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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
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[IEEE 2018 International Symposium in Sensing and Instrumentation in IoT Era (ISSI) - Shanghai, China (2018.9.6-2018.9.7)] 2018 International Symposium in Sensing and Instrumentation in IoT Era (ISSI) - Research on Tube-plate Welding Robot Based on Binocular Vision
摘要： Based on double-book study, a set of tube-tube welding robot based on binocular vision positioning system was designed to achieve real-time tracking of welds. In addition, the feature point binocular visual positioning method and identification in the welding process are also studied and analyzed. The tube plate welding robot was used as a platform, and the tube plate welding test was completed with image processing technology and MATLAB software. The test results show that the method can identify the coordinates and radius of the welding circle. The maximum deviation of the tungsten needle from the center of the weld is within 0.1 mm. The welding torch can be accurately positioned and the real-time detection performance is greatly improved. The tube-plate welding robot of the visual positioning system realizes the real-time tracking of the weld. In addition, the binocular vision positioning method and feature point identification in the welding process were studied and analyzed.
关键词： tube-plate welding,image processing,feature point extraction,weld tracking
更新于2025-09-10 09:29:36