平面自主移动焊接机器人初始位置检测定位
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摘要
平面自主移动焊接机器人用于在狭小的船舱格子间作业,其焊接初始定位主要依靠人力。但有时工人很难进入纵向空间狭小的格子间,且提起机器人需要克服机器人本身的重力和底座磁吸附力。利用超声波传感器的工作特性,将机器人旋转扫描壁面得到的位置信息,使用最小二乘法拟合出在整个扫描过程中垂直于壁面的时间点,建立机器人边距调整的数学模型,标定单目视觉传感器修正保护距离。结果表明,该系统解决了机器人检测定位初始焊接位置的问题,对于复杂的工作环境有较强的适应性。
Plane autonomous mobile welding robot is used to work in cramped cabins,and the initial positioning of welding mainly relies on manpower. But sometimes it is hard for workers to enter a narrow lattice in a vertical space,and lifting the robot needs to overcome the gravity of the robot and the magnetic attraction force of the base. The operating characteristics of ultrasonic sensors was used,the robot was rotated to scan the wall to get the position information,and the least-square method was used to fit the time points when the robot is perpendicular to the wall during the whole scanning process. The mathematical model of robot margin adjustment was established,the monocular vision sensor was calibrated to correct the protection distance. The result shows that the system solves the positioning problem of the robot in the initial welding position,and it has a strong adaptability in the complex work environment.
Plane autonomous mobile welding robot is used to work in cramped cabins,and the initial positioning of welding mainly relies on manpower. But sometimes it is hard for workers to enter a narrow lattice in a vertical space,and lifting the robot needs to overcome the gravity of the robot and the magnetic attraction force of the base. The operating characteristics of ultrasonic sensors was used,the robot was rotated to scan the wall to get the position information,and the least-square method was used to fit the time points when the robot is perpendicular to the wall during the whole scanning process. The mathematical model of robot margin adjustment was established,the monocular vision sensor was calibrated to correct the protection distance. The result shows that the system solves the positioning problem of the robot in the initial welding position,and it has a strong adaptability in the complex work environment.
引文
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[2]郭亮,张华,高延峰.船舱流水孔自动识别跟踪焊接系统[J].焊接学报,2015,36(6):14-18.
[3]徐跃.基于超声波测距的机器人定位与避障[D].济南:齐鲁工业大学硕士学位论文,2013.
[4]王殿君.双目视觉在移动机器人定位中的应用[J].中国机械工程,2013,24(9):1155-1158.
[5]穆卫谊,张广鹏,黄玉美,等.移动机器人的超声波传感器发散角标定及应用[J].仪器仪表学报,2017,38(3):560-567.
[6]郭亮,张华.船舱流水孔焊接机器人系统设计[J].焊接,2015(12):24-26,31.
[7] Jiang W H,Yao X D,Guan H R,et al. Carbide behavior during high temperature creep in DZ40M Co-base superalloy[J]. Journal of Materials Science Technology,1999,15(6):515-518.