nach oben

The International Journal of Advanced Manufacturing Technology

Erschienen in:

12.04.2021 | ORIGINAL ARTICLE

Automatic calibration of work coordinates for robotic wire and arc additive re-manufacturing with a single camera

verfasst von: Qiang Wu, Xunpeng Qin, Yifeng Li, Congming Liang, Zeqi Hu

Erschienen in: The International Journal of Advanced Manufacturing Technology | Ausgabe 9-10/2021

Einloggen

Aktivieren Sie unsere intelligente Suche, um passende Fachinhalte oder Patente zu finden.

search-config

KI-gestützte Suche

Aus

Abstract

Industrial robots are increasingly applied in the automatic die repair welding via the prevalent wire and arc additive manufacturing (WAAM) technology. However, the precise calibration of work coordinates is indispensable for the off-line programming of robotic welding paths, which often results in positioning error, path deviation, or even tool collisions. The die is pre-heated at about 500 °C before the robotic WAAM processes. Thus, it is challenging to calibrate work coordinates by touch sensing because those points on the X-axis and the Y-axis to determine the location of the part need to be caught by human eyes. In this paper, a camera vision calibration (CVC) method based on stereo vision is developed. Image feature points are extracted by a multi-saliency fusion algorithm based on the human visual attention mechanism. Through stereo vision, 3D information of the feature points is obtained, and the workpiece coordinate system (WCS) is finely calibrated. Compared with the random error of human vision calibration (HVC), the proposed method could improve the workpiece’s calibration accuracy, reduce the unexpected collisions in limited space, and improve the dimensional precision of the welding layer.

Vorheriger Artikel Investigation of direct metal laser sintering downskin parameters’ sagging effect on microchannels

Nächster Artikel Artificial neural network for modeling and investigating the effects of forming tool characteristics on the accuracy and formability of thin aluminum alloy blanks when using SPIF

Sie haben noch keine Lizenz? Dann Informieren Sie sich jetzt über unsere Produkte:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

über 102.000 Bücher
über 537 Zeitschriften

aus folgenden Fachgebieten:

Automobil + Motoren
Bauwesen + Immobilien
Business IT + Informatik
Elektrotechnik + Elektronik
Energie + Nachhaltigkeit
Finance + Banking
Management + Führung
Marketing + Vertrieb
Maschinenbau + Werkstoffe
Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

Jetzt informieren

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

über 67.000 Bücher
über 390 Zeitschriften

aus folgenden Fachgebieten:

Automobil + Motoren
Bauwesen + Immobilien
Business IT + Informatik
Elektrotechnik + Elektronik
Energie + Nachhaltigkeit
Maschinenbau + Werkstoffe

Jetzt Wissensvorsprung sichern!

Jetzt informieren

Chander S, Chawla V (2017) Failure of hot forging dies –an updated perspective. Mater Today Proc 4:1147–1157. https://doi.org/10.1016/j.matpr.2017.01.131CrossRef

Hawryluk M, Zwierzchowski M, Marciniak M, Sadowski P (2017) Phenomena and degradation mechanisms in the surface layer of die inserts used in the hot forging processes. Eng Fail Anal 79:313–329. https://doi.org/10.1016/j.engfailanal.2017.04.036CrossRef

Rodrigues T, Duarte V, Miranda RM, Santos TG, Oliveira JP (2019) Current status and perspectives on wire and arc additive manufacturing (WAAM). Materials 12:1121. https://doi.org/10.3390/ma12071121CrossRef

Hassen AA, Noakes M, Nandwana P, Kim S, Kunc V, Vaidya U, Love L, Nycz A (2020) Scaling up metal additive manufacturing process to fabricate molds for composite manufacturing. Addit Manuf 32:101093. https://doi.org/10.1016/j.addma.2020.101093CrossRef

Hu Z, Qin X, Shao T (2017) Welding thermal simulation and metallurgical characteristics analysis in WAAM for 5CrNiMo hot forging die remanufacturing. Procedia Eng 207:2203–2208. https://doi.org/10.1016/j.proeng.2017.10.982CrossRef

Zhang J, Zhou J, Wang Q, Xiao G, Quan G (2020) Process planning of automatic wire arc additive remanufacturing for hot forging die. Int J Adv Manuf Technol 109:1613–1623. https://doi.org/10.1007/s00170-020-05766-0CrossRef

Srinivasan H, Harrysson OLA, Wysk RA (2015) Automatic part localization in a CNC machine coordinate system by means of 3D scans. Int J Adv Manuf Technol 81:1127–1138. https://doi.org/10.1007/s00170-015-7178-zCrossRef

Zhang W, Ma X, Cui L, Chen Q (2008) 3 points calibration method of part coordinates for arc welding robot. In: Xiong C, Huang Y, Xiong Y, Liu H (eds) Intelligent robotics and applications. ICIRA 2008. Lecture Notes in Computer Science, vol 5314. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-88513-9_24CrossRef

Pessoles X, Landon Y, Segonds S, Rubio W (2013) Optimisation of workpiece setup for continuous five-axis milling: application to a five-axis BC type machining centre. Int J Adv Manuf Technol 65:67–79. https://doi.org/10.1007/s00170-012-4151-yCrossRef

10.

Liu SC, Hao J, Lu ZX, Zhang, MC, Zhao J (2016). A calibration method of workpiece frames for ultrasonic testing using twin-robot. In 2016 IEEE Far East NDT New Technology & Application Forum (FENDT). pp 66–70. https://doi.org/10.1109/FENDT.2016.7991997

11.

Blank S, Shen Y, Xi N, Zhang C, Wejinya UC (2007) High precision PSD guided robot localization: design, mapping, and position control. In: In 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp 52–57. https://doi.org/10.1109/IROS.2007.4399621CrossRef

12.

Pérez L, Rodríguez Í, Rodríguez N, Usamentiaga R, García DF (2016) Robot guidance using machine vision techniques in industrial environments: a comparative review. Sensors 16:335. https://doi.org/10.3390/s16030335CrossRef

13.

Jian C, Gao J, Ao Y (2017) Automatic surface defect detection for mobile phone screen glass based on machine vision. Appl Soft Comput 52:348–358. https://doi.org/10.1016/j.asoc.2016.10.030CrossRef

14.

Deng L, Du H, Han Z (2017) A carrot sorting system using machine vision technique. Appl Eng Agric 33:149–156. https://doi.org/10.13031/aea.11549CrossRef

15.

Ajdadi FR, Gilandeh YA, Mollazade K, Hasanzadeh RP (2016) Application of machine vision for classification of soil aggregate size. Soil Tillage Res 162:8–17. https://doi.org/10.1016/j.still.2016.04.012CrossRef

16.

Williams HAM, Jones MH, Nejati M, Seabright MJ, Bell J, Penhall ND, Barnett JJ, Duke MD, Scarfe AJ, Ahn HS, Lim JY, MacDonald BA (2019) Robotic kiwifruit harvesting using machine vision, convolutional neural networks, and robotic arms. Biosyst Eng 181:140–156. https://doi.org/10.1016/j.biosystemseng.2019.03.007CrossRef

17.

Ahmad R, Tichadou S, Hascoet JY (2010) Integration of vision based image processing for multi-axis CNC machine tool safe and efficient trajectory generation and collision avoidance. J Mach Eng 10:53–65

18.

Vakanski A, Janabi-Sharifi F, Mantegh I (2017) An image-based trajectory planning approach for robust robot programming by demonstration. Robot Auton Syst 98:241–257. https://doi.org/10.1016/j.robot.2017.09.012CrossRef

19.

Zhang X, Tian X, Yamazaki K (2010) On-machine 3D vision system for machining setup modeling. Int J Adv Manuf Technol 48:251–265. https://doi.org/10.1007/s00170-009-2269-3CrossRef

20.

Tian X, Deng H, Yamazaki K, Fujishima M, Mori M (2005). On-machine visual modeling system with object recognition. In ASME International Mechanical Engineering Congress and Exposition, pp 123–133. https://doi.org/10.1115/IMECE2005-81661

21.

Micali MK, Cashdollar HM, Gima ZT, Westwood MT. (2016) One touch workpiece verification system for CNC machining using a low-cost computer vision approach. In: Proceedings of the ASME 11th International Manufacturing Science and Engineering Conference 2016. The American Society of Mechanical Engineers 3: V003T08A021. https://doi.org/10.1115/MSEC2016-8725

22.

de Araujo PRM, Lins RG (2020) Computer vision system for workpiece referencing in three-axis machining centers. Int J Adv Manuf Technol 106:2007–2020. https://doi.org/10.1007/s00170-019-04626-wCrossRef

23.

Bedaka AK, Vidal J, Lin CY (2019) Automatic robot path integration using three-dimensional vision and offline programming. Int J Adv Manuf Technol 102:1935–1950. https://doi.org/10.1007/s00170-018-03282-wCrossRef

24.

Ngom M, Nagata F (2014) Detection of workpieces on a CNC machining table for measurement and automatic tool positioning. 2014 14th International Conference on Control, Automation and Systems (ICCAS 2014), Seoul, 2014, pp. 55-58. https://doi.org/10.1109/ICCAS.2014.6987958

25.

Ngom M, Nagata F (2013) Basic design of a computer vision based controller for desktop NC engraving machine. In: IEEE International Conference on Mechatronics and Automation (ICMA), 2013. IEEE, Piscataway, NJ, pp 1293–1298. https://doi.org/10.1109/ICMA.2013.6618100

26.

Gomes RB, da Silva BMF, de Medeiros Rocha LK, Aroca RV, Velho LCPR, Gonçalves LMG (2013) Efficient 3D object recognition using foveated point clouds. Comput Graph 37: 496–508. https://doi.org/10.1016/j.cag.2013.03.005

27.

Okarma K, Grudziński M (2012) The 3D scanning system for the machine vision based positioning of workpieces on the CNC machine tools. In: 2012 17th International Conference on Methods Models in Automation Robotics (MMAR), pp 85–90. https://doi.org/10.1109/MMAR.2012.6347906

28.

Westoby MJ, Brasington J, Glasser NF, Hambrey MJ, Reynolds JM (2012) ‘Structure-from-motion’ photogrammetry: a low-cost, effective tool for geoscience applications. Geomorphology 179:300–314. https://doi.org/10.1016/j.geomorph.2012.08.021CrossRef

29.

Nurutdinova I, Fitzgibbon A (2015) Towards pointless structure from motion: 3D reconstruction and camera parameters from general 3D curves. In: 2015 IEEE International Conference on Computer Vision (ICCV), pp 2363–2371. 10.1109/ICCV.2015.272

30.

Achanta R, Hemami S, Estrada F, Susstrunk S (2009) Frequency-tuned salient region detection. In: 2009 IEEE Conference on Computer Vision and Pattern Recognition, pp 1597–1604. https://doi.org/10.1109/CVPR.2009.5206596

31.

Hou X, Zhang L (2007) Saliency detection: a spectral residual approach. In: 2007 IEEE Conference on Computer Vision and Pattern Recognition, pp 1–8. https://doi.org/10.1109/CVPR.2007.383267

32.

Gonzalez RC, Woods RE (2018) Digital image processing (4th). Pearson, New York

33.

Zhang Z (2000) A flexible new technique for camera calibration. IEEE Trans Pattern Anal Mach Intell 22:1330–1334. https://doi.org/10.1109/34.888718CrossRef

34.

Tian X, Zhang X, Yamazaki K, Hansel A (2010) A study on three-dimensional vision system for machining setup verification. Robot Comput Integr Manuf 26:46–55. https://doi.org/10.1016/j.rcim.2009.02.002CrossRef

Titel: Automatic calibration of work coordinates for robotic wire and arc additive re-manufacturing with a single camera
verfasst von: Qiang Wu
Xunpeng Qin
Yifeng Li
Congming Liang
Zeqi Hu
Publikationsdatum: 12.04.2021
Verlag: Springer London
Erschienen in: The International Journal of Advanced Manufacturing Technology / Ausgabe 9-10/2021
Print ISSN: 0268-3768
Elektronische ISSN: 1433-3015
DOI: https://doi.org/10.1007/s00170-021-06664-9

Premium Partner

Marktübersichten

Die im Laufe eines Jahres in der „adhäsion“ veröffentlichten Marktübersichten helfen Anwendern verschiedenster Branchen, sich einen gezielten Überblick über Lieferantenangebote zu verschaffen.

Zur Marktübersicht

Springer Professional

Abstract

Bitte loggen Sie sich ein, um Zugang zu Ihrer Lizenz zu erhalten.

Sie haben noch keine Lizenz? Dann Informieren Sie sich jetzt über unsere Produkte:

Springer Professional "Wirtschaft+Technik"

Springer Professional "Technik"

Weitere Artikel der Ausgabe 9-10/2021

Sustainability and tool wear of titanium alloy thread cutting in dry and cryogenic conditions

Analytical modeling and experimental study of laser powder-fed additive manufacturing on curved substrates

Investigation of direct metal laser sintering downskin parameters’ sagging effect on microchannels

Diagnostic and severity analysis of combined failures composed by imbalance and misalignment in rotating machines

A review of G code, STEP, STEP-NC, and open architecture control technologies based embedded CNC systems

Numerical modelling and experimental study on pulsed laser surface texturing on cemented carbides

Premium Partner

Marktübersichten