Welding seam recognition and tracking for a novel mobile welding robot based on multi-layer sensing strategy

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.

Author(s):  
Taewook Kim ◽  
Seungbeom Lee ◽  
Seunghwan Baek ◽  
Kwangsuck Boo

Author(s):  
Yanbiao Zou ◽  
Xiangzhi Chen

PurposeThis paper aims to propose a hand–eye calibration method of arc welding robot and laser vision sensor by using semidefinite programming (SDP).Design/methodology/approachThe conversion relationship between the pixel coordinate system and laser plane coordinate system is established on the basis of the mathematical model of three-dimensional measurement of laser vision sensor. In addition, the conversion relationship between the arc welding robot coordinate system and the laser vision sensor measurement coordinate system is also established on the basis of the hand–eye calibration model. The ordinary least square (OLS) is used to calculate the rotation matrix, and the SDP is used to identify the direction vectors of the rotation matrix to ensure their orthogonality.FindingsThe feasibility identification can reduce the calibration error, and ensure the orthogonality of the calibration results. More accurate calibration results can be obtained by combining OLS + SDP.Originality/valueA set of advanced calibration methods is systematically established, which includes parameters calibration of laser vision sensor and hand–eye calibration of robots and sensors. For the hand–eye calibration, the physics feasibility problem of rotating matrix is creatively put forward, and is solved through SDP algorithm. High-precision calibration results provide a good foundation for future research on seam tracking.


Measurement ◽  
2018 ◽  
Vol 127 ◽  
pp. 489-500 ◽  
Author(s):  
Yanbiao Zou ◽  
Xiangzhi Chen ◽  
Guoji Gong ◽  
Jinchao Li

2007 ◽  
Vol 21 (10) ◽  
pp. 1720-1725 ◽  
Author(s):  
K. Park ◽  
Y. Kim ◽  
J. Byeon ◽  
K. Sung ◽  
C. Yeom ◽  
...  

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