A novel system for off-line 3D seam extraction and path planning based on point cloud segmentation for arc welding robot

doi:10.1016/j.rcim.2019.101929

	A novel system for off-line 3D seam extraction and path planning based on point cloud segmentation for arc welding robot
	Yang, Lei1,2 ; Liu, Yanhong1,2 ; Peng, Jinzhu 1,2; Liang, Zize3
发表期刊	ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
ISSN	0736-5845
	2020-08-01
卷号	64 页码:14
通讯作者	Liu, Yanhong(liuyh@zzu.edu.cn)
摘要	Due to ever increasing precision and automation demands in robotic welding, the automatic and robust 3D seam extraction has become a research hot-spot of the welding robots. At present, most of the research work about seam extraction is aimed at butt joints. Nevertheless,too little work has been devoted to fillet joints and lap joints. Consequently,to achieve robust 3D seam extraction of different weld seams, a novel seam extraction system is proposed according to the 3D structures of welding work pieces. Firstly, a fringe projection system based on Digital Light Processing(DLP) projector is designed to measure the appearance of welding work pieces. Secondly, fusion of the shape information of welding work piece, a 3D seam extraction algorithm is proposed based on point cloud segmentation. Finally, according to the space structure of weld seams, the 3D seam path model and pose estimation are solved based on the established mathematical model of weld seams. Experiments show that the proposed algorithm could well solve different weld seams, such as fillet joints, butt joints and lap joints. Meanwhile, it could well overcome the influence of the materials of welding work pieces, scratch and rust.
关键词	Seam extraction 3D Reconstruction Point cloud segmentation Feature extraction Path planning Pose estimation
DOI	10.1016/j.rcim.2019.101929
关键词[WOS]	TRACKING SYSTEM ; VISION ; IDENTIFICATION ; PROFILOMETRY
收录类别	SCI
语种	英语
资助项目	National Natural Science Foundation of China[61473265,61803344,61773351] ; Outstanding Foreign Scientists Support Project in Henan Province of China ; Innovation Research Team of Science & Technology in Henan Province of China[17IRTSTHN013]
项目资助者	National Natural Science Foundation of China ; Outstanding Foreign Scientists Support Project in Henan Province of China ; Innovation Research Team of Science & Technology in Henan Province of China
WOS研究方向	Computer Science ; Engineering ; Robotics
WOS类目	Computer Science, Interdisciplinary Applications ; Engineering, Manufacturing ; Robotics
WOS记录号	WOS:000534233200006
出版者	PERGAMON-ELSEVIER SCIENCE LTD
引用统计	被引频次：80[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/39557
专题	复杂系统认知与决策实验室_先进机器人
通讯作者	Liu, Yanhong
作者单位	1.Zhengzhou Univ, Sch Elect Engn, Zhengzhou 450001, Henan, Peoples R China 2.Robot Percept & Control Engn Lab, Zhengzhou 450001, Henan, Peoples R China 3.Chinese Acad Sci, State Key Lab Management & Control Complex Syst, Inst Automat, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Yang, Lei,Liu, Yanhong,Peng, Jinzhu,et al. A novel system for off-line 3D seam extraction and path planning based on point cloud segmentation for arc welding robot[J]. ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING,2020,64:14.
APA	Yang, Lei,Liu, Yanhong,Peng, Jinzhu,&Liang, Zize.(2020).A novel system for off-line 3D seam extraction and path planning based on point cloud segmentation for arc welding robot.ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING,64,14.
MLA	Yang, Lei,et al."A novel system for off-line 3D seam extraction and path planning based on point cloud segmentation for arc welding robot".ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING 64(2020):14.