An Efficient and Robust Complex Weld Seam Feature Point Extraction Method for Seam Tracking and Posture Adjustment
Yunkai Ma1; Junfeng Fan1; Huizhen Yang2; Hongliang Wang3; Shiyu Xing1; Fengshui Jing1; Min Tan1
发表期刊IEEE Transactions on Industrial Informatics
ISSN1941-0050
2023
卷号19期号:11页码:10704 - 10715
通讯作者Fan, Junfeng(junfeng.fan@ia.ac.cn)
文章类型Research paper
摘要

To realize high-quality robotic welding, an efficient and robust complex weld seam feature point extraction method based on a deep neural network (ShuffleYOLO) is proposed for seam tracking and posture adjustment. The Shuffle-YOLO model can accurately extract the feature points of butt joints, lap joints, and irregular joints, and the model can also work well despite strong arc radiation and spatters. Based on the nearest neighbor algorithm and cubic B-spline curve-fitting algorithm, the position and posture models of the complex spatially curved weld seams are established. The robot welding posture adjustment and high-precision seam tracking of complex spatially curved weld seams are realized. Experiments show that the method proposed in this article can extract weld seam feature points quickly and robustly, which enables welding robots to accurately track the weld seams and adjust the welding torch postures simultaneously.

关键词Complex spatially curved weld seam laser visual sensor posture adjustment robot welding seam tracking weld seam feature point (WSFP) extraction
DOI10.1109/TII.2023.3241595
关键词[WOS]CONVOLUTION OPERATOR ; SYSTEM ; POSITION ; CAMERA
收录类别SCI
语种英语
资助项目National Natural Science Foundation of China[62173327] ; National Natural Science Foundation of China[62003341] ; Youth Innovation Promotion Association, Chinese Academy of Sciences[2022130]
项目资助者National Natural Science Foundation of China ; Youth Innovation Promotion Association, Chinese Academy of Sciences
WOS研究方向Automation & Control Systems ; Computer Science ; Engineering
WOS类目Automation & Control Systems ; Computer Science, Interdisciplinary Applications ; Engineering, Industrial
WOS记录号WOS:001181996300009
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
七大方向——子方向分类机器人感知与决策
国重实验室规划方向分类实体人工智能系统感认知
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引用统计
被引频次:10[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/173211/52453
专题多模态人工智能系统全国重点实验室_智能机器人系统研究
通讯作者Junfeng Fan
作者单位1.Institute of Automation, Chinese Academy of Sciences
2.Northwestern Polytechnical University
3.Yaskawa Shougang Robot Co., Ltd.
第一作者单位中国科学院自动化研究所
通讯作者单位中国科学院自动化研究所
推荐引用方式
GB/T 7714
Yunkai Ma,Junfeng Fan,Huizhen Yang,et al. An Efficient and Robust Complex Weld Seam Feature Point Extraction Method for Seam Tracking and Posture Adjustment[J]. IEEE Transactions on Industrial Informatics,2023,19(11):10704 - 10715.
APA Yunkai Ma.,Junfeng Fan.,Huizhen Yang.,Hongliang Wang.,Shiyu Xing.,...&Min Tan.(2023).An Efficient and Robust Complex Weld Seam Feature Point Extraction Method for Seam Tracking and Posture Adjustment.IEEE Transactions on Industrial Informatics,19(11),10704 - 10715.
MLA Yunkai Ma,et al."An Efficient and Robust Complex Weld Seam Feature Point Extraction Method for Seam Tracking and Posture Adjustment".IEEE Transactions on Industrial Informatics 19.11(2023):10704 - 10715.
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