狭小空间不连续折线焊缝识别移动机器人跟踪系统

doi:10.3901/JME.2019.17.008

机械工程学报 ›› 2019, Vol. 55 ›› Issue (17): 8-13.doi: 10.3901/JME.2019.17.008

• 特邀专栏：焊接机器人 • 上一篇下一篇

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狭小空间不连续折线焊缝识别移动机器人跟踪系统

郭亮^1,2, 张华¹

1. 南昌大学江西省机器人与焊接自动化重点实验室南昌 330031;
2. 南昌航空大学信息工程学院南昌 330031

收稿日期:2018-09-03 修回日期:2019-07-26 出版日期:2019-09-05 发布日期:2020-01-07
通讯作者: 张华(通信作者),男,1964年出生,博士,教授,博士研究生导师。主要研究方向为焊接自动化与智能控制。E-mail:huazhang@yeah.net
作者简介:郭亮,男,1979年生,博士研究生。主要研究方向为机器视觉与智能控制。E-mail:acumen@nchu.edu.cn
基金资助:
国家高技术研究发展计划资助项目（2013AA041003）。

Discontinuous Fold Line Welding Seam Recognition and Mobile Robot Tracking System in Narrow Space

GUO Liang^1,2, ZHANG Hua¹

1. Key Lab of Robot & Welding Automation of Jiangxi, Nanchang University, Nanchang 330031;
2. School of Information Engineering, Nanchang Hangkong University, Nanchang 330031

Received:2018-09-03 Revised:2019-07-26 Online:2019-09-05 Published:2020-01-07

摘要/Abstract

摘要： 以自主移动焊接机器人为平台，主要解决船舶制造中船舱底部狭小空间的不连续折线焊缝识别跟踪焊接问题。介绍了移动机器人的硬件结构和工作原理，采用旋转电弧和激光视觉双传感方式，对采集到的电流和图像信号进行处理，分别用于焊缝跟踪和流水孔特征识别。对机器人折线运动进行了分析，对十字滑块和机器人本体的运动进行了规划，通过规划和实时控制相结合的方式进行焊缝跟踪。在开发的硬件平台上，结合VC编程实现信号的采集、处理及控制，经试验和生产现场试用，结果表明，该系统便携灵活适用于狭小空间不连续折线焊缝作业，识别和跟踪效果良好。

关键词: 不连续焊缝, 激光视觉传感器, 旋转电弧传感器, 路径规划, 移动机器人

Abstract: Taking autonomous mobile welding robot as the platform, this paper mainly solves the problem of identifying and tracking the discontinuous fold line welding seam in the narrow space of the bottom in the ship cabin. The hardware structure and working principle of the mobile robot are introduced. Rotating arc and laser vision dual sensing mode are adopted. The collected current and image signals are processed for seam tracking and seam feature recognition of drain holes. The fold line motion of the robot is analyzed, and the movement of the cross slider and the robot body is planned. The welding seam tracking is carried out by the combination of planning and real-time control. On the hardware platform developed, the signal acquisition, processing and control are realized by VC programming. The results of test and work field application show that the system is portable and flexible for small space discontinuous fold line welding, and the effect of recognition and tracking is good.

Key words: fold line welding seam, laser vision sensor, rotating arc sensor, path planning, mobile robot

中图分类号:

TG409

郭亮, 张华. 狭小空间不连续折线焊缝识别移动机器人跟踪系统[J]. 机械工程学报, 2019, 55(17): 8-13.

GUO Liang, ZHANG Hua. Discontinuous Fold Line Welding Seam Recognition and Mobile Robot Tracking System in Narrow Space[J]. Journal of Mechanical Engineering, 2019, 55(17): 8-13.

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狭小空间不连续折线焊缝识别移动机器人跟踪系统

Discontinuous Fold Line Welding Seam Recognition and Mobile Robot Tracking System in Narrow Space

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