Arc additive manufacturing safety control system and method for large ship structure

Abstract

The application discloses a large ship structure electric arc additive manufacturing safety prevention and control system and method, the system comprises: a virtual contact wall system, a human body dynamic distance sensing system, a virtual protection space system and an operation safety protection system; the application can provide a hierarchical and multi-mechanism electric arc additive manufacturing system man-machine safety prevention and control system, realizes real-time monitoring and safety prevention and control of the human body and the robot state when the gantry welding robot is in movement and welding operation, and guarantees the safety of ship structure production elements; the application improves the safety of the welding robot system in the human-in-the-loop through a depth camera, a distance sensor and the like, monitors risk factors influencing production, and reduces the safety accident rate.

Description

Technical Field

[0001] This invention relates to the field of additive manufacturing technology, specifically to a safety control system and method for arc additive manufacturing of large ship structural components. Background Technology

[0002] Compared to traditional manufacturing methods, additive manufacturing significantly improves material utilization and shortens product development cycles. By stacking layers, it can achieve virtually any complex geometry, overcoming the limitations of traditional milling and casting processes and increasing design freedom in shipbuilding, aerospace, and aviation products. Simultaneously, mobile distributed manufacturing significantly improves the size, shape, and performance of manufactured structural components, greatly enhancing product performance. Typical ship structural components are characterized by large dimensions, complex topologies, and high mechanical performance requirements. Traditional manufacturing methods such as casting and forging are prone to internal defects, difficulty in tooling access, and low yield rates when manufacturing typical structural components. Therefore, gantry-type or mobile additive manufacturing systems are widely used in the manufacturing of complex, large-sized parts for shipbuilding, aerospace, and aviation. Unlike traditional industrial robot manufacturing cells, additive manufacturing systems require operators to collaborate within a work area, creating a flexible manufacturing cell where humans are in a loop. Unlike industrial robots that operate in a closed environment, additive manufacturing systems can collaborate with humans in a specific area, transforming the manufacturing model of discrete manufacturing industries. Therefore, the safety of operators and non-operators during operation is a key consideration in the design of additive manufacturing systems. Safety control systems are needed to ensure that the robot does not cause harm to personnel, equipment, or the environment during operation. Protective fences and anti-arc plates are essential protective devices for additive manufacturing systems. Regarding safety control during operator operation, patents CN111546331B and CN 118009874A disclose a human-robot collaborative robot safety protection system-level safety protection method and a human operator behavior safety detection system and method for industrial robots. These systems use optical motion capture cameras to measure the distance between the robot and the operator, and determine the robot's movement speed and obstacle avoidance based on this distance. Patent CN110561432A discloses a human-robot collaborative safety method and device. Based on the dynamic equivalent distance between the human and robot and different safety level sub-workspace areas dynamically planned for the robot's workspace, it predicts the risk of collisions during human-robot collaboration and formulates corresponding control commands to safely control the robot. Patents CN110978064B and CN114952854B calculate the distance between the robot's end effector and the operator based on sensors such as depth cameras and monocular cameras. By determining the distance and operating speed, they ascertain the current safety status of the operator and formulate the next work plan based on different safety statuses, effectively avoiding dangerous situations and making human-robot collaboration safer and more efficient. However, these patents all rely on sensors to detect the distance between the robot's end effector and various parts of the human body to determine the operator's safety status and formulate prevention and control plans. This approach, to some extent, ignores the risks posed by the robot's main body (links, joints) during human-robot collaboration. Furthermore, a single safety prevention and control method is susceptible to factors such as line-of-sight obstruction and signal transmission issues, posing inherent risks. The lack of a single safety prevention and control plan can lead to major safety accidents.At the same time, external mobile devices and manufacturing objects also pose safety hazards, and there is an urgent need for safety control measures or methods to protect the safety of operators. Summary of the Invention

[0003] To address the aforementioned problems, the present invention aims to provide a safety control system and method for electric arc additive manufacturing of large ship structural components, enabling operators to work safely during the additive manufacturing process of large-scale complex structural components.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] A safety control system for arc additive manufacturing of large ship structural components, comprising a virtual contact wall system, a human dynamic distance sensing system, a virtual protective space system, an operational safety protection system, and a terminal;

[0006] The virtual contact wall system consists of several distance sensors evenly distributed on the workpiece base platform. The distance sensors are connected to the workpiece base platform by screws and can measure the distance between the operator and the workpiece base platform.

[0007] The human dynamic distance sensing system consists of a depth camera and a mounting plate. The depth camera is fixed to the Z-axis arm of the gantry via the mounting plate. The human dynamic distance sensing system can obtain the operator's action information and calculate the distance between the operator and the welding robot.

[0008] The virtual protective space system is established through the kinematic model of the welding robot, and the virtual protective space is defined through the workspace of the welding robot.

[0009] The operational safety protection system consists of several protective fences, anti-arc plates, dust collectors, and safety light curtains. The anti-arc plates and safety light curtains are installed on the protective fences, which are arranged around the arc additive manufacturing equipment. The dust collectors are arranged around the workpiece base platform to collect the smoke and dust generated during the arc additive manufacturing process.

[0010] The terminal is used to receive information from the virtual contact wall system, the human body dynamic distance sensing system, the virtual protective space system, and the work safety protection system, and to store, process, and display computer programs to realize safety control in arc additive manufacturing.

[0011] Furthermore, the virtual contact wall system has operator position and distance monitoring functions, which can calculate the origin O of the work base platform coordinate system. Base relative to the origin O of the operator's coordinate system Human The straight-line distance between The calculation process is as follows:

[0012]

[0013] in Indicates the operator's coordinate system O Human _xyz relative to the workpiece base stage coordinate system O Base The translation transformation of _xyz;

[0014] The position and distance monitoring function can calculate the origin O of the gantry Z-axis arm coordinate system. Zaxis relative to the origin O of the operator's coordinate system Human The projected distance of the straight-line distance between them onto the xy-plane The calculation process is as follows:

[0015]

[0016] in Indicates the operator's coordinate system O Human _xyz relative to the Z-axis arm coordinate system O of the gantry Zaxis Homogeneous transformation of _xyz This represents the rotational transformation of the operator's coordinate system relative to the gantry Z-axis arm coordinate system. This indicates the translation and transformation of the operator's coordinate system relative to the gantry Z-axis arm coordinate system;

[0017] Furthermore, when the virtual contact wall system monitors the location and The virtual protective space system does not start when the distance is greater than or equal to R+1m; the virtual contact wall system monitors the location... and The virtual protective space system initializes when the location is between R+1m and R; the virtual contact wall system monitors the location... and When R is less than or equal to R, the virtual protective space system starts working; where R represents the working radius of the welding robot.

[0018] Furthermore, the kinematic model of the welding robot in the virtual protective space system is represented as follows:

[0019]

[0020] Where n represents the degree of freedom of the welding robot; the boundary of the virtual protective space is the surface (301) formed by the farthest distance of the end point of the welding robot. When the operator enters the virtual protective space, the human dynamic distance perception system is activated.

[0021] Furthermore, the human dynamic distance sensing system establishes a motion model of the operator using a depth camera, obtaining the position of each part of the operator in the depth camera coordinate system O. Camera The calculation steps for the minimum distance between the operator and the welding robot, based on the position of _xyz, are as follows:

[0022] Step 1: The depth camera and welding robot complete hand-eye calibration, and the depth camera coordinate system O is calculated. Camera _xyz and welding robot coordinate system O Robot Homogeneous transformation relation of _xyz

[0023] Step 2: Calculate the motion of each joint of the welding robot in the welding robot coordinate system O. Robot pose matrix of _xyz i represents the i-th joint of the robot, mathematically expressed as:

[0024] Step 3: Calculate the coordinates of each part of the operator in the depth camera coordinate system O. Camera pose matrix j represents the j-th joint of the operator;

[0025] Step 4: Calculate the distances between each part of the operator and each joint of the welding robot. The mathematical expression is as follows:

[0026]

[0027] Step 5: Calculate the minimum distance between the operator and the welding robot, expressed mathematically as follows:

[0028]

[0029] Where m represents the number of operator positions;

[0030] Furthermore, when the minimum distance monitored by the human dynamic distance perception system... When the distance is greater than or equal to 1m, the welding robot's operating speed is reduced to 1m / s; when the minimum distance monitored by the human dynamic distance sensing system is... When the distance is between 0.5m and 1m, the welding robot's operating speed is reduced to 0.5m / s; when the minimum distance monitored by the human dynamic distance sensing system... When the depth is less than or equal to 0.5m, the operating speed of the welding robot is reduced to 0.1m / s;

[0031] Furthermore, the terminal includes a memory, an input unit, a display unit, a processor, and an output unit; the memory stores computer programs; the input unit receives various instructions or parameters from the virtual contact wall system, the human dynamic distance sensing system, the virtual protective space system, and the work safety protection system; the display unit displays various output information of the terminal; the processor executes the computer program to enable the terminal to achieve safety control in the arc additive manufacturing of large ship structural components; and the output unit outputs various control commands to control the movement of the welding robot.

[0032] A safety control method for electric arc additive manufacturing of large ship structural components includes:

[0033] Working Mechanism 1: The work safety protection system can prevent non-operators from entering the work area and provide arc protection. When the additive manufacturing system is in operation, if non-operators enter the work area, the safety light curtain will trigger an alarm via the terminal.

[0034] Working Mechanism 2: When the additive manufacturing system is in operation, the virtual contact wall system is activated to monitor the operator's position in real time and calculate the distance between the operator and the workpiece base table and the gantry Z-axis arm. When the detected distance is less than the set value, the virtual protective space system is activated.

[0035] Working Mechanism 3: When the virtual protective space system is activated, the human dynamic distance sensing system is activated when the operator enters the virtual protective space;

[0036] Working Mechanism 4: The human dynamic distance perception system achieves proactive safety control by monitoring the minimum distance between various parts of the operator and various joints of the welding robot.

[0037] Compared with the prior art, the advantages and beneficial effects of the present invention are:

[0038] (1) The electric arc additive manufacturing safety control system for large ship structural components provided by the present invention combines multiple sensors and intelligent algorithms to achieve hierarchical and multi-mechanism safety control;

[0039] (2) The hierarchical, multi-mechanism safety control scheme provided by the present invention overcomes the risks and hidden dangers of a single safety control scheme and improves the operational safety of operators;

[0040] (3) The safety control scheme provided by the present invention enables real-time monitoring and safety control of the human body and robot status during the movement and welding operation of the gantry welding robot, ensuring the safety of the production elements of ship structural components, and providing reference and foundation for the design of arc additive manufacturing system. Attached Figure Description

[0041] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments are briefly described below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 This is a schematic diagram of the safety control system for electric arc additive manufacturing of large ship structural components provided in Embodiment 1 of the present invention;

[0043] Figure 2 This is a schematic diagram of the working mechanism of the electric arc additive manufacturing safety control system for large ship structural components provided in Embodiment 2 of the present invention;

[0044] Figure 3 This is a schematic diagram of the working mechanism of the virtual contact wall system provided in Embodiment 2 of the present invention;

[0045] Figure 4 This is a schematic diagram of the position and distance monitoring function of the virtual contact wall system provided in Embodiment 2 of the present invention;

[0046] Figure 5 This is a schematic diagram of the human motion model provided in Embodiment 2 of the present invention;

[0047] Figure 6 This is a flowchart of the human dynamic distance sensing system provided in Embodiment 2 of the present invention;

[0048] Figure 7 This is a schematic diagram of the terminal provided in Embodiment 3 of the present invention.

[0049] In the diagram: 1 is the virtual contact wall system, 101 is the distance sensor, 2 is the human dynamic distance perception system, 201 is the depth camera, 202 is the mounting plate, 3 is the virtual protective space system, 301 is the curved surface, 4 is the work safety protection system, 401 is the protective fence, 402 is the anti-arc plate, 403 is the dust collector, 404 is the safety light curtain, 5 is the terminal, 501 is the memory, 502 is the input unit, 503 is the display unit, 504 is the processor, and 505 is the output unit, 6 is the workpiece base platform, 7 is the operator, 701 is the head, 702 is the neck, 703 is the shoulder, 704 is the chest, 705 is the upper arm, 706 is the abdomen, 707 is the lower arm, 708 is the hand, 709 is the thigh, 710 is the lower leg, 711 is the foot, 8 is the gantry Z-axis arm, and 9 is the welding robot. Detailed Implementation

[0050] To facilitate understanding of the present invention, a safety control system for arc additive manufacturing of large ship structural components will be described more fully below with reference to the accompanying drawings. The drawings show a preferred embodiment of the safety control system for arc additive manufacturing of large ship structural components. However, a safety control system for arc additive manufacturing of large ship structural components can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to make the disclosure of a safety control system for arc additive manufacturing of large ship structural components more thorough and complete.

[0051] Example 1

[0052] Figure 1The present invention provides a schematic diagram of a safety control system for arc additive manufacturing of large ship structural components. The system includes a virtual contact wall system 1, a human dynamic distance sensing system 2, a virtual protective space system 3, an operational safety protection system 4, and a terminal 5.

[0053] The virtual contact wall system 1 consists of several distance sensors 101 evenly distributed on the workpiece base 6. The distance sensors 101 are connected to the workpiece base 6 by screws and can measure the distance between the operator 7 and the workpiece base 6.

[0054] The human dynamic distance sensing system 2 consists of a depth camera 201 and a mounting plate 202. The depth camera 201 is fixed to the gantry Z-axis arm 8 through the mounting plate 202. The human dynamic distance sensing system 2 can obtain the action information of the operator 7 and calculate the distance between the operator 7 and the welding robot 9.

[0055] The virtual protective space system 3 is established through the kinematic model of the welding robot 9, and the virtual protective space is defined through the workspace of the welding robot.

[0056] The operational safety protection system 4 consists of several protective fences 401, anti-arc plates 402, dust collectors 403, and safety light curtains 404. The anti-arc plates 402 and safety light curtains 404 are installed on the protective fences 401, which are arranged around the arc additive manufacturing equipment. The dust collectors 403 are arranged around the workpiece base 6 to collect the smoke and dust generated during the arc additive manufacturing process.

[0057] The terminal 5 is used to receive information from the virtual contact wall system 1, the human body dynamic distance sensing system 2, the virtual protective space system 3, and the work safety protection system 4, store, process, and display computer programs to realize safety control in arc additive manufacturing.

[0058] Example 2

[0059] Figure 2 This is a schematic diagram illustrating the working mechanism of a safety control system for arc additive manufacturing of large ship structural components provided in this embodiment. The working mechanism or process of the safety control system for arc additive manufacturing of large ship structural components is as follows:

[0060] A: The work safety protection system 4 can prevent non-operators from entering the work area and provide arc protection. When the additive manufacturing system is in operation, if a non-operator enters the work area, the safety light curtain 404 will trigger an alarm via the terminal 5.

[0061] B: During additive manufacturing system operation, the virtual contact wall system 1 is activated to monitor the position of operator 7 in real time and calculate the distance between operator 7 and workpiece base platform 6 and gantry Z-axis arm 8; such as Figure 3As shown, the location monitored by the virtual contact wall system 1 and When the distance is greater than or equal to R+1m, the virtual protective space system 3 will not be activated; when the location monitored by the virtual contact wall system 1 is... and When the virtual protective space system 3 is between R+1m and R, it initializes; when the virtual contact wall system 1 monitors the position... and When R is less than or equal to R, the virtual protection space system 3 starts working;

[0062] like Figure 4 As shown, the origin O of the coordinate system of the working base platform 5 is... Base The origin O of the coordinate system with the operator Human The straight-line distance between The calculation process is as follows:

[0063]

[0064] in Indicates the operator's coordinate system O Human _xyz relative to the workpiece base stage coordinate system O Base The translation transformation of _xyz;

[0065] The origin O of the coordinate system of the Z-axis arm of the gantry is... Zaxis The origin O of the coordinate system with the operator Human The projected distance of the straight-line distance between them onto the xy-plane The calculation process is as follows:

[0066]

[0067] in Indicates the operator's coordinate system O Human _xyz relative to the Z-axis arm coordinate system O of the gantry Zaxis Homogeneous transformation of _xyz This represents the rotational transformation of the operator's coordinate system relative to the gantry Z-axis arm coordinate system. This indicates the translation and transformation of the operator's coordinate system relative to the gantry Z-axis arm coordinate system;

[0068] C: After the virtual protective space system 3 is activated, the human dynamic distance sensing system 2 is activated when the operator 7 enters the virtual protective space; the virtual protective space is calculated by the kinematic model of the welding robot 9, and the kinematic model is represented as follows:

[0069]

[0070] Where n represents the degree of freedom of the welding robot 9; the boundary of the virtual protective space is the surface 301 formed by the farthest distance from the end point of the welding robot 9;

[0071] D: The human dynamic distance sensing system 2 achieves proactive safety control by monitoring the minimum distance between various parts of the operator 7 and various joints of the welding robot 9;

[0072] The minimum distance monitored by the human dynamic distance sensing system 2 When the distance is greater than or equal to 1m, the operating speed of welding robot 9 is reduced to 1m / s; when the minimum distance monitored by human dynamic distance sensing system 2 is... When the distance is between 0.5m and 1m, the operating speed of welding robot 9 is reduced to 0.5m / s; when the minimum distance monitored by human dynamic distance sensing system 2 is... When the depth is less than or equal to 0.5m, the operating speed of welding robot 9 is reduced to 0.1m / s;

[0073] Furthermore, the human dynamic distance perception system 2 establishes a motion model of the operator 7 using the depth camera 201, such as... Figure 5 As shown, the coordinates of the seven parts of the operator in the depth camera's 201 coordinate system O are obtained. Camera The positions of _xyz, the various parts of the operator 7 include the head 701, neck 702, shoulder 703, chest 704, upper arm 705, abdomen 706, lower arm 707, hand 708, thigh 709, lower leg 710, and foot 711;

[0074] Furthermore, such as Figure 6 As shown, the steps for calculating the minimum distance between the operator 7 and the welding robot 9 are as follows:

[0075] D1: Depth camera 201 and welding robot 9 complete hand-eye calibration and calculate the depth camera coordinate system O. Camera _xyz and welding robot coordinate system O Robot Homogeneous transformation relation of _xyz

[0076] D2: Calculate the coordinates of the 9 joints of the welding robot in the welding robot coordinate system O. Robot pose matrix of _xyz i represents the i-th joint of the robot, mathematically expressed as:

[0077] D3: Calculate the position of the operator's 7 body parts in the depth camera's 201 coordinate system O. Camera pose matrix j represents the j-th joint of operator 7;

[0078] D4: Calculate the distances between each part of the operator 7 and each joint of the welding robot 9, expressed mathematically as follows:

[0079]

[0080] D5: Calculate the minimum distance between operator 7 and welding robot 9, expressed mathematically as follows:

[0081]

[0082] Where m represents the number of operator positions 7.

[0083] The safety control system provided by this invention combines multiple sensors and intelligent algorithms to determine the system's safety status through distance and speed, and formulates hierarchical and multi-mechanism schemes to achieve real-time monitoring and safety control of the human and robot status during the movement and welding operations of the gantry welding robot. This ensures the safety of production elements of ship structural components and provides a reference and foundation for the design of arc additive manufacturing systems. The invention also improves the safety of human-in-the-loop welding robot systems by using depth cameras, distance sensors, etc., to monitor risk factors affecting production and reduce the incidence of safety accidents.

[0084] Example 3

[0085] like Figure 7 As shown, the terminal 5 includes a memory 501, an input unit 502, a display unit 503, a processor 504, and an output unit 505. The memory 501 is used to store computer programs. The input unit 502 is used to receive various instructions or parameters from the virtual contact wall system 1, the human dynamic distance sensing system 2, the virtual protective space system 3, and the work safety protection system 4. The display unit 503 is used to display various output information of the terminal 5. The processor 504 executes the computer program to enable the terminal to realize safety control in the arc additive manufacturing of large ship structural components. The output unit 505 is used to output various control instructions to control the movement of the welding robot 9.

[0086] Matters not covered in this invention are common knowledge. The above embodiments are only for illustrating the technical concept and features of this invention, and are intended to enable those skilled in the art to understand the content of this invention and implement it accordingly. They should not be construed as limiting the scope of protection of this invention. All equivalent changes or modifications made in accordance with the spirit and essence of this invention should be covered within the scope of protection of this invention.

Claims

1. A large ship structure electric arc additive manufacturing safety prevention and control system, characterized in that, The virtual contact wall system (1), the human body dynamic distance perception system (2), the virtual protective space system (3), the operation safety protection system (4) and the terminal (5) are included. The virtual contact wall system (1) includes a plurality of distance sensors (101) uniformly distributed on the workpiece base table (6), and the distance sensors (101) are connected to the workpiece base table (6) through screws, and are used for measuring the distance between the operator (7) and the workpiece base table (6). The human body dynamic distance perception system (2) includes a depth camera (201), a mounting plate (202) and the terminal (5), the depth camera (201) is fixed on the gantry Z-axis arm (8) through the mounting plate (202), and the human body dynamic distance perception system (2) is used for obtaining the action information of the operator (7) and calculating the distance between the operator (7) and the welding robot (9). The virtual protective space system (3) is established through the kinematic model of the welding robot (9), and the virtual protective space is determined through the working space of the welding robot. The operation safety protection system (4) includes a plurality of protective fences (401), arc protection plates (402), dust removal machines (403) and safety grating (404), the arc protection plates (402) and the safety grating (404) are installed on the protective fence (401), the protective fence (401) is arranged around the electric arc additive manufacturing equipment, and the operation safety protection system (4) is used for preventing non-working personnel from entering the working area and realizing arc protection; the dust removal machine (403) is arranged around the workpiece base table (6), and collects smoke and dust generated in the electric arc additive process. The terminal (5) is used for receiving information of the virtual contact wall system (1), the human body dynamic distance perception system (2) and the virtual protective space system (3), storing, processing and displaying computer programs, and realizing safety control of electric arc additive manufacturing.

2. The electric arc additive manufacturing safety control system for large ship structural components according to claim 1, characterized in that, The virtual contact wall system (1) measures the distance between the operator (7) and the workpiece base table (6), which includes: The straight line distance between the origin O of the workpiece base table (6) coordinate system Base and the origin O of the operator (7) coordinate system Human is: ​ wherein represents the operator coordinate system O Human _xyz relative to the workpiece base table coordinate system O Base _xyz movement transformation; The straight-line distance between the coordinate system origin O of the gantry Z-axis arm (8) Zaxis and the coordinate system origin O of the operator (7) Human The projection distance in the xy plane The calculation process is as follows: wherein O represents the operator coordinate system Human _xyz relative to the gantry Z-axis arm coordinate system O Zaxis a homogeneous transformation of _xyz, O represents a rotational transformation of the operator coordinate system relative to the gantry Z-axis arm coordinate system, O represents a translational transformation of the operator coordinate system relative to the gantry Z-axis arm coordinate system.

3. The electric arc additive manufacturing safety control system for large ship structural components according to claim 2, characterized in that, When the position monitored by the virtual contact wall system (1) and greater than or equal to R+1m, the virtual safety space system (3) is not activated; when the position monitored by the virtual contact wall system (1) and is between R+1m and R, the virtual safety space system (3) is initialized; when the position monitored by the virtual contact wall system (1) and is less than or equal to R, the virtual safety space system (3) is activated; wherein R represents the working radius of the welding robot (9).

4. The electric arc additive manufacturing safety control system for large ship structural components according to claim 1, characterized in that, The kinematic model of the virtual protective space system (3) established by the welding robot (9) is: Wherein n represents the degree of freedom of the welding robot (9); the boundary of the virtual protective space is a curved surface (301) composed of the farthest distance of the end point of the welding robot (9), and the human body dynamic distance perception system (2) is started when the operator (7) enters the virtual protective space.

5. The electric arc additive manufacturing safety control system for large ship structural components of claim 1, wherein, The human dynamic distance perception system (2) establishes a motion model of the operator (7) through a depth camera (201), obtains positions of each part of the operator (7) in a coordinate system O Camera _xyz of the depth camera (201), and obtains a minimum distance between the operator (7) and the welding robot (9).

6. The electric arc additive manufacturing safety control system for large marine structures according to claim 5, characterized in that, A motion model of the operator (7) is established by the depth camera (201), and positions of each part of the operator (7) in a coordinate system O Camera _xyz of the depth camera (201) are obtained, and a minimum distance between the operator (7) and the welding robot (9) is obtained, specifically including: Step one, the depth camera (201) and the welding robot (9) complete the hand-eye calibration, calculate the homogeneous transformation relationship between the depth camera coordinate system O Camera _xyz and the welding robot coordinate system O Robot _xyz Step two, calculate the pose matrix of each motion joint of the welding robot (9) in the welding robot coordinate system O Robot _xyz i represents the i-th joint of the robot, expressed as Step three, calculate the pose matrix of each part of the operator (7) in the coordinate system O Camera _xyz of the depth camera (201) j represents the jth joint of the operator (7); Step four, calculating the distance between each part of the operator (7) and each joint of the welding robot (9), which is mathematically expressed as: Step five, calculate the minimum distance between operator (7) and welding robot (9) which is expressed as: Wherein n represents the degree of freedom of the welding robot (9), and m represents the number of parts of the operator (7).

7. The electric arc additive manufacturing safety control system for large marine structures according to claim 6, characterized in that, The parts of the operator (7) include head (701), neck (702), shoulder (703), chest (704), upper arm (705), abdomen (706), lower arm (707), hand (708), thigh (709), lower leg (710) and foot (711).

8. The electric arc additive manufacturing safety control system for large marine structures according to claim 6, characterized in that, when the minimum distance monitored by the human body dynamic distance perception system (2) is greater than 1 m when the minimum distance monitored by the human body dynamic distance perception system (2) is greater than 1 m when the minimum distance monitored by the human body dynamic distance perception system (2) is greater than 1 m when the minimum distance monitored by the human body dynamic distance perception system (2) is greater than 1 m 9. The electric arc additive manufacturing safety control system for large ship structural components of claim 1, wherein, The terminal (5) comprises a memory (501), an input unit (502), a display unit (503), a processor (504) and an output unit (505); the memory (501) is used for storing a computer program; the input unit (502) is used for receiving various instructions or parameters of the virtual contact wall system (1), the human body dynamic distance perception system (2), the virtual protective space system (3) and the work safety protection system (4); the display unit (503) is used for displaying various output information of the terminal (5); the processor (504) executes the computer program to enable the terminal to realize the electric arc additive manufacturing safety prevention and control of large ship structural parts; and the output unit (505) is used for outputting various control instructions to control the movement of the welding robot (9).

10. A method for preventing and controlling electric arc additive manufacturing safety of a large ship structural component based on the system of any one of claims 1-9, characterized in that, Comprise: When the additive manufacturing system is working, if a non-operator enters the working area, the safety grating (404) alarms through the terminal (5); When the additive manufacturing system is working, the virtual contact wall system (1) is started, the position of the operator (7) is monitored in real time, the distance between the operator (7) and the workpiece base table (6) and the gantry Z-axis arm (8) is calculated, and when it is monitored that the distance is less than a set value, the virtual protective space system (3) is started; When the virtual protective space system (3) is started, when the operator (7) enters the virtual protective space, the human body dynamic distance perception system (2) is started; The human body dynamic distance perception system (2) realizes active safety prevention and control by monitoring the minimum distance between each part of the operator (7) and each joint of the welding robot (9).

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