LI Bingcong, XIA Weisheng, XU Xiaoqun, et al.Research on Welding Path Planning of Medium-thick Plate Based on the Data Driven of Point Cloud[J].Electric Welding Machine, 2023, 53(9): 78-83. DOI： 10.7512/j.issn.1001-2303.2023.09.10.
Research on Welding Path Planning of Medium-thick Plate Based on the Data Driven of Point Cloud
In order to address the automation requirements of multi-layer and multi-pass welding for medium-thick plates, this paper proposes a robot welding path adaptive planning algorithm based on point cloud data. Taking V-groove welds as an example, the weld surface is scanned using a line structured light system to collect point cloud data. Then the point cloud data is preprocessed through the filtering method to reduce the data size and remove noise points, and the resultant welding feature points are successfully extracted by the point cloud segmentation and edge extraction algorithms. Finally, welding experiments are carried out to verify the accuracy and feasibility of the proposed algorithm. The results show that the average deviation between the coordinates of weld feature points obtained by the proposed algorithm and the actual coordinates obtained by manual teaching is less than 0.17 mm, which meets the practical application requirements.
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