Welding robot positioning method based on machine vision and laser ranging

2020 ◽  
Author(s):  
Bangwang Hou ◽  
Yiding Zhao
Keyword(s):  
Machine Vision ◽  
Laser Ranging ◽  
Welding Robot ◽  
Robot Positioning ◽  
Positioning Method

Development of six-DOF welding robot with machine vision

2018 ◽  
Vol 32 (34n36) ◽  
pp. 1840079
Author(s):  
Wensheng Huang ◽  
Hongli Xu
Keyword(s):  
Machine Vision ◽  
High Speed ◽  
Degrees Of Freedom ◽  
High Efficiency ◽  
Target Location ◽  
Industrial Robots ◽  
Welding Robot ◽  
Edge Pixel ◽  
Six Dof ◽  
Hardware Processing

The application of machine vision to industrial robots is a hot topic in robot research nowadays. A welding robot with machine vision had been developed, which is convenient and flexible to reach the welding point with six degrees-of-freedom (DOF) manipulator, while the singularity of its movement trail is prevented, and the stability of the mechanism had been fully guaranteed. As the precise industry camera can capture the optical feature of the workpiece to reflect in the camera’s CCD lens, the workpiece is identified and located through a visual pattern recognition algorithm based on gray scale processing, on the gradient direction of edge pixel or on geometric element so that high-speed visual acquisition, image preprocessing, feature extraction and recognition, target location are integrated and hardware processing power is improved. Another task is to plan control strategy of control system, and the upper computer software is programmed in order that multi-axis motion trajectory is optimized and servo control is accomplished. Finally, prototype was developed and validation experiments show that the welding robot has high stability, high efficiency, high precision, even if welding joints are random and workpiece contour is irregular.

BUILDING MAP AND POSITIONING SYSTEM FOR INDOOR ROBOT BASED ON PLAYER

2011 ◽  
Vol 08 (04) ◽  
pp. 281-290
Author(s):  
BIN WANG ◽  
WEI LU ◽  
BIN KONG
Keyword(s):  
Mobile Robot ◽  
Positioning System ◽  
Map Building ◽  
Adaptive Monte Carlo ◽  
Indoor Mobile Robot ◽  
Robot Positioning ◽  
Positioning Method ◽  
Dynamic Map ◽  
Slam Algorithm ◽  
Number Of Particles

In this paper, we have proposed a map-building and positioning method for an indoor mobile robot based on the open source platform Player. First, the DP-SLAM algorithm is transplanted to the Player and used to build the dynamic offline map. This would reduce the errors and constraints caused by manual map building. Second, the KLD-Sampling Adaptive Monte Carlo Locating (KLD-AMCL) algorithm is introduced to reduce the number of particles required in locating. Meanwhile, higher accuracy of localization is achieved through calculating the MLE and the real posterior KL distance. Finally, an indoor mobile robot positioning system is built by combining the Player platform, dynamic map building and KLD-AMCL algorithm. Experimental results show that the proposed system has better environmental adaptability and higher positioning accuracy.

scholarly journals Indoor Dead Reckoning Localization Using Ultrasonic Anemometer with IMU

2017 ◽  
Vol 2017 ◽  
pp. 1-12 ◽  
Author(s):  
Woojin Seo ◽  
Kwang-Ryul Baek
Keyword(s):  
Mobile Robot ◽  
Dead Reckoning ◽  
Measurement Unit ◽  
Velocity Data ◽  
Short Period ◽  
Instantaneous Position ◽  
Ultrasonic Anemometer ◽  
Robot Positioning ◽  
Positioning Method ◽  
Angular Velocities

Dead reckoning is an important aspect of estimating the instantaneous position of a mobile robot. An inertial measurement unit (IMU) is generally used for dead reckoning because it measures triaxis acceleration and triaxis angular velocities in order to estimate the position of the mobile robot. Positioning with inertial data is reasonable for a short period of time. However, the velocity, position, and attitude errors increase over time. Much research has been conducted in ways to reduce these errors. To position a mobile robot, an absolute positioning method can be combined with dead reckoning. The performance of a combined positioning method can be improved based on improvement in dead reckoning. In this paper, an ultrasonic anemometer is used to improve the performance of dead reckoning when indoors. A new approach to the equation of an ultrasonic anemometer is proposed. The ultrasonic anemometer prevents divergence of the mobile robot’s velocity. To position a mobile robot indoors, the ultrasonic anemometer measures the relative movement of air while the robot moves through static air. Velocity data from the ultrasonic anemometer and the acceleration and angular velocity data from the IMU are combined via Kalman filter. Finally we show that the proposed method has the performance with a positioning method using encoders on a good floor condition.

An Improved Method for Mobile Robot Localization Based on Passive RFID System

2012 ◽  
Vol 190-191 ◽  
pp. 651-655
Author(s):  
Qing Yang ◽  
Hong Yi Wang ◽  
Jian Cheng Li ◽  
Rong Jun Shen
Keyword(s):  
Mobile Robot ◽  
Rfid Tags ◽  
Positioning System ◽  
Robot Localization ◽  
Rfid Technology ◽  
Improved Method ◽  
Robot Positioning ◽  
Positioning Method ◽  
Mobile Robot Localization ◽  
Passive Rfid

RFID technology has been widely used in mobile robot positioning system for its unique advantages. RFID tags store their unique positions which are placed on the ceiling or the floor. The mobile robot carries a RFID reader which reads the RFID tags to position itself. In this paper, a new method for mobile robot localization is proposed, and the equations to calculate the position of the mobile robot are given. Finally, the experiment results show that compared to conventional positioning method, the proposed method can effectively improve the positioning accuracy of the mobile robot.

scholarly journals Recognition and Positioning Method of Rice Seedlings Based on Machine Vision

2016 ◽  
Vol 9 (9) ◽  
pp. 265-278
Author(s):  
Jiang Yu ◽  
Cui Hongwei ◽  
Qi Long ◽  
Zheng Wenhan ◽  
Zhao Liulin
Keyword(s):  
Machine Vision ◽  
Rice Seedlings ◽  
Positioning Method

Robot Positioning Method Using Visual Tracking with Online Correction

2020 ◽  
Vol 2020 (0) ◽  
pp. 2P1-N04
Author(s):  
Ryuya TERAMOTO ◽  
Shunsuke OTA ◽  
Toshiyuki YASUDA ◽  
Mitsuru JINDAI
Keyword(s):  
Visual Tracking ◽  
Online Correction ◽  
Robot Positioning ◽  
Positioning Method

A Two-Stage Local Positioning Method With Misalignment Calibration for Robotic Structural Monitoring of Buildings

2019 ◽  
Vol 141 (6) ◽  
Author(s):  
Rong Wang ◽  
Zhi Xiong ◽  
Yulu Luke Chen ◽  
Preetham Manjunatha ◽  
Sami F. Masri
Keyword(s):  
Mobile Robots ◽  
Dead Reckoning ◽  
Absolute Measurement ◽  
Three Dimensions ◽  
Coordinate Frame ◽  
Two Stage ◽  
Robot Positioning ◽  
Positioning Method ◽  
The Absolute ◽  
Relative Measurements

In structural health monitoring (SHM) applications carried out by mobile robots, the precise locating of the SHM robot is essential for accurate detection and quantification of defects. The traditional dead reckoning (DR) approach can only provide local position in the horizon, which is not enough for SHM applications in three dimensions in large buildings. In this paper, a new robot positioning algorithm for active building structural defect detection and localization is proposed. The two-stage robot positioning scheme is designed through the self-misalignment calibration and the positioning during SHM task stages, fusing the absolute and relative measurements. In order to overcome the drawback of the DR algorithm, in the full analysis of existing localization mode that can be applied to mobile robots, this paper adopted the inertial navigation system (INS) approach to measure the absolute motion information of a moving robot. On this basis, through the transformation between the absolute positioning coordinates and the local positioning coordinates of buildings, the mobile robot's optimal trajectory on building surface was designed for self-calibration of coordinate misalignments. The proposed method could effectively achieve the robot local positioning in building coordinate frame by fusing the external relative assistant measurements with absolute measurement. By using the designed strategies, the coordinate misalignment can also be self-calibrated effectively, improving local positioning accuracy.

The Navigation and Positioning Method of Active plus Passive Ultrasound-Guided Robot for Liver Cancer Coagulation Therapy

2012 ◽  
Vol 605-607 ◽  
pp. 1453-1459
Author(s):  
Ying Yu Cao ◽  
Bo Jin Qi ◽  
Shao Xian Wang ◽  
Wei Tao Cui
Keyword(s):  
Liver Cancer ◽  
Ultrasound Guided ◽  
Robot Assisted ◽  
Medical Robot ◽  
Matching Method ◽  
Coagulation Therapy ◽  
Robot Positioning ◽  
Positioning Method ◽  
Positioning Time ◽  
Robot Assisted Surgery

The navigation and positioning of medical robot was the precondition of taking the medical robot-assisted surgery. The navigation and positioning method of ultrasound-guided robot for liver cancer coagulation therapy was introduced. This paper presented the positioning method of different functions of robot based on the characteristics of active plus passive robot. The homologous point least squares matching method was employed for the robot 3D platform and the space vector calculation method was used for the robot RCM structure arm. The experimental results show that the robot positioning error is 1.32 ± 0.83mm, and the average positioning time is 5.5s, which can meet the requirements on the positioning accuracy, positioning time and operating flexibility of the liver cancer coagulation therapy.

scholarly journals Support and Positioning Mechanism of a Detection Robot inside a Spherical Tank

2021 ◽  
Vol 34 (1) ◽  
Author(s):  
Chunlei Tu ◽  
Shanshan Jin ◽  
Kai Zheng ◽  
Xingsong Wang ◽  
Sichong Sun
Keyword(s):  
Structural Deformation ◽  
Main Body ◽  
Destructive Testing ◽  
Positioning Accuracy ◽  
Inspection Robot ◽  
Spherical Tank ◽  
Large Pressure ◽  
Robot Positioning ◽  
Positioning Method ◽  
Non Destructive

AbstractLarge pressure equipment needs to be tested regularly to ensure safe operation; wall-climbing robots can carry the necessary tools to inspect spherical tanks, such as cameras and non-destructive testing equipment. However, a wall-climbing robot inside a spherical tank cannot be accurately positioned owing to the particularity of the spherical tank structure. This paper proposes a passive support and positioning mechanism fixed in a spherical tank to improve the adsorption capacity and positioning accuracy of the inspection robot. The main body of the mechanism was designed as a truss composed of carbon fiber telescopic rods and can work in spherical tanks with diameters of 4.6‒15.7 m. The structural strength, stiffness, and stability of the mechanism are analyzed via force and deformation simulations. By constructing a mathematical model of the support and positioning mechanism, the influence of structural deformation on the supporting capacity is analyzed and calculated. The robot positioning method based on the support and positioning mechanism can effectively locate the robot inside a spherical tank. Experiments verified the support performance and robot positioning accuracy of the mechanism. This research proposes an auxiliary support and positioning mechanism for a detection robot inside a spherical tank, which can effectively improve the positioning accuracy of the robot and meet the robotic inspection requirements.

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