| 船舱流水孔自动识别跟踪焊接系统 |
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| 引用本文： | 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. |
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| 作者姓名： | 郭亮 张华 高延峰 |
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| 作者单位： | 南昌大学 江西省机器人与焊接自动化重点实验室, 南昌 330031;南昌航空大学 信息工程学院, 南昌 330031,南昌大学 江西省机器人与焊接自动化重点实验室, 南昌 330031,南昌航空大学 信息工程学院, 南昌 330031 |
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| 基金项目： | 国家高技术研究发展计划资助项目(863计划,2013-AA04003);国家自然科学基金资助项目(51465043) |
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| 摘 要： | 船舶制造中,为加强船体强度,船舱底部设置许多格子间,其工作环境狭小且存在不连续焊缝,影响焊接生产效率.现有焊接机器人无法识别流水孔特征点位置,目前主要由人工来完成焊接.在旋转电弧传感焊接机器人的基础上,增加激光视觉传感器用于识别流水孔的特征点,结合嵌入式工控机和其它硬件,通过自主开发的VC++软件完成对船舱流水孔焊缝自动识别、跟踪及焊接.结果表明,该系统便携灵活,适用于船舱格子间焊接作业且识别和跟踪效果良好.
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| 关 键 词： | 流水孔 激光视觉传感器 旋转电弧传感器 格子间 |
| 收稿时间： | 2014/12/11 0:00:00 |
Study of automatic recognition and tracking welding system for cabin drain hole |
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| GUO Liang,ZHANG Hua and GAO Yangfeng.Study of automatic recognition and tracking welding system for cabin drain hole[J].Transactions of The China Welding Institution,2015,36(6):14-18. |
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| Authors: | GUO Liang ZHANG Hua and GAO Yangfeng |
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| Affiliation: | Key Laboratory of Robot & Welding Automation of Jiangxi, Nanchang University, Nanchang 330031, China;College of Information Engineering, Nanchang Hangkong University, Nanchang 330031, China,Key Laboratory of Robot & Welding Automation of Jiangxi, Nanchang University, Nanchang 330031, China and College of Information Engineering, Nanchang Hangkong University, Nanchang 330031, China |
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| Abstract: | In the process of watercraft manufacturing, in order to reinforce the hull,many cubicle is arranged at the bottom of cabin. In cubicle,work environment is narrow and have discontinuous wending seam, all of these will affect welding production efficiency. The existing welding robot can not identify the feature points of drain hole. At present, the welding of cubicle is accomplished mainly by hand. Based on the rotating arc sensor of welding robot, adding laser vision sensor to identify the feature points of drain holes, combining embedded industrial computer, other hardware and VC++ software, to complete the drain hole''s automatic identification, tracking and welding. After a large number of experiment verification, the results show that the system is portable, flexible and suitable for cubicle welding operation, recognition and the tracking is effective. |
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| Keywords: | drain hole laser vision sensor rotating arc sensor cubicle |
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