基於焊道幾何進行埋弧焊焊炬軌跡自動規劃

本研究結合立體視覺與幾何分析技術建構埋弧焊移動龍門系統的焊炬軌跡自動規劃策略，可適用於處理大尺度鋼柱結構的多道次焊接任務。構件焊道內的幾何資訊可由序列深度影像產製之點雲獲得，透過研擬的演算法針對焊道縱向之連續剖面點雲可依序定義合適的焊點坐標，獲得焊炬之三維移動軌跡。初步測試已驗證演算法之可行性與合理性，估計的焊點位置與檢核點之RMSE約為0.09公厘，達到立體視覺感測器之次像元精度。同時研究中引入平行運算架構，可提升約18%的演算效率，顯示提出之策略具有協助埋弧焊自動化作業之潛力並獲得節省人工成本之效益。

關鍵字

立體視覺；幾何分析；多道次埋弧焊；焊炬定位

並列摘要

This study combines stereo vision and geometric analysis technology to construct a strategy for automatic torch trajectory planning of submerged arc welding of a mobile gantry system, which can be applied to the multi-pass welding of large-scale steel column structures. The geometric description of a weld bead can be obtained from the point cloud generated from serial depth images. Welding point coordinates can be determined based on the ordinal point cloud profiles of the weld bead, obtaining the movement trajectory of the welding torch. Given the preliminary test, the feasibility has been verified, in which the RMSE of the welding points is about 0.09 mm, achieving the sub-pixel accuracy of the imaging sensor. Also, with a parallel computing framework, the computational efficiency increases up to 18%, suggesting the proposed strategy can assist the automation of submerged arc welding and reduce labor costs.

並列關鍵字

stereo vision ； geometric analysis ； multi-pass submerged-arc welding ； welding torch positioning

參考文獻

Besl, P. J. and McKay, N. D., “A method for registration of 3-D shapes,” IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 14, No. 2, pp. 239-256, (1992). https://doi.org/10.1109/34.121791

Ensenso N35, https://www.ensenso.com/portfolio-item/n3x/ [2022/04/14]

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基於焊道幾何進行埋弧焊焊炬軌跡自動規劃

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