基于视觉的焊枪空间位姿实时检测技术
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摘要
在空间位置的金属结构件的焊接制造过程中,焊枪相对于工件待焊点的空间位置和姿态直接影响焊缝成形质量。本研究简要分析计算机视觉在焊接领域的主要研究和应用,对目前焊枪空间位姿检测和控制方法的研究进展进行归纳总结,探讨了各种方法的技术特征和应用优缺点。在此基础上,介绍了两种基于激光结构光组合的视觉传感器,能够实现焊接过程中的焊接坡口尺寸检测、焊缝跟踪及焊枪空间位姿检测等多种功能的集成。最后,指出基于Vcsel的3D视觉传感器的优势,在焊接过程视觉传感中具有良好的研究和应用前景。
During the welding manufacturing process of metal structure with spatial position,the space position and attitude of welding torch relative to the being welded point of workpiece directly affects the forming quality of weld seam. The main research and application aspects of computer vision in the field of welding are analyzed briefly,the current research progress on the detection and control methods of the space position and attitude of welding torch is summarized and concluded,and the technical features along with their merits and drawbacks in application of various methods are discussed. On this basis,two kinds of visual sensors based on the combination of laser structured lights,which were proposed by authors of this paper,are introduced. These two visual sensors can realize the integration of multi-functions such as the detection of cross-sectional sizes of welding groove,the weld seam tracking and the detection of space position and attitude of welding torch in the welding process. Finally,the advantages of the 3 D visual sensor based on Vcsel is pointed out,which has a worthy research and application prospect as the visual sensor in the welding fabrication process.
During the welding manufacturing process of metal structure with spatial position,the space position and attitude of welding torch relative to the being welded point of workpiece directly affects the forming quality of weld seam. The main research and application aspects of computer vision in the field of welding are analyzed briefly,the current research progress on the detection and control methods of the space position and attitude of welding torch is summarized and concluded,and the technical features along with their merits and drawbacks in application of various methods are discussed. On this basis,two kinds of visual sensors based on the combination of laser structured lights,which were proposed by authors of this paper,are introduced. These two visual sensors can realize the integration of multi-functions such as the detection of cross-sectional sizes of welding groove,the weld seam tracking and the detection of space position and attitude of welding torch in the welding process. Finally,the advantages of the 3 D visual sensor based on Vcsel is pointed out,which has a worthy research and application prospect as the visual sensor in the welding fabrication process.
引文
[1]郭吉昌,朱志明,于英飞,等.焊接领域激光结构光视觉传感技术的研究及应用[J].中国激光,2017,44(12):1-10.
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[21]陈仲盛,周强,谢本凯.基于多传感器的焊枪定位系统的设计[J].焊接学报,2015,36(8):105-108.
[22]Zhang G,Shi Y,Gu Y F,et al.Welding torch attitudebased study of human welder interactive behavior with weld pool in GTAW[J].Robotics and Computer-Integrated Manufacturing,2017(48):145-156.
[23]王雪宙,石玗,朱明,等.基于焊枪姿态与熔池形貌的不同焊工焊接行为的测量与分析[J].机械工程学报,2017,53(18):87-92.
[24]Gao M,Yan Y,Yang Y,et al.A Positioning System Based on Monocular Vision for Industrial Robots[C].International Conference on Information Science and Control Engineering,Beijing,IEEE,2016:784-788.
[25]高春甫,唐可洪,胡庆玉,等.机械手姿态识别的立体视觉匹配[J].光学精密工程,2010,18(2):464-469.
[26]杜雨馨,刘停,童敏明,等.基于机器视觉的悬臂式掘进机机身位姿检测系统[J].煤炭学报,2016,41(11):2897-2906.
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[28]朱志明,郭吉昌,孙博文,等.基于复合激光结构光的多功能视觉传感器装置:中国,108015455A[P].2018-05-11.
[29]朱志明,郭吉昌,孙博文,等.基于复合激光结构光的全空间位姿检测传感器装置:中国,201810613132.X[P].2018-06-14.
[30]K J Ebeling,R Michalzik.VCSEL technology for imaging and sensor systems applications[C].22nd Microoptics Conference,Tokyo,IEEE,2017:20-21.
[31]M Marcinia k,M Gbski,L Piskorski,et al.The verticalcavity surface-emitting laser incorporating a high contrast grating mirror as a sensing device[C].The International Society for Optical Engineering,San Francisco,Proceedings of SPIE,2018:105520J.
[32]M Norgia,F Cavedo,A Pesatori,et al.Short-range contactless laser sensor[C].2017 IEEE International Instrumentation and Measurement Technology,Turin,IEEE,2017:7969838.
[2]刘习文,洪波,戴铁峰.激光视觉焊缝跟踪图像处理与坡口识别[J].激光与红外,2011,41(7):804-807.
[3]Mitchell Dinham,G Fang.Autonomous weld seam identification and localisation using eye-in-hand stereo vision for robotic arc welding[J].Robotics and Computer-Integrated Manufacturing,2013(29):288-301.
[4]W Shao,Y Huang,Y Zhang.A novel weld seam detection method for space weld seam of narrow butt joint in laser welding[J].Optics&Laser Technology,2018(99):39-51.
[5]Y Xu,G Fang,N Lv,et al.Computer vision technology for seam tracking in robotic GTAW and GMAW[J].Robotics and Computer-Integrated Manufacturing,2015(32):25-36.
[6]Y Xu,N Lv,G Fang,et al.Welding seam tracking in robotic gas metal arc welding[J].Journal of Materials Processing Technology,2017(248):18-30.
[7]王志江,张广军,梁志敏,等.熔池表面三维检测与测量技术现状及发展趋势[J].焊接,2007(8):15-19.
[8]Z Wang,Y M Zhang,R Yang.Analytical reconstruction of three-dimensional weld pool surface in GTAW[J].Journal of Manufacturing Processes,2013,15(1):34-40.
[9]M Luo,Y C Shin.Vision-based weld pool boundary extraction and width measurement during keyhole fiber laser welding[J].Optics and Lasers in Engineering,2015(64):59-70.
[10]黎咸西.基于视觉的多层多道焊缝跟踪[D].江西:南昌航空大学,2011.
[11]He Y,Xu Y,Chen Y,et al.Weld seam profile detection and feature point extraction for multi-pass route planning based on visual attention model[J].Robotics&Computer Integrated Manufacturing,2015(37):251-261.
[12]朱志明,郭吉昌,马国锐,等.箱型钢结构焊接机器人运动学分析及轨迹规划[J].清华大学学报(自然科学版),2017,57(8):786-791.
[13]郭吉昌,朱志明,王鑫,等.全位置焊接机器人逆运动学数值求解及轨迹规划方法[J].清华大学学报(自然科学版),2018,58(3):292-297.
[14]翟敬梅,应灿,张铁,等.双机器人协同焊接的轨迹优化[J].焊接学报,2015,36(1):91-95.
[15]张刚,樊丁,石玗,等.钨极惰性气体保护焊焊枪运动姿态的传感与验证[J].上海交通大学学报,2016,50(10):1559-1563.
[16]Zhang W,Xiao J,Chen H P,et al.Measurement of threedimensional welding torch orientation for manual arc welding process[J].Measurement Science&Technology,2014,25(25):035010.
[17]李湘文,洪波,尹力,等.基于摆动旋转电弧的焊枪空间姿态识别[J].焊接学报,2013,34(4):35-37.
[18]李月华.旋转电弧传感器焊枪位姿识别方法研究[D].江西:南昌大学,2007.
[19]J Le,H Zhang,X Q Chen.Realization of rectangular fillet weld tracking based on rotating arc sensors and analysis of experimental results in gas metal arc welding[J].Robotics and Computer-Integrated Manufacturing,2018(49):263-276.
[20]王涛.自主移动机器人空间曲面焊缝的识别与跟踪控制研究[D].湖南:湘潭大学,2017.
[21]陈仲盛,周强,谢本凯.基于多传感器的焊枪定位系统的设计[J].焊接学报,2015,36(8):105-108.
[22]Zhang G,Shi Y,Gu Y F,et al.Welding torch attitudebased study of human welder interactive behavior with weld pool in GTAW[J].Robotics and Computer-Integrated Manufacturing,2017(48):145-156.
[23]王雪宙,石玗,朱明,等.基于焊枪姿态与熔池形貌的不同焊工焊接行为的测量与分析[J].机械工程学报,2017,53(18):87-92.
[24]Gao M,Yan Y,Yang Y,et al.A Positioning System Based on Monocular Vision for Industrial Robots[C].International Conference on Information Science and Control Engineering,Beijing,IEEE,2016:784-788.
[25]高春甫,唐可洪,胡庆玉,等.机械手姿态识别的立体视觉匹配[J].光学精密工程,2010,18(2):464-469.
[26]杜雨馨,刘停,童敏明,等.基于机器视觉的悬臂式掘进机机身位姿检测系统[J].煤炭学报,2016,41(11):2897-2906.
[27]陶威,单奇.机器人3D视觉传感器设计与实现[J].佳木斯大学学报(自然科学版),2016,34(6):954-957.
[28]朱志明,郭吉昌,孙博文,等.基于复合激光结构光的多功能视觉传感器装置:中国,108015455A[P].2018-05-11.
[29]朱志明,郭吉昌,孙博文,等.基于复合激光结构光的全空间位姿检测传感器装置:中国,201810613132.X[P].2018-06-14.
[30]K J Ebeling,R Michalzik.VCSEL technology for imaging and sensor systems applications[C].22nd Microoptics Conference,Tokyo,IEEE,2017:20-21.
[31]M Marcinia k,M Gbski,L Piskorski,et al.The verticalcavity surface-emitting laser incorporating a high contrast grating mirror as a sensing device[C].The International Society for Optical Engineering,San Francisco,Proceedings of SPIE,2018:105520J.
[32]M Norgia,F Cavedo,A Pesatori,et al.Short-range contactless laser sensor[C].2017 IEEE International Instrumentation and Measurement Technology,Turin,IEEE,2017:7969838.