Vision-based construction robot for real-time automated welding with human-robot interaction

IF 9.6 1区 工程技术 Q1 CONSTRUCTION & BUILDING TECHNOLOGY
Doyun Lee , Kevin Han
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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.
基于视觉的建筑机器人,可实现人机交互的实时自动焊接
建筑业是钢材的主要消费行业,而焊接是钢材制造的关键环节。然而,焊工短缺已成为一个重大问题。因此,本研究的最终目标是开发一个全自动移动机器人焊接系统。前期论文介绍了一种自动检测和校准各种焊接接头的方法。在此基础上,本文提出了一种实时自动焊接系统,能够利用视觉数据对两个对接接头进行路径规划和跟踪。考虑到焊接的精度要求,本文设计了两种机器人操作:一种是根据实时图像数据跟踪轨迹,另一种是根据激光扫描数据进行焊接。此外,在基于深度学习的关节检测失效的情况下,还提出了人机交互的路径规划。为了测试拟议系统的性能,进行了自动机器人焊接,证明了其有效性和准确性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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来源期刊
Automation in Construction
Automation in Construction 工程技术-工程:土木
CiteScore
19.20
自引率
16.50%
发文量
563
审稿时长
8.5 months
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.
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