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Automated point positioning for robotic spot welding using integrated 2D drawings and structured light cameras
Automation in Construction ( IF 9.6 ) Pub Date : 2025-01-23 , DOI: 10.1016/j.autcon.2025.105989
Lu Deng, Huiguang Wang, Ran Cao, Jingjing Guo
Automation in Construction ( IF 9.6 ) Pub Date : 2025-01-23 , DOI: 10.1016/j.autcon.2025.105989
Lu Deng, Huiguang Wang, Ran Cao, Jingjing Guo
Precise point positioning is crucial for implementing robotic spot welding. Traditional 2D drawings of structural components lack depth information, making them insufficient for guiding robotic welding. This paper introduces an automated robotic welding framework for spot welding based on 2D drawings and structured light cameras. To enhance the efficiency of point positioning, a new algorithm was also developed with a spatial complexity level of log4 (N ), where N is the resolution of the image. Three different 3D cameras with distinct imaging principles were used in the experiments, and their performances were compared and discussed in detail. The proposed framework was validated against a scaled experiment, where the positioning accuracy by the proposed method met the code requirements. It was also found that the proposed vision-based welding approach could provide similar accuracy in welding orientation estimation as light section sensors but at a much lower cost.
中文翻译:
使用集成的 2D 图纸和结构光相机为机器人点焊提供自动点定位
精确的点定位对于实施机器人点焊至关重要。结构组件的传统 2D 图纸缺乏深度信息,因此不足以指导机器人焊接。本文介绍了一种基于 2D 图纸和结构光相机的自动化机器人焊接框架,用于点焊。为了提高点定位的效率,还开发了一种空间复杂度为 log4(N) 的新算法,其中 N 是图像的分辨率。实验中使用了三种具有不同成像原理的不同 3D 相机,并详细比较和讨论了它们的性能。所提出的框架在比例实验中进行了验证,其中所提出的方法的定位精度满足规范要求。研究还发现,所提出的基于视觉的焊接方法可以提供与轻距离传感器相似的焊接方向估计精度,但成本要低得多。
更新日期:2025-01-23
中文翻译:
使用集成的 2D 图纸和结构光相机为机器人点焊提供自动点定位
精确的点定位对于实施机器人点焊至关重要。结构组件的传统 2D 图纸缺乏深度信息,因此不足以指导机器人焊接。本文介绍了一种基于 2D 图纸和结构光相机的自动化机器人焊接框架,用于点焊。为了提高点定位的效率,还开发了一种空间复杂度为 log4(N) 的新算法,其中 N 是图像的分辨率。实验中使用了三种具有不同成像原理的不同 3D 相机,并详细比较和讨论了它们的性能。所提出的框架在比例实验中进行了验证,其中所提出的方法的定位精度满足规范要求。研究还发现,所提出的基于视觉的焊接方法可以提供与轻距离传感器相似的焊接方向估计精度,但成本要低得多。