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Design of Robot Welding Seam Tracking System with Structured Light Vision 被引量:18
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作者 LIU Suyi WANG Guorong +1 位作者 ZHANG Hua JIA Jianping 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2010年第4期436-442,共7页
Robot welding is an important developing direction of welding automation and intelligentization, and automatic seam tracking technology is one of principal research domains. Nowadays, seam tracking system with structu... Robot welding is an important developing direction of welding automation and intelligentization, and automatic seam tracking technology is one of principal research domains. Nowadays, seam tracking system with structured light vision becomes a hot research. Structured light vision seam tracking products abroad are generally very expensive and can only be applied on special occasions. In China, the research of structured light vision seam tracking system is still just on the stage of experiments. A robot real-time seam tracking system with line structured light vision is designed. The hardware system is set up, a filtering method for line structure seam image is improved, and compared with common filtering, it has better effect and characteristic of real time. Two methods, fast template matching and fast Hough transform, to recognize the image coordinates of seam center are improved. Two new image recognition methods, structure element matching and comer detecting, are proposed. The comparison of seam image recognition shows that fast template matching and comer detecting are more precise and stable than the other two methods, and comer detecting is the best in real time. A simultaneous calibration for camera parameters and robot hand-eye is also proposed, and calculation shows that the calibration is effective and feasible. The robot seam tracking tests for linear and folded lap-joint are performed, which are based on the above four image recognition methods, and the results indicate that four image recognition methods are all applicable to real-time seam tracking, and the whole system sufficed for the requirements of real-time seam tracking. Automatic seam tracking with line structured light vision is feasible and has good versatility. 展开更多
关键词 laser vision ROBOT seam tracking image recognition
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Seam Tracking and Visual Control for Robotic Arc Welding Based on Structured Light Stereovision 被引量:5
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作者 De Xu, Min Tan, Xiaoguang Zhao, Zhiguo Tu Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100080, PRC 《International Journal of Automation and computing》 EI 2004年第1期63-75,共13页
A real-time arc welding robot visual control system based on a local network with a multi-level hierarchy is developed in this paper. It consists of an intelligence and human-machine interface level, a motion planning... A real-time arc welding robot visual control system based on a local network with a multi-level hierarchy is developed in this paper. It consists of an intelligence and human-machine interface level, a motion planning level, a motion control level and a servo control level. The last three levels form a local real-time open robot controller, which realizes motion planning and motion control of a robot. A camera calibration method based on the relative movement of the end-effector connected to a robot is proposed and a method for tracking weld seam based on the structured light stereovision is provided. Combining the parameters of the cameras and laser plane, three groups of position values in Cartesian space are obtained for each feature point in a stripe projected on the weld seam. The accurate three-dimensional position of the edge points in the weld seam can be calculated from the obtained parameters with an information fusion algorithm. By calculating the weld seam parameter from position and image data, the movement parameters of the robot used for tracking can be determined. A swing welding experiment of type V groove weld is successfully conducted, the results of which show that the system has high resolution seam tracking in real-time, and works stably and efficiently. 展开更多
关键词 REAL time control visual control structured light vision camera and laser calibration weld seam tracking robotic arc welding
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Seam Tracking Technology for Hyperbaric Underwater Welding 被引量:4
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作者 JIAO Xiangdong YANG Yongyong ZHOU Canfeng 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2009年第2期265-269,共5页
Automatic weld seam tracking technology to be used in hyperbaric underwater damaged pipeline repair welding is much more important, because of poor bevel preparation and severe working condition. A weld seam tracking ... Automatic weld seam tracking technology to be used in hyperbaric underwater damaged pipeline repair welding is much more important, because of poor bevel preparation and severe working condition. A weld seam tracking system based on digital signal processing(DSP) passive light weld image processing technology has been established. A convenient charge coupled device(CCD) camera system was used in the high pressure environment with the help of an aperture and focus altering mechanism to guarantee overall image visibility in the scope of pressure below 0.7 MPa. The system can be used in the hyperbaric environment to pick up the real welding image of both the welding arc and the welding pool. The newly developed DSP technology was adopted to achieve the goal of system real time characteristics. An effective weld groove edge recognition technique including narrow interesting window opening, middle value wave filtering, Sobel operator weld edge detecting and edge searching in a defined narrow area was proposed to remove the guide error and system accuracy was ensured. The results of tracking simulation and real tracking application with arc striking have proved the validity and the accuracy of the mentioned system and the image processing method. 展开更多
关键词 hyperbaric underwater welding seam tracking weld edge recognition
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Seam tracking control for mobile welding robot based on vision sensor 被引量:3
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作者 张庭 李慨 杨静 《Journal of Central South University》 SCIE EI CAS 2010年第6期1320-1326,共7页
To solve the seam tracking problem of mobile welding robot,a new controller based on the dynamics of mobile welding robot was designed using the method of backstepping kinematics into dynamics.A self-turning fuzzy con... To solve the seam tracking problem of mobile welding robot,a new controller based on the dynamics of mobile welding robot was designed using the method of backstepping kinematics into dynamics.A self-turning fuzzy controller and a fuzzy-Gaussian neural network(FGNN) controller were designed to complete coordinately controlling of cross-slider and wheels.The fuzzy-neural control algorithm was described by applying the Gaussian function and back propagation(BP) learning rule was used to tune the membership function in real time by applying the FGNN controller.To make the tracking more quickly and smoothly,the neural network controller based on dynamic model was designed,which utilized self-learning and self-adaptive ability of the neural network to deal with the partial uncertainty and the disturbances of the parameters of the robot dynamic model and real-time compensate the dynamics coupling.The results show that the selected control input torques make the system globally and asymptotically stable based on the Lyapunov function selected out;the accuracy of the proposed controller tracing is within ±0.4 mm and can satisfy the requirements of practical welding project. 展开更多
关键词 mobile welding robot seam tracking fuzzy-Gaussian neural network dynamic model Lyapunov function
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Study of image processing for V-shape groove and robotic weld seam tracking based on laser vision 被引量:3
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作者 肖心远 石永华 +1 位作者 王国荣 李鹤喜 《China Welding》 EI CAS 2008年第4期68-73,共6页
Single-stripe laser was applied to acquire V-shape groove contour information. Most of arc light and splash noise was removed and stripe laser image was kept by wavelet transform. Half-threshold algorithm was used for... Single-stripe laser was applied to acquire V-shape groove contour information. Most of arc light and splash noise was removed and stripe laser image was kept by wavelet transform. Half-threshold algorithm was used for image segmentation and stripe laser image was gotten after refining. Weld seam center position was identified and extracted by extreme curvature corner detection method. The location of torch was detected to accord the frequency of computer program with robot program and serial communication program. The tracking experiments of sidelong, reflex and curve weld line show that the system can meet the demand of the tracking precision under normal welding conditions. 展开更多
关键词 laser vision wavelet transform image processing weld seam tracking
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The characteristics of welding currents in a rotating arc leadtandem GMAW process and the weld-seam tracking 被引量:3
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作者 Gao Yanfeng Xiao Jianhua 《China Welding》 EI CAS 2017年第2期1-10,共10页
Tandem gas metal arc welding ( T-GMAW) process shows a high deposition rate that up to three times o f the single electrode GMAW, so the welding speed could be significantly increased in this process. H... Tandem gas metal arc welding ( T-GMAW) process shows a high deposition rate that up to three times o f the single electrode GMAW, so the welding speed could be significantly increased in this process. However, the majority o f this process applications are based on the pre-programmed robotic welding, which does not allow them to track the seam real-time during welding. Rotating arc sensor, sensing the seam position by detecting the changing of welding currents, has been widely adopted in the automatic robot welding process. It is proposed in this paper to integrate the rotating arc sensor with a trailing torch to develop a new approach of rotating arc lead tandem gas metal arc welding (RLT-GMAW) process. The characteristics of the welding currents in the proposed new welding process were firstly studied, and then a self-turning fuzzy control seam tracking strategy was developed for the mobile robot automatic welding. The experimental results showed that the proposed RLT-GMAW process had an excellent seam tracking performance and high welding deposition rate. Even if there were some electromagnetic interactions between the two arcs, the deviation of the welding seam could also be reflected by the fluctuation of the welding currents on the leading arc once the correct welding parameters were selected. Based on the detected deviation, the welding tracking experiments showed that the proposed self-turning fuzzy controller had a good performance for the RLT-GMAW process seam tracking. 展开更多
关键词 tandem gas metal arc welding rotating arc sensing welding seam tracking welding current characteristics
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Study on contactless ultrasonic sensor and seam tracking 被引量:2
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作者 Hou Wenkao Hu Shengsun and Zhao Jiarui Tianjin University Zhang Shaobin (Qing Hua University,Beijing) 《China Welding》 EI CAS 1995年第1期51-56,共6页
The sensitivity of contactless ultrasonic sensor is improved from 3.3% to 26% through acoustic and electric matching technique in this paper.Along dual crest lines auto seam tracking is firstly realized with contactle... The sensitivity of contactless ultrasonic sensor is improved from 3.3% to 26% through acoustic and electric matching technique in this paper.Along dual crest lines auto seam tracking is firstly realized with contactless ultrasonic sensing.The focused acoustic lens is accurately designed, and a sonic beam with 0.5 mm in diameter is achieved. By means of software and hardware technique the accuracy of seam tracking with ultrasonic sensing is 0.5 mm in lateral direction and 0.2 mm in longitudinal direction respectively. 展开更多
关键词 ultrasonic sensor contactless seam tracking arc welding
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Novel Real-Time Seam Tracking Algorithm Based on Vector Angle and Least Square Method 被引量:1
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作者 Guanhao Liang Qingsheng Luo +1 位作者 Zhuo Ge Xiaoqing Guan 《Journal of Beijing Institute of Technology》 EI CAS 2017年第2期150-157,共8页
Real-time seam tracking can improve welding quality and enhance welding efficiency during the welding process in automobile manufacturing.However,the teaching-playing welding process,an off-line seam tracking method,i... Real-time seam tracking can improve welding quality and enhance welding efficiency during the welding process in automobile manufacturing.However,the teaching-playing welding process,an off-line seam tracking method,is still dominant in automobile industry,which is less flexible when welding objects or situation change.A novel real-time algorithm consisting of seam detection and generation is proposed to track seam.Using captured 3D points,space vectors were created between two adjacent points along each laser line and then a vector angle based algorithm was developed to detect target points on the seam.Least square method was used to fit target points to a welding trajectory for seam tracking.Furthermore,the real-time seam tracking process was simulated in MATLAB/Simulink.The trend of joint angles vs.time was logged and a comparison between the off-line and the proposed seam tracking algorithm was conducted.Results show that the proposed real-time seam tracking algorithm can work in a real-time scenario and have high accuracy in welding point positioning. 展开更多
关键词 real-time seam tracking real-time seam detection laser scanner vector angle leastsquare method algorithm research
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A machine vision approach to seam tracking in real-time in PAW of large-diameter stainless steel tube 被引量:1
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作者 葛景国 朱政强 +1 位作者 何德孚 陈立功 《China Welding》 EI CAS 2004年第2期151-155,共5页
Manual monitoring and seam tracking through watching weld pool images in real-time, by naked eyes or by industrial TV, are experience-depended, subjective, labor intensive, and sometimes biased. So it is necessary to ... Manual monitoring and seam tracking through watching weld pool images in real-time, by naked eyes or by industrial TV, are experience-depended, subjective, labor intensive, and sometimes biased. So it is necessary to realize the automation of computer-aided seam tracking. A PAW (plasma arc welding) seam tracking system was developed, which senses the molten pool and the seam in one frame by a vision sensor, and then detects the seam deviation to adjust the work piece motion adaptively to the seam position sensed by vision sensor. A novel molten pool area image-processing algorithm based on machine vision was proposed. The algorithm processes each image at the speed of 20 frames/second in real-time to extract three feature variables to get the seam deviation. It is proved experimentally that the algorithm is very fast and effective. Issues related to the algorithm are also discussed. 展开更多
关键词 ALGORITHM seam tracking image processing REAL-TIME machine vision plasma arc welding
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Study on the image processing of laser vision seam tracking system 被引量:1
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作者 申俊琦 胡绳荪 +1 位作者 冯胜强 朱莉娜 《China Welding》 EI CAS 2010年第2期47-50,共4页
Seam image processing is the basis of the realization of automatic laser vision seam tracking system, and it has become one of the important research directions. Adding windows processing, gray processing, fast median... Seam image processing is the basis of the realization of automatic laser vision seam tracking system, and it has become one of the important research directions. Adding windows processing, gray processing, fast median filtering, binary processing and image edge extraction are used to pretreat the seam image. In the post-processing of seam image, the feature points of the target image are succesfully detected by using center line extraction and feature points detection algorithm based on slope analysis. The whole processing time is less than 150 ms, and the real-time processing of seam image can be implemented. 展开更多
关键词 image processing seam tracking laser vision feature points detection
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Development of seam tracking system with ultrasonic sensor using self-tuning fuzzy control 被引量:1
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作者 胡绳荪 孟英谦 刘勇 《China Welding》 EI CAS 2001年第1期39-42,共4页
One kind of the SAW seam tracking system with contactless ultrasonic sensor is presented in this paper. The new contactless ultrasonic sensor for seam tracking and the working principle of the seam tracking with the s... One kind of the SAW seam tracking system with contactless ultrasonic sensor is presented in this paper. The new contactless ultrasonic sensor for seam tracking and the working principle of the seam tracking with the sensor are introduced. Based on the experiments, the optimal values of the fuzzy control parameters α and k 3 are defined by means of the off line adjusting method. Because the self tuning fuzzy control is adopted in the seam tracking system, the overshoot of the system is restrained, the steady state error is reduced, and the system's response speed is improved effectively. The results of the SAW seam tracking experiments show that this system's tracking accuracy is up to ±0.5 mm and the system can satisfy the requirements of the engineering application. 展开更多
关键词 seam tracking ultrasonic sensor self tuning fuzzy control
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Seam-tracking based on dynamic trajectory planning for a mobile welding robot 被引量:9
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作者 Hong Yuxiang Du Dong +1 位作者 Pan Jiluan Li Xiangwen 《China Welding》 EI CAS 2019年第4期46-50,共5页
A new seam-tracking method based on dynamic trajectory planning for a mobile welding robot is proposed in order to improve the response lag of the mobile robot and the high frequency oscillation in seam-tracking.By us... A new seam-tracking method based on dynamic trajectory planning for a mobile welding robot is proposed in order to improve the response lag of the mobile robot and the high frequency oscillation in seam-tracking.By using a front-placed laser-based vision sensor to dynamically extract the location of the weld seam in front of torch,the trend and direction of the weld line is roughly obtained.The robot system autonomously and dynamically performs trajectory planning based on the isometric approximation model.Arc sensor technology is applied to detect the offset during welding process in real time.The dynamic compensation of the weld path is done in combination with the control of the mobile robot and the executive body installed on it.Simulated and experimental results demonstrate that the method effectively increases the stability of welding speed and smoothness of the weld track,and hence the weld formation in curves and corners is improved. 展开更多
关键词 welding automation seam tracking mobile robot dynamic trajectory planning
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Arc sensing system for automatic weld seam tracking (Ⅱ)——Signal processing 被引量:2
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作者 潘际銮 《Science China(Technological Sciences)》 SCIE EI CAS 2001年第4期389-397,共9页
Due to violent disturbance of the welding arc, signal processing is the key problem of application of the sensor. By means of the new technique the arc sensor can recognize not only V-groove but also lap joint and but... Due to violent disturbance of the welding arc, signal processing is the key problem of application of the sensor. By means of the new technique the arc sensor can recognize not only V-groove but also lap joint and butt joint. The sensor has good recognition ability even for welding process with very large current disturbance, e.g. pulsed arc and short circuit welding process, etc. The proposed technique is developed on the basis of modern digital filtering theory and mathematic transformation of the signals from time domain into frequency domain. 展开更多
关键词 arc sensor seam tracking WELDING signal processing.
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Arc sensing system for automatic weld seam tracking(Ⅰ)——Mathematic model 被引量:1
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作者 潘际銮 《Science China(Technological Sciences)》 SCIE EI CAS 2001年第3期251-257,共7页
Arc sensor, one of the most popular and effective sensors for automatic seam tracking of arc welding, is systematically studied. A mathematic model of the static and the dynamic properties of the sensor derived on the... Arc sensor, one of the most popular and effective sensors for automatic seam tracking of arc welding, is systematically studied. A mathematic model of the static and the dynamic properties of the sensor derived on the basis of control theory and experimental method are described. The model extends our understanding of arc sensor from qualitative level to quantitative level. This is important for its design and further development. 展开更多
关键词 arc sensor WELDING seam tracking mathematic model.
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The integrated intelligent system for welding seam error and penetration depth identification
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作者 张华 胡静 +1 位作者 彭绍彬 邹春华 《China Welding》 EI CAS 2003年第1期24-28,共5页
A integrated intelligent system for seam tracking and penetration control is given. The system received information of welding seam error and penetration depth from only one sensor, then, it realized seam tracking and... A integrated intelligent system for seam tracking and penetration control is given. The system received information of welding seam error and penetration depth from only one sensor, then, it realized seam tracking and penetration control simultaneously. This paper introduces constitution of the system, methods of information recognition, design of the neural fuzzy controller and results practically. 展开更多
关键词 seam tracking penetration depth identification neural network fuzzy control
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An adaptive thresholding for weld seam image recognition in real time
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作者 Chen Qiang and Jin Jianmin(Tsinghua University. Bejing)Jens Doerk(Aachen University. Germany) 《China Welding》 EI CAS 1995年第2期107-112,共6页
Image prooessing of wehl seam in real time is an importunity to make welding rohot be able to track weld seam. The algorithm described in this paper combines some image technologies, such as modified Sobel edge detect... Image prooessing of wehl seam in real time is an importunity to make welding rohot be able to track weld seam. The algorithm described in this paper combines some image technologies, such as modified Sobel edge detector and Hough transformation function, and especially the thresholds for image processing are ore aled adaptively by Ineans of a neural network. aests proved that this algorithm has a high reliability and rapidity in distinguishing the position of weld seam even with noises. The algorithm can be used ac the basic program .for robot to track welding seam and furthermore for calculating 3 dimensional information plan robot movement automatically. 展开更多
关键词 seam tracking. welding robot image process. welding automation
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Welding Deviation Detection Algorithm Based on Extremum of Molten Pool Image Contour 被引量:12
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作者 ZOU Yong JIANG Lipei +3 位作者 LI Yunhua XUE Long HUANG Junfen HUANG Jiqiang 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2016年第1期74-83,共10页
The welding deviation detection is the basis of robotic tracking welding, but the on-line real-time measurement of welding deviation is still not well solved by the existing methods. There is plenty of information in ... The welding deviation detection is the basis of robotic tracking welding, but the on-line real-time measurement of welding deviation is still not well solved by the existing methods. There is plenty of information in the gas metal arc welding(GMAW) molten pool images that is very important for the control of welding seam tracking. The physical meaning for the curvature extremum of molten pool contour is revealed by researching the molten pool images, that is, the deviation information points of welding wire center and the molten tip center are the maxima and the local maxima of the contour curvature, and the horizontal welding deviation is the position difference of these two extremum points. A new method of weld deviation detection is presented, including the process of preprocessing molten pool images, extracting and segmenting the contours, obtaining the contour extremum points, and calculating the welding deviation, etc. Extracting the contours is the premise, segmenting the contour lines is the foundation, and obtaining the contour extremum points is the key. The contour images can be extracted with the method of discrete dyadic wavelet transform, which is divided into two sub contours including welding wire and molten tip separately. The curvature value of each point of the two sub contour lines is calculated based on the approximate curvature formula of multi-points for plane curve, and the two points of the curvature extremum are the characteristics needed for the welding deviation calculation. The results of the tests and analyses show that the maximum error of the obtained on-line welding deviation is 2 pixels(0.16 ram), and the algorithm is stable enough to meet the requirements of the pipeline in real-time control at a speed of less than 500 mm/min. The method can be applied to the on-line automatic welding deviation detection. 展开更多
关键词 welding deviation welding seam tracking molten pool contour curvature extremum gas metal arc welding(GMAW)
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Dynamic modeling and simulation for nonholonomic welding mobile robot 被引量:3
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作者 张轲 吴毅雄 +1 位作者 吕学勤 金鑫 《Journal of Central South University of Technology》 EI 2007年第5期679-684,共6页
Based on the Newton-Euler method, the dynamic behaviors of the left and right driving wheels and the robot body for the welding mobile robot were derived. In order to realize the combination control of body turning an... Based on the Newton-Euler method, the dynamic behaviors of the left and right driving wheels and the robot body for the welding mobile robot were derived. In order to realize the combination control of body turning and slider adjustment, the dynamic behaviors of sliders were also investigated. As a result, a systematic and complete dynamic model for the welding mobile robot was constructed. In order to verify the effectiveness of the above model, a sliding mode tracking control method was proposed and simulated, the lateral error stabilizes between -0.2 mm and +0.2 mm, and the total distance of travel for the slider is consistently within 4-2 ram. The simulation results verify the effectiveness of the established dynamic model and also show that the seam tracking controller based on the dynamic model has excellent performance in terms of stability and robustness. Furthermore, the model is found to be very suitable for practical applications of the welding mobile robot. 展开更多
关键词 dynamic model seam tracking sliding mode control welding mobile robot
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Study on intelligent welding mobile robot with the function of auto-searching weld line
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作者 张轲 吕学勤 +1 位作者 孙广 吴毅雄 《China Welding》 EI CAS 2006年第1期67-73,共7页
The development of welding robots suitable for specially unstructured working enviroments has been become an important development direction of industrial robot application because large-scale welding structures have ... The development of welding robots suitable for specially unstructured working enviroments has been become an important development direction of industrial robot application because large-scale welding structures have been used more and more widely in modern industry. In this paper, an intelligent mobile robot for welding of ship deck with the function of autosearching weld line was presented. A wheeled motion mechanism and a cross adjustment slider are used for the welding robot body. A sensing system based on laser-PSD (position sensitive detector) displacement sensor was developed to obtain two dimensional deviation signals during seam tracking. A full-digital control system based on DSP and CPLD has also been realized to implement complex and high-performance control algorithms. Furthermore, the system has still the function of auto-searching weld line according to the characteristics information of weld groove and adjusting posture itself to the desired status preparing for welding. The experiment of auto-searching welding line shows that the robot has high tracing accuracy, and can satisfy the requirement of practical welding project. 展开更多
关键词 welding mobile robot auto-searching weld line seam tracking ship deck DSP
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AR-assisted robot welding programming 被引量:1
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作者 S.K.Ong A.Y.C.Nee +1 位作者 A.W.W.Yew N.K.Thanigaivel 《Advances in Manufacturing》 SCIE CAS CSCD 2020年第1期40-48,共9页
Robotic welding demands high accuracy and precision.However,robot programming is often a tedious and time-consuming process that requires expert knowledge.This paper presents an augmented reality assisted robot weldin... Robotic welding demands high accuracy and precision.However,robot programming is often a tedious and time-consuming process that requires expert knowledge.This paper presents an augmented reality assisted robot welding task programming(ARWP)system using a user-friendly augmented reality(AR)interface that simplifies and speeds up the programming of robotic welding tasks.The ARWP system makes the programming of robot welding tasks more user-friendly and reduces the need for trained programmers and expertise in specific robotic systems.The AR interface simplifies the definition of a welding path as well as the welding gun orientation,and the system;the system can locate the welding seam of a workpiece quickly and generate a viable welding path based on the user input.The developed system is integrated with the touch-sensing capability of welding robots in order to locate the welding path accurately based on the user input,for fillet welding.The system is applicable to other welding processes and methods of seam localization.The system implementation is described and evaluated with a case study. 展开更多
关键词 Augmented reality(AR) Robot programming WELDING seam tracking
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