Skip to main content
SpringerLink
Log in

Laser Vision-Based Automatic Trajectory Planning Technology for Spatial Intersecting Joint Weld

  • Regular Paper
  • Published:
International Journal of Precision Engineering and Manufacturing Aims and scope Submit manuscript

Abstract

This paper studies the laser vision-based automatic trajectory planning technology for spatial intersecting joint weld. Firstly, the mathematical model of T-type off-axis non-groove intersecting joint is established, and the welding seam characteristics of the intersecting joint are analyzed. Secondly, a triangular pseudo-rotation feature pixel detection algorithm based on monocular structured light vision is proposed to realize the rapid extraction and location of spatial intersecting joint weld. Then, a laser vision-based calibration method for the workpiece coordinate system of the T-type intersecting joint is proposed, the relationship between intersecting joint workpiece coordinate system and robot base coordinate system is established, and the trajectory equation is obtained. At last, a searching discrete of chord error interpolation control algorithm is proposed to automatically discrete and plan welding torch gesture data. Experiments show that the technology can achieve higher precision location and better intersecting joint weld trajectory planning, and realize high-quality automatic weld of intersecting joint.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9
Fig. 10
Fig. 11
Fig. 12
Fig. 13
Fig. 14
Fig. 15

Similar content being viewed by others

References

  1. Gao, F. Q. (2016). Vision-based curve tracking system using fuzzy controller. Control Engineering of China,23(1), 149–152.

    Google Scholar 

  2. Lü, X. Q., Zhang, K., & Wu, Y. X. (2003). Condition and expectation of automatic weld seam tracking. Journal of Mechanical Engineering,39(12), 80–85.

    Article  Google Scholar 

  3. Madsen, O., Sørensen, C. B., Larsen, R., et al. (2002). A system for complex robotic welding. Industrial Robot,29(29), 127–131.

    Article  Google Scholar 

  4. Lei, Z. L., Lv, T., Chen, Y. B., et al. (2013). Features extraction for weld image of scanning laser sensing. Transactions of the China Welding Institution,35(5), 54–58.

    Google Scholar 

  5. Zou, Y., Zhou, W., & Wang, Y. (2017). Laser Vision seam automatic tracking based on probability continuous model. Journal of Mechanical Engineering,53(10), 70–78.

    Article  Google Scholar 

  6. Liu, X. (2017). Application of image processing and multi-sensor information fusion in pipeline intersecting line weld seam detection robot. Dissertation. Guangdong. Shenzhen University, 2017.

  7. Yang, P., Xu, B. S., Wu L., et al. (2005) Space weld positioning system of arc welding robot based on structured light stereo vision. In Proceedings of the Eleventh National Welding Conference (Vol. 2).

  8. Chen, X., Dharmawan, A. G., Foong, S., et al. (2018). Seam tracking of large pipe structures for an agile robotic welding system mounted on scaffold structures. Robotics and Computer-Integrated Manufacturing,50, 242–255.

    Article  Google Scholar 

  9. Yan, K. (2018). Research on intersecting curve welding robot system based on laser vision. Dissertation. Shandong University, 2018.

  10. Ahmed, S. M., Tan, Y. Z., Lee G. H., et al. (2016) Object detection and motion planning for automated welding of tubular joints. In IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 2610–2615). IEEE.

  11. Zhou, Y., Chen, X., Gong, G., et al. (2018). A seam tracking system based on a laser vision sensor. Measurement,127, 489–500.

    Article  Google Scholar 

  12. Wang, T. Q. (2015). Research on KY space welding robot system of offshore platform jacket. Dissertation. Tianjin Polytechnic University, 2015.

  13. Wang, K. H., Liu, Y., & Yu, J. (2003). Study of geometric model and attitude of typical workpiece welded in robot. Electric Welding Machine,33(6), 29–32.

    Google Scholar 

  14. Zhang, Y., Zhang, X., & Luo, Y. (2015). Trajectory planning for irregular intersecting line of two pipes. Wuhan: Huazhong Univ. of Sci. &. Tech. (Natural Science Edition).

    Google Scholar 

  15. Wu, L., & Kong, Y. (1997). Definition and geometric model of welding position and torch orientation. Journal of Mechanical Engineering,33(5), 49–53.

    Google Scholar 

  16. Masatoshi, H., Akira, O., & Toshihiko, N. (2007). Development of automatic welding system for crawler crane latticed booms. R & D Kobe Steel Technology News,27, 53–57.

    Google Scholar 

  17. Zhou, L., & Chen, S. B. (2009). Breaking branches algorithm and its application in welding image processing. Journal of Mechanical Engineering,45(03), 282–285.

    Article  Google Scholar 

  18. Miao, X. G., Wang, S., & Li, X. H. (2011). Method of track fitting on big frame intersection line seam. Transactions of the China Welding Institution,32(1), 89–92.

    Google Scholar 

  19. Zhang, H., Chen, F. X., Chen, C. M., et al. (2013). On skew lines. Studies in College Mathematics,16(02), 40–42.

    MathSciNet  Google Scholar 

  20. Kang, S. J. (2007). Research on NURBS real time interpolation. Dissertation. Nanjing University of Aeronautics and Astronautics.

  21. Xu, H. Y., & Dai, J. S. (2002). Three-dimensional implicit curve interpolation. International Journal of Advanced Manufacturing Technology,19(5), 325–329.

    Article  Google Scholar 

  22. Yuan, C., Zhang, K., & Fan, W. (2013). Time-optimal interpolation for CNC machining along curved tool paths with confined chord error. Journal of Systems Science and Complexity,26(5), 836–870.

    Article  MathSciNet  Google Scholar 

  23. Básaca-Preciado, L. C., Sergiyenko, O. Y., Rodríguez-Quinonez, J. C., et al. (2014). Optical 3D laser measurement system for navigation of autonomous mobile robot. Optics and Lasers in Engineering,54, 159–169.

    Article  Google Scholar 

  24. Garcia-Cruz, X. M., Sergiyenko, O. Y., Tyrsa, V., et al. (2014). Optimization of 3D laser scanning speed by use of combined variable step. Optics and Lasers in Engineering,54, 141–151.

    Article  Google Scholar 

  25. Fu, X. L. (2015) Research on the trajectory and welding procedure of pipe-pipe intersecting line welding by robot. Doctoral dissertation. Shanghai University of Engineering Science, 2015.

  26. Li, D. J., Li, Q., Wang, S. W., et al. (2018). Design of new welding torch for automatic welding of all position intersecting line. Transactions of the China Welding Institution, 39(3), 117–119, 123.

    Google Scholar 

Download references

Acknowledgements

This work is financially supported by National Natural Science Foundation of China (Grant No. U1733125), Natural Science Foundation of Tianjin (Grant No. 18JCYBJC18700) and Natural Science Foundation of Tianjin (Grant No. 18JCYBJC19100).

Author information

Authors and Affiliations

  1. Tianjin Key Laboratory of Advanced Mechatronics Equipment Technology, Tianjin Polytechnic University, Tianjin, 300387, China

    Zhenwei Jia, Tianqi Wang, Liangyu Li & Junjie He

Authors
  1. Zhenwei Jia
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Tianqi Wang
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Liangyu Li
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Junjie He
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Tianqi Wang.

Additional information

Publisher's Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Jia, Z., Wang, T., Li, L. et al. Laser Vision-Based Automatic Trajectory Planning Technology for Spatial Intersecting Joint Weld. Int. J. Precis. Eng. Manuf. 21, 45–55 (2020). https://doi.org/10.1007/s12541-019-00248-0

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s12541-019-00248-0

Keywords

Search

Navigation