as design curved profile geometry, and generate each of two curves formed by projecting each design curved profile geometry onto the measured curved surface in the Z direction as measured curved profile geometry (<NUM>st and Nth in <FIG>).

Additionally, as shown in <FIG> and <FIG>, the curved profile frame data generation module <NUM> extracts M point coordinates on the curve at an interval b from the design curved profile curve geometry (including two end points) and stores in the design curved profile frame data structure. Again, M intersection point coordinates obtained by projecting each design curved profile point onto the measured curved profile curve geometry in the Z direction again are stored in the measured curved profile frame data structure. In this instance, the configuration of the design curved profile frame data and the measured curved profile frame data is as follows, and the measured curved profile frame data structure includes not only the curve point coordinates but also heating point coordinates and heating amount columns, and their values are generated and stored in the [heating point and heating amount for each frame data] step.

Meanwhile, as shown in <FIG>, the heating point/amount calculation module <NUM> performs a procedure of calculating a heating point/amount for each measured curved profile frame data, and calculating a heating point/amount for each design curved profile frame data.

When there is a heating point in the component, angular deformation occurs by rotational deformation by bending the component with respect to the heating point. When there is a plurality of heating points (K heating points) on the measured curved profile curve, the point coordinates (Pm, i) on the measured curved profile frame data become close to the point coordinates (Pd, i) on the design curved profile frame data by rotational movement by angular deformation of each heating point. That is, each of M Z-direction (heightwise direction) deviations dZi of the point coordinates of the design curved profile frame data and the measured curved profile frame data becomes close to <NUM> by K angular deformations.

Under this situation, as shown in <FIG>, the heating point/amount calculation module <NUM> repeatedly calculates a height deviation dZi for each case with varying numbers and positions of heating points, and for all dZi (i = <NUM>, <NUM>,. , M), when the allowable criterion tol is satisfied, stores the heating point coordinates (Ph, j) of the corresponding case and the angular deformation amount at each heating point in the measured curved profile frame data structure. In this instance, the angular deformation amount is stored in the heating amount column. This process is performed on all the design curved profiles and the measured curved profiles, and the heating point position coordinates and the angular deformation amount for each curved profile are stored in each measured curved profile frame data structure.

Meanwhile, as shown in <FIG>, the line heating heat line information generation module <NUM> performs a procedure of generating line heating heat line information including starting point coordinates and ending point coordinates of the line heating heat line based on the heating point/amount for each measured curved profile frame data and the heating point/amount for each design curved profile frame data.

Under this procedure, the line heating heat line information generation module <NUM> generates line heating heat line information when the heating point and the heating amount are stored in all the measured curved profile frame data.

The rule for generating the line heating heat line information is as follows (see <FIG>).

Meanwhile, the additional line heating heat line information generation module <NUM> of the present disclosure performs a procedure of generating additional line heating heat line information including starting point coordinates and ending point coordinates of additional line heating heat lines by training deviation distribution data between the measured curved profile and the design curved profile via 'image data based conditional generated adversarial network (cGAN)'.

In this instance, on the side of the basic data generation module <NUM> shown in <FIG>, the additional line heating heat line information generation module performs a procedure of generating deviation distribution data between the measured curved profile and the design curved profile, and the additional heat line information generation module <NUM> performs a procedure of receiving the starting point coordinates and the ending point coordinates of the additional line heating heat lines from the artificial intelligence module <NUM>, and generating additional line heating heat line information using the received coordinates, to induce the addition of the additional line heating heat line information to the line heating heat line information array generated by the line heating heat line information generation module <NUM>.

Under this procedure, as shown in <FIG>, the basic data generation module <NUM> forms a pair of Z-direction height deviations (initial required forming amount) of the X, Y coordinates of point positions on all the measured curved profile frame data and point positions on the design curved profile frame data at the corresponding locations, discretizes a distribution of the initial forming amount in the component such as (Xi, Yi, ΔZi) and stores in the form of a table. In this instance, N points on the frame data which are the same as the number of frames are extracted.

Additionally, the basic data generation module <NUM> inputs the deviation (initial forming amount) distribution data between the measured curved surface and the design curved surface in the form of a table to the artificial intelligence module <NUM>, and receives the output of two end (heating starting point and ending point) coordinates of an additional heat line to be additionally generated after 'the heating task based on thermal deformation prediction technique of metals' by the line heating heat line information generation module <NUM>.

In this instance, since the result by the artificial intelligence module <NUM> represents the additional heat line as a rectangle having the thickness of 2t in the (s, t) domain normalization range, when the coordinates of two end points of the center line of the rectangle are P's(s, t), P'e(s, t), these values are converted into the coordinates Ps(X, Y), Pe(X, Y) in the original (X, Y) domain of the component by applying the inverse transform Tinv of transform T used in normalization mapping. The finally converted Ps(X, Y), Pe(X, Y) become the predicted starting position coordinates and ending position coordinates of the additional heat line, respectively.

Here, the additional heat line information generation module <NUM> generates the heat line information from the received starting/ending coordinates of the additional heat line, and adds to the 'line heating heat line information array based on thermal deformation prediction technique of metals' by the line heating heat line information generation module <NUM>.

In this instance, as shown in <FIG>, the artificial intelligence module <NUM> performs 'an input data preprocessing procedure of normalizing and imaging the deviation distribution data', 'an output data preprocessing procedure of imaging the additional heat line', 'a procedure of receiving the input data preprocessing result information and outputting cGAN prediction generator G(a)', 'a procedure of receiving the output data preprocessing result information and the G(a), and outputting cGCAN discriminator D(b|a), D(G(a)|a)', 'a procedure of determining a loss function', 'a procedure of repeating the output procedure of the cGAN prediction generator G(a) and the output procedure of the cGCAN discriminator D(b|a), D(G(a)|a) according to the loss function determination result' and 'a procedure of registering an additional heat line prediction module'.

Hereinafter, the function performing procedure of the artificial intelligence module <NUM> will be described in detail.

As shown in <FIG> and <FIG>, in general, an initial forming amount distribution (Xi, Yi, ΔZi) differs in the domain of the range (X, Y) according to the component shape for each training data, so the artificial intelligence module <NUM> first performs a task of normalizing them to square having the length of N-<NUM> of the range (s, t).

The domain of the range (X, Y) of the forming component is a square shape in phase, but in general, its boundary includes a curve, not a straight line. Accordingly, since linear transformation into a square shape is impossible, the domain of the range (X, Y) is divided into (N-<NUM>)<NUM> small squares using (Xi, Yi) extracted by the previous Table.

Subsequently, the artificial intelligence module <NUM> transforms into a square having the length of <NUM> of the domain (s, t) using iso-parametric shape approximation used in a finite element method for each square. Here, operator that transforms (X, Y) -> (s, t) is T and (s, t) -> (X, Y) transformation corresponding to the inverse computation is Tinv. In the drawing, XIJ,k and YIJ,k are X, Y coordinates of kth nodal point of the square range (I, J) (k = <NUM>, <NUM>, <NUM>, <NUM>).

As shown in <FIG>, with respect to the normalized distribution (si, ti, ΔZi), the artificial intelligence module <NUM> converts each ΔZi into a value between <NUM> and <NUM>. The conversion is performed by dividing each ΔZi by ΔZmax, and its result is ΔZi'. ΔZmax is sufficiently larger than ΔZi occurring in the common initial forming amount deviation, and is a value set to a fixed constant by the system. Subsequently, each ΔZi' is mapped to a white-black image of gray scale. ΔZi' = <NUM> is mapped to black color, ΔZi' = <NUM> is mapped to white color, and intervening values are mapped to gray colors that are proportional to the values. White and black colors distributed in the remaining domain (s, t) other than discretely distributed (si, ti, ΔZi') are applied by linear interpolation of ΔZi' values of each (si, ti, ΔZi').

As shown in <FIG>, the artificial intelligence module <NUM> obtains starting point P's(ss, ts) and ending point P'e(se, te) mapped to the range (s, t) by applying the transform Tinv used in (<NUM>) input data preprocessing process to the starting point Ps(Xs, Ys) and the ending point Pe(Xe, Ye) of each additional heat line in the same way.

The additional heat line also needs be converted into an image in response to the image conversion of the initial forming amount distribution, and by definition, a line cannot be visually represented, so a rectangular region having a thickness t in two directions perpendicular to a straight line connecting P's and P'e on the straight line is applied as an image of the heat line. Here, t is a system-defined constant, and is a sufficiently small value compared to the size N-<NUM> of the transformation range of the component. Accordingly, the rectangular region corresponding to the additional heat line may be defined as shown, and when the number of additional heat lines is m, a unique region may be quantitatively defined for each m.

Subsequently, the artificial intelligence module <NUM> only distinguishes the additional heat line region and the remaining region as black and white of <NUM> and <NUM>, and performs image conversion to change the heat line region to white and the remaining region to black. A total of n pairs of input and output training data in the form of image are formed through the (<NUM>) and (<NUM>) processes, and a set of input data is represented as a = {a1, a2,. , an}, and a set of output data is represented as b = {b1, b2,.

The artificial intelligence module <NUM> executes generator operator G and discriminator operator D for the inputted set of input/output training data a = {a1, a2,. , an}, b = {b1, b2,. , bn}, respectively. The G and D are all convolution based operator functions.

The generator G receives each initial forming amount distribution image ai(i = <NUM>, <NUM>,. , n) corresponding to the input, and outputs an additional heat line shape image similar to bi(i = <NUM>, <NUM>,. This is represented as G(a) = {G(a1), G(a2),.

The discriminator D receives an input-output pair (ai, bi) of the original training data and an image pair (ai, G(ai)) generated through the original input and the G, and outputs conditional probabilities D(bi|ai) and D(G(ai)|ai) which discriminate if bi and G(ai) is the actual image bi used in training for each ai, respectively. Since they are probabilities, they have a value between <NUM> and <NUM>.

To evaluate the prediction accuracy of the additional heat lines, with regard to two types of loss functions LD and LG shown in <FIG>, the artificial intelligence module <NUM> evaluates if discriminator D maximizes LD and generator G minimizes LG.

When any one of the two is not satisfied, the artificial intelligence module <NUM> repeatedly performs feedback in a manner of increasing the probability that discriminator D determines that the actual image bi is bi and the generated image G(ai) is not bi, so that generator G outputs an image G(ai) more similar to the actual image bi.

When the condition for maximizing LD and minimizing LG (argmax, argmin) is satisfied, the artificial intelligence module <NUM> terminates the training, and finally determines generator G in the corresponding state as a value G* that predicts the position and shape of the additional heat line from the initial forming amount distribution.

Meanwhile, the line heating heat line information transmission module <NUM> shown in <FIG> performs a procedure of receiving the line heating heat line information and the additional line heating heat line information by communication with the line heating heat line information generation module <NUM> and the additional line heating heat line information generation module <NUM>, and transmitting the received line heating heat line information and additional line heating heat line information to the line heating mechanical device <NUM>, to induce the formation of a transverse curve in the component.

The heating point coordinates and heating amounts for each item of the heat line information data structure generated through the line heating heat line information generation process become the elements of one heat line.

When HL_S, HL_F, v_HL is set for each item of the heat line information data structure, the line heating heat line information transmission module <NUM> stores these values in a separate data file to allow the backside heating mechanical device <NUM> to read (see <FIG> and <FIG>).

In this instance, in case that the total number of heat lines stored in the heat line information data is n, n dat files are generated and distinguished by number. The file name is set as [HEATLINE-<NUM>. DAT]~[HEATLINE-n. When the total of n dat files are converted, the line heating heat line information transmission module <NUM> (PC) transmits them to the backside heating mechanical device <NUM> all at once.

The line heating mechanical device <NUM> performs a procedure of forming a transverse curve in the component by machining the corresponding component according to the line heating heat line information and the additional line heating heat line information.

Under this procedure, as shown in <FIG>, when the line heating mechanical device <NUM> receives the total of n heating task files of [HEATLINE-<NUM>. DAT]~[HEATLINE-n. DAT] from the line heating heat line information transmission module <NUM>, the line heating mechanical device <NUM> sequentially performs the heating task from <NUM> to n. The heating task is performed at the recorded heating rate v_HL from the starting coordinates HL_S to the ending coordinates HL_F recorded in in each file.

As described above, since the present disclosure newly supplements/adds <an artificial intelligence computation module for generating additional line heating heat line information including starting point coordinates and ending point coordinates of additional line heating heat lines by training deviation distribution data between the measured curved profile and the design curved profile (i.e., initial required forming amount distribution data) via an image data based conditional generated adversarial network (cGAN)> under the communication system of the curved profile frame data generation module, the heating point/amount calculation module and the line heating heat line information generation module of the transverse curve forming system, under the implementation environment of the present disclosure, it is possible to perform a series of transverse curve forming procedures 'with the supplementation/addition of additional line heating heat line information to the existing line heating heat line information array', thereby helping shipbuilders to stably omit '<NUM>~<NUM> additional measurement and additional heating procedures including a procedure of verifying a tolerance', resulting in significant improvements in the overall ship production efficiency.

Claim 1:
An automatic curved plate forming apparatus, comprising:
a bed (<NUM>) on which a curved plate (<NUM>) is loaded;
a rail (<NUM>) installed in a lengthwise direction on left and right sides of the bed (<NUM>);
a carrier (<NUM>) movably mounted on the two rails (<NUM>);
a guide beam (<NUM>) installed across two columns (<NUM>) that extend upward from each carrier (<NUM>);
a carriage (<NUM>) movably connected to the guide beam (<NUM>);
a rotation axis base (<NUM>) mounted on a side of the carriage (<NUM>);
a <NUM>-axis robotic arm (<NUM>) including a first arm (<NUM>) connected to the rotation axis base (<NUM>) rotatably around a first axis (X1);
a mount (<NUM>) connected to a working terminal of the robotic arm (<NUM>) rotatably and pivotably in a vertical direction; and
a heating head (<NUM>) mounted on a support (<NUM>) that extends down from the mount (<NUM>) to perform high frequency induction heating, facing the curved plate (<NUM>),
characterized in that the first axis (X1) is perpendicular to the side of the carriage (<NUM>) on which the rotation axis base (<NUM>) is mounted, and the first axis (X1) extends in a direction parallel to a ground.