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

doi:10.3901/JME.2019.17.008

Abstract

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

CLC Number:

TG409

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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