- 标题
- 摘要
- 关键词
- 实验方案
- 产品
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Real-time spatial intersecting seam tracking based on laser vision stereo sensor
摘要： A real-time robotic weld tracking system based on laser vision sensor is designed for intersecting seam. Firstly, the traditional image processing method is used to determine the weld feature point in the first frame when there has no arc noise. Then, an extending and adopting Kalman Filter with Spatio-Temporal Context algorithm was proposed to extract the weld feature point when the laser stripe was blocked by heavy arc and splash noise during welding. Next, in order to control torch to weld automatically, the torch frame was established through novel three points principle and an expanding circle and arc length method. In addition, a segmentation weld method and an intermediate proportional interpolation method for step-size control of mobile torch were proposed to guarantee the accurate of weld. Finally, Experiments and analyses results show that the tracking system is good in real-time, accuracy, stability and flexible, which can meet the weld requirements.
关键词： Laser vision sensor,Kalman filter,Real-time tracking,Spatio-Temporal Context,Intersecting seam,Trajectory planning
更新于2025-09-12 10:27:22
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Laser Vision-Based Automatic Trajectory Planning Technology for Spatial Intersecting Joint Weld
摘要： This paper studies the laser vision-based automatic trajectory planning technology for spatial intersecting joint weld. Firstly, the mathematical model of T-type off-axis non-groove intersecting joint is established, and the welding seam characteristics of the intersecting joint are analyzed. Secondly, a triangular pseudo-rotation feature pixel detection algorithm based on monocular structured light vision is proposed to realize the rapid extraction and location of spatial intersecting joint weld. Then, a laser vision-based calibration method for the workpiece coordinate system of the T-type intersecting joint is proposed, the relationship between intersecting joint workpiece coordinate system and robot base coordinate system is established, and the trajectory equation is obtained. At last, a searching discrete of chord error interpolation control algorithm is proposed to automatically discrete and plan welding torch gesture data. Experiments show that the technology can achieve higher precision location and better intersecting joint weld trajectory planning, and realize high-quality automatic weld of intersecting joint.
关键词： Vision-based workpiece calibration,Weld tracking,Trajectory planning,Intersecting joint weld,Image processing
更新于2025-09-11 14:15:04