Online Extraction of Pose Information of 3D Zigzag-Line Welding Seams for Welding Seam Tracking

Hong, Bo; Jia, Aiting; Hong, Yongmiao; Li, Xiangwen; Gao, Jiapeng; Qu, Yuanyuan

doi:10.3390/s21020375

Cited by 18 publications

(3 citation statements)

References 22 publications

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“…Experimental results showed that the average deviations in the X direction were reduced to 0.387 mm and 0.429 mm after precise positioning of the feature points, respectively. Some spatial welds are just oriented towards the relative regular curves such as spirals and coherent lines [14,15]. Not much attention is paid to the three-dimensional (3D) complex welding seams with an arbitrary shape.…”

Section: Introductionmentioning

confidence: 99%

A Novel 3D Complex Welding Seam Tracking Method in Symmetrical Robotic MAG Welding Process Using a Laser Vision Sensing

Zhang

Huang

et al. 2023

Symmetry

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The welding seam tracking operation ensures that the welding torch of the welding robot can go with the welding seam during the whole symmetrical robotic welding procession. To achieve three-dimensional complex welding seams tracking, a four-step welding seam tracking system is suggested based on segmented scanning, combined filtering, feature-point extraction, and welding path planning. From using the laser sensor installed at the end of welding robot, the welding seam data was continuously collected in multiple segments by segmented scanning. For the purpose of improving seam tracking accuracy, a combined filtering technique was used to correct the data to reduce the effects of burrs, data distortion, and noise on the surface of the weldment. Then, the feature points were collected so that the coordinate system will be calibrated to identify the welding points. Finally, a spatial welding path was obtained by welding path planning. Experimental investigations of the two-dimensional (2D) symmetrical S-shaped and three-dimensional (3D) curved welding seams were conducted. The obtained results demonstrate the proposed method can form a complete welding path. The average errors of the two weldments are about 0.296 mm and 0.292 mm, respectively. This shows that the proposed tracking method is effective and can provide a reference for the research of high-precision seam tracking and automatic welding.

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Section: Introductionmentioning

confidence: 99%

A Novel 3D Complex Welding Seam Tracking Method in Symmetrical Robotic MAG Welding Process Using a Laser Vision Sensing

Zhang

Huang

et al. 2023

Symmetry

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“…[22] introduced deep learning to improve weld recognition accuracy. [23] proposed a method of density-based clustering point cloud segmentation to acquire the weld seam position information. However, the extraction of laser stripe feature points would be affected by various interferences directly during image acquisition.…”

Section: Introductionmentioning

confidence: 99%

Multi-Layer Welding Path Correction of Medium-Thick Plate Based on Vision System

Lei,

Zhang,

Deng

et al. 2023

IEEE Access

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The multi-layer and multi-pass welding (MLMPW) process plays an important roll in the field of medium-thick plate automatic welding. To solve the problem of the robot self-adapting to the deviation of the weld position and the groove size due to the influence of the workpiece positioning and the welding deformation in MLMPW, a novel method based on the laser vision system to correct the path deviation is presented in this paper. Firstly, an image processing algorithm with image defogging technology is developed to deal with the interference problem of laser reflection on the metal surface. Then, the MLMPW path planning is performed based on the feature points extracted from the image. Lastly, a multi-layer welding path correction (MLWC) method is introduced to enable the robot to automatically scan the actual weld profile information of the previous layer and correct the welding path position of the next layer. The experiments demonstrate that the proposed MLWC method can effectively reduce scan times and eliminate the influence of welding deformation, and improve the adaptability of industrial robots to MLMPW.

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“…The welding velocity is a variable to take into account in the welding seam position. Hong et al [11] generated a 3D welding seam by the laser displacement sensor. It was segmented using a Density-Based Spatial Clustering of Applications with Noise algorithm.…”

Section: Introductionmentioning

confidence: 99%

Laser Profilometry Application in Welding Geometrical Characterization

Martín-Béjar,

Cañero-Nieto,

Solano Martos

et al. 2023

KEM

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Welding processes are commonly used in the industry for the manufacture of large parts or due to their complex geometry that does not allow the part to be manufactured as a whole. Nevertheless, the union can show worst mechanical properties than the rest of the piece, affecting negatively its service behavior, so it is necessary evaluate weald seam to ensure the correct process application. Electrical welding operations are commonly used due to the reduced equipment size or their possibilities application in numerous metallic materials. Notwithstanding, different variables have to be taken into account during the metal deposition, as intensity or speed deposition, among others. Weald seam geometrical evaluation is usually utilized to validate the union surface conditions. Despite this, surface irregularities caused during the process make its difficult to measure correctly with conventional equipment. However, laser profilometry is a non-contact technique that can be used to generate 3D profile of weald seam, facilitating its measurement with high accuracy. Therefore, in this work an initial analysis of the influence of material deposition speed and arc welding intensity on the weald seam geometry will be carried out using a laser profilometry equipment. In addition, to ensure a correct information acquisition, the laser profilometer requires a constant speed movement in relation with the weald seam analyzed, so new equipment has been manufactured, using additive manufacturing techniques, to support the profilometer throughout the information acquisition process.

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Online Extraction of Pose Information of 3D Zigzag-Line Welding Seams for Welding Seam Tracking

Cited by 18 publications

References 22 publications

A Novel 3D Complex Welding Seam Tracking Method in Symmetrical Robotic MAG Welding Process Using a Laser Vision Sensing

A Novel 3D Complex Welding Seam Tracking Method in Symmetrical Robotic MAG Welding Process Using a Laser Vision Sensing

Multi-Layer Welding Path Correction of Medium-Thick Plate Based on Vision System

Laser Profilometry Application in Welding Geometrical Characterization

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