The seam position detection and tracking for the mobile welding robot

2016 ◽  
Vol 88 (5-8) ◽  
pp. 2201-2210 ◽  
Author(s):  
Xueqin Lü ◽  
Ke Zhang ◽  
Yixiong Wu
2010 ◽  
Vol 15 (4) ◽  
pp. 374-385 ◽  
Author(s):  
Namkug Ku ◽  
Ju-hwan Cha ◽  
Kyu-Yeul Lee ◽  
Jongwon Kim ◽  
Tae-wan Kim ◽  
...  

Author(s):  
Chao Liu ◽  
Hui Wang ◽  
Yu Huang ◽  
Youmin Rong ◽  
Jie Meng ◽  
...  

Abstract Mobile welding robot with adaptive seam tracking ability can greatly improve the welding efficiency and quality, which has been extensively studied. To further improve the automation in multiple station welding, a novel intelligent mobile welding robot consists of a four-wheeled mobile platform and a collaborative manipulator is developed. Under the support of simultaneous localization and mapping (SLAM) technology, the robot is capable of automatically navigating to different stations to perform welding operation. To automatically detect the welding seam, a composite sensor system including an RGB-D camera and a laser vision sensor is creatively applied. Based on the sensor system, the multi-layer sensing strategy is performed to ensure the welding seam can be detected and tracked with high precision. By applying hybrid filter to the RGB-D camera measurement, the initial welding seam could be effectively extracted. Then a novel welding start point detection method is proposed. Meanwhile, to guarantee the tracking quality, a robust welding seam tracking algorithm based on laser vision sensor is presented to eliminate the tracking discrepancy caused by the platform parking error, through which the tracking trajectory can be corrected in real-time. The experimental results show that the robot can autonomously detect and track the welding seam effectively in different station. Also, the multiple station welding efficiency can be improved and quality can also be guaranteed.


Sensors ◽  
2020 ◽  
Vol 20 (17) ◽  
pp. 4787
Author(s):  
Dongwoo Kang ◽  
Jingu Heo

This study develops an eye tracking method for autostereoscopic three-dimensional (3D) display systems for use in various environments. The eye tracking-based autostereoscopic 3D display provides low crosstalk and high-resolution 3D image experience seamlessly without 3D eyeglasses by overcoming the viewing position restriction. However, accurate and fast eye position detection and tracking are still challenging, owing to the various light conditions, camera control, thick eyeglasses, eyeglass sunlight reflection, and limited system resources. This study presents a robust, automated algorithm and relevant systems for accurate and fast detection and tracking of eye pupil centers in 3D with a single visual camera and near-infrared (NIR) light emitting diodes (LEDs). Our proposed eye tracker consists of eye–nose detection, eye–nose shape keypoint alignment, a tracker checker, and tracking with NIR LED on/off control. Eye–nose detection generates facial subregion boxes, including the eyes and nose, which utilize an Error-Based Learning (EBL) method for the selection of the best learnt database (DB). After detection, the eye–nose shape alignment is processed by the Supervised Descent Method (SDM) with Scale-invariant Feature Transform (SIFT). The aligner is content-aware in the sense that corresponding designated aligners are applied based on image content classification, such as the various light conditions and wearing eyeglasses. The conducted experiments on real image DBs yield promising eye detection and tracking outcomes, even in the presence of challenging conditions.


2013 ◽  
Vol 303-306 ◽  
pp. 1678-1684
Author(s):  
Xian Chun Meng ◽  
Kai Li ◽  
Dong Mei Zhang ◽  
Jian Hu Zuo ◽  
Yan Jun Li

The dynamics equation of mobile welding robot is established. In controller design of the mobile welding robot, the non-holonomic constraint is introduced that limits the size of the transverse sliding and avoid the coordinates of the instantaneous center of rotation is larger than the wheelbase, to ensure the robot’s stability. Based on kinematics oscillator, the effect of uncertain dynamic parameters is considered. According to the Lyapunov stability criterion, the control algorithm is deduced. Simulating results by MATLAB software shows that the design of the control algorithm is stable, convergent and effective.


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