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首页激光视觉传感器在焊接接缝跟踪中的应用研究
"这篇文档是关于使用激光视觉传感器进行焊接接缝跟踪的研究,主要探讨了在焊接自动化领域中,特别是对于大直径管道焊接时,如何有效地进行接缝追踪以提高精度和效率。" 焊接接缝跟踪是自动化焊接过程中的关键环节,它涉及到各种不同类型的传感器技术,包括接触式和非接触式。接触式传感器通过检测弯曲尺寸的变化来提供模拟信号,但可能受到物理磨损的影响。相比之下,非接触式传感器如电磁传感器、光学传感器和超声波传感器在不直接接触工件的情况下工作,减少了磨损问题。然而,这些非接触式传感器可能会受到环境因素的干扰,例如温度变化或电磁干扰。 激光视觉传感器(LVS)作为一种先进的非接触式传感器,因其稳定性高、精度好,被广泛应用于焊接接缝跟踪。LVS由激光模块、反射镜和视觉传感器三部分组成。激光模块发射线性激光,经过反射镜反射后,激光线落在视觉传感器的中心,形成图像。通过对这些图像的分析,系统可以实时识别焊接沟槽的形状和位置,从而实现精确的接缝追踪。 V型沟槽是在待焊接的圆柱体表面刻划的,其两个V形尖端的中心点是焊接的关键参考点。通过准确地追踪这些点,焊接机器人能够确保焊枪沿着预设的轨迹移动,从而保证焊接的质量和一致性。这种技术特别适用于直径超过200mm的大管径焊接,因为在这种情况下,传统的接触式传感器可能无法提供足够的精度,而LVS则能有效地克服这一挑战。 研究进一步指出,LVS的性能不受环境因素如烟尘、热辐射等的影响,这使得它在复杂焊接环境中更具优势。此外,由于激光视觉传感器能够实时捕捉并处理图像,因此可以适应焊接过程中可能出现的微小偏差,自动调整焊接路径,减少焊缝的错位和变形,显著提高了焊接自动化过程的效率和可靠性。
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International Conference on Control, A
u
Oct. 27-30, 2010 in KINTEX, Gyeong
g
1. INTRODUCTIO
N
Welding automation is used in v
a
fields. Orbital welding machine is deve
l
diameter pipe welding to huge diame
t
For over 200mm diameter
p
ipe
w
carriage sets up inside or outside of t
h
surfaces have to be cut precisely each s
i
There are many studies to trace the
using contact or noncontact type se
n
welding automation
.[1-3]
Contact typ
e
analog signals from size of the bendi
n
measured by the prove. There has be
e
sensor, electromagnetic sensor, op
t
noncontact type sensors. An arc s
e
weaving motion. Sensing height is rest
r
an electromagnetic sensor.
There has been developed visio
displacement sensor, laser vision s
e
sensors. A vision sensor directly captu
r
a laser displacement sensor uses dot las
e
equipment. Optical type sensors are
p
influenced by environmental effect.
A
Laser Vision Sensor(LVS) is stable, p
r
shape of the welding groove. The L
V
laser module, mirror, vision sensor.
T
discharges line laser. The mirror refl
e
center of the vision sensor, images ar
e
vision sensor.
V-groove is carved in the cylinder f
o
set of center points of the V-groov
e
captured images. Tracking and estima
t
applied to trace the welding path.
T
sharp-edged line. It is important to trac
e
at the corner.
A study on the w
e
T
a
S
e
1
Department of Mechan
i
(Tel :
+
2
Technology Innovation Cente
r
(Tel
3
High Safety Vehicle Core Tech
n
(Tel :
4
UNICK
C
(Te
l
Abstract: This paper suggests one
o
measured by the LVS(Laser Vision S
e
images. Center points of the welding
transformed to robot coordinates
b
y
c
robot, cylinder, LVS. The rolling cylin
d
robot follows the V-groove. The trac
k
correlation of a set of groove center po
i
of error. Thus, the
p
rocess of error data
Keywords: Laser Vision Sensor, tracki
u
tomation and Systems 2010
g
i-do, Korea
N
a
rious industrial
l
oped from small
t
e
r
pipe welding.
w
elding, welding
h
e pipe. Contact
i
de of pipes.
welding path by
n
sors in field o
f
e
senso
r
s outputs
n
g stress that are
e
n developed arc
t
ical sensor as
e
nsor is needed
r
icted when using
n sensor, laser
e
nsor as optical
r
es welding spo
t
,
e
r and measuring
p
recise, but it is
A
dvantage of the
r
ecious, showing
V
S is composed
T
he laser module
e
c
t
s line laser to
e
captured by the
o
r experimen
t
. A
e
is obtained by
t
io
n
algorithm is
T
he path forms
e
the line exactly
2. SYSTEM CO
N
The cylinder alternates
pi
motor is driven to spin t
h
Dimension of the cylinder i
s
Diameter of the cylinder i
welding path is 85mm. L
e
cylinder is determined as 9
5
the V-groove are 30mm and
1
Fig. 1 Dimension
Fig. 2 shows the unr
o
experiment is implemented i
n
velocity respectively.
Fig. 2 Dimension o
f
e
lding seam tracking by using Laser Visio
n
a
ewook Kim
1
and Seungbeom Lee
4
and
e
unghwan Baek
2
and Kwangsuck Boo
13
i
cal Engineering, Inje University, Gimhae city, Gyeon
g
+
82-55-320-3186; E-mail:
ktwchi23@naver.com
)
r
for Automotive Parts, Inje University, Gimhae city,
G
: +82-55-320-3753; E-mail:
shbaek@inje.ac.kr
)
n
ology Research Cente
r
, Inje University, Gimhae city
,
+82-55-320-3753; E-mail:
mechboo@inje.ac.kr
)
C
ORPORATION, Gimhae city, Gyeongnam, Korea
l
: +82-55-340-2000; E-mail:
krbug@nate.com
)
o
f the pre-measurement methods to trace a welding
e
nsor). A line laser is projected on the weldment a
n
path are detected through image processing. Meas
u
c
oordinate transformatio
n
s. The experimental struct
u
d
e
r
that is carved V-groove generates the continuous
w
k
ing algorithm is applied to generate the welding
pa
i
nts. It is important that the robot traces the welding
pa
distinction and modification is implemented through
t
ng algorithm, robot welding, path planning
N
FIGURATION
i
pe to be welded. A DC
h
e cylinde
r
continuously.
s
shown in Fig. 1, Fig. 3.
s 350mm. Width of the
e
ngth between LVS and
5
mm. Width and height of
1
5mm respectively.
of the cylinder.
o
lled welding path. The
n
5mm/s, 10mm/s, 15mm/s
f
the welding path.
n
Sensor
g
nam, Korea
G
yeongnam, Korea
,
Gyeongnam, Korea
path. The welding path is
n
d a vision sensor captures
u
red image coordinates are
u
re is composed by 1-axis
w
elding path and the 1-Axis
a
th that is obtained by the
a
th accurately in the margin
t
he estimation algorithm.
978-89-93215-02-1 98560/10/$15 ©ICROS
779
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