Research on welding seam tracking algorithm for automatic welding process of X-shaped tip of concrete piles using laser distance sensor

IF 1.9 4区 计算机科学 Q3 ROBOTICS Robotica Pub Date : 2024-04-18 DOI:10.1017/s0263574724000535
Cao Tri Huynh, Tri Cong Phung
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Abstract

The manufacturing of the X-shaped tip of prestressed centrifugal concrete piles is nowadays done half automatically by combining the manual worker and the automatic welding robot. To make this welding process full automatically, the welding seam tracking algorithm is considered. There are many types of sensors that can be used to detect the welding seam such as vision sensor, laser vision sensor, arc sensor, or touch sensor. Each type of sensor has its advantages and disadvantages. In this paper, an algorithm for welding seam tracking using laser distance sensor is proposed. Firstly, the fundamental mathematics theory of the algorithm is presented. Next, the positioning table system supports the procedure is designed and manufactured. The object of this research is the fillet joint because of the characteristics of the X-shaped tip of the concrete piles. This paper proposes a new method to determine the welding trajectory of the tip using laser distance sensor. After that, the experimental results are received to verify the proposed idea. Finally, the improved proposal of the algorithm is considered to increase the accuracy of the suggested algorithm.

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使用激光测距传感器的混凝土桩 X 型桩尖自动焊接过程中的焊缝跟踪算法研究
如今,预应力离心混凝土管桩 X 形尖端的制造是通过人工和自动焊接机器人相结合的方式半自动完成的。为了实现全自动焊接,需要考虑焊缝跟踪算法。有多种类型的传感器可用于检测焊缝,如视觉传感器、激光视觉传感器、电弧传感器或触摸传感器。每种传感器都有其优缺点。本文提出了一种利用激光测距传感器进行焊缝跟踪的算法。首先,介绍了算法的基本数学理论。然后,设计并制造了支持该程序的定位台系统。由于混凝土桩 X 型桩尖的特点,本研究的对象是圆角接头。本文提出了一种利用激光测距传感器确定桩尖焊接轨迹的新方法。然后,通过实验结果来验证所提出的想法。最后,考虑了改进算法的建议,以提高建议算法的准确性。
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来源期刊
Robotica
Robotica 工程技术-机器人学
CiteScore
4.50
自引率
22.20%
发文量
181
审稿时长
9.9 months
期刊介绍: Robotica is a forum for the multidisciplinary subject of robotics and encourages developments, applications and research in this important field of automation and robotics with regard to industry, health, education and economic and social aspects of relevance. Coverage includes activities in hostile environments, applications in the service and manufacturing industries, biological robotics, dynamics and kinematics involved in robot design and uses, on-line robots, robot task planning, rehabilitation robotics, sensory perception, software in the widest sense, particularly in respect of programming languages and links with CAD/CAM systems, telerobotics and various other areas. In addition, interest is focused on various Artificial Intelligence topics of theoretical and practical interest.
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