Discontinuous Fold Line Welding Seam Recognition and Mobile Robot Tracking System in Narrow Space

被引：0
|
作者：
Guo L. [1 ,2 ]
Zhang H. [1 ]
机构：
[1] Key Lab of Robot & Welding Automation of Jiangxi, Nanchang University, Nanchang
[2] School of Information Engineering, Nanchang Hangkong University, Nanchang
来源：
Jixie Gongcheng Xuebao/Journal of Mechanical Engineering | 2019年 / 55卷 / 17期
关键词：
Fold line welding seam; Laser vision sensor; Mobile robot; Path planning; Rotating arc sensor;
D O I：
10.3901/JME.2019.17.008
中图分类号：
学科分类号：
摘要：
Taking autonomous mobile welding robot as the platform, this paper mainly solves the problem of identifying and tracking the discontinuous fold line welding seam in the narrow space of the bottom in the ship cabin. The hardware structure and working principle of the mobile robot are introduced. Rotating arc and laser vision dual sensing mode are adopted. The collected current and image signals are processed for seam tracking and seam feature recognition of drain holes. The fold line motion of the robot is analyzed, and the movement of the cross slider and the robot body is planned. The welding seam tracking is carried out by the combination of planning and real-time control. On the hardware platform developed, the signal acquisition, processing and control are realized by VC programming. The results of test and work field application show that the system is portable and flexible for small space discontinuous fold line welding, and the effect of recognition and tracking is good. © 2019 Journal of Mechanical Engineering.
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页码：8 / 13
页数：5
相关论文
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