| Efficient and Accurate Start Point Guiding and Seam Tracking Method for Curve Weld Based on Structure Light | |
Ma, Yunkai1,2; Fan, Junfeng1,2 ; Deng, Sai1,2; Luo, Yu3; Ma, Xihong4; Jing, Fengshui1,2; Tan, Min1,2
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| Source Publication | IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
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| ISSN | 0018-9456 |
| 2021 | |
| Volume | 70Pages:10 |
| Corresponding Author | Jing, Fengshui(fengshui.jing@ia.ac.cn) |
| Abstract | Start point guiding and seam tracking are important parts of the robot's intelligent welding process. However, some start point guiding methods have a large amount of calculation and low accuracy. In addition, due to the large curvature of the curved weld, the problem of visual advance in seam tracking should he solved. Therefore, an efficient and accurate start point guiding and seam tracking method for curve weld is proposed in this article. First, according to the characteristics of structural light of different welds, more efficient and accurate start point detection algorithms are proposed for curve v-groove welds and curve lap welds. The extraction of key characteristic points and the judgment of the relationship between them could achieve efficient weld start point detection, and the reasonable robot speed planning during the start point searching process could improve the accuracy of the start point guiding. Besides, a sliding data queue method with cubic B-spline fitting is proposed to overcome the visual advance problem and achieve accurate seam tracking of curve welds. The sliding data queue method can plan the data queue automatically, and improve the computational efficiency by reducing the amount of data to be processed. Cubic B-spline fitting can reduce the measurement error and eliminate the data fluctuation, so as to obtain a smooth welding trajectory. The experimental results show that the proposed method could achieve efficient and accurate start point guiding and seam tracking of curve v-groove weld and lap weld. |
| Keyword | Cubic B-spline curve weld laser visual sensor robot welding seam tracking sliding data queue start point guiding |
| DOI | 10.1109/TIM.2021.3072103 |
| WOS Keyword | ROBOTIC GTAW ; SYSTEM ; ACQUISITION ; POSITION ; CAMERA ; SENSOR |
| Indexed By | SCI |
| Language | 英语 |
| Funding Project | National Natural Science Foundation of China[U1813208] ; National Natural Science Foundation of China[62003341] ; National Natural Science Foundation of China[61903362] ; 2020 Youth Research Fund of the State Key Laboratory of Management and Control for Complex Systems[20200101] |
| Funding Organization | National Natural Science Foundation of China ; 2020 Youth Research Fund of the State Key Laboratory of Management and Control for Complex Systems |
| WOS Research Area | Engineering ; Instruments & Instrumentation |
| WOS Subject | Engineering, Electrical & Electronic ; Instruments & Instrumentation |
| WOS ID | WOS:000696581000004 |
| Publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| Sub direction classification | 多模态智能 |
| Citation statistics | |
| Document Type | 期刊论文 |
| Identifier | http://ir.ia.ac.cn/handle/173211/46050 |
| Collection | 复杂系统管理与控制国家重点实验室_先进机器人 |
| Corresponding Author | Jing, Fengshui |
| Affiliation | 1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 2.Chinese Acad Sci, Inst Automat, Key Lab Complex Syst & Intelligence Sci, Beijing 100190, Peoples R China 3.Beijing Inst Petrochem Technol, Beijing 102617, Peoples R China 4.Yanmei Blue Sky Clean Energy Co Ltd, Zoucheng 273500, Peoples R China |
| First Author Affilication | Institute of Automation, Chinese Academy of Sciences |
| Corresponding Author Affilication | Institute of Automation, Chinese Academy of Sciences |
| Recommended Citation GB/T 7714 | Ma, Yunkai,Fan, Junfeng,Deng, Sai,et al. Efficient and Accurate Start Point Guiding and Seam Tracking Method for Curve Weld Based on Structure Light[J]. IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT,2021,70:10. |
| APA | Ma, Yunkai.,Fan, Junfeng.,Deng, Sai.,Luo, Yu.,Ma, Xihong.,...&Tan, Min.(2021).Efficient and Accurate Start Point Guiding and Seam Tracking Method for Curve Weld Based on Structure Light.IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT,70,10. |
| MLA | Ma, Yunkai,et al."Efficient and Accurate Start Point Guiding and Seam Tracking Method for Curve Weld Based on Structure Light".IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT 70(2021):10. |
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