A novel dual-channel weld seam tracking system for aircraft T-joint welds

Huang, Yu; Li, Gen; Shao, Wenjun; Shuili, Gong; Zhang, Xiaolong

doi:10.1007/s00170-016-9788-5

Cited by 24 publications

(6 citation statements)

References 19 publications

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“…Hough transform was used to extract the external boundary to remove the background, and stereo matching technology was used to match and identify weld points from welds of different shapes. Aiming at the problem of welding defects caused by unilateral welding in T-joint, Huang [13] et al detected the welds on both sides of T-joint by two visual sensors, and compensated the weld deviation on both sides of T-joint in real time by an independent error compensation control method based on adaptive fuzzy PID control. Fan [14] et al observed the welding pool from the top, front and back by using visual sensors, obtained the size and welding direction of the weld by processing images through degradation recovery, regional threshold noise reduction and Hough transform.…”

Section: Related Workmentioning

confidence: 99%

Intelligent Guidance Programming of Welding Robot for 3D Curved Welding Seam

et al. 2021

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Due to the limitations of welding complexity and machining error, traditional manual teaching and offline programming are not intelligent enough and have weak adaptability to workpiece. At present, the 2D perception visual welding guidance programming method is commonly used which cannot accurately locate and model the complicated 3D spatial curve welding seam. The 2D perception method can hardly meet the requirements of welding process. In this paper, a welding seam perception method based on a line structure light sensor was proposed, which optimizes the generation of the weld seam trajectory, and builds a highly adaptable intelligent guidance programming system for welding robots. Firstly, 3D modeling perception of welding parts is realized through eye-in-hand system of robot, which solves the problem that offline programming system cannot be applied when the welding model is not precise enough or partly miss. Secondly, aiming at solving extraction problem of common types of 3D space curve welding seam, corresponding types of weld extraction algorithms are proposed according to the characteristics of different types of welds under the general process of weld extraction. These methods not only can directly extract the weld from the ordered point cloud with high precision and resolution, but also are less affected by the welding environment, which solve the problem of low perception accuracy of complex curved welds in 3D space. Then, on the basis of welding seam extraction, NURBS curves are used to realize the optimal generation of weld trajectory. Finally, the feasibility and effectiveness of all the methods proposed in this paper are verified by a large number of experiments.

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Section: Related Workmentioning

confidence: 99%

Intelligent Guidance Programming of Welding Robot for 3D Curved Welding Seam

et al. 2021

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“…Based on the contour data, the customized groove detection algorithm is developed to realize the positioning of the weld [1,2]. It is more suitable for workpieces with large bevels, such as Vgroove, T-groove, lap grooves, corner joints and so on [3,4]. However, for weldments without bevels or small angle bevels, such as narrow butt joints, there is no significant deformation of the laser stripes at the weld when the laser is projected into this type of weld [5].…”

Section: Introductionmentioning

confidence: 99%

Real-time detection and localization method for weld seam of narrow butt joint based on semantic segmentation

Chen,

Ma,

et al. 2023

Meas. Sci. Technol.

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Structured light measurement is widely used in welding seam tracking because of its high precision and robustness. For the narrow butt joint, the positioning method by reconstructing the weld contour is not suitable for the welding of the narrow butt joint because it is difficult for the laser stripe to produce obvious deformation when projected to the weld. In this study, high-quality images with laser stripes and narrow butt joints are captured by the improved structured light vision sensor, which is equipped with an auxiliary light source. A two-step processing framework, including semantic segmentation and groove positioning, is raised to locate the feature point of the narrow butt joint. Firstly, we design the strip pooling ENet (SP-ENet), a real-time network specifically designed to accurately segment narrow weld images. Our proposed network outperforms other classical segmentation networks in terms of segmentation accuracy and proves to be highly suitable for the detection of narrow butt joint welds. Secondly, a combining method of random sample consensus (RANSAC) and iterative fitting to calculate the sub-pixel coordinates of weld feature points accurately. Finally, a trajectory smoothing model based on the Kalman filter is proposed to reduce the trajectory jitter. The above methods were tested on a self-built robotic welding experimental platform. Experimental results show that the proposed method can be used for real-time detection and positioning of narrow butt joints. The positioning trajectory is smooth, with most positioning errors less than 2 pixels. The mean tracking error reaches 0.207 mm, which can meet the practical welding requirements.

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“…Corrections of the robot TCP (tool center point) position, related to the TIG welding path in this case, could be implemented in various ways: by applying video systems [5,6] with a single camera [7], a camera with a laser pointer [8,9], or a 3D measurement system [10]. A dual-camera correction system for laser welding is discussed in [11].…”

Section: Introductionmentioning

confidence: 99%

Automatic Evaluation of the Robotic Production Process for an Aircraft Jet Engine Casing

Uliasz¹,

Ornat²,

Burghardt

et al. 2022

Applied Sciences

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This paper investigated the design of a system to monitor the status of the robotic welding process of thin-walled components for an aircraft jet engine. Opportunities to measure and log processing parameters, such as welding speed, current, and voltage, on the existing production cell were taken. The acquired data were processed using elements of descriptive statistics. Obtained indicators were matched with physical inspection results of the weld’s quality. The adopted methodology was used to identify an essential parameter determining the presence of defined weld defects. The developed solution was implemented in the production cell.

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A novel dual-channel weld seam tracking system for aircraft T-joint welds

Cited by 24 publications

References 19 publications

Intelligent Guidance Programming of Welding Robot for 3D Curved Welding Seam

Intelligent Guidance Programming of Welding Robot for 3D Curved Welding Seam

Real-time detection and localization method for weld seam of narrow butt joint based on semantic segmentation

Automatic Evaluation of the Robotic Production Process for an Aircraft Jet Engine Casing

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