Abstract
Three-dimensional (3D) zigzag-line welding seams are found extensively in the manufacturing of marine engineering equipment, heavy lifting equipment, and logistics transportation equipment. Currently, due to the large amount of calculation and poor real-time performance of 3D welding seam detection algorithms, real-time tracking of 3D zigzag-line welding seams is still a challenge especially in high-speed welding. For the abovementioned problems, we proposed a method for the extraction of the pose information of 3D zigzag-line welding seams based on laser displacement sensing and density-based clustering point cloud segmentation during robotic welding. after thee point cloud data of the 3D zigzag-line welding seams was obtained online by the laser displacement sensor, it was segmented using theρ-Approximate DBSCAN (Density-Based Spatial Clustering of Applications with Noise) algorithm. In the experiment, high-speed welding was performed on typical low-carbon steel 3D zigzag-line welding seams using gas metal arc welding. The results showed that when the welding velocity was 1000 mm/min, the proposed method obtained a welding seam position detection error of less than 0.35 mm, a welding seam attitude estimation error of less than two degrees, and the running time of the main algorithm was within 120 ms. Thus, the online extraction of the pose information of 3D zigzag-line welding seams was achieved and the requirements of welding seam tracking were met.
Highlights
Three-dimensional (3D) zigzag-line welding seams are found extensively in the manufacturing of marine engineering equipment, heavy lifting equipment, and logistics transportation equipment (Figure 1)
We proposed a method for the online extraction of the pose information based on laser displacement sensing and density-based clustering point cloud segmentation
We proposed a method for the online extraction of the pose information for 3D zigzag-line welding seams for the real-time tracking of welding seams, and we made the following conclusions: (1)
Summary
Three-dimensional (3D) zigzag-line welding seams are found extensively in the manufacturing of marine engineering equipment, heavy lifting equipment, and logistics transportation equipment (Figure 1). The off-line robot programming mode and the robot teaching mode have their disadvantages, i.e., low programming efficiency and a heavy teaching workload, which seriously affect the welding efficiency and quality of 3D zigzag-line welding seams [1,2,3]. The real-time tracking of 3D zigzag-line welding seams is an effective way to improve the welding efficiency and quality of 3D zigzag-line welding seams. The welding seam tracking methods that are currently available are ineffective for tracking 3D zigzag-line welding seams in real time, especially in high-speed welding. The key to achieving real-time tracking of 3D zigzag-line welding seams is to develop a system for the online extraction of pose information for 3D zigzag-line welding seams
Sign-in/Register to view highlights & summary Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
