CN105081524B - In welding process, the online dynamic programming of track follows the tracks of collaborative control method with welding bead - Google Patents
In welding process, the online dynamic programming of track follows the tracks of collaborative control method with welding bead Download PDFInfo
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- 238000003466 welding Methods 0.000 title claims abstract description 189
- 238000000034 method Methods 0.000 title claims abstract description 70
- 230000008569 process Effects 0.000 title claims abstract description 26
- 239000011324 bead Substances 0.000 title claims abstract description 25
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- 238000001514 detection method Methods 0.000 abstract description 3
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- 238000010891 electric arc Methods 0.000 abstract description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/095—Monitoring or automatic control of welding parameters
- B23K9/0956—Monitoring or automatic control of welding parameters using sensing means, e.g. optical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
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Abstract
The invention provides the online dynamic programming of track in a kind of welding process and follow the tracks of collaborative control method with welding bead, belong to mobile welding robot technical field.The present invention abundant integrated structure light sensors region is ahead of electric arc and realizes the detection of front, weld zone seam welds groove and arc sensor obtains the advantage of welding torch pose in real time, realizes, based on welding bead Isometric Approximation thought, the collaborative uneoupled control that the online dynamic programming of robot body track is followed the tracks of with welding bead.The present invention can improve mobile welding robot speed of welding stability in large-scale component complicated track weld seam welding process and welding bead tracking accuracy, improve joint trajectory local deep camber and the quality of weld seam molding in knuckle region, can be applicable to, in the mobile robot welding process of the equipment manufacturing such as boats and ships, the energy and track traffic, be particularly suited for the welding occasion of large turn or deep camber curved welding seam.
Description
Technical field
The invention belongs to mobile (formula) Technology of Welding Robot field.Relate to the online dynamic programming of track in a kind of welding process
Follow the tracks of collaborative control method with welding bead, can be widely applied to the aspects such as mobile robot automatic welding.
Background technology
Large-scale component welding occasion in the fields such as resource equipment, heavy-duty machinery, shipbuilding, mobile welding robot is because of it
The advantages such as grand movement ability become the effective ways of the space curve welding seam automatic welding solving large scale, complexity.Pacified
It is loaded on airborne actuator devices on the robot body of mobile welding robot (such as mechanical arm, rectangular coordinate system Formula X-Y
Balladeur train etc.) impulse stroke limited, need to combine robot body and adjust its position in real time with attitude to ensure welding torch centering weldering
Seam center, i.e. carries out weld job under the robot body Collaborative Control with airborne actuator.
Existing mobile welding robot mainly uses the weld seam tracking sensor of single type, passes including arc sensor, vision
Sensor two class: use the mobile welding robot of arc sensor only detect molten bath zone and therefrom obtain welding deviation information, machine
Device human body adjusts position according to the actual correction behavior of welding deviation information or airborne actuator in real time that arc sensor obtains
Appearance, it is desirable to airborne actuator has bigger effective impulse stroke;And, the pursuit movement of welding bead is easily subject to by robot body
The electromechanical inertial impact of mobile welding robot system causes controlling delayed, particularly in deep camber region, curved welding seam track local
Mobile welding robot is needed to perform the wide-angle turning motion region with tracking seam track with knuckle region etc., because being difficult in time
Adjust pose, easily produce and partially weld defect, or because speed of welding change causes appearance of weld bad;Use the shifting of vision sensor
Dynamic welding robot disturbs in order to avoid strong arc light, and generally and electric arc melting bath region exists a spacing in vision sensor detection region
From, it is difficult to real-Time Compensation causes the change of position while welding and size because of welding base metal temperature distortion.
In sum, prior art is all difficult to take into account mobile welding robot in the complicated track weld seam welding process of large scale
Dynamic response and static accuracy, and be difficult to solve the technology that couples with airborne actuator motor control of robot body motion and ask
Topic.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, it is proposed that in a kind of welding process the online dynamic programming of track with
Welding bead follows the tracks of collaborative control method, in order to ensure while realizing the welding bead accurate tracking in the welding of large scale complicated track weld seam
Quality of weld seam molding.
To achieve these goals, the present invention takes techniques below scheme:
In a kind of welding process, the online dynamic programming of track follows the tracks of collaborative control method with welding bead, comprises the following steps:
1) mobile welding robot system coordinate system is set up, including: basis cartesian coordinate system Oxyz, robot body coordinate
It is Mxyz, airborne actuator coordinate system UxyzWith structured light sensor coordinate system Lxyz, wherein, airborne actuator coordinate system
UxyzWith structured light sensor coordinate system LxyzX-axis forward consistent with the direction of robot body straight forward, z-axis forward with
The direction of ground normal is consistent, and y-axis forward is determined by lefft-hand rule, airborne actuator coordinate system UxyzInitial point be positioned at airborne
Actuator and the fixed connection place of robot body;
2) when welding arc swinging, to rotate or swings-rotary composite movement form scanning groove time, employing structured light sensor
Extract the positional information of front, weld zone seam welds groove characteristic point i, including bevel for welding characteristic point i with welding torch at structure light
Sensor coordinate system LxyzOffset distance E on middle y-axis directioniWith bevel for welding characteristic point in structured light sensor coordinate system
LxyzIn coordinate, use arc sensor to gather arc energy signal in real time simultaneously, use integration differential method, characteristic harmonics
Method or extremum method extract the real-time welding torch posture information in the arc energy signal after signal filtering with processing and amplifying, by airborne
Actuator adjusts welding torch pose according to acquired real-time welding torch posture information, adjusts the same of welding torch pose in airborne actuator
Time arc sensor start the arc energy signals collecting in next cycle, so circulate, i.e. realize welding bead and follow the tracks of;
3) according to bevel for welding characteristic point in structured light sensor coordinate system LxyzIn coordinate, carry out coordinate transform to basis flute card
That coordinate system Oxyz, it is thus achieved that the coordinate G of bevel for welding characteristic point ii=(xi,yi);
4) according to step 2) and 3) solve the coordinate of a series of bevel for welding characteristic point successively, it is thus achieved that a bevel for welding feature
Point coordinates sequence { G1,G2,...,GNAnd an offset distance array { E1,E2,...,EN, wherein
In formula: λ is that structured light sensor is preposition in the distance of welding torch, and v is speed of welding, TopFor bevel for welding characteristic point position
Confidence breath extracting cycle;
5) use SPL to be fitted bevel for welding characteristic point coordinate sequence calculating, obtain lopcus function to be welded
S (x) also carries out derivation, solves in bevel for welding characteristic point coordinate sequence each bevel for welding characteristic point at track letter to be welded
Tangent slope k on number S (x)i, i=1,2 ..., N, obtain comprising N number of bevel for welding characteristic point position auto-control
Pi=[xi yi arctan(ki)], i=1,2 ..., the set of N;
6) set threshold value σ withCompare, and set threshold value ζ and compare with Δ E, whenOr
During Δ E > ζ, robot body performs continuous path Motion trajectory;WhenOr during Δ E <-ζ,
Robot body performs around car body center pivot turn trajectory planning;WhenAnd
During-ζ≤Δ E≤ζ, robot body performs point-to-point craspedodrome trajectory planning, wherein:
In formula: E1And ENIt is respectively the 1st and n-th bevel for welding characteristic point with welding torch in structured light sensor coordinate system
LxyzOn middle y-axis direction offset distance, LsFor welding torch in airborne actuator coordinate system UxyzIn y-coordinate, LaFor
Airborne actuator is in airborne actuator coordinate system UxyzMaximum functional stroke on middle y-axis direction, LmFor airborne execution machine
Structure is in airborne actuator coordinate system UxyzDefault impulse stroke on middle y-axis direction;
7) robot body is according to continuous path Motion trajectory, arrive around car body center pivot turn trajectory planning or point
Point craspedodrome trajectory planning performs pose and adjusts, and repeats step 2 simultaneously)~6), carry out trajectory planning next time, i.e. realize
In welding process, the online dynamic programming of track follows the tracks of collaborative control with welding bead.
In technique scheme, step 6) described in continuous path Motion trajectory, the method for employing is:
According to step 5) described in the set of bevel for welding characteristic point position auto-control, use following formula:
Computing machine human body is the position auto-control of i-th on robot body movement locus:
Upi:[xpi,ypi,θpi], (i=1,2 ..., N), wherein: S (xi) it is the function upper i-th of lopcus function S (x) to be welded
Value, xpi,ypiIt is respectively on robot body movement locus at i-th in basis cartesian coordinate system OxyzIn coordinate, θpi
For robot body azimuth of i-th on robot body movement locus, use SPL to robot body
Coordinate (the x all put on movement locuspi,ypi), i=1,2 ..., N carries out interpolation calculation, generates continuous and smooth robot
Body movement locus;
In technique scheme, step 6) described in around car body center pivot turn trajectory planning, the method for employing be:
Control robot body left and right sides driving wheel, make driving wheel velocity magnitude equal, in opposite direction, it is achieved machine
Human body is around the pivot turn of car body center, robot body angle of turn θREmploying following formula calculates:
In technique scheme, step 6) described in point-to-point craspedodrome trajectory planning, the method for employing is:
Keep robot body left and right sides driving wheel velocity-stabilization, make robot body long along current direction displacement
Degree is λ, and translational speed size keeps constant.
Welding torch of the present invention uses the rotary welding torch of magnetic control, machinery rotating type welding torch, automatically controlled swing type welding torch or mechanical swinging type
The one of welding torch.
The present invention has the following advantages and the technique effect of salience: fully integrated structure light sensors region is ahead of electricity
Arc realizes the seam welds groove detection of front, weld zone and arc sensor obtains the advantage of welding torch pose in real time by robot
Body and the collaborative uneoupled control of airborne actuator, it is possible to effectively solve mobile welding robot bent to the complex space of large scale
Cause that tracing control is delayed, be difficult to take into account dynamic response asks with technology such as static accuracies because of electromechanical inertial during wire bonding seam welding
Topic;Improve speed of welding stability and the welding track smoothness of mobile welding robot, particularly can improve curved welding seam
Track deep camber region, local and the quality of weld seam molding in weld seams shaped zigzag line knuckle region.Large-scale component complicated track is being welded by the method
In seam automatic welding, relatively traditional method has clear superiority, has important actual application value, can be widely applied to boats and ships, heavy type
In the mobile robot welding process of the equipment manufacturing such as machinery, the energy and track traffic, be particularly suited for large-size cylinder body girth joint,
The large turns such as gantry crossbeam side weld seam, bucket-wheel stacker reclaimer bucket wheel weld seam, locomotive central sill and side structure string beam weld seam or big
The welding occasion of curvature curve weld seam.
Accompanying drawing explanation
Fig. 1 is that in welding process, the online dynamic programming of track follows the tracks of collaborative control method FB(flow block) with welding bead.
Fig. 2 is robot body kinematics model schematic diagram of the present invention.
Fig. 3 is continuous path Motion trajectory schematic diagram of the present invention.
In Fig. 3-Fig. 5: a, b are respectively the two ends of seam track.
Fig. 4 is that the present invention is around car body center pivot turn trajectory planning schematic diagram.
Fig. 5 is point-to-point craspedodrome trajectory planning schematic diagram of the present invention.
Fig. 6 is the mobile welding robot system structure principle schematic realizing the method for the invention.
In figure: 1 moves robot;2 structured light sensor;3 image pick-up cards;4 welding torches;5 Hall elements
Or signal transmitting device;6 signal acquisition process modules;7 industrial computers;8 motion control cards;9 airborne actuators;10—
Movement Controller of Mobile Robot;11 sources of welding current;12 workpiece.
Detailed description of the invention
With embodiment, the principle of the invention and work process are described in further details below in conjunction with the accompanying drawings.
Fig. 1 show the online dynamic programming of track in the welding process of the present invention and follows the tracks of collaborative control method flow chart element with welding bead
Figure, including following step:
1) mobile welding robot system coordinate system is set up, including: basis cartesian coordinate system Oxyz, robot body
Coordinate system Mxyz, airborne actuator coordinate system UxyzWith structured light sensor coordinate system Lxyz, wherein, airborne execution
Mechanics coordinates UxyzWith structured light sensor coordinate system LxyzThe direction of x-axis forward and robot body straight forward
Unanimously, z-axis forward is consistent with the direction of ground normal, and y-axis forward is determined by lefft-hand rule, and airborne actuator is sat
Mark system UxyzInitial point be positioned at the fixed connection place of airborne actuator and robot body, robot body of the present invention exists
Basis cartesian coordinate system has at the displacement of XOY plane and two degree of freedom of angle of rotating about the z axis;
Setting up the kinematics model of robot body of the present invention, the method for employing is: due to machine of the present invention
Human body uses with side wheel parallel drive, when carrying out two dimensional surface motion pose and calculating by robot body model simplification
For two-wheeled model, and ignore squeegee action and car body longitudinal sliding motion.As in figure 2 it is shown, robot body moves from p point
Moving to p ' place, R is radius of turn, and b is left and right wheels spacing, and θ, θ ', Δ θ are respectively robot body initially side
Parallactic angle, back track parallactic angle and the angle turned over, inscribe robot body center in basis cartesian coordinate time (k+1)
It is OxyzIn pose (xk+1,yk+1,θk+1) be calculated by following formula (1) or following formula (2),
In formula: T is the period of motion, r is radius of wheel, ωlAnd ωrIt is respectively left and right wheel angles speed, nlAnd nrIt is respectively left and right wheels
Rotating speed;
2), in the present embodiment, use structured light sensor to tilt to be incident upon on seam welds groove by structure light, work as welding arc
Time under additional transverse rotating magnetic field controls with rotary motion form scanning groove, gather the structure comprising groove geometry feature
Striations image, uses adaptive threshold fuzziness, medium filtering, refinement to process image with the step of slope calculations successively
With feature extraction, obtain the positional information of bevel for welding characteristic point i, pass at structure light with welding torch including bevel for welding characteristic point i
Sensor coordinate system LxyzOffset distance E on middle y-axis directioniWith bevel for welding characteristic point in structured light sensor coordinate system Lxyz
In coordinate;When welding arc scans groove with rotary motion form under additional transverse rotating magnetic field controls, arc sensor
Begin with Hall element and gather welding current signal, use Butterworth low pass ripple and wavelet filtering to welding current signal
Carry out pretreatment and realize filtering of interference signal, and carry out signal amplification, use integration differential method, characteristic harmonics method or extremum method
Extracting welding current signal after treatment and carry out real-time welding torch posture information, airborne actuator is according to acquired real-time welding torch
Posture information adjusts welding torch pose so that it is alignment Weld pipe mill and maintain constant torch height, adjusts in airborne actuator
While welding torch pose, arc sensor starts the arc energy signals collecting in next cycle, so circulates, and i.e. realizes welding bead automatic
Follow the tracks of;
3) according to bevel for welding characteristic point in structured light sensor coordinate system LxyzIn coordinate, carry out coordinate transform to basis flute card
That coordinate system Oxyz, it is thus achieved that the coordinate G of bevel for welding characteristic point ii=(xi,yi);
4) according to step 2) and 3) solve the coordinate of a series of bevel for welding characteristic point successively, it is thus achieved that a bevel for welding feature
Point coordinates sequence { G1,G2,...,GNAnd an offset distance array { E1,E2,...,EN, wherein
In formula: λ is that structured light sensor is preposition in the distance of welding torch, according to welding bead trajectory geometry feature and welding procedure
Requirement determines, sets λ as the value between 30mm to 50mm, and v is speed of welding, TopFor bevel for welding characteristic point
Positional information extracting cycle;
5) SPL (Catmull-Rom curve) is used to be fitted bevel for welding characteristic point coordinate sequence calculating,
Obtain lopcus function S (x) to be welded and carry out derivation, solving each bevel for welding in bevel for welding characteristic point coordinate sequence special
Levy the tangent slope k a little on lopcus function S (x) to be weldedi, i=1,2 ..., N, obtain comprising N number of bevel for welding feature
Point position auto-control Pi=[xi yi arctan(ki)], i=1,2 ..., the set of N;
6) set threshold value σ withCompare, and set threshold value ζ and compare with Δ E, whenOr
During Δ E > ζ, robot body performs the turning motion planning of side, welding torch place, i.e. continuous path Motion trajectory;WhenOr during Δ E <-ζ, robot body performs the turning motion planning of side, non-welding torch place, i.e. around car
Body center pivot turn trajectory planning;WhenAnd during-ζ≤Δ E≤ζ, robot body performs point
To a craspedodrome trajectory planning;Wherein
In formula: E1And ENIt is respectively the 1st and n-th bevel for welding characteristic point with welding torch in structured light sensor coordinate system LxyzIn
On y-axis direction offset distance, LsFor welding torch in airborne actuator coordinate system UxyzIn y-coordinate, LaHold for airborne
Row mechanism is in airborne actuator coordinate system UxyzMaximum functional stroke on middle y-axis direction, LmFor airborne actuator at machine
Carry actuator coordinate system UxyzDefault impulse stroke on middle y-axis direction, according to actual welding structure and airborne actuator
Size sets;
7) robot body is according to continuous path Motion trajectory, around car body center pivot turn trajectory planning or point-to-point
Craspedodrome trajectory planning performs pose and adjusts, and repeats step 2 simultaneously)~6), carry out trajectory planning next time, i.e. realize weldering
In termination process, the online dynamic programming of track follows the tracks of collaborative control with welding bead.
Step 6) described in continuous path Motion trajectory, the method for employing is:
According to step 5) described in the set of bevel for welding characteristic point position auto-control, use following formula:
Computing machine human body is the position auto-control of i-th on robot body movement locus
Upi:[xpi,ypi,θpi], (i=1,2 ..., N), wherein: S (xi) it is the function upper i-th of lopcus function S (x) to be welded
Value, xpi,ypiIt is respectively on robot body movement locus at i-th in basis cartesian coordinate system OxyzIn coordinate, θpi
For robot body azimuth of i-th on robot body movement locus, use SPL (Catmull-Rom
Curve) to the coordinate (x all put on robot body movement locuspi,ypi), i=1,2 ..., N carries out interpolation calculation, generates
Continuous and smooth robot body movement locus;Differential speed control method is used to control robot left and right wheels so that it is along path node
Complete continuous path motion, as it is shown on figure 3,
Up1:[xp1,yp1,θp1] it is robot body starting point position auto-control on robot body movement locus,
UpN:[xpN,ypN,θpN] it is robot body terminating point position auto-control on robot body movement locus,
Upi:[xpi,ypi,θpi], (i=2,3 ..., N-1) it is robot body path node position on robot body movement locus
Appearance matrix;
Step 6) described in around car body center pivot turn trajectory planning, the method for employing be:
As shown in Figure 4, control robot body left and right sides driving wheel, make driving wheel velocity magnitude equal, direction phase
Instead, it is achieved robot body is around the pivot turn of car body center, and makes robot body central speed direction start in turning
At the end of with consistent with institute matching seam track tangential direction respectively, robot body angle of turn θRUse following formula meter
Calculate:
Step 6) described in point-to-point craspedodrome trajectory planning, the method for employing is:
As it is shown in figure 5, Up1For the initial pose of described robot body, UpNFor described robot body object pose,
Keep robot body left and right sides driving wheel velocity-stabilization, make robot body a length of along current direction displacement
λ, translational speed size keeps constant.
Realize the mobile welding robot system of method described in the present embodiment, as shown in Figure 6, it is characterised in that: it includes a shifting
Mobile robot (the most described robot body) 1, one structured light sensor 2 (includes light source, video camera, filter, in figure all
Be not drawn into), image pick-up card 3, arc sensor (including welding torch 4, Hall element or a signal transmitting device 5),
One signal acquisition process module 6, industrial computer 7, motion control card 8, a set of airborne actuator 9 (include balladeur train, cunning
Block, motor, motor driver), Movement Controller of Mobile Robot 10, source of welding current 11.Described airborne actuator is fixed
It is arranged in described mobile robot 1.The end of described airborne actuator 9 side is fixing with described welding torch 4 to be connected.Described
One interface of the source of welding current 11 is connected with workpiece 12 through described Hall element or signal transmitting device 5.The described source of welding current 11
Another interface be connected with described welding torch 4, formed welding current loop.Described Hall element or signal transmitting device 5 defeated
Going out end and connect the input of described signal acquisition process module 6, the outfan of described signal acquisition process module 6 connects described work
Another input of control machine 7.Described structured light sensor 2 is fixedly installed on the side of described welding torch 4, described knot through a support
The outfan of structure optical sensor 2 connects the input of described image pick-up card 3, and the outfan of described image pick-up card 3 connects institute
State an input of industrial computer 7.The input of the one outfan described motion control card 8 of connection of described industrial computer 7 controls it and enters
Row work, the outfan of described motion control card 8 connects described airborne actuator 9.Another outfan of described industrial computer 7
Connect the input of described Movement Controller of Mobile Robot 10 to control it and be operated, the output of described Movement Controller of Mobile Robot 10
End connects described mobile robot 1.
Described mobile robot uses wheeled mobile robot, mobile platform or the one of mobile trolley, it is characterised in that: energy
Enough realize the pivot turn that radius of turn is zero, the present embodiment uses ActivMedia company real with Stanford University SIR
Test the Pioneer3-AT robot car that room is developed jointly.
Described welding torch uses the rotary welding torch of magnetic control, machinery rotating type welding torch, automatically controlled swing type welding torch or mechanical swinging type
The one of welding torch, uses the rotary welding torch of magnetic control in the present embodiment.
Described industrial computer according to actual needs can be by the one generation in single-chip microcomputer, DSP, PLC, ARM, FPGA or computer
Replace.
Claims (5)
1. in a welding process, the online dynamic programming of track follows the tracks of collaborative control method with welding bead, it is characterised in that described side
Method comprises the steps:
1) mobile welding robot system coordinate system is set up, including: basis cartesian coordinate system Oxyz, robot body coordinate
It is Mxyz, airborne actuator coordinate system UxyzWith structured light sensor coordinate system Lxyz, wherein, airborne actuator coordinate system
UxyzWith structured light sensor coordinate system LxyzX-axis forward consistent with the direction of robot body straight forward, z-axis forward with
The direction of ground normal is consistent, and y-axis forward is determined by lefft-hand rule, airborne actuator coordinate system UxyzInitial point be positioned at airborne
Actuator and the fixed connection place of robot body;
2) when welding arc swinging, to rotate or swings-rotary composite movement form scanning groove time, employing structured light sensor
Extract the positional information of front, weld zone seam welds groove characteristic point i, including bevel for welding characteristic point i with welding torch at structure light
Sensor coordinate system LxyzOffset distance E on middle y-axis directioniWith bevel for welding characteristic point in structured light sensor coordinate system
LxyzIn coordinate, use arc sensor to gather arc energy signal in real time simultaneously, use integration differential method, characteristic harmonics
Method or extremum method extract the real-time welding torch posture information in the arc energy signal after signal filtering with processing and amplifying, by airborne
Actuator adjusts welding torch pose according to acquired real-time welding torch posture information, adjusts the same of welding torch pose in airborne actuator
Time arc sensor start the arc energy signals collecting in next cycle, so circulate, i.e. realize welding bead and follow the tracks of;
3) according to bevel for welding characteristic point in structured light sensor coordinate system LxyzIn coordinate, carry out coordinate transform to basis flute
Karr coordinate system Oxyz, it is thus achieved that the coordinate G of bevel for welding characteristic point ii=(xi,yi);
4) according to step 2) and 3) solve the coordinate of a series of bevel for welding characteristic point successively, it is thus achieved that a bevel for welding feature
Point coordinates sequence { G1,G2,...,GNAnd an offset distance array { E1,E2,...,EN, wherein
In formula: λ is that structured light sensor is preposition in the distance of welding torch, and v is speed of welding, TopFor bevel for welding characteristic point position
Confidence breath extracting cycle;
5) use SPL to be fitted bevel for welding characteristic point coordinate sequence calculating, obtain lopcus function to be welded
S (x) also carries out derivation, solves in bevel for welding characteristic point coordinate sequence each bevel for welding characteristic point at track letter to be welded
Tangent slope k on number S (x)i, i=1,2 ..., N, obtain comprising N number of bevel for welding characteristic point position auto-control
Pi=[xi yi arctan(ki)], i=1,2 ..., the set of N;
6) set threshold value σ withCompare, and set threshold value ζ and compare with Δ E, whenOr
During Δ E > ζ, robot body performs continuous path Motion trajectory;WhenOr during Δ E <-ζ, machine
Device human body performs around car body center pivot turn trajectory planning;WhenAnd during-ζ≤Δ E≤ζ,
Robot body performs point-to-point craspedodrome trajectory planning;Wherein
In formula: E1And ENIt is respectively the 1st and n-th bevel for welding characteristic point with welding torch in structured light sensor coordinate system LxyzIn
On y-axis direction offset distance, LsFor welding torch in airborne actuator coordinate system UxyzIn y-coordinate, LaHold for airborne
Row mechanism is in airborne actuator coordinate system UxyzMaximum functional stroke on middle y-axis direction, LmFor airborne actuator at machine
Carry actuator coordinate system UxyzDefault impulse stroke on middle y-axis direction;
7) robot body is according to continuous path Motion trajectory, arrive around car body center pivot turn trajectory planning or point
Point craspedodrome trajectory planning performs pose and adjusts, and repeats step 2 simultaneously)~6), carry out trajectory planning next time, i.e. realize
In welding process, the online dynamic programming of track follows the tracks of collaborative control with welding bead.
In a kind of welding process, the online dynamic programming of track follows the tracks of collaborative control method with welding bead,
It is characterized in that: step 6) described in continuous path Motion trajectory, the method for employing is:
According to step 5) described in the set of bevel for welding characteristic point position auto-control, use following formula:
Computing machine human body is the position auto-control of i-th on robot body movement locus:
Upi:[xpi,ypi,θpi], (i=1,2 ..., N), wherein: S (xi) it is the function upper i-th of lopcus function S (x) to be welded
Value, xpi,ypiIt is respectively on robot body movement locus at i-th in basis cartesian coordinate system OxyzIn coordinate, θpi
For robot body azimuth of i-th on robot body movement locus, use SPL to robot body
Coordinate (the x all put on movement locuspi,ypi), i=1,2 ..., N carries out interpolation calculation, generates continuous and smooth robot
Body movement locus.
In a kind of welding process the most according to claim 1, the online dynamic programming of track follows the tracks of collaborative controlling party with welding bead
Method, it is characterised in that: step 6) described in around car body center pivot turn trajectory planning, the method for employing be:
Control robot body left and right sides driving wheel, make driving wheel velocity magnitude equal, in opposite direction, it is achieved machine
Human body is around the pivot turn of car body center, robot body angle of turn θREmploying following formula calculates:
In a kind of welding process the most according to claim 1, the online dynamic programming of track follows the tracks of collaborative controlling party with welding bead
Method, it is characterised in that: step 6) described in point-to-point craspedodrome trajectory planning, the method for employing is:
Keep robot body left and right sides driving wheel velocity-stabilization, make robot body along the current direction a length of λ of displacement,
Translational speed size keeps constant.
In a kind of welding process the most according to claim 1, the online dynamic programming of track follows the tracks of collaborative controlling party with welding bead
Method, it is characterised in that: described welding torch uses the rotary welding torch of magnetic control, machinery rotating type welding torch, automatically controlled swing type welding torch or machinery
The one of swing type welding torch.
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CN105458463A (en) * | 2016-01-07 | 2016-04-06 | 湘潭大学 | Real-time welding seam tracking method of intelligent welding robot based on rotating arc sensing |
CN105855668B (en) * | 2016-05-27 | 2018-09-21 | 廊坊智通机器人***有限公司 | The online welding seam tracking method of straight line of arc welding robot welding |
CN106964875B (en) * | 2017-04-18 | 2020-02-07 | 湘潭大学 | Welding gun space attitude identification method based on arc sensor |
CN109598760A (en) * | 2018-12-07 | 2019-04-09 | 北京博清科技有限公司 | Image processing method and image processing apparatus |
CN111113409B (en) * | 2019-11-21 | 2021-05-11 | 东南大学 | Multi-robot multi-station cooperative spot welding planning method based on step-by-step optimization |
CN112379590B (en) * | 2020-10-16 | 2022-08-23 | 西安工程大学 | Mobile robot path tracking control method based on improved approach law |
CN112318000B (en) * | 2020-10-23 | 2022-06-03 | 成都卡诺普机器人技术股份有限公司 | Self-adaptive tracking welding method for transformer oil tank |
CN113843481A (en) * | 2021-10-25 | 2021-12-28 | 北京石油化工学院 | Narrow groove weld joint tracking method based on LabVIEW |
CN114012214A (en) * | 2021-11-17 | 2022-02-08 | 佛山市南海区广工大数控装备协同创新研究院 | Weld joint tracking motion control method |
CN113996896A (en) * | 2021-12-07 | 2022-02-01 | 上海雅跃智能科技有限公司 | Tubular pile welding trolley control system and welding system |
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