{"title":"Vision-based construction robot for real-time automated welding with human-robot interaction","authors":"Doyun Lee , Kevin Han","doi":"10.1016/j.autcon.2024.105782","DOIUrl":null,"url":null,"abstract":"<div><div>The construction industry is a major consumer of steel, with welding being a crucial aspect of steel fabrication. However, a shortage of welders has emerged as a significant issue. Therefore, the ultimate goal of this study is to develop a fully automated mobile robotic welding system. The preliminary paper presented a method for the automatic detection and alignment of various welding joints. Building on this, this paper proposes a real-time automated welding system capable of path planning and tracking for two butt joints using visual data. Given the precision required in welding, two robotic operations were devised: one for following a trajectory based on real-time image data, and another for welding guided by laser-scanned data. Additionally, human-robot interaction is proposed for path planning in cases where deep learning-based joint detection fails. The automated robotic welding was performed to test the performance of the proposed system, demonstrating its effectiveness and accuracy.</div></div>","PeriodicalId":8660,"journal":{"name":"Automation in Construction","volume":null,"pages":null},"PeriodicalIF":9.6000,"publicationDate":"2024-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Automation in Construction","FirstCategoryId":"5","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0926580524005181","RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"CONSTRUCTION & BUILDING TECHNOLOGY","Score":null,"Total":0}
引用次数: 0
Abstract
The construction industry is a major consumer of steel, with welding being a crucial aspect of steel fabrication. However, a shortage of welders has emerged as a significant issue. Therefore, the ultimate goal of this study is to develop a fully automated mobile robotic welding system. The preliminary paper presented a method for the automatic detection and alignment of various welding joints. Building on this, this paper proposes a real-time automated welding system capable of path planning and tracking for two butt joints using visual data. Given the precision required in welding, two robotic operations were devised: one for following a trajectory based on real-time image data, and another for welding guided by laser-scanned data. Additionally, human-robot interaction is proposed for path planning in cases where deep learning-based joint detection fails. The automated robotic welding was performed to test the performance of the proposed system, demonstrating its effectiveness and accuracy.
期刊介绍:
Automation in Construction is an international journal that focuses on publishing original research papers related to the use of Information Technologies in various aspects of the construction industry. The journal covers topics such as design, engineering, construction technologies, and the maintenance and management of constructed facilities.
The scope of Automation in Construction is extensive and covers all stages of the construction life cycle. This includes initial planning and design, construction of the facility, operation and maintenance, as well as the eventual dismantling and recycling of buildings and engineering structures.