大型箱型梁高速GMAW三维位姿快速估计方法

doi:10.16183/j.cnki.jsjtu.2020.362

上海交通大学学报 ›› 2022, Vol. 56 ›› Issue (6): 794-800.doi: 10.16183/j.cnki.jsjtu.2020.362

大型箱型梁高速GMAW三维位姿快速估计方法

李高阳, 贾爱亭, 洪波(), 李湘文, 高佳篷

湘潭大学机械工程学院,湖南湘潭 411105

收稿日期:2020-11-06 出版日期:2022-06-28 发布日期:2022-07-04
通讯作者: 洪波 E-mail:hongbo@xtu.edu.cn
作者简介:李高阳(1968-),男,湖南省湘潭市人,博士,高级工程师,从事焊接设备及自动化研究.
基金资助:
国家自然科学基金(51575468);长株潭标志性工程计划重大标志性创新示范工程项目(2019XK2303);湘潭市科技计划项目(ZD-ZD20191007);湖南省自然科学基金(2020JJ4089);湖南省研究生科研创新项目(XDCX2019B099)

Fast 3D Pose Estimation Method for High Speed GMAW of Large Box Girders

LI Gaoyang, JIA Aiting, HONG Bo(), LI Xiangwen, GAO Jiapeng

School of Mechanical Engineering, Xiangtan University, Xiangtan 411105, Hunan, China

Received:2020-11-06 Online:2022-06-28 Published:2022-07-04
Contact: HONG Bo E-mail:hongbo@xtu.edu.cn

摘要/Abstract

摘要：

大型箱型梁在高速熔化极气体保护焊(GMAW)过程中存在定位焊缝、装配精度低,难以通过工装严格保证工件位姿,以及焊缝三维位姿实时变化等复杂工况.基于视觉的焊缝识别方法计算量大,且均不针对存在定位焊缝的工件,难以快速获取大型箱型梁的三维位姿.对此,提出一种基于激光位移传感和点云聚类快速分割的大型箱型梁高速GMAW三维位姿快速估计方法.利用该方法,通过点云快速分割得出大型箱型梁焊缝的立板平面和平板平面,进而解算出焊缝位姿信息.对多种不同位姿的焊缝进行位姿信息估计试验,结果表明:当焊接速度为1200 mm/min时,焊缝位姿误差分别在0.25 mm和1.8° 以内;增强了大型箱型梁自动焊接对定位焊缝、装配精度低等复杂工况的鲁棒性,提升了焊接质量.

关键词: 大型箱型梁, 熔化极气体保护焊, 三维位姿估计, 点云分割

Abstract:

In the process of high speed gas metal arc welding (GMAW), large box girder has many complex working conditions, such as positioning weld, low assembly accuracy, difficulty in strictly ensuring the pose of workpiece through tooling, real-time change of 3D pose of weld, etc. The vision based weld recognition method has a large amount of calculation and is not aimed at the workpiece with positioning weld, making it difficult to obtain the 3D pose of large box girders quickly. Aimed at this problem, a fast 3D pose estimation method for large box girder based on laser displacement sensing and point cloud clustering was proposed. Using this method, the vertical plane and flat plane of the welding seam of large box girders were obtained by fast segmentation of point cloud. Then, the pose information of welding seam was calculated. A pose information estimation test was conducted for welds with different poses. The results show that when the welding speed is up to 1200 mm/min, the pose error of the weld is less than 0.25 mm and 1.8°respectively. The robustness of the automatic welding of large box girders to complex conditions of positioning weld and low assembly accuracy is enhanced, which greatly improves the welding quality.

Key words: large box girder, gas metal arc welding (GMAW), 3D pose estimation, point cloud segmentation

中图分类号:

TG409

李高阳, 贾爱亭, 洪波, 李湘文, 高佳篷. 大型箱型梁高速GMAW三维位姿快速估计方法[J]. 上海交通大学学报, 2022, 56(6): 794-800.

LI Gaoyang, JIA Aiting, HONG Bo, LI Xiangwen, GAO Jiapeng. Fast 3D Pose Estimation Method for High Speed GMAW of Large Box Girders[J]. Journal of Shanghai Jiao Tong University, 2022, 56(6): 794-800.

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大型箱型梁高速GMAW三维位姿快速估计方法

Fast 3D Pose Estimation Method for High Speed GMAW of Large Box Girders

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