Real-time seam tracking can improve welding quality and enhance welding efficiency during the welding process in automobile manufacturing.However,the teaching-playing welding process,an off-line seam tracking method,i...Real-time seam tracking can improve welding quality and enhance welding efficiency during the welding process in automobile manufacturing.However,the teaching-playing welding process,an off-line seam tracking method,is still dominant in automobile industry,which is less flexible when welding objects or situation change.A novel real-time algorithm consisting of seam detection and generation is proposed to track seam.Using captured 3D points,space vectors were created between two adjacent points along each laser line and then a vector angle based algorithm was developed to detect target points on the seam.Least square method was used to fit target points to a welding trajectory for seam tracking.Furthermore,the real-time seam tracking process was simulated in MATLAB/Simulink.The trend of joint angles vs.time was logged and a comparison between the off-line and the proposed seam tracking algorithm was conducted.Results show that the proposed real-time seam tracking algorithm can work in a real-time scenario and have high accuracy in welding point positioning.展开更多
A space laser communication acquisition,pointing and tracking(APT)system based on the beacon laser is designed without prior information.And then,a new target scanning method and a pointing and tracking algorithm are ...A space laser communication acquisition,pointing and tracking(APT)system based on the beacon laser is designed without prior information.And then,a new target scanning method and a pointing and tracking algorithm are proposed.The target scanning mode is the round-trip triangular wave scanning,and it means that scanning track of the PAN-TILT platform follows the triangular wave repeatedly.For the pointing and tracking algorithm,the beacon laser is used as the auxiliary aiming light source.The position of the beacon laser in the viewfield of the complementary metal oxide semiconductor(CMOS)camera is calculated by the centroid algorithm.In order to realize the target tracking,the joint control method of the angle control and the angular velocity control is used.The simulation and experimental results show that the APT system can achieve full coverage scanning in the scanning area and capture the target in one scanning cycle successfully.After capturing the PAN-TILT platform,the pointing and tracking algorithm can track the PAN-TILT platform quickly and accurately,and the tracking accuracy is up to 0.22 mrad.展开更多
基金Supported by Ministerial Level Advanced Research Foundation(65822576)Beijing Municipal Education Commission(KM201310858004,KM201310858001)
文摘Real-time seam tracking can improve welding quality and enhance welding efficiency during the welding process in automobile manufacturing.However,the teaching-playing welding process,an off-line seam tracking method,is still dominant in automobile industry,which is less flexible when welding objects or situation change.A novel real-time algorithm consisting of seam detection and generation is proposed to track seam.Using captured 3D points,space vectors were created between two adjacent points along each laser line and then a vector angle based algorithm was developed to detect target points on the seam.Least square method was used to fit target points to a welding trajectory for seam tracking.Furthermore,the real-time seam tracking process was simulated in MATLAB/Simulink.The trend of joint angles vs.time was logged and a comparison between the off-line and the proposed seam tracking algorithm was conducted.Results show that the proposed real-time seam tracking algorithm can work in a real-time scenario and have high accuracy in welding point positioning.
基金National Natural Science Foundation of China(No.52173219)。
文摘A space laser communication acquisition,pointing and tracking(APT)system based on the beacon laser is designed without prior information.And then,a new target scanning method and a pointing and tracking algorithm are proposed.The target scanning mode is the round-trip triangular wave scanning,and it means that scanning track of the PAN-TILT platform follows the triangular wave repeatedly.For the pointing and tracking algorithm,the beacon laser is used as the auxiliary aiming light source.The position of the beacon laser in the viewfield of the complementary metal oxide semiconductor(CMOS)camera is calculated by the centroid algorithm.In order to realize the target tracking,the joint control method of the angle control and the angular velocity control is used.The simulation and experimental results show that the APT system can achieve full coverage scanning in the scanning area and capture the target in one scanning cycle successfully.After capturing the PAN-TILT platform,the pointing and tracking algorithm can track the PAN-TILT platform quickly and accurately,and the tracking accuracy is up to 0.22 mrad.
