Correction of MultiLayer Path Planning Based on Vision Recognition

Abstract

Abstract:

Abstract： A novel technology of double sided arc welding (DSAW) in which the gas metal arc welding (GMAW) was employed for root welding and filler passes respectively was proposed in this paper. The correction of multilayer path planning based on vision recognition (CMLPPBVR) was proposed to decrease the accumulated error and increase the precision of path planning. Laser stripe was used to scan the filler condition of the groove after each welding bead was welded. The real time filler information of each welding bead can be obtained through the image processing and 3D information restoration to correct the multilayer path planning, which improves the precision of multilayer path planning.

Key words: double-sided arc welding, path planning, vision recognition, 3D information restoration

CLC Number:

TG 409

YANG Chengdong,ZHONG Jiyong,CHEN Yuxi,CHEN Shanben. Correction of MultiLayer Path Planning Based on Vision Recognition[J]. Journal of Shanghai Jiaotong University, 2015, 49(03): 297-300.

References

［1］Arregi B, Granados S, Hascoet J, et al. Automatic welding systems for large ship hulls［C］∥In the 4th Manufacturing Engineering Society International Conference (MESIC 2011). Cadiz: AIP Publishing，2012：951958.

［2］Kiser S, Zhang R, Caruso M. Nuclear welding product 52MSS delivers improved tensile strength and maximum resistance to PWSCC and DDC ［C］∥Corrosion 2013. Orlando：NACE International，2013：1721.

［3］薛祖德, 陈进文. 低合金高强度结构钢的发展及应用［J］. 造船技术，2002(6): 1520.

XUE Zude, CHEN Jinwen. The development and application of high strength low alloy structural steel ［J］. Shipbuilding Technology, 2002(6): 1520.

［4］张华军, 张广军, 王俊恒, 等. 低合金高强钢双面双弧焊热循环对组织性能的影响［J］. 焊接学报, 2007, 28(10): 8184.

ZHANG Huajun, ZHANG Guangjun, WANG Junheng, et al. The effect of DSAW thermal cycling on microstructure and property of high strength low alloy steel ［J］. Transactions of the China Welding Institution, 2007, 28(10): 8184.

［5］Zhang H, Zhang G, Cai C, et al. Fundamental studies on inprocess controlling angular distortion in asymmetrical doublesided double arc welding ［J］. Journal of Materials Processing Technology, 2008, 205(1): 214223.

［6］Zhang H J, Zhang G J, Cai C B, et al. The realization of low stress and nonangular distortion by doublesided double arc welding ［J］. Journal of Manufacturing Science and Engineering, 2009, 131(4): 16.

［7］Yang Chengdong, Zhang Huajun, Chen Yuxi, et al. The effect of DSAW on preheating temperature in welding thick plate of low alloy high strength steel ［J］. International Journal of Advanced Manufacturing Technology, 2014（71）: 421428.

［8］Yang Chengdong, Ye Zhen, Chen Yuxi, et al. Multipass path planning for thick plate by DSAW based on vision sensor ［J］. Sensor Review, 2014, 34(4): 416423.

［9］Yang Chengdong, Zhong Jiyong, Chen Yuxi, et al. The realization of no back chipping for thick plate welding ［J］. International Journal of Advanced Manufacturing Technology, 2014（74）: 7988.

［10］张德丰. 详解MATLAB数字图像处理［M］. 北京：电子工业出版社, 2010.第49卷第3期2015年3月上海交通大学学报JOURNAL OF SHANGHAI JIAO TONG UNIVERSITYVol.49 No.3Mar. 2015

[1]	LI Shiqi (李世其), LI Xiao∗ (李肖), HAN Ke (韩可), XIONG Youjun (熊友军), XIE Zheng (谢铮), CHEN Jinliang (陈金亮). Path Planning and Optimization of Humanoid Manipulator in Cartesian Space [J]. J Shanghai Jiaotong Univ Sci, 2022, 27(5): 614-620.
[2]	WANG Liang (王亮), WANG Bing (王冰), WANG Chunxiang∗ (王春香). Collision-Free Path Planning with Kinematic Constraints in Urban Scenarios [J]. J Shanghai Jiaotong Univ Sci, 2021, 26(5): 731-738.
[3]	LI Zhaoying, OU Yiming, SHI Ruoling. Improved RRT Path Planning Algorithm Based on Deep Q-network [J]. Air & Space Defense, 2021, 4(3): 17-23.
[4]	LI Zheng, CHEN Jianwei, PENG Bo . UAV Cluster Path Planning Based on Pseudo-spectral Method [J]. Air & Space Defense, 2021, 4(1): 52-59.
[5]	WU Xing (武星), LIU Yuan (刘远), XIE Shaorong (谢少荣), GUO Yike (郭毅可). Collaborative Defense with Multiple USVs and UAVs Based on Swarm Intelligence [J]. Journal of Shanghai Jiao Tong University (Science), 2020, 25(1): 51-56.
[6]	CHEN Yaojie* (陈姚节), XIANG Shanshan (项珊珊), CHEN Feixiang (陈飞翔). Research on a Task Planning Method for Multi-Ship Cooperative Driving [J]. Journal of Shanghai Jiao Tong University (Science), 2019, 24(2): 233-242.
[7]	YANG Qing (杨轻), YANG Zhong (杨忠), HU Guoxiong (胡国雄), DU Wei (杜威). A New Fusion Chemical Reaction Optimization Algorithm Based on Random Molecules for Multi-Rotor UAV Path Planning in Transmission Line Inspection [J]. Journal of Shanghai Jiao Tong University (Science), 2018, 23(5): 671-677.
[8]	SUN Ling (孙玲). A Real-Time Collision-Free Path Planning of a Rust Removal Robot Using an Improved Neural Network [J]. Journal of shanghai Jiaotong University (Science), 2017, 22(5): 633-640.
[9]	LE Jian,ZHANG Hua,YE Yanhui,FAN Yu. Robot Tracking of Vertical Welding Seam Based on Rotating Arc Sensor [J]. Journal of Shanghai Jiaotong University, 2015, 49(03): 348-352.
[10]	XU Bo，MIN Huaqing，XIAO Fangxiong. Ant Colony Algorithm for Solving Discrete Minimum Constraint Removal (MCR) Problem [J]. Journal of Shanghai Jiaotong University, 2015, 49(03): 383-386.
[11]	CHEN Xia,ZHANG Jing，XU Guangyan. Three-Dimension Path Planning for Unmanned Aerial Vehicle Under Moving Threat [J]. Journal of Shanghai Jiaotong University, 2014, 48(10): 1400-1405.
[12]	ZHANG Tie,OUYANG Fan. Kinematics Analysis and Path Planning of Dual-robot Coordinated Couple Motion [J]. Journal of Shanghai Jiaotong University, 2013, 47(08): 1251-1256.
[13]	ZHUANG Jia-Yuan, SU Yu-Min, LIAO Yu-Lei, SUN Han-Bing. Unmanned Surface Vehicle Local Path Planning Based on Marine Radar [J]. Journal of Shanghai Jiaotong University, 2012, 46(09): 1371-1375.
[14]	HU Bin-a, WANG Bing-a, WANG Chun-Xiang-b, YANG Ming-a. Dynamic Routing of Automated Guided Vehicles Based on Time Window [J]. Journal of Shanghai Jiaotong University, 2012, 46(06): 967-971.
[15]	BAI Jie1,YANG Genke1,PAN Changchun1,SUN Kai2 . A Revised Scatter Search Algorithm for Path Planning of Multiple UAVs [J]. Journal of Shanghai Jiaotong University, 2011, 45(02): 173-0178.