Research and development for detection technology of spatial posture of weld seam based on vision and gravity sensing

基于视觉与重力传感的焊缝空间姿态检测技术研究与发展 Research and development for detection technology of spatial posture of weld seam based on vision and gravity sensing 张天一 ZHANG Tianyi 1 first-author 朱志明 ZHU Zhiming 1 郭吉昌 GUO Jichang 1 孙博文 SUN Bowen 1 清华大学机械工程系先进成形制造教育部重点实验室 清华大学机械工程系先进成形制造教育部重点实验室 Key Laboratory for Advanced Materials Processing Technology of Ministry of Education,Department of Mechanical Engineering,Tsinghua University Key Laboratory for Advanced Materials Processing Technology of Ministry of Education,Department of Mechanical Engineering,Tsinghua University 对于空间位置的金属结构件焊接,焊枪相对于工件(焊接坡口)的位置和姿态直接影响焊缝成形质量。焊枪的最优相对位姿由焊缝(接头)所在平面的绝对空间姿态、焊接坡口的特征尺寸参数确定。简要分析了视觉传感在焊接领域的研究与应用,总结了焊枪空间姿态检测常用方法。在此基础上,介绍了提出的基于视觉与重力传感信息融合的组合式检测系统,该系统可实现对焊缝(接头)所在平面的绝对空间姿态、焊枪相对于该平面的相对位置和姿态以及焊接坡口特征尺寸参数的检测,进而实现未知姿态平面内的复杂空间焊缝(接头)的检测与跟踪及焊枪姿态控制。最后展望了基于视觉与重力传感信息融合的组合式检测系统在曲面工件复杂空间焊缝(接头)焊接中的研究和发展应用前景。 For the welding of metal structures at certain space position,the position and posture of welding torch relative to the workpiece（welding groove） directly affect the weld forming quality. The optimal relative posture of welding torch is determined by the absolute spatial pose of the plane where the weld seam（joint） is located and the characteristic size parameters of welding groove. The research and application of vision sensing in welding field are analyzed briefly,and the common methods for the detection of the space posture of welding torch are summarized. On the basis,the combined detection system based on the fusion of vision and gravity sensing information is introduced,which can detect the absolute spatial posture of the plane where the weld seam（joint） is located,the relative position and posture of welding torch relative to this plane,and the characteristic size parameters of welding groove. Then,the detection and tracking of complex space weld seam（joint）in the plane whose posture is unknown and the posture control of welding torch are realized. In the end,the research and app-lication prospect of the combined detection system based on the fusion of vision and gravity sensing information in the welding of complex space seam（ joint） within spatial curved workpiece is given. 视觉传感 重力传感 空间姿态 焊接坡口 特征尺寸 检测与控制 vision sensing gravity sensing spatial posture welding groove characteristic size detection and control TG441.7 国家自然科学基金项目(51775301) 2022-03-08 11 50